JPH11207673A - Controller for loading robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To restore a robot promptly and easily from the outside of an automated storage and retrieval system if a robot stops erroneously during its working inside the system. SOLUTION: A robot 1 loads and unloads an article on a crane in an automated storage and retrieval system. A present position transmitting part 3 transmits the present position signal 3a of the robot 1 to a work instruction device 4 outside the automated storage and retrieval system. The work instruction device 4 stores a positional relation between a shelves in the system and the crane, a kind of package of articles, etc., and when it receives the present position signal 3a, a display device 5 3-D displays a state in the system. When a jogging instruction part 6 outputs a jogging command signal 6a by human operation, the robot 1 can be manually-operated from the outside of the system.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for controlling a robot for loading and unloading in a warehouse.

[0002]

2. Description of the Related Art Conventionally, as shown in, for example, JP-A-8-133416, a device for loading and unloading articles by a robot in a warehouse has been used. As shown in FIG. 2, a stacker crane A running opposite to a shelf (not shown) in a warehouse is installed, an elevator E is provided on the stacker crane A, and a picking robot 1 is mounted on the elevator E. The lifting platform E lifts and lowers the article D, and the picking robot 1 grips and unloads the article D.

FIG. 5 is a block diagram showing a conventional control device for a loading robot. Crane A in the automated warehouse
The robot 1 for loading and unloading the articles D is installed thereon, and the operation of the robot 1 is controlled by the operation control device 2. If the robot 1 working in the automatic warehouse stops due to an error such as a grip error, a person enters the automatic warehouse and goes to the place where the robot 1 exists, where a jog operation (manual operation) is performed using the operation control device 2. ), The robot 1 is retracted to a position where no trouble is caused, and the cause of the error is eliminated.

[0004]

In the above-described conventional control system for a loading robot, when the robot 1 in operation stops due to an error such as a grip error, the error occurs in any posture of the robot 1. Since it is not known, it is necessary for a person to always go to the robot 1 and to perform a jog operation while visually confirming to retreat the robot 1 to a position where there is no hindrance, and there is a problem that a considerable time is required for recovery. .

[0005] In addition, since there are many obstacles in the automatic warehouse, the visibility is very poor, the place where people stand for recovery work is limited, and it is necessary to confirm whether the robot 1 interferes with peripheral equipment. There is a problem that operating while operating involves danger.

SUMMARY OF THE INVENTION The present invention has been made to solve the above problems, and has as its object to provide a control device for a loading robot capable of quickly and easily restoring a robot in which an error has occurred. I do.

[0007]

According to a first aspect of the present invention, there is provided a control apparatus for a loading robot, comprising: information on equipment, articles, etc. in a warehouse, stored in advance, and information on a robot transmitted from the warehouse. Based on the current position, the state of the robot, the state of the equipment and the articles, the mutual positional relationship thereof, and the like are displayed outside the warehouse.

The control device for a loading robot according to a second aspect of the present invention stores in-facility information such as a package of articles placed on shelves in a warehouse and a positional relationship between the shelves and the crane. A work instruction device for transmitting a loading plan to the robot, and a posture of the robot based on the stored information in the refrigerator and the current position of the robot transmitted to the work instruction device;
A display device for displaying the positional relationship between the crane and the shelf is installed outside the warehouse.

A control device for a loading robot according to a third aspect of the present invention is the control device for a loading robot according to the second aspect of the present invention, wherein a jog sending operation instructing section for instructing a manual operation of the robot is provided outside the warehouse.

The control device for a loading robot according to a fourth aspect of the present invention is the control device according to the second or third aspect, wherein a viewpoint changing unit for changing a display angle of the display device is provided outside the warehouse.

According to a fifth aspect of the present invention, in the control device for a loading robot according to the third or fourth aspect, a pre-display unit for preliminarily analyzing and displaying a jog sending operation of the designated robot is displayed. The work instruction device is provided with a jog-sending re-operation output confirming unit that is provided in the device and is manually operated to transmit a jog-sending re-operation command.

The control device for a loading robot according to a sixth aspect of the present invention is the control device for a robot according to the fifth aspect, wherein when the jog-sending operation is preliminarily displayed, the robot is controlled based on the in-compartment information and the current position of the robot. It checks whether it interferes with peripheral equipment and issues a warning if it does.

[0013]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiment 1 FIGS. 1 and 2 are diagrams showing one embodiment of the first and second inventions of the present invention.
FIG. 1 is a block diagram, and FIG. 2 is a side view of a stacker crane, in which the same reference numerals indicate the same or corresponding parts (the same applies to the following embodiments). In FIG. 1, reference numeral 1 denotes a robot for loading and unloading articles D on a stacker crane (described later) in an automatic warehouse, and 2 denotes an operation control device for controlling the operation of the robot 1, and a current position signal 3a of the robot 1 Is transmitted.

Reference numeral 4 denotes a work instruction device which is installed outside the automatic warehouse, receives the current position signal 3a, and transmits a loading plan signal 4a for the article D to the operation control device 2. Reference numeral 5 denotes a display connected to the work instruction device 4. Device.

A stacker crane installed in an automatic warehouse is well known, for example, as disclosed in Japanese Patent Application Laid-Open No. Hei 8-133416, and its outline is shown in FIG. In FIG. 2, A is a stacker crane having a traveling body C guided by a traveling rail B, and a shelf (not shown) for storing articles D.
Run parallel to. The traveling body C is provided with an elevator E, on which the robot 1 is installed.

The stacker crane A travels to the designated shelf position to take out the articles D on the pallet F or store the articles D on the shelf. The robot 1 is an article D on a pallet F
, And reloading on another pallet G.

Next, the operation of this embodiment will be described.
The current position transmitting unit 3 transmits a current position signal 3a of the robot 1 to the work instruction device 4. The work instructing device 4 stores the positional relationship between the shelves and the crane in the automatic warehouse, the packing style of the articles D placed on the shelves, and the like. The positional relationship between the shelves in the warehouse and the cranes, the packaging of the articles D placed on the shelves in the automatic warehouse, and the like are transmitted to the display device 5.

The display device 5 displays the posture of the robot 1, the positional relationship between the shelves and the crane, the package of the article D placed on the shelves, and the like based on the received information. The work instructing device 4 plans loading and unloading of the article D and transmits a loading planning signal 4a to the operation control device 2. The operation control device 2 controls the robot 1, and the robot 1 Load and unload D.

In this manner, the robot 1 in the automatic warehouse
The position of the robot, the positional relationship between the shelves and the crane, the appearance of the goods D placed on the shelves, and the like are displayed on the display device 5 outside the automatic warehouse, so that the person does not go to the place where the robot 1 exists. It is possible to grasp the state of the robot 1 and its surroundings.

Embodiment 2 FIG. 3 is a block diagram showing one embodiment of the first and third aspects of the present invention. FIG. 2 is also used in the second embodiment. In this embodiment, a jog feed operation instructing unit 6 for transmitting a jog feed re-operation (manual operation) command signal 6a is provided to the work instruction device 4 of FIG.

Next, the operation of this embodiment will be described.
Displaying the posture of the robot 1 in the automatic warehouse, the positional relationship between the shelves and the cranes, the appearance of the articles D on the display device 5 outside the automatic warehouse is the same as in the first embodiment. When a person instructs on the screen of the display device 5 while watching the robot 1 displayed on the display device 5 or instructs a jog sending re-operation by a key operation, the jog sending operation instructing section 6 outputs a jog sending operation command signal. 6a is transmitted to the operation control device 2. Thus, the operation control device 2 operates the robot 1 manually.

In this manner, a person can manually operate the robot 1 from outside the automatic warehouse while watching the robot 1 displayed on the display device 5. As a result, when the robot 1 stops due to an error, a person can retreat the robot 1 to a position where there is no hindrance without going to the robot 1, and the recovery operation can be ended early.

Embodiment 3 FIG. FIG. 4 is a block diagram showing an embodiment of the first and fourth to sixth to sixth aspects of the present invention. FIG. 2 is also used in the third embodiment. In this embodiment, the work instructing device 4 of FIG. 3 is provided with a jog sending operation output confirming unit 7 connected to the jog sending operation instructing unit 6, and the display device 5 displays the jog sending operation of the robot 1 in advance. A preliminary display unit 8, a viewpoint changing unit 9 for changing the viewpoint of the three-dimensional display, and an interference check unit 10 for checking interference with the surroundings of the robot 1 due to the jog sending operation.

Next, the operation of this embodiment will be described.
Displaying the posture of the robot 1 in the automatic warehouse, the positional relationship between the shelves and the cranes, the appearance of the articles D on the display device 5 outside the automatic warehouse is the same as in the first embodiment. Human display device 5
When the viewpoint is changed on the screen of 3D or the key operation changes the viewpoint of the three-dimensional display, the viewpoint changing unit 9 changes the display angle of the robot 1 and the peripheral equipment displayed on the display device 5, and actually changes the display angle. An angle that cannot be seen or a place that is difficult to see is displayed on the display device 5.

In this manner, the state of the robot 1 and its peripheral equipment viewed from above and from the side can be easily displayed, and the robot 1 can be viewed from an angle that cannot be actually viewed. It is possible to operate while avoiding interference.

Next, when a person instructs a jog sending operation as described above, the preliminary display unit 8 analyzes and displays the operation given by the jog sending operation instruction unit 6 in advance. When the person confirms that the robot 1 operates without interference with the surroundings by the advance display, the confirmation key (not shown) constituting the jog-feed operation output confirmation unit 7 is operated. with this,
The jog feed operation command signal 6a is output, and the robot 1 operates.

In this way, the jog-sending operation is displayed in advance, and the jog-sending operation command is transmitted to the robot 1 upon confirmation of a person, whereby the robot 1 can be operated without interfering with the surroundings. Becomes

Next, the interference check unit 10 controls the robot 1
When the jog-sending operation is displayed in advance, it is checked whether there is interference with the surrounding shelves or the crane A, and if there is interference, a warning is issued to notify the worker. In this way, when the jog sending re-operation is displayed in advance, if it is predicted that the robot 1 will interfere with the surroundings, a warning is issued, so that the operator can be urged to remove the cause of the interference. .

In each of the above embodiments, the jog feed operation instructing unit 6 and the jog feed operation output confirming unit 7 are provided in the work instructing device 4, and the viewpoint changing unit 9 and the interference checking unit 10 are provided in the display device 5. However, these installation positions are not limited to these, and may be provided at appropriate positions outside the warehouse.

[0030]

As described above, according to the first and second aspects of the present invention, the state of the robot, the equipment, and the articles are determined based on the information stored in the warehouse and the current position of the robot transmitted from the warehouse. Since the state of the robot and the mutual positional relationship thereof are displayed outside the warehouse, the state of the robot and its surroundings can be grasped without a person going to the place where the robot exists.

According to the third aspect of the present invention, since the jog sending operation instructing unit for instructing the manual operation of the robot is provided outside the warehouse, when the robot stops due to an error, the person does not go to the robot and the robot does not go to the robot. Can be evacuated to a position where there is no problem, and the recovery work can be terminated early.

According to the fourth aspect of the present invention, since the viewpoint changing unit for changing the display angle of the display device is provided outside the warehouse, the robot and its peripheral equipment can be seen from an angle that cannot be actually seen. Can be operated while avoiding interference.

According to the fifth aspect of the present invention, a pre-display unit for analyzing and displaying in advance the jog sending re-operation command of the robot is provided on the display device, and the jog sending re-operation which is manually operated to transmit the jog sending re-operating command is provided. Since the operation output confirmation unit is provided in the work instructing device, a jog sending operation command is transmitted to the robot upon confirmation of a person, and the robot can be operated without interfering with the surroundings.

According to the sixth aspect of the present invention, when the jog-sending operation is pre-displayed, it is checked whether or not the robot interferes with peripheral equipment based on the information in the warehouse and the current position of the robot. A warning was issued,
The operator can be encouraged to remove the cause of the interference.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a first embodiment of the present invention.

FIG. 2 is a side view of the stacker crane showing the first embodiment of the present invention.

FIG. 3 is a block diagram showing a second embodiment of the present invention.

FIG. 4 is a block diagram showing a third embodiment of the present invention.

FIG. 5 is a block diagram showing a conventional control device for a loading robot.

[Explanation of symbols]

1 robot, 2 motion control device, 3 current position transmitting unit, 3a current position signal, 4 seat indicating device, 4a loading plan signal, 5 display device, 6 jog sending re-operation instruction unit,
6a Jog sending re-operation command signal, 7 Jog sending re-operation output check part, 8 advance display part, 9 viewpoint change part, 10 interference check part, A stacker crane, D goods.

Claims (6)

[Claims] An apparatus for controlling a robot that is placed in a warehouse and loads articles therein, wherein said information is provided outside said warehouse and is stored in advance and is stored in advance in said warehouse regarding equipment and articles in said warehouse. A loading robot characterized by comprising a display device for displaying the state of the robot, the state of the equipment, articles, etc., and their mutual positional relationship based on the current position of the robot transmitted from the warehouse. Control device. 2. A robot disposed on a crane in a warehouse for loading articles, an operation control device for controlling the operation of the robot and transmitting a current position of the robot, and A work instruction device for storing the in-store information such as the packaging style of the articles placed on the shelves in the warehouse, the positional relationship between the shelves and the cranes, and transmitting a loading plan to the operation control device; A display for displaying the posture of the robot, the packing style of the articles on the shelf, the positional relationship between the crane and the shelf, etc. based on the stored information in the refrigerator and the current position of the robot transmitted to the work instruction device. A control device for a loading robot comprising the device. 3. The control device for a loading robot according to claim 2, further comprising a jog sending operation instructing unit for instructing a manual operation of the robot outside the warehouse. 4. The control device for a loading robot according to claim 2, further comprising a viewpoint changing unit for changing a display angle of the display device outside the warehouse. 5. A display device is provided with a pre-display unit for analyzing and displaying in advance the operation of the robot instructed by the jog-send-removal operation instructing unit. 5. The control device for a loading robot according to claim 3, further comprising a jog-sending re-operation output confirmation unit for transmitting an output of the operation instruction unit. 6. When the jog-sending operation is pre-displayed by the pre-display unit, it is checked whether or not the robot interferes with peripheral equipment based on the information in the refrigerator and the current position of the robot. 6. The control device for a loading robot according to claim 5, further comprising an interference check unit for issuing a warning.