JP6727701B2 - Autonomous work integrated management system - Google Patents

Description

The present invention relates to an autonomous work integrated management system that manages an autonomous series of works by a plurality of work devices.

As a technique for managing autonomous work by a plurality of work devices, for example, in Patent Document 1 (JP 2012-529104 A), an arbitrary number of robot machine groups and a mission of an arbitrary number of robot machine groups are set. There is disclosed a technology relating to an apparatus including a mission planner capable of performing a mission and a mission control unit capable of executing a mission using an arbitrary number of robot machine groups.

Special table 2012-529104 gazette

However, in the above-mentioned related art, the autonomous work when one mission is executed by a plurality of devices is a control target, and cooperation between devices that execute different missions is not considered. In other words, it does not take into consideration the case where the work situations of different missions affect each other's work, so in a field where multiple missions are executed in parallel, changes in the work environment caused by other missions may occur. There was a risk that the work efficiency would decrease.

The present invention has been made in view of the above, and an object thereof is to provide an autonomous work integrated management system capable of flexibly responding to changes in the work environment caused by other missions.

In order to achieve the above object, the present invention is, in an autonomous work integrated management system for controlling autonomous work by a plurality of work devices, a work database in which information regarding work of the work devices is stored, and a state of the work devices and A work state estimating unit that estimates a work state of the work device based on detection results from a plurality of detection devices that detect a state of a work area in which the work device is arranged and information stored in the work database; A motion database that stores information related to the motion pattern of the work device; and a work state estimation result of the work device in the work state estimation unit, and information stored in the motion database based on the work device. An apparatus state estimating unit that estimates an operating state, a command input unit that decomposes a work instruction input by an operator into an apparatus instruction, an estimation result of the operating state of the work device in the apparatus state estimating unit, and the instruction input unit A command generation unit that generates respective control amounts of the plurality of work devices based on a device command, and the command generation unit includes a first work group configured by a part of the plurality of work devices. When the control amount for executing the first mission is generated by the autonomous work of the second work group, it is performed by the autonomous work of the second work group including a plurality of other work devices different from the first work group. Based on the control amount of the second mission, the control amount of the work device relating to the first mission is generated.

It is possible to flexibly respond to changes in the work environment caused by other missions.

It is a functional block diagram which shows the whole structure of the autonomous work integrated management system which concerns on this Embodiment. It is a figure which shows the data structure of a work database. It is a figure which shows the data structure of an operation database. It is a figure which shows the mode of the work area in the state which has not conveyed the storage pipe by the carrier. It is a figure which shows the mode of the work area in the state which is carrying the storage pipe by the carrier. It is a figure which shows a mode that a waste is cut and grasped by a take-out device. It is a figure which shows a mode that a pick-up device picks up a waste and places it on a crane. It is a figure which shows a mode that a waste is stored in a storage pipe from an extraction crane. It is a figure which shows a mode that a storage pipe is mounted in a trolley|bogie. It is a figure which shows a mode that the trolley|bogie on which the storage pipe was mounted enters a storage. It is a figure which shows a mode that a trolley|bogie stops at the predetermined position of a storage. It is a figure which shows a mode that a storage pipe is lifted up from a carrier by a storage pipe transportation crane. It is a figure showing signs that a storage pipe is stored in a storage pool by a storage pipe transportation crane. It is a PAD figure which shows roughly the process content of the autonomous work control process by an autonomous work integrated management system. It is a PAD figure which shows roughly the work state estimation process. It is a PAD figure which shows roughly the process content of a device state estimation process. It is a figure which shows one of the outputs produced|generated by the autonomous work integrated management system, and the operation schedule of the work device of each work group.

An embodiment of the present invention will be described below with reference to the drawings.

In the present embodiment, a case will be described as an example in which an autonomous work performed by a plurality of work devices that perform transportation between buildings to be transported and work in the vicinity thereof is a management target.

FIG. 1 is a functional block diagram showing the overall configuration of the autonomous work integrated management system according to the present embodiment.

In FIG. 1, an autonomous work integrated management system 54 controls autonomous work by a plurality of work devices 23 to 29 (detailed later) belonging to a plurality of work groups 56 to 59. A work database 37 in which information about the work is stored, a plurality of detection devices (device state detection device group 62) for detecting the states of the work devices 23 to 29, and an environment of a work area 55 in which the work devices 23 to 29 are arranged are detected. A work state in which the work states of the work devices 23 to 29 are estimated based on the detection result from the detection device group 60 including the plurality of detection devices (work environment detection device group 63) and the information stored in the work database 37. An estimation unit 34, a motion database 38 that stores information about motion patterns of the work devices 23 to 29, an estimation result of the work states of the work devices 23 to 29 in the work state estimation unit 34, a detection result of the detection device group 60, And a device state estimating unit 35 that estimates the operating state of the work devices 23 to 29 based on the information stored in the operation database 38, and a command input unit 40 that decomposes the work command input by the operator 39 into a device command. A command generation unit that generates a control amount of each of the plurality of work devices 23 to 29 based on the estimation result of the operating states of the work devices 23 to 29 in the device state estimation unit 35 and the device command from the command input unit 40. 41, and a data transmission/reception unit as an interface including a data reception unit 31 that receives data from the detection device group 60 and a data transmission unit 32 that transmits the control amount generated by the command generation unit 41 to the work devices 23 to 29. And 30.

The device state detection device group 62 of the detection device group 60 is mounted on the work devices 23 to 29 for detecting the states of the work devices 23 to 29. The detection devices mounted on the work devices 23 to 29 include sensors (laser rangefinders, encoders, potentiometers, inclinometers, geomagnetic sensors, gyro sensors, etc.) that detect the amount of movement and rotation of the drive unit, and Sensors (cameras, ultrasonic rangefinders, laser rangefinders, force/torque sensors, thermometers, pressure sensors, etc.) that detect interactions, sensors that detect the operation of the drive unit (current sensors, etc.), position of the object There is a sensor (such as a GPS sensor carried by a worker) for detecting.

The work environment detection device group 63 of the detection device group 60 is arranged in the work area 55 to detect the environment of the work area 55 in which the work devices 23 to 29 are arranged. Examples of the detection device arranged in the work area 55 include a sensor (pressure gauge, leak detector, thermometer, radiation meter, etc.) that detects changes in the work environment.

The data from the detection device group 60 is received by the data receiving unit 31 and input to the work state estimating unit 34. The work state estimation unit 34 refers to the work database 37 in which the work procedures and work contents of each work acquired by the pre-training or simulation are stored, extracts similar events based on the received data, and extracts each work device. The current work state of 23 to 29 is estimated and the action is determined. The device state estimation unit 35 estimates the device state by referring to the estimation result of the work state estimation unit 34 and the operation database 38 in which the operation patterns of the respective work devices 23 to 27 are stored, and the predetermined mission is performed. The operation of each of the work devices 23 to 27 required to realize the above is determined. On the other hand, the operator 39 inputs a command to the integrated management system. The command input timing is basically carried out only at the start of the work, but it can be input whenever there is a plan change or situation change while the work is in progress. The operator 39 inputs a command to the command generation unit 41 via the command input unit 40. In the command input unit 40, a command input from the operator 39 (for example, “transporting the storage pipe 3 from the building 1 to the storage 5 so that the worker's exposure is minimized”)=work: storage from the building 1 In response to the transportation of the storage pipe 3 to the warehouse 5 and the constraint: minimum exposure dose of the worker 29), the command is decomposed into various constraint conditions of each work device 23 to 29, work purpose, operation pattern, and the like. Input to 41. In the command generation unit 41, based on the states of the respective work devices 23 to 29 estimated by the device state estimation unit 35 and the commands decomposed by the command input unit 40 (equal to the target operation of the work devices 23 to 29), The control amount of the drive unit of each work device 23 to 29 is calculated. The control amounts of the respective work devices 23 to 29 generated by the command generation unit 41 are transmitted and expanded from the data transmission unit 32 to the work device group (work devices 23 to 29).

FIG. 2 is a diagram showing the data structure of the work database. Further, FIG. 3 is a diagram showing a data structure of the operation database.

In FIG. 2, the work database 37 stores various kinds of information regarding the work of the work devices 23 to 29, and includes pre-training data 42, simulation data 43, assumed failure event data 44, manual input data 45, online accumulated data 46. , And similar event data 47.

In FIG. 3, the operation database 38 stores various kinds of information regarding the operation patterns of the work devices 23 to 29, and includes pre-training data 48, simulation data 49, assumed failure event data 50, manual input data 51, online accumulated data. 52 and similar event data 53.

4 and 5 are diagrams schematically showing an example of a work area to be managed by the autonomous work integrated management system according to the present embodiment. FIG. 4 is a diagram showing a state of the work area in a state where the storage pipes are not being conveyed by the carrier, and FIG. 5 is a diagram showing a state of the work area in a state where the storage pipes are being conveyed by the carrier. is there.

4 and 5, in the work area 55 according to the present embodiment, the work group 56 in the building 1 in which the waste to be transported is stored, and the building in which the waste is stored from the building 1 Work group 57 for transporting the transported waste to the storage cabinet 5, a work group 58 for storing the transported waste in the storage cabinet 5, and a work for performing work at a location adjacent to the waste transport path in the work group 57. Groups 59 and are arranged. Here, among the work groups 56 to 59, the work groups 56 to 58 form a second work group, and the work group 59 forms a first work group.

FIG. 6 to FIG. 9 are views showing the working state of the building in which the waste to be transported is stored. FIG. 6 is a diagram showing how waste is cut and gripped by the take-out device, FIG. 7 is a diagram showing how waste is taken out by the take-out device, and placed on a crane, and FIG. 8 is shown from the take-out crane. FIG. 9 is a diagram showing a state in which the storage pipe is stored in the storage pipe, and FIG.

6 to 9, in the building 1, as the work devices 23 to 25 belonging to the work group 56, the take-out device 23, the take-out crane 24, and the storage pipe transport crane 25 are arranged.

The take-out device 23 is, for example, a work device that performs a work of taking out the waste 8 existing at the bottom of the container 7 and loading it into the crane 24. A translational movement stage 9 provided above the container 7 so as to connect the upper end of the tube 10 and enabling the telescopic tube 10 to move in the horizontal direction, and an elongate tube that can be moved up and down by the telescopic tube 10 expanding and contracting. It is arranged at the lower end of 10, and is composed of a work tool 11 for cutting and gripping the waste 8 and loading it on a crane 24. The waste 8 cut and gripped by the work tool 11 is placed on the carrier 14 of the take-out crane 24 (see FIG. 7).

The take-out crane 24 is a work device that stores the waste 8 loaded by the take-out device 23 in the storage pipe 3 arranged in the storage work chamber 15 outside the container 7, and moves horizontally above the building 1. The translational movement stage 12 is provided so as to be movable, the wire 13 is provided below the translational movement stage 12 so as to be capable of expanding and contracting, and the carrier 14 provided at the lower end of the wire 13. When the waste 8 is placed on the carrier 14 by the take-out device 23, the carrier 14 is moved to the storage work chamber 15 by the expansion and contraction of the wire 13 and the translational movement stage 12, and the waste 8 on the carrier 14 is removed. It is sequentially stored in the storage pipe 3 of the storage work chamber 15 (see FIG. 8).

The storage pipe transporting crane 25 is a work device for loading the storage pipe 3 in which the waste 8 is stored from the storage work chamber 15 into the transport carriage 2 of the work group 57, and is horizontally movable above the inside of the building 1. The translational movement stage 16 is provided, the wire 17 is provided below the translational movement stage 16 so as to be capable of expanding and contracting, and the storage tube suspending tool 18 provided at the lower end of the wire 17. When the amount of waste 8 stored in the storage pipe 3 reaches a predetermined amount, the storage pipe 3 is hung by the storage pipe transport crane 25, and is placed on the transport carriage 2 that has reached the predetermined position of the building 1 and stopped. (See FIG. 9).

The carrier 2 as the work device 26 belonging to the work group 57 carries out the work of unloading the storage pipe 3 from the building 1 and the work of carrying the storage pipe 3 to the storage 5. The carrier 2 carries the storage pipe 3 by reciprocating between the building 1 and the storage 5 via a road 4 provided between the building 1 and the storage 5.

10 to 13 are diagrams showing the manner of operation of a storage box in which a storage tube storing waste is stored. FIG. 10 is a diagram showing a state in which a carrier truck on which a storage pipe is placed enters a storage cabinet, FIG. 11 is a diagram showing a state in which the carrier truck stops at a predetermined position in the storage cabinet, and FIG. It is a figure which shows a mode that a storage pipe is hoisted from a trolley|bogie by a storage pipe transportation crane, and FIG. 13 is a figure which shows a mode that a storage pipe is stored in a storage pool by a storage pipe transportation crane.

10 to 13, a storage pipe transport crane 27 as a working device 27 belonging to the working group 58 is arranged in the storage 5.

The storage pipe transporting crane 27 is a working device that stores the storage pipes 3 transported by the transport carriage 2 in the storage pool 19 installed inside the storage cabinet 5, and moves horizontally above the storage cabinet 5. The translational movement stage 20 is provided so that it can be extended, the wire 21 is provided below the translational movement stage 20 so as to be capable of expanding and contracting, and the storage tube suspending tool 22 provided at the lower end of the summit. When the carrier 2 on which the storage pipe 3 in which the waste 8 is stored is placed and stops at a predetermined position of the storage 5 (see FIG. 11 ), the storage pipe 3 moves from the carrier 2 to the storage pipe transport crane 27. It is hung by (see FIG. 12) and stored in the storage pool 19 installed inside the storage 5 (see FIG. 13).

The work group 59 is a work group that performs work in a place adjacent to the waste transportation path in the work group 57, and can set an arbitrary work. The case where the work machine 28 and the worker 29 perform work related to environmental maintenance (for example, debris removal, equipment installation, etc.) is shown as an example. Since the work of the worker 29 is also managed based on the work schedule, work procedure, etc. set by the autonomous work integrated management system, it belongs to the work group 59 like the work device controlled by the autonomous work integrated management system. It can be regarded as a control target of autonomous work.

Here, when the waste 8 stored in the storage pipe 3 is a radioactive waste, for example, it is necessary to consider safety management of workers, and in the case of transporting the storage pipe 3 by the carrier 2. In this case, the worker 29 needs to be evacuated from the vicinity of the transport path (road 4). In the autonomous work integrated management system according to the present embodiment, a first mission (debris removal or debris removal or debris removal is performed by the autonomous work of the first work group including a plurality of work devices 28 and 29 (work machine 28 and worker 29). In the case of generating a control amount for executing a mission (installation of equipment, etc.), by the autonomous work of the second work group including a plurality of other work devices 23 to 27 different from the first work group. Regarding the first mission based on the control amount of the second mission to be executed (for example, the mission to store the waste in the building 1 in the storage pipe 3 to convey it and store it in the storage pool 19 of the storage 5) A control amount of the work devices 28 and 29 is generated. Therefore, even when the waste stored in the storage pipe 3 requires the evacuation of the worker 29 like the radioactive waste, in the case of transporting the storage pipe 3 by the carrier 2, The influence on the mission of the first work group, which is not directly related to the mission of the second work group, can be considered, and the work from the work section 6 near the road 4 to the safe work section 61 is performed. The autonomous work can be controlled so that the member 29 is evacuated (see FIG. 5).

Here, the autonomous work control process in the autonomous work integrated management system according to the present embodiment will be described.

FIG. 14 is a PAD diagram schematically showing the processing contents of the autonomous work control processing by the autonomous work integrated management system.

In FIG. 14, the autonomous work integrated management system first takes in a predetermined work plan, information about a work group, and a work device state (step S10). Here, the work devices 23 to 29 belonging to the respective work groups 56 to 59 are defined. The work plans include those related to the entire work performed in the work area 55 and those related to the work performed in each work group 56 to 59, and information such as work time, work period, work conditions, work content, and the like. Are stored in the storage area 40a provided in the command input unit 40 while being input in advance by the operator 39 or the like.

Next, when a work command is input by the operator 39 (step S20), the input work command is decomposed into device commands to extract work constraint conditions and overall work flow (step S21), and based on the result. Then, the roles of the respective work devices 23 to 29 necessary for realizing the desired work in the respective work groups 56 to 59 are generated as a command (step S22). The process of step S20 can be omitted if the work content of each work group and the operation or role of each work device can be defined in advance.

Next, the work procedure is generated based on the instruction to each of the work devices 23 to 29 generated in step S22 (step S30). In step S30, the element motion required for the work is selected from the information stored in advance in the work database 37 and the motion database 38 (step S31), and the element motion is connected as a work flow to construct a series of flows (step S31). S32), based on the work flow constructed in each work group 56 to 59, the flow of the entire work is combined with the work procedure in chronological order (step S33).

Next, a combination of work devices that require a cooperative operation between the work groups and the operation thereof are determined, and a cooperation process between the work groups is performed (step S40). In step S40, cooperation between work devices belonging to the same work group and cooperation parts between work devices belonging to different work groups are extracted and defined (step S41). Then, a required operation and its condition (for example, change in sensor value, working time, etc.) are set between the cooperating work devices (step S42).

Next, based on various sensor signals transmitted from the work device group, the mode is shifted to a mode for monitoring the work status of each work group and the operation status of each device, and the work status monitoring process is performed (step S50). Then, all of the collected work and data relating to the work device are saved (step S60), and the process ends.

FIG. 15 is a PAD diagram schematically showing the work state estimation process.

In FIG. 15, the autonomous work integrated management system first reads the sensor information such as the work environment detection device group 63 for monitoring work and the device state detection device group 62 installed in the work device (step S100).

Next, the work state of the work group 56 is estimated (step S110). In step S110, the position of the storage tube 3 that is the object to be transported is grasped (step S111), and the work progress status as a work state is estimated from the position information of the work devices 23 to 25 and the storage amount of the storage tube 3 (step S111). S112).

Next, the work state of the work group 57 is estimated (step S120). In step S120, the position of the working device 26 (transportation vehicle 2) for transporting the storage tube 3 is grasped (step S121). Then, the work progress status of the work group 56 obtained in step S110 is acquired (step S122), and when it is determined from the work progress status of the work group 56 that the storage tube 3 needs to be transported, the transportation is performed. While monitoring the position of the dolly 2, the work device (storage pipe transport crane) 25 is used to mount the storage pipe 3 on the transport trolley 2 (step S123).

Next, the work state of the work group 58 is estimated (step S130). In step S130, the positional information of the working device (storage pipe transport crane) 27 and the working device 26 (transportation vehicle 2) is acquired to determine whether the storage pipe 3 can be accepted (step S131). A command is generated to enter the inside of the storage 5 while grasping the state of 26 (transportation vehicle 2) (step S132).

Next, the work state of the work group 59 is estimated (step S140). In step S140, the positions of the work device (work machine) 28 and the worker 29 are grasped (step S141), the position information of the work device 25 (transportation vehicle 2) and the presence or absence of the storage pipe 3 are detected, and the storage pipe is detected. When the trolley 2 equipped with 3 passes around the work group 59, a signal for temporarily stopping the work in the work group 59 and evacuating the worker 29 to the safe work section 61 (command ) Is transmitted (step S142). After that, the estimated work state is saved (step S150), and the process ends.

FIG. 16 is a PAD diagram schematically showing the processing contents of the apparatus state estimation processing. In the present embodiment, the work state estimation process regarding the work devices 23 to 25 forming the work group 56 will be described as an example, and the same device state estimation process is performed for the work groups 57 to 59, and the description will be omitted. ..

In FIG. 16, the autonomous work integrated management system first reads the work state estimation result in the work state estimation process and the detection result from the detection device group 60 mounted on each of the work devices 23 to 29 (step S200).

Next, the device state of the work device (takeout device) 23 is estimated (step S210). In step S210, the three-dimensional position and orientation of the working device (take-out device) 23 in the building 1 is estimated based on the sensor signal for detecting the amount of movement and the amount of rotation provided in the drive unit (step S211). The gripping of the gripping target is detected using the information of the force sensor and the pressure sensor (step S212).

Next, the device state of the work device (take-out crane) 24 is estimated (step S220). In step S220, the three-dimensional position and orientation of the working device (take-out crane) 24 in the building 1 is estimated based on the sensor signal for detecting the amount of movement and the amount of rotation provided in the drive unit (step S221). ), it is determined whether or not the waste 8 to be transported can be loaded on the transport base 14 based on the dimensional information measured by the shape measuring sensor and the information from the force sensor mounted on the tip of the working device (takeout device) 23 (step). S222). Next, it is determined whether or not the waste 8 can be loaded on the carrier 14 based on the information from the force sensor, which is a sensor that detects the interaction with the target object, and the thermometer (step SS223).

Next, the device state of the working device (storage pipe transport crane) 25 is estimated (step S230). In step S230, the three-dimensional position and orientation of the working device (storage pipe transport crane) 25 in the building 1 is estimated based on the sensor signal for detecting the movement amount and the rotation amount provided in the drive unit ( In step S231), the installation position of the storage pipe 3 that stores the waste 8 is confirmed (step S232). Next, it is determined from the information on the amount of waste in the storage pipe 3 whether or not to prepare a new storage pipe after storing or transporting new waste (step S233). Then, the state of each of the work devices 23 to 25 is stored in the storage unit and the process ends (step S240).

FIG. 17 is a diagram showing an operation schedule of the work devices in each work group, which is one of the results (outputs) generated by the autonomous work integrated management system.

In FIG. 17, work item names (work group names) and work device names belonging to each work group are arranged in the vertical direction, and operating states of the respective work devices are arranged in the horizontal direction in chronological order. In FIG. 17, the hatched portion represents the operating time of each work device in each work group.

In FIG. 17, in the work group 56, the work device (removal device) 23 cuts and grips the waste 8, the work device (removal crane) 24 stores the waste 8 in the storage pipe 3, and the work group 57 Preparatory work for unloading the storage pipe 3 by the work device (storage pipe transport crane) 25 is planned in parallel with the entry and standby of the work device 26 (transport vehicle 2) into the building 1. In addition, a transport operation is planned in which the transport vehicle 2 of the work group 57 loads the storage pipe 3 and moves to the storage 5.

Further, during the transportation period of the storage pipe 3 by the transport vehicle 2 (that is, the period when the storage pipe 3 may be located on the road 4), the work device (work machine) 28 of the work group 59 is set to the standby state, and the work is performed. It is planned to evacuate the member 29 to a safe place (such as the work area 61). In this case, a warning is also issued. Note that the work device (work machine) 28 and the worker 29 can work in the work section 6 at times other than when the storage pipe 3 is transported on the road 4, and the work is planned.

Further, when the carrier truck 2 of the work group 57 loads the storage pipe 3 and approaches the storage box 5, the working device (storage pipe transport crane) 27 of the work group 58 shifts to the state of receiving the storage pipe 3, and the carrier truck. It is planned to collect the storage tube 3 from the storage container 2 and then move the carrier 2 to the building 1 again.

The effects of this embodiment configured as described above will be described.

In the prior art, an autonomous work when one mission is executed by a plurality of devices is a control target, and cooperation between devices that execute different missions is not considered. In other words, it does not take into consideration the case where the work situations of different missions affect each other's work, so in a field where multiple missions are executed in parallel, changes in the work environment caused by other missions may occur. There was a risk that the work efficiency would decrease.

On the other hand, in the autonomous work integrated management system according to the present embodiment, the first mission is performed by the autonomous work of the first work group including the plurality of work devices 28 and 29 (work machine 28 and worker 29). A second work group including a plurality of work devices 23 to 27 different from the first work group when generating a control amount for executing (a mission to remove debris, install equipment, etc.) Based on the control amount of the second mission (for example, the mission of storing and transporting the waste of the building 1 in the storage pipe 3 and storing it in the storage pool 19 of the storage 5) executed by the autonomous work of The control variables of the work devices 28 and 29 for one mission are generated. Therefore, it is possible to flexibly respond to changes in the work environment caused by other missions. That is, even when the waste stored in the storage pipe 3 requires the evacuation of the worker 29 like radioactive waste, in the case of transporting the storage pipe 3 by the carrier 2, The influence on the mission of the first work group, which is not directly related to the mission of the second work group, can be considered, and the worker from the work section 6 near the road 4 to the safe work section 61. It is possible to control the autonomous work by planning the operation schedule of the work device so that 29 evacuation is performed. Therefore, it is possible to avoid work delays and reduce risks.

It should be noted that the present invention is not limited to the above-described embodiments, but includes various modifications. For example, the above-described embodiments have been described in detail in order to explain the present invention in an easy-to-understand manner, and are not necessarily limited to those having all the configurations described. Further, the above-described respective configurations, functions and the like may be realized by partially or entirely designing, for example, an integrated circuit. Further, each of the above-described configurations, functions, and the like may be realized by software by a processor interpreting and executing a program that realizes each function.

1 building 2 carrier 3 storage pipe 4 road 5 storage 6 work compartment 7 container 8 waste 9 translation stage 10 telescopic tube 11 work tool 12 translation stage 13 wire 14 carrier 15 storage work room 16, 20 translation stage 17, 21 Wires 18, 22 Storage pipe suspension tool 19 Storage pool 23 Working device (takeout device)
24 Working device (take-out crane)
25,27 Working device (storage pipe transportation crane)
26 Working device (carriage)
28 Working device (working machine)
29 Working device (worker)
30 data transmission/reception unit 31 data reception unit 32 data transmission unit 34 work state estimation unit 35 device state estimation unit 37 work database 38 operation database 39 operator 40 command input unit 40a storage area 41 command generation unit 42, 48 pre-training data 43, 49 Simulation data 44, 50 Assumed trouble event data 45, 51 Manual input data 46, 52 Online accumulated data 47, 53 Similar event data 54 Autonomous work integrated management system 55 Work area 56-59 Work group 60 Detection device group 61 Work section 62 Device State detection device group 63 Working environment detection device group

Claims (5)

In an autonomous work integrated management system that controls autonomous work by multiple work devices,
A work database in which information about work of the work device is stored,
Estimating the work state of the work device based on the detection results from a plurality of detection devices that detect the state of the work device and the environment of the work area in which the work device is arranged, and the information stored in the work database. And a working state estimation unit,
An operation database in which information about operation patterns of the work device is stored,
An apparatus state estimation unit that estimates an operation state of the work device based on an estimation result of the work state of the work device in the work state estimation unit and information stored in the operation database,
A command input unit that decomposes work commands input by the operator into device commands,
Based on the estimation result of the operating state of the work device in the device state estimation unit and the device command from the command input unit, a command generation unit that generates a control amount of each of the plurality of work devices,
The command generation unit is configured to generate the control amount for executing the first mission by the autonomous work of the first work group including a part of the plurality of work devices, when the first work group is generated. Generate a control amount of the work device for the first mission based on the control amount of the second mission executed by the autonomous work of the second work group including a plurality of other work devices different from An integrated management system for autonomous work. In the autonomous work integrated management system according to claim 1,
The work state estimating unit estimates the operating condition of the work device based on information from the detection device installed in the work device or the detection device installed in a work area where the work device exists. A featured integrated autonomous work management system. In the autonomous work integrated management system according to claim 1,
The detection device detects a laser rangefinder, an encoder, a potentiometer, an inclinometer, a geomagnetic sensor, a gyro sensor, and an interaction with an object as a detection device that detects a movement amount and a rotation amount of a drive unit of the working device. camera as the detection device, an ultrasonic distance meter, the laser distance meter, the force-torque sensor, a thermometer, pressure sensor, a current sensor as a detection device for detecting the operation of the drive unit, detecting for detecting a change in the working environment An autonomous work integrated management system comprising at least one of a pressure gauge, a water leak detector, a thermometer, and a radiation dose meter as a device. In the autonomous work integrated management system according to claim 1,
The work database stores at least one of pre-training data, simulation data, assumed failure event data, manually input data, online accumulated data, and similar event data as information about the work of the work device. autonomous work integrated management system that. In the autonomous work integrated management system according to claim 1,
The operation database stores at least one of pre-training data, simulation data, assumed failure event data, manually input data, online accumulated data, and similar event data, as information about an operation pattern of the work device. autonomous work integrated management system shall be the.

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