WO2022138694A1 - Robot - Google Patents

Abstract

A robot (100; 100A) is provided with: a transport vehicle (110) capable of self-propulsion; one or more robot arms (120A, 120B) mounted on the transport vehicle; a lifting/lowering device (140) that is mounted on the transport vehicle and lifts/lowers the one or more robot arms with respect to the transport vehicle; a fluctuation device (120A, 120B; 190) for causing the center of gravity of the transport vehicle to fluctuate; and a control device (180) that is configured so as to control the operations of the transport vehicle, the one or more robot arms, the lifting/lowering device, and the fluctuation device. The control device is configured so that, if there is a stepped difference upward on a travel surface present in a first direction that is a direction of advance of the transport vehicle, the control device causes the fluctuation device to operate so as to move the center of gravity of the transport vehicle to a second direction that is the opposite direction from the first direction.

Description

robot Cross-reference to related applications

This application claims the priority and benefits of Japanese Patent Application No. 2020-215748 filed with the Japan Patent Office on December 24, 2020, and is a part of this application by reference to the whole. Quoting as something that makes up.

This disclosure relates to robots.

Traditionally, robots have been used to replace human work. For example, Japanese Patent Application Laid-Open No. 2020-108867 discloses a robot vacuum cleaner that cleans a target surface while autonomously moving. The robot vacuum is configured to communicate with the user and can perform a nodding response action that moves the front edge of the housing up and down. The robot vacuum cleaner pushes up and tilts the housing with the attitude control wheel by projecting the attitude control wheel toward the installation surface. The robot vacuum also overcomes steps by pushing up the housing using the attitude control wheels.

In recent years, service robots, which are robots that provide services to humans, have been devised. A service robot may include a robot arm for providing services and a carrier for movement. Since service robots are equipped with equipment for providing services, their configurations may be complicated. Further, the service robot may be required to deal with obstacles such as steps on the traveling surface encountered during movement.

The object of the present disclosure is to provide a robot capable of dealing with obstacles and simplifying the structure.

The robot according to one aspect of the present disclosure includes a self-propelled transport vehicle, one or more robot arms mounted on the transport vehicle, and one or more robots mounted on the transport vehicle and relative to the transport vehicle. It is configured to control the operation of the elevating device for raising and lowering the robot arm, the fluctuating device for changing the center of gravity of the transport vehicle, the transport vehicle, the one or more robot arms, the elevating device, and the fluctuating device. When there is a step upward on the traveling surface, which exists in the first direction, which is the traveling direction of the transport vehicle, the control device reverses the center of gravity of the transport vehicle to the first direction. It is configured to operate the variable device so as to move in the second direction, which is the direction.

FIG. 1 is a diagram showing an example of a configuration of a robot system according to an embodiment. FIG. 2 is a perspective view showing an example of the configuration of the robot according to the embodiment. FIG. 3 is a side view showing an example of the configuration of the robot according to the embodiment. FIG. 4 is a block diagram showing an example of the configuration of the control device of the robot system according to the embodiment. FIG. 5 is a flowchart showing an example of the operation of the robot system according to the embodiment. FIG. 6 is a side view showing an example of the operation of the robot according to the embodiment. FIG. 7 is a side view showing an example of the operation of the robot according to the embodiment. FIG. 8 is a side view showing an example of the configuration of the robot according to the modified example. FIG. 9 is a side view showing an example of the operation of the robot according to the modified example.

Hereinafter, exemplary embodiments of the present disclosure will be described with reference to the drawings. Each of the embodiments described below is a comprehensive or specific example. Among the components in the following embodiments, the components not described in the independent claims indicating the highest level concept are described as arbitrary components. Each figure in the attached drawings is a schematic view and is not necessarily exactly illustrated. In each figure, substantially the same components are designated by the same reference numerals, and duplicate description may be omitted or simplified. As used herein and claimed, "device" can mean not only one device, but also a system of multiple devices.

[Robot system configuration]
An example of the configuration of the robot system 1 according to the exemplary embodiment will be described. FIG. 1 is a diagram showing an example of the configuration of the robot system 1 according to the embodiment. As shown in FIG. 1, the robot system 1 according to the embodiment includes one or more robots 100, one or more operation terminals 200, and a server 300. In the present embodiment, the robot system 1 is configured to provide a service to the user P by using the robot 100 operated from a remote place, without limitation. The robot system 1 can be used in various service industries such as nursing care, medical care, cleaning, security, guidance, rescue, cooking, and product provision.

Although not limited, in the present embodiment, a plurality of robots 100 are arranged in one service providing area AS, which is a place where a service is provided to the user P. One or more operation terminals 200 are arranged in each of the plurality of operation area AOs located away from the service provision area AS.

The robot 100 is configured to connect to the communication network N so that data communication is possible via wireless communication. The robot 100 may be connected to the communication network N via wired communication or a combination of wired communication and wireless communication. The operation terminal 200 is configured to be connected to the communication network N so as to be capable of data communication via wired communication, wireless communication, or a combination thereof. One robot 100 and one operation terminal 200 can be connected to each other via a communication network N so as to be capable of data communication. Any wired or wireless communication may be used.

The server 300 manages communication via the communication network N. The server 300 includes a computer device. The server 300 manages authentication, connection, disconnection, and the like of communication between the robot 100 and the operation terminal 200. For example, the server 300 stores identification information, security information, and the like of the robot 100 and the operation terminal 200 registered in the robot system 1, and uses the information to qualify the operation terminal 200 for connection to the robot system 1. Authenticate. The server 300 manages the transmission and reception of data between the robot 100 and the operation terminal 200, and the data may pass through the server 300. The server 300 may be configured to convert the data transmitted from the source into a data format available to the destination. The server 300 may be configured to store and store information, commands, data, and the like transmitted and received between the robot 100 and the operation terminal 200 in the process of operating the robot 100.

The communication network N is not particularly limited, and may include, for example, a local area network (LAN), a wide area network (WAN), the Internet, or a combination of two or more of these. Communication network N includes short-range wireless communication such as Bluetooth (registered trademark) and ZigBee (registered trademark), dedicated network line, dedicated line of telecommunications carrier, public switched telephone network (PSTN), It may be configured to use a mobile communication network, an internet network, satellite communication, or a combination of two or more of these. The mobile communication network may use a 4th generation mobile communication system, a 5th generation mobile communication system, or the like. The communication network N can include one or more networks. In this embodiment, the communication network N is the Internet.

[Operation terminal configuration]
An example of the configuration of the operation terminal 200 according to the embodiment will be described. As shown in FIG. 1, the operation terminal 200 can receive input of commands, information, data, etc. by the operator PO, and can output the received commands, information, data, etc. to other devices. The operation terminal 200 includes an operation input device 201, a terminal computer 202, a presentation device 203, and a communication device 204. The operation input device 201, the terminal computer 202, the presentation device 203, and the communication device 204 may be integrated so as to form one device, or each of them may independently form a device and be connected to each other. Two or more may form one device and be connected to another device.

The configuration of the operation terminal 200 is not particularly limited. For example, the operation terminal 200 includes a computer such as a personal computer, a smart device such as a smartphone and a tablet, a personal information terminal, a game terminal, a known teaching device such as a teach pendant used for teaching work to a robot, and a known robot. It may be an operating device, another operating device, another terminal device, a device using these, an improved device thereof, or the like. The operation terminal 200 may be a dedicated device devised for the robot system 1, but may be a general-purpose device available in the general market. In this embodiment, a known general-purpose device is used for the operation terminal 200. The device may be configured to realize the functions of the operation terminal 200 of the present disclosure by installing dedicated software.

The operation input device 201 is configured to receive an input by the operator PO and output a signal or the like indicating the input command, information, data, or the like to the terminal computer 202. The configuration of the operation input device 201 is not particularly limited. For example, the operation input device 201 may include a device such as a button, a lever, a dial, a joystick, a mouse, a key, a touch panel, a motion capture, etc., to which an input is given via an operation of an operator PO. The operation input device 201 may include an image pickup device such as a camera that captures an image of the operator PO and the like, and a voice input device such as a microphone that accepts the voice input of the operator PO and the like. The operation input device 201 may be configured to output the captured image data and a signal indicating the input voice to the terminal computer 202.

The terminal computer 202 processes the commands, information, data, etc. received via the operation input device 201 and outputs them to another device, and receives the input of commands, information, data, etc. from the other device, and said that. It is configured to perform processing of commands, information, data, etc.

The presentation device 203 includes a display capable of displaying an image on the operator PO. The presentation device 203 displays an image of image data received from the terminal computer 202. The presentation device 203 may include a voice output device such as a speaker capable of emitting voice to the operator PO. The presentation device 203 outputs the voice of the voice data received from the terminal computer 202.

The communication device 204 includes a communication interface that can be connected to the communication network N. The communication device 204 is connected to the terminal computer 202, and connects the terminal computer 202 and the communication network N so as to be capable of data communication. The communication device 204 may include, for example, a communication device such as a modem, an ONU (Optical Network Unit), a router, and a mobile data communication device. The communication device 204 may include a computer device having a calculation function or the like.

[Robot configuration]
An example of the configuration of the robot 100 according to the embodiment will be described. FIG. 2 is a perspective view showing an example of the configuration of the robot 100 according to the embodiment. FIG. 3 is a side view showing an example of the configuration of the robot 100 according to the embodiment.

As shown in FIGS. 2 and 3, the robot 100 includes one carrier 110, one or more robot arms 120, one or more end effectors 130, one elevating device 140, and one or more. A workbench 150, a scanning sensor 160, a secondary battery module 171, a power supply circuit 172, a communication device 173, an image pickup device 174, 175 and 176, a sound collector 177, a display device 178, and an audio output device. It includes 179 and a control device 180. Although not limited to, in the present embodiment, the robot arm 120 uses a robot arm that can also function for industrial use. The image pickup devices 174, 175 and 176, the sound collecting device 177, the display device 178, and the audio output device 179 are examples of communication devices. The quantity of each of the above components is not limited to the above quantity and can be changed as appropriate.

The transport vehicle 110 is configured to be self-propelled. Although not limited, in the present embodiment, the transport vehicle 110 travels by using the wheels included in the transport vehicle 110. The transport vehicle 110 includes a base 111, drive wheels 112a and 112b, auxiliary wheels 113a to 113d, and transport drive devices 114a and 114b.

The base 111 has a rectangular plate-like outer shape. For example, the base 111 may have a thin plate-like or frame-like structure in the vertical direction. In the present specification and the claims, "upward" means an upward direction perpendicular to the support surface when the robot 100 is arranged on the horizontal support surface, that is, a vertically upward direction, and is "downward". "" Means a downward direction perpendicular to the support surface in the same case, that is, a vertical downward direction. As used herein and claimed, "vertical", "vertical", "horizontal" and "parallel" are fully vertical, vertical, horizontal and parallel, and perfectly vertical, vertical, horizontal and parallel, respectively. It may include cases that can be regarded as substantially vertical, vertical, horizontal and parallel including the vicinity.

The drive wheels 112a and 112b are rotatably attached to the base 111 and support the base 111 from below. In the present embodiment, the drive wheels 112a and 112b are arranged at positions biased toward the forward direction D1A of the transport vehicle 110 with respect to the base 111, but the driving wheels 112a and 112b are not limited to this. It may be arranged in the center or at a position biased in the direction D1B. The drive wheels 112a and 112b are arranged along the base 111 and side by side in the direction D2A perpendicular to the direction D1A. For example, the direction D1A is a direction along the longitudinal direction which is the long side direction of the base 111, and the direction D1B is a direction opposite to the direction D1A. The direction D2A is a direction along the short side direction of the base 111, and the direction D2B is a direction opposite to the direction D2A.

Although not limited, in the present embodiment, the drive wheels 112a and 112b are arranged so that the orientation of their respective rotation axes is fixed with respect to the base 111, and the drive wheels 112a and 112b are arranged in the directions D2A and 112b. It can rotate around a rotation axis extending along D2B. The drive wheels 112a and 112b may be arranged on the base 111 so as to be movable in the direction toward and away from the base 111. The drive wheels 112a and 112b may be urged by a urging member such as a spring in a direction away from the base 111. This enables stable grounding of the drive wheels 112a and 112b.

The transport drive devices 114a and 114b are attached to the base 111, respectively, and drive the drive wheels 112a and 112b to rotate. For example, the transport drive devices 114a and 114b each include an electric motor as a drive source and a speed reducer that transmits the rotational driving force of the electric motor to the drive wheels 112a and 112b. In the present embodiment, the electric motors of the transport drive devices 114a and 114b are servomotors, but not limited to. The servomotor is controlled by the control device 180.

The transport drive devices 114a and 114b can advance the transport vehicle 110 by rotating the drive wheels 112a and 112b in the same direction at the same speed, and rotate the drive wheels 112a and 112b in the same opposite direction at the same speed. This makes it possible to move the transport vehicle 110 backward. The transport drive devices 114a and 114b can rotate the transport vehicle 110 in various ways by rotating the drive wheels 112a and 112b in a state where either or both of the rotation directions and the rotation speeds are different from each other.

The training wheels 113a to 113d are rotatably attached to the base 111 and support the base 111 from below. The training wheels 113a to 113d are arranged around the drive wheels 112a and 112b, and in the present embodiment, they are arranged at the four corners of the base 111. The training wheels 113a and 113b are arranged in the direction D1A with respect to the drive wheels 112a and 112b, and the training wheels 113c and 113d are arranged in the direction DB with respect to the drive wheels 112a and 112b. Each of the training wheels 113a to 113d has a rotation axis extending along the base 111. The training wheels 113a to 113d have a configuration in which the directions of the respective rotation axes can be freely changed while being along the base 111. For example, the training wheels 113a to 113d have a universal caster configuration. The training wheels 113a to 113d and the drive wheels 112a and 112b are arranged so as to be in contact with the flat support surface at the same time, and support the base 111 together. The training wheels 113a to 113d can change the direction of their respective rotation axes according to the traveling direction of the transport vehicle 110, and can roll along the traveling direction.

The elevating device 140 is arranged on the base 111, and one or more robot arms 120 are arranged on the elevating device 140. The elevating device 140 raises and lowers one or more robot arms 120 in the upward direction D3A and the downward direction D3B with respect to the base 111. The upward direction D3A and the downward direction D3B are also directions perpendicular to the base 111.

The configuration of the elevating device 140 is not particularly limited as long as one or more robot arms 120 can be elevated. In this embodiment, the elevating device 140 has a configuration that expands and contracts in the directions D3A and D3B, but is not limited to this. For example, the elevating device 140 has another configuration such as a configuration including a member that supports the robot arm 120 and rotates in the vertical direction, or a configuration in which the support member of the robot arm 120 is slid in the vertical direction on a support column. You may.

The telescopic elevating device 140 has a telescopic structure, for example, a one-stage telescopic structure. The structure of the telescopic elevating device 140 may be a known structure. For example, the elevating device 140 may include an elevating drive device 141, an outer cylinder 142, and an inner cylinder 143. The outer cylinder 142 is fixed to the base 111 and extends upward from the base 111 in the upward direction D3A. The inner cylinder 143 is arranged inside the outer cylinder 142 and can move in the directions D3A and D3B with respect to the outer cylinder 142. The elevating drive device 141 moves the inner cylinder 143 in the directions D3A and D3B. The elevating drive device 141 is driven by electric power as a power source, but may be configured to be driven by other power sources such as pneumatic pressure and hydraulic pressure.

For example, the elevating drive device 141 may include an electric actuator and a transmission mechanism that transmits the driving force of the electric actuator to the inner cylinder 143. In the present embodiment, the electric actuator is a servomotor, but may be another actuator such as a linear actuator. The transmission mechanism may be configured to convert the rotational driving force of the servomotor into a driving force that causes the inner cylinder 143 to move linearly. For example, the transmission mechanism may include a rack and pinion structure, a roller or ball screw structure, or the like, or may include a meshing chain structure. The meshing chain structure may be a structure in which a columnar body that pushes up the inner cylinder 143 by meshing the two chains is formed, and the height of the inner cylinder 143 changes according to the meshing length of the two chains. The servomotor of the elevating drive device 141 is controlled by the control device 180.

Although not limited, in the present embodiment, the elevating device 140 is arranged at a position biased in the direction D1A with respect to the base 111. For example, the elevating device 140 is arranged in the upward D3A of the drive wheels 112a and 112b. As a result, most of the load of the elevating device 140 and the robot arm 120 acts on the drive wheels 112a and 112b, and the frictional force between the drive wheels 112a and 112b and the support surface increases. That is, the rotational driving force of the driving wheels 112a and 112b can be efficiently transmitted to the support surface.

Although not limited, in the present embodiment, as the robot arm 120, two robot arms 120A and 120B are arranged at the upper end of the inner cylinder 143 of the elevating device 140 via the base 120C. The robot arms 120A and 120B can be raised and lowered in directions D3A and D3B by the elevating device 140. Both the robot arms 120A and 120B can rotate horizontally along the base 111 about the axis S1 along the direction D3A. The robot arms 120A and 120B have a coaxial double-arm robot arm structure. In the present embodiment, both the robot arms 120A and 120B are rotatable about 360 ° about the axis S1.

The robot arm 120A includes links 121A to 124A and arm drive devices M1A to M4A. The robot arm 120B includes links 121B to 124B and arm drive devices M1B to M4B. The arm drive devices M1A to M4A and M1B to M4B are shown in FIG. The arm drive devices M1A to M4A and M1B to M4B are powered by electric power and include a servomotor as an electric motor. Each servomotor is controlled by the control device 180.

The links 121A and 121B are each connected to the base 120C via a rotary joint. The base 120C is attached to the upper end of the inner cylinder 143 of the elevating device 140. The links 121A and 121B are rotatable about the axis S1 and are arranged so as to be offset in the direction of the axis S1 in order to avoid mutual interference. The arm drive devices M1A and M1B can rotationally drive the rotary joints of the links 121A and 121B and rotate them to the links 121A and 121B, respectively.

The base ends of the links 122A and 122B are connected to the tips of the links 121A and 121B via a rotary joint. The links 122A and 122B are respectively rotatable about an axis along the direction D3A. The arm drive devices M2A and M2B can rotationally drive the rotary joints of the links 122A and 122B and rotate them to the links 122A and 122B, respectively.

The base ends of the links 123A and 123B are connected to the tips of the links 122A and 122B via rotary joints. The links 123A and 123B are each rotatable about an axis perpendicular to the direction D3A. Links 123A and 123B each include three link members rotatably connected to each other. The links 123A and 123B are configured to rotate the three link members in conjunction with their rotation, respectively. When the links 123A and 123B rotate, respectively, they change the angle formed between the three link members, whereby the links 123A and 123B expand and contract in the upward direction D3A or the downward direction D3B. The heights of the tips of the links 123A and 123B can be changed. The arm drive devices M3A and M3B can rotationally drive the rotary joints of the links 123A and 123B, respectively, and allow the links 123A and 123B to expand and contract.

The base ends of the links 124A and 124B are rotatably connected to the tips of the links 123A and 123B, respectively. Links 124A and 124B each include a wrist portion that is rotatable about an axis along direction D3A. The arm drive devices M4A and M4B can rotationally drive the rotary joints of the wrist portions of the links 124A and 124B, respectively, and rotate them to the wrist portions. The wrist portions of the links 124A and 124B each include a mechanical interface that allows connection with the end effector 130.

The robot arms 120A and 120B as described above have the structure of the horizontal articulated arm, but may have any structure. For example, the robot arms 120A and 120B may be other types of horizontal articulated type, vertical articulated type, polar coordinate type, cylindrical coordinate type, right angle coordinate type, or other types of robot arms. The number of robot arms 120 arranged in the elevating device 140 may be one or more.

As the end effector 130, two end effectors 130A and 130B are detachably attached to the links 124A and 124B of the robot arms 120A and 120B, respectively. The end effectors 130A and 130B may also be referred to as a robot hand. The end effectors 130A and 130B are configured to act on the object handled by the robot 100. The end effectors 130A and 130B may be configured to operate. In this case, the end effectors 130A and 130B include a drive device, and the drive device may be powered by electric power, pneumatic pressure, hydraulic pressure, or the like. The drive device powered by electric power may include an electric motor such as a servo motor. The drive device may be controlled by the control device 180.

The robot 100 further includes a device housing 170 on the base 111. The equipment housing 170 is arranged adjacent to the elevating device 140 and the robot arms 120A and 120B in the direction D1B with respect to the elevating device 140. The equipment housing 170 is arranged at a position biased toward the direction D1B with respect to the elevating drive device 141 and the robot arms 120A and 120B. Although not limited, in the present embodiment, the device housing 170 is arranged at a position biased toward the direction D1B with respect to the base 111, and is located at a position D1B with respect to the drive wheels 112a and 112b. The configuration of the device housing 170 is not particularly limited, but may have, for example, a box-shaped configuration surrounded by a wall or a frame-shaped configuration. In this embodiment, the device housing 170 has a rectangular parallelepiped outer shape.

The secondary battery module 171 and the power supply circuit 172, the communication device 173, and the control device 180 are arranged in the device housing 170, and can be arranged in a predetermined position by being attached to the device housing 170. For example, the secondary battery module 171 may be arranged on the base 111, and the power supply circuit 172 may be arranged above the secondary battery module 171. The communication device 173 and the control device 180 may be arranged at any position on the equipment housing 170.

The secondary battery module 171 functions as a power source for the robot 100. The secondary battery module 171 includes one or more secondary batteries. A secondary battery is a battery capable of charging and discharging electric power. Examples of secondary batteries are lead storage batteries, lithium ion secondary batteries, all-solid-state batteries, nickel-hydrogen storage batteries, nickel-cadmium storage batteries, and the like.

The power supply circuit 172 is a circuit that controls the supply and demand of electric power to the secondary battery module 171. The power supply circuit 172 is configured to control power according to a command of the control device 180 or the like. For example, the power supply circuit 172 may include equipment such as a converter, an inverter, a transformer and an amplifier.

The power supply circuit 172 is configured to be connected to an external power source such as a commercial power source. The power supply circuit 172 receives the supply of electric power from an external power source, supplies the electric power to the secondary battery module 171 and stores the electric power. The power supply circuit 172 controls the power supplied to the secondary battery module 171.

The power supply circuit 172 supplies the electric power stored in the secondary battery module 171 to the components consuming the electric power in the robot 100. The power supply circuit 172 controls the power supplied to each component.

The communication device 173 is a device for wireless communication, and is configured to be able to connect to the communication network N via wireless communication. The wireless communication used by the communication device 173 is not particularly limited. For example, the wireless communication includes mobile data communication, wireless LAN such as wireless Wi-Fi (Wireless Fidelity), short-range wireless communication such as Bluetooth (registered trademark) and ZigBee (registered trademark), or two of these. The above combination or the like may be used. The communication device 173 has a device corresponding to the wireless communication to be used.

Although not limited, in the present embodiment, one workbench 150 is arranged above the device housing 170 in the direction D3A and is supported by the device housing 170. The robot arms 120A and 120B can work on the object on the workbench 150, and the robot 100 can carry the object placed on the workbench 150.

The display device 178 includes a display 178a capable of displaying an image and a support 178b that supports the display 178a. The display 178a can display an image of image data sent from the control device 180. The control device 180 displays an image for communicating with the user P facing the robot 100, an image according to a command received from the operation terminal 200, an image for providing various other information to the user, and the like on the display 178a. It may be displayed in.

The support body 178b is supported by the inner cylinder 143 of the elevating device 140, and moves up and down together with the inner cylinder 143. The support 178b is arranged in the direction D1B with respect to the base 120C. The support 178b has a columnar shape extending in direction D3A. The support 178b supports the display 178a so as to hold it at a position in the direction D3A, that is, above the robot arms 120A and 120B. The display 178a is supported by the support 178b in a posture in which the screen of the display 178a faces the direction D1A.

Thereby, the display 178a can be moved up and down together with the robot arms 120A and 120B by the lifting device 140. Further, the interference between the robot arms 120A and 120B and the display 178a and the support 178b is suppressed. When the user P located in the direction D1A with respect to the robot 100 looks at the display 178a, it is possible to prevent the screen of the display 178a from being obstructed by the robot arms 120A and 120B. Therefore, smooth communication with the user P becomes possible.

The display device 178 may include a gimbal 178c between the display 178a and the support 178b. The gimbal 178c can operate to change the posture of the display 178a. The gimbal 178c may be configured to be operated by a human hand or may be configured to be operated by an electrical drive such as a motor. The drive device may be controlled by the control device 180.

The sound collecting device 177 includes a microphone capable of acquiring voice from the surroundings and outputting the voice signal of the voice. The sound collecting device 177 is configured to output a voice signal to the control device 180, and the control device 180 is configured to convert the voice signal into voice data and transmit it to the operation terminal 200. In the present embodiment, the sound collecting device 177 is arranged on the upper part of the display 178a and oriented in the same direction as the screen of the display 178a. The sound collecting device 177 can be raised and lowered together with the robot arms 120A and 120B by the raising and lowering device 140.

The voice output device 179 includes a speaker capable of converting a voice signal into a sound wave and radiating it as voice. The voice output device 179 can output voice corresponding to the voice signal sent from the control device 180. The control device 180 voices voice for communicating with the user P facing the robot 100, voice according to a command received from the operation terminal 200, voice for providing various other information to the user P, and the like. It may be output to the output device 179. In the present embodiment, the audio output device 179 is arranged at the lower part of the display 178a and oriented in the same direction as the screen of the display 178a. The audio output device 179 can be moved up and down together with the robot arms 120A and 120B by the lifting device 140. Therefore, smooth communication with the user P becomes possible.

The image pickup devices 174, 175, and 176 each include a camera that captures a digital image, and are configured to send the data of the captured image to the control device 180. The control device 180 may be configured to process the image data captured by the image pickup devices 174, 175 and 176 into data that can be transmitted via a network and send the image data to the operation terminal 200 via the communication network N.

The image pickup device 174 is arranged at the tip of either or both of the robot arms 120A and 120B. In this embodiment, the image pickup device 174 is arranged at the end effector 130A of the robot arm 120A and directed toward the tip thereof, without limitation. The image pickup apparatus 174 can image an object to which the robot arm 120A and the end effector 130A act. As a result, the operator PO can smoothly operate the robot 100.

The image pickup device 175 is arranged so as to be raised and lowered together with the robot arms 120A and 120B by the raising and lowering device 140. In the present embodiment, the image pickup apparatus 175 is arranged on the upper part of the display 178a and oriented in the same direction as the screen of the display 178a. The image pickup apparatus 175 can take an image of the service-provided user P facing the robot 100. As a result, the operator PO can operate the robot 100 corresponding to the user P.

The image pickup device 176 is fixed to the transport vehicle 110 and is arranged in the direction D1A which is the forward direction of the transport vehicle 110. In the present embodiment, the image pickup apparatus 176 is arranged on the base 111 without limitation. The image pickup apparatus 176 can take an image of the state in front of the transport vehicle 110 while the transport vehicle 110 is moving forward. As a result, the operator PO can smoothly operate the robot 100.

The scanning sensor 160 is fixed to the transport vehicle 110 and is arranged toward the direction D1A which is the forward direction of the transport vehicle 110. In this embodiment, the scanning sensor 160 is arranged on the base 111 without limitation. The scanning sensor 160 is configured to scan a region extending radially from the scanning sensor 160 toward the direction D1A and detect the position of an object existing in the region. The scanning sensor 160 is arranged so as to be able to scan at least a region in a direction toward the direction D3B from the direction D1A, that is, a direction downward from the direction D1A. As a result, the scanning sensor 160 can scan the traveling surface of the transport vehicle 110.

The configuration of the scanning sensor 160 is not particularly limited, and a known sensor may be used for the scanning sensor 160. For example, the scanning sensor 160 may be configured to detect the distance from the scanning sensor 160 to the object and the direction from the scanning sensor 160 to the object. For example, the scanning sensor 160 may include an optical sensor, a lidar, a radar, an ultrasonic sensor, an infrared sensor, or a combination of two or more thereof. The optical sensor detects the distance and direction to an object by irradiating it with a light wave. The rider detects the distance and direction to the object by irradiating it with a laser beam. Radar detects the distance and direction to an object by emitting radio waves. Ultrasonic sensors detect the distance and direction to an object by emitting ultrasonic waves. The infrared sensor detects the distance and direction to an object by irradiating it with infrared rays. The scanning sensor 160 is an example of a detection device.

The control device 180 is configured to control the entire robot 100. FIG. 4 is a block diagram showing an example of the configuration of the control device 180 of the robot system 1 according to the embodiment. As shown in FIG. 4, the control device 180 is connected to the terminal computer 202 of the operation terminal 200 via the communication device 173, the communication network N, and the communication device 204 so as to be capable of data communication. The control device 180 controls the operation of each component of the robot 100 according to a command or the like received from the terminal computer 202. The control device 180 controls the operation of each component of the robot 100 according to the stored control program. As a result, the robot 100 can be operated by the operator PO at a remote location away from the robot 100, and the service can be provided on behalf of the service provider.

Examples of the components to be controlled by the control device 180 are the transfer drive devices 114a and 114b, the elevating drive device 141, the arm drive devices M1A to M4A of the robot arm 120A, the arm drive devices M1B to M4B of the robot arm 120B, and the end effector 130A. And 130B drive device, scanning sensor 160, image pickup device 174 to 176, sound collection device 177, display device 178, voice output device 179, etc., but not all of them are essential.

When the control device 180 controls the electric power supplied to each component, the control device 180 outputs a current command value or the like to the power supply circuit 172, and causes the power supply circuit 172 to supply the electric power of the secondary battery module 171 to the component. It may be configured. The control device 180 may be configured to servo control the servomotor. The control device 180 acquires the detection result of the rotation sensor provided in the servomotor from each servomotor, acquires the supply current value from the power supply circuit 172 to the servomotor, and detects the detection result and the supply current value of the rotation sensor. And may be used as feedback information to determine the command value of the current to the servomotor. The supply current value may be a command value of the current supplied from the power supply circuit 172 to the servomotor, or may be a detection result of a current sensor that can be provided in the servomotor.

The control device 180 is configured to cause each component of the robot 100 to execute one or more of an operation in manual operation, an operation in automatic operation, and an operation in a combination of manual operation and automatic operation. May be done.

In manual operation, the control device 180 may be configured to be operated by a component according to the operation content input to the operation terminal 200 and transmitted to the control device 180.

In the automatic operation, the control device 180 is configured to automatically, that is, autonomously operate a series of tasks corresponding to the command to the components according to a command input to the operation terminal 200 and transmitted to the control device 180. You may.

In the combination of manual operation and automatic operation, the control device 180 appropriately performs an operation according to the operation content and an operation of automatically executing a series of tasks according to the operation content and the command received from the operation terminal 200. It may be configured to be executed by a component. For example, the control device 180 may be configured to operate the component according to the operation content when the operation content for correcting the operation is received from the operation terminal 200 during the automatic operation.

The control device 180 is configured to receive a detection result such as a detection signal from the scanning sensor 160. The control device 180 is configured to have a calculation function of detecting the traveling surface of the transport vehicle 110 existing in the direction D1A from the transport vehicle 110 based on the detection result of the scanning sensor 160. Further, the control device 180 is configured to have a calculation function of detecting the detected non-landing position, shape and dimension of the traveling surface based on the detection result of the scanning sensor 160. For example, the control device 180 may be configured to have an arithmetic function for generating a three-dimensional model of the traveling surface. The control device 180 is configured to detect the position, shape, and dimension of the step upward on the traveling surface based on the detection result.

The control device 180 includes a computer device. For example, the control device 180 may be configured as an electronic circuit board, an electronic control unit, a microcomputer, and other electronic devices. The computer device may include a processor such as a CPU (Central Processing Unit), a non-volatile semiconductor memory such as a ROM, and a volatile semiconductor memory such as a RAM (Random Access Memory). For example, a program for operating a CPU is stored in a ROM or the like in advance. The CPU reads the program from the ROM into the RAM and expands it. The CPU executes each coded instruction in the program expanded in RAM.

Each function of the control device 180 may be realized by a computer system including a CPU, ROM, RAM, etc., or may be realized by a dedicated hardware circuit such as an electronic circuit or an integrated circuit, and the computer system and hardware may be realized. It may be realized by a combination of circuits. The control device 180 may be configured to execute each process by centralized control by a single device, or may be configured to execute each process by distributed control by the cooperation of a plurality of devices.

For example, the processor is not limited, but the processor is a CPU, MPU (MicroProcessingUnit), GPU (GraphicsProcessingUnit), microprocessor (microprocessor), processor core (processorcore), multiprocessor (multiprocessor), ASIC (Application-Specific Integrated). Circuit), FPGA (Field Programmable Gate Array), etc. may be included, and each process may be realized by a logic circuit or a dedicated circuit formed in an IC (integrated circuit) chip, LSI (Large Scale Integration), or the like. The plurality of processes may be realized by one or a plurality of integrated circuits, or may be realized by one integrated circuit.

[Operation of robot system]
An example of the operation of the robot system 1 according to the embodiment will be described with reference to FIG. FIG. 5 is a flowchart showing an example of the operation of the robot system 1 according to the embodiment, and shows an example of the operation of the robot system 1 while the transport vehicle 110 is traveling. In this example, assuming that the robot 100 is manually operated by the operation terminal 200, the following description will be given.

First, the operator PO in the operation area AO inputs a request in charge of service provision and a service desired to be in charge to the operation terminal 200, and the operation terminal 200 transmits the request or the like to the server 300 (step S101). ). The server 300 searches for a robot 100 capable of performing a desired service, and connects the searched control device 180 of the robot 100 and the operation terminal 200 via the communication network N (step S102).

When the operator PO receives the notification of the connection completion from the server 300, the operator activates each component of the robot 100 through the input to the operation terminal 200 (step S103).

The operator PO inputs an operation for manually operating the robot 100 to the operation terminal 200, and the operation terminal 200 transmits an operation command indicating the content of the input operation to the control device 180. The control device 180 is operated by each component of the robot 100 according to an operation command received from the operation terminal 200, that is, is operated by the robot 100 (step S104).

The control device 180 proceeds to step S106 when the movement command to move to the transport vehicle 110 is included in the operation command (Yes in step S105), and proceeds to step S117 when the movement command is not included (No in step S105). ..

In step S106, the control device 180 is operated by the scanning sensor 160 to scan the direction D1A, which is the traveling direction of the robot 100. Further, the control device 180 processes the detection result of the scanning sensor 160 and detects the presence or absence of a step protruding upward, that is, an upward step on the traveling surface in the direction D1A (step S107).

The control device 180 proceeds to step S117 when the height h of the upward step is equal to or less than the first threshold Th1 (Yes in step S108), and when the height h of the upward step exceeds the first threshold Th1 (Yes). In step S108, No) proceeds to step S109. The case where the upward step does not exist is included when the height h of the upward step is equal to or less than the first threshold value Th1.

Further, the control device 180 proceeds to step S110 when the height h of the upward step is more than the first threshold Th1 and is equal to or less than the second threshold Th2 (Yes in step S109), and the height h of the upward step is the first. If the threshold value exceeds Th2 (No in step S109), the process proceeds to step S111. The second threshold Th2 is larger than the first threshold Th1.

In step S110, the control device 180 causes either or both of the robot arms 120A and 120B to turn toward the direction D1B opposite to the traveling direction. For example, as shown in FIG. 6, in the control device 180, the turning target robot arm 120A and 120B end effectors 130A and 130B reach the position in the direction D1B from the base 120C. It may be configured to swivel to 120B. For example, the control device 180 swivels the robot arms 120A and 120B to be swiveled so that the end effectors 130A and 130B to be swiveled reach a position above the workbench 150 or a position in the direction D1B from the workbench 150. It may be configured in. As a result, the center of gravity of the robot 100 and the center of gravity of the transport vehicle 110 move in the direction D1B. The robot arms 120A and 120B are variable devices that change the center of gravity of the transport vehicle 110. FIG. 6 is a side view showing an example of the operation of the robot 100 according to the embodiment.

The control device 180 may be configured to determine the robot arms 120A and 120B to be swiveled according to the height h of the upward step. For example, the control device 180 determines one of the robot arms 120A and 120B as a turning target when the height h of the upward step is greater than the first threshold Th1 and is equal to or less than the third threshold Th3, and the height of the upward step is determined. When h exceeds the third threshold value Th3 and is equal to or less than the second threshold value Th2, both the robot arms 120A and 120B may be configured to be determined as the turning target. The third threshold Th3 is larger than the first threshold Th1 and smaller than the second threshold Th2.

Next, the control device 180 detects the amount of inclination of the traveling surface in front of the detected upward step based on the processing result in step S107 (step S112). The traveling surface in front of the upward step is a traveling surface from the step toward the transport vehicle 110. The region on the traveling surface to be detected for the amount of inclination may be preset, and the control device 180 determines it according to the state of the robot 100 such as the moving speed of the transport vehicle 110 and the moving direction with respect to the step. It may be configured. The control device 180 proceeds to step S115 when the inclination of the traveling surface in front of the upward step is downward toward the step (Yes in step S113), and when the inclination is not downward (No in step S113). The process proceeds to step S114. The inclination of the traveling surface downward toward the step may mean that the inclination of the traveling surface is downward toward either or both of the traveling direction and the direction D1A of the transport vehicle 110.

In step S114, the control device 180 extends the elevating device 140 to the elevating drive device 141 and raises the robot arms 120A and 120B. For example, as shown in FIG. 7, the control device 180 may be configured to move the robot arms 120A and 120B to the highest position. FIG. 7 is a side view showing an example of the operation of the robot 100 according to the embodiment.

The highest position is the height position of the robot arms 120A and 120B when the elevating device 140 is most extended in the direction D3A, and the height position where the elevating device 140 can make the robot arms 120A and 120B the highest in the direction D3A. Is. As a result, the center of gravity of the robot 100 can move in the directions D3A and D1B, and the center of gravity of the transport vehicle 110 can move in the direction D1B. The control device 180 proceeds to step S115 after the processing of step S114.

In step S115, the control device 180 causes the transport vehicle 110 to continue traveling and passes through an upward step. By turning either or both of the robot arms 120A and 120B in step S110, the center of gravity of the transport vehicle 110 moves in the direction D1B, so that the training wheels 113a and 113b can easily ride on the upward step. As the robot arms 120A and 120B rise in step S114, the center of gravity of the transport vehicle 110 moves in the direction D1B, so that the training wheels 113a and 113b are more likely to ride on the upward step. The control device 180 proceeds to step S117 after the processing of step S115.

In step S111, the control device 180 sends a warning to the operation terminal 200 indicating that there is a step that the robot 100 cannot pass through. The operation terminal 200 notifies the operator PO of the received warning. When the height h of the upward step exceeds the second threshold value, the robot 100 cannot surely make the transport vehicle 110 get over the step. The control device 180 may be configured to control the transport vehicle 110 to be stopped in parallel with the transmission of the warning or instead of the transmission of the warning, in front of the upward step.

Next, in step S116, the control device 180 is driven by the transport vehicle 110 according to the operation command received from the operation terminal 200. For example, the operator PO who has confirmed the warning inputs to the operation terminal 200 an operation of driving the transport vehicle 110 so as to avoid an upward step. The operation terminal 200 transmits an operation command of the input operation to the control device 180, and the control device 180 performs control according to the operation command. After the process of step S116, the control device 180 proceeds to step S117.

In step S117, when the operator PO ends the service provision charge, the operation terminal 200 inputs the termination command to the operation terminal 200, and the operation terminal 200 transmits the command to the server 300. When the server 300 receives the command to end the charge (Yes in step S117), the server 300 disconnects the connection between the operation terminal 200 and the robot 100, and ends a series of processes. When the server 300 does not receive the command to end the charge (No in step S117), the control device 180 returns to step S104 and repeats the subsequent processing.

In the above example, the control device 180 is configured to cause the robot 100 to execute a series of processes from steps S106 to S115 by automatic operation, but the present invention is not limited to this. For example, the control device 180 may be configured to cause the robot 100 to execute one or more processes of steps S106 to S115 according to a command received from the operation terminal 200, and the robot 100 may manually perform one or more processes. May be configured to run.

The process of the control device 180 does not have to include one or more of steps S105 to S115. For example, steps S112 to S114 may not be included. When the traveling surface of the transport vehicle 110 has an inclination that rises in the traveling direction of the transport vehicle 110, when the elevating device 140 raises the robot arms 120A and 120B, the center of gravity of the entire robot 100 moves upward, and the transport vehicle The center of gravity of the 110 and the robot 100 as a whole further moves in the direction D1B. Therefore, the transport vehicle 110 can easily get over the step.

The control device 180 may be configured to cause the robot 100 to perform the processing of either or both of steps S104 and S116 by automatic operation or a combination of automatic operation and manual operation. For example, in automatic operation, the control device 180 may be configured to cause the robot 100 to execute a series of operations for executing the task according to a command of the task received from the operation terminal 200.

In the transport vehicle 110, the drive wheels 112a and 112b, the robot arms 120A and 120B, and the elevating device 140 are arranged at positions biased in the direction D1A with respect to the base 111. As a result, when the transport vehicle 110 advances in the direction D1A with the robot arms 120A and 120B turned so as to move the center of gravity of the transport vehicle 110 in the direction D1B, the drive wheels 112a and 112b are components of the robot 100. You can reach the step relatively quickly and get on. Further, since the robot arms 120A and 120B and the elevating device 140 are arranged at positions biased toward the direction D1A as in the drive wheels 112a and 112b, the load of the robot arms 120A and 120B and the elevating device 140 is applied to the drive wheels 112a and 112b. As a result, the frictional force of the drive wheels 112a and 112b increases, and the driving force of the drive wheels 112a and 112b increases. Therefore, the drive wheels 112a and 112b can easily ride on the step.

(Modification example)
A robot according to a modified example of the embodiment will be described. The robot 100A according to the modified example is different from the embodiment in that it includes a device capable of tilting the transport vehicle 110. Hereinafter, the modification will be described mainly on the points different from those of the embodiment, and the description of the same points as those of the embodiment will be omitted as appropriate.

FIG. 8 is a side view showing an example of the configuration of the robot 100A according to the modified example. In FIG. 8, the elevating device 140 is in an extended state. The robot 100A according to the present modification further includes a protruding operation unit 190 as compared with the embodiment. The projecting operation unit 190 is configured to project downward so as to lift the transport vehicle 110 from the traveling surface. The protrusion operation unit 190 is attached to the elevating device 140, and moves in the directions D3A and D3B together with the inner cylinder 143 as the elevating device 140 moves up and down. Although not limited, in this modification, the protruding operation unit 190 is arranged in the direction D1A with respect to the elevating device 140. The protrusion operating unit 190 is an example of a protrusion and a variable device.

The protruding operating portion 190 includes a wheel 190a, a bearing body 190b that rotatably supports the wheel 190a, and a support member 190c that connects the bearing body 190b and the inner cylinder 143. The wheels 190a are arranged in the direction D3B with respect to the bearing body 190b and are configured to rotate freely. For example, the wheels 190a and the bearing body 190b may have a universal caster configuration similar to the auxiliary wheels 113a to 113d, and the orientation of the rotation axis of the wheels 190a is fixed as in the drive wheels 112a and 112b. May be good. The wheels 190a and the bearing body 190b are arranged so as to pass through the opening 111a penetrating the base 111 of the transport vehicle 110 when moving in the direction D3B. The support member 190c is connected to the upper end of the inner cylinder 143 via the base 120C and extends in the direction D3B along the inner cylinder 143 and the outer cylinder 142.

When the elevating drive device 141 lowers the inner cylinder 143 in the direction D3B to contract the elevating device 140, the elevating drive device 141 moves the support member 190c, the bearing body 190b, and the wheels 190a in the direction D3B together with the inner cylinder 143. As the inner cylinder 143 descends, the wheels 190a project from the base 111 in the direction D3B and are grounded and pressed against the traveling surface.

As shown in FIG. 9, the elevating drive device 141 can lift the base 111 in the direction D3A by using the protruding operation unit 190 by moving the inner cylinder 143 to the lowest position even after touchdown. FIG. 9 is a side view showing an example of the operation of the robot 100A according to the modified example.

The lowest position is the height position of the inner cylinder 143 when the elevating device 140 is most contracted in the direction D3B, and the height position where the elevating device 140 can make the inner cylinder 143 the lowest in the direction D3B. As a result, the center of gravity of the transport vehicle 110 moves in the direction D1B, and the transport vehicle 110 can easily get over the upward step.

Since the wheels 190a are arranged at the lower end of the protruding operating portion 190, the elevating device 140 can smoothly lift the transport vehicle 110 by using the protruding operating portion 190 even when the transport vehicle 110 is running. Since the projecting operating portion 190 is arranged at a position biased in the direction D1A, the training wheels 113a and 113b can be pulled up from the traveling surface. Since the projecting operation portion 190 is arranged in the direction D1A rather than the elevating device 140, the training wheels 113a and 113b are more likely to be pulled up.

The control device 180 normally controls the operation of the elevating device 140 so that the height position of the inner cylinder 143 is maintained at a height such that the protruding operation unit 190 does not lift the transport vehicle 110. When the control device 180 detects an upward step having a height h above the first threshold value and below the second threshold value, the control device 180 sets the height position of the inner cylinder 143 to the target height position below the height position. As described above, the elevating device 140 is configured to perform a contraction operation. In this modification, the target height position is the lowest position, but the height position is not limited to this, and the target height position may be such that the center of gravity of the transport vehicle 110 moves in the direction D1B. For example, the target height position may be such that the wheels 190a press the traveling surface to the extent that the training wheels 113a and 113b do not separate from the traveling surface. The magnitudes of the first threshold and the second threshold may be the same as or different from those of the embodiment.

Even if the control device 180 is configured to execute the turning motion of the robot arms 120A and 120B in the direction D1B in the embodiment in parallel with the execution of the descending motion of the projecting motion unit 190 using the lifting device 140. good.

In this modification, the protruding operation unit 190 is arranged in the direction D1A with respect to the elevating device 140, but is not limited to this, and may be arranged at any position around the elevating device 140. For example, the protruding operation unit 190 may be arranged inside the inner cylinder 143 and the outer cylinder 142.

In this modification, the protruding operation unit 190 does not include a drive device that rotationally drives the wheels 190a, but may include the drive device.

In this modification, the protruding operation unit 190 is driven by the elevating device 140 and operates together with the elevating device 140, but the present invention is not limited to this. A device for operating the projecting operation unit 190 may be separately provided. For example, the device may be arranged on the base 111 and configured to slide the support member 190c of the projecting portion 190 in the directions D3A and D3B. The device may be arranged on the base 111 and configured to project the wheels 190a from the base 111 in the direction D3B by rotating the support member 190c.

(Other embodiments)
Although the examples of the embodiments of the present disclosure have been described above, the present disclosure is not limited to the above embodiments. That is, various modifications and improvements are possible within the scope of the present disclosure. For example, a form in which various modifications are applied to an embodiment and a form constructed by combining components in different embodiments are also included in the scope of the present disclosure.

For example, in the embodiment and the modification, the control device 180 is configured to detect an upward step, but is not limited to this. The control device 180 may be configured to transmit information on the traveling surface to the operating terminal 200, and may transmit image data captured by the imaging device 176 to the operating terminal 200 instead of the information on the traveling surface. It may be configured. The operator PO of the operation terminal 200 transmits a command to move the center of gravity of the transport vehicle 110 to the rear direction D1B to the control device 180 via the operation terminal 200 based on the above information or image data received by the operation terminal 200. be able to.

In the embodiments and modifications, the control device 180 is configured to automatically execute the operations of the robots 100 and 100A for moving the center of gravity of the transport vehicle 110 in the rear direction D1B, but is not limited thereto. .. The control device 180 may be configured to cause the robots 100 and 100A to move the center of gravity of the transport vehicle 110 in the rear direction D1B in accordance with an operation command for manual operation received from the operation terminal 200. ..

In the embodiment and the modification, the control device 180 may have an image processing function. For example, the control device 180 may have a function capable of detecting the three-dimensional position of the subject projected on the pixels of the image data. In this case, the image pickup apparatus 176 may include a camera that captures an image capable of detecting a three-dimensional position of the subject such as a distance to the subject. For example, the image pickup apparatus 176 may include a stereo camera. The control device 180 may be configured to process two image data captured by a stereo camera and detect the distance of a subject projected on each pixel by using a stereo matching method or the like. In this case, since the image pickup device 176 and the control device 180 can function as the scanning sensor 160, a separate scanning sensor is not required.

In the embodiments and modifications, the robots 100 and 100A are used as robots for providing services to humans, but may be used for other purposes. For example, the robots 100 and 100A may be configured to be used for work in factories, warehouses, and the like.

Examples of each aspect of the technique disclosed in the present disclosure are as follows. The robot according to one aspect of the present disclosure includes a self-propelled transport vehicle, one or more robot arms mounted on the transport vehicle, and one or more robots mounted on the transport vehicle and relative to the transport vehicle. It is configured to control the operation of the elevating device for raising and lowering the robot arm, the fluctuating device for changing the center of gravity of the transport vehicle, the transport vehicle, the one or more robot arms, the elevating device, and the fluctuating device. When there is a step upward on the traveling surface, which exists in the first direction, which is the traveling direction of the transport vehicle, the control device reverses the center of gravity of the transport vehicle to the first direction. It is configured to operate the variable device so as to move in the second direction, which is the direction.

According to the above aspect, when there is a step in the first direction which is the traveling direction, the variable device moves the center of gravity of the transport vehicle in the second direction which is the opposite direction. As a result, the center of gravity of the entire robot can also move in the second direction. When the transport vehicle travels in the first direction in such a state, the portion of the transport vehicle in front of the first direction easily rides on a step. For example, when the transport vehicle is provided with wheels at the relevant portion, the wheels are likely to ride on a step. As a result, the transport vehicle can travel over the step. In addition, the robot only needs to be equipped with a variable device to have the ability to climb over steps, which allows for simplification of its structure.

In the robot according to one aspect of the present disclosure, the variable device includes the robot arm, and the control device extends in the second direction in order to move the center of gravity of the transport vehicle in the second direction. It may be configured to operate on the robot arm.

According to the above aspect, when the robot arm operates so as to extend in the second direction, the center of gravity of the entire robot moves in the second direction, and the center of gravity of the transport vehicle also moves in the second direction. Therefore, the robot does not need to be equipped with a special device for overcoming a step, and its structure can be simplified.

In the robot according to one aspect of the present disclosure, the variable device includes a protruding portion capable of projecting downward from the traveling surface so as to lift the transport vehicle, and the control device is a center of gravity of the transport vehicle. In order to move the vehicle in the second direction, the variable device may be configured to project the protrusion and lift the transport vehicle.

According to the above aspect, the variable device can easily change the center of gravity of the transport vehicle by operating the protrusion so as to lift the transport vehicle. The variable device need only be able to change the center of gravity of the carrier, and does not necessarily have the ability to lift the carrier until it is separated from the traveling surface. Therefore, the structure of the variable device can be miniaturized and simplified.

In the robot according to one aspect of the present disclosure, the projecting portion is driven by the elevating device so as to perform a downward projecting operation and an upward retreating operation in accordance with the lowering operation and the ascending operation of the elevating device, respectively. The control device is configured to cause the projecting portion to lift the transport vehicle by causing the elevating device to perform the descending operation in order to move the center of gravity of the transport vehicle in the second direction. May be good.

According to the above aspect, the elevating device also serves as a driving device for raising and lowering the robot arm and a driving device for projecting the protruding portion. Therefore, the structure of the robot can be simplified.

The robot according to one aspect of the present disclosure further comprises a secondary battery as a power source mounted on the transport vehicle and adjacent to the elevating device and the one or more robot arms. May be arranged at a position biased in the reverse direction in the transport vehicle rather than the elevating device and the one or more robot arms.

According to the above aspect, since the secondary battery is not located in the forward direction with respect to the elevating device and one or more robot arms, the weight in the forward direction is reduced in the transport vehicle as compared with the elevating device and one or more robot arms. Will be done. This makes it easier for the carrier to ride on the step. The weight of the secondary battery reduces the overturning moment of the robot in the first direction. It is possible to stabilize the robot when the variable device is not operating.

The functions of the elements disclosed herein include circuits including general purpose processors, dedicated processors, integrated circuits, ASICs, conventional circuits, and / or combinations thereof, configured or programmed to perform the disclosed functions. Alternatively, it can be executed using a processing circuit. A processor is considered a processing circuit or circuit because it includes transistors and other circuits. In the present disclosure, 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 processor.

The numbers such as ordinal numbers and quantities used above are all examples for concretely explaining the technique of the present disclosure, and the present disclosure is not limited to the illustrated numbers. The connection relationships between the components are exemplified for the purpose of specifically explaining the technique of the present disclosure, and the connection relationships that realize the functions of the present disclosure are not limited thereto.

The scope of the disclosure is defined by the appended claims rather than the description of the specification so that the disclosure can be carried out in various ways without departing from the spirit of its essential characteristics. Embodiments and modifications are exemplary and not limited. Claims and all modifications within the scope of the claims, or equivalents of the claims and their scope, are intended to be embraced by the claims.

Claims (5)

1. A self-propelled carrier and
   With one or more robot arms mounted on the carrier,
   An elevating device mounted on the transport vehicle and for raising and lowering the one or more robot arms with respect to the transport vehicle.
   A variable device that fluctuates the center of gravity of the carrier, and
   The carrier, the one or more robot arms, the elevating device, and a control device configured to control the operation of the variable device are provided.
   When there is a step upward on the traveling surface, which exists in the first direction of the traveling direction of the transport vehicle, the control device sets the center of gravity of the transport vehicle in the second direction opposite to the first direction. A robot configured to move the variable device to move.
2. The variable device includes the robot arm.
   The robot according to claim 1, wherein the control device is configured to be operated by the robot arm so as to extend in the second direction in order to move the center of gravity of the transport vehicle in the second direction.
3. The variable device includes a protrusion capable of projecting downward from the traveling surface so as to lift the transport vehicle.
   The control device according to claim 1 or 2, wherein the control device is configured to cause the variable device to project the protrusion and lift the transport vehicle in order to move the center of gravity of the transport vehicle in the second direction. robot.
4. The projecting portion is driven by the elevating device and is connected to the elevating device so as to perform a downward projecting operation and an upward retreating operation with the lowering operation and the ascending operation of the elevating device, respectively.
   3. The control device is configured to cause the projecting portion to lift the transport vehicle by causing the elevating device to perform the descending operation in order to move the center of gravity of the transport vehicle in the second direction. The robot described in.
5. Further equipped with a secondary battery as a power source mounted on the carrier and placed adjacent to the elevating device and the one or more robot arms.
   The robot according to any one of claims 1 to 4, wherein the secondary battery is arranged at a position biased in the reverse direction in the transport vehicle rather than the elevating device and the one or more robot arms.

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