JP2021086196A - 搬送システム、搬送方法およびプログラム - Google Patents
搬送システム、搬送方法およびプログラム Download PDFInfo
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Abstract
Description
図1を参照して実施の形態1にかかる搬送システムについて説明する。搬送システムは、所定の領域内を自律移動する搬送ロボットが被搬送物を収容したワゴンを搬送する。図1は、実施の形態1にかかる搬送システムの概観図である。図1に示す搬送システム10は、搬送システムの一実施態様である。搬送システム10は、例えば病院などの施設内で、患者の食事を厨房から搬送したり、患者が食事をした後の食器を厨房に搬送したり、衣類やベッドリネンなどを予め設定された場所に搬送すること等ができる。搬送システム10は、主な構成として、操作装置100、搬送ロボット200およびワゴン300を有している。
次に、図12を参照して実施の形態2について説明する。実施の形態2にかかる搬送システムは、操作装置100がエレベータ500にも通信可能に接続している点が実施の形態1と異なる。図12は、実施の形態2にかかる搬送システムのブロック図である。図12に示す搬送システム20は、操作装置100、搬送ロボット200およびエレベータ500を有している。エレベータ500は、搬送ロボット200が自律移動する施設内に設置されている。搬送ロボット200は、エレベータ500を利用して施設のフロアを跨いだ移動を行う。
100 操作装置
110 演算処理部
111 システム制御部
112 情報受付部
113 設定部
120 操作受付部
121 表示部
130 IDセンサ
140 記憶部
150 通信部
200 搬送ロボット
210 本体ブロック
211 昇降部
212 測距センサ
213 駆動輪
214 従動輪
215 スピーカ
220 ハンドルブロック
221a 柱状部材
221b グリップ部
222 停止ボタン
230 制御ブロック
240 搬送動作処理部
241 駆動制御部
250 センサ群
251 昇降駆動部
252 移動駆動部
253 警告発信部
260 記憶部
300 ワゴン
301 フレーム
302 底板
310 棚板
320 キャスタ
400 被搬送物
500 エレベータ
510 エレベータ制御部
520 センサ群
521 籠昇降駆動部
522 ドア駆動部
523 操作ボタン
524 記憶部
530 通信部
Claims (11)
- 被搬送物を搬送するための搬送装置と、
前記搬送装置の動作を制御する制御部と、
搬送状態における前記被搬送物の安定度を示す安定度情報についてユーザからの入力を受け付ける情報受付部と、
受け付けた前記安定度情報に基づいて前記制御部に前記搬送装置の動作パラメータを設定する設定部と、を備える
搬送システム。 - 前記情報受付部は、ユーザに前記安定度を選択させるための選択肢を提示するとともに、前記ユーザにより選択された前記選択肢を前記入力として受け付ける
請求項1に記載の搬送システム。 - 前記搬送装置は、予め設定された領域内を自律移動する搬送ロボットである
請求項1または2に記載の搬送システム。 - 前記設定部は、前記搬送ロボットの移動加速度または前記搬送ロボットが通行する移動経路の少なくともいずれか一方を前記動作パラメータとして設定する
請求項3に記載の搬送システム。 - 前記搬送ロボットは、前記搬送ロボットの周辺に存在する物体を検出する物体センサを有し、
前記設定部は、前記物体センサの検出範囲を前記動作パラメータとして設定する
請求項3に記載の搬送システム。 - 前記搬送ロボットは、前記搬送ロボットの周辺に前記被搬送物を搬送していることを通知する通知装置を有し、
前記設定部は、前記通知装置の通知レベルを前記動作パラメータとして設定する
請求項3に記載の搬送システム。 - 前記搬送ロボットは、前記被搬送物が収容されるワゴンを昇降させるための昇降機構を有し、
前記設定部は、前記昇降機構の昇降加速度を前記動作パラメータとして設定する
請求項3に記載の搬送システム。 - 前記情報受付部は、前記ワゴンに設けられており、
前記ワゴンは、受け付けた前記安定度情報を、前記設定部に送信する
請求項7に記載の搬送システム。 - 前記搬送装置は、予め設定された領域内において自律移動により前記被搬送物を搬送する搬送ロボットを昇降させるエレベータであり、
前記設定部は、前記エレベータの移動加速度を前記動作パラメータとして設定する
請求項1または2に記載の搬送システム。 - 被搬送物を搬送するための搬送装置の動作を制御する搬送方法であって、
搬送状態における前記被搬送物の安定度を示す安定度情報についてユーザからの入力を受け付ける情報受付ステップと、
受け付けた前記安定度情報に基づいて前記搬送装置の動作パラメータを設定する設定ステップと、
設定した前記動作パラメータにより前記搬送装置を制御する制御ステップと、を備える
搬送方法。 - 被搬送物を搬送するための搬送装置の動作を制御する制御方法をコンピュータに実行させるプログラムであって、
搬送状態における前記被搬送物の安定度を示す安定度情報についてユーザからの入力を受け付ける情報受付ステップと、
受け付けた前記安定度情報に基づいて前記搬送装置の動作パラメータを設定する設定ステップと、
設定した前記動作パラメータにより前記搬送装置を制御する制御ステップと、を備える
を備える
プログラム。
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JP2019212380A JP7188363B2 (ja) | 2019-11-25 | 2019-11-25 | 搬送システム、搬送方法およびプログラム |
US17/097,061 US20210155464A1 (en) | 2019-11-25 | 2020-11-13 | Conveyance system, conveyance method, and program |
CN202011318667.8A CN112947404A (zh) | 2019-11-25 | 2020-11-23 | 搬运系统、搬运方法及存储介质 |
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JP2019087073A (ja) * | 2017-11-08 | 2019-06-06 | オムロン株式会社 | 移動式マニピュレータ、移動式マニピュレータの制御方法及びプログラム |
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- 2020-11-23 CN CN202011318667.8A patent/CN112947404A/zh active Pending
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US20210155464A1 (en) | 2021-05-27 |
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