JP2020187485A - Control apparatus, automatic guided vehicle, automatic guided vehicle control method, and control program - Google Patents

Abstract

To automatically resolve failures occurring in an automatic guided vehicle.SOLUTION: A control apparatus (1) is provided with an acceleration acquisition unit (102) for acquiring acceleration generated by movement of an automatic guided vehicle (2), an abnormality detection unit (104) for detecting at least one of occurring resonance and shock as an abnormality based on the acceleration, a movement control unit (105) for preventing the abnormality from occurring again while continuing to move the automatic guided vehicle (2), and a map update unit (106).SELECTED DRAWING: Figure 1

Description

The present invention relates to a control device for controlling an automatic guided vehicle that carries an object and moves to a destination.

Patent Document 1 discloses a technique of capturing abnormal vibration of a traveling railroad vehicle and detecting a defect of a traveling device component.

In addition, conventionally, there is an automatic guided vehicle that carries a mounted object and moves to the destination.

Japanese Unexamined Patent Publication No. 2011-51518 (published on March 17, 2011)

If abnormal vibration (for example, resonance) occurs in an automatic guided vehicle, the mounted object may fall and be damaged. However, even if the technique of Cited Document 1 is applied to an automatic guided vehicle, it only detects the occurrence of abnormal vibration, and the abnormal vibration cannot be eliminated unless the user of the automatic guided vehicle takes some measures. That is, the conventional technology cannot automatically solve the problem that has occurred in the automatic guided vehicle.

One aspect of the present invention is to realize an automatic guided vehicle control device or the like that automatically eliminates a defect that occurs in an automatic guided vehicle.

The present invention employs the following configuration in order to solve the above-mentioned problems.

That is, the control device according to one aspect of the present disclosure is a control device that controls an automatic guided vehicle on which a mounted object is placed and moves to a destination, and acquires acceleration generated in the movement of the automatic guided vehicle. The acceleration acquisition unit, the detection unit that detects at least one of the resonance and the impact generated in the movement of the automatic guided vehicle as an abnormality based on the acquired acceleration, and the detection unit that detects the abnormality, the movement of the automatic guided vehicle is performed. It is provided with a processing execution unit that executes processing for preventing the recurrence of an abnormality while continuing. In this configuration, when an abnormality is detected, the processing execution unit executes a process to prevent the abnormality from reoccurring. As a result, the control device can automatically solve the problem that has occurred in the automatic guided vehicle.

A mounted object is an object that can be mounted on an automatic guided vehicle. Placements include, for example, mechanical devices such as manipulators. In this case, a movable manipulator (moving robot) is realized by the automatic guided vehicle and the manipulator. In addition, the mounted object includes an object to be transported, such as a work or a luggage, which is transported from one position to another. Further, the mounted object may be both the above-mentioned mechanical device and the above-mentioned transportation object. That is, the transported object may be placed on the mobile robot.

The acceleration acquisition source by the acceleration acquisition unit includes a device (external device) different from the control device and the control device itself. An example of the former is an acceleration sensor. Another example of the former is a device that calculates acceleration from a specific physical quantity. The specific physical quantity may be a physical quantity capable of calculating acceleration, such as displacement and velocity. Further, the latter has a configuration in which, for example, the control device acquires a specific physical quantity from an external device, calculates the acceleration from the physical quantity, and the acceleration acquisition unit acquires the acceleration.

The process of preventing the occurrence of an abnormality includes a process of preventing the continuation of the abnormality that has occurred and a process of preventing the occurrence of the same abnormality when the automatic guided vehicle passes through the position where the abnormality has occurred again.

The control device according to the one aspect further includes a route determination unit that determines a movement route to the destination before the movement, and the processing execution unit stores the abnormality occurrence position where the abnormality is detected in the storage device. Then, the route determination unit may determine a movement route that does not pass through the abnormality occurrence position as the movement route. According to this configuration, since the abnormality occurrence position is not passed, it is possible to prevent the abnormality from reoccurring.

In the control device according to the one aspect, the processing execution unit stores the abnormality occurrence position where the abnormality is detected in the storage device, and when the abnormality occurrence position is passed after the abnormality occurrence is detected, the abnormality occurs. The automatic guided vehicle may be moved at a second speed slower than the first speed set as the moving speed when it does not occur. According to this configuration, since the speed is reduced and the vehicle passes through the position where the abnormality occurs, it is possible to prevent the occurrence of resonance and alleviate the impact. That is, it is possible to prevent the recurrence of the abnormality.

The control device according to the one aspect further includes a route determination unit that determines a movement route to the destination before the movement, and the processing execution unit sets the automatic guided vehicle at the abnormality occurrence position. When the abnormality is detected again while moving at two speeds, the abnormality occurrence position stored in the storage device is updated to a no-passage position where the automatic guided vehicle cannot pass, and the route determination unit determines the route. As the movement route, a movement route that does not pass through the prohibited position may be determined. According to this configuration, even if the speed is reduced and the abnormality occurs, if the abnormality occurs, the abnormality does not pass, so that the subsequent occurrence of the abnormality can be prevented.

In the control device according to the one aspect, when the resonance is detected, the processing execution unit may reduce the moving speed of the automatic guided vehicle from the current speed of the third speed. According to this configuration, the speed is reduced when resonance is detected, so that the value of the acceleration generated in the automatic guided vehicle or the mounted object changes. As a result, the resonance generated in the automatic guided vehicle and the mounted object can be eliminated.

The control device according to the one aspect further includes a determination unit for determining whether or not the resonance continues when moving at a speed after deceleration, and the processing execution unit determines that the resonance continues. If it is determined, the automatic guided vehicle may be decelerated stepwise until it is determined that the resonance does not continue. According to this configuration, the decrease in speed can be suppressed, so that the decrease in work efficiency of the automatic guided vehicle can be suppressed.

The control device according to the one aspect further includes a determination unit for determining whether or not the resonance continues when moving at a speed after deceleration, and the processing execution unit states that the resonance does not continue. If it is determined, the moving speed of the automatic guided vehicle may be returned to the third speed. According to this configuration, the moving speed is restored when the resonance is eliminated, so that it is possible to suppress a decrease in the working efficiency of the automatic guided vehicle.

In the control device according to the one aspect, the above-mentioned figurine includes a transportation object to be transported to the destination, and the transportation object is provided on the above-mentioned figurine other than the transportation object or the automatic guided vehicle. The acceleration acquisition unit may acquire the acceleration generated in the above-mentioned mounting unit. According to this configuration, since the acceleration generated in the mounting portion is acquired, it is possible to accurately detect an abnormality in the object to be transported. As a result, it is possible to accurately detect a situation in which the object to be transported is likely to be damaged due to dropping or the like, and prevent the object to be transported from being damaged.

Further, in the automatic guided vehicle according to one aspect of the present disclosure, the control device according to the one aspect may be provided. According to this configuration, it is possible to quickly perform the process of preventing the recurrence of the abnormality as compared with the configuration in which the control device is not provided on the automatic guided vehicle. For example, when resonance is detected, the moving speed can be quickly reduced to prevent the continuation of resonance.

Further, the method for controlling an automatic guided vehicle according to one aspect of the present disclosure is a method for controlling an automatic guided vehicle on which an object is placed and moves, and is an acceleration for acquiring an acceleration generated in the movement of the automatic guided vehicle. The acquisition step, the detection step of detecting at least one of the resonance and the impact generated in the movement of the automatic guided vehicle as an abnormality based on the acquired acceleration, and the movement of the automatic guided vehicle when the abnormality is detected are continued. However, it includes a process execution step for executing a process for preventing the recurrence of an abnormality. In this configuration, when an abnormality is detected, a process for preventing the occurrence of the abnormality is executed. As a result, it is possible to automatically solve the problems that occur in the automatic guided vehicle.

Further, the control program according to one aspect of the present disclosure is a control program for operating the computer as the control device according to the one aspect, and functions the computer as the acceleration acquisition unit, the detection unit, and the processing execution unit. It may be a control program for making it.

According to one aspect of the present invention, it is possible to automatically eliminate a defect that has occurred in an automatic guided vehicle.

It is a block diagram which shows an example of the main part structure of the control device provided in the mobile robot which concerns on embodiment of this invention. It is a figure which shows an example of the appearance of the mobile robot shown in FIG. 1 and the appearance of the automatic guided vehicle included in the mobile robot. It is a figure which shows the specific example of the map which the control device shown in FIG. 1 stores, and the movement path of a mobile robot. It is a flowchart which shows a part of the example of the flow of the abnormal recurrence prevention processing executed by the control device shown in FIG. It is a flowchart which shows a part of the example of the flow of the abnormal recurrence prevention processing executed by the control device shown in FIG. It is a figure which shows the update example of the map stored in the control device shown in FIG. 1 and the movement path of a mobile robot. It is a flowchart which shows a part of the other example of the flow of the abnormal recurrence prevention processing executed by the control device shown in FIG. It is a flowchart which shows a part of the other example of the flow of the abnormal recurrence prevention processing executed by the control device shown in FIG. It is a figure which shows the update example of the map stored in the control device shown in FIG. 1 and the movement path of a mobile robot. It is a figure which shows another example of the appearance of the mobile robot shown in FIG.

Hereinafter, embodiments according to one aspect of the present invention (hereinafter, also referred to as “the present embodiment”) will be described with reference to the drawings.

§1 Application example FIG. 1 is a block diagram showing an example of a main configuration of a control device included in the mobile robot according to the present embodiment.

FIG. 2 is a diagram showing an example of the appearance of the mobile robot according to the present embodiment and the appearance of the automatic guided vehicle included in the mobile robot.

First, an example of a situation in which the present invention is applied will be described with reference to FIGS. 1 and 2. The mobile robot according to the present embodiment may be the mobile robot 100 shown in FIGS. 1 and 2.

As shown in FIGS. 1 and 2 (a), the mobile robot 100 includes an automatic guided vehicle 2 and a manipulator 3. As shown in FIG. 2A, the manipulator 3 includes, as an example, a robot arm 11, a housing portion 15, and a mounting base 16 (mounting portion). The manipulator 3 shown in FIG. 2A holds, for example, a work mounted on a stocker (not shown) by a robot arm 11 and moves it to a mounting table 16. The automatic guided vehicle 2 realizes the movement of the mobile robot 100 to the destination. In other words, the automatic guided vehicle 2 carries the manipulator 3 and moves to the destination. By including the automatic guided vehicle 2 and the manipulator 3, the mobile robot 100 realizes, for example, an operation of moving from a starting position to a certain stocker and moving a work mounted on the stocker to a mounting table 16. Can be done. Further, the mobile robot 100 can realize an operation such as moving from one stocker to another stocker and moving the work mounted on the mounting table 16 to the other stocker.

The manipulator 3 and the work are examples of the "mounting object" of the present invention, that is, the mounting object mounted on the automatic guided vehicle 2. The manipulator 3 may be fixed on the automatic guided vehicle 2 by using at least a part of the tap holes 22 shown in FIG. 2B. The mounted object may include anything that can be mounted on the automatic guided vehicle 2, and includes, for example, a mechanical device such as the manipulator 3 described above, and a transport object such as the work described above. The object to be transported is an object that is moved from one position to another by the automatic guided vehicle 2, in other words, an object that is transported to the destination by the automatic guided vehicle 2.

Further, in the example of FIG. 1, the mobile robot 100 includes an acceleration sensor 4. The acceleration sensor 4 detects the acceleration generated in the movement of the mobile robot 100, that is, the movement of the automatic guided vehicle 2. As shown in FIG. 2B, the acceleration sensor 4 may be provided on the automatic guided vehicle 2. Further, as the acceleration sensor 4, an existing acceleration sensor can be used.

Further, in the example of FIG. 1, the mobile robot 100 includes a control device 1. The control device 1 controls the movement of the automatic guided vehicle 2.

Specifically, the control device 1 acquires the acceleration detected by the acceleration sensor 4, and based on the acceleration, detects the resonance or impact generated in the movement of the automatic guided vehicle 2 as an abnormality. When the control device 1 detects the abnormality, the control device 1 executes a process of preventing the occurrence of the abnormality while continuing the movement of the automatic guided vehicle 2. As a result, the control device 1 can prevent the re-occurrence of resonance or impact, and automatically prevent the automatic guided vehicle 2, the manipulator 3, and the work from being damaged. In other words, the control device 1 can automatically solve the problem that has occurred in the automatic guided vehicle 2. As an example, the control device 1 may be provided on the automatic guided vehicle 2. As a result, the process of preventing the reoccurrence of the abnormality can be performed more quickly than in the configuration in which the control device 1 is not provided on the automatic guided vehicle 2.

The process of preventing the recurrence of the abnormality executed by the control device 1 is the process of preventing the continuation of the abnormality that has occurred and the same abnormality that occurs when the automatic guided vehicle passes through the position where the abnormality has occurred again. Including processing to prevent.

§2 Configuration example (mobile robot 100)
In the example of FIG. 1, the mobile robot 100 includes a communication device 5 in addition to the above-mentioned automatic guided vehicle 2, manipulator 3, and acceleration sensor 4.

The communication device 5 is a device for transmitting and receiving information between the mobile robot 100 and another device. As an example, the communication device 5 transmits / receives information to / from another device by wireless communication.

(Control device 1)
In the example of FIG. 1, the control device 1 includes a control unit 10 and a storage unit 20 (storage device). The control unit 10 includes a CPU (Central Processing Unit), a RAM (Random Access Memory), a ROM (Read Only Memory), and the like, and controls each component according to information processing. The storage unit 20 is, for example, an auxiliary storage device such as a hard disk drive or a solid state drive, and stores a program executed by the control unit 10 and various data used by the control unit 10. As shown in FIG. 1, the storage unit 20 may store the acceleration threshold value 111, the speed setting 112, and the map 113, for example.

The control unit 10 includes a route determination unit 101 (route determination unit), an acceleration acquisition unit 102, an FFT execution unit 103, an abnormality determination unit 104 (detection unit, determination unit), a movement control unit 105 (processing execution unit), and a map update unit. Includes 106 (processing execution unit) and notification unit 107.

The route determination unit 101 determines the movement route from the movement start position to the destination before the movement of the automatic guided vehicle 2 (moving robot 100). The route determination unit 101 acquires, for example, information indicating a movement start position and a destination via the communication device 5. The source of the information is, for example, a management server that performs production control or the like, a controller that controls equipment on the production line, or the like.

FIG. 3 is a diagram showing a specific example of the map 113 and the movement route. The map 113 is a map of an area where the mobile robot 100 moves, and is, for example, a map of at least a part of the area in a facility such as a factory where the mobile robot 100 works.

As shown in FIG. 3A, the map 113 includes at least a travelable area 31 and a travel prohibited area 32 (traffic prohibited position). The travelable area 31 is an area in which the mobile robot 100 can travel. The travel prohibited area 32 is an area in which the mobile robot 100 cannot travel.

The control device 1 may specify the travelable area 31 and the travel prohibited area 32 based on the movement of the mobile robot 100, and generate the map 113. As an example, the user moves together with the mobile robot 100 in the area where the mobile robot 100 works before the mobile robot 100 is operated. As an example, the control device 1 sets a travelable area 31 and a travel prohibition area 32 on the map 113 based on the detection result of a sensor (not shown) for detecting an obstacle provided in the mobile robot 100. Generate 113.

When the route determination unit 101 acquires the information indicating the movement start position and the destination, the route determination unit 101 sets the movement start position 33 and the destination 34 on the map 113 as shown in FIG. 3B. In addition, the route determination unit 101 determines the movement route 35 of the mobile robot 100 from the movement start position 33 to the destination 34. The movement route 35 passes through only the travelable area 31 of the travelable area 31 and the travel prohibited area 32. When there are a plurality of movement routes that can move from the movement start position 33 to the destination 34 through only the travelable area 31, the route determination unit 101 may determine, for example, the movement route having the shortest distance as the movement route 35. Good. The condition for selecting one movement route (that is, the movement route 35) from the plurality of movement routes is not limited to the “shortest distance movement route”. For example, the route determination unit 101 may select the movement route having the shortest movement time, or may select the movement route having the least obstacles. Further, the user may be able to set a condition for selecting one movement route from a plurality of movement routes.

By the route determination unit 101 determining the movement route of the mobile robot 100, the movement start position 33, the destination 34, and the movement route 35 are set on the map 113 as described above.

For example, when the mobile robot 100 always reciprocates at two predetermined locations, the movement start position 33 and the destination 34 may be set in advance on the map 113. In this case, the route determination unit 101 can determine the movement route 35 without acquiring information indicating the movement start position and the destination from the outside.

The movement control unit 105 controls the movement of the mobile robot 100, that is, the movement of the automatic guided vehicle 2. The movement control unit 105 moves from the movement start position to the destination along the determined movement route with reference to the map 113 according to the movement start instruction. The movement start instruction may be received, for example, together with the above-mentioned information indicating the movement start position and the destination. In the case of this example, the mobile robot 100 starts moving when the movement start position 33, the destination 34, and the movement route 35 are set on the map 113.

The movement control unit 105 refers to the speed setting 112 stored in the storage unit 20 when starting the movement. The speed setting 112 includes, for example, information on a plurality of speeds. The plurality of speed information includes initial speed information indicating the speed at the start of movement of the automatic guided vehicle 2. The movement control unit 105 starts moving the automatic guided vehicle 2 at the speed (third speed) indicated by the initial speed information. In the present embodiment, it is assumed that the speed indicated by the initial speed information is the fastest speed among the speeds indicated by the plurality of speed information, but the magnitude of the speed indicated by the plurality of speed information is given in this example. Not limited.

Further, when an abnormality is detected in the movement of the automatic guided vehicle 2, the movement control unit 105 executes a process of preventing the abnormality from reoccurring while continuing the movement of the automatic guided vehicle. The details of this process will be described later.

The acceleration acquisition unit 102 acquires acceleration from the acceleration sensor 4. The acceleration acquisition unit 102 continuously acquires acceleration from, for example, the acceleration sensor 4, that is, acquires time-series data of acceleration. The acceleration acquisition unit 102 outputs the acquired acceleration to the FFT execution unit 103. In other words, the acceleration acquisition unit 102 can be expressed as acquiring time-series data of vibrations generated in the mobile robot 100.

The FFT execution unit 103 executes a fast Fourier transform (hereinafter referred to as “FFT”) based on the acquired acceleration. As a result, the FFT execution unit 103 identifies the spectral waveform from the time course of acceleration (vibration). From this spectral waveform, it is possible to specify the frequency included in the time course of acceleration and the amplitude of that frequency. The FFT execution unit 103 outputs the spectral waveform and the acquired time-series data of the acceleration to the abnormality determination unit 104.

Based on the acquired acceleration, the abnormality determination unit 104 detects the resonance or impact generated in the movement of the mobile robot 100, in other words, the automatic guided vehicle 2, as an abnormality. Specifically, the abnormality determination unit 104 determines whether or not resonance has occurred in the mobile robot 100 from the acquired spectral waveform. In addition, the abnormality determination unit 104 determines whether or not an impact is generated in the mobile robot 100 from the acquired time-series data of acceleration. Then, the abnormality determination unit 104 outputs an instruction based on the determination result to the movement control unit 105 and the map update unit 106. The details of the determination will be described later.

The map update unit 106 updates the map 113 based on the instruction from the abnormality determination unit 104. This process is a process for preventing the recurrence of the abnormality when an abnormality is detected in the movement of the automatic guided vehicle 2. The details of this process will be described later.

The notification unit 107 notifies the user of the mobile robot 100 via the communication device 5 in accordance with the instructions from the movement control unit 105 and the map update unit 106. Details of this notification will be described later.

(Manipulator 3)
As an example, the robot arm 11 includes a joint portion 12, a work grip portion 13, and a camera 14.

The joint portion 12 allows the robot arm 11 to rotate and bend in any direction. The number of joints 12 included in the robot arm 11 may be one or a plurality. Further, the end of the robot arm 11 on the side attached to the housing portion 15 is attached to the housing portion 15 in a rotatable and bendable state.

The work gripping portion 13 includes, for example, a vacuum pad capable of vacuum suctioning the work. By providing the vacuum pad, the work gripping portion 13 can realize gripping of the work. The mechanism provided by the work gripping portion 13 for realizing gripping of the work is not limited to the vacuum pad. The work gripping portion 13 may include, for example, a pair of claws for gripping the work.

The camera 14 includes a solid-state image sensor and a lens capable of three-dimensionally recognizing an image pickup target. As the solid-state image sensor, for example, a CCD (Charge Coupled Device) or a CMOS (Complementary Metal-Oxide Semiconductor) image sensor may be used. According to such a configuration, the spatial position of the work to be gripped can be accurately grasped. The camera 14 is not limited to the above example. For example, the camera 14 may include a solid-state image sensor and a lens capable of only capturing a two-dimensional image.

Further, the camera 14 may be provided not on the robot arm 11 provided with the work gripping portion 13, but on the robot arm dedicated to the camera 14. According to such a configuration, the transfer of the work and the imaging operation by the camera 14 can be performed independently.

The imaging information captured by the camera 14 is input to a control device (not shown) that controls the manipulator 3. The control device 1 may also serve as a control device for controlling the manipulator 3. Further, the imaging information may be stored in a storage unit included in a control device that controls the manipulator 3, or in a storage device (not shown). When the control device 1 controls the manipulator 3, the imaging information may be stored in the storage unit 20.

The manipulator 3 included in the mobile robot 100 is not limited to the one provided with the robot arm 11. That is, the user can install various manipulators 3 on the automatic guided vehicle 2 according to the purpose of use of the mobile robot 100.

§3 Operation example (flow of abnormal recurrence prevention processing)
FIG. 4 is a flowchart showing a part of an example of the flow of the abnormal recurrence prevention process executed by the control device 1. As a premise of the abnormality recurrence prevention process shown in FIG. 4, it is assumed that the mobile robot 100 is in the movement start position.

The route determination unit 101 determines a travel route, that is, a movement route (step S1, hereinafter, the description of "step" in parentheses is omitted). Specifically, when the route determination unit 101 receives the movement start instruction via the communication device 5, the route determination unit 101 starts moving to the map 113 based on the information indicating the movement start position and the destination included in the movement start instruction. The position 33 and the destination 34 are set. Further, the route determination unit 101 determines the movement route 35 from the movement start position 33 to the destination 34 and sets it on the map 113. When these settings on the map 113 are completed, the route determination unit 101 outputs a movement start instruction to the movement control unit 105.

When the movement control unit 105 acquires the movement start instruction, the movement control unit 105 starts the movement of the automatic guided vehicle 2 (S2). Specifically, the movement control unit 105 refers to the map 113 and moves the automatic guided vehicle 2 from the movement start position to the destination through the determined movement route. Further, the movement control unit 105 refers to the speed setting 112 and moves the automatic guided vehicle 2 at the speed indicated by the initial speed information.

When the movement of the automatic guided vehicle 2 is started, the acceleration acquisition unit 102 acquires the acceleration time series data (S3, acceleration acquisition step). The acceleration acquisition unit 102 outputs the acquired acceleration time series data to the FFT execution unit 103. The FFT execution unit 103 executes the FFT based on the acquired time-series data of the acceleration and calculates the main spectrum (S4). Specifically, the FFT execution unit 103 specifies the spectral waveform by executing the FFT. Then, the FFT execution unit 103 outputs the spectral waveform and the acquired time-series data of the acceleration to the abnormality determination unit 104.

The abnormality determination unit 104 determines whether or not the mobile robot 100 is in a resonance state based on the acquired spectral waveform (S5, detection step). Specifically, the abnormality determination unit 104 determines whether or not the acquired spectral waveform satisfies the following conditions (1) or (2). (1) There is only one main spectrum, and (2) there is only a spectrum with a multiple period. The condition (1) is a condition that there is only one main spectrum, which is a spectrum whose amplitude exceeds a predetermined first threshold value. In other words, the condition (1) is a condition indicating that resonance is occurring in the mobile robot 100. The predetermined first threshold value may be stored in the storage unit 20 as the acceleration threshold value 111. The condition (2) is a condition that all the spectra exceeding a predetermined first threshold value are spectra having a multiple period. In other words, condition (2) is a condition indicating that in vibration, only frequency components that strengthen each other are present. Both the conditions (1) and (2) are conditions indicating that there is a high possibility that resonance has occurred.

When it is determined that the resonance state is present (YES in S5), that is, when it is determined that the condition (1) or (2) is satisfied (YES in S5), the abnormality determination unit 104 gives an instruction to eliminate the resonance. Output to the movement control unit 105. The movement control unit 105 reduces the traveling speed of the automatic guided vehicle 2 according to the instruction (S6, processing execution step). Specifically, the movement control unit 105 changes the speed of the automatic guided vehicle 2 to the speed indicated by the deceleration information with reference to the speed setting 112. The deceleration information is one of a plurality of speed information. The speed indicated by the deceleration information is slower than the speed indicated by the initial speed information. The deceleration information may be information indicating a plurality of different speeds. In the case of this example, the movement control unit 105 selects a speed slower than the current speed and closest to the current speed from the deceleration information. Here, since the current speed is the speed indicated by the initial speed information, the movement control unit 105 selects the fastest speed among the plurality of speeds.

When the movement control unit 105 reduces the traveling speed of the automatic guided vehicle 2, it notifies the FFT execution unit 103 to that effect. Upon receiving the notification, the FFT execution unit 103 executes the FFT and calculates the main spectrum (S7). Then, the FFT execution unit 103 outputs the spectrum waveform to the abnormality determination unit 104.

The abnormality determination unit 104 determines whether or not the mobile robot 100 is in a resonance state (S8). That is, the abnormality determination unit 104 determines whether or not the resonance generated in the mobile robot 100 continues even after deceleration. Since the determination method is the same as the method described in step S5, the description will not be repeated here.

When it is determined that the resonance state is not present (NO in S8), that is, when the resonance generated in the mobile robot 100 is eliminated by deceleration, the abnormality determination unit 104 notifies the movement control unit that the resonance has been eliminated. Output to 105. Upon receiving the notification, the movement control unit 105 returns the traveling speed to the initial value, that is, the speed indicated by the initial speed information (S9) with reference to the speed setting 112.

While the automatic guided vehicle 2 is moving, the movement control unit 105 recognizes the current position of the automatic guided vehicle 2, in other words, the mobile robot 100, while referring to the map 113. That is, the movement control unit 105 determines whether or not the mobile robot 100 has reached the destination (goal) (S10). When the movement control unit 105 determines that the mobile robot 100 has reached the destination (YES in S10), the movement control unit 105 stops the mobile robot 100 and ends the abnormality recurrence prevention process. On the other hand, when it is determined that the mobile robot 100 has not reached the destination, that is, it is still moving (NO in S10), the movement control unit 105 continues the movement of the mobile robot 100. Further, the abnormal recurrence prevention process returns to step S3.

On the other hand, when it is determined in step S8 that the resonance state is present (YES in S8), the abnormality determination unit 104 outputs an instruction for eliminating the resonance to the movement control unit 105. The movement control unit 105 determines whether or not the traveling speed of the automatic guided vehicle 2 can be further reduced according to the instruction (S11). Specifically, the movement control unit 105 determines whether or not there is a speed slower than the current speed in the deceleration information with reference to the speed setting 112. When it is determined that deceleration is possible (YES in S11), that is, when it is determined in the deceleration information that there is a speed even slower than the current speed, the abnormality recurrence prevention process returns to step S6. That is, the movement control unit 105 further reduces the traveling speed of the automatic guided vehicle 2.

On the other hand, when deceleration is not possible (NO in S11), that is, when it is determined in the deceleration information that there is no speed slower than the current speed, the movement control unit 105 stops the automatic guided vehicle 2 and the user of the mobile robot 100. Is instructed to the notification unit 107 (S12). This notification is a notification indicating that the resonance cannot be eliminated. The notification unit 107 executes the notification to the user according to the instruction from the movement control unit 105. Then, the abnormal recurrence prevention process is completed.

For example, the notification unit 107 transmits notification information to the user's terminal device via the communication device 5. As a result, the terminal device can notify the user that the resonance cannot be eliminated and the mobile robot 100 is stopped. The notification method executed by the terminal device is not particularly limited. For example, the terminal device may display a text or an image indicating that the mobile robot 100 has been stopped because the resonance cannot be eliminated on the display unit of the terminal device. Further, for example, the terminal device may, in addition to or in addition to this display, output sound from the sound output unit provided in the own device, or may light or blink the lighting unit provided in the own device. Good.

Further, the process executed by the notification unit 107 is not limited to the transmission of the notification information to the user's terminal device. For example, the notification unit 107 may output voice from a voice output unit (not shown) included in the mobile robot 100, or may light or blink a lighting unit (not shown) included in the mobile robot 100. That is, the method of notifying the user is not particularly limited as long as the user can recognize that a problem has occurred in the mobile robot 100.

When it is determined in step S5 that the resonance state is not present (NO in S5), the abnormality determination unit 104 specifies the absolute value of the acceleration in the acquired time series data of the acceleration (S13). Then, the abnormality determination unit 104 determines whether or not there is an absolute value exceeding a predetermined second threshold value among the absolute values of the specified acceleration (S14, detection step). In other words, the abnormality determination unit 104 determines whether or not an impact has occurred on the mobile robot 100. The predetermined second threshold value is stored in the storage unit 20 as the acceleration threshold value 111. When it is determined that there is an absolute value exceeding a predetermined second threshold value (YES in S14), the abnormal recurrence prevention process proceeds to “A” shown in FIG. When it is determined that there is no absolute value exceeding a predetermined second threshold value (NO in S14), the abnormal recurrence prevention process proceeds to step S10.

FIG. 5 is a flowchart showing a part of an example of the flow of the abnormal recurrence prevention process executed by the control device 1. Specifically, FIG. 5 is a flowchart showing the processes after “A” shown in FIG.

When it is determined that there is an absolute value exceeding a predetermined second threshold value (YES in S14), the abnormality determination unit 104 outputs an instruction for preventing the recurrence of the impact to the map update unit 106. According to the instruction, the map update unit 106 records the point (abnormality occurrence position) at which the acceleration exceeding the second threshold value is acquired on the map 113 (S15). As an example, the map update unit 106 identifies the point where the acceleration exceeding the second threshold value is acquired based on the current position and speed of the mobile robot 100 and the time when the acceleration exceeding the second threshold value is acquired. To do.

FIG. 6 is a diagram showing an example of updating the map 113 and the movement route. The map update unit 106 adds the recorded point to the travel prohibited area (S16, process execution step). For example, as shown in FIG. 6A, the map update unit 106 adds the recorded point to the map 113 as a new travel prohibited area 32A. Then, the map update unit 106 instructs the route determination unit 101 to determine the movement route based on the updated map 113.

The route determination unit 101 determines whether or not a new movement route that does not pass through the travel prohibited area 32A can be created according to the instruction (S17). When it is determined that the creation is possible (YES in S17), the abnormal recurrence prevention process proceeds to “B” shown in FIG. That is, the abnormal recurrence prevention process proceeds to step S10 of FIG.

On the other hand, when it is determined that the creation is impossible (NO in S17), the abnormal recurrence prevention process proceeds to "C" shown in FIG. That is, the abnormal recurrence prevention process proceeds to step S12 of FIG. Specifically, the route determination unit 101 notifies the map update unit 106 that the travel route cannot be created, as an example. Upon receiving the notification, the map updating unit 106 instructs the movement control unit 105 to stop the automatic guided vehicle 2, and further instructs the notification unit 107 to notify the user of the mobile robot 100 (S12). This notification is a notification indicating that the occurrence of an impact cannot be avoided in the next movement. The notification unit 107 executes the notification to the user according to the instruction from the map update unit 106. Then, the abnormal recurrence prevention process is completed.

[Action / Effect]
As described above, the control device 1 according to the present embodiment acquires the acceleration generated in the movement of the automatic guided vehicle 2, and based on the acceleration, at least one of the resonance and the impact generated in the movement of the automatic guided vehicle 2 is obtained. Detect as an abnormality. When the control device 1 detects an abnormality, the control device 1 executes a process of preventing the occurrence of the abnormality while continuing the movement of the automatic guided vehicle 2. As a result, the control device 1 can automatically solve the problem that has occurred in the automatic guided vehicle.

As an example, the control device 1 reduces the moving speed of the automatic guided vehicle 2 when it detects the occurrence of resonance. As a result, the value of the acceleration generated in the mobile robot 100 changes, so that the control device 1 can eliminate the generated resonance.

Further, as an example, when the control device 1 determines that the resonance continues in the movement at the speed after deceleration, the automatic guided vehicle 2 is stepwise operated until it is determined that the resonance does not continue. Decelerate. As a result, the control device 1 can suppress the decrease in speed, so that the decrease in work efficiency of the mobile robot 100 can be suppressed.

Further, as an example, when it is determined that the resonance does not continue in the movement at the speed after deceleration, the control device 1 returns the movement speed of the automatic guided vehicle 2 to the speed indicated by the initial speed information. As a result, the control device 1 can suppress the decrease in speed, so that the decrease in work efficiency of the mobile robot 100 can be suppressed.

Further, as an example, when the control device 1 detects the occurrence of an impact on the mobile robot 100, the control device 1 adds the point to the travel prohibited area 32 on the map 113. As a result, the route determination unit 101 of the control device 1 determines a new movement route that does not pass through the travel prohibited area 32 in the next movement. For example, suppose that the mobile robot 100 finishes the work at the destination and returns to the movement start position. In this case, the route determination unit 101 determines a new movement path 35A, for example, as in the example of FIG. 6B, instead of the previous movement path, that is, the movement path where the impact occurred. As a result, the mobile robot 100 does not pass through the position where the impact is generated in the next movement, so that the impact can be prevented from being generated again.

§4 Modifications Although the embodiments of the present invention have been described in detail above, the above description is merely an example of the present invention in all respects. Needless to say, various improvements and modifications can be made without departing from the scope of the present invention. For example, the following changes can be made. In the following, the same reference numerals will be used for the same components as those in the above embodiment, and the same points as in the above embodiment will not be repeated. In addition, the following modifications can be combined as appropriate.

<4.1>
FIG. 7 is a flowchart showing a part of another example of the flow of the abnormal recurrence prevention process executed by the control device 1.

FIG. 8 is a flowchart showing a part of another example of the flow of the abnormal recurrence prevention process executed by the control device 1. Specifically, FIG. 8A is a flowchart showing the processing after “D” shown in FIG. 7. Further, FIG. 8B is a flowchart showing the processing after “E” shown in FIG. 7.

The flow of the abnormal recurrence prevention process executed by the control device 1 according to the present disclosure may be, for example, those shown in FIGS. 7 and 8. Since steps S21 to S25 shown in FIG. 7 are steps for executing the same processing as steps S1 to S5 shown in FIG. 4, the description is not repeated here.

If NO in step S25, the abnormality determination unit 104 specifies the absolute value of acceleration in the acquired time series data of acceleration (S32). Then, the abnormality determination unit 104 determines whether or not there is an absolute value exceeding a predetermined second threshold value among the absolute values of the specified accelerations (S33). Since these processes are the same processes as steps S13 and S14 shown in FIG. 4, the detailed description thereof will not be repeated.

When it is determined that there is no absolute value exceeding a predetermined second threshold value (NO in S33), the abnormality determination unit 104 notifies the movement control unit 105 to that effect. Then, the abnormal recurrence prevention process proceeds to step S35. Since step S35 is a step of executing the same process as step S10 shown in FIG. 4, the description is not repeated here.

On the other hand, when it is determined that there is an absolute value exceeding a predetermined second threshold value (YES in S33), the abnormality determination unit 104 refers to the map 113, and the area where the mobile robot 100 is moving is an automatic guided vehicle. It is determined whether or not it is a deceleration area in which 2 is decelerated and the vehicle passes through (S34). When it is determined that the area is not in the deceleration area (NO in S34), the abnormality recurrence prevention process proceeds to “D” shown in FIG. When the mobile robot 100 enters the deceleration area, the movement control unit 105, for example, changes the moving speed of the automatic guided vehicle 2 from the speed indicated by the initial speed information (first speed) to the speed indicated by the deceleration information (first speed). Change to 2 speeds) to move the mobile robot 100.

When it is determined that the area is not in the deceleration area (NO in S34), the abnormality determination unit 104 outputs an instruction for preventing the recurrence of the impact to the map update unit 106. According to the instruction, the map update unit 106 records the point at which the acceleration exceeding the second threshold value is acquired on the map 113 (S36).

FIG. 9 is a diagram showing an example of updating the map 113 and the movement route. The map update unit 106 adds the recorded point to the deceleration area (S37). For example, as shown in FIG. 9A, the map update unit 106 adds the recorded point to the map 113 as a new deceleration area 36. Then, the abnormal recurrence prevention process proceeds to “F” shown in FIG. 8 (a). That is, the abnormal recurrence prevention process proceeds to step S35 of FIG.

On the other hand, if it is determined in step S34 that it is a deceleration area (YES in S34), the abnormality recurrence prevention process proceeds to “E” shown in FIG.

When it is determined that the deceleration area is determined (YES in S34), the abnormality determination unit 104 outputs an instruction for changing the method of preventing the recurrence of the impact to the map update unit 106. The map update unit 106 changes the deceleration area to the travel prohibited area according to the instruction (S38). Then, the map update unit 106 instructs the route determination unit 101 to determine the movement route based on the updated map 113.

The route determination unit 101 determines whether or not a new movement route that does not pass through the travel prohibited area can be created according to the instruction (S39). When it is determined that the creation is possible (YES in S39), the abnormal recurrence prevention process proceeds to “F” shown in FIG. That is, the abnormal recurrence prevention process proceeds to step S35 of FIG.

On the other hand, when it is determined that the creation is impossible (NO in S39), the abnormal recurrence prevention process proceeds to “G” shown in FIG. That is, the route determination unit 101 notifies the map update unit 106 that, as an example, the travel route cannot be created. Upon receiving the notification, the map updating unit 106 instructs the movement control unit 105 to stop the automatic guided vehicle 2, and further instructs the notification unit 107 to notify the user of the mobile robot 100 (S31). This notification is a notification indicating that the generation of impact, specifically, the generation of acceleration equal to or higher than the second threshold value cannot be avoided in the next movement. The notification unit 107 executes the notification to the user according to the instruction from the map update unit 106. Then, the abnormal recurrence prevention process is completed. Since the details of the notification process executed by the notification unit 107 have already been described in the above-described embodiment, the description will not be repeated here.

If YES in step S25, the abnormality determination unit 104 determines whether or not the area in which the mobile robot 100 is moving is a deceleration area with reference to the map 113 (S26). When it is determined that the area is not the deceleration area (NO in step S26), the abnormality determination unit 104 outputs an instruction for eliminating the resonance to the movement control unit 105. The movement control unit 105 reduces the traveling speed of the automatic guided vehicle 2 according to the instruction (S27). When the movement control unit 105 reduces the traveling speed of the automatic guided vehicle 2, it notifies the FFT execution unit 103 to that effect. Upon receiving the notification, the FFT execution unit 103 executes the FFT and calculates the main spectrum (S28). Then, the FFT execution unit 103 outputs the spectrum waveform to the abnormality determination unit 104. The abnormality determination unit 104 determines whether or not the mobile robot 100 is in a resonance state (S29). That is, the abnormality determination unit 104 determines whether or not the resonance generated in the mobile robot 100 continues even after deceleration. Since these processes are the same as steps S6 to S8 shown in FIG. 4, the detailed description thereof will not be repeated.

When it is determined that the resonance state is not present (NO in S29), that is, when the resonance generated in the mobile robot 100 is eliminated by deceleration, the abnormality determination unit 104 sends a notification indicating that the resonance has been eliminated to the map update unit. Output to 106. Then, the abnormal recurrence process proceeds to “D” shown in FIG. That is, the map update unit 106 records the points at which the acceleration satisfying the condition (1) or (2) is acquired on the map 113 according to the instruction (S36). Then, the map update unit 106 adds the recorded point to the deceleration area (S37). Then, the abnormal recurrence prevention process proceeds to “F” shown in FIG. 8 (a). That is, the abnormal recurrence prevention process proceeds to step S35 of FIG.

In step S29, the processing when it is determined that the resonance state is present (YES in S29), that is, the processing in steps S30 and S31 is the same as the processing in steps S11 and S12 shown in FIG. Do not repeat the explanation.

If it is determined in step S26 that the area is in the deceleration area (YES in step S26), the abnormal recurrence process proceeds to “E” shown in FIG. That is, the abnormal recurrence process proceeds to the flowchart shown in FIG. 8B.

[Action / Effect]
As an example, when the control device 1 according to this modification detects the occurrence of resonance or impact in the mobile robot 100, the point is added to the deceleration area 36 on the map 113. For example, suppose that the mobile robot 100 finishes the work at the destination and returns to the movement start position. In this case, the route determination unit 101 determines the same movement route 35 as the previous movement route, as shown in (b) of FIG. 9, for example, unlike the case where the point is added to the travel prohibited area 32. .. However, the control device 1 decelerates the automatic guided vehicle 2 when passing through the point in this movement. As a result, the value of acceleration changes, and the occurrence of resonance can be suppressed. Further, since the control device 1 decelerates the automatic guided vehicle 2 when passing through the point, the impact on the mobile robot 100 can be mitigated. The impact is, for example, an impact caused by contact between the mobile robot 100 and an obstacle.

Further, as an example, when the control device 1 detects the occurrence of resonance or impact while decelerating and traveling the automatic guided vehicle 2, the relevant point, that is, the deceleration area 36 is moved to the prohibited area 32 on the map 113. Update to. As a result, the route determination unit 101 of the control device 1 determines a new movement route that does not pass through the travel prohibited area 32 in the next movement. For example, suppose that the mobile robot 100 moves from the movement start position to the destination again. In this case, the path determining unit 101 is not the previous moving path, that is, the moving path in which the resonance is not eliminated or the impact is not relaxed, but the new moving path 35A as in the example of FIG. 6B, for example. To determine. As a result, the mobile robot 100 does not pass through the position where the resonance or the impact is generated in the next movement, so that the resonance or the impact can be prevented from being generated again.

<4.2>
FIG. 10 is a diagram showing another example of the appearance of the mobile robot 100 according to the present embodiment. The installation position of the acceleration sensor 4 is not limited to the automatic guided vehicle 2. For example, as shown in FIG. 9, the acceleration sensor 4 may be provided on the mounting table 16.

As a result, the control device 1 can more accurately acquire the acceleration generated on the mounting table 16 and the transportation object (for example, the work) mounted on the mounting table 16. That is, the control device 1 can accurately detect an abnormality such as the occurrence of vibration in the object to be transported. As a result, it is possible to accurately detect a situation in which the object to be transported is likely to be damaged due to dropping or the like, and prevent the object to be transported from being damaged.

In this modified example, the installation position of the acceleration sensor 4 is not limited to the position shown in FIG. That is, in this modification, the installation position of the acceleration sensor 4 may be a position where the acceleration generated on the mounting table 16 can be acquired. For example, the acceleration sensor 4 is installed at a position different from the mounting table 16. May be done.

<4.3>
In the above embodiment, the control device 1 is integrated with the mobile robot 100. On the other hand, the control device 1 may be a device separate from the mobile robot 100. For example, the control device 1 may be any one of a management server that performs production management and the like, a controller that controls the device of the production line, and a terminal device capable of wireless communication with the mobile robot 100.

<4.4>
In the above embodiment, the control device 1 acquires the acceleration from the acceleration sensor 4 provided in the mobile robot 100. On the other hand, the control device 1 may acquire the acceleration calculated from the physical quantity measured by the sensor or the like provided in the mobile robot 100. The physical quantity may be any physical quantity that can calculate acceleration, such as displacement and velocity. The calculation of the acceleration may be executed by the control device 1, or may be executed by a device different from the control device 1 and the calculated acceleration may be transmitted to the control device 1.

<4.5>
In the above embodiment, the control device 1 has a configuration capable of detecting both the resonance and the impact generated in the movement of the mobile robot 100 as abnormalities. On the other hand, the control device 1 may be configured to be able to detect only either resonance or impact as an abnormality.

<4.6>
The control device 1 may store the acquired time-series data of acceleration in the storage unit 20. As a result, it is possible to later identify when an abnormality such as resonance or impact generated in the mobile robot 100 has occurred. As a result, it is possible to improve the possibility of identifying the cause in the unlikely event that the manipulator 3 or the object to be transported is damaged.

[Example of realization by software]
The control block (control unit 10) of the control device 1 may be realized by a logic circuit (hardware) formed in an integrated circuit (IC chip) or the like, or may be realized by software.

In the latter case, the control device 1 includes a computer that executes instructions of a program that is software that realizes each function. The computer includes, for example, one or more processors and a computer-readable recording medium that stores the program. Then, in the computer, the processor reads the program from the recording medium and executes it, thereby achieving the object of the present invention. As the processor, for example, a CPU (Central Processing Unit) can be used. As the recording medium, in addition to a "non-temporary tangible medium" such as a ROM (Read Only Memory), a tape, a disk, a card, a semiconductor memory, a programmable logic circuit, or the like can be used. Further, a RAM (Random Access Memory) for expanding the above program may be further provided. Further, the program may be supplied to the computer via an arbitrary transmission medium (communication network, broadcast wave, etc.) capable of transmitting the program. It should be noted that one aspect of the present invention can also be realized in the form of a data signal embedded in a carrier wave, in which the above program is embodied by electronic transmission.

The present invention is not limited to the above-described embodiments, and various modifications can be made within the scope of the claims, and the embodiments obtained by appropriately combining the technical means disclosed in the different embodiments. Is also included in the technical scope of the present invention.

1 Control device 2 Automatic guided vehicle 3 Manipulator (mounting object)
20 Storage unit (storage device)
101 Route determination unit (Route determination unit)
102 Acceleration acquisition unit 104 Abnormality determination unit (detection unit, judgment unit)
105 Movement control unit (processing execution unit)
106 Map update section (processing execution section)
S3 Acceleration acquisition step S5, S14 Detection step S6, S16 Processing execution step

Claims (11)

It is a control device that controls an automatic guided vehicle that carries an object and moves to the destination.
An acceleration acquisition unit that acquires the acceleration generated during the movement of the automatic guided vehicle, and
Based on the acquired acceleration, a detection unit that detects at least one of the resonance and impact generated in the movement of the automatic guided vehicle as an abnormality, and
A control device including a processing execution unit that executes a process of preventing the occurrence of the abnormality while continuing the movement of the automatic guided vehicle when the abnormality is detected. Prior to the movement, a route determination unit for determining the movement route to the destination is further provided.
The processing execution unit stores the abnormality occurrence position where the abnormality is detected in the storage device, and stores the abnormality occurrence position.
The control device according to claim 1, wherein the route determination unit determines a movement route that does not pass through the abnormality occurrence position as the movement route. The processing execution unit
The location where the abnormality is detected is stored in the storage device,
When passing through the abnormality occurrence position after the occurrence of the abnormality is detected, the automatic guided vehicle is moved at a second speed slower than the first speed set as the movement speed when the abnormality does not occur. Item 1. The control device according to item 1. Prior to the movement, a route determination unit for determining the movement route to the destination is further provided.
When the abnormality is detected again while the automatic guided vehicle is being moved at the second speed at the abnormality occurrence position, the processing execution unit sets the abnormality occurrence position stored in the storage device. Updated to a closed position where automatic guided vehicles cannot pass,
The control device according to claim 3, wherein the route determining unit determines a moving route that does not pass through the prohibited position as the moving route. The control device according to any one of claims 1 to 4, wherein when the resonance is detected, the processing execution unit decelerates the moving speed of the automatic guided vehicle from the third speed, which is the current speed. .. Further provided with a determination unit for determining whether or not the resonance continues when moving at a speed after deceleration.
The control according to claim 5, wherein when it is determined that the resonance is continuing, the processing execution unit gradually decelerates the automatic guided vehicle until it is determined that the resonance is not continuing. apparatus. Further provided with a determination unit for determining whether or not the resonance continues when moving at a speed after deceleration.
The control device according to claim 5 or 6, wherein the processing execution unit returns the moving speed of the automatic guided vehicle to the third speed when it is determined that the resonance does not continue. The above-mentioned figurines include objects to be transported to the destination.
The object to be transported is placed on a mounting portion provided on the automatic guided vehicle or the above-mentioned figurine other than the object to be transported.
The control device according to any one of claims 1 to 7, wherein the acceleration acquisition unit acquires the acceleration generated in the above-described stationary unit. An automatic guided vehicle provided with the control device according to any one of claims 1 to 8. It is a control method for automatic guided vehicles that move by placing objects on them.
An acceleration acquisition step for acquiring the acceleration generated in the movement of the automatic guided vehicle, and
A detection step that detects at least one of the resonance and the impact generated in the movement of the automatic guided vehicle as an abnormality based on the acquired acceleration.
A control method including a process execution step of executing a process of preventing the occurrence of an abnormality while continuing the movement of the automatic guided vehicle when the abnormality is detected. A control program for operating a computer as the control device according to claim 1, wherein the computer functions as the acceleration acquisition unit, the detection unit, and the processing execution unit.

Images