WO2023047742A1 - Système de commande de robot mobile et procédé de commande de robot mobile - Google Patents

Système de commande de robot mobile et procédé de commande de robot mobile Download PDF

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Publication number
WO2023047742A1
WO2023047742A1 PCT/JP2022/025618 JP2022025618W WO2023047742A1 WO 2023047742 A1 WO2023047742 A1 WO 2023047742A1 JP 2022025618 W JP2022025618 W JP 2022025618W WO 2023047742 A1 WO2023047742 A1 WO 2023047742A1
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WIPO (PCT)
Prior art keywords
mobile robot
speed
information
control system
facility
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PCT/JP2022/025618
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English (en)
Japanese (ja)
Inventor
健一郎 鳥谷
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パナソニックＩｐマネジメント株式会社
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Priority to JP2023549376A priority Critical patent/JPWO2023047742A1/ja
Publication of WO2023047742A1 publication Critical patent/WO2023047742A1/fr

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions

Definitions

  • the present disclosure relates to a mobile robot control system and a mobile robot control method for controlling a mobile robot.
  • Patent Document 1 discloses a component mounting system equipped with a self-propelled component replenishing device (mobile robot) that holds a storage container that stores a plurality of components, moves automatically, and replenishes the components in the storage container to a component supply device. disclosed.
  • a self-propelled component replenishing device mobile robot
  • the present disclosure provides a mobile robot control system and the like that facilitates optimization of the movement of mobile robots to facilities.
  • a mobile robot control system includes a determination unit and an output unit.
  • the decision unit decides whether to change the speed of the mobile robot that moves to the equipment at a basic speed and performs work, or to maintain the basic speed.
  • the output unit outputs speed control information for moving the mobile robot by remote control at the speed determined by the determination unit.
  • FIG. 1 is a schematic diagram showing an application example of a mobile robot control system according to an embodiment.
  • FIG. 2 is a configuration diagram showing an example of the overall configuration including the mobile robot control system according to the embodiment.
  • FIG. 3 is a flow chart showing the basic operation of the mobile robot control system according to the embodiment.
  • FIG. 4 is a flow chart showing a first operation example of the mobile robot control system according to the embodiment.
  • FIG. 5 is a flow chart showing a second operation example of the mobile robot control system according to the embodiment.
  • FIG. 6 is a flow chart showing a third operation example of the mobile robot control system according to the embodiment.
  • FIG. 7 is a flow chart showing a fourth operation example of the mobile robot control system according to the embodiment.
  • the mobile robot control system 10 of the present disclosure includes a determination unit 12 and an output unit 13.
  • the determination unit 12 determines whether to change the speed of the mobile robot 2 that moves to the facility 1 at the basic speed and performs the work, or to maintain the basic speed.
  • the output unit 13 outputs speed control information for moving the mobile robot 2 by remote control at the speed determined by the determination unit 12 .
  • the mobile robot 2 moves to the facility 1, it is possible not only to move the mobile robot 2 at a constant speed (basic speed), but also to move with acceleration or deceleration. Therefore, the speed of the mobile robot 2 can be flexibly changed, and compared with the case where the mobile robot 2 moves at a constant speed, it is easier to optimize the movement of the mobile robot 2 to the facility 1.
  • the mobile robot control system 10 may further include an acquisition unit 11 that acquires situation information regarding the situation in which the mobile robot 2 is placed from an external system or the mobile robot 2 . Further, the determination unit 12 may determine to change the speed of the mobile robot 2 or maintain the basic speed based on the situation information acquired by the acquisition unit 11 .
  • the mobile robot 2 can be moved at an optimum speed according to the situation in which the mobile robot 2 is placed, there is an advantage that the movement of the mobile robot 2 to the facility 1 can be further optimized.
  • the status information may include information on materials that the mobile robot 2 transports to the facility 1.
  • the speed of the mobile robot 2 can be determined according to the material to be transported by the mobile robot 2, there is an advantage that the mobile robot 2 can easily transport the material.
  • the determination unit 12 may determine the speed of the mobile robot 2 to be lower than the basic speed when the materials are vulnerable to impact.
  • the speed of the mobile robot 2 by setting the speed of the mobile robot 2 to be lower than the basic speed when the material is vulnerable to impact, even if the material is subjected to an impact while the material is being transported, the impact can be suppressed. There is an advantage that it becomes easy to maintain the quality of materials.
  • the status information may include information about materials to be transported to the facility 1 by the mobile robot 2 and information about the production status of the facility 1.
  • the speed of the mobile robot 2 can be determined according to the production situation at the facility 1, so there is an advantage that the production efficiency at the facility 1 can be easily improved.
  • the determining unit 12 may determine the speed of the mobile robot 2 to be higher than the basic speed. good.
  • the situation information may include information regarding the route that the mobile robot 2 takes toward the facility 1.
  • the speed of the mobile robot 2 can be determined according to the state of the path along which the mobile robot 2 moves, there is an advantage that it is easy to ensure safety on the path.
  • the determining unit 12 may determine the speed of the mobile robot 2 to be lower than the basic speed in the vicinity of the obstacle.
  • the mobile robot control system 10 may further include a calculator 14 and a route determiner 15 .
  • the calculation unit 14 calculates the time required for the mobile robot 2 to move at the speed determined by the determination unit 12 for each of the plurality of routes.
  • the route determination unit 15 determines the route with the shortest required time calculated by the calculation unit 14 among the plurality of routes as the recommended route for the mobile robot 2 .
  • the route with the shortest required time is determined as the recommended route for the mobile robot 2 in consideration of the speed of the mobile robot 2.
  • the mobile robot control method of the present disclosure decides whether to change the speed of the mobile robot 2 that moves to the facility 1 at a basic speed and maintains the basic speed, and moves the mobile robot 2 at the determined speed by remote control. Outputs speed control information for
  • the mobile robot 2 moves to the facility 1, it is possible not only to move the mobile robot 2 at a constant speed (basic speed), but also to move with acceleration or deceleration. Therefore, the speed of the mobile robot 2 can be flexibly changed, and compared with the case where the mobile robot 2 moves at a constant speed, it is easier to optimize the movement of the mobile robot 2 to the facility 1.
  • velocity may include acceleration as well as literal velocity. Therefore, in the following description, “velocity” may be appropriately read as “acceleration”.
  • FIG. 1 is a schematic diagram showing an application example of a mobile robot control system 10 according to an embodiment.
  • FIG. 2 is a configuration diagram showing an example of the overall configuration including the mobile robot control system 10 according to the embodiment.
  • the mobile robot control system 10 is a system that controls a plurality of mobile robots that move to one of a plurality of facilities and perform work. Note that when focusing on an arbitrary mobile robot that moves to an arbitrary piece of equipment and performs work, the mobile robot control system 10 is a system that controls the mobile robot that moves to an piece of equipment and performs work. I can say The mobile robot control system 10 is applied, for example, to a floor 3 on which a plurality of facilities, a plurality of mobile robots, a material warehouse 4 and the like are provided.
  • the material warehouse 4 is a warehouse where materials such as parts used in each of the plurality of facilities are stored. Materials can include not only parts that form part of the product, but also tools and the like used when producing the product.
  • a plurality of facilities are provided in the production area 3a on the floor 3.
  • facilities 1a to 1l are provided in the production area 3a as the plurality of facilities.
  • equipment 1a to 1l are simply referred to as "equipment 1".
  • the facilities 1a to 1d constitute a first line
  • the facilities 1e to 1h constitute a second line
  • the facilities 1i to 1l constitute a third line.
  • the facility 1 is, for example, a component mounting device, a printing device, an inspection device, or the like.
  • mobile robots 2a to 2e are shown as the plurality of mobile robots.
  • the mobile robots 2a to 2e will simply be referred to as "mobile robots 2" when not distinguished from each other.
  • the mobile robots 2a and 2b are on standby in the standby area 3b, the mobile robot 2c is loaded with materials to be used for work in the material warehouse 4, and the mobile robot 2d is working in the facility 1l of the third line.
  • the robot 2e is working in the facility 1b of the first line.
  • the work performed by the mobile robot 2 includes, for example, a work of transporting materials to the target facility 1 and supplying the materials to the facility 1, or moving to the target facility 1 and collecting garbage from the facility 1. work etc.
  • a dashed arrow shown in FIG. 1 represents an example of a route along which the mobile robot 2c transports materials to the target equipment 1.
  • workers 5a and 5b are working in the production area 3a.
  • the worker 5a is working with the equipment 1f of the second line
  • the worker 5b is working with the equipment 1k of the third line.
  • line management system 50 floor management system 20
  • mobile robot group management system 30 materials management system 40
  • line management systems 50a to 50c line management systems 50a to 50c
  • monitoring system 60 monitoring system 60
  • the floor management system 20 is a system that manages the entire floor 3.
  • the floor management system 20 controls the floor 3 based on the information acquired from the mobile robot group management system 30, the material management system 40, each line management system 50, and the monitoring system 60, and the production plan acquired from the production plan database 70. manage the whole.
  • the production plan may include information on the type of product, the number of products to be produced, and the materials that make up the product.
  • the production plan may include information such as the scheduled production start time and the scheduled production end time.
  • the floor management system 20 generates work information 31b for each mobile robot 2 based on the production plan acquired from the production plan database 70.
  • the work information 31b is information about the work contents to be executed by the corresponding mobile robot 2 in order to achieve the production plan. Specific contents of the work information 31b will be described later.
  • the floor management system 20 transmits the generated work information 31 b to the mobile robot group management system 30 .
  • the floor management system 20 also includes a mobile robot control system 10. Although the details will be described later, the mobile robot control system 10 controls the speed of the mobile robot 2 by transmitting speed control information for controlling the speed of the mobile robot 2 to the mobile robot group management system 30 . Although the speed control information is not included in the work information 31b in the embodiment, it may be included in the work information 31b.
  • the mobile robot group management system 30 is a system that manages and controls a plurality of mobile robots 2 .
  • the mobile robot group management system 30 includes a storage unit 31 , a work instruction unit 32 , a speed control unit 33 and a wireless communication unit 34 .
  • the storage unit 31 stores map information 31a and work information 31b.
  • the map information 31a includes location information such as the production area 3a on the floor 3, the plurality of facilities 1, the material warehouse 4, and the standby area 3b.
  • the map information 31a is stored in advance in the storage unit 31, for example.
  • the work information 31b includes information indicating when each of the plurality of mobile robots 2 moves to which facility 1 among the plurality of facilities 1 to perform work.
  • the work information 31b may include, for each of the plurality of mobile robots 2, the time to leave the waiting area 3b, the position information of the target equipment 1, the time to arrive at the target equipment 1, and the like.
  • the work information 31b may include, for each of the plurality of mobile robots 2, information indicating the route to the target facility 1, information indicating the content of the work to be performed at the target facility 1, and the like.
  • the work instruction unit 32 transmits work instructions to each of the plurality of mobile robots 2 via the wireless communication unit 34. Each of the plurality of mobile robots 2 automatically moves according to the received work instructions. That is, each of the plurality of mobile robots 2 is remotely controlled according to work instructions from the work instruction section 32 .
  • the term "remote control" used herein does not mean autonomous control by the mobile robot 2 itself, but control based on information received from a system remote from the mobile robot 2 .
  • the work instruction unit 32 transmits work instructions to each of the plurality of mobile robots 2 using the work information 31b and the like.
  • the speed control unit 33 transmits a speed instruction regarding speed to each of the plurality of mobile robots 2 via the wireless communication unit 34 .
  • Speed instructions may include instructions to move at a base speed, instructions to move at a speed greater than the base speed (i.e., acceleration), or instructions to move at a speed less than the base speed (i.e., deceleration). .
  • the "basic speed” referred to here is a speed predetermined for the mobile robot 2. Note that the basic speed may not be the same for all the mobile robots 2, and may differ for each type of mobile robot 2, for example. Also, the basic speed may differ, for example, for each type of floor surface of the floor 3 or for each location where work is performed. Note that the basic speed may be a speed within a predetermined range instead of a single value.
  • Each of the plurality of mobile robots 2 moves at any one of a basic speed, a speed higher than the basic speed, and a speed lower than the basic speed, according to the received speed instruction. That is, the speed of each of the mobile robots 2 is remotely controlled according to the speed instruction from the speed control unit 33 .
  • the speed instruction is not included in the work instruction, but it may be included in the work instruction.
  • the wireless communication unit 34 is a communication interface for wireless communication between the mobile robot group management system 30 and the plurality of mobile robots 2 .
  • the work instruction unit 32 wirelessly communicates with each of the plurality of mobile robots 2 via the wireless communication unit 34 and remotely controls each of the plurality of mobile robots 2 .
  • the speed control unit 33 wirelessly communicates with each of the plurality of mobile robots 2 via the wireless communication unit 34 to remotely control the speed of each of the plurality of mobile robots 2 .
  • the material management system 40 is a system that manages materials stored in the material warehouse 4.
  • the material management system 40 manages the number of stored materials for each material.
  • the material management system 40 manages material information related to the materials to be transported in association with the identifier of the mobile robot 2 that transports the materials.
  • the material information may include, for example, the type of material to be transported, the number of materials to be transported, and information such as the placement of the material during transport by the mobile robot 2 .
  • the material management system 40 transmits material information to the floor management system 20 .
  • the line management system 50 is a system that manages and controls one or more facilities 1 that make up the corresponding line.
  • the line management system 50a manages and controls the facilities 1a-1d that make up the first line
  • the line management system 50b manages and controls the facilities 1e-1h that make up the second line
  • the line management system 50c manages and controls the facilities 1i to 1l constituting the third line.
  • the line management system 50 includes a production status acquisition unit 51.
  • the production status acquisition unit 51 acquires production status information regarding the production status of each of the one or more facilities 1 constituting the line.
  • the production status information may include, for example, information on whether or not the equipment 1 has enough materials necessary for production, and if there is a shortage, information on the type and quantity of the shortage material.
  • the line management system 50 transmits the production status information acquired by the production status acquisition unit 51 to the floor management system 20 .
  • the monitoring system 60 monitors the floor 3 with one or more monitoring cameras installed on the floor 3.
  • four monitoring cameras 6a to 6d are installed on the floor 3.
  • Each monitoring camera 6 regularly or in real time photographs the floor 3, especially the production area 3a.
  • the surveillance camera 6a shoots behind the first line (upper side in FIG. 1)
  • the surveillance camera 6b shoots between the first line and the second line
  • the surveillance camera 6c shoots the second line.
  • An image is taken between the line and the third line
  • the monitoring camera 6d takes an image in front of the third line (downward in FIG. 1).
  • the monitoring system 60 transmits image information including images (still images or moving images) captured by each monitoring camera 6 to the floor management system 20 .
  • the mobile robot control system 10 is a system including a processor, communication interface, memory, and the like.
  • the memory is ROM (Read Only Memory), RAM (Random Access Memory), etc., and can store programs executed by the processor.
  • the configuration of the mobile robot control system 10 is implemented by executing a program stored in a memory by a processor.
  • the mobile robot control system 10 is provided in the floor management system 20, as shown in FIG.
  • the mobile robot control system 10 includes an acquisition unit 11 , a determination unit 12 , an output unit 13 , a calculation unit 14 and a route determination unit 15 .
  • the mobile robot control system 10 only needs to include at least the determination unit 12 and the output unit 13, and the acquisition unit 11, the calculation unit 14, and the route determination unit 15 may not be included.
  • the acquisition unit 11, the determination unit 12, the output unit 13, the calculation unit 14, and the route determination unit 15 are provided in the floor management system 20, but the present invention is not limited to this.
  • these functional units constituting the mobile robot control system 10 may be provided in one device (or system) separate from the floor management system 20, or may be distributed among a plurality of devices (or systems). may be provided.
  • the acquisition unit 11 acquires situation information regarding the situation in which the mobile robot 2 is placed from an external system or the mobile robot 2 .
  • the external system is the materials management system 40, the line management system 50, the monitoring system 60, or the like.
  • the situation information may be information on materials to be transported by the mobile robot 2 to the facility 1 , or information on the production of the facility 1 . It may contain information about the situation.
  • the context information may include information about the route the mobile robot 2 is taking to the installation 1 .
  • the acquisition unit 11 By receiving the material information transmitted from the material management system 40, the acquisition unit 11 acquires the material information as status information. Further, the acquiring unit 11 acquires the production status information as status information by receiving the production status information transmitted from the line management system 50 . Further, the acquiring unit 11 acquires the image information as status information by receiving the image information transmitted from the monitoring system 60 .
  • the mobile robot 2 can acquire image information including images (still images or moving images) captured by the camera.
  • the acquiring unit 11 may acquire image information as situation information by receiving image information transmitted from the mobile robot 2 via the mobile robot group management system 30 .
  • the decision unit 12 decides whether to change the speed of the mobile robot 2 that moves to the equipment 1 at the basic speed and performs work, or to maintain the basic speed. In the embodiment, the determination unit 12 determines whether to change the speed of the mobile robot 2 or maintain the basic speed based on the situation information acquired by the acquisition unit 11 .
  • the determining unit 12 not only determines the speed of the entire route along which the mobile robot 2 moves, but also determines the speed of each of the plurality of sections when the route is divided into a plurality of sections. For example, the determination unit 12 may determine the deceleration of the mobile robot 2 only in some sections of the route and maintain the basic speed of the mobile robot 2 in the remaining sections.
  • the determination unit 12 determines acceleration or deceleration of the mobile robot 2 according to the type of material that the mobile robot 2 transports. Of course, depending on the type of material, the determination unit 12 may maintain the speed of the mobile robot 2 at the basic speed without accelerating or decelerating the mobile robot 2 .
  • the determination unit 12 determines acceleration or deceleration of the mobile robot 2 according to the production status in the equipment 1 and the materials conveyed by the mobile robot 2. .
  • the determining unit 12 may maintain the speed of the mobile robot 2 at the basic speed without accelerating or decelerating the mobile robot 2. good.
  • the determination unit 12 determines acceleration or deceleration of the mobile robot 2 according to the state of the route along which the mobile robot 2 moves.
  • the determining unit 12 may maintain the speed of the mobile robot 2 at the basic speed without accelerating or decelerating the mobile robot 2 .
  • the output unit 13 outputs speed control information for moving the mobile robot 2 by remote control at the speed determined by the determination unit 12 .
  • the output unit 13 transmits speed control information including the speed instruction regarding the speed determined by the determination unit 12 to the mobile robot group management system 30 .
  • the speed control unit 33 of the mobile robot group management system 30 Upon receiving the speed control information transmitted from the output unit 13, the speed control unit 33 of the mobile robot group management system 30 transmits the speed instruction included in the received speed control information to the corresponding mobile robot 2, thereby controlling the movement. Control the speed of the robot 2 . That is, in the embodiment, it can be said that the mobile robot control system 10 indirectly controls the mobile robot 2 by outputting the speed control information.
  • the output unit 13 may transmit speed control information including an instruction to accelerate or decelerate based on the speed determined by the determination unit 12 to the mobile robot group management system 30 .
  • the speed control unit 33 controls the speed of the mobile robot 2 by generating a speed instruction based on the instruction included in the received speed control information and transmitting the generated speed instruction to the corresponding mobile robot 2. do.
  • the calculation unit 14 calculates the required time required for the mobile robot 2 to move at the speed determined by the determination unit 12 for each of the plurality of routes.
  • the calculation unit 14 functions when there are multiple pieces of information indicating routes to the target equipment 1 in the work information 31b. The same applies to the route determination unit 15, which will be described later.
  • the calculation unit 14 calculates the required time for the first route as "d1/v0" and the required time for the second route as "d2/(v0+ ⁇ )".
  • the route determination unit 15 determines the route with the shortest required time calculated by the calculation unit 14 among the plurality of routes as the recommended route for the mobile robot 2 .
  • the route determining unit 15 compares the required time "d1/v0" for the first route calculated by the calculating unit 14 with the required time "d2/v0+ ⁇ " for the second route. . If the required time for the first route is shorter, the route determination unit 15 determines the first route as the recommended route, and if the required time for the second route is shorter, the route determination unit 15 determines the second route as the recommended route. do.
  • the work instruction unit 32 when there are multiple routes for the mobile robot 2 to go to the facility 1, the work instruction unit 32 includes the recommended route determined by the route determination unit 15 in the work instruction and responds via the wireless communication unit 34. It is transmitted to the mobile robot 2. As a result, the mobile robot 2 automatically moves along the recommended route determined by the route determination unit 15 .
  • FIG. 3 is a flow chart showing the basic operation of the mobile robot control system 10 according to the embodiment.
  • the mobile robot control system 10 acquires the work information 31b from the mobile robot group management system 30 (step S1). This causes the mobile robot control system 10 to initiate an algorithm that determines the velocity of the mobile robot 2 .
  • the acquisition unit 11 acquires information indicating the basic speed of the mobile robot 2 from the mobile robot group management system 30 (step S2). Note that if the mobile robot control system 10 stores the basic speed of each mobile robot 2 in advance, step S2 is unnecessary.
  • the acquisition unit 11 acquires status information from the external system or the mobile robot 2 (step S3).
  • the acquisition unit 11 acquires material information from the materials management system 40 as status information, and acquires production status information from the line management system 50 as status information.
  • the acquisition unit 11 also acquires image information from the monitoring system 60 as status information.
  • the determination unit 12 determines the speed of the mobile robot 2 based on the situation information acquired by the acquisition unit 11 (step S4). Then, the output unit 13 transmits (outputs) the speed control information including the speed instruction regarding the speed determined by the determination unit 12 to the mobile robot group management system 30 (step S5). As a result, the mobile robot 2 moves at the speed determined by the determination unit 12 when moving along the route to the facility 1 instructed by the work instruction.
  • FIG. 4 is a flow chart showing a first operation example of the mobile robot control system 10 according to the embodiment.
  • the first operation example is an operation example when the situation information is material information. Specifically, first, when the acquisition unit 11 acquires material information as status information (step S11), the determination unit 12 determines the type of material to be transported by the mobile robot 2 based on the acquired material information. , determines the speed of the mobile robot 2 . For example, the determination unit 12 determines the speed of the mobile robot 2 by referring to a database that associates the type of material with the speed. Further, for example, when the determination unit 12 acquires information regarding the handling of materials as the type of materials, it determines the speed of the mobile robot 2 according to the handling of materials.
  • step S12 If the materials conveyed by the mobile robot 2 are vulnerable to impact (step S12: Yes), the determination unit 12 decelerates the mobile robot 2, that is, determines the speed of the mobile robot 2 to be lower than the basic speed (step S13). ). On the other hand, if the materials conveyed by the mobile robot 2 are not sensitive to impact (step S12: No), the determination unit 12 maintains the speed of the mobile robot 2 at the basic speed (step S14).
  • a material that is vulnerable to impact means that the impact resistance of the material itself, such as a precision material, is low. Further, for example, if a material consists of a plurality of parts, and is placed on a tray and arranged in a predetermined pattern and transported to the mobile robot 2, it can be said that the material is vulnerable to impact. This is because there is a high possibility that the arrangement in the predetermined pattern will collapse due to the impact.
  • the speed of the mobile robot 2 by setting the speed of the mobile robot 2 to be lower than the basic speed when the material is vulnerable to impact, even if the material is transported, the impact is suppressed. There is an advantage that the quality of materials can be easily maintained.
  • the determining unit 12 sets the speed of the mobile robot 2 at the time of return to be greater than the basic speed. may In this case, since the mobile robot 2 quickly returns to the standby area 3b, there is an advantage that it becomes easier to deal with the next work.
  • FIG. 5 is a flow chart showing a second operation example of the mobile robot control system 10 according to the embodiment.
  • the second example of operation is an example of operation when the status information is production status information and material information.
  • the acquisition unit 11 acquires production status information as status information (step S21), and acquires material information as status information (step S22).
  • the determining unit 12 determines the moving speed of the mobile robot 2 based on the acquired production status information and material information, that is, according to the urgency of the materials to be transported by the mobile robot 2 .
  • step S23: Yes If the material does not reach the facility 1 within the predetermined time required by the facility 1 when moving at the basic speed (step S23: Yes), the determination unit 12 accelerates the mobile robot 2, that is, increases the speed of the mobile robot 2. A speed greater than the basic speed is determined (step S24). On the other hand, if the material reaches the facility 1 within the predetermined time required by the facility 1 even if it moves at the basic speed (step S23: No), the determination unit 12 maintains the speed of the mobile robot 2 at the basic speed. (step S25).
  • the speed of the mobile robot 2 is made higher than the basic speed when the urgency of materials is high due to the production situation at the facility 1. There is an advantage that it becomes easy to avoid the risk of stopping the work at the facility 1 and it is easy to facilitate the work at the facility 1.
  • FIG. 6 is a flow chart showing a third operation example of the mobile robot control system 10 according to the embodiment.
  • the third operation example is an operation example when the situation information is image information (that is, information regarding a route). Specifically, first, when the acquisition unit 11 acquires the image information as the situation information (step S31), the determination unit 12 performs appropriate image analysis processing based on the image information to determine whether there is an obstacle on or near the route. It is determined whether or not there is (step S32).
  • “Obstacles” here may include, for example, uneven floor surfaces on the route, or foreign objects 7 (see FIG. 1) that are on or near the route and may interfere with the movement of the mobile robot 2. “Obstacles” may also include, for example, workers on or near the path.
  • step S33: Yes If there is an obstacle on or near the route (step S33: Yes), the determination unit 12 decelerates the mobile robot 2 near the obstacle, that is, reduces the speed of the mobile robot 2 to a speed lower than the basic speed. (step S34). On the other hand, if there is no obstacle on the route or near the route (step S33: No), the determination unit 12 maintains the speed of the mobile robot 2 at the basic speed (step S35). Even if there is an obstacle on or near the route, the determination unit 12 restores the speed of the mobile robot 2 to the basic speed when the mobile robot 2 passes through a location with an obstacle.
  • the speed of the mobile robot 2 is made smaller than the basic speed when there is an obstacle on or near the route, thereby reducing the risk of the mobile robot 2 colliding with the obstacle. It has the advantage of being easier to avoid and easier to ensure safety on the route.
  • FIG. 7 is a flow chart showing a fourth operation example of the mobile robot control system 10 according to the embodiment.
  • the fourth example of operation is an example of operation when there are multiple routes to the target equipment 1 .
  • the acquisition unit 11 acquires status information for each of the plurality of routes (step S41).
  • the determining unit 12 determines the speed of the mobile robot 2 for each of the plurality of routes based on the situation information (step S42).
  • the speed of the mobile robot 2 is determined by the algorithm shown in at least one operation example among the first operation example to the third operation example described above, for example.
  • the calculation unit 14 calculates the time required for the mobile robot 2 to move at the speed determined by the determination unit 12 for each of the plurality of routes (step S43). Then, the route determination unit 15 determines the route with the shortest required time calculated by the calculation unit 14 among the plurality of routes as the recommended route for the mobile robot 2 (step S44).
  • the route with the shortest distance is the recommended route unless the speed of the mobile robot 2 is considered. If the mobile robot 2 decelerates at a certain place, it may take a longer time on the route.
  • the route with the shortest required time is determined as the recommended route for the mobile robot 2 in consideration of the speed of the mobile robot 2. Therefore, there is an advantage that the working efficiency of the mobile robot 2 can be easily improved.
  • the route determination unit 15 determines the recommended route of the mobile robot 2 (here, "mobile robot B") by further referring to the situation of the other mobile robot 2 (here, "mobile robot A"). You may Specifically, the route determining unit 15 refers to the target facility 1, the route, and the timing of movement of the other mobile robot 2, thereby determining a route that is not hindered by the other mobile robot 2. 2 recommended route. Therefore, in this case, the route determining unit 15 refers to the situation of the other mobile robots 2 to recommend the route with the second shortest required time instead of the route with the shortest required time calculated by the calculating unit 14. It is also possible to decide as a route.
  • the mobile robot control system 10 of the present disclosure when the mobile robot 2 moves to the facility 1, the mobile robot 2 not only moves at a constant speed (basic speed), but also accelerates or decelerates. It is possible to move. Therefore, in the mobile robot control system 10 of the present disclosure, the speed of the mobile robot 2 can be flexibly changed, and compared to the case where the mobile robot 2 moves at a constant speed, the movement of the mobile robot 2 to the equipment 1 is reduced. There is an advantage that it is easy to optimize the movement of
  • work instructions are given from the mobile robot group management system 30 to the mobile robots 2, but this is not the only option.
  • the work instruction may be given to the mobile robot 2 by operating the mobile robot 2 after the worker puts materials on the mobile robot 2 .
  • the speed of the mobile robot 2 is remotely controlled by the mobile robot control system 10 .
  • the mobile robot control system 10 indirectly controls the mobile robot 2 via the mobile robot group management system 30 by outputting the speed control information, but the invention is not limited to this.
  • the mobile robot control system 10 may directly control the mobile robot 2 by including the speed controller 33 .
  • the acquisition unit 11 acquires the image information as the information regarding the route, but it is not limited to this.
  • the acquisition unit 11 may acquire information detected by a ranging sensor or LiDAR (Light Detection and Ranging) mounted on the mobile robot 2 as information on the route.
  • a ranging sensor or LiDAR Light Detection and Ranging
  • the mobile robot control system 10 determines the speed of the mobile robot 2 at the time when the work information 31b is obtained, that is, before the mobile robot 2 performs work, but the present invention is not limited to this. .
  • the mobile robot control system 10 may determine the speed of the mobile robot 2 in real time based on the situation information acquired by the acquisition unit 11 in real time.
  • the status information acquired by the acquisition unit 11 in real time may include, for example, production status information or image information.
  • the present disclosure can be implemented not only as the mobile robot control system 10 but also as a mobile robot control method including steps (processes) performed by each component of the mobile robot control system 10 .
  • the mobile robot control method determines whether to change the speed of the mobile robot 2 that moves to the facility 1 at a basic speed or maintains the basic speed (step S4), and moves at the determined speed. This is a method of outputting speed control information for moving the robot 2 by remote control (step S5).
  • the steps in the mobile robot control method may be executed by a computer (computer system).
  • the present disclosure can be realized as a program for causing a computer to execute the steps included in the mobile robot control method.
  • the present disclosure can be implemented as a non-temporary computer-readable recording medium such as a CD-ROM recording the program.
  • each step is executed.
  • each step is executed by the CPU acquiring data from a memory, an input/output circuit, or the like, performing an operation, or outputting the operation result to the memory, an input/output circuit, or the like.
  • each component included in the mobile robot control system 10 of the above embodiment may be implemented as a dedicated or general-purpose circuit.
  • each component included in the mobile robot control system 10 of the above embodiment may be realized as an LSI (Large Scale Integration), which is an integrated circuit (IC: Integrated Circuit).
  • LSI Large Scale Integration
  • IC integrated circuit
  • integrated circuits are not limited to LSIs, and may be realized by dedicated circuits or general-purpose processors.
  • a programmable FPGA (Field Programmable Gate Array) or a reconfigurable processor capable of reconfiguring connections and settings of circuit cells inside the LSI may be used.
  • the present disclosure can be used, for example, in systems for transporting materials such as parts.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

Un système de commande de robot mobile (10) comprend une unité de détermination (12) et une unité de sortie (13). L'unité de détermination (12) détermine s'il convient de modifier la vitesse ou de conserver la vitesse de base d'un robot mobile (2) qui se déplace vers un équipement (1) à la vitesse de base pour effectuer un travail. L'unité de sortie (13) délivre des informations de commande de vitesse pour déplacer le robot mobile (2) par commande à distance à la vitesse déterminée par l'unité de détermination (12).
PCT/JP2022/025618 2021-09-22 2022-06-27 Système de commande de robot mobile et procédé de commande de robot mobile WO2023047742A1 (fr)

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH1026535A (ja) * 1996-07-11 1998-01-27 Fujitsu Social Sci Lab:Kk 最適経路探索方法
WO2010004744A1 (fr) * 2008-07-09 2010-01-14 パナソニック株式会社 Dispositif d’évaluation du danger d’un trajet
JP2020187485A (ja) * 2019-05-13 2020-11-19 オムロン株式会社 制御装置、無人搬送車、無人搬送車の制御方法および制御プログラム
WO2020230345A1 (fr) * 2019-05-16 2020-11-19 三菱電機株式会社 Système de gestion de production, dispositif de gestion de production, procédé de gestion de production, et programme
WO2020261470A1 (fr) * 2019-06-27 2020-12-30 楽天株式会社 Dispositif de commande, machine mobile sans pilote et procédé

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH1026535A (ja) * 1996-07-11 1998-01-27 Fujitsu Social Sci Lab:Kk 最適経路探索方法
WO2010004744A1 (fr) * 2008-07-09 2010-01-14 パナソニック株式会社 Dispositif d’évaluation du danger d’un trajet
JP2020187485A (ja) * 2019-05-13 2020-11-19 オムロン株式会社 制御装置、無人搬送車、無人搬送車の制御方法および制御プログラム
WO2020230345A1 (fr) * 2019-05-16 2020-11-19 三菱電機株式会社 Système de gestion de production, dispositif de gestion de production, procédé de gestion de production, et programme
WO2020261470A1 (fr) * 2019-06-27 2020-12-30 楽天株式会社 Dispositif de commande, machine mobile sans pilote et procédé

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