JP2023009850A - Mobile robot arrival notification system, facility, and mobile robot arrival notification method - Google Patents

Abstract

To provide a mobile robot arrival notification system which can secure the safety of workers while suppressing a decrease in work efficiency of workers and a mobile robot.SOLUTION: A mobile robot arrival notification system 1 comprises: a notification command unit 15 for determining whether or not a facility 40 satisfies a first condition regarding the arrival of a mobile robot 50, on the basis of movement information regarding the movement of the mobile robot 50; a notification unit (e.g., a touch panel display installed in the facility 40) for notifying the facility 40 that the mobile robot 50 will soon arrive when it is determined that the facility 40 satisfies the first condition; an input unit (e.g., a touch panel display installed in the facility 40) to which is inputted a command for changing the work content of the mobile robot 50 when the facility 40 is notified to the effect that the mobile robot 50 will soon arrive; and a work indication unit 22 for controlling the mobile robot 50 in accordance with the inputted command.SELECTED DRAWING: Figure 2

Description

The present disclosure relates to a mobile robot arrival notification system, equipment, and mobile robot arrival notification method for notifying the arrival of a mobile robot.

Patent Literature 1 discloses a component mounting system capable of reducing the work of a worker involved in component replacement work.

JP 2017-216379 A

In the component mounting system disclosed in Patent Document 1, there is a demand for automation of work, and mobile robots that move to facilities and perform work have been introduced. On the other hand, it is difficult to automate all the processes using a mobile robot or the like, and workers often work in parallel on the floor where the equipment is installed. When a worker and a mobile robot work on the same floor, trying to ensure the safety of the worker may reduce the working efficiency of the worker and the mobile robot.

Accordingly, the present disclosure provides a mobile robot arrival notification system and the like that can ensure worker safety while suppressing a decrease in work efficiency of the worker and the mobile robot.

A mobile robot arrival notification system according to an aspect of the present disclosure is a mobile robot arrival notification system that manages equipment and a mobile robot that moves to the equipment and performs work, and includes movement information related to movement of the mobile robot. a first determination unit for determining whether or not the facility satisfies a first condition regarding the arrival of the mobile robot, based on the A notification unit for notifying that the mobile robot will arrive soon, and an input unit for inputting a command to change the work content of the mobile robot when the facility is notified that the mobile robot will soon arrive. and a control unit that controls the mobile robot in accordance with the input command.

It should be noted that these general or specific aspects may be realized by systems, devices, methods, recording media, or computer programs, and any combination of systems, devices, methods, recording media, and computer programs. may be implemented with

According to the mobile robot arrival notification system and the like according to the present disclosure, it is possible to ensure the safety of the worker while suppressing a decrease in work efficiency of the worker and the mobile robot.

1 is a diagram showing an application example of a mobile robot arrival notification system according to an embodiment; FIG. 1 is a configuration diagram showing an example of a mobile robot arrival notification system according to an embodiment; FIG. It is a figure which shows an example of a passage time table or an arrival time table. It is a figure which shows an example of equipment management information. It is a figure which shows an example of a notification part and an input part. 7 is a flow chart showing an example of the operation of the mobile robot arrival notification system according to the embodiment at the time of notification. 4 is a flow chart showing an example of the operation after notification of the mobile robot arrival notification system according to the embodiment;

A mobile robot arrival notification system according to the present disclosure is a mobile robot arrival notification system that manages a facility and a mobile robot that moves to the facility to perform work, and based on movement information regarding the movement of the mobile robot, a first determination unit for determining whether the facility satisfies a first condition regarding the arrival of the mobile robot; and if it is determined that the facility satisfies the first condition, the mobile robot will soon arrive at the facility. and an input unit for inputting a command for changing the work content of the mobile robot when it is notified that the mobile robot will soon arrive at the facility. and a control unit for controlling the mobile robot according to the command.

According to this, it is notified that the mobile robot will soon arrive at the facility that satisfies the first condition regarding the arrival of the mobile robot (for example, the condition for the mobile robot to arrive soon). Therefore, the worker working at the facility can recognize that the mobile robot will soon arrive at the facility, and can prepare for the arrival of the mobile robot in advance, so that the safety of the worker can be ensured. can. In addition, since the worker can concentrate on the work until it is notified that the mobile robot will arrive soon, it is possible to suppress the deterioration of the work efficiency of the worker. In addition, after the notification is given, the worker will pay attention to the mobile robot that will arrive soon and, for example, keep a distance from the mobile robot. A decrease in robot work efficiency can be suppressed. Furthermore, when the worker who is working wants to continue working, he can input a command to change the work content of the mobile robot, and can continue working without being disturbed by the mobile robot. A decrease in efficiency can be suppressed. In this way, it is possible to ensure the safety of the worker while suppressing the deterioration of the working efficiency of the worker and the mobile robot.

Also, the command may include information for stopping the mobile robot.

According to this, the mobile robot can be stopped and the worker can finish the work in the meantime.

Also, the command may include information for causing the mobile robot to wait at a specific position.

For example, the aisle between lines may be narrow, and if a mobile robot stops in the aisle, it may interfere with the passage of workers or other mobile robots. Therefore, it is possible to stop the mobile robot so as not to interfere with the passage of workers or other mobile robots by having the mobile robot stand by at a specific position that does not interfere with the passage of workers or other mobile robots. can.

Also, the command may include information for moving the mobile robot to a facility different from the facility.

According to this, it is possible to cause the mobile robot to work first on the equipment that was scheduled to work next.

The mobile robot arrival notification system further comprises a work information changing section for changing work information indicating work content of the mobile robot according to the command, and the control section changes the work information based on the changed work information. to control the mobile robot.

In this way, the work content of the mobile robot can be changed.

Further, the first determination unit calculates the remaining time until the mobile robot arrives at the facility based on arrival time information indicating when the mobile robot will arrive at the facility as the movement information. Alternatively, it may be determined whether or not the equipment satisfies the first condition by determining whether or not the remaining time until the mobile robot reaches the equipment is equal to or less than a predetermined time.

According to this, when the remaining time until the mobile robot arrives at the facility is equal to or shorter than the predetermined time, it is possible to notify that the mobile robot will soon arrive at the facility.

The first determination unit determines whether or not the mobile robot has passed through a specific point based on the current position information of the mobile robot as the movement information, so that the facility satisfies the first condition. It may be determined whether or not the condition is satisfied.

According to this, when the mobile robot passes through the specific point, it is possible to notify that the mobile robot will soon arrive at the facility.

The first determination unit determines whether or not the mobile robot has departed from a specific point based on the current position information of the mobile robot as the movement information, so that the facility satisfies the first condition. It may be determined whether or not the condition is satisfied.

According to this, when the mobile robot departs from the specific point, it is possible to inform the equipment that the mobile robot will soon arrive.

A facility of the present disclosure is a facility in a mobile robot arrival notification system that manages a facility and a mobile robot that moves to the facility and performs work, wherein the facility is determined to satisfy a first condition regarding the arrival of the mobile robot, a notification unit for notifying that the mobile robot will soon arrive at the facility, and notifying that the mobile robot will soon arrive at the facility. an input unit for inputting a command for changing the work content of the mobile robot when the command is input.

According to this, it is possible to provide equipment that can ensure the safety of the worker while suppressing the deterioration of the working efficiency of the worker and the mobile robot.

A mobile robot arrival notification method of the present disclosure is a mobile robot arrival notification method executed by a mobile robot arrival notification system that manages a facility and a mobile robot that moves to and performs work on the facility, the mobile robot arrival notification method comprising: a first determination step of determining whether or not the equipment satisfies a first condition regarding the arrival of the mobile robot, based on the movement information regarding the movement of the mobile robot; a notification step of notifying that the mobile robot will soon arrive at the facility; and when the facility is notified that the mobile robot will soon arrive, a command for changing the work content of the mobile robot. An input step of inputting and a control step of controlling the mobile robot according to the input command.

According to this, it is possible to provide a mobile robot arrival notification method that can ensure the safety of the worker while suppressing the deterioration of the work efficiency of the worker and the mobile robot.

It should be noted that the embodiments described below are all comprehensive or specific examples. Numerical values, shapes, materials, components, arrangement positions and connection forms of components, steps, order of steps, and the like shown in the following embodiments are examples, and are not intended to limit the present disclosure.

(Embodiment)
An embodiment will be described below with reference to FIGS. 1 to 7. FIG.

FIG. 1 is a diagram showing an application example of a mobile robot arrival notification system 1 according to an embodiment. The mobile robot arrival notification system 1 is a system that manages a plurality of facilities and a plurality of mobile robots that move to any one of the facilities and perform work. Note that when focusing on a certain piece of equipment and a certain piece of a mobile robot that moves to the equipment and performs work, the mobile robot arrival notification system 1 includes the equipment and the mobile robot that moves to the equipment and performs the work. It can be said that it is a system that manages The mobile robot arrival notification system 1 is applied, for example, to a floor provided with a plurality of facilities, a plurality of mobile robots, and a parts warehouse where parts used in the plurality of facilities are stored.

A plurality of facilities are provided in the production area on the floor. In FIG. 1, facilities 40a-40l are shown as a plurality of facilities. For example, the facilities 40a-40d constitute one line, the facilities 40e-40h constitute one line, and the facilities 40i-40l constitute one line. In the following, the facilities 40a to 40l are collectively referred to as the facility 40 as well. The facility 40 is a component mounting device, a printing device, an inspection device, or the like.

A plurality of mobile robots wait in a mobile robot waiting area when not working, and leave the mobile robot waiting area and move to a target facility 40 when working. In FIG. 1, mobile robots 50a-50e are shown as a plurality of mobile robots. For example, the mobile robots 50a and 50b are waiting in the mobile robot standby area, the mobile robot 50c is loaded with parts used for work in the parts warehouse, the mobile robot 50d is working in the equipment 40l, and the mobile robots 50e is working in the facility 40b. The mobile robots 50a to 50e are collectively referred to as the mobile robot 50 below. The work of the mobile robot 50 includes transporting parts to the target equipment 40 and supplying the parts to the equipment 40, or moving to the target equipment 40 and collecting garbage from the equipment 40, and the like. There is

Also, it can be seen that workers are working in parallel with the mobile robot 50 in the production area. For example, workers are working at facilities 40c and 40j.

For example, the facility 40 may be operated from both the front side and the rear side. Assuming that the upper side of FIG. 1 is the front side and the lower side is the rear side, the mobile robot 50e is working on the front side of the equipment 40b, the worker is working on the rear side of the equipment 40c, and the equipment 40j. A worker is working on the front side, and a mobile robot 50d is working on the front side of the equipment 40l.

The mobile robot 50c is about to move to the front side of the facility 40j and work on the front side of the facility 40j. The distance between each line is narrow, and as shown in FIG. 1, when the mobile robot 50c passes through the facility 40c on the route to move to the facility 40j, the worker working in the facility 40c and the mobile robot 50c come close and pose a danger to workers. In addition, when the mobile robot 50c arrives at the facility 40j, the worker working at the facility 40j and the mobile robot 50c may come close to each other, which may endanger the worker.

Attempting to ensure the safety of the worker may reduce the working efficiency of the worker and the mobile robot 50 . In the following, the mobile robot arrival notification system 1 that can ensure the safety of the worker while suppressing the deterioration of the work efficiency of the worker and the mobile robot 50 will be described.

Note that FIG. 1 shows a floor management system 10, a mobile robot group management system 20, and line management systems 30a to 30c. The floor management system 10 is a system that manages the entire floor, and the mobile robot group management system 20 is a system that manages and controls a plurality of mobile robots 50 . The line management systems 30a to 30c are systems for managing and controlling the equipment 40 that constitutes the lines. The line management system 30a manages and controls the facilities 40a-40d, the line management system 30b manages and controls the facilities 40e-40h, and the line management system 30c manages and controls the facilities 40i-40l. The line management systems 30a to 30c are collectively referred to as the line management system 30 below.

Next, details of the mobile robot arrival notification system 1 will be described.

FIG. 2 is a configuration diagram showing an example of the mobile robot arrival notification system 1 according to the embodiment.

The mobile robot arrival notification system 1 includes a floor management system 10 , a mobile robot group management system 20 , a line management system 30 , a plurality of facilities 40 , a plurality of mobile robots 50 and a production plan 100 . Note that FIG. 2 shows an example of components of the mobile robot arrival notification system 1 . The mobile robot arrival notification system 1 may include at least a first determination section, a notification section, an input section, and a control section. A mobile robot arrival notification system 1 is a system including a processor, a communication interface, a memory, and the like. The memory is ROM (Read Only Memory), RAM (Random Access Memory), etc., and can store programs executed by the processor. The first determination section, notification section, input section, and control section are implemented by a processor or the like that executes a program stored in a memory. The first determination unit, notification unit, input unit, and control unit may be distributed in a plurality of apparatuses (or systems) within the mobile robot arrival notification system 1, or may be arranged in one apparatus (or system). may be placed. In the following example, the floor management system 10 has the function of the first determination unit, the mobile robot group management system 20 has the function of the control unit, and each of the plurality of facilities 40 has the functions of the notification unit and the input unit. will be explained. Details of the first determination unit, notification unit, input unit, and control unit will be described later.

The floor management system 10 is a system that manages the entire floor, and includes a time table updating unit 11, a first storage unit 12, a second storage unit 13, an equipment management information updating unit 14, a notification command unit 15, and a work information generating unit 16. Prepare.

The time table update unit 11 updates the transit time table 12a and the arrival time table 12b. The time table updating unit 11 includes, for example, a transit time calculating unit 11a and an arrival time calculating unit 11b. The passage time calculator 11a uses map information 21a and work information 21b, which will be described later, to calculate passage times indicating when each of the plurality of mobile robots 50 will pass through which facility 40 among the plurality of facilities 40. The passing time table 12a is updated with the calculated passing time. The arrival time calculator 11b uses work information 21b, which will be described later, to calculate an arrival time indicating when each of the plurality of mobile robots 50 will arrive at which facility 40 of the plurality of facilities 40. The arrival time table 12b is updated with the arrival time.

The first storage unit 12 stores a transit time table 12a and an arrival time table 12b. The transit time table 12 a and the arrival time table 12 b stored in the first storage unit 12 are updated by the time table updating unit 11 . Here, examples of the passing time table 12a and the arrival time table 12b will be described with reference to FIG.

FIG. 3 is a diagram showing an example of the passing time table 12a or the arrival time table 12b. Although each column in FIG. 3 is blank, for example, the time is written. Assuming that FIG. 3 is a passing time table 12a, the table shows that each of the plurality of mobile robots 50 (here, robots A, B, C, . , C, . . . ) is passed through when. For example, when robot A passes the front side of facility C, the passage time is entered in the corresponding column. The passing time table 12a is an example of passing time information indicating when each of the plurality of mobile robots 50 passes through which facility 40 among the plurality of facilities 40. FIG. Similarly, if FIG. 3 is an arrival time table 12b, the table indicates when each of the plurality of mobile robots 50 will arrive at which facility 40 among the plurality of facilities 40. FIG. For example, when robot B arrives at the rear side of facility B, the arrival time is entered in the corresponding column. The arrival time table 12b is an example of arrival time information indicating when each of the plurality of mobile robots 50 will arrive at which facility 40 among the plurality of facilities 40 . The passage time table 12a and the arrival time table 12b may be combined into one table.

The second storage unit 13 stores facility management information 13a. The equipment management information 13 a stored in the second storage unit 13 is updated by the equipment management information updating unit 14 . An example of the facility management information 13a will now be described with reference to FIG.

FIG. 4 is a diagram showing an example of the facility management information 13a. Each column in FIG. 4 is blank, but for example, whether or not the worker is working is described in the column of "Working?", and the column of "Notified?" It is stated whether notification for has already been made or not. For example, when a worker is working on the front side of the facility A, the fact that the worker is working is entered in the corresponding column of the column "Working?" For example, the information in the "Working?" For example, if a notification has already been made for the rear side of the facility B, the fact that the notification has already been made is entered in the corresponding column of the column "Notified?"

The facility management information update unit 14 updates the facility management information 13a. The facility management information update unit 14 updates the facility management information 13a using, for example, the determination result of the facility state determination unit 31, which will be described later.

The notification command unit 15 is a processing unit that issues a command to perform notification. The notification command unit 15 is an example of a first determination unit. Details of the notification command unit 15 will be described later.

The work information generator 16 generates work information 21b. For example, the work information generation unit 16 uses the production plan 100 to generate work information 21b. For example, the production plan 100 includes information indicating the type of product, the number of products to be produced, information on parts constituting the product, scheduled production start time and scheduled production end time, and the like. For example, the work information generation unit 16 generates work information 21b that enables the production plan 100 to be achieved. The work information generation unit 16 transmits the generated work information 21b to the mobile robot group management system 20, and the mobile robot group management system 20 stores the received work information 21b in the storage unit 21. FIG.

The mobile robot group management system 20 is a system that manages and controls a plurality of mobile robots 50 and includes a storage section 21 , a work instruction section 22 and a wireless communication section 23 .

The storage unit 21 stores map information 21a and work information 21b.

The map information 21a includes positional information such as the production area on the floor, the plurality of facilities 40, the parts warehouse, the mobile robot standby area, and the like. The map information 21a is stored in advance in the storage unit 21, for example.

The work information 21b includes information indicating when each of the plurality of mobile robots 50 moves to which facility 40 among the plurality of facilities 40 to perform work. For example, the work information 21b includes the time when each of the plurality of mobile robots 50 should leave the mobile robot waiting area, the position information of the facility 40 where each of the plurality of mobile robots 50 works, and the location information of the plurality of mobile robots 50. Each includes the time to arrive at the facility 40 where the work is to be performed. Further, the work information 21b includes information indicating the moving route of the mobile robot 50 or information about the facilities 40 that the mobile robot 50 passes through before moving to the facilities 40 on which the mobile robot 50 works. The work information 21b also includes information indicating the work content of the mobile robot 50 . Note that the time table updating unit 11 does not have to include the arrival time calculating unit 11b. The arrival time table 12b may be updated.

The work instruction section 22 is an example of a control section that controls the plurality of mobile robots 50 . The work instruction unit 22 controls the plurality of mobile robots 50 using the work information 21b and the like.

The wireless communication unit 23 is a communication interface for performing wireless communication between the mobile robot group management system 20 and the plurality of mobile robots 50 . The work instruction unit 22 wirelessly communicates with the plurality of mobile robots 50 via the wireless communication unit 23 and controls the plurality of mobile robots 50 .

The line management system 30 is a system that manages and controls a plurality of pieces of equipment 40 and includes an equipment state determination section 31 , a notification processing section 32 and a worker selection determination section 33 .

The equipment state determination unit 31 is a processing unit that determines the states of the multiple pieces of equipment 40 . The facility state determination unit 31 determines whether or not a worker is working in each of the plurality of facilities 40 . In addition, the equipment state determination unit 31 determines whether or not notification for notification has already been made for each of the plurality of equipment 40 .

The notification processing unit 32 is a processing unit that performs processing on the plurality of facilities 40 in accordance with commands notified from the notification command unit 15 . For example, the notified command includes information for notifying that the mobile robot 50 will pass through a specific facility 40 after a specific period of time has passed or will arrive at a specific facility 40 after a specific period of time has passed. The notified command may include information indicating what kind of work is to be performed, information indicating the type of mobile robot 50 , or information indicating the type of mobile robot 50 . Any comment information may be included. The notification processing unit 32 instructs the specified equipment 40 according to the notified instruction.

The worker selection determination unit 33 is a processing unit that determines the details of the worker's selection (worker's command) input to the input unit. The input unit is a component for inputting a command to change the work content of the mobile robot 50 when it is notified that the mobile robot 50 will soon arrive at the facility 40 . Each has the function of an input section.

For example, the facility 40 is provided with a notification unit and an input unit. An example of the notification unit and the input unit will now be described with reference to FIG.

FIG. 5 is a diagram showing an example of a notification unit and an input unit. For example, the facility 40 is provided with a touch panel display 41, and the touch panel display 41 is an example of a notification unit and an input unit.

As shown in FIG. 5, the touch panel display 41 displays "The robot will supply parts in *** minutes", and the mobile robot 50 will soon arrive at the facility 40 where the touch panel display 41 is installed. It can be seen that the information is notified by the notification unit. The content to be notified is not limited to the remaining time until arrival or the content of work, but may be the remaining time until passing, the type of mobile robot 50, or arbitrary comments. Note that the notification unit is not limited to the touch panel display 41, and may be a speaker, a buzzer, a lamp, or the like. For example, the notification may be made by voice, warning sound, lighting or blinking of a lamp, or the like. Further, the notification unit may not be provided in the equipment 40, and a display, speaker, lamp, or the like provided near the equipment 40 may have the function of the notification unit.

Further, as shown in FIG. 5, the touch panel display 41 displays "Do you want to continue the work?" The "continue work", "interrupt", and "end work" buttons are buttons displayed on the touch panel display 41 that can be operated by the operator. "Work continuation" means that the worker's work is continued without changing the work content of the mobile robot 50. "Interruption" means that the worker's work is given priority and the work content of the mobile robot 50 is changed. 'End of work' means that the work of the mobile robot 50 is prioritized and the work of the worker is finished without changing the work content of the mobile robot 50 . The mobile robot 50 is controlled according to the operator's selection (operator's command), which will be described later in detail. Note that the input unit is not limited to the touch panel display 41, but may be a physical button, a microphone, or the like, and an operation of the physical button or voice input may be performed. Also, the input unit may not be provided in the facility 40, and a touch panel display, physical buttons, a microphone, or the like provided near the facility 40 may have the function of the input unit.

Next, details of the operation of the mobile robot arrival notification system 1 will be described with reference to FIGS. 6 and 7. FIG. First, the operation of the mobile robot arrival notification system 1 at the time of notification will be described with reference to FIG.

FIG. 6 is a flow chart showing an example of the operation of the mobile robot arrival notification system 1 according to the embodiment at the time of notification. Here, the description will focus on one facility 40 out of a plurality of facilities 40 and one mobile robot 50 that moves to the facility 40 and performs work.

First, the notification command unit 15 (first determination unit) determines whether or not the facility 40 satisfies the first condition regarding the passage or arrival of the mobile robot 50 based on the movement information regarding the movement of the mobile robot 50 (the first determination unit). step S11).

More specifically, the notification command unit 15 calculates the remaining time until the mobile robot 50 passes the facility 40 based on passage time information indicating when the mobile robot 50 will pass the facility 40 as movement information. It is determined whether or not the facility 40 satisfies the first condition regarding passage by calculating and determining whether or not the remaining time until the mobile robot 50 reaches the facility 40 is equal to or less than a predetermined time. Alternatively, the notification command unit 15 calculates the remaining time until the mobile robot 50 arrives at the facility 40 based on the arrival time information indicating when the mobile robot 50 will arrive at the facility 40 as the movement information. It is determined whether or not the equipment 40 satisfies the first condition regarding arrival by determining whether or not the remaining time until the robot 50 arrives at the equipment 40 is equal to or less than a predetermined time. The remaining time can be calculated by comparing the current time with the time described in the passage time table 12a or the arrival time table 12b. The predetermined time is not particularly limited, but may be appropriately determined according to the size of the floor, the type of work, and the like.

Then, the touch panel display 41 (informing unit) determines that the equipment 40 satisfies the first condition regarding passage or when it is determined that the equipment 40 satisfies the first condition regarding arrival (Yes in step S11). , that the mobile robot 50 will soon pass the facility 40 or that the mobile robot 50 will soon arrive at the facility 40 (step S12). If the equipment 40 does not satisfy the first condition (No in step S11), the process in step S11 is repeated until the equipment 40 satisfies the first condition.

Thus, it is notified that the mobile robot 50 will soon pass the facility 40 that satisfies the first condition regarding passage, and that the mobile robot 50 will soon arrive at the facility 40 that satisfies the first condition regarding arrival. In addition, soon is not particularly limited, but may be within several minutes.

Further, in step S11, the notification command unit 15 determines that the facility 40 satisfies the first condition and that the facility 40 satisfies the second condition regarding the state of the facility 40 based on the movement information and the facility management information 13a of the plurality of facilities 40. It may be determined whether or not the condition is satisfied. Specifically, the notification command unit 15 uses, as the facility management information 13a, facility status information indicating whether or not a worker is working in the facility 40 (for example, the "Working?" column shown in FIG. 4). information), it may be determined whether or not the equipment 40 satisfies the second condition by determining whether or not the worker is working in the equipment 40 . Note that the notification command unit 15 determines whether or not the equipment 40 is in operation based on the operating state information indicating the operating state of the equipment 40 as the equipment management information 13a. It may be determined whether or not the condition is satisfied.

Then, in step S12, the touch panel display 41 indicates that the mobile robot 50 will soon pass the facility 40 or the facility 40 when it is determined that the facility 40 satisfies the first condition and also satisfies the second condition. It may be notified that the mobile robot 50 will arrive soon.

When the worker is not working in the equipment 40 or when the equipment 40 is stopped, the mobile robot 50 will soon pass the equipment 40 or the mobile robot 50 will arrive at the equipment 40 soon. In some cases, it is meaningless to report that a worker has passed or arrived at a facility 40 that is being worked on or that is in operation. If there is a facility 40 that satisfies the first condition but does not satisfy the second condition, it may be notified that the mobile robot 50 will soon arrive at the facility 40 . To inform a worker or the like working near the equipment 40 that a mobile robot 50 will soon arrive at the equipment 40 even if the equipment 40 is not being worked by the worker or is stopped. This is because

Note that the equipment 40 may be provided with a second determination unit that determines whether or not the worker is working in itself. In this case, the notification command unit 15 only needs to determine whether or not the equipment 40 satisfies the first condition. , determines whether or not the worker is working in the facility 40, and the touch panel display 41 of the facility 40 determines that the robot 50 moves the facility 40 when it is determined that the worker is working in the facility 40. The imminent passing or the imminent arrival of the mobile robot 50 at the facility 40 may be notified. In this case, the notification command unit 15 only needs to determine whether or not the first condition is satisfied, and the second determination unit provided in the facility 40 determines whether the worker is working in the facility 40 or not. Since it is only necessary to determine whether each process is performed inside the facility 40 or outside the facility 40, each process can be simplified.

In order to prevent the notification from being repeated many times after the notification is performed, the information included in the facility management information 13a and indicating whether or not the notification has already been performed (for example, the "notification Done?” column), the notification may be prevented from being repeated. Further, according to the remaining time until the mobile robot 50 passes or arrives, the notification (for example, notification by display or output of sound) may be stopped after the remaining time has elapsed. Further, a button or the like for stopping the notification may be provided, and the notification may be stopped by operating the button.

Also, although an example in which passage time information or arrival time information is used as movement information has been described, other information may be used.

For example, in step S11, the notification command unit 15 determines whether or not the mobile robot 50 has passed through a specific point based on the current position information of the mobile robot 50 as movement information. It may be determined whether or not the conditions are satisfied. For example, the specific point is predetermined for the equipment 40 and may be the entrance of the production area or a point at a predetermined distance from the equipment 40 . When the mobile robot 50 passes through such a specific point, the mobile robot 50 is approaching the facility 40 and the mobile robot 50 may arrive at the facility 40 soon, or the mobile robot 50 may pass the facility 40 soon. . Therefore, depending on whether or not the mobile robot 50 has passed through a specific point predetermined with respect to the facility 40, whether or not the mobile robot 50 will soon pass through or arrive at the facility 40 (that is, whether or not the facility 40 satisfies the first condition for passage or the first condition for arrival).

Further, for example, in step S11, the notification command unit 15 determines whether or not the mobile robot 50 has departed from a specific point based on the current position information of the mobile robot 50 as movement information. It may be determined whether or not the first condition is satisfied. For example, the specific point is predetermined for the equipment 40, such as a mobile robot standby area or a parts warehouse. When the mobile robot 50 departs from such a specific point, the mobile robot 50 is approaching the facility 40 and the mobile robot 50 may arrive at the facility 40 soon, or the mobile robot 50 may pass the facility 40 soon. . Therefore, depending on whether the mobile robot 50 has left a specific point predetermined for the facility 40, whether the mobile robot 50 will pass through the facility 40 or arrive at the facility 40 soon (that is, the facility 40 satisfies the first condition for passage or the first condition for arrival).

Next, the operation of the mobile robot arrival notification system 1 after notification (more specifically, after notification of arrival) will be described with reference to FIG.

FIG. 7 is a flow chart showing an example of the operation of the mobile robot arrival notification system 1 according to the embodiment after notification.

First, the operator selection determining unit 33 determines whether or not a command for changing the work content of the mobile robot 50 has been input (step S21). Specifically, the operator selection determining unit 33 determines whether or not the "interrupt" button shown in FIG. 5 has been operated. As described above, "interruption" means that the worker's work is prioritized and the work content of the mobile robot 50 is changed. This is because it becomes the input of the command of

The work instruction unit 22 then controls the mobile robot 50 according to the input command (step S22). Specifically, the work information generation unit 16 changes the work information 21b according to the input command, and the work instruction unit 22 controls the mobile robot 50 based on the changed work information 21b. The work information generation unit 16 is an example of a work information change unit that changes the work information 21b indicating the work content of the mobile robot 50 according to the command input to the input unit.

For example, the command may contain information to stop the mobile robot 50 . As a result, the mobile robot 50 can be stopped and the worker can finish the work during that time. For example, a button may be displayed on the touch panel display 41 to notify that the worker's work is finished. The robot 50 can be made to do the work.

Also, for example, the command may include information for causing the mobile robot 50 to wait at a specific position. For example, the passage between lines may be narrow, and if the mobile robot 50 stops in the passage, there is a risk of obstructing the passage of workers or other mobile robots 50 . Therefore, by having the mobile robot 50 stand by at a specific position that does not interfere with the passage of the worker or other mobile robots 50, the mobile robot 50 can be moved so as not to interfere with the passage of the worker or other mobile robots 50. can be stopped.

Also, for example, the instructions may include information for moving the mobile robot 50 to a facility 40 different from the facility 40 on which the work was to be performed. For example, the equipment 40 that the mobile robot 50 was scheduled to work on next can be made to work first. For example, a button may be displayed on the touch panel display 41 to notify that the worker's work has ended. Then you can let it work.

As described above, it is notified that the mobile robot 50 will soon arrive at the facility 40 that satisfies the first condition regarding the arrival of the mobile robot 50 (for example, the condition for the mobile robot 50 to arrive soon). Therefore, the worker working at the facility 40 can recognize that the mobile robot 50 will soon arrive at the facility 40, and can prepare for the arrival of the mobile robot 50 in advance. can be secured. In addition, since the worker can concentrate on the work until the mobile robot 50 is notified that the mobile robot 50 will arrive soon, it is possible to suppress the deterioration of the work efficiency of the worker. In addition, after the notification is given, the worker should pay attention to the mobile robot 50, which is about to arrive, and keep a distance from the mobile robot 50, for example. As a result, it is possible to suppress a decrease in the work efficiency of the mobile robot 50 . Furthermore, when the worker who is working wants to continue the work, he can input a command to change the work content of the mobile robot 50, and can continue the work without being disturbed by the mobile robot 50. can suppress the decline in work efficiency. In this way, it is possible to ensure the safety of the worker while suppressing a decrease in work efficiency of the worker and the mobile robot 50 .

(Other embodiments)
As described above, the mobile robot arrival notification system 1 and the equipment 40 of the present disclosure have been described based on the embodiments, but the present disclosure is not limited to the above embodiments. As long as they do not deviate from the spirit of the present disclosure, modifications that can be made by those skilled in the art to the present embodiment, and forms constructed by combining the components of different embodiments are also included within the scope of the present disclosure. be

For example, in the above embodiment, an example has been described in which it is determined whether or not the equipment 40 satisfies the first condition regarding the passage of the mobile robot 50, but this determination does not have to be performed. Along with this, there is no need to notify that the mobile robot 50 will soon pass the facility 40 that satisfies the first condition regarding passage.

For example, the present disclosure can be realized not only as the mobile robot arrival notification system 1 and the facility 40, but also as a mobile robot arrival notification method including steps (processes) performed by each component constituting the mobile robot arrival notification system 1.

As shown in FIGS. 6 and 7, the mobile robot arrival notification method is executed by the mobile robot arrival notification system 1 that manages the facility 40 and the mobile robot 50 that moves to the facility 40 to perform work. In the arrival notification method, a first determination step (step S11) of determining whether or not the equipment 40 satisfies a first condition regarding the arrival of the mobile robot 50 based on the movement information regarding the movement of the mobile robot 50; If it is determined that the equipment 40 satisfies the first condition (Yes in step S11), a step of notifying that the mobile robot 50 will soon arrive at the equipment 40 (step S12); An input step (step S21) for inputting a command to change the work content of the mobile robot 50 when the arrival is notified, and a control step (step S21) for controlling the mobile robot 50 according to the input command. step S22), and

For example, the steps in the mobile robot arrival notification method may be executed by a computer (computer system). Further, the present disclosure can be realized as a program for causing a computer to execute the steps included in the mobile robot arrival notification method. Furthermore, the present disclosure can be implemented as a non-transitory computer-readable recording medium such as a CD-ROM recording the program.

For example, when the present disclosure is implemented by a program (software), each step is executed by executing the program using hardware resources such as the CPU, memory, and input/output circuits of the computer. . In other words, each step is executed by the CPU acquiring data from a memory or an input/output circuit, etc., performing an operation, or outputting the operation result to the memory, an input/output circuit, or the like.

Further, each component included in the mobile robot arrival notification system 1 and the equipment 40 of the above embodiment may be implemented as a dedicated or general-purpose circuit.

Further, each component included in the mobile robot arrival notification system 1 and the equipment 40 of the above embodiments may be implemented as an LSI (Large Scale Integration), which is an integrated circuit (IC).

Also, the integrated circuit is not limited to an LSI, and may be realized by a dedicated circuit or a general-purpose processor. A programmable FPGA (Field Programmable Gate Array) or a reconfigurable processor in which connection and setting of circuit cells inside the LSI can be reconfigured may be used.

Furthermore, if an integrated circuit technology that replaces LSI appears due to advances in semiconductor technology or another derived technology, that technology will naturally be used to integrate each component included in the mobile robot arrival notification system 1 and the facility 40. Circuitization may be performed.

In addition, forms obtained by applying various modifications to the embodiments that a person skilled in the art can think of, and forms realized by arbitrarily combining the components and functions in each embodiment within the scope of the present disclosure are also included in this disclosure.

INDUSTRIAL APPLICABILITY The present disclosure can be used, for example, in a system for conveying parts.

1 mobile robot arrival notification system 10 floor management system 11 time table update unit 11a passage time calculation unit 11b arrival time calculation unit 12 first storage unit 12a passage time table 12b arrival time table 13 second storage unit 13a facility management information 14 facility management Information update unit 15 Notification command unit (first determination unit)
16 work information generation unit (work information change unit)
20 mobile robot group management system 21 storage unit 21a map information 21b work information 22 work instruction unit (control unit)
23 wireless communication unit 30, 30a, 30b, 30c line management system 31 equipment state determination unit 32 notification processing unit 33 operator selection determination unit 40, 40a, 40b, 40c, 40d, 40e, 40f, 40g, 40h, 40i, 40j , 40k, 40l Equipment 41 Touch panel display (notification unit, input unit)
50, 50a, 50b, 50c, 50d, 50e Mobile robot 100 Production plan

Claims (10)

A mobile robot arrival notification system for managing equipment and a mobile robot that moves to and performs work on the equipment,
a first determination unit that determines whether or not the facility satisfies a first condition regarding arrival of the mobile robot based on the movement information regarding the movement of the mobile robot;
a notification unit for notifying that the mobile robot will soon arrive at the facility when it is determined that the facility satisfies the first condition;
an input unit for inputting a command for changing the work content of the mobile robot when it is notified that the mobile robot will soon arrive at the facility;
a control unit that controls the mobile robot according to the input command;
Mobile robot arrival notification system. the command includes information for stopping the mobile robot;
The mobile robot arrival notification system according to claim 1. the command includes information for causing the mobile robot to wait at a specific position;
3. The mobile robot arrival notification system according to claim 1 or 2. the command includes information for moving the mobile robot to a facility different from the facility;
A mobile robot arrival notification system according to any one of claims 1 to 3. a work information changing unit that changes work information indicating work content of the mobile robot in accordance with the command;
The control unit controls the mobile robot based on the changed work information.
A mobile robot arrival notification system according to any one of claims 1 to 4. The first determination unit calculates the remaining time until the mobile robot arrives at the facility based on arrival time information indicating when the mobile robot will arrive at the facility as the movement information, Determining whether the equipment satisfies the first condition by determining whether the remaining time until the mobile robot arrives at the equipment is equal to or less than a predetermined time;
A mobile robot arrival notification system according to any one of claims 1 to 5. The first determination unit determines whether or not the mobile robot has passed through a specific point based on current position information of the mobile robot as the movement information, so that the facility satisfies the first condition. determine whether or not
A mobile robot arrival notification system according to any one of claims 1 to 5. The first determination unit determines whether or not the mobile robot has departed from a specific point based on current position information of the mobile robot as the movement information, so that the facility satisfies the first condition. determine whether or not
A mobile robot arrival notification system according to any one of claims 1 to 5. Equipment in a mobile robot arrival notification system for managing equipment and a mobile robot that moves to and performs work on the equipment,
a notification unit for notifying that the mobile robot will soon arrive at the facility when it is determined that the facility satisfies a first condition regarding the arrival of the mobile robot based on the movement information regarding the movement of the mobile robot; and ,
an input unit for inputting a command for changing the work content of the mobile robot when it is notified that the mobile robot will soon arrive at the facility;
Facility. A mobile robot arrival notification method executed by a mobile robot arrival notification system that manages a facility and a mobile robot that moves to and performs work on the facility, comprising:
a first determination step of determining whether the equipment satisfies a first condition regarding the arrival of the mobile robot based on the movement information regarding the movement of the mobile robot;
a notification step of notifying that the mobile robot will soon arrive at the facility when it is determined that the facility satisfies the first condition;
an input step of inputting a command to change the work content of the mobile robot when the equipment is informed that the mobile robot will soon arrive;
a control step of controlling the mobile robot according to the input command;
Mobile robot arrival notification method.

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