WO2022190505A1 - 制御装置、及び搬送システム - Google Patents
制御装置、及び搬送システム Download PDFInfo
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- WO2022190505A1 WO2022190505A1 PCT/JP2021/046661 JP2021046661W WO2022190505A1 WO 2022190505 A1 WO2022190505 A1 WO 2022190505A1 JP 2021046661 W JP2021046661 W JP 2021046661W WO 2022190505 A1 WO2022190505 A1 WO 2022190505A1
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Classifications
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Definitions
- the present disclosure adopts the following configuration in order to solve the above problems.
- FIG. 1 is a block diagram showing the configuration of a main part of a transport system according to Embodiment 1 of the present disclosure
- FIG. FIG. 3 is a diagram showing an example of the outer shape of the transport robot of the transport system according to the first embodiment of the present disclosure
- 1 is an area map schematically showing an example of an area to which a transport system according to Embodiment 1 of the present disclosure is applied
- FIG. 4 is a diagram showing a specific example of the movement direction of the transport robot of the transport system according to the first embodiment of the present disclosure
- 4 is a diagram illustrating a specific example of a transport route of a transport robot of the transport system according to Embodiment 1 of the present disclosure
- the control device 10 controls the transport robot 20 that travels within a predetermined area to transport objects to be transported.
- the control device 10 also includes a master storage unit 16 as a storage unit that stores map data containing obstacle information and environmental parameter information in the area.
- the control device 10 also includes a transport instruction reception unit 12 that receives a transport instruction from a host information processing system or the like, and a transport robot 20 that transports an object to be transported from a transport source to a transport destination based on the transport instruction and map data. and a transport route determination unit 14 that determines the route.
- the object H to be transferred is, for example, a storage container containing a plurality of semiconductor wafers or a storage container containing an intermediate product of a display element such as an organic EL (Electro Luminescent) panel.
- a display element such as an organic EL (Electro Luminescent) panel.
- the transport robot 20 transports the transport object H from the transport source to the transport destination while being placed on the upper surface of the transport robot 20 .
- the transport system 1 includes a control device 10 and a plurality of self-propelled transport robots 20 .
- the control device 10 is an information processing system responsible for managing transportation, which is sometimes called a transportation system server (AMHS server: Automated Material Handling System Server).
- AMHS server Automated Material Handling System Server
- the transport robot 20 includes a slave communication unit 21, a travel control unit 22, a self-position calculation unit 23, a distance sensor 24, a travel mechanism unit 25, an environment sensor 26, an environment information acquisition unit 27, and a slave.
- a storage unit 28 is provided.
- the number of LiDARs arranged on the transport robot 20 may be singular or plural, and if plural, they may be arranged so that the rear can also be monitored. Further, the type of the distance sensor 24 is not limited to LiDAR, and may be a sensor that acquires a distance image, such as a stereo camera or a ToF (Time-of-Flight) camera, or other methods.
- a distance image such as a stereo camera or a ToF (Time-of-Flight) camera, or other methods.
- the slave storage unit 28 is a recording device provided in the transport robot 20 .
- the slave storage unit 28 holds identification information of the transport robot 20 and map information of the floor of the factory 100, as well as various information and travel history necessary for the transport robot 20 to run, control programs for the transport robot 20, and so on. etc. will be retained as appropriate.
- the slave communication unit 21 is a communication interface for the transport robot 20 to communicate with the control device 10. This slave communication unit 21 receives instructions to the control robot 20 from the control device 10 . Further, since real-time distance information is included in communication with the transport robot 20 through the slave communication unit 21, high speed, low delay, and multiple connections are preferable. Therefore, the slave communication unit 21 preferably performs 5G (5th Generation) communication or Wi-Fi6 communication with the master communication unit 11 of the control device 10 (WiFi: registered trademark). An antenna 21A that is part of the slave communication unit 21 is shown in the external view of the transport robot 20 in FIG.
- the self-position calculator 23 is a functional block that calculates the approximate position of the transport robot 20 from the odometry data, and further calculates the self-position information regarding the self-position of the transport robot 20 by comparing the distance information with the map information near the approximate position. is.
- the calculated self-location information is output to the control device 10 through the slave communication section 21 .
- the environment sensor 26 measures predetermined environmental parameters around the transport robot 20 .
- the environmental parameter includes, for example, at least one of temperature, humidity, illuminance, vibration, ultraviolet intensity, gas concentration, or air cleanliness (density of particles floating in the air). It includes measuring instruments (sensors) that measure at least one of these environmental parameters.
- the transport robot 20 notifies the control device 10 through the slave communication unit 21 of information about the unique state of the transport robot 20 itself, for example, unique information including the distance information and self-position information.
- the unique information may include information about the operation of the transport robot 20, such as the operation state of the transport robot 20, the state of the load of the object to be transported, the remaining battery level, and other internal states.
- the transport robot 20 performs the required transport in the following manner in accordance with instructions from the control device 10.
- the travel control unit 22 receives a transport instruction from the control device 10 through the slave communication unit 21, the travel control unit 22 receives the distance information, the self-position information regarding the self-position, and the transport destination included in the transport instruction.
- the travel mechanism unit 25 is controlled to travel the transport robot 20 to the transport destination.
- the self-position calculator 23 continues to update the self-position information.
- the control device 10 includes a master communication section 11 , a transfer instruction reception section 12 , a slave monitoring section 13 , a transfer route determination section 14 , an instruction generation section 15 and a master storage section 16 .
- the master communication unit 11 is a communication interface for the control device 10 to communicate with the transport robot 20 . Communication between the master communication unit 11 and the slave communication unit 21 can take, for example, a wireless communication form.
- the master storage unit 16 is a recording device (storage unit) provided in the control device 10 .
- the master storage unit 16 holds the map information of the floor of the factory 100, the control program of the control device 10, and also the unique information of each transfer robot 20, the operation log, and the like as appropriate.
- the master storage unit 16 stores map data including obstacle information about obstacles on the floor (inside the area) of the factory 100 and environmental parameter information about environmental parameters that can affect the transport object H. It is stored as being included in the above map information. This map data is appropriately transmitted from the host information processing system through the transport instruction receiving unit 12 and stored in the master storage unit 16, for example.
- the obstacle information indicates an obstacle cost g corresponding to the degree of possible obstacle to the transportation operation of the transportation robot 20 in association with the position within the floor.
- the obstacle cost g is, for example, a value associated with the ease with which the transport robot 20 can travel, and the value increases as the robot approaches the shelf 110 .
- the obstacle cost g increases in numerical value, for example, as the width of the route through which the transport robot 20 passes becomes smaller or the inclination of the route becomes greater. Also, in the installation locations of the shelves 110 and production equipment in the area, and other locations not designated as passages for the transfer robot 20, a very large value is set for the obstacle cost g.
- the environmental parameter information includes information about environmental parameters that can affect the transport object H associated with the position within the area.
- Environmental parameters can be, for example, at least one of temperature, humidity, illumination, vibration, UV intensity, gas concentration, or air cleanliness.
- the environmental parameter information includes a weighting coefficient value corresponding to the transport object H for each type of environmental parameter.
- the environmental impact cost fEnv for each position in the area is calculated from the environmental parameter information according to the transport object H indicated by the transport object information, the details of which will be described later.
- the transport instruction receiving unit 12 includes a communication interface for the control device 10 to communicate with the upper information processing system.
- the transport instruction receiving unit 12 receives transport instructions relating to the transport of the transport object H, including transport object information indicating the transport object H, transport source information representing the transport source, and transport destination information representing the transport destination. Accepts transport instructions including
- the transfer target object information includes specific contents of the transfer target object H, for example, information about the transfer target object H itself, such as a storage container containing semiconductor wafers in a specific state.
- the transport source information includes information on the current placement position of the transport object H associated with the position within the area. Further, the transport destination information includes information on the delivery position to which the transport object H associated with the position within the area is delivered.
- the job when moving an object H to be transported, the job is assigned to the transport robot 20 that is not in a job-executing state and that is located near the placement location of the object H to be transported.
- a transport robot 20 with a sufficient remaining battery level for transport is selected and the job is assigned.
- FIG. 4 is a diagram illustrating a specific example of moving directions of the transport robot of the transport system according to the first embodiment of the present disclosure.
- FIG. 5 is a diagram illustrating a specific example of a transport route of a transport robot of the transport system according to the first embodiment of the present disclosure;
- the transport route determining unit 14 determines the transport route of the transport robot 20. do.
- the transport route determining unit 14 divides the area into a plurality of grids, and selects which of the adjacent grids the transport route should extend to. Starting from the grid to which the .
- Such a transport route search algorithm conforms to a search algorithm called A* (Aster).
- the transport route determination unit 14 determines the obstacle cost g of the adjacent grid based on the obstacle information included in the map data and the distance from the adjacent grid to the grid to which the transport destination belongs. Adjacent A grid evaluation cost f is calculated for each adjacent grid.
- the transport route determination unit 14 determines to extend the transport route to the adjacent grid with the lowest evaluation cost f among the calculated evaluation costs f of the adjacent grids.
- Adjacent grids are, for example, C E (East), C SE (South East), C S (South), C SW (South West), C W (West), C NW (North West), C 8 directions of N (North direction) and C NE (Northeast direction).
- g the movement cost (that is, the obstacle cost of the adjacent grid) from the current position of the transport robot 20 to the point of interest (adjacent grid)
- h the transport robot.
- 20 indicates the movement cost from the point of interest to the destination
- fEnv indicates the environmental measurement value (environmental impact cost) included in the environmental parameter information.
- the travel cost h can be calculated using, for example, the known diagonal distance, Manhattan distance, or Euclidean distance.
- fE1, fE2, and fE3 are selected from, for example, temperature, humidity, illuminance, vibration, ultraviolet intensity, gas concentration, or air cleanliness. It shows the different environmental parameters that affect each other. Note that the number of environmental parameters included in the expression (2) is not limited to three, and may include one or more environmental parameters.
- ⁇ , ⁇ , and ⁇ are weighting coefficients of 0 or more and 1 or less included in the environmental parameter information.
- the environmental parameter information has weighting coefficients for environmental parameters that affect the transported object H for each type of the transported object H.
- FIG. The environmental parameters and weighting coefficients for calculating the environmental measurement value fEnv are appropriately selected according to the designated transport object H, and are calculated, for example, by equation (2).
- k is a value of 0 or 1, and the value of 0 is selected when there is no need to consider the influence of the environment on the object H to be conveyed, and when it is necessary to consider the influence of the environment, A value of 1 is selected.
- pass B is a transport route that continuously connects grids with a smaller evaluation list f among adjacent grids. Then, the transport route determination unit 14 determines the obtained path B as the transport route of the transport robot 20, notifies the instruction generation unit 15, and furthermore, notifies the transport robot 20 of the transport route through the master communication unit 11. Instruct to run with
- the transport path determination unit 14 determines the transport object H indicated by the transport object information included in the transport instruction.
- the transport route of the transport robot 20 is determined in consideration of environmental parameters that affect H. Therefore, in the control device 10 and the transport system 1 of the present embodiment, the influence of the environment on the transport object H of the transport robot 20 can be suppressed.
- the transfer route of the object H to be transferred is: It is desirable to avoid areas with high ozone concentrations. In such a case, the weighting factor for the conveying object H is increased with respect to the environmental parameter indicating the ozone concentration. Then, the location (grid) where the ozone concentration is high is calculated such that the environmental impact cost fEnv for the semiconductor wafer (transport object H) is large, and the selection of the transportation route passing through such grid is avoided.
- the transfer route of the transfer robot 20 is determined by avoiding the grid, which has a high ozone concentration, so that the influence of these environments can be suppressed for semiconductor wafers that are naive and easily affected by the ozone concentration. can be transported.
- the environmental parameter information is associated with the position of the transport robot 20 within the transport target area. It is possible to determine the transport route of the transport robot 20 while grasping the position within the above-mentioned area of the environmental parameter that affects the . As a result, with the control device 10 and the transport system 1 of the present embodiment, the influence of the environment on the transport object H of the transport robot 20 can be reliably suppressed.
- the environmental parameters include at least one of temperature, humidity, illuminance, vibration, ultraviolet intensity, gas concentration, or air cleanliness.
- the transport route determination unit 14 determines the temperature, humidity, illuminance, vibration, ultraviolet intensity, gas concentration, or air cleaning for the transport object H of the transport robot 20.
- the transport path can be determined taking into account at least one effect of the degree.
- the control device 10 of the second embodiment instructs the transport robot 20 to transmit the measurement result of the environment sensor 26 acquired by the environment information acquisition section 27 through the master communication section 11 to the control device 10 side.
- the transport route determination unit 14 updates the environmental parameter information of the map data stored in the master storage unit 16 based on the acquired measurement result.
- the transport route determination unit 14 can determine a more appropriate transport route for the transport robot 20 in real time.
- the obstacle information in the map data stored in the master storage unit 16 may be appropriately updated with data from the transport robot 20.
- the traveling control unit 22 uses the calculated odometry data and the self-position information from the self-position calculation unit 23 to calculate the odometry error.
- the attitude position of the transport robot 20 is acquired.
- the travel control unit 22 position-transforms the scan data at the attitude position of each particle, and converts the scan data after the position transformation for each particle into a local map data based on the correspondence relationship of past accumulated map data. Generate local map data.
- the travel control unit 22 compares the scan data from the posture position of the transport robot 20 with the odometry error and the local map data for each particle, and calculates the likelihood value of each particle.
- the travel control unit 22 multiplies the calculated likelihood value by the weight to calculate the weight of each particle.
- the travel control unit 22 resamples the particles.
- the distribution of systematic sampling U(0, W/N) is used to determine the sampling interval (W/N).
- W is the sum of the above weights and N is the number of particles.
- the travel control unit 22 updates the particles with the highest likelihood as the current position and orientation of the transport robot 20, and also updates the local map data to the map data of the entire area.
- the travel control unit 22 then transmits the updated map data including the obstacle information to the control device 10 through the slave communication unit 21 .
- the travel control unit 22 links the value of the environmental parameter acquired by the environment information acquisition unit 27 from the environment sensor 26 to the current position and transmits the value to the control device 10 .
- the map data in which the obstacle information and the environment parameter information are updated are stored in the master storage unit 16 .
- the transport route determination unit 14 is provided with a computer that executes program instructions that are software that implements each function.
- This computer includes, for example, one or more processors, and a computer-readable recording medium storing the program.
- the processor reads the program from the recording medium and executes it, thereby achieving the object of the present disclosure.
- a CPU Central Processing Unit
- a recording medium a "non-temporary tangible medium” such as a ROM (Read Only Memory), a tape, a disk, a card, a semiconductor memory, a programmable logic circuit, etc. can be used.
- a RAM Random Access Memory
- the program may be supplied to the computer via any transmission medium (communication network, broadcast waves, etc.) capable of transmitting the program.
- any transmission medium communication network, broadcast waves, etc.
- one aspect of the present invention can also be implemented in the form of a data signal embedded in a carrier wave in which the program is embodied by electronic transmission.
- a control device that controls a transport robot that travels within a predetermined area to transport an object to be transported, and includes master communication that communicates with the transport robot.
- a storage unit that stores map data including obstacle information about obstacles in the area and environmental parameter information about environmental parameters that can affect the transport object; and a transport instruction receiving unit for receiving a transport instruction related to transport, the transport instruction including transport object information indicating the transport object, transport source information indicating a transport source, and transport destination information indicating a transport destination; a transport route determination unit that determines a transport route from the transport source to the transport destination of the transport object by the transport robot based on the transport instruction and the map data; and the transport determined by the transport route determination unit.
- an instruction generation unit that gives a transport instruction to the transport robot through the master communication unit so that the transport robot transports the object to be transported along a route;
- the conveying route is determined in consideration of the environmental parameters that affect the conveying object.
- the transport route determination unit determines the transport route of the transport robot according to the transport object indicated by the transport object information included in the transport instruction, taking into consideration the environmental parameters that affect the transport object. to decide. Therefore, the influence of the environment on the object to be transported by the transport robot can be suppressed.
- the transport route determining unit can determine the transport route of the transport robot while grasping the position of the environmental parameter that affects the transport object in the area.
- the influence of the environment on objects can be reliably suppressed.
- the transfer route determination unit stores the map data stored in the storage unit based on the measurement result of the transfer robot for the environmental parameter acquired from the transfer robot through the master communication unit. may be updated.
- the transport route determination unit can determine a more appropriate transport route for the transport robot in real time.
- the environmental parameter may include at least one of temperature, humidity, illuminance, vibration, ultraviolet intensity, gas concentration, or air cleanliness.
- the transport route determination unit selects the transport route in consideration of at least one of the effects of temperature, humidity, illumination, vibration, ultraviolet intensity, gas concentration, and air cleanliness on the object to be transported by the transport robot. can decide.
- the transport route determination unit divides the area into a plurality of grids that are divided into grids, and performs a selection step of selecting which of the adjacent grids the transport route should extend to. , starting from the grid to which the source belongs, iterating to determine a transport path from the source to the destination, and in the selecting step, obstacle costs of adjacent grids based on the obstacle information; and a movement cost according to the distance from the adjacent grid to the grid to which the destination belongs, and the environmental impact of the adjacent grid based on the environmental parameters according to the transport object indicated by the transport object information.
- a cost and an evaluation cost of the adjacent grids may be calculated for each of the adjacent grids, and it may be determined to extend the transport route to the adjacent grid with the lowest evaluation cost.
- the transport route determination unit can easily determine a transport route that suppresses the influence of the environment on the object to be transported by the transport robot.
- a transport system includes a traveling mechanism unit, a distance sensor that acquires distance information indicating a distance to an object existing within a monitoring area, and a self-position calculation unit that calculates self-position information.
- a transport robot provided with a travel control unit that controls the travel mechanism unit using the distance information from the distance sensor and the self-position information from the self-position calculation unit, and a slave communication unit that performs the communication; and the control device described above.
- the transport route determination unit can determine a more appropriate transport route for the transport robot in real time.
- Reference Signs List 1 transport system 10 control device 12 transport instruction reception unit 14 transport route determination unit 15 instruction generation unit 20 transport robot 22 travel control unit 23 self-position calculation unit 24 distance sensor 25 travel mechanism unit
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Abstract
Description
以下、本発明の一側面に係る実施の形態(以下、「本実施形態」とも表記する)が、図面に基づいて説明される。
図1を参照しつつ、本開示が適用される場面の一例が説明される。図1は、本開示の実施形態1に係る搬送システムの要部の構成を示すブロック図である。搬送システム1は、制御装置10と複数の自走式の搬送ロボット20とを備える。制御装置10は、複数の搬送ロボット20との間で通信を行い、それぞれの搬送ロボット20に指示を行う。
<搬送システム1の適用場面>
図2は、本開示の実施形態1に係る搬送システムの搬送ロボットの外形例を示す図である。図3は、本開示の実施形態1に係る搬送システムが適用されるエリアの一例を模式的に示す、エリアマップである。
以下に、搬送システム1のより具体的な構成例と動作が説明される。図1に示されるように、搬送システム1は、制御装置10と複数の自走式の搬送ロボット20とを備える。制御装置10は、搬送システムサーバ(AMHSサーバ:Automated Material Handling System Server)等の名称で呼ばれることもある、搬送についての管理を担う情報処理システムである。
図1に示されるように、搬送ロボット20は、スレーブ通信部21、走行制御部22、自己位置算出部23、距離センサ24、走行機構部25、環境センサ26、環境情報取得部27、及びスレーブ記憶部28を備える。
図1に示されるように、制御装置10は、マスタ通信部11、搬送指示受付部12、スレーブ監視部13、搬送経路決定部14、指示生成部15、及びマスタ記憶部16を備える。マスタ通信部11は、制御装置10が搬送ロボット20との間で通信を行うための通信インターフェースである。尚、マスタ通信部11とスレーブ通信部21との間の通信は、例えば、無線形式の通信形態を取り得る。
<搬送システム1の動作>
図4及び図5も参照して、実施形態1に係る制御装置10及び搬送システム1の特徴的な動作について、詳細に説明する。図4は、本開示の実施形態1に係る搬送システムの搬送ロボットの移動方向の具体例を示す図である。図5は、本開示の実施形態1に係る搬送システムの搬送ロボットの搬送経路の具体例を示す図である。尚、以下の説明では、指示生成部15が一つの搬送ロボット20に対して搬送動作のジョブを割り当てた後、搬送経路決定部14がその搬送ロボット20の搬送経路を決定する動作について主に説明する。
但し、(1)式において、gは、搬送ロボット20が現在地から注目点(隣接するグリッド)に行くまでの移動コスト(つまり、上記隣接するグリッドの障害物コスト)を示し、hは、搬送ロボット20が注目点から目的地に行くまでの移動コストを示し、fEnvは、上記環境パラメタ情報に含まれた環境計測値(環境影響コスト)を示す。
但し、(2)式において、fE1、fE2、及びfE3は、例えば、温度、湿度、照度、振動、紫外線強度、ガス濃度、または空気清浄度等から選択される、指定された搬送対象物Hに影響を与える互いに異なる環境パラメタを示している。なお、(2)式に含まれる環境パラメタの数は、3つに限定されるものではなく、1以上の環境パラメタを含むものであればよい。
本開示の他の実施形態について、以下に説明する。なお、説明の便宜上、上記実施形態にて説明した部材と同じ機能を有する部材については、同じ符号を付記し、その説明を繰り返さない。
制御装置10の機能ブロック(特に、搬送経路決定部14)は、集積回路(ICチップ)等に形成された論理回路(ハードウェア)によって実現してもよいし、ソフトウェアによって実現してもよい。
本開示の一側面に係る制御装置は、所定のエリア内を走行して搬送対象物を搬送する、搬送ロボットの制御を行う制御装置であって、前記搬送ロボットとの間で通信を行うマスタ通信部と、前記エリア内の、障害物に関する障害物情報と、前記搬送対象物に影響を与え得る環境パラメタに関する環境パラメタ情報とを含んだ、マップデータを記憶する記憶部と、前記搬送対象物の搬送に関する搬送指示であって、前記搬送対象物を示す搬送対象物情報と、搬送元を示す搬送元情報と、搬送先を示す搬送先情報とを含む搬送指示を受付ける搬送指示受付部と、前記搬送指示と前記マップデータとに基づいて、前記搬送ロボットによる前記搬送対象物の前記搬送元から前記搬送先までの搬送経路を決定する搬送経路決定部と、前記搬送経路決定部が決定した前記搬送経路に従って、前記搬送ロボットが前記搬送対象物を搬送するように、前記マスタ通信部を通じて前記搬送ロボットに搬送の指示を与える指示生成部と、を備え、前記搬送経路決定部は、前記搬送指示に含まれた前記搬送対象物情報が示す前記搬送対象物に応じて、当該搬送対象物に影響を与える前記環境パラメタを考慮して前記搬送経路を決定する構成を備えている。
10 制御装置
12 搬送指示受付部
14 搬送経路決定部
15 指示生成部
20 搬送ロボット
22 走行制御部
23 自己位置算出部
24 距離センサ
25 走行機構部
Claims (7)
- 所定のエリア内を走行して搬送対象物を搬送する、搬送ロボットの制御を行う制御装置であって、
前記搬送ロボットとの間で通信を行うマスタ通信部と、
前記エリア内の、障害物に関する障害物情報と、前記搬送対象物に影響を与え得る環境パラメタに関する環境パラメタ情報とを含んだ、マップデータを記憶する記憶部と、
前記搬送対象物の搬送に関する搬送指示であって、前記搬送対象物を示す搬送対象物情報と、搬送元を示す搬送元情報と、搬送先を示す搬送先情報とを含む搬送指示を受付ける搬送指示受付部と、
前記搬送指示と前記マップデータとに基づいて、前記搬送ロボットによる前記搬送対象物の前記搬送元から前記搬送先までの搬送経路を決定する搬送経路決定部と、
前記搬送経路決定部が決定した前記搬送経路に従って、前記搬送ロボットが前記搬送対象物を搬送するように、前記マスタ通信部を通じて前記搬送ロボットに搬送の指示を与える指示生成部と、を備え、
前記搬送経路決定部は、
前記搬送指示に含まれた前記搬送対象物情報が示す前記搬送対象物に応じて、当該搬送対象物に影響を与える前記環境パラメタを考慮して前記搬送経路を決定する、制御装置。 - 前記環境パラメタ情報は、前記エリア内の位置に関連付けられた前記搬送対象物に影響を与え得る環境パラメタに関する情報を含む、請求項1に記載の制御装置。
- 前記搬送経路決定部は、
前記マスタ通信部を通じて前記搬送ロボットから取得した前記環境パラメタについての前記搬送ロボットによる計測結果を基に前記記憶部が記憶する前記マップデータを更新させる、請求項1または2に記載の制御装置。 - 前記環境パラメタは、温度、湿度、照度、振動、紫外線強度、ガス濃度、または空気清浄度の少なくとも一つを含んでいる、請求項1から3のいずれか1項に記載の制御装置。
- 前記搬送経路決定部は、
前記エリアを格子状に区切った複数のグリッドに分割し、
隣接するいずれかのグリッドに搬送経路を延伸すべきかを選択する選択ステップを、前記搬送元が属するグリッドから開始して、繰り返すことで、前記搬送元から前記搬送先までの搬送経路を決定し、
前記選択ステップでは、前記障害物情報に基づいた隣接するグリッドの障害物コストと、前記隣接するグリッドから前記搬送先が属するグリッドまでの距離に応じた移動コストと、前記搬送対象物情報が示す前記搬送対象物に応じ、前記環境パラメタに基づいた前記隣接するグリッドの環境影響コストと、を含む、前記隣接するグリッドの評価コストを前記隣接するグリッド毎に算出し、そのうちの最も評価コストが小さい隣接するグリッドに搬送経路を延伸すると決定する、請求項1から4のいずれか1項に記載の制御装置。 - 走行機構部と、監視エリア内に存在する物体への距離を示す距離情報を取得する距離センサと、自己位置情報を算出する自己位置算出部と、前記距離センサからの距離情報及び前記自己位置算出部からの自己位置情報を用いて、前記走行機構部を制御する走行制御部と、前記通信を行うスレーブ通信部とが設けられた搬送ロボット、及び、
請求項1から5のいずれか1項に記載の制御装置を備えた、搬送システム。 - 前記搬送ロボットは、当該搬送ロボットの周囲での所定の環境パラメタについての計測を行う環境センサを、更に備える、請求項6に記載の搬送システム。
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JP2013225253A (ja) | 2012-04-23 | 2013-10-31 | Panasonic Corp | 自律移動装置、自律移動方法及び自律移動装置用のプログラム |
JP2017010234A (ja) * | 2015-06-22 | 2017-01-12 | 株式会社日立製作所 | 移動ロボットシステム及び移動ロボットの制御方法 |
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