CN113811501A

CN113811501A - Movement assistance system for robot

Info

Publication number: CN113811501A
Application number: CN201980095939.1A
Authority: CN
Inventors: 釜坂等; 根岸启吾; 铃木悠太; 渡边启嗣; 五明清司; 丸田正一
Original assignee: Mitsubishi Electric Corp
Current assignee: Mitsubishi Electric Corp
Priority date: 2019-05-17
Filing date: 2019-05-17
Publication date: 2021-12-17
Anticipated expiration: 2039-05-17
Also published as: JPWO2020234938A1; JP7327472B2; WO2020234938A1; CN113811501B

Abstract

Provided is a movement assistance system for a robot, which can efficiently move various robots in an elevator. The maintenance work support system for a robot includes a mounting order determination unit that determines whether or not the robot can mount a car of an elevator based on information of a range in which the robot turns inside the car when the robot mounts and lowers the car. According to this configuration, the maintenance work support system determines whether or not the robot can ride on the car based on information of a range in which the robot turns inside the car when the robot rides on and off the car of the elevator. Therefore, various robots can be efficiently moved in the elevator.

Description

Movement assistance system for robot

Technical Field

The present invention relates to a movement assistance system for a robot.

Background

Patent document 1 discloses a movement assistance system for a robot. According to this movement assistance system, a plurality of robots can be efficiently moved in an elevator.

Documents of the prior art

Patent document

Patent document 1: japanese patent laid-open publication No. 2013-216408

Disclosure of Invention

Problems to be solved by the invention

However, the movement assistance system described in patent document 1 determines whether or not to co-multiply a plurality of robots based on the occupied area of the robots. Therefore, there are also cases where: the robot that can only advance forward cannot get off the car after getting on the car.

The present invention has been made to solve the above problems. The invention aims to provide a movement assisting system of a robot, which can make various robots move in an elevator efficiently.

Means for solving the problems

The maintenance work support system for a robot according to the present invention includes a mounting order determination unit that determines whether or not a car of an elevator is to be mounted on a robot based on information of a range in which the robot turns inside the car when the robot is to mount and dismount the car.

Effects of the invention

According to the present invention, the maintenance work support system determines whether or not the robot can get on the car based on the information of the range of the robot when the robot turns inside the car when the robot gets on and off the car of the elevator. Therefore, various robots can be efficiently moved in the elevator.

Drawings

Fig. 1 is a configuration diagram of a movement assistance system for a robot according to embodiment 1.

Fig. 2 shows an example of the arrangement of the robot 1 in the car of an elevator to which the movement assistance system for the robot in embodiment 1 is applied.

Fig. 3 shows an example of the arrangement of the robot 1 in the car of an elevator to which the movement assistance system for the robot in embodiment 1 is not applied.

Fig. 4 is a hardware configuration diagram of an elevator group management device to which the robot movement assistance system according to embodiment 1 is applied.

Fig. 5 is a configuration diagram of a movement assistance system for a robot according to embodiment 2.

Fig. 6 shows an example of the arrangement of the robot inside the car of the elevator to which the movement assistance system for the robot in embodiment 2 is applied.

Fig. 7 is a diagram showing an example of a detection range of an anti-collision sensor of a robot to which the movement assistance system of a robot according to embodiment 2 is applied.

Fig. 8 is a diagram showing an example of a detection range of an anti-collision sensor of a robot to which the movement assistance system of a robot according to embodiment 3 is applied.

Fig. 9 is a diagram showing an example of attribute information and movement information of a robot in the movement assistance system for a robot in embodiment 4.

Fig. 10 is a diagram showing an example of refusing the robot to take a ladder in the movement assistance system based on the robot in embodiment 5.

Fig. 11 is a flowchart for explaining an outline of an operation of an elevator group management device to which the robot movement assistance system according to embodiment 5 is applied.

Fig. 12 is a flowchart for explaining an outline of an operation of an elevator group management device to which the robot mobility assistance system according to embodiment 6 is applied.

Fig. 13 is a flowchart for explaining an outline of an operation of the group management device for an elevator to which the robot mobility assistance system according to embodiment 6 is applied.

Fig. 14 is a flowchart for explaining an outline of the operation of the robot to which the movement assistance system for the robot in embodiment 7 is applied.

Detailed Description

A mode for carrying out the present invention will be described with reference to the accompanying drawings. In the drawings, the same or corresponding portions are denoted by the same reference numerals. Repeated explanation of this portion is appropriately simplified or omitted.

Embodiment mode 1

Fig. 1 is a configuration diagram of a movement assistance system of a robot 1 according to embodiment 1.

In fig. 1, a plurality of robots 1 are each provided to be able to autonomously walk. Each of the plurality of robots 1 has an anti-collision sensor 1 a. The plurality of robots 1 are controlled so as not to collide with surrounding objects, based on the detection results of the collision avoidance sensors 1a, respectively.

The cars 2 of a plurality of elevators are each provided so as to be longitudinally movable in the building. The plurality of robot destination registration devices 3 are provided in each of the landings of the plurality of elevators. The plurality of control devices 4 are provided to be able to control the operation of each of the plurality of cars 2. The group management device 5 is provided to be able to control the plurality of control devices 4.

The group management device 5 includes a robot attribute table information storage unit 5a, a robot movement table information storage unit 5b, an elevator information storage unit 5c, a mounting order determination unit 5d, and a robot remote control unit 5 e.

The robot attribute table information storage unit 5a stores information of a robot attribute table in which attribute information of the robot 1 is stored. The attribute information of the robot 1 is information in which the model 6a, the occupied area 6b, the sensor area 6c, the turning area 6d, and the moving direction 6e are associated with each other.

The information of the model 6a is information for identifying the function, model, and the like of the robot 1. For example, the information of the model 6a is information of the model of the robot 1. For example, the information of the model 6a is information of the content designated by the user. In this example, "1 st" and "2 nd" are defined as the model 6 a.

The information of the occupied area 6b is information of the area on the floor occupied by the housing of the robot 1. The floor occupied by the housing of the robot 1 is not defined by the area of the floor installation surface, but by the area on the horizontal projection surface including the projection.

The information of the sensor area 6c is information of the floor area of an area that the robot 1 grasps with the collision avoidance sensor 1a for collision avoidance. The sensor area 6c is defined to surround 1m of the occupancy area 6 b.

The information of the turning region 6d is information of an area on a horizontal projection plane required when the robot 1 turns to get on and off the car 2, including the sensor region 6 c.

The information of the moving direction 6e is information of a movable direction such as a front direction, a front-back direction, and the like according to the traveling function of the robot 1. The robot 1 that can only advance forward needs to turn when descending from the car 2.

The robot movement table information storage unit 5b stores information of a movement table of the robot 1, and the movement information of the robot 1 is stored in the movement table of the robot 1. The movement information of the robot 1 is information in which the ID 7a, the model 7b, the boarding floor 7c, and the destination floor 7d are associated with each other.

The information of the ID 7a is identification information of the robot 1. A, B, C, D is defined as the ID 7a of the robot 1. The model 7b information is the model information of the robot 1, as with the model 6a information. The information of the boarding floor 7c is information of a floor where the robot 1 takes the elevator car 2. The information of the destination floor 7d is information of a floor where the robot 1 gets off the car 2.

The movement information of the robot 1 is registered in the order registered by the robot destination registration device 3. The movement information of the robot 1 is deleted from the robot movement table at the stage when the robot 1 takes the elevator.

In fig. 1, the boarding floor of the robot 1 having ID 7a as C is 1 floor. The destination floor of the robot 1 having ID 7a as C is 3 floors. The boarding floor of the robot 1 whose ID 7a is B is 2 floors. The destination floor of the robot 1 whose ID 7a is B is 3 floors. The boarding floor of the robot 1 whose ID 7a is 1 floor. The destination floor of the robot 1 having ID 7a as a is 5 floors. The boarding floor of the robot 1 whose ID 7a is D is 1 floor. The destination floor of the robot 1 having ID 7a as D is 3 floors.

The elevator information storage unit 5c stores elevator information. The elevator information is information of the elevator such as the loadable weight, the loadable area, and the door width of the car 2. For example, the mountable area is 5m × 6 m. For example, the door width is 4 m.

The mounting order determination unit 5d determines whether or not the robot 1 can mount the car 2. The mounting order determination unit 5d determines the mounting order of the robot 1 in consideration of the boarding and disembarking orders of the robot 1 inside the car 2, the layout during boarding, the door width during disembarking, and the like.

The robot remote control unit 5e issues permission to the robot 1 to take the car 2 in accordance with the mounting order determined by the mounting order determination unit 5 d.

For example, the plurality of robots 1 register the destination floors by using the robot destination registration devices 3 by respective separate instructions. For example, the plurality of robots 1 register the destination floors in the robot destination registration devices 3 by wireless communication. For example, the plurality of robots 1 register the destination floors by operating the robot destination registration device 3 with an arm not shown.

The number of cars 2 that can be permitted to be used by a plurality of robots 1 is 1, and when the car 2 is empty, the mounting order determination unit 5d determines that mounting is possible based on the turning area 6d of the robot 1 whose ID 7a is C. At this time, the robot remote control unit 5e issues boarding permission to the robot 1 whose ID 7a is C.

Then, the mounting order determination unit 5d confirms the empty region of the car 2 based on the information of the mounting location of the robot 1 having the ID 7a of C and the mountable area of the car 2, and determines that 5.5m × 6.5m as the turning region 6d of the robot 1 having the ID 7a of a does not exist. At this time, the robot remote control unit 5e does not issue boarding permission to the robot 1 whose ID 7a is a.

The empty area of the car 2 and the determination of whether or not the robot 1 can ride are solved by a general layout problem.

Next, the arrangement of the robot 1 inside the car 2 will be described with reference to fig. 2 and 3.

Fig. 2 is a diagram showing the arrangement of the robot 1 inside the car 2 of the elevator to which the movement assistance system of the robot 1 in embodiment 1 is applied. Fig. 3 is a diagram showing the arrangement of the robot 1 inside the car 2 of the elevator to which the movement assistance system of the robot 1 in embodiment 1 is not applied.

Fig. 2 shows a state where the robot 1 having ID 7a as C gets on the ride. The solid line indicates the occupied area 6b of the robot 1. The two-dot chain line indicates the sensor area 6c of the robot 1. The dotted line indicates the area when the robot 1 turns. The dashed-dotted line indicates the turning area 6d of the robot 1.

Fig. 3 shows an example of a case where the robot 1 having ID 7a is a and the robot 1 having ID 7a is C.

If the calculation is performed only by the occupied area 6b, it is determined that the robot 1C and the robot 1A can multiply by each other as shown in fig. 3 (a).

However, as shown in fig. 3 (b), when the robot 1 having ID 7a C tries to turn inside the car 2 in order to descend, the sensor area 6C of the robot 1C having ID 7a C overlaps with the sensor area 6C of the robot 1 having ID 7 a. In this case, the robot 1 having ID 7a as C cannot turn in order to avoid collision. Therefore, if the robot 1 having ID 7a is a does not have one end to get off, the robot 1 having ID 7a is C cannot get on the elevator.

According to embodiment 1 described above, the group management device 6 determines whether or not the robot 1 can get on the car 2 based on information of the range in which the robot 1 turns inside the car 2 when getting on and off the car 2. Therefore, various robots 1 can be efficiently moved in the elevator. Specifically, even when the robot 1 turns when descending from the car 2, the robot 1 can be smoothly descended from the car 2.

Next, an example of the group management device 5 will be described with reference to fig. 4.

Fig. 4 is a hardware configuration diagram of an elevator group management device 5 to which the movement assistance system of the robot 1 in embodiment 1 is applied.

The respective functions of the group management device 5 can be realized by a processing circuit. For example, the processing circuit has at least one processor 100a and at least one memory 100 b. For example, the processing circuit has at least one dedicated hardware 200.

In case the processing circuit has at least one processor 100a and at least one memory 100b, the functions of the group management device 5 are implemented by software, firmware or a combination of software and firmware. At least one of the software and the firmware is referred to as a program. At least one of software and firmware is stored in the at least one memory 100 b. The at least one processor 100a reads out and executes the program stored in the at least one memory 100b, thereby realizing each function of the group management apparatus 5. The at least one processor 100a is also referred to as a central processing unit, a processing unit, an arithmetic unit, a microprocessor, a microcomputer, or a DSP. For example, the at least one memory 100b is a nonvolatile or volatile semiconductor memory such as RAM, ROM, flash memory, EPROM, EEPROM, or the like, a magnetic disk, a flexible disk, an optical disk, a compact disk, a mini disk, a DVD, or the like.

In case the processing circuit has at least one dedicated hardware 200, the processing circuit is for example realized by a single circuit, a complex circuit, a programmed processor, a parallel programmed processor, an ASIC, an FPGA or a combination thereof. For example, the respective functions of the group management device 5 are realized by processing circuits, respectively. For example, the functions of the group management device 5 are collectively realized by the processing circuit.

The functions of the group management apparatus 5 may be implemented partially by dedicated hardware 200 and partially by software or firmware. For example, the functions of the robot remote control unit 5e may be realized by a processing circuit as the dedicated hardware 200, and the functions other than the functions of the robot remote control unit 5e may be realized by the at least one processor 100a reading and executing a program stored in the at least one memory 100 b.

In this way, the processing circuitry implements the functions of the group management device 5 by hardware 200, software, firmware, or a combination thereof.

Although not shown, the functions of the control device 4 may be realized by a processing circuit equivalent to the processing circuit that realizes the functions of the group management device 5. Each function of the server having the mounting order determining unit 5d may be realized by a processing circuit equivalent to the processing circuit for realizing each function of the group management device 5.

Embodiment mode 2

Fig. 5 is a configuration diagram of a movement assistance system of the robot 1 according to embodiment 2. The same or corresponding portions as those in embodiment 1 are denoted by the same reference numerals. The description of this part is omitted.

In embodiment 2, the attribute information of the robot 1 is information in which the model 6a, the occupied area 6b, the sensor area 6c, the turning area 6d, the moving direction 6e, and the suppression sensor area 6f are associated with each other.

The suppressed sensor area 6f is information of an area when the effective distance of the collision avoidance sensor 1a is changed. The turning region 6d is automatically changed according to the suppression sensor region 6 f.

For example, at floor 1, car 2 is empty. The mounting order determination unit 5d determines the mountable area of the car 2 on which the robot 1 having the ID 7a as C can be mounted. At this time, the robot remote control unit 5e issues a boarding permission to the robot 1 whose ID 7a is C. Then, the robot remote control unit 5e changes the detection range of the collision avoidance sensor 1a for the robot 1 whose ID 7a is C. In this example, the detection range of the collision avoidance sensor 1a is changed from 1m to 0.5 m. As a result, the effective region of the collision avoidance sensor 1a is a region from 3m × 4m of the sensor region 6c to 2.5 × 3.5m of the suppression sensor region 6 f. At this time, the radius of the turning area 6d was changed to 2.15 m.

Then, the mounting order determination unit 5d confirms the empty region of the car 2 based on the information of the mounting location of the robot 1 having the ID 7a and the mountable area of the car 2, and determines that 1.5m × 1.5m exists as the turning region 6d of the robot 1 having the ID 7 a. At this time, the robot remote control unit 5e issues boarding permission to the robot 1A.

Next, the arrangement of the robot 1 inside the car 2 will be described with reference to fig. 6.

Fig. 6 shows an example of the arrangement of the robot 1 inside the car 2 of the elevator to which the movement assistance system for the robot 1 according to embodiment 2 is applied.

Fig. 6 (a) shows a situation in which the robot 1 having ID 7a and C ride on the car 2. The solid line indicates the occupied area 6 b. The dashed dotted line indicates the suppression sensor region 6 f. The two-dot chain line indicates the turning region 6 d. Fig. 6 (b) shows a situation in which the robot 1 having ID 7a as C turns and descends.

The turning region 6d is narrowed in accordance with the suppression sensor region 6 f. As a result, the plurality of robots 1 can efficiently ride together, and can also turn around to get off the stairs.

Next, the detection range of the anti-collision sensor 1a will be described with reference to fig. 7.

Fig. 7 is a diagram showing an example of the detection range of the collision avoidance sensor of the robot to which the movement assistance system of the robot 1 according to embodiment 2 is applied.

As shown in fig. 7, the detection range of the collision avoidance sensor 1a is narrowed in accordance with the moving speed of the robot 1. For example, as shown in fig. 7 (a), the speed is high in the normal movement. Therefore, the detection range of the collision avoidance sensor 1a is set to be wide in the traveling direction. For example, as shown in fig. 7 (b) and (c), the robot 1 decreases the speed when boarding/alighting. Therefore, the detection range of the anti-collision sensor 1a gradually narrows. For example, as shown in fig. 7 (d), the robot 1 stops inside the car 2. Therefore, the detection range of the collision avoidance sensor 1a is set to be minimum.

According to the embodiment 2 described above, the group management device 5 outputs a command for narrowing the detection range of the collision avoidance sensor 1a of the robot 1 to the robot 1 inside the car 2. Therefore, even if the plurality of robots 1 are in close contact inside the car 2, it is possible to suppress the generation of an alarm or the like.

Embodiment 3

Fig. 8 is a diagram showing an example of the detection range of the collision avoidance sensor 1a of the robot to which the movement assistance system of the robot 1 according to embodiment 3 is applied. The same or corresponding portions as those in embodiment 2 are denoted by the same reference numerals. The description of this part is omitted.

In embodiment 3, the robot 1 includes an illumination device not shown. The lighting device is a simple LED lighting, lamp lighting, projector, or the like.

The lighting device irradiates light to the floor of the car 2 so as to be able to distinguish the boundary of the sensor region 6c of the robot 1. For example, the lighting device projects the sensor area 6c of the robot 1 to the floor of the car 2. For example, the illumination device projects the sensor area 6c of the robot 1 with color and flash light. For example, the illumination device projects an image by a projector or the like.

For example, the lighting device projects the traveling direction, speed, and the like of the robot 1 onto the floor of the car 2 in a pattern such as the thickness, direction, and length of an arrow.

According to embodiment 3 described above, the group management device 5 outputs a command to the robot to irradiate light so as to be able to distinguish the range of the collision avoidance sensor 1a of the robot 1. In this case, it is possible to urge the person riding with the robot 1 to be away from the detection range of the collision avoidance sensor 1 a.

The lighting device projects the traveling direction, speed, and the like of the robot 1 onto the floor of the car 2 in a pattern such as the thickness, direction, and length of an arrow. Therefore, the motion of the sensor region accompanying the movement of the robot 1 can be notified to the surroundings.

Embodiment 4

Fig. 9 is a diagram showing an example of attribute information and movement information of a robot in the movement assistance system of the robot 1 according to embodiment 4. The same or corresponding portions as those in embodiment 2 are denoted by the same reference numerals. The description of this part is omitted.

In embodiment 3, the attribute information of the robot 1 is information in which the model 6a, the occupied area 6b, the sensor area 6c, the turning area 6d, the moving direction 6e, the suppression sensor area 6f, the weight 6g, the category 6h, and the ride-capable category 6i are associated with each other.

The information of the weight 6g is information of the weight of the robot 1. The category 6h is information of the category of the robot 1. The information of the ride-able type 6i is information of the type of the ride-able robot 1.

In embodiment 3, the movement information of the robot 1 is information in which the ID 7a, the model 7b, the boarding floor 7c, the destination floor 7d, the boarding weight 7e, and the priority 7f are associated with each other.

The mounted weight 7e is information of the weight of the object mounted on the robot 1. The priority 7f is information of the priority of the robot 1. The priority 7f is also dynamically changed for the same type of robot 1 according to the target completion level. For example, when a large number of articles are loaded during the distribution of the food distribution robot 1, the priority 7f is set higher. For example, when there is no mounted object after the food distribution robot 1 completes distribution, the priority 7f is set lower.

According to embodiment 4 described above, the group management device 5 sets the priority of the robot 1 based on the attribute of the robot 1. Therefore, the plurality of robots 1 can be moved more efficiently.

For example, if cleaning of the cleaning robot 1 does not end within a predetermined time, the priority 7f of the cleaning robot 1 may be set higher. In this case, the cleaning can be ended within a specified time.

The priority 7f may be changed in the operation mode of the robot 1. For example, the priority of the robot 1 during delivery may be set higher than the priority of the robot 1 during return.

Embodiment 5

Fig. 10 is a diagram showing an example of refusing the robot 1 to take a flight in the movement assistance system based on the robot 1 in embodiment 5. The same or corresponding portions as those in embodiment 4 are denoted by the same reference numerals. The description of this part is omitted.

In embodiment 5, the type of the robot 1 multiplied by the co-product is determined based on the attribute information of the robot 1 in embodiment 4. When a plurality of robots 1 are multiplied together, the narrowing method of the sensor area 6c is changed according to the type of the robot 1. As a result, the plurality of robots 1 are mounted so as to change the intervals between them.

For example, as shown in fig. 10 (a), the food distribution robot 1 is different from the cleaning robot 1. The food distribution robot 1 is different from the security robot 1.

For example, as shown in fig. 10 (b), in the food distribution robot 1, the availability of the food is changed depending on the state of the food in contact with the outside and the state of the food stored without being in contact with the outside. For example, in the case of storing food, the food distribution robot 1 rides on the document distribution robot 1. For example, in the case where food is in contact with the outside, only the same kind of food distribution robot 1 rides. For example, when the robot 1 delivers packaged food, the robot 1 is multiplied by a robot 1 that delivers documents, medicines, sealed beverages, and the like.

For example, as shown in fig. 10 (c), when the plurality of food distribution robots 1 ride together, the sensor areas 6c of the plurality of food distribution robots 1 are the smallest.

The security robot 1 and the cleaning robot 1 are set to be able to ride together. The security robot 1 and the document distribution robot 1 are set so as to be able to ride together.

Next, an outline of the operation of the group management device 5 will be described with reference to fig. 11.

Fig. 11 is a flowchart for explaining an outline of the operation of the group management device 5 for an elevator to which the movement assistance system of the robot 1 according to embodiment 5 is applied.

In step S1, the group management device 5 starts the process of getting on the car 2 by the robot 1. Then, the group management apparatus 5 performs the operation of step S2. In step S2, the group management device 5 receives an entry request from the robot 1 to the car 2. Then, the group management apparatus 5 performs the operation of step S3. In step S3, the group management device 5 selects a car 2 on which the robot 1 can ride from the robot movement table.

Then, the group management apparatus 5 performs the operation of step S4. In step S4, the group management device 5 confirms the status of the car 2. Then, the group management apparatus 5 performs the operation of step S5. In step S5, the group management device 5 determines whether or not another robot 1 is riding in the car 2.

When another robot 1 is riding on the car 2 in step S5, the group management device 5 performs the operation of step S6. In step S6, the group management device 5 determines whether or not the robot 1 can ride on the car 2 together with the robot 1.

When the robot 1 can ride on the car 2 in step S6, the group management device 5 performs the operation of step S7. In step S7, the group management device 5 calculates the mountable area of the car 2 based on the robot information table, the elevator information, and the mounting state of the car 2.

Then, the group management apparatus 5 performs the operation of step S8. In step S8, the group management device 5 determines whether or not the robot 1 can ride on the basis of the mountable area of the car 2.

When the robot 1 can ride in step S8, the group management device 5 performs the operation of step S9. In step S9, the group management device 5 outputs a command to the robot 1 to take the sensor area while narrowing it down. Then, the group management apparatus 5 ends the operation.

When the other robot 1 does not get on the car 2 in step S5, the group management device 5 performs the operation of step S9.

If the robot 1 cannot ride on the car 2 in step S6 or if the robot 1 cannot ride on the car in step S8, the group management device 5 returns to step S2 and receives a request for riding on the car 2 from the robot 1 again.

According to embodiment 5 described above, the group management device 5 determines whether or not the car 2 can be shared, based on the attributes of each of the plurality of robots 1. Therefore, the robot 1 can be moved under more appropriate conditions.

Embodiment 6

Fig. 12 and 13 are flowcharts for explaining an outline of the operation of the group management device 5 for an elevator to which the movement assistance system of the robot 1 according to embodiment 6 is applied. The same or corresponding portions as those in embodiment 5 are denoted by the same reference numerals. The description of this part is omitted.

In step S11, the group management device 5 starts the process of getting on the car 2 by the robot 1. Then, the group management apparatus 5 performs the operation of step S12. In step S12, the group management device 5 receives input of information on the weight of the loaded article from the robot 1. Then, the group management apparatus 5 performs the operation of step S13. In step S13, the group management device 5 selects a car 2 on which the robot 1 can ride from the robot movement table.

Then, the group management apparatus 5 performs the operation of step S14. In step S14, the group management device 5 confirms the status of the car 2. Specifically, the group management device 5 confirms the total boarding ration of the elevator based on the scale information of the elevator. The group management device 5 confirms the weight of the robot 1 mounted on the car 2 and the weight of the load thereof.

Then, the group management apparatus 5 performs the operation of step S15. In step S15, the group management device 5 determines whether or not the total mounting quota matches the total of the weight of the robot 1 being mounted and the weight of the mounted object.

If the total mounting quota does not match the total of the weight of the robot 1 and the weight of the mounted object during mounting in step S15, the group management device 5 determines that a person is mounted on the car 2 in addition to the robot 1. In this case, the group management device 5 performs the operation of step S16. In step S16, the group management device 5 determines whether or not the robot 1 can ride together with a person.

If the total mounting quota matches the total of the weight of the robot 1 and the weight of the mounted object during mounting in step S15, the group management device 5 determines whether the car 2 is mounted with only the robot 1 or is not mounted.

If the total mount quota matches the total of the weight of the robot 1 and the weight of the mounted object in the mounting process in step S15 or if the robot 1 can ride on a person in step S16, the group management device 5 performs the operation of step S17. In step S17, the group management device 5 determines whether or not the robot 1 can ride on the car 2 together with the robot 1.

When the robot 1 can ride on the car 2 in step S17, the group management device 5 performs the operation of step S18. In step S18, the group management device 5 calculates the sum of the current scale information and the weight of the robot 1 and its load weight. Then, the group management apparatus 5 performs the operation of step S19. In step S19, the group management device 5 determines whether or not the sum of the current scale information and the weight of the robot 1 and its mounted object weight is within the maximum mounting quota.

When the current scale information and the sum of the weight of the robot 1 and the loaded weight thereof are within the maximum loading quota in step S19, the group management device 5 performs the operation of step S20. In step S20, the group management device 5 calculates the mountable area of the car 2.

Then, the group management apparatus 5 performs the operation of step S21. In step S21, the group management device 5 determines whether or not the robot 1 can ride on the basis of the mountable area of the car 2.

When the robot 1 can ride in step S21, the group management device 5 performs the operation of step S22. In step S22, the group management device 5 outputs a command to the robot 1 to take the sensor area while narrowing it down. In this case, the sensor region may be displayed as in embodiment 4. Then, the group management apparatus 5 ends the operation.

In either a case where the robot 1 cannot ride the car 2 in step S16, a case where the robot 1 cannot ride the car 2 in step S17, a case where the sum of the current scale information and the weight of the robot 1 and the weight of the loaded object thereof is not within the maximum loading quota in step S19, or a case where the robot 1 cannot ride the car in step S21, the group management device 5 returns to step S12 and receives the request for riding from the robot 1 to the car 2 again.

According to embodiment 6 described above, when the area in which the robot 1 can ride exists in the car 2, the group management device 5 determines whether or not the robot 1 can ride on the car 2 based on the weight of the robot 1 and the information on the weight of the load of the robot 1. Therefore, the robot 1 can be moved more efficiently.

The group management device 5 detects the riding status of the user based on the weight of the robot 1, information on the weight of the loaded object of the robot 1, and information on the scale of the car 2. Therefore, the robot 1 can be moved more appropriately.

In addition, when the group management device 5 detects that the car 2 is empty based on the scale information of the car 2, information indicating that the car 2 is empty may be output to the robot 1. In this case, the robot 1 can be urged to use the elevator.

Embodiment 7

Fig. 14 is a flowchart for explaining an outline of the operation of the robot 1 to which the movement assistance system for the robot 1 according to embodiment 7 is applied. The same or corresponding portions as those in embodiment 5 are denoted by the same reference numerals. The description of this part is omitted.

In step S31, the robot 1 calls an empty car 2. Then, the robot 1 performs the operation of step S32. In step S32, the robot 1 outputs information of a scheduled arrival time at which the robot arrives at the elevator hall while moving at a normal speed to the group management system.

Then, the robot 1 performs the operation of step S33. In step S33, the robot 1 receives, from the group management device 5, input of information on scheduled arrival times of cars 2 that can be allocated before and after the scheduled arrival time.

Then, the robot 1 performs the operation of step S34. In step S34, the robot 1 determines whether or not the scheduled arrival time of the car 2 is later than the scheduled arrival time thereof.

When the scheduled arrival time at which the car 2 arrives at the elevator hall is later than the scheduled arrival time at which the robot arrives at the elevator hall in step S34, the robot 1 performs the operation of step S35. In step S35, the robot 1 moves at a reduced moving speed in accordance with the arrival time of the car 2 at the elevator hall. At this time, the robot 1 is accelerated in a state where safety can be ensured.

When the scheduled arrival time at which the car 2 arrives at the elevator hall is not later than the scheduled arrival time at which the robot arrives at the elevator hall in step S34, the robot 1 performs the operation of step S36. In step S36, the robot 1 increases the moving speed and moves in accordance with the arrival time of the car 2 at the elevator hall. At this time, the robot 1 decelerates in a state where safety can be ensured.

After step S35 or after step S36, the robot 1 performs the operation of step S37. In step S37, the robot 1 rides in the car 2. Then, the robot 1 ends the operation.

According to embodiment 7 described above, when the robot 1 calls the car 2, the group management device 5 outputs information on the scheduled arrival time of the car 2 to the robot 1. Therefore, the waiting for the robot 1 to ride in and the waiting for the robot 1 to reach the car 2 can be reduced. As a result, the user cannot easily get in the car 2 dedicated to the robot 1.

When the scheduled arrival time of the robot 1 seems to change due to an obstacle or the like in the midway route, the call of the car 2 at the current time may be cancelled and the call of the car 2 may be registered again. In this case, the deviation of the scheduled arrival time can be modified.

Industrial applicability

As described above, the movement assistance system of a robot of the present invention can be used for a robot system.

Description of the reference symbols

1: a robot; 1 a: an anti-collision sensor; 2: a car; 3: a robot destination registering device; 4: a control device; 5: a group management device; 5 a: a robot attribute table information storage unit; 5 b: a robot movement table information storage unit; 5 c: an elevator information storage unit; 5 d: a carrying order determination unit; 5 e: a robot remote control unit; 6 a: a model; 6 b: occupying an area; 6 c: a sensor region; 6 d: a turning region; 6 e: a direction of movement; 6 f: a suppression sensor region; 6 g: weight; 6 h: a category; 6 i: the same kind of ride; 7 a: ID; 7 b: a model; 7 c: taking a floor; 7 d: a destination floor; 7 e: the weight of the carried object; 7 f: a priority; 100 a: a processor; 100 b: a memory; 200: hardware.

Claims

1. A movement assistance system for a robot, wherein,

the movement assistance system for a robot includes a mounting order determination unit that determines whether or not the robot can mount a car of an elevator based on information of a range in which the robot turns inside the car when the robot mounts and lowers the car.

2. The movement assistance system of a robot according to claim 1,

the movement assistance system for a robot includes a robot remote control unit that outputs a command for narrowing a detection range of an anti-collision sensor of the robot to the robot inside the car.

3. The movement assistance system of a robot according to claim 2,

the robot remote control unit outputs a command to the robot to irradiate light so that a detection range of the collision avoidance sensor of the robot can be distinguished.

4. The movement assistance system of a robot according to claim 2,

the robot remote control unit outputs to the robot an instruction to irradiate light in such a manner that a traveling direction or speed of the robot is represented by a direction and thickness of an arrow or a graph shown by the direction and thickness of the arrow.

5. The movement assistance system for a robot according to any one of claims 1 to 4, wherein,

the mounting order determination unit sets a priority of the robot based on an attribute of the robot.

6. The movement assistance system for a robot according to any one of claims 1 to 5, wherein,

the mounting order determination unit determines whether or not the car can be ridden by the robot based on the attributes of the robots.

7. The movement assistance system for a robot according to any one of claims 1 to 6, wherein,

when the car has an area in which the robot can ride, the mounting order determination unit determines whether the robot can ride the car based on information on the weight of the robot and the weight of the load of the robot.

8. The movement assistance system of a robot according to any one of claims 1 to 7,

the loading order determination unit detects the co-riding status of the user based on the weight of the robot, information on the weight of the loaded object of the robot, and information on the scale of the car.

9. The movement assistance system of a robot according to claim 8,

the movement assistance system for a robot includes a storage unit that stores information on the weight of the robot and the weight of a mounted object of the robot,

the loading order determination unit obtains information on the weight of the robot and the weight of the loaded object of the robot from the storage unit.

10. The movement assistance system for a robot according to any one of claims 1 to 9, wherein,

the loading order determination unit outputs information indicating that the car is empty to the robot when it is detected that the car is empty based on the scale information of the car.

11. The movement assistance system for a robot according to any one of claims 1 to 10, wherein,

the loading order determination unit outputs information on the scheduled arrival time of the car to the robot when the robot calls the car.

12. A movement assistance system for a robot, wherein,

the movement assistance system for a robot includes a robot remote control unit that outputs a command to the robot so as to irradiate light so as to distinguish a detection range of an anti-collision sensor of the robot.

13. A movement assistance system for a robot, wherein,

the movement assistance system for a robot includes a robot remote control unit that outputs a command to the robot to irradiate light so that a traveling direction or a speed of the robot is represented by a graphic indicated by a direction and a thickness of an arrow or a direction and a thickness of an arrow.

14. A movement assistance system for a robot, wherein,

the movement assistance system for a robot includes a mounting order determination unit that determines whether or not the robot can mount the car, based on information on the weight of the robot and the weight of the mounted object of the robot, when an area in which the robot can mount exists in the car of the elevator.