JP5192309B2 - Self-propelled robot control system - Google Patents

Description

  The present invention relates to a self-running robot control system. More specifically, the present invention relates to a self-propelled robot control system for forcibly controlling the operation of the self-propelled robot.

  Generally, when a human approaches, the robot needs to be able to process a safety signal for emergency stop so that the safety of the human is maintained. For this reason, the conventional robot can always stop the robot reliably by monitoring the state of the emergency stop switch for emergency stop of the robot by the control device. On the other hand, a self-propelled robot that is composed of a traveling unit such as an automatic guided carriage and a working unit such as a robot arm and that is self-propelled by mounting a battery has been developed (see Patent Document 1).

  However, since the self-propelled robot moves and works due to its function, it is difficult to always connect with an external control device by wire to ensure safety, and the self-propelled robot has a separate safety device. There was a need. Therefore, as a safety device for conventional self-running robots, a power supply for driving the robot arm is installed only at the work location of the robot arm, and power can be easily cut off by an emergency stop switch etc. to ensure safety There is a self-propelled robot (see Patent Document 2).

JP-A-62-107603 JP-A-5-57669

  Like the self-propelled robot described in Patent Document 1, when the robot is self-propelled with a battery, the self-propelled robot has a function of processing a safety signal by wired connection or conforms to safety standards It is necessary to have a function of processing a safety signal by wireless connection by a wireless device. However, there is a problem that the working range of the self-propelled robot is limited by the cable to be wired. On the other hand, even when a radio is installed, the frequency band of the radio that complies with the safety standard differs depending on the country.Therefore, it is necessary to install a radio suitable for each country. There was a problem that it was not easy.

  With respect to the self-running robot described in Patent Document 2, it is possible to operate the robot arm only at the work location where the power supply is installed. There was a problem. Further, since the robot arm can be operated only at the work location where the power supply is installed, there is a problem that the workable range of the robot arm is limited.

  In view of the above problems, an object of the present invention is to provide a self-propelled robot control system for a self-propelled robot that ensures safety without always making a wired connection.

  In order to achieve the above-described object, the invention according to claim 1 is directed to a self-propelled robot including a working unit, a traveling unit, and the working unit and a control unit that controls the traveling unit. In the self-propelled robot control system for forcibly controlling at least one of the operations, a work area in which the self-propelled robot performs work and travel by the work unit and the travel unit is a first region that allows humans to enter. And a second area that does not allow humans to enter, and when the self-propelled robot exists in the first area, a forcible control command for forcibly controlling the operation of at least one of the working unit and the traveling unit A command device that can be wired to the self-propelled robot, and when the self-propelled robot moves from the second region to the first region, the self-propelled robot and the command A wired connection between the self-propelled robot and the command device can be automatically established when the self-propelled robot moves from the first area to the second area. A self-propelled robot control system characterized by comprising a connection mechanism that can be separated from each other.

  The invention according to claim 2 is the self-propelled robot control system according to claim 1, wherein the connection mechanism is a first connector included in the command device and a second connector included in the self-propelled robot. A second connector that is detachably connected to the first connector; and a support that supports the first connector at a predetermined position in the second region. The traveling unit is controlled according to a traveling program taught in advance, and the second connector is connected to the first connector immediately before moving from the second region to the first region by the traveling operation of the self-running robot. A self-propelled robot control system that establishes the wired connection and disconnects the wired connection by detaching the second connector from the first connector immediately after moving from the first area to the second area To provide.

  According to a third aspect of the present invention, in the self-running robot control system according to the second aspect, the connection mechanism includes a visual sensor that detects the position of at least one of the first connector and the second connector with an image. Then, the control unit of the self-running robot controls the running unit to execute establishment or disconnection of the wired connection based on the position data detected by the visual sensor. I will provide a.

  The invention according to claim 4 is the self-propelled robot control system according to any one of claims 1 to 3, wherein the movement of the self-propelled robot from the second area to the first area is selected. An obstacle portion that allows the movement of the self-propelled robot from the second area to the first area when the command device is outputting the forced control command. Provide a self-propelled robot control system that does not allow.

  According to a fifth aspect of the present invention, in the self-propelled robot control system according to any one of the first to fourth aspects, the control unit of the self-propelled robot follows the forcible control command of the command device. A self-propelled robot control system that forcibly controls the operation of at least one of the working unit and the traveling unit is provided.

  According to a sixth aspect of the present invention, in the self-running robot control system according to any one of the first to fifth aspects, the forced control command of the commanding device is at least one of the working unit and the traveling unit. A stop command for forcibly stopping one operation, and the control unit of the self-running robot forcibly stops the operation of at least one of the working unit and the travel unit in accordance with the stop command of the command device A robot control system is provided.

  The invention according to claim 7 is the self-propelled robot control system according to claim 6, wherein the self-propelled robot supplies power to at least one of the working unit and the traveling unit in accordance with the stop command of the command device. Provide a self-propelled robot control system that shuts down

  The invention according to claim 8 is the self-propelled robot control system according to any one of claims 1 to 7, wherein the self-propelled robot further includes a battery and a charging circuit for the battery. The command device further includes a power supply device for supplying power, and the charging circuit is configured to supply the power supply device when the wired connection is established between the first connector and the second connector. A self-propelled robot control system for charging the battery with electric power supplied from the vehicle is provided.

  According to the self-propelled robot control system according to the present invention, safety is ensured because the self-propelled robot and the command device are connected in a wired manner in a region where humans can enter (first region where humans can enter). can do. On the other hand, in areas where humans cannot enter (second areas where humans are not allowed to enter), the self-propelled robot and the command device are not wired and there is no harm to humans, so it is necessary to monitor safety signals. In addition, the work range is not limited by wired connection. In the present invention, when the self-propelled robot moves from the second region to the first region, a wired connection between the self-propelled robot and the command device can be automatically established, and the self-propelled robot can be connected from the first region. A connection mechanism is provided that can automatically disconnect the wired connection between the self-running robot and the command device when moving to the second region. Therefore, by applying the present invention, it is possible to ensure the safety of the self-propelled robot without mounting a wireless device for a safety signal on the self-propelled robot and without performing communication regarding the safety signal at all times. In addition, since the battery of the self-propelled robot can be charged by the charging circuit while the self-propelled robot and the command device are connected by wire, the operable time of the self-propelled robot in the second region can be extended.

  Embodiments according to the present invention will be described with reference to the drawings. First, a safety system 1000 (self-running robot control system) according to the present invention will be described with reference to FIGS. 1 and 2. FIG. 1 is a side view showing a schematic configuration of a safety system according to the present invention. FIG. 2 is a plan view showing a schematic configuration of a safety system according to the present invention. FIG. 2 (a) is a diagram illustrating a safety system in which a self-running robot moves from a robot motion non-restricted region (second region) to a robot motion restricted region (first region). FIG. 2B is a diagram illustrating a state after the self-running robot has moved to the robot operation restriction region.

  The safety system 1000 includes a self-propelled robot 100 that is self-propelled and a station 200 (command device) that can control the self-propelled robot 100 forcibly when wired to the self-propelled robot 100.

  The area targeted by the safety system 1000 is partitioned by a first partition 210 and a second partition 220. The first partition 210 divides a robot non-operation area 410 into which the self-running robot 100 does not enter and a robot operable area 420 (work area) in which the self-running robot 100 may enter and operate. doing.

  The robot operable area 420 is further partitioned by a second partition 220. The second partition 220 includes a robot operation restriction area 430 (first area) in which there is a possibility that the human 300 may enter and the movement of the self-propelled robot 100 needs to be restricted, and the human 300 does not enter the robot. A robot operation unrestricted region 440 (second region) that does not restrict the operation of the running robot 100 is defined. The robot motion non-restricted area 440 prevents any contact between the human 300 and the self-running robot 100.

  The first partition 210 and the second partition 220 are fences made of a cushioning material having a certain height, and the self-propelled robot 100 does not move over the fence. Further, since the first partition 210 and the second partition 220 are made of a cushioning material, the impact is buffered even when the self-propelled robot 100 hits. Since the self-running robot 100 does not enter the robot non-operation area 410 due to the first partition 210, the person 300 inside the robot non-operation area 410 is always in a safe state. A part of the first partition 210 is provided with a door 212 (see FIG. 2) for a person to enter and exit. When the door 212 is opened, a fence signal (when a person enters a predetermined place) A signal that changes state) is transmitted.

  The second partition 220 is provided with a path 224 (see FIG. 2) through which the self-running robot 100 moves between the robot motion restriction region 430 and the robot motion non-restriction region 440. The path 224 is provided with an automatic door 222 that can be automatically opened and closed by an instruction from a station controller 250 of the station 200 described later. Furthermore, the automatic door 222 has a function of transmitting a door state signal indicating a door state in response to a request from the station control unit 250. When the automatic door 222 provided in the second partition 220 is opened, the self-running robot 100 can self-travel along the path 224 and can travel between the robot operation restricted area 430 and the robot action non-restricted area 440. . That is, the second partition 220 serves as an obstacle that selectively allows the movement of the self-running robot 100.

  Next, the self-running robot 100 will be described. The self-running robot 100 includes a traveling unit 110, a working unit 120, a robot control unit 130 (control unit), a battery 140, and a robot side connection unit 150 (part of a connection mechanism). The traveling unit 110 is a device that realizes the self-running of the self-running robot 100, and the traveling unit 110 of the self-running robot 100 according to the present embodiment is an automatic guided vehicle. The self-running robot 100 is movable when the robot control unit 130 instructs the running unit 110 to operate.

  The working unit 120 is a robot arm having an arm 122 that carries a workpiece. The working unit 120 is connected to the robot control unit 130 by a working cable 124 and performs work according to an instruction from the robot control unit 130.

  The robot control unit 130 is a device that controls the traveling unit 110, the working unit 120, and a robot side connection unit 150 described later. That is, the robot control unit 130 is a control circuit that controls the traveling unit 110 and the working unit 120 by software and programs. The robot control unit 130 may be a well-known one having a CPU, a data memory, an interface, and the like, and thus detailed description thereof is omitted. The robot control unit 130 further includes a signal processing circuit 132 that receives and processes a signal input from the outside (for example, the station 200). The signal processing circuit 132 processes a signal received from the outside and transmits the processed signal to the robot control unit 130. The robot control unit 130 controls the traveling unit 110 and the working unit 120 based on the signal received from the signal processing circuit 132. For example, when the signal processing circuit 132 receives a safety signal (an example of a forced control command, a stop command) from the station 200, the safety signal is transmitted to the robot control unit 130, and the robot control unit 130 is based on the received safety signal. Then, the traveling unit 110 and the traveling unit 120 are controlled to be forcibly stopped.

  In addition, the robot control unit 130 stores the position of the station 200 (including a station side connection unit 230 described later) and the path traveled by the self-running robot from the station 200 as a starting point. The robot control unit 130 can instruct the traveling unit 110 to travel backward on the route traveled from the station 200, thereby allowing the self-running robot 100 to approach the station 200.

  Self-running robot 100 includes a battery 140 and a charging circuit 142 that charges the battery. Other components included in the self-running robot 100, the moving unit 110, the working unit 120, and the robot control unit 130 are operable by being supplied with electric power from the battery 140. That is, since the self-propelled robot 100 is equipped with the battery 140, the robot operable region 420 can be self-propelled or work without being connected to an external power source.

  The robot side connection unit 150 is a device that can be wired to a station side connection unit 230 of the station 200 described later, and a connection mechanism that automatically establishes or automatically releases a wired connection between the self-running robot 100 and the station 200. 270. The robot side connection means 150 is connected to the signal processing unit 132. The robot side connection unit 150 is configured to automatically connect to the station side connection unit 230 by wire when the self-running robot 100 moves from the robot operation non-restriction region 440 to the robot operation restriction region 430. The configuration of the robot side connection unit 150 and the procedure for automatically establishing or disconnecting the wired connection between the robot side connection unit 150 and the station side connection unit 230 will be described later.

  Next, the station 200 (command device) of the safety system 1000 will be described. The station 200 is an apparatus that can control the self-propelled robot 100 when connected to the self-propelled robot 100 by wire. The station 200 is a station-side connection means 230 that is wired to the robot-side connection means 150 of the self-propelled robot 100. (Part of the connection mechanism 270), a safety switch 240 for inputting a safety signal, a station controller 250 for monitoring a signal input to the station 200 and controlling an external device connected to the station 200, a safety switch 240 And a cable 242 connected to the door 212 of the first partition 210, a robot passage detection sensor 244 that detects passage of the self-running robot 100, and a power feeding device 260 that supplies electric power. In the present embodiment, the station control unit 250 and the station side connection means 230 of the station 200 are in the robot operation non-restricted area 440, and a route through which the self-running robot 100 always moves when moving to the robot operation restricted area 430. 224 is arranged in the vicinity.

  The station-side connection unit 230 is a device that is wired to the robot-side connection unit 150 of the self-running robot 100 when the self-running robot 100 moves into the robot operation restriction region 430 and is a part of the connection mechanism 270. . The station side connection means 230 is disposed at the same height as the robot side connection means 150 of the self-running robot 100. The self-running robot 100 can be connected by being close to the station side connecting means 230. A configuration for connection and a connection procedure will be described later. The station side connection unit 230 is connected to the station control unit 250. When the robot side connection unit 150 and the station side connection unit 230 are connected by wire, the station control unit 250 is self-propelled via the station side connection unit 230. The robot 100 can be controlled.

  The safety switch 240 is a trigger for the station 200 to transmit a safety signal to the self-running robot 100. In the present embodiment, the safety switch 240 is disposed in the robot non-operation area 410 where the human 300 can act safely. The safety switch 240 and the station control unit 250 are connected by a signal transmission cable 242, and the station control unit 250 always monitors whether the safety switch 230 is pushed down. When the station control unit 250 determines that the safety switch 230 has been pressed, the station control unit 250 transmits a safety signal to the self-running robot 100. That is, when the human 300 depresses the safety switch, the station control unit 250 transmits a safety signal to the self-running robot 100 and the self-running robot 100 is forcibly stopped. Since the safety switch 230 and the self-running robot 100 are physically separated, when the self-running robot 100 and the station 200 are connected by wire, the human 300 can stop the self-running robot 100 in a safe state.

  As described above, the door 212 of the first partition 210 can output a fence signal, and the door 212 and the station control unit 250 are connected to each other by a signal transmission cable 242. The door 212 detects that the door has been opened and transmits a fence signal to the station control unit 250 via the signal transmission cable 242. The station control unit 250 monitors whether or not a fence signal is input, and the station control unit 250 indicates that a human may have entered the robot operation restriction area 430 from the first partition 210. When it is determined that is input, a safety signal is transmitted to the self-running robot 100. Therefore, even when the human 300 carelessly enters the robot operation restriction area 430, the self-running robot 100 connected to the station 200 by wire can be stopped.

  As described above, the station control unit 250 is a device that controls a device connected to the station control unit 250 by monitoring a signal input from a safety switch 240 or a sensor wired by a cable. The station control unit 250 is a control circuit, and may be a well-known one including a CPU, a data memory, an interface, and the like, and thus detailed description thereof is omitted. The station control unit 250 transmits a safety signal to the self-running robot 100 by monitoring signals from the safety switch 240 and the door 212 of the first partition 210 connected by the signal transmission cable 242 as described above. That is, it has a function of instructing to stop the self-running robot 100 forcibly. The station control unit 250 also has a function of determining whether or not the station side connection unit 230 and the robot side connection unit 150 are normally connected and receive a predetermined signal. A method by which the station control unit 250 determines the normal connection of the connection means will be described later.

  The station control unit 250 is further connected to an automatic door 222 and a robot passage detection sensor 244 provided in the second partition 220. The station control unit 250 receives a door state signal indicating the open / closed state of the door from the automatic door 222. In addition, an instruction to open and close the automatic door 222 is given. The robot passage detection sensor 244 is a sensor that detects the passage of the self-running robot 100, and transmits a passage detection signal indicating the passage of the self-running robot 100 to the station control unit 250. Since the station control unit 250 is connected to the robot passage detection sensor 244, when the station control unit 250 receives the passage detection signal, the station control unit 250 instructs the automatic door 222 to open and close according to the content of the passage detection signal. Is possible. For example, the robot passage detection sensor 244 may detect the passage of the self-running robot 100 by obtaining an image obtained by imaging the self-running robot 100 using a visual sensor. Further, the robot passage detection sensor 244 detects that the self-propelled robot 100 has passed by providing a light curtain on the path 224 and measuring that the light curtain has been blocked by the passage of the self-propelled robot 100. May be. The robot passage detection sensor 244 is provided with a plurality of buttons on the floor surface of the path 224, and the self-running robot 100 passes over the buttons and pushes the button down by its own weight. You may detect having moved to the operation non-restricted area 440.

  Next, a configuration (connection mechanism 270) for connecting the station side connection means 230 of the station 200 and the robot side connection means 150 of the self-running robot 100 will be described with reference to FIG. FIG. 3 is a diagram showing a configuration for making a wired connection between the station-side connection means 230 of the station 200 and the robot-side connection means 150 of the self-running robot 100. FIG. 3 exaggerates and enlarges each connection means for easy understanding. Parts not related to wired connection are omitted.

  First, the station side connection means 230 will be described. The station side connection means 230 is electrically connected to the connection cable 232 that transmits a signal from the station control unit 250, the station side fitting part 234 that mechanically fits with the robot side connection means 150, and the robot side connection means 150. The station side connector 236 (first connector) and the station side fitting portion 234 and the support body 239 for supporting the station side connector 236 are provided.

  One end of the connection cable 232 is connected to the station control unit 250, and the other end is connected to the station side fitting unit 234. The connection cable 232 has a winding shape such as a spring or a coil and can be expanded and contracted. For this reason, the position of the station side fitting portion 234 when the wired connection is established is fixed, but the distance between the station side fitting portion 234 and the station control portion 250 is variable after the wired connection. Further, a support body 239 is provided below the station side fitting portion 234, and the support body 239 has the station side fitting portion 234 arranged so that the station side fitting portion 234 is arranged at a predetermined height. I support it.

  The station side fitting portion 234 is a member having a T-shaped cross section, and has a protruding portion 238 protruding upward and downward at an end portion. The station-side fitting unit 234 is fitted to the robot-side connecting unit 150 and the protrusion 238 is hooked, so that the station-side connecting unit 230 and the robot-side connecting unit 150 are not easily separated. A station-side connector 236 (first connector) that is a connector that can be easily and repeatedly attached and detached is disposed at the end of the station-side fitting portion 234, and the station-side fitting portion 234 is a robot-side connecting means. When it is fitted to 150, it is configured to be electrically connected to the self-running robot 100.

  Next, the robot side connection means 150 will be described. The robot-side connecting means 150 includes a robot-side fitting section 152 that mechanically engages with the station-side connecting means 230, a robot-side connector 154 that electrically connects with the station-side connecting means 230, and a robot according to instructions from the robot control section 130. A visual sensor 158 that images the position of the drive unit 156 that moves the side fitting unit 152 and the station-side connector 236 is provided. The robot-side fitting portion 152 is a member having an L-shaped cross section, and has a hooking portion 153 that hooks on the protruding portion 238 of the station-side fitting portion 234 at the end of the robot-side fitting portion 152. The robot-side fitting portion 152 is composed of two members and is disposed above and below the robot-side connecting means 150. The two members have an upper robot side fitting portion 152a on the upper side and a lower robot side fitting portion 152b on the lower side, and the hooking portions 153a and 153b are arranged to face each other. The robot side fitting unit 152 can be moved up and down by the robot control unit 130 instructing the driving unit 156 and can sandwich the station side fitting unit 234. Further, when the robot-side fitting unit 152 and the station-side fitting unit 234 are fitted, the self-running robot 100 can transmit a fitting state signal indicating that the fitting is completed to the station 200.

  The robot-side connector 154 is disposed at a position facing the station-side connector 236. When the self-running robot 100 approaches the station 200, the robot-side connector 154 can be connected to the station-side connector 236 and energized, that is, the robot side. The connection means 150 and the station side connection means 230 are connected in a wired manner.

  The robot side connection means 150 is provided with a visual sensor 158 that images the position of the station side connector 236. When the self-propelled robot 100 comes close to the station-side connecting means 230, the self-propelled robot 100 obtains an accurate position of the station-side connector 236 based on the image data obtained from the visual sensor 158. Self-propelled toward the connection means 230. When the self-running robot 100 accurately self-propels toward the station side connection means 230 using the visual sensor 158, the robot side connector 154 and the station side connector 236 can be connected.

  If the robot-side fitting section 152 operates and engages after the respective connectors are connected, the respective connectors will not be disconnected, and the signal from the station control section 250 can be reliably transmitted to the self-running robot 100. It becomes. Since the connection cable 232 can be extended in accordance with the movement of the self-running robot 100, the wire connection state can be maintained even after the self-running robot 100 moves to the robot operation restriction region 430 after the fitting. That is, the station 200 can forcibly control the self-running robot 100 by wired connection even when the self-running robot 100 moves or works within the robot operation restriction area 430.

  4 and 5, when the self-running robot 100 according to the present invention moves between the robot operation restricted area 430 and the robot action non-restricted area 440, the self-running robot 100 and the station 200 are A procedure for automatically establishing a wired connection and disconnecting the wired connection will be described.

  First, a procedure when the self-running robot 100 enters the robot motion control region 430, particularly a method for determining whether or not the station control unit 250 is normally connected, will be described with reference to FIG. FIG. 4 is a diagram showing a procedure for establishing a wired connection with the station 200 when the self-running robot 100 enters the robot motion control region 430, step S101 to step S104.

  Step S101 shows a state in which the self-running robot 100 exists in the robot operation unrestricted area 440 and the self-running robot 100 and the station 200 are not connected by wire. As shown in the figure, the robot-side fitting portion 152 of the robot-side connecting means 150 is in an opened state, and the robot-side connector 154 is exposed to the outside. On the other hand, the station control unit 250 of the station 200 monitors the safety signal from the safety switch 240 and the first partition 210, the door state signal from the automatic door 222, and the signal from the station side connection means 230. is there. Moreover, the automatic door 222 for the self-running robot 100 to enter the robot operation restriction area 430 is in a closed state.

  Next, step S102 will be described. The self-running robot 100 follows the operation program of moving from the robot operation restriction region 440 to the robot operation restriction region 430 and moves toward the station 200 and approaches the station 200. The self-running robot 100 moves to a position where the station side connector 236 and the robot side connector 154 are connected using the visual sensor 158. In this embodiment, as described above, the self-running robot 100 is close based on the position information of the station 200 stored in the robot control unit 130.

  Step S103 will be described. The self-running robot 100 moves while confirming the position of the station-side connector 236 using the visual sensor 158, and connects the robot-side connector 154 and the station-side connector 236. After the connection, the self-running robot 100 moves the robot-side fitting unit 152 using the driving unit 156 to complete the fitting with the station-side fitting unit 234. When the fitting is completed, a fitting state signal indicating that the fitting is completed is transmitted from the station side connector 236 via the connection cable 232 to the station control unit 250. When the station control unit 250 receives the fitting state signal, the station control unit 250 does not receive the safety signal monitored by the station control unit 250 (the safety switch 240 is not pushed down and the door 212 of the first partition 210 is not pressed). Is in a state where no fence signal is input to the station controller 250. The station control unit 250 confirms that the robot-side fitting unit 152 and the station-side fitting unit 234 are fitted, and that the safety signal is not received from the safety switch 240, so that the self-running robot 100 And the station 200 determine that the wired connection has been normally established and instruct to open the automatic door 222. That is, when a safety signal is input to the station control unit 250, not only the self-running robot is forcibly stopped by the safety signal, but the automatic door 222 is not opened by the station control unit 250.

  Step S104 will be described. After the self-running robot 100 is connected to the station 200 by wire, the robot control unit 130 can monitor the safety signal from the station control unit 250 via the connection cable 232. In addition, by receiving a door state signal from the station control unit 250, it is possible to check the open / closed state of the automatic door 222. The robot control unit 130 indicates that the fitting between the robot side connection unit 150 and the station side connection unit 230 is completed, that no safety signal is input from the station 200, and the automatic door 222 is open. Make sure. After confirmation by the robot control unit 130, the self-running robot 100 starts self-running by the running unit 120 and enters the robot operation restriction area 430. Step 104 of FIG. 4 shows a state in which the self-running robot 100 is entering the robot operation restriction area 430 while monitoring a safety signal from the station 200 by wired connection.

  Next, a flow in which the self-running robot 100 moves from the robot motion restriction region 430 to the robot motion non-restriction region 440 will be described with reference to FIG. FIG. 5 is a diagram showing steps S201 to S203 which are procedures for disconnecting the wired connection when the self-running robot 100 moves from the robot restricted area 430 to the robot unrestricted area 440.

  Step S201 shows a state where the self-running robot 100 exists in the robot operation restriction area 430 and the self-running robot 100 and the station 200 are connected by wire. When the self-running robot 100 exists in the robot operation restriction area 430, the automatic door 222 is assumed to be open.

  Next, the timing for closing the automatic door 222 and the operation for separating the self-running robot 100 from the station 200 will be described. Step S202 shows a state where the self-running robot 100 has passed the path 224 and the self-running robot 100 has moved to the robot motion non-restricted region 440. The robot passage detection sensor 244 detects that the self-running robot 100 has passed from the robot motion restriction region 430 to the robot motion non-restriction region 440, and indicates that the self-running robot 100 has passed the robot motion non-restriction region 440. Send a detection signal. The station control unit 250 receives the passage detection signal, determines that the self-running robot 100 has moved to the robot motion non-restricted region 440, and gives an instruction to close the automatic door 222. After the automatic door 222 is closed, the door control signal is transmitted to the station controller 250 indicating that the door is closed. The robot controller 130 of the self-running robot 100 receives the door state signal via the station controller 250 and confirms that the automatic door 222 is closed. After confirming that the automatic door 222 is closed, the robot control unit 130 of the self-running robot 100 operates the robot side fitting unit 152 of the robot side connecting means 150 to release the fitting with the station side fitting unit 234. .

  In step S203, the robot control unit 130 of the self-running robot 100 confirms that the fitting has been released, and then moves in the direction of self-run and away from the station 200, and the robot-side connector 154 and the station-side connector 236. Disconnect the connection. Prior to disconnection, the station connector 236 and the station side fitting portion 234 are fixedly arranged at predetermined positions by the support body 239. After disconnecting the wired connection, the self-running robot 100 automatically runs and performs work in the robot motion non-restricted area 440.

  As described above, when the self-running robot 100 according to the present invention moves between the robot operation restricted area 430 and the robot action non-restricted area 440, the self-running robot 100 and the station 200 are automatically used. Explained the procedure for establishing a wired connection and disconnecting the wired connection. As described above, the self-running robot 100 automatically establishes a wired connection with the station 200 when moving to the robot operation restriction area 430. Therefore, the human 300 can emergency stop the self-running robot 100 that has moved to the robot restricted area 430 by using the safety switch 240 located away from the self-running robot 100, and keep the human 300 safe. Can do. On the other hand, in the robot operation non-restricted area 440 where the self-running robot 100 does not come into contact with the human 300, the mobile robot 100 is not wired with the station 200, so that it can move and work without limiting the movement range. .

  In the present embodiment, the safety system 1000 that transmits and receives a safety signal by connecting the self-propelled robot 100 and the station 200 by wire is described. However, the signal transmitted / received by the wired connection is not limited to the safety signal, and may be a signal for controlling the movement and work of the self-running robot 100. The signal transmitted / received by wired connection may be a signal for the human 300 to operate the self-running robot 100 from a remote place or a signal for teaching the self-running robot 100.

  The connection cable 232 to be connected may be a power line that transmits power. When the connection cable 232 is a power line, the battery 140 can be charged with power from the power supply device 260 of the station 200 by the charging circuit 142 while the station 200 and the self-running robot 100 are connected by wire. Further, while the station 200 and the self-running robot 100 are connected, the self-running robot 100 does not use the power of the battery 140, and may operate using the power sent from the power supply device 260 of the station 200. Good. The battery 140 may be charged while monitoring a safety signal by providing a connection cable 232 for sending a signal sent from the station 200 and a power line for sending power. By charging the battery 140 while being connected by wire, the operable time of the self-running robot 100 when the wire connection is not established (that is, when the self-running robot exists in the robot operation non-restricted region 440) is extended. can do.

  As will be apparent to those skilled in the art, the above description should only be construed as an example showing how the invention may be implemented. In addition, the present invention can be carried out in a mode in which various improvements, modifications, and changes are added based on the knowledge of those skilled in the art without departing from the spirit of the present invention. For example, in the present embodiment, the first partition 210 and the second partition 220 are configured using a cushioning material having a certain height. However, as long as it prevents the autonomous robot 100 from entering, it may be constituted by a wheel stopper or a sturdy rod.

  In addition, when the self-running robot 100 and the station 200 are connected by wire, the robot-side fitting unit 152 of the robot-side connecting unit 150 is moved by the driving unit 156, so that the station-side fitting unit 234 of the station-side connecting unit 230 Although it was comprised so that it might fit, an opposite structure may be sufficient. That is, the station-side fitting portion 234 has a shape that sandwiches (L-shaped) driving unit, and the robot-side fitting portion 152 has a shape that is sandwiched (T-shaped). It is also possible to establish a wired connection by interposing the fitting portion 152 therebetween. The extendable connection cable 232 may be provided in the self-running robot 100.

  Further, the signal processing circuit 132 of the self-running robot 100 may directly transmit the safety signal to the traveling unit 110 or the working unit 120 without passing through the robot control unit 130 when receiving the safety signal from the outside. In that case, the traveling unit 110 or the working unit 120 can be stopped by a safety signal received from the signal processing circuit 132, for example, separated from the battery 140. Since the robot control unit 130 is not used, there is an effect of preventing the emergency stop from being delayed due to processing delay.

  In this embodiment, the traveling unit 110 of the self-running robot 100 is an automatic guided vehicle that moves by wheels, but the traveling unit 110 may be a multi-legged walking robot, for example. The work area of the self-running robot 100 is not necessarily a flat floor, and may be a dangerous cliff, for example. Therefore, the specific traveling unit 110 can be changed according to the situation of the work area.

  Moreover, since the safety switch 230 is a trigger for transmitting a safety signal, it may be an infrared sensor or a human sensor that detects that a person has passed.

  When the station 200 of this embodiment disconnects the wired connection between the self-running robot 100 and the station 200, a signal from the robot passage detection sensor 242 indicates whether or not the self-running robot 100 has moved to the robot motion non-restricted region 440. Judgment based on. However, when the self-running robot 100 records its own position at any time, the self-running robot 100 inputs a signal indicating the position to the station control unit 250 so that the station control unit 250 can automatically It may be determined whether or not the running robot has moved to the robot motion unrestricted area 440.

  In this embodiment, when the station-side connector 236 and the robot-side connector 154 are connected, the position of the station-side connector 236 is determined directly using the visual sensor 158, and the connection is made by the movement of the self-running robot. It was. However, since the height positions of the connectors are substantially equal, they can be connected if the horizontal position is detected. Therefore, a mark indicating the horizontal position of the station-side connector 236 is provided on the floor, and the mark is detected by a sensor provided in the self-running robot 100, so that the position of the station-side connector 236 is indirectly grasped. It doesn't matter.

  Although the self-propelled robot 100 of this embodiment is equipped with a battery 140 that can repeatedly store electricity, the self-propelled robot 100 is equipped with a replaceable battery instead of the battery 140, and the self-propelled robot 100 is supplied from the battery. It may be operated by the electric power.

  The present invention divides the area where the self-propelled robot 100 operates into two areas, one area where there is a possibility of contact with humans (robot operation restriction area 430, first area), and the other area where contact with humans is possible. The area is not dangerous (robot operation non-restricted area 440, second area). A partition made of a physical cushioning material is provided between the two areas, and in order for the self-propelled robot 100 to enter the robot operation restriction area 430, it communicates with the station 200 through a path connecting the respective areas, and is safe. Check if there is a signal or a wired connection and then connect. In the present invention, in the area where the safety signal needs to be reliably transmitted to the self-running robot 100 (robot operation restriction area 430), the self-running robot 100 and the station 200 are connected by wire, thus ensuring safety. it can. On the other hand, when the self-propelled robot 100 exists in an area where the safety signal does not need to be sent to the self-propelled robot 100 (robot operation non-restricted area 440) because the human does not enter, the self-propelled robot 100 always monitors the safety signal. There is no need, and the self-running robot 100 and the station 200 are not connected by wire. Therefore, the self-running robot 100 does not always need to monitor the safety signal, and the work range is not limited by the connected cable. By applying the present invention, the safety of the self-propelled robot can be ensured without mounting the safety signal wireless device on the self-propelled robot and without performing communication related to the safety signal at all times.

It is a side view which shows an example of schematic structure of the safety system (self-propelled robot control system) using the self-propelled robot by this invention. FIG. 2A is a plan view showing an example of a schematic configuration of a safety system according to the present invention, FIG. 2A is a diagram showing a state before the self-propelled robot moves to a robot motion restriction region, and FIG. It is a figure which shows the state after a running robot moves to a robot operation | movement restriction | limiting area | region. It is a figure which shows the structure for the station side connection means of a station, and the robot side connection means of a self-propelled robot to connect. It is a figure which shows the procedure in which a self-propelled robot establishes a wired connection with a station, when the self-propelled robot of the safety system by this invention moves from a robot operation non-restriction area | region to a robot operation restriction | limiting area | region. It is a figure which shows the procedure in which a self-propelled robot cuts | disconnects wired connection with a station, when the self-propelled robot by this invention moves from a robot operation | movement restriction | limiting area | region to a robot movement non-restriction area | region.

Explanation of symbols

DESCRIPTION OF SYMBOLS 100 Self-propelled robot 110 Traveling part 120 Working part 122 Arm 130 Robot control part 132 Signal processing part 140 Battery 142 Charging circuit 150 Robot side connection means (part of connection mechanism)
152 Robot side fitting part 153 Hook part 154 Robot side connector (second connector)
156 Drive unit 158 Visual sensor 200 Station (command device)
210 First partition 212 Door 220 Second partition 222 Automatic door 224 Route 230 Station side connection means (part of connection mechanism)
232 Connection cable 234 Station side fitting part 236 Station side connector (first connector)
238 Protruding part 239 Support body 240 Safety switch 242 Signal transmission cable 244 Robot passage detection sensor 250 Station controller 260 Power feeding device 270 Connection mechanism 300 Human 410 Robot non-operation area 420 Robot operable area 430 Robot operation restriction area 440 Robot operation restriction area 440 Area 1000 Safety system

Claims (8)

In a self-propelled robot control system for forcibly controlling the operation of at least one of the working unit and the traveling unit of a self-propelled robot including a working unit, a traveling unit, and a control unit that controls the working unit and the traveling unit,
The work area in which the self-propelled robot performs work and travel by the work part and the travel part has a first area that allows human entry and a second area that does not allow human entry,
A commanding device capable of giving a wired control command to the self-propelled robot for forced control of at least one of the working unit and the traveling unit when the self-propelled robot is present in the first region; ,
When the self-propelled robot moves from the second region to the first region, a wired connection between the self-propelled robot and the command device can be automatically established, and the self-propelled robot A connection mechanism capable of automatically disconnecting the wired connection between the self-propelled robot and the command device when moving from one region to the second region;
A self-propelled robot control system comprising:   The connection mechanism includes: a first connector included in the command device; a second connector included in the self-propelled robot that is detachably connected to the first connector; A support body that supports the second region in a predetermined position, and the control unit of the self-propelled robot controls the travel unit according to a travel program taught in advance, so that the traveling operation of the self-propelled robot is performed. By connecting the second connector to the first connector immediately before moving from the second area to the first area, establishing the wired connection, and immediately after moving from the first area to the second area. The self-propelled robot control system according to claim 1, wherein the second connector is detached from the first connector to disconnect the wired connection.   The connection mechanism includes a visual sensor that detects the position of at least one of the first connector and the second connector with an image, and the control unit of the self-propelled robot has data on the position detected by the visual sensor. The self-propelled robot control system according to claim 2, wherein the traveling unit is controlled to execute establishment or separation of the wired connection based on   A fault part that selectively allows movement of the self-propelled robot from the second area to the first area, and the fault part is output when the command device outputs the forced control command; The self-propelled robot control system according to any one of claims 1 to 3, wherein the self-propelled robot is not allowed to move from the second region to the first region.   5. The control unit according to claim 1, wherein the control unit of the self-running robot forcibly controls at least one operation of the working unit and the traveling unit in accordance with the forcible control command of the command device. The self-propelled robot control system described. The forced control command of the command device is a stop command for forcibly stopping the operation of at least one of the working unit and the traveling unit,
6. The control unit according to claim 1, wherein the control unit of the self-running robot forcibly stops the operation of at least one of the working unit and the traveling unit in accordance with the stop command of the commanding device. Self-propelled robot control system.   The self-propelled robot control system according to claim 6, wherein the self-propelled robot shuts off power supply to at least one of the working unit and the traveling unit in accordance with the stop command of the command device. The self-running robot further includes a battery and a charging circuit for the battery,
The command device further includes a power supply device for supplying power,
The charging circuit charges the battery with power supplied from the power supply device when the wired connection is established between the first connector and the second connector.
The self-propelled robot control system according to any one of claims 1 to 7.

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