WO2022138653A1 - ロボットシステム及びロボット作業方法 - Google Patents
ロボットシステム及びロボット作業方法 Download PDFInfo
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- WO2022138653A1 WO2022138653A1 PCT/JP2021/047362 JP2021047362W WO2022138653A1 WO 2022138653 A1 WO2022138653 A1 WO 2022138653A1 JP 2021047362 W JP2021047362 W JP 2021047362W WO 2022138653 A1 WO2022138653 A1 WO 2022138653A1
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- 238000000034 method Methods 0.000 title claims description 16
- 238000004891 communication Methods 0.000 claims description 51
- 238000001514 detection method Methods 0.000 claims description 25
- 238000010586 diagram Methods 0.000 description 21
- 230000003028 elevating effect Effects 0.000 description 14
- 230000006870 function Effects 0.000 description 11
- 230000000474 nursing effect Effects 0.000 description 11
- 230000002093 peripheral effect Effects 0.000 description 10
- 238000012545 processing Methods 0.000 description 7
- 238000013473 artificial intelligence Methods 0.000 description 2
- 238000004140 cleaning Methods 0.000 description 2
- 238000002485 combustion reaction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000004936 stimulating effect Effects 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 241000282412 Homo Species 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/06—Control stands, e.g. consoles, switchboards
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
- B25J9/0087—Dual arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
- B25J9/1676—Avoiding collision or forbidden zones
Definitions
- This disclosure relates to a robot system and a robot working method.
- robots have been made to perform work performed by humans (hereinafter referred to as human work) (hereinafter referred to as robotization).
- robotization of this human work has been carried out in various industrial fields.
- Patent Document 1 discloses a picking system for picking a large number of items by a robot in a distribution center.
- the robot used can perform only one type of work called picking, and cannot handle a wide variety of work.
- This disclosure is made in order to solve the above-mentioned problems, and provides a robot system and a robot working method that can be efficiently robotized and that the robot used can handle a wide variety of tasks.
- the purpose is to provide.
- the robot system is Multiple self-propelled robots, including a dolly capable of autonomous driving and a robot arm mounted on the dolly, It is provided with one operation console configured so that the plurality of self-propelled robots can be manually operated by being operated by an operator.
- the plurality of self-propelled robots include a first self-propelled robot that performs a predetermined first work, and a second self-propelled robot that performs a predetermined second work different from the first work.
- the "type of work” does not mean the "work” itself, but means a different type of work that is generally called or classified as "what work ( ⁇ work)". However, it is not necessary that the end of the nickname or classification name is "...
- Types of work include, for example, picking (item removal work), cash register (clearing work), product display work, book display work, medical assistance work, nursing care work, customer service work, guidance work, security work, cleaning work, etc. Can be mentioned.
- the robot work method is a robot work method using a plurality of self-propelled robots including a trolley capable of autonomous traveling and a robot arm mounted on the trolley.
- the first self-propelled robot among the plurality of self-propelled robots is made to perform a predetermined first work
- the second self-propelled robot among the plurality of self-propelled robots is made to perform a predetermined first work different from the first work.
- To do the work of 2 and It includes selectively and manually operating the first self-propelled robot and the second self-propelled robot by the operator operating one operation console.
- This disclosure has the effect that robotization can be performed efficiently, and that the robot used can provide a robot system and a robot work method that can handle a wide variety of tasks.
- FIG. 1 is a schematic diagram showing an example of the configuration of the robot system according to the first embodiment of the present disclosure.
- FIG. 2 is a plan view showing an example of the configuration of the operation unit of FIG.
- FIG. 3 is a schematic diagram showing an outline of the configuration of the control system of the robot system of FIG.
- FIG. 4 is a functional block showing details of the configuration of the control system of the robot system of FIG.
- FIG. 5A is a diagram showing the operation of the robot system of FIG. 1, and is a schematic diagram showing a state in which the first self-propelled robot is hitting a cash register at a convenience store.
- FIG. 5B is a diagram showing the operation of the robot system of FIG.
- FIG. 6A is a diagram showing the operation of the robot system according to the second embodiment of the present disclosure, and is a schematic diagram showing a state in which the first self-propelled robot is performing nursing care work in a nursing care facility.
- FIG. 6B is a diagram showing the operation of the robot system according to the second embodiment of the present disclosure, and is a schematic diagram showing how the second and third self-propelled robots are picking products in a warehouse of a supermarket. ..
- FIG. 1 is a schematic diagram showing an example of the configuration of the robot system 100 according to the first embodiment of the present disclosure.
- FIG. 2 is a plan view showing an example of the configuration of the operation unit 2 of FIG.
- FIG. 3 is a schematic diagram showing an outline of the configuration of the control system of the robot system 100 of FIG.
- the robot system of the first embodiment includes a plurality of self-propelled robots 1 (1A, 1B, 1C ”) And one operation unit (operation console) 2.
- the plurality of self-propelled robots 1 (1A, 1B, 1C ...) And one operation unit 2 are connected via, for example, a data communication network 3.
- a plurality of self-propelled robots 1 (1A, 1B, 1C ...) And one operation unit 2 may be directly connected by wire or wirelessly.
- reference numerals such as 1A, 1B, 1C ...
- a reference code 1 is attached to the self-propelled robot.
- the data communication network 3 may be any network capable of data communication. Examples of the data communication network 3 include the Internet, LAN (Local Area Network), WAN (Wide Area Network), and the like.
- the self-propelled robot 1 may basically be configured to include a carriage 11 capable of autonomous traveling and an arm portion (robot arm) 13 mounted on the carriage 11.
- the self-propelled robot 1 is configured to be capable of performing a predetermined work after having this basic configuration.
- "It is configured to be able to perform a predetermined work” means that the hardware of the self-propelled robot 1 is configured to have a structure capable of performing a predetermined work, and the self-propelled robot. 1 means both the case where it is programmed to operate so as to perform a predetermined work. Therefore, the two self-propelled robots 1 may be configured to be capable of performing different types of work even if they have the same appearance.
- each self-propelled robot 1 is specialized so that it can perform only one of a plurality of tasks of different types, and it can perform a plurality of tasks of a plurality of tasks of different types. It may be generalized to.
- the "type of work” does not mean the “work” itself, but means the classification of the work generally called or classified as “what work ( ⁇ work)". However, it is not necessary that the end of the nickname or classification name is "... work”, and the actual situation may be such work.
- the work categorized in this way includes, for example, picking (item removal work), cash register (clearing work), product display work, book display work, medical assistance work, nursing care work, customer service work, guidance work, security work, and cleaning work. Work etc. can be mentioned.
- a plurality of self-propelled robots 1 are composed of a first self-propelled robot 1A and a second self-propelled robot 1B, and both the first self-propelled robot 1A and the second self-propelled robot 1B are at a convenience store. The case where it is configured to perform "register hitting" and "product display work” will be described.
- the self-propelled robot 1 includes a traveling unit 11, an elevating unit (elevator) 12, and an arm unit 13.
- the traveling unit 11 is composed of, for example, a dolly (hereinafter, referred to as a dolly 11).
- the bogie 11 includes wheels 11a including front wheels and rear wheels at the base.
- One of the front and rear wheels is the steering wheel, and at least one of the front and rear wheels is the drive wheel.
- an elevating portion 12 is provided at the front portion of the trolley, and a storage shelf 11b for placing an article is provided at the rear portion of the trolley 11.
- the dolly 11 further includes a battery and a motor, and the dolly 11 autonomously travels by driving the wheels 11a using the battery as a power source. Further, the elevating unit 12, the arm unit 13, the robot side display unit (robot side monitor) 14, the robot side microphone 15, and the robot side sound emitting unit (robot side speaker) 16 described later operate using this battery as a power source. do.
- the elevating portion 12 includes a base portion 122 and an elevating shaft 123 that elevates and descends with respect to the base portion 122.
- a first robot arm 121A and a second robot arm 121B are rotatably provided around the central axis of the elevating shaft 123 on the upper part of the elevating shaft 123.
- the second robot arm 121B is provided on the upper side of the first robot arm 121A.
- the rotation positions of the first robot arm 121A and the second robot arm 121B can be exchanged, and there is no distinction between left and right.
- the first robot arm 121A and the second robot arm 121B are articulated robot arms, respectively, and are provided with a hand 124A and a hand 124B at their tips, respectively.
- the hand 124A and the hand 124B are not particularly limited, but here, they are formed in a shape capable of gripping an object.
- a peripheral camera 17 is provided at a height position in the middle of the elevating shaft 123.
- peripheral cameras (not shown) are provided on both sides and the rear portion of the carriage 11.
- the peripheral camera (not shown) is provided at the same height as the peripheral camera 17 (not shown).
- the four surrounding cameras are devices for the operator P1 to check the surrounding environment (scenery, field of view) of the self-propelled robot 1.
- a hand camera 18 is provided at the tip of the second robot arm 121B.
- the hand camera 18 is a device for the operator P1 to confirm an object to be grasped by the pair of hands 124A and 124B.
- a robot-side display unit 14 is attached to the upper end of the elevating shaft 123 via a support member 125.
- the robot-side display unit 14 is composed of, for example, a liquid crystal display.
- a robot-side microphone 15, a robot-side sound emitting unit 16, and a main camera 19 are provided at appropriate positions on the robot-side display unit 14.
- the robot side display unit 14, the robot side microphone 15, the robot side sound emitting unit 16, and the main camera 19 are a group of devices for the self-propelled robot 1 to interact with a person (hereinafter referred to as an interlocutor).
- the robot side display unit 14 displays information (image information, character information, etc.) to be transmitted to the interlocutor.
- the robot-side microphone 15 acquires the voice of the interlocutor.
- the robot-side sound emitting unit 16 is composed of, for example, a loudspeaker, and emits sound information to be transmitted to the interlocutor.
- the main camera 19 captures the interlocutor.
- the dolly 11 further includes an arithmetic circuit module Cm1 and a robot-side communication unit (robot-side communication device) 113.
- the arithmetic circuit module Cm1 includes a processor Pr1 and a memory Me1. As will be described later, the arithmetic circuit module Cm1 constitutes a request detection unit (request detection circuit) 111 and a robot control unit (robot controller) 112 (see FIG. 4).
- the operation unit 2 is configured so that a plurality of self-propelled robots 1 can be operated by at least one of manual operation and automatic operation.
- FIG. 2 is a plan view showing an example of the configuration of the operation unit 2 of FIG.
- the operation unit 2 is not particularly limited as long as it can operate the self-propelled robot 1.
- the operation unit 2 may have the left and right operation units 21A and 21B integrated, or may be composed of a plurality of individually formed operation units.
- the operation unit is not particularly limited as long as it can be operated by the operator. Examples of the operation unit include keys, joysticks, and handles.
- the operation unit 2 includes operation units 21A and 21B, an operation side display unit (operation side monitor) 23, an operation side microphone 25, and an operation side sound emission unit (operation side speaker) 26. , May be integrated, or the operation units 21A and 21B, the operation side display unit 23, the operation side microphone 25, and the operation side sound emission unit 26 may be formed separately.
- the operation unit 2 includes a main body 20.
- the main body 20 is formed in a flat rectangular parallelepiped box.
- a left-handed operation unit 21A and a right-handed operation unit 21B are provided on the left end portion and the right end portion of the main body 20, respectively. These left-hand operation units 21A and right-hand operation units 21B constitute the manual operation unit 21.
- a predetermined group of operation keys 29 are arranged in the left-hand operation unit 21A and the right-hand operation unit 21B, respectively. This predetermined group of operation keys 29 is configured in the same manner as, for example, a well-known operation key group of a game machine. Therefore, the description of this predetermined group of operation keys 29 will be omitted. When the operator P1 appropriately operates these groups of operation keys 29 with both hands, the self-propelled robot 1 operates in response to the operation.
- An operation side display unit 23 is provided in the center of the upper surface of the main body 20.
- the operation side display unit 23 is composed of, for example, a touch screen.
- the operation side display unit 23 displays information (image information, character information, etc.) necessary for the operator P1 to operate the self-propelled robot 1. For example, the image captured by the peripheral camera 17, the image captured by the main camera 19, and the image captured by the hand camera 18 are appropriately displayed on the operation side display unit 23.
- An operation-side microphone 25 and an operation-side sound emitting unit 26 are provided at appropriate positions on the upper surface of the main body 20.
- the operating microphone 25 acquires the voice of the interlocutor.
- the operation side sound emitting unit 26 is, for example, a loudspeaker and emits the voice of the interlocutor acquired by the robot side microphone 15.
- the sound emitting unit 26 on the operation side may be a wearable speaker 26a such as headphones.
- An audio output terminal (not shown) is provided at an appropriate position in the main body 20, and when the connection cord 30 of the wearable speaker 26a is connected to this audio output terminal, the output unit of the sound emitting unit 26 on the operation side is wearable from the loudspeaker.
- the speaker 26a is switched to, and the voice of the interlocutor acquired by the robot-side microphone 15 is emitted from the wearable speaker 26a.
- a request presenting unit (notifier) 24 is further provided at an appropriate position in the main body 20.
- the request presenting unit 24 presents the manual operation request detected by the request detection unit 111 of the self-propelled robot 1 to the operator P1.
- the request presenting unit 24 may be any means that can notify the operator P1 that the manual operation request has arrived. Examples of such means include means for stimulating the body of the operator P1, means for transmitting auditory information to the operator P1, means for transmitting visual information to the operator P1, and the like.
- a vibrator is exemplified as a means for stimulating the body of the operator P1.
- a voice such as "a manual operation request has arrived" may be emitted from the operation side sound emitting unit 26.
- a character message such as "a manual operation request has arrived” may be displayed on the operation side display unit 23.
- the request presenting unit 24 is composed of a vibrator, and when a manual operation request arrives, the vibrator vibrates for a predetermined time.
- the operator P1 senses this vibration and knows that the manual operation request has arrived.
- the arithmetic circuit module Cm2 includes a processor Pr2 and a memory Me2. As will be described later, the arithmetic circuit module Cm2 constitutes an automatic operation unit (automatic operation circuit) 22 and an operation control unit (operation controller) 27 (see FIG. 4).
- FIG. 4 is a functional block showing details of the configuration of the control system of the robot system 100 of FIG.
- the robot system 100 includes a self-propelled robot 1 and an operation unit 2.
- control system will be described separately for a configuration relating to one self-propelled robot and a configuration relating to a plurality of self-propelled robots.
- the operation unit 2 includes a manual operation unit 21, an automatic operation unit 22, an operation side display unit 23, a request presentation unit 24, an operation side microphone 25, an operation side sound emission unit 26, an operation control unit (switching unit) 27, and an operation side.
- a communication unit 28 is provided.
- the manual operation unit 21 outputs a key operation signal corresponding to the operation of the operation keys 29 of the group of the operator P1 to the operation control unit 27.
- the automatic operation unit 22 stores a preset automatic operation program, and outputs an automatic operation signal to the operation control unit 27 according to this automatic operation program.
- the operation side display unit 23 displays an image according to an image display signal input from the operation control unit 27.
- the request presenting unit 24 is a block that presents to the operator P1 the necessity of manually operating the self-propelled robot 1 notified by the request detecting unit 111.
- the request presenting unit 24 presents the manual operation request to the operator P1 according to the manual operation request input from the operation control unit 27.
- the vibrator is vibrated.
- the operation-side microphone 25 acquires the voice of the operator P1 and outputs it as the operator voice signal to the operation control unit 27.
- the operation side sound emitting unit 26 emits a voice according to the interlocutor voice signal input from the operation control unit 27.
- the operation control unit 27 generates a manual operation signal corresponding to the key operation signal input from the manual operation unit 21, and outputs this to the operation side communication unit 28.
- This manual operation command is generated based on, for example, the allocation information of "the operation of the self-propelled robot" to the preset “combination of the key operation signals of the group of operation keys 29".
- the operation control unit 27 outputs the automatic operation signal input from the automatic operation unit 22 and the operator voice signal input from the operation side microphone 25 to the operation side communication unit 28, respectively.
- the operation control unit 27 appropriately generates an image display signal based on the ambient image signal, the hand image signal, and the main image signal input from the operation side communication unit 28, and displays this on the operation side display unit 23. Output.
- the operation control unit 27 outputs the manual operation request input from the operation side communication unit 28 to the request presentation unit 24, and outputs the interlocutor voice signal input from the operation side communication unit 28 to the operation side sound emission unit. Output to 26.
- the operation side communication unit 28 is composed of a communication device capable of data communication.
- the operation side communication unit 28 converts the manual operation signal, the automatic operation signal, and the operator voice signal input from the operation control unit 27 into communication data (packets) and transmits them to the robot side communication unit 113. ..
- the operation side communication unit 28 receives communication data of the surrounding image signal, the hand image signal, the main image signal, the manual operation request, and the interlocutor voice signal from the robot side communication unit 113, and each of these receives the surrounding image.
- the signal, the hand image signal, the main image signal, the manual operation request, and the interlocutor voice signal are returned and output to the operation control unit 27.
- the operation control unit 27 and the automatic operation unit 22 are composed of an arithmetic circuit module Cm2 having a processor Pr2 and a memory Me2.
- the operation control unit 27 and the automatic operation unit 22 are functional blocks realized by the processor Pr2 executing the control program stored in the memory Me2 in the arithmetic circuit module Cm2.
- the arithmetic circuit module Cm2 is composed of, for example, a microcontroller, an MPU, an FPGA (Field Programmable Gate Array), a PLC (Programmable Logic Controller), or the like. These may be composed of a single arithmetic circuit module that performs centralized control, or may be configured by a plurality of arithmetic circuit modules that perform distributed control.
- the self-propelled robot 1 includes a traveling unit 11, an elevating unit 12, an arm unit 13, a robot side display unit 14, a robot side microphone 15, a robot side sound emitting unit 16, a peripheral camera 17, a hand camera 18, a main camera 19, and a request detection.
- a unit 111, a robot control unit 112, and a robot-side communication unit 113 are provided.
- the robot side communication unit 113 is composed of a communication device capable of data communication.
- the robot-side communication unit 113 receives communication data of a manual operation signal, an automatic operation signal, and an operator voice signal from the operation side communication unit 28, and these are used as a manual operation signal, an automatic operation signal, and an operator voice signal. And output these to the robot control unit 112.
- the robot-side communication unit 113 converts the ambient image signal, the hand image signal, the main image signal, the manual operation request, and the interlocutor voice signal input from the robot control unit 112 into communication data, and communicates these on the operation side. It is transmitted to the unit 28.
- the robot control unit 112 outputs the manual operation signal and the automatic operation signal input from the robot side communication unit 113 to the traveling unit 11, the elevating unit 12, and the arm unit 13, and is input from the robot side communication unit 113.
- the operator voice signal is output to the sound emitting unit 16 on the robot side.
- the robot control unit 112 appropriately generates an image display signal and outputs it to the robot side display unit 14.
- the robot control unit 112 outputs an operator voice signal input from the robot side communication unit 113 to the robot side sound emission unit 16.
- the robot control unit 112 causes the robot side display unit 14 to display an image (for example, an illustration image) wearing a predetermined convenience store employee's uniform, and outputs an operator voice signal to the predetermined. It may be converted into a voice signal suitable for a convenience store employee (for example, a soft voice corresponding to the gender of the employee).
- the robot control unit 112 is input from the surrounding image signal input from the peripheral camera 17, the hand image signal input from the hand camera 18, the main image signal input from the main camera 19, and the request detection unit 111.
- the manual operation request is output to the communication unit 113 on the robot side.
- the traveling unit 11, the elevating unit 12, and the arm unit 13 operate according to the manual operation signal and the automatic operation signal input from the robot control unit 112.
- the robot side display unit 14 displays an image according to an image display signal input from the robot control unit 112.
- the robot-side microphone 15 acquires the voice of the interlocutor (for example, the customer) and outputs the voice signal of the interlocutor to the robot control unit 112.
- the robot side sound emitting unit 16 emits sound according to the operator voice signal input from the robot control unit 112.
- the robot-side sound emitting unit 16 is composed of, for example, a speaker.
- the surrounding camera 17 captures an image of the surrounding environment of the self-propelled robot 1 and outputs this as a peripheral image signal to the robot control unit 112.
- the hand camera 18 captures an image of the hand environment (scenery) of the second robot arm 121B and outputs this as a hand image signal to the robot control unit 112.
- an object or the like to be grasped by the hand 124B is exemplified.
- the main camera 19 captures a field of view corresponding to the field of view of a standing person, and outputs this as a main image signal to the robot control unit 112 and the request detection unit 111.
- the image of the interlocutor exists in this main image.
- the request detection unit 111 notifies (that is, outputs) the result of detecting the necessity of manually operating the self-propelled robot 1.
- the request detection unit 111 generates a manual operation request based on the main image input from the main camera 19, and outputs the manual operation request to the robot control unit 112.
- the request detection unit 111 acquires, for example, the main image, performs a process of extracting the image of the interlocutor from the main image by image processing, and makes a manual operation request when the image of the interlocutor is present in the main image. Generate. It should be noted that high accuracy is not required for extracting the contour of a person from the captured image in the present embodiment. Therefore, various known methods can be applied to such image processing.
- the captured image is binarized and edge-processed to extract a person's contour candidate from the captured image, and the degree of coincidence between the person's contour candidate and the reference person's contour is determined to determine the captured image. It is possible to determine whether or not there is a person inside.
- AI artificial intelligence
- the robot control unit 112 and the request detection unit 111 are composed of an arithmetic circuit module Cm1 having a processor Pr1 and a memory Me1.
- the robot control unit 112 and the request detection unit 111 are functional blocks realized by the processor Pr1 executing the control program stored in the memory Me1 in the arithmetic circuit module Cm1.
- the arithmetic circuit module Cm1 is composed of, for example, a microcontroller, an MPU, an FPGA (Field Programmable Gate Array), a PLC (Programmable Logic Controller), or the like. These may be composed of a single arithmetic circuit module that performs centralized control, or may be configured by a plurality of arithmetic circuit modules that perform distributed control.
- the functions of the elements disclosed herein include general-purpose processors configured or programmed to perform the disclosed functions, dedicated processors, integrated circuits, ASICs (Application Specific Integrated Circuits), conventional circuits, and /. Alternatively, it can be performed using a circuit or processing circuit that includes a combination thereof.
- a processor is considered a processing circuit or circuit because it includes transistors and other circuits.
- a "unit” or “part” is hardware that performs the listed functions or is programmed to perform the listed functions.
- the hardware may be the hardware disclosed herein, or it may be other known hardware that is programmed or configured to perform the listed functions.
- the "unit" or “part” is a combination of hardware and software, and the software is used to configure the hardware and / or the processor.
- Identification symbols are assigned to the plurality of self-propelled robots 1A and 1B.
- the automatic operation unit 22 stores an automatic operation program for automatically operating the self-propelled robots 1A and 1B for each of a plurality of (here, two) self-propelled robots 1A and 1B.
- the manual operation unit 21 of the operation unit 2 outputs a key operation signal (hereinafter referred to as a manual operation selection signal) for selecting a self-propelled robot to be manually operated by, for example, operating a group of operation keys 29 in combination.
- a manual operation selection signal for selecting a self-propelled robot to be manually operated by, for example, operating a group of operation keys 29 in combination.
- it is configured to be able to output a key operation signal (hereinafter referred to as an automatic operation / stop selection signal) for selecting whether to automatically operate or stop a self-propelled robot that is not manually operated.
- selection signals are output to the operation control unit 27.
- the operation control unit 27 When the operation control unit 27 receives the manual operation selection signal, the operation control unit 27 attaches an identification symbol of the self-propelled robot to be manually operated as a destination to the manual operation signal generated thereafter, and outputs this to the operation side communication unit 28. do.
- the operation control unit 27 operates as follows when it receives the automatic operation / stop selection signal.
- the automatic operation / stop selection signal is a signal for selecting "automatic operation”
- the automatic operation unit 22 is notified of the self-propelled robot that is not manually operated.
- the automatic driving unit 22 activates an automatic operation program corresponding to the self-propelled robot that is not manually operated, and outputs an automatic driving signal.
- This automatic operation signal includes an identification symbol for a self-propelled robot that is not manually operated as a destination, and the operation control unit 27 outputs this to the operation side communication unit 28.
- the operation control unit 27 outputs a stop signal including the identification symbol of the self-propelled robot that is not manually operated to the operation side communication unit 28. do.
- the robot control unit 112 of each self-propelled robot 1A, 1B has a signal (data) including the identification symbol of the self-propelled robot 1A, 1B to which it belongs among various signals (data) input from the robot side communication unit 113. ) Only.
- a plurality of self-propelled robots 1A and 1B can be operated by one operation unit 2 while switching between manual operation and automatic operation.
- FIG. 5A is a diagram showing the operation of the robot system 100 of FIG. 1, and is a schematic diagram showing a state in which the first self-propelled robot 1A is registering at a convenience store.
- FIG. 5B is a diagram showing the operation of the robot system 100 of FIG. 1, and is a schematic diagram showing a state in which the second self-propelled robot 1B is performing product display work at a convenience store.
- the operation unit 2 is connected to the first and second self-propelled robots 1A and 1B via a data communication network (here, the Internet) 3.
- the operation unit 2 is wirelessly connected to the data communication network 3.
- the first and second self-propelled robots 1A and 1B are also wirelessly connected to the data communication network 3.
- the first self-propelled robot 1A performs a register strike (clearing work) at a register (clearing place) 50A of a convenience store, and the second self-propelled robot 1B. Performs product display work in the product display area 50B of the convenience store.
- Both the first self-propelled robot 1A and the second self-propelled robot 1B are configured in the same manner as the self-propelled robot 1 of FIG. 1, and can perform register striking and product display work as described below. ..
- the automatic operation program of the first and second self-propelled robots 1A and 1B is stored in the automatic operation unit 22 of the operation unit 2.
- the first and second self-propelled robots 1A and 1B take out the product 55 from the product storage box 56 placed on the floor in front of the product display shelf 54 during the product display work, for example. It is programmed to arrange the products 55 in order on the product display shelves 54 and stop when the products 55 have been displayed.
- the first and second self-propelled robots 1A and 1B are configured to take a reduced posture (not shown) in which the first and second robot arms 121A and 121B are folded when stopped. Further, while the first and second self-propelled robots 1A and 1B are stopped, the robot side display unit 14, the robot side microphone 15, the robot side sound emitting unit 16, the peripheral camera 17, the hand camera 18, and the main camera 19 , And the request detection unit 111 is configured to operate. For example, an illustration image wearing the uniform of the above-mentioned predetermined convenience store employee is displayed on the robot side display unit 14.
- the operator P1 is at home far away from the convenience store, connects the connection cord 30 of the wearable speaker 26a to the audio output terminal of the operation unit 2, and attaches the wearable speaker 26a to the head. , Operate the operation unit 2 with both hands.
- the operator P1 operates the first and second self-propelled robots 1A and 1B as follows, for example.
- the second self-propelled robot 1B is selected as the self-propelled robot to be manually operated, and the first self-propelled robot 1A is stopped.
- the operation unit 2 is operated to operate the second self-propelled robot 1B as follows.
- the second self-propelled robot 1B places a plurality of product storage boxes 56 on the storage shelf 11b and moves the product display area 50B.
- the product storage box 56 is placed on the floor in front of the product display shelf 54 from the storage shelf 11b, and the product 55 is taken out from the product storage box 56 and arranged in order on the product display shelf 54.
- the second self-propelled robot 1B alternately grips the product 55 with the pair of hands 124A and 124B.
- the operator P1 moves the second self-propelled robot 1B while monitoring the surroundings of the second self-propelled robot 1B with the surrounding image from the surrounding camera 17. Then, the operator P1 confirms the product display shelf 54 for displaying the product 55 with the main image from the main camera 19. Then, the operator P1 lowers the product storage box 56 from the storage shelf 11b to the floor while confirming the gripping position of the product storage box 56 with the hand image from the hand camera 18, and the operator P1 lowers the product storage box 56 from the storage shelf 11b to the floor, and the hand image from the hand camera 18 shows the product 55. The product 55 is gripped while checking the gripping position.
- the main camera 19 of the first self-propelled robot 1A images the customer, and the request detection unit 111 captures the customer from the main image. Extract the image and output the manual operation request based on it. Then, the vibrator of the request presenting unit 24 of the operation unit 2 vibrates.
- the operator P1 detects that the customer has arrived at the register 50A, selects the first self-propelled robot 1A as the self-propelled robot to be manually operated, and sets the second self-propelled robot 1B to automatic operation.
- the operator P1 operates the operation unit 2 to operate the first self-propelled robot 1A as follows.
- the first self-propelled robot 1A uses the hand 124B of the second robot arm 121B to hold and shop the product 52 in the shopping cart (not shown) placed in the purchased product storage area (not shown) of the register 50A. Take it out of the basket, hold it over a barcode reader (not shown), and enter the price of the product 52 into the checkout machine 53. Then, the pointer 51 is grasped by the hand 124A of the first robot arm 121A, and the required input is performed in the checkout machine 53.
- the first self-propelled robot 1A interacts with the customer as necessary.
- This dialogue involves the operation side display unit 23 of the operation unit 2, the operation side microphone 25, the operation side sound emission unit 26, the robot side microphone 15 of the first self-propelled robot 1A, the robot side sound emission unit 16, and the main camera. It is done using 19.
- the customer is imaged by the main camera 19, the captured main image is displayed on the operation side display unit 23 of the operation unit 2, and the customer's voice is acquired by the robot side microphone 15, which is the operation unit. Sound is emitted from the operation side sound emitting unit 26 of 2.
- the voice of the operator P1 is acquired by the operation-side microphone 25, and this is emitted from the robot-side sound emitting unit 16 of the self-propelled robot 1A. In this way, the dialogue between the first self-propelled robot 1A and the customer is performed.
- the operator P1 grips the product 52 with the hand 124B while confirming the gripping position of the product 52 with the hand image of the hand camera 18.
- the second self-propelled robot 1B moves from the product storage box 56 to the product 55 placed on the floor in front of the product display shelf 54 during the product display work according to the automatic operation program of the automatic operation unit 22 of the operation unit 2. Are taken out and arranged in order on the product display shelf 54, and when the product 55 is displayed, the product is stopped.
- the operator P1 selects the second self-propelled robot 1B as the self-propelled robot to be manually operated, and stops the first self-propelled robot 1A.
- the operator P1 manually operates the second self-propelled robot 1B to correct it.
- the operator P1 causes the second self-propelled robot 1B to perform register strike (clearing work) at the register (clearing house) 50A, and causes the first self-propelled robot 1A to perform product display work in the product display area 50B. You may let me.
- the two self-propelled robots 1A and 1B are operated by one operation unit 2, so that the robot can be efficiently robotized. Further, since the self-propelled robots 1A and 1B are used as robots, it is possible to robotize the product display work performed while a person is moving, and the two self-propelled robots 1A and 1B are different types of work. Since it is configured to perform certain register striking and product display operations, the self-propelled robots 1A and 1B used can handle two types of operations. As a result, it is possible to contribute to the progress of robotization of human work in all industries.
- FIG. 6A is a diagram showing the operation of the robot system according to the second embodiment of the present disclosure, and is a schematic diagram showing a state in which the first self-propelled robot 1A is performing nursing care work at the nursing facility 60A.
- FIG. 6B is a diagram showing the operation of the robot system according to the second embodiment of the present disclosure, showing how the second and third self-propelled robots 1B and 1C are picking the product 63 in the warehouse 60B of the supermarket. It is a schematic diagram which shows.
- the operation unit 2 is connected to the first to third self-propelled robots 1A to 1C via a data communication network (here, the Internet) 3.
- the operation unit 2 is wirelessly connected to the data communication network 3.
- the first to third self-propelled robots 1A to 1C are also wirelessly connected to the data communication network 3.
- the automatic operation unit 22 of the operation unit 2 does not store any of the automatic operation programs of the first to third self-propelled robots 1A to 1C.
- the first self-propelled robot 1A is configured in the same manner as the self-propelled robots 1A and 1B of the first embodiment.
- the first self-propelled robot 1A performs nursing care work at the nursing care facility 60A.
- the care recipient P2 is lying on the bed 61.
- a nurse call 65 is placed on the bed 61.
- the nurse call 65 is wirelessly connected to the request detection unit 111 (see FIG. 4) of the first self-propelled robot 1A.
- the request detection unit 111 outputs a manual operation request when the nurse call 65 is pressed.
- an arm portion 13 composed of a single-armed vertical articulated robot arm is provided on a traveling portion 11 formed low via an elevating portion 12.
- the second and third self-propelled robots 1B and 1C pick the product 63 in the warehouse 60B of a large supermarket. Since this picking is a non-personal work, the second and third self-propelled robots 1B and 1C are elements necessary for the dialogue of the self-propelled robot 1 in FIG. 1 (robot side display unit 14, robot side microphone 15, robot). It does not have a side sound emitting unit 16 and a main camera 19). Of course, the second and third self-propelled robots 1B and 1C may have elements necessary for dialogue.
- a surveillance camera capable of monitoring picking by the second and third self-propelled robots 1B and 1C is provided at an appropriate position in the warehouse 60B, and the captured image of the surveillance camera is on the operation side of the operation unit 2. It is displayed on the display unit 23.
- the operator P1 operates the first to third self-propelled robots 1A to 1C as follows.
- the operator P1 selects the first self-propelled robot 1A as the self-propelled robot to be manually operated, and stops the second and third self-propelled robots 1B and 1C.
- the operator P1 operates, for example, the first self-propelled robot 1A as follows.
- the first self-propelled robot 1A self-propells at the care facility 60A, approaches the care recipient P2 lying on the bed 61, and images the state of the care recipient P2 with the hand camera 18 of the second robot arm 121B.
- the operator P1 confirms the state of the care recipient P2 on the hand image displayed on the operation side display unit 23, and conducts necessary dialogues such as interviews with the care recipient P2. This dialogue is performed in the same manner as in the first embodiment.
- the operator P1 uses the free time to pick in the warehouse 60B of the large supermarket. Since this picking is not so time-constrained, it can be compatible with nursing care work.
- the operator P1 selects the second self-propelled robot 1B as the self-propelled robot to be manually operated, and stops the first self-propelled robot 1A.
- the operator P1 operates the second self-propelled robot 1B as follows while looking at the image captured by the surveillance camera displayed on the operation side display unit 23 of the operation unit 2.
- the second self-propelled robot 1B takes out the required product 63 from the product storage box 62 arranged on the product shelf 66 while moving the warehouse 60B, and puts the required product 63 on the product storage box 62 placed on the moving shelf 64. Put in.
- the operator P1 selects the third self-propelled robot 1C as the self-propelled robot to be manually operated, and the second self-propelled robot 1C is selected. Stop the self-propelled robot 1B. Then, the third self-propelled robot 1C is operated in the same manner as the second self-propelled robot 1B, and the third self-propelled robot 1C is made to pick the product.
- the vibrator of the request presenting unit 24 of the operation unit 2 vibrates. Then, the operator P1 selects the first self-propelled robot 1A as the self-propelled robot to be manually operated, and stops the third self-propelled robot 1C.
- the operator P1 manually operates the operation unit 2 to cause the first self-propelled robot 1A to perform the necessary care work.
- the robot system of the first embodiment or the second embodiment is modified as follows.
- the operation control unit 27 of the operation unit 2 receives the manual operation request
- the self-propelled robot that outputs the manual operation request is selected as the self-propelled robot to be manually operated.
- the self-propelled robot that has been manually operated is automatically operated or stopped.
- the operation control unit 27 automatically operates the self-propelled robot when the automatic operation program of the self-propelled robot that has been manually operated is stored in the automatic operation unit 22, and when not, the operation control unit 27 automatically operates the self-propelled robot. To stop the self-driving robot.
- the operator P1 of the operation unit 2 can automatically operate the self-propelled robot that requires manual operation.
- the operation unit 2 is simplified.
- the automatic operation unit 22 of the operation unit 2 is omitted, and the automatic operation program is stored in the robot control unit 112 of each self-propelled robot. ..
- the operation control unit 27 Upon receiving the automatic operation / stop selection signal, which is a signal for selecting "automatic operation", the operation control unit 27 outputs an automatic operation command to the self-propelled robot that is not manually operated.
- the robot control unit 112 of the self-propelled robot operates the traveling unit 11, the elevating unit 12, and the arm unit 13 according to the automatic operation program.
- the operation unit 2 is simplified.
- the power source of the self-propelled robot 1 may be an internal combustion engine.
- the self-propelled robot 1 includes a generator driven by an internal combustion engine and a secondary battery charged by the generator, and the electric device of the self-propelled robot 1 operates using the secondary battery as a power source. It is composed.
- the robot system 100 has detected the necessity of manually operating each of the plurality of self-propelled robots 1A to 1C, and the necessity of manual operation has been detected.
- Manual operation required The detection unit 111 for outputting a manual operation request for manually operating the self-propelled robot (notifying the result of detecting the necessity of manual operation) is further provided.
- the detection unit 111 detects the self-propelled robots 1A to 1C that require manual operation among the plurality of self-propelled robots 1A to 1C, and outputs a manual operation request. It is possible to properly perform tasks that are difficult to perform without manual operation.
- the robot system 100 presents the manual operation request output by the detection unit 111 to the operator P1 who manually operates the operation unit 2 (presents the necessity of the manual operation notified by the detection unit 111).
- a unit 24 is further provided.
- the operator P1 of the operation unit 2 can manually operate the self-propelled robots 1A to 1C that require manual operation by using the presentation of the presentation unit 24.
- the operation unit 2 is configured to enable manual operation of the self-propelled robots 1A to 1C that require manual operation corresponding to the manual operation request when the manual operation request is received.
- the operator P1 of the operation unit 2 can automatically operate the self-propelled robots 1A to 1C that require manual operation.
- the operation unit 2 is configured to automatically operate the self-propelled robots 1A to 1C that have been manually operable until then when the self-propelled robots 1A to 1C that require manual operation can be manually operated.
- the self-propelled robots 1A to 1C that are not manually operated can be made to work automatically, a plurality of self-propelled robots 1A to 1C can be used efficiently.
- the operation unit 2 is configured to stop the self-propelled robots 1A to 1C that have been manually operable until then when the self-propelled robots 1A to 1C that require manual operation can be manually operated.
- the self-propelled robots 1A to 1C which had been manually operable until then, can be put into a safe state (a state in which unexpected work cannot be performed), and the self-propelled robots 1A to 1C requiring manual operation can be manually operated.
- the self-propelled robots 1A to 1C to be stopped are configured to take a predetermined contracted posture in which the robot arms 121A and 121B are folded.
- the operation unit 2 includes a manual operation unit 21 for manually operating a plurality of self-propelled robots 1A to 1C.
- the operator P1 can manually operate the plurality of self-propelled robots 1A to 1C by operating the manual operation unit 21.
- the operation unit 2 includes an automatic driving unit 22 for automatically driving a plurality of self-propelled robots 1A to 1C.
- the automatic driving unit 22 can automatically drive a plurality of self-propelled robots 1A to 1C.
- the operation unit 2 includes a manual operation unit 21 for operating a plurality of self-propelled robots 1A to 1C, an automatic operation unit 22 configured to automatically operate the plurality of self-propelled robots 1A to 1C, and the operation thereof.
- the operation of the unit 2 is selectively switched between a manual operation in which a plurality of self-propelled robots 1A to 1C are manually operated by the manual operation unit 21, an automatic operation in which the automatic operation unit 22 automatically operates, and a stop.
- It includes a configured switching unit (operation control unit 27 that functions as a switching circuit).
- two robot arms 121A and 121B are provided on the trolley 11.
- the self-propelled robots 1A to 1C can use the two robot arms 121A and 121B, a wider variety of work can be performed.
- robot arms 121A and 121B are provided on the trolley 11 so as to be able to move up and down.
- the self-propelled robots 1A to 1C can move the robot arms 121A and 121B up and down, they can perform a wider variety of tasks.
- the difference between the types of predetermined work performed by the plurality of self-propelled robots 1A to 1C is the difference between the interpersonal work and the non-personal work.
- At least one of the predetermined tasks performed by the plurality of self-propelled robots 1A to 1C is the task in the tertiary industry.
- a plurality of self-propelled robots 1A to 1C and the operation unit 2 are connected via a network 3 capable of data communication.
- this robot system 100 can be implemented by remote work.
- the robot system 100 includes a plurality of self-propelled robots 1 including a trolley 11 capable of autonomous traveling and robot arms 121A and 121B mounted on the trolley 11, and the plurality of self-propelled robots 1 by being operated by an operator. It includes one operation console 2 configured to be able to manually operate the self-propelled robot 1. Then, the plurality of self-propelled robots 1 include a first self-propelled robot 1A that performs a predetermined first work and a second self-propelled robot 1B that performs a predetermined second work different from the first work. It is characterized by including.
- the robot work method according to the present disclosure is a robot work method using a plurality of self-propelled robots 1 including a trolley 11 capable of autonomous traveling and robot arms 121A and 121B mounted on the trolley 11.
- the first self-propelled robot 1A is made to perform a predetermined first work
- the second self-propelled robot 1B of the plurality of self-propelled robots 1 is made to perform a predetermined first work different from the first work.
- the robot system 100 and the robot working method having the above configuration since a plurality of self-propelled robots 1 are operated by one operation console 2, it can be efficiently robotized. Further, since the self-propelled robot 1 is used as the robot, it is possible to robotize the work performed while the person is moving, and the plurality of self-propelled robots 1 are configured to perform different types of work. Therefore, the robot used can handle a wide variety of tasks. As a result, it is possible to contribute to the progress of robotization of human work in all industries.
- the operation console 2 is configured to be capable of automatically driving a plurality of self-propelled robots 1, and the first self-propelled robot 1A performs the first work in the automatic driving and the second self-driving car.
- the running robot 1B may be configured to perform a second task in automatic driving.
- the detection circuit 111 detects the necessity of manually operating each of the plurality of self-propelled robots 1 and notifies the operator of the result of detecting the necessity of manual operation, and the detection circuit 111 informs the operator.
- An alarm 24 may be further provided to indicate the need for manual operation.
- the robot system 100 further includes a camera 19 mounted on the self-propelled robot 1, the detection circuit 111 has a processor Pr1 and a memory Me1, and the processor Pr1 executes a predetermined program stored in the memory Me1.
- the image captured by the camera 19 may be image-processed to detect the necessity of manual operation when a person is present in the image.
- the operation console 2 selectively switches between automatically driving the self-propelled robot 1, enabling manual operation of the self-propelled robot 1, and stopping the self-propelled robot 1.
- the operation console 2 has a configured switching circuit 27 so that when the first self-propelled robot 1A is manually operable, the second self-propelled robot 1B, which has been manually operable until then, is automatically operated. It may be configured.
- the operation console 2 selectively switches between automatically driving the self-propelled robot 1, enabling the self-propelled robot 1 to be manually operated, and stopping the self-propelled robot 1.
- the operation console 2 has a switching circuit 27 configured as described above, and when the first self-propelled robot 1A is made manually operable, the second self-propelled robot 1B which has been manually operable until then is stopped. It may be configured in. According to the robot system 100 having the above configuration, when any one of the self-propelled robots 1 is switched to manual operation, the remaining self-propelled robot 1 can be automatically switched to automatic operation or stop, and the operation of the self-propelled robot 1 can be performed. Switching can be performed efficiently.
- a plurality of self-propelled robots 1 and an operation console 2 may be connected via a network 3 capable of data communication.
- the operator can remotely control the plurality of self-propelled robots 1 from a distance.
- the operation console 2 automatically operates an automatic operation circuit 22 that outputs an automatic operation signal according to a predetermined automatic operation program, and an automatic operation signal output from the automatic operation circuit 22 among a plurality of self-propelled robots.
- the plurality of self-propelled robots 1 may have a robot controller 112 that operates the trolley 11 and the robot arms 121A and 121B based on the received automatic driving signal. Since the automatic operation circuit 22 is mounted on the operation console 2 in this way, a general-purpose robot 1 can be adopted as the plurality of self-propelled robots 1.
- the functions of the elements disclosed herein include general purpose processors, dedicated processors, integrated circuits, ASICs (Application Specific Integrated Circuits), conventional circuits, and / or them that are configured or programmed to perform the disclosed functions. Can be performed using a circuit or processing circuit that includes a combination of.
- a processor is considered a processing circuit or circuit because it contains transistors and other circuits.
- a circuit, unit, or means is hardware that performs the listed functions or is programmed to perform the listed functions.
- the hardware may be the hardware disclosed herein, or it may be other known hardware that is programmed or configured to perform the listed functions. If the hardware is a processor considered to be a type of circuit, the circuit, means, or unit is a combination of hardware and software, and the software is used to configure the hardware and / or the processor.
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Abstract
Description
自律走行可能な台車と当該台車に搭載されたロボットアームとを含む複数の自走ロボットと、
操作者に操作されることによって前記複数の自走ロボットを手動操作することが可能なように構成された1つの操作コンソールと、を備え、
前記複数の自走ロボットは、所定の第1の作業を行う第1自走ロボットと、前記第1の作業と種類の異なる所定の第2の作業を行う第2自走ロボットとを含む。
ここで、「作業の種類」とは、「作業」そのものを意味するのではなく、一般に「何々作業(〇〇作業)」と呼ばれる又は分類される作業の別を意味する。但し、呼び名又は分類名の末尾が「・・・作業」となっている必要はなく、実態がそのような作業であればよい。「作業の種類」として、例えば、ピッキング(アイテム取り出し作業)、レジスター打ち(清算作業)、商品陳列作業、図書陳列作業、医療補助作業、介護作業、接客作業、案内作業、警備作業、清掃作業等が挙げられる。
前記複数の自走ロボットのうち第1自走ロボットに所定の第1の作業を行わせ、前記複数の自走ロボットのうち第2自走ロボットに前記第1の作業と種類の異なる所定の第2の作業を行わせることと、
1つの操作コンソールを操作者が操作することによって、前記第1自走ロボット及び前記第2自走ロボットを選択的に手動操作することと、を含む。
図1は、本開示の実施形態1に係るロボットシステム100の構成の一例を示す模式図である。図2は、図1の操作ユニット2の構成の一例を示す平面図である。図3は、図1のロボットシステム100の制御系統の構成の概要を示す模式図である。
図1及び図3を参照すると、実施形態1のロボットシステムは、複数の自走ロボット1(1A,1B,1C・・・)と、1つの操作ユニット(操作コンソール)2とを含む。複数の自走ロボット1(1A,1B,1C・・・)と1つの操作ユニット2とは、例えば、データ通信ネットワーク3を介して接続される。複数の自走ロボット1(1A,1B,1C・・・)と1つの操作ユニット2とが、直接、有線又は無線で接続されてもよい。なお、複数の自走ロボットに関して、個々の自走ロボットを指す場合には、1A,1B,1C・・・の参照符号を付し、複数の自走ロボットを総称する場合、又は、代表する自走ロボットを指す場合には、自走ロボットに参照符号1を付す。
データ通信ネットワーク3は、データ通信可能なネットワークであればよい。データ通信ネットワーク3として、インターネット、LAN(Local Area Network)、WAN(Wide Area Network)等が例示される。
図1を参照すると、自走ロボット1は、基本的に、自律走行可能な台車11と当該台車11に搭載されたアーム部(ロボットアーム)13とを含むように構成されていればよい。自走ロボット1は、この基本的な構成を備えた上で、所定の作業を行うことが可能なように構成されている。「所定の作業を行うことが可能なように構成されている」とは、自走ロボット1のハードウェアが、所定の作業を行うことが可能な構造に構成されている場合と、自走ロボット1が、所定の作業を行えるように動作するようプログラムされている場合との双方を意味する。従って、2つの自走ロボット1が、互いに外観が同じであっても、互いに異なる種類の作業を行うことが可能なように構成されている場合があり得る。
操作ユニット2は、複数の自走ロボット1を、手動操作及び自動運転の少なくとも一方によって操作することが可能なように構成されている。
図4は、図3のロボットシステム100の制御系統の構成の詳細を示す機能ブロックである。
{操作ユニット2側の構成}
操作ユニット2は、手動操作部21、自動運転部22、操作側表示部23、要求提示部24、操作側マイクロフォン25、操作側放音部26、操作制御部(切替部)27、及び操作側通信部28を備える。
自走ロボット1は、走行部11、昇降部12、アーム部13、ロボット側表示部14、ロボット側マイクロフォン15、ロボット側放音部16、周囲カメラ17、手先カメラ18、主カメラ19、要求検知部111、ロボット制御部112、及びロボット側通信部113を備える。
複数の自走ロボット1A,1Bには識別記号が付与されている。
次に、以上のように構成されたロボットシステム100の動作(ロボット作業方法)を説明する。図5Aは、図1のロボットシステム100の動作を示す図であって、第1自走ロボット1Aがコンビニエンスストアでレジスター打ちをしている様子を示す模式図である。図5Bは、図1のロボットシステム100の動作を示す図であって、第2自走ロボット1Bがコンビニエンスストアで商品陳列作業を行っている様子を示す模式図である。
実施形態2は、以下に述べる点が実施形態1と異なり、その他の点は実施形態1と同様である。以下、この相違点を説明する。
実施形態3は、実施形態1又は実施形態2のロボットシステムが以下のように変更されている。実施形態3のロボットシステムでは、操作ユニット2の操作制御部27が、手動操作要求を受け取ると、手動操作要求を出力した自走ロボットを手動操作する自走ロボットとして選択する。そして、手動操作していた自走ロボットを自動運転するか又は停止させる。具体的には、操作制御部27は、自動運転部22に、手動操作していた自走ロボットの自動動作プログラムが格納されている場合には、当該自走ロボットを自動運転し、そうでない場合には、当該自走ロボットを停止させる。
実施形態5では、実施形態1乃至3のいずれかのロボットシステムにおいて、操作ユニット2の自動運転部22が省略される。これ以外の点は、実施形態1乃至3のロボットシステムと同様である。
実施形態5のロボットシステムでは、実施形態1乃至3のいずれかのロボットシステムにおいて、操作ユニット2の自動運転部22が省略され、自動動作プログラムが、各自走ロボットのロボット制御部112に格納される。操作制御部27は、「自動運転」を選択する信号である自動運転/停止選択信号受け取ると、手動操作しない自走ロボット宛てに自動動作指令を出力する。この自動動作指令を受け取った自走ロボットのロボット制御部112は、自動動作プログラムに従って、走行部11、昇降部12、及びアーム部13を動作させる。
実施形態1乃至5のいずれかにおいて、自走ロボット1の動力源が、内燃機関であってもよい。この場合、自走ロボット1は、内燃機関で駆動される発電機及び当該発電機により充電される二次電池を備え、この二次電池を電源として自走ロボット1の電気デバイスが動作するように構成される。
本開示に係るロボットシステム100は、自律走行可能な台車11と当該台車11に搭載されたロボットアーム121A,121Bとを含む複数の自走ロボット1と、操作者に操作されることによって前記複数の自走ロボット1を手動操作することが可能なように構成された1つの操作コンソール2と、を備える。そして、複数の自走ロボット1は、所定の第1の作業を行う第1自走ロボット1Aと、第1の作業と種類の異なる所定の第2の作業を行う第2自走ロボット1Bとを含むことを特徴としている。
或いは、上記ロボットシステム100において、操作コンソール2は、自走ロボット1を自動運転すること、自走ロボット1を手動操作可能にすること、及び、自走ロボット1を停止させることを選択的に切り替えるように構成された切替回路27を有し、操作コンソール2は、第1自走ロボット1Aを手動操作可能にした場合に、それまで手動操作可能にしていた第2自走ロボット1Bを停止させるように構成されていてよい。
上記構成のロボットシステム100によれば、自走ロボット1のいずれかを手動操作に切り替えると余の自走ロボット1を自動的に自動運転又は停止に切り替えることができ、自走ロボット1の運転の切替を効率的に行うことができる。
Claims (9)
- 自律走行可能な台車と当該台車に搭載されたロボットアームとを含む複数の自走ロボットと、
操作者に操作されることによって前記複数の自走ロボットを手動操作することが可能なように構成された1つの操作コンソールと、を備え、
前記複数の自走ロボットは、所定の第1の作業を行う第1自走ロボットと、前記第1の作業と種類の異なる所定の第2の作業を行う第2自走ロボットとを含む、
ロボットシステム。 - 前記操作コンソールは、前記複数の自走ロボットを自動運転することが可能に構成されており、
前記第1自走ロボットは前記自動運転において前記第1の作業を行い、前記第2自走ロボットは前記自動運転において前記第2の作業を行う、
請求項1に記載のロボットシステム。 - 前記複数の自走ロボットのそれぞれを手動操作する必要性を検知し、前記手動操作する必要性が検知された結果を知らせる検知回路と、前記操作者に、前記検知回路が知らせる前記手動操作する必要性を提示する報知器とを、さらに備える、
請求項1に記載のロボットシステム。 - 前記自走ロボットに搭載されたカメラを、さらに備え、
前記検知回路は、プロセッサとメモリを有し、前記プロセッサで前記メモリに記憶された所定のプログラムを実行することにより、前記カメラで撮像した画像を画像処理して当該画像に人物が存在する場合に前記手動操作する必要性を検知する、
請求項3に記載のロボットシステム。 - 前記操作コンソールは、前記自走ロボットを自動運転すること、前記自走ロボットを手動操作可能にすること、及び、前記自走ロボットを停止させることを選択的に切り替えるように構成された切替回路を有し、
前記操作コンソールは、前記第1自走ロボットを手動操作可能にした場合に、それまで手動操作可能にしていた前記第2自走ロボットを自動運転するように構成されている、
請求項1乃至4のいずれか一項に記載のロボットシステム。 - 前記操作コンソールは、前記自走ロボットを自動運転すること、前記自走ロボットを手動操作可能にすること、及び、前記自走ロボットを停止させることを選択的に切り替えるように構成された切替回路を有し、
前記操作コンソールは、前記第1自走ロボットを手動操作可能にした場合に、それまで手動操作可能にしていた前記第2自走ロボットを停止させるように構成されている、
請求項1乃至4のいずれか一項に記載のロボットシステム。 - 前記複数の自走ロボットと前記操作コンソールとが、データ通信可能なネットワークを介して接続されている、
請求項1乃至6のいずれかに記載のロボットシステム。 - 前記操作コンソールは、所定の自動動作プログラムに従って自動運転信号を出力する自動運転回路と、前記自動運転回路から出力された前記自動運転信号を前記複数の自走ロボットのうち自動運転するものへ出力する操作コントローラとを有し、
前記複数の自走ロボットは、受け取った前記自動運転信号に基づいて前記台車及び前記ロボットアームを動作させるロボットコントローラを有する、
請求項2に記載のロボットシステム。 - 自律走行可能な台車と当該台車に搭載されたロボットアームとを含む複数の自走ロボットを用いたロボット作業方法であって、
前記複数の自走ロボットのうち第1自走ロボットに所定の第1の作業を行わせ、前記複数の自走ロボットのうち第2自走ロボットに前記第1の作業と種類の異なる所定の第2の作業を行わせることと、
1つの操作コンソールを操作者が操作することによって、前記第1自走ロボット及び前記第2自走ロボットを選択的に手動操作することと、を含む、
ロボット作業方法。
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