WO2023281849A1 - 移動ロボット到着通知システムおよび移動ロボット到着通知方法 - Google Patents
移動ロボット到着通知システムおよび移動ロボット到着通知方法 Download PDFInfo
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- WO2023281849A1 WO2023281849A1 PCT/JP2022/013688 JP2022013688W WO2023281849A1 WO 2023281849 A1 WO2023281849 A1 WO 2023281849A1 JP 2022013688 W JP2022013688 W JP 2022013688W WO 2023281849 A1 WO2023281849 A1 WO 2023281849A1
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- 238000000034 method Methods 0.000 title claims description 22
- 238000004891 communication Methods 0.000 abstract description 8
- 238000004519 manufacturing process Methods 0.000 description 11
- 238000010586 diagram Methods 0.000 description 7
- 230000006870 function Effects 0.000 description 6
- 230000006866 deterioration Effects 0.000 description 5
- 230000007423 decrease Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 238000004364 calculation method Methods 0.000 description 2
- 238000004590 computer program Methods 0.000 description 2
- 239000012141 concentrate Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
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- 230000004397 blinking Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/4189—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
Definitions
- the present disclosure relates to a mobile robot arrival notification system and mobile robot arrival notification method for notifying the arrival of a mobile robot.
- Patent Document 1 discloses a component mounting system that can reduce the work of workers involved in component replacement work.
- Patent Document 1 In the component mounting system disclosed in Patent Document 1, there is a demand for automation of work, and a mobile robot that moves to equipment and performs work has been introduced. On the other hand, it is difficult to automate all the processes using a mobile robot or the like, and workers often work in parallel on the floor where the equipment is installed. When a worker and a mobile robot work on the same floor, trying to ensure the safety of the worker may reduce the working efficiency of the worker and the mobile robot.
- the present disclosure provides a mobile robot arrival notification system and the like that can ensure worker safety while suppressing a decline in work efficiency of workers and mobile robots.
- a mobile robot arrival notification system is a mobile robot arrival notification system that manages a plurality of facilities and a plurality of mobile robots that move to one of the plurality of facilities to perform work.
- a first determination unit that determines whether or not to proceed, a notification unit that notifies that the mobile robot will soon arrive at the facility satisfying the first condition when it is determined that there is a facility that satisfies the first condition; Prepare.
- the mobile robot arrival notification system and the like it is possible to ensure the safety of the worker while suppressing the deterioration of the work efficiency of the worker and the mobile robot.
- FIG. 1 is a diagram showing an application example of a mobile robot arrival notification system according to an embodiment
- FIG. 1 is a configuration diagram showing an example of a mobile robot arrival notification system according to an embodiment
- FIG. It is a figure which shows an example of a passage time table or an arrival time table. It is a figure which shows an example of equipment management information. It is a figure which shows an example of a notification part and an input part.
- 7 is a flow chart showing an example of the operation of the mobile robot arrival notification system according to the embodiment at the time of notification. 4 is a flow chart showing an example of the operation after notification of the mobile robot arrival notification system according to the embodiment;
- a mobile robot arrival notification system of the present disclosure is a mobile robot arrival notification system that manages a plurality of facilities and a plurality of mobile robots that move to one of the plurality of facilities to perform work. , based on the movement information about the movements of the plurality of mobile robots, whether or not there is a facility among the plurality of facilities that satisfies a first condition regarding the arrival of any one of the plurality of mobile robots. and a notification unit that notifies that the mobile robot will soon arrive at the facility that satisfies the first condition when it is determined that the facility that satisfies the first condition exists.
- the worker working at the facility can recognize that the mobile robot will soon arrive at the facility, and can prepare for the arrival of the mobile robot in advance, so that the safety of the worker can be ensured. can.
- the worker since the worker can concentrate on the work until it is notified that the mobile robot will arrive soon, it is possible to suppress the deterioration of the work efficiency of the worker.
- the worker after the notification is given, the worker will pay attention to the mobile robot that will arrive soon and, for example, keep a distance from the mobile robot. A decrease in robot work efficiency can be suppressed. In this way, it is possible to ensure the safety of the worker while suppressing the deterioration of the working efficiency of the worker and the mobile robot.
- the first determination unit determines, as the movement information, arrival time information indicating when each of the plurality of mobile robots will arrive at one of the plurality of facilities. The remaining time until each of the mobile robots reaches one of the plurality of facilities is calculated, and the first condition is that the remaining time until the mobile robot arrives is equal to or less than a predetermined time. It may be
- the first determination unit may include, as the movement information, current position information of each of the plurality of mobile robots, and information on the current position of each of the plurality of mobile robots, and the movement of each of the plurality of mobile robots to which facility of the plurality of facilities to work. based on the work information indicating whether to perform may have passed through
- the first determination unit may include, as the movement information, current position information of each of the plurality of mobile robots, and information on the current position of each of the plurality of mobile robots, and the movement of each of the plurality of mobile robots to which facility of the plurality of facilities to work. based on the work information indicating whether to perform may have departed from
- the first determination unit determines that, among the plurality of facilities, the first condition is satisfied and the second condition regarding the state of the facility is determined. It is determined whether or not there is a facility that satisfies the first condition, and if it is determined that there is a facility that satisfies the second condition, the notification unit satisfies the first condition, and , that the mobile robot will soon arrive at the facility that satisfies the second condition.
- the first determination unit determines, as the equipment management information, based on equipment status information indicating whether or not a worker is working in each of the plurality of equipment, and based on the equipment that satisfies the second condition exists.
- the second condition may be that the worker is working.
- the mobile robot arrival notification system further includes a second determination unit provided in each of the plurality of facilities for determining whether or not the worker is working in the facility, wherein the facility satisfies the first condition.
- a second determination unit provided in each of the plurality of facilities for determining whether or not the worker is working in the facility, wherein the facility satisfies the first condition.
- the first determination section only needs to determine whether or not the first condition is satisfied, and the second determination section provided in the facility determines whether or not the worker is working in the facility. Since it is only necessary to make a determination, each process can be divided into an in-facility process and an out-facility process, and each process can be simplified.
- a mobile robot arrival notification method of the present disclosure is executed by a mobile robot arrival notification system that manages a plurality of facilities and a plurality of mobile robots that move to and work on any of the plurality of facilities. wherein a first condition regarding the arrival of any one of the plurality of mobile robots among the plurality of facilities is determined based on movement information regarding the movement of the plurality of mobile robots. a first determination step of determining whether or not there is a facility that satisfies the first condition; and if it is determined that there is a facility that satisfies the first condition, announcing that the mobile robot will soon arrive at the facility that satisfies the first condition. and a notification step to be performed.
- FIG. 1 An embodiment will be described below with reference to FIGS. 1 to 7.
- FIG. 1 An embodiment will be described below with reference to FIGS. 1 to 7.
- FIG. 1 is a diagram showing an application example of the mobile robot arrival notification system 1 according to the embodiment.
- the mobile robot arrival notification system 1 is a system that manages a plurality of facilities and a plurality of mobile robots that move to any one of the facilities and perform work.
- the mobile robot arrival notification system 1 is applied, for example, to a floor provided with a plurality of facilities, a plurality of mobile robots, and a parts warehouse where parts used in the plurality of facilities are stored.
- facilities 40a-40l are shown as a plurality of facilities.
- the facilities 40a-40d constitute one line
- the facilities 40e-40h constitute one line
- the facilities 40i-40l constitute one line.
- the facilities 40a to 40l are collectively referred to as the facility 40 as well.
- the facility 40 is a component mounting device, a printing device, an inspection device, or the like.
- a plurality of mobile robots wait in the mobile robot standby area when not working, and leave the mobile robot standby area and move to the target facility 40 when performing work.
- mobile robots 50a-50e are shown as a plurality of mobile robots.
- the mobile robots 50a and 50b are waiting in the mobile robot standby area
- the mobile robot 50c is loaded with parts used for work in the parts warehouse
- the mobile robot 50d is working in the equipment 40l
- the mobile robots 50e is working in the equipment 40b.
- the mobile robots 50a to 50e are collectively referred to as the mobile robot 50 below.
- the work of the mobile robot 50 includes transporting parts to the target equipment 40 and supplying the parts to the equipment 40, or moving to the target equipment 40 and collecting garbage from the equipment 40, and the like.
- workers are working in parallel with the mobile robot 50 in the production area.
- workers are working at facilities 40c and 40j.
- the facility 40 may be operated from both the front side and the rear side. Assuming that the upper side of FIG. 1 is the front side and the lower side is the rear side, the mobile robot 50e is working on the front side of the equipment 40b, the worker is working on the rear side of the equipment 40c, and the equipment 40j. A worker is working on the front side, and a mobile robot 50d is working on the front side of the equipment 40l.
- the mobile robot 50c is about to move to the front side of the facility 40j and work on the front side of the facility 40j.
- the distance between each line is narrow, and as shown in FIG. 1, when the mobile robot 50c passes through the facility 40c on the route to move to the facility 40j, the worker working in the facility 40c and the mobile robot 50c come close and pose a danger to workers.
- the mobile robot 50c arrives at the facility 40j, the worker working at the facility 40j and the mobile robot 50c may come close to each other, which may endanger the worker.
- Attempting to ensure the safety of the worker may reduce the work efficiency of the worker and the mobile robot 50.
- the mobile robot arrival notification system 1 that can ensure the safety of the worker while suppressing the deterioration of the work efficiency of the worker and the mobile robot 50 will be described.
- FIG. 1 shows the floor management system 10, the mobile robot group management system 20, and the line management systems 30a to 30c.
- the floor management system 10 is a system that manages the entire floor
- the mobile robot group management system 20 is a system that manages and controls a plurality of mobile robots 50 .
- the line management systems 30a to 30c are systems for managing and controlling the equipment 40 that constitutes the lines.
- the line management system 30a manages and controls the facilities 40a-40d
- the line management system 30b manages and controls the facilities 40e-40h
- the line management system 30c manages and controls the facilities 40i-40l.
- the line management systems 30a to 30c are collectively referred to as the line management system 30 below.
- FIG. 2 is a configuration diagram showing an example of the mobile robot arrival notification system 1 according to the embodiment.
- the mobile robot arrival notification system 1 includes a floor management system 10, a mobile robot group management system 20, a line management system 30, a plurality of facilities 40, a plurality of mobile robots 50, and a production plan 100.
- FIG. 2 shows an example of components of the mobile robot arrival notification system 1 .
- the mobile robot arrival notification system 1 may include at least the first determination section and the notification section.
- a mobile robot arrival notification system 1 is a system including a processor, a communication interface, a 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 first determination unit and the notification unit are implemented by a processor or the like that executes a program stored in memory.
- the first determination unit and the notification unit may be distributed and arranged in a plurality of devices (or systems) within the mobile robot arrival notification system 1, or may be arranged in a single device (or system). .
- An example in which the floor management system 10 has the function of the first determination unit and each of the plurality of facilities 40 has the function of the notification unit will be described below. Details of the first determination unit and the notification unit will be described later.
- the floor management system 10 is a system that manages the entire floor, and includes a time table updating unit 11, a first storage unit 12, a second storage unit 13, an equipment management information updating unit 14, a notification command unit 15, and a work information generating unit 16. Prepare.
- the time table update unit 11 updates the transit time table 12a and the arrival time table 12b.
- the time table updating unit 11 includes, for example, a transit time calculating unit 11a and an arrival time calculating unit 11b.
- the passage time calculator 11a uses map information 21a and work information 21b, which will be described later, to calculate passage times indicating when each of the plurality of mobile robots 50 will pass through which facility 40 among the plurality of facilities 40.
- the passing time table 12a is updated with the calculated passing time.
- the arrival time calculator 11b uses work information 21b, which will be described later, to calculate an arrival time indicating when each of the plurality of mobile robots 50 will arrive at which facility 40 of the plurality of facilities 40.
- the arrival time table 12b is updated with the arrival time.
- the first storage unit 12 stores a transit time table 12a and an arrival time table 12b.
- the transit time table 12 a and the arrival time table 12 b stored in the first storage unit 12 are updated by the time table updating unit 11 .
- examples of the passing time table 12a and the arrival time table 12b will be described with reference to FIG.
- FIG. 3 is a diagram showing an example of the passing time table 12a or the arrival time table 12b. Although each column in FIG. 3 is blank, for example, the time is written. Assuming that FIG. 3 is a passing time table 12a, the table shows that each of the plurality of mobile robots 50 (here, robots A, B, C, . , C, . . . ) is passed through when. For example, when robot A passes the front side of facility C, the passage time is entered in the corresponding column.
- the passing time table 12a is an example of passing time information indicating when each of the plurality of mobile robots 50 passes through which facility 40 among the plurality of facilities 40. FIG. Similarly, if FIG.
- 3 is an arrival time table 12b, the table indicates when each of the plurality of mobile robots 50 will arrive at which facility 40 among the plurality of facilities 40.
- FIG. For example, when robot B arrives at the rear side of facility B, the arrival time is entered in the corresponding column.
- the arrival time table 12b is an example of arrival time information indicating when each of the plurality of mobile robots 50 will arrive at which facility 40 among the plurality of facilities 40 .
- the passage time table 12a and the arrival time table 12b may be combined into one table.
- the second storage unit 13 stores facility management information 13a.
- the equipment management information 13 a stored in the second storage unit 13 is updated by the equipment management information updating unit 14 .
- An example of the facility management information 13a will now be described with reference to FIG.
- FIG. 4 is a diagram showing an example of the equipment management information 13a.
- Each column in FIG. 4 is blank, but for example, whether or not the worker is working is described in the column of "Working?", and the column of "Notified?" It is stated whether notification for has already been made or not. For example, when a worker is working on the front side of the facility A, the fact that the worker is working is entered in the corresponding column of the column "Working?" For example, the information in the "Working?" For example, if a notification has already been made for the rear side of the facility B, the fact that the notification has already been made is entered in the corresponding column of the column "Notified?"
- the facility management information update unit 14 updates the facility management information 13a.
- the facility management information update unit 14 updates the facility management information 13a using, for example, the determination result of the facility state determination unit 31, which will be described later.
- the notification command unit 15 is a processing unit that issues a command to perform notification.
- the notification command unit 15 is an example of a first determination unit. Details of the notification command unit 15 will be described later.
- the work information generation unit 16 generates work information 21b.
- the work information generation unit 16 uses the production plan 100 to generate work information 21b.
- the production plan 100 includes information indicating the type of product, the number of products to be produced, information on parts constituting the product, scheduled production start time and scheduled production end time, and the like.
- the work information generation unit 16 generates work information 21b that enables the production plan 100 to be achieved.
- the work information generation unit 16 transmits the generated work information 21b to the mobile robot group management system 20, and the mobile robot group management system 20 stores the received work information 21b in the storage unit 21.
- the mobile robot group management system 20 is a system that manages and controls a plurality of mobile robots 50, and includes a storage unit 21, a work instruction unit 22, and a wireless communication unit 23.
- the storage unit 21 stores map information 21a and work information 21b.
- the map information 21a includes positional information such as the production area on the floor, a plurality of facilities 40, the parts warehouse, and the mobile robot standby area.
- the map information 21a is stored in advance in the storage unit 21, for example.
- the work information 21b includes information indicating when each of the plurality of mobile robots 50 moves to which facility 40 among the plurality of facilities 40 to perform work.
- the work information 21b includes the time when each of the plurality of mobile robots 50 should leave the mobile robot waiting area, the position information of the facility 40 where each of the plurality of mobile robots 50 works, and the location information of the plurality of mobile robots 50. Each includes the time to arrive at the facility 40 where the work is to be performed.
- the work information 21b includes information indicating the moving route of the mobile robot 50 or information about the facilities 40 that the mobile robot 50 passes through before moving to the facilities 40 on which the mobile robot 50 works.
- the work information 21b also includes information indicating the work content of the mobile robot 50 .
- the time table updating unit 11 does not have to include the arrival time calculating unit 11b.
- the arrival time table 12b may be updated.
- the work instruction unit 22 is an example of a control unit that controls multiple mobile robots 50 .
- the work instruction unit 22 controls the plurality of mobile robots 50 using the work information 21b and the like.
- the wireless communication unit 23 is a communication interface for performing wireless communication between the mobile robot group management system 20 and the plurality of mobile robots 50 .
- the work instruction unit 22 wirelessly communicates with the plurality of mobile robots 50 via the wireless communication unit 23 and controls the plurality of mobile robots 50 .
- the line management system 30 is a system that manages and controls a plurality of pieces of equipment 40, and includes an equipment state determination unit 31, a notification processing unit 32, and a worker selection determination unit 33.
- the equipment state determination unit 31 is a processing unit that determines the state of the multiple pieces of equipment 40 .
- the facility state determination unit 31 determines whether or not a worker is working in each of the plurality of facilities 40 .
- the equipment state determination unit 31 determines whether or not notification for notification has already been made for each of the plurality of equipment 40 .
- the notification processing unit 32 is a processing unit that performs processing for a plurality of facilities 40 in accordance with commands notified from the notification command unit 15 .
- the notified command includes information for notifying that the mobile robot 50 will pass through a specific facility 40 after a specific period of time has passed or will arrive at a specific facility 40 after a specific period of time has passed.
- the notified command may include information indicating what kind of work is to be performed, information indicating the type of mobile robot 50 , or information indicating the type of mobile robot 50 . Any comment information may be included.
- the notification processing unit 32 instructs the specified equipment 40 according to the notified instruction.
- the worker selection determination unit 33 is a processing unit that determines the details of the worker's selection (worker's command) input to the input unit.
- the input unit is a component for inputting a command to change the work content of the mobile robot 50 when it is notified that the mobile robot 50 will soon arrive at the facility 40 .
- Each has the function of an input section.
- the equipment 40 is provided with a notification unit and an input unit.
- An example of the notification unit and the input unit will now be described with reference to FIG.
- FIG. 5 is a diagram showing an example of the notification unit and the input unit.
- the facility 40 is provided with a touch panel display 41, and the touch panel display 41 is an example of a notification unit and an input unit.
- the touch panel display 41 displays "The robot will supply parts in *** minutes", and the mobile robot 50 will soon arrive at the facility 40 where the touch panel display 41 is installed. It can be seen that the information is notified by the notification unit.
- the content to be notified is not limited to the remaining time until arrival or the content of work, but may be the remaining time until passing, the type of mobile robot 50, or arbitrary comments.
- the notification unit is not limited to the touch panel display 41, and may be a speaker, a buzzer, a lamp, or the like.
- the notification may be made by voice, warning sound, lighting or blinking of a lamp, or the like.
- the notification unit may not be provided in the equipment 40, and a display, speaker, lamp, or the like provided near the equipment 40 may have the function of the notification unit.
- the touch panel display 41 displays "Do you want to continue the work?"
- the "continue work”, “interrupt”, and “end work” buttons are buttons displayed on the touch panel display 41 that can be operated by the operator.
- “Work continuation” means that the worker's work is continued without changing the work content of the mobile robot 50.
- "Interruption” means that the worker's work is given priority and the work content of the mobile robot 50 is changed.
- 'End of work' means that the work of the mobile robot 50 is prioritized and the work of the worker is finished without changing the work content of the mobile robot 50 .
- the mobile robot 50 is controlled according to the operator's selection (operator's command), which will be described later in detail.
- the input unit is not limited to the touch panel display 41, but may be a physical button, a microphone, or the like, and an operation of the physical button or voice input may be performed. Also, the input unit may not be provided in the facility 40, and a touch panel display, physical buttons, a microphone, or the like provided near the facility 40 may have the function of the input unit.
- FIG. 1 First, the operation of the mobile robot arrival notification system 1 at the time of notification will be described with reference to FIG.
- FIG. 6 is a flow chart showing an example of the operation of the mobile robot arrival notification system 1 according to the embodiment at the time of notification.
- the notification command unit 15 determines whether or not there is equipment 40 that satisfies a predetermined condition (step S11). Specifically, the notification command unit 15 generates the first notification regarding the passage of any one of the plurality of mobile robots 50 among the plurality of facilities 40 based on the movement information regarding the movement of the plurality of mobile robots 50 . It is determined whether or not there is a facility 40 that satisfies one condition. Alternatively, the notification command unit 15 sets the first condition regarding the arrival of any one of the plurality of mobile robots 50 among the plurality of facilities 40 based on the movement information regarding the movement of the plurality of mobile robots 50. It is determined whether there is a facility 40 that satisfies the requirement.
- the notification command unit 15 uses, as the movement information, passage time information indicating when each of the plurality of mobile robots 50 will pass through which facility 40 of the plurality of facilities 40, The remaining time until each of the plurality of mobile robots 50 passes through one of the plurality of facilities 40 is calculated.
- the first condition for passage is that the remaining time until the mobile robot 50 passes is less than or equal to a predetermined time.
- the notification command unit 15 may send the plurality of mobile robots 50 based on arrival time information indicating when each of the plurality of mobile robots 50 will arrive at which facility 40 of the plurality of facilities 40 as movement information. The remaining time until each of the equipments 50 reaches one of the equipments 40 is calculated.
- the first condition regarding arrival is that the remaining time until mobile robot 50 arrives is less than or equal to a predetermined time.
- the remaining time can be calculated by comparing the current time with the time described in the passage time table 12a or the arrival time table 12b.
- the predetermined time is not particularly limited, but may be appropriately determined according to the size of the floor, the type of work, and the like.
- the touch panel display 41 determines that there is a facility 40 that satisfies the first condition regarding passage or that there is a facility 40 that satisfies the first condition regarding arrival (in step S11). If Yes), it is notified that the mobile robot 50 will soon pass the facility 40 that satisfies the first condition regarding passage, or that the mobile robot 50 will soon arrive at the facility 40 that satisfies the first condition regarding arrival (step S12). If there is no equipment 40 that satisfies the first condition (No in step S11), the process in step S11 is repeated until it is determined that the equipment 40 that satisfies the first condition exists.
- the mobile robot 50 will soon pass the facility 40 that satisfies the first condition regarding passage, and that the mobile robot 50 will soon arrive at the facility 40 that satisfies the first condition regarding arrival.
- soon is not particularly limited, but may be within several minutes.
- the notification command unit 15 satisfies the first condition among the plurality of facilities 40 based on the movement information and the facility management information 13a of the plurality of facilities 40, and It may be determined whether or not the equipment 40 that satisfies the second condition exists.
- the notification command unit 15 uses, as the facility management information 13a, facility status information indicating whether or not a worker is working in each of the plurality of facilities 40 (for example, "Working ?” column), it may be determined whether or not there is a facility 40 that satisfies the second condition, and the second condition may be that the worker is working.
- the notification command unit 15 may determine whether or not there is a facility 40 that satisfies the second condition based on operating state information indicating the operating state of each of the plurality of facilities 40 as the facility management information 13a.
- the second condition may be that it is in operation.
- step S12 when it is determined that there is equipment 40 that satisfies the first condition and the second condition, the touch panel display 41 selects the equipment 40 that satisfies the first condition and the second condition. It may be notified that the mobile robot 50 will pass soon or that the mobile robot 50 will arrive at the facility 40 soon.
- the mobile robot 50 When the worker is not working in the equipment 40 or when the equipment 40 is stopped, the mobile robot 50 will soon pass the equipment 40 or the mobile robot 50 will arrive at the equipment 40 soon. In some cases, it is meaningless to report that a worker has passed or arrived at a facility 40 that is being worked on or that is in operation. If there is a facility 40 that satisfies the first condition but does not satisfy the second condition, it may be notified that the mobile robot 50 will soon arrive at the facility 40 . To inform a worker or the like working near the equipment 40 that a mobile robot 50 will soon arrive at the equipment 40 even if the equipment 40 is not being worked by the worker or is stopped. This is because
- each of the plurality of facilities 40 may be provided with a second determination unit that determines whether or not a worker is working in itself.
- the notification command unit 15 only needs to determine whether or not the equipment 40 that satisfies the first condition exists. 2 determination unit determines whether or not the worker is working in the equipment 40, the touch panel display 41 of the equipment 40, when it is determined that the worker is working in the equipment 40, It may be notified that the mobile robot 50 will soon pass the facility 40 or that the mobile robot 50 will soon arrive at the facility 40 .
- the notification command unit 15 only needs to determine whether or not the first condition is satisfied, and the second determination unit provided in the facility 40 determines whether the worker is working in the facility 40 or not. Since it is only necessary to determine whether each process is performed inside the facility 40 or outside the facility 40, each process can be simplified.
- the notification may be prevented from being repeated. Further, according to the remaining time until the mobile robot 50 passes or arrives, the notification (for example, notification by display or output of sound) may be stopped after the remaining time has elapsed. Further, a button or the like for stopping the notification may be provided, and the notification may be stopped by operating the button.
- passage time information or arrival time information is used as movement information
- other information may be used.
- the notification command unit 15 uses, as movement information, current position information of each of the plurality of mobile robots 50 and information on which facility 40 of the plurality of facilities 40 each of the plurality of mobile robots 50 has passed. Based on the work information 21b indicating whether the work is to be carried out with the passage, it may be determined whether or not there is a facility that satisfies the first condition regarding passage.
- the first condition regarding passage may be that the mobile robot 50, which is scheduled to work by passing through itself, has passed through a specific point.
- the notification command unit 15 uses, as the movement information, the current position information of each of the plurality of mobile robots 50 and the location of which facility 40 among the plurality of facilities 40 each of the plurality of mobile robots 50 is located. Based on the work information 21b indicating whether to move to and perform work, it may be determined whether or not there is a facility that satisfies the first condition regarding arrival.
- the first condition regarding arrival may be that the mobile robot 50, which is scheduled to move to itself and perform the work, has passed through a specific point.
- the specific point is determined in advance for each of the plurality of facilities 40, and may be the entrance of the production area or a point at a predetermined distance from the facility 40, or the like.
- the mobile robot 50 passes through such a specific point, it means that the mobile robot 50 is approaching the facility 40 where the mobile robot 50 works and the mobile robot 50 will soon arrive at the facility 40, or the mobile robot 50 will reach the facility 40 soon. It may soon pass the facility 40 between the facility 40 and the specified point. Therefore, depending on whether or not the mobile robot 50 has passed through a specific point predetermined for each of the plurality of facilities 40, the facility 40 that the mobile robot 50 will soon pass through or arrive at (that is, the first condition regarding passage). Alternatively, it can be determined whether or not there is a facility 40) that satisfies the first condition regarding arrival.
- the notification command unit 15 uses, as the movement information, the current position information of each of the plurality of mobile robots 50 and the location of which facility 40 among the plurality of facilities 40 each of the plurality of mobile robots 50 is located. Based on the work information 21b indicating whether the work is to be performed while passing through, it may be determined whether or not there is equipment that satisfies the first condition regarding passage.
- the first condition for passage may be that the mobile robot 50, which is scheduled to pass through itself to perform work, has departed from a specific point.
- the notification command unit 15 uses, as the movement information, the current position information of each of the plurality of mobile robots 50 and the location of which facility 40 among the plurality of facilities 40 each of the plurality of mobile robots 50 is located. Based on the work information 21b indicating whether to move to and perform work, it may be determined whether or not there is a facility that satisfies the first condition regarding arrival.
- the first condition regarding arrival may be that the mobile robot 50, which is scheduled to move to itself and perform work, has departed from a specific point.
- the specific point is predetermined for each of the plurality of facilities 40, such as a mobile robot standby area or a parts warehouse.
- the mobile robot 50 When the mobile robot 50 departs from such a specific point, the mobile robot 50 is approaching the facility 40 where the mobile robot 50 works and the mobile robot 50 may soon arrive at the facility 40, or the mobile robot 50 may arrive at the facility 40 soon. It may soon pass the facility 40 between the facility 40 and the specified point. Therefore, depending on whether or not the mobile robot 50 has departed from a specific point predetermined for each of the plurality of facilities 40, the facility 40 that the mobile robot 50 will soon pass through or arrive at (that is, the first condition regarding passage). Alternatively, it can be determined whether or not there is a facility 40) that satisfies the first condition regarding arrival.
- FIG. 7 is a flow chart showing an example of the operation of the mobile robot arrival notification system 1 according to the embodiment after notification.
- the operator selection determination unit 33 determines whether or not a command for changing the work content of the mobile robot 50 has been input (step S21). Specifically, the operator selection determining unit 33 determines whether or not the "interrupt” button shown in FIG. 5 has been operated. As described above, "interruption" means that the worker's work is prioritized and the work content of the mobile robot 50 is changed. This is because it becomes the input of the command of
- the work instruction unit 22 controls the mobile robot 50 according to the input instruction (step S22). Specifically, the work information generation unit 16 changes the work information 21b according to the input command, and the work instruction unit 22 controls the mobile robot 50 based on the changed work information 21b.
- the work information generation unit 16 is an example of a work information change unit that changes the work information 21b indicating the work content of the mobile robot 50 according to the command input to the input unit.
- the command may include information for stopping the mobile robot 50.
- the mobile robot 50 can be stopped and the worker can finish the work during that time.
- a button may be displayed on the touch panel display 41 to notify that the worker's work is finished.
- the robot 50 can be made to do the work.
- the command may include information for causing the mobile robot 50 to wait at a specific position.
- the passage between lines may be narrow, and if the mobile robot 50 stops in the passage, there is a risk of obstructing the passage of workers or other mobile robots 50 . Therefore, by having the mobile robot 50 stand by at a specific position that does not interfere with the passage of the worker or other mobile robots 50, the mobile robot 50 can be moved so as not to interfere with the passage of the worker or other mobile robots 50. can be stopped.
- the command may include information for moving the mobile robot 50 to a facility 40 different from the facility 40 on which the work was to be performed.
- the equipment 40 that the mobile robot 50 was scheduled to work on next can be made to work first.
- a button may be displayed on the touch panel display 41 to notify that the worker's work has ended. Then you can let it work.
- the worker working at the facility 40 can recognize that the mobile robot 50 will soon arrive at the facility 40, and can prepare for the arrival of the mobile robot 50 in advance. can be secured.
- the worker since the worker can concentrate on the work until the mobile robot 50 is notified that the mobile robot 50 will arrive soon, it is possible to suppress the deterioration of the work efficiency of the worker.
- the worker should pay attention to the mobile robot 50, which is about to arrive, and keep a distance from the mobile robot 50, for example. As a result, it is possible to suppress a decrease in the work efficiency of the mobile robot 50 . In this way, it is possible to ensure the safety of the worker while suppressing a decrease in work efficiency of the worker and the mobile robot 50 .
- the determination does not have to be performed. Along with this, there is no need to notify that the mobile robot 50 will soon pass the facility 40 that satisfies the first condition regarding passage.
- the mobile robot arrival notification system 1 when the mobile robot arrival notification system 1 is notified that the mobile robot 50 will soon arrive at the facility 40, a command for changing the work content of the mobile robot 50 is input.
- the mobile robot arrival notification system 1 may not include the input unit.
- the present disclosure can be implemented not only as the mobile robot arrival notification system 1, but also as a mobile robot arrival notification method including steps (processes) performed by each component constituting the mobile robot arrival notification system 1.
- the mobile robot arrival notification method as shown in FIG.
- the steps in the mobile robot arrival notification 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 arrival notification method.
- the present disclosure can be implemented as a non-transitory computer-readable recording medium such as a CD-ROM recording the program.
- each step is executed by executing the program using hardware resources such as the CPU, memory, and input/output circuits of the computer.
- hardware resources such as the CPU, memory, and input/output circuits of the computer.
- each step is executed by the CPU acquiring data from a memory or an input/output circuit, etc., 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 arrival notification system 1 of the above embodiment may be implemented as a dedicated or general-purpose circuit.
- each component included in the mobile robot arrival notification system 1 of the above embodiment may be implemented as an LSI (Large Scale Integration), which is an integrated circuit (IC).
- LSI Large Scale Integration
- IC integrated circuit
- the integrated circuit is not limited to an LSI, and may be realized by a dedicated circuit or a general-purpose processor.
- 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 a system that conveys parts.
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Abstract
Description
以下、図1から図7を用いて実施の形態について説明する。
以上、本開示の移動ロボット到着通知システム1について、実施の形態に基づいて説明したが、本開示は、上記実施の形態に限定されるものではない。本開示の趣旨を逸脱しない限り、当業者が思いつく各種変形を本実施の形態に施したもの、および、異なる実施の形態における構成要素を組み合わせて構築される形態も、本開示の範囲内に含まれる。
10 フロア管理システム
11 時刻テーブル更新部
11a 通過時刻算出部
11b 到着時刻算出部
12 第1記憶部
12a 通過時刻テーブル
12b 到着時刻テーブル
13 第2記憶部
13a 設備管理情報
14 設備管理情報更新部
15 通知指令部(第1判定部)
16 作業情報生成部(作業情報変更部)
20 移動ロボット群管理システム
21 記憶部
21a マップ情報
21b 作業情報
22 作業指示部(制御部)
23 無線通信部
30、30a、30b、30c ライン管理システム
31 設備状態判定部
32 通知処理部
33 作業者選択判定部
40、40a、40b、40c、40d、40e、40f、40g、40h、40i、40j、40k、40l 設備
41 タッチパネルディスプレイ(報知部、入力部)
50、50a、50b、50c、50d、50e 移動ロボット
100 生産計画
Claims (8)
- 複数の設備と、前記複数の設備のうちのいずれかの設備へ移動して作業を行う複数の移動ロボットと、を管理する移動ロボット到着通知システムであって、
前記複数の移動ロボットの移動に関する移動情報に基づいて、前記複数の設備のうち、前記複数の移動ロボットのうちのいずれかの移動ロボットの到着に関する第1条件を満たす設備が存在するか否かを判定する第1判定部と、
前記第1条件を満たす設備が存在すると判定された場合、前記第1条件を満たす設備へ移動ロボットが間もなく到着することを報知する報知部と、を備える、
移動ロボット到着通知システム。 - 前記第1判定部は、前記移動情報として、前記複数の移動ロボットのそれぞれが、前記複数の設備のうちのいずれの設備へいつ到着するかを示す到着時刻情報に基づいて、前記複数の移動ロボットのそれぞれが前記複数の設備のうちのいずれかの設備へ到着するまでの残時間を算出し、
前記第1条件は、移動ロボットが到着するまでの残時間が所定時間以下となっていることである、
請求項1に記載の移動ロボット到着通知システム。 - 前記第1判定部は、前記移動情報として、前記複数の移動ロボットのそれぞれの現在位置情報と、前記複数の移動ロボットのそれぞれが前記複数の設備のうちのいずれの設備へ移動して作業を行うかを示す作業情報とに基づいて、前記第1条件を満たす設備が存在するか否かを判定し、
前記第1条件は、自身へ移動して作業を行う予定の移動ロボットが特定地点を通過したことである、
請求項1に記載の移動ロボット到着通知システム。 - 前記第1判定部は、前記移動情報として、前記複数の移動ロボットのそれぞれの現在位置情報と、前記複数の移動ロボットのそれぞれが前記複数の設備のうちのいずれの設備へ移動して作業を行うかを示す作業情報とに基づいて、前記第1条件を満たす設備が存在するか否かを判定し、
前記第1条件は、自身へ移動して作業を行う予定の移動ロボットが特定地点を出発したことである、
請求項1に記載の移動ロボット到着通知システム。 - 前記第1判定部は、前記移動情報、および、前記複数の設備の設備管理情報に基づいて、前記複数の設備のうち、前記第1条件を満たし、かつ、設備の状態に関する第2条件を満たす設備が存在するか否かを判定し、
前記報知部は、前記第1条件を満たし、かつ、前記第2条件を満たす設備が存在すると判定された場合、前記第1条件を満たし、かつ、前記第2条件を満たす設備へ移動ロボットが間もなく到着することを報知する
請求項1~4のいずれか1項に記載の移動ロボット到着通知システム。 - 前記第1判定部は、前記設備管理情報として、前記複数の設備のそれぞれにおいて作業者が作業中であるか否かを示す設備状態情報に基づいて、前記第2条件を満たす設備が存在するか否かを判定し、
前記第2条件は、作業者が作業中であることである、
請求項5に記載の移動ロボット到着通知システム。 - さらに、前記複数の設備のそれぞれに設けられ、自身において作業者が作業中であるか否かを判定する第2判定部を備え、
前記第1条件を満たす設備が存在すると判定された場合、当該設備が備える前記第2判定部は、当該設備において作業者が作業中であるか否かを判定し、
前記報知部は、当該設備において作業者が作業中であると判定された場合に、当該設備
へ移動ロボットが間もなく到着することを報知する、
請求項1~4のいずれか1項に記載の移動ロボット到着通知システム。 - 複数の設備と、前記複数の設備のうちのいずれかの設備へ移動して作業を行う複数の移動ロボットと、を管理する移動ロボット到着通知システムにより実行される移動ロボット到着通知方法であって、
前記複数の移動ロボットの移動に関する移動情報に基づいて、前記複数の設備のうち、前記複数の移動ロボットのうちのいずれかの移動ロボットの到着に関する第1条件を満たす設備が存在するか否かを判定する第1判定ステップと、
前記第1条件を満たす設備が存在すると判定された場合、前記第1条件を満たす設備へ移動ロボットが間もなく到着することを報知する報知ステップと、を含む、
移動ロボット到着通知方法。
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JP2010191877A (ja) * | 2009-02-20 | 2010-09-02 | Koyo Electronics Ind Co Ltd | 自動搬送装置 |
CN211167170U (zh) * | 2019-12-06 | 2020-08-04 | 湖北威钺智能科技有限公司 | 一种智能agv搬运小车 |
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JP2010191877A (ja) * | 2009-02-20 | 2010-09-02 | Koyo Electronics Ind Co Ltd | 自動搬送装置 |
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CN211167170U (zh) * | 2019-12-06 | 2020-08-04 | 湖北威钺智能科技有限公司 | 一种智能agv搬运小车 |
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