CN113811501B - Movement assistance system for robot - Google Patents

Movement assistance system for robot Download PDF

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Publication number
CN113811501B
CN113811501B CN201980095939.1A CN201980095939A CN113811501B CN 113811501 B CN113811501 B CN 113811501B CN 201980095939 A CN201980095939 A CN 201980095939A CN 113811501 B CN113811501 B CN 113811501B
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China
Prior art keywords
robot
car
information
assistance system
weight
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CN201980095939.1A
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Chinese (zh)
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CN113811501A (en
Inventor
釜坂等
根岸启吾
铃木悠太
渡边启嗣
五明清司
丸田正一
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Mitsubishi Electric Corp
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Mitsubishi Electric Corp
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/06—Safety devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B1/00—Control systems of elevators in general
    • B66B1/02—Control systems without regulation, i.e. without retroactive action
    • B66B1/06—Control systems without regulation, i.e. without retroactive action electric
    • B66B1/14—Control systems without regulation, i.e. without retroactive action electric with devices, e.g. push-buttons, for indirect control of movements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
    • B66B17/00—Hoistway equipment
    • B66B17/14—Applications of loading and unloading equipment
    • B66B17/16—Applications of loading and unloading equipment for loading and unloading mining-hoist cars or cages
    • B66B17/20—Applications of loading and unloading equipment for loading and unloading mining-hoist cars or cages by moving vehicles into, or out of, the cars or cages

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Elevator Control (AREA)

Abstract

Provided is a robot movement support system which enables a wide variety of robots to move efficiently 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 an elevator car based on information of a range in which the robot rotates inside the elevator car when the robot is mounted on or dismounted from the elevator car. According to this configuration, the maintenance work support system determines whether or not the robot can get on the car based on information of a range in which the robot turns around inside the car when getting on or off the car. 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.
Prior art literature
Patent literature
Patent document 1: japanese patent laid-open publication No. 2013-216408
Disclosure of Invention
Problems to be solved by the invention
However, the movement support 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 the following cases: a robot that can only advance forward cannot get off the car after getting into the car.
The present invention has been made to solve the above-described problems. The purpose of the present invention is to provide a robot movement support system that enables a wide variety of robots to move efficiently in an elevator.
Means for solving the problems
The maintenance work support system for a robot includes a mounting order determination unit that determines whether or not a robot can mount an elevator car based on information of a range in which the robot turns around inside the elevator car when the robot is mounted on or dismounted from the elevator car.
Effects of the invention
According to the present invention, a maintenance work support system determines whether or not a robot can pick up a car based on information of a range in which the robot rotates inside the car when picking up and lowering the car of an elevator. Therefore, various robots can be efficiently moved in the elevator.
Drawings
Fig. 1 is a block diagram of a movement support system of a robot in embodiment 1.
Fig. 2 is an example showing the arrangement of a robot 1 in the car of an elevator to which the movement support system of the robot in embodiment 1 is applied.
Fig. 3 is an example showing the arrangement of the robot 1 inside the car of an elevator to which the movement support system of the robot in embodiment 1 is not applied.
Fig. 4 is a hardware configuration diagram of an elevator group management device to which the movement support system of the robot in embodiment 1 is applied.
Fig. 5 is a configuration diagram of a movement support system of the robot in embodiment 2.
Fig. 6 is a diagram showing an example of the arrangement of a robot in the car of an elevator to which the movement support system of the robot in embodiment 2 is applied.
Fig. 7 is a diagram showing an example of detection ranges of an anti-collision sensor of a robot to which the movement assistance system of the robot in embodiment 2 is applied.
Fig. 8 is a diagram showing an example of detection ranges of an anti-collision sensor of a robot to which the movement assistance system of the robot in embodiment 3 is applied.
Fig. 9 is a diagram showing an example of attribute information and movement information of a robot in the movement support system of the robot in embodiment 4.
Fig. 10 is a diagram showing an example of a robot boarding rejection by the movement assistance system of the robot in embodiment 5.
Fig. 11 is a flowchart for explaining an outline of the operation of the group management device of the elevator to which the movement support system of the robot in embodiment 5 is applied.
Fig. 12 is a flowchart for explaining an outline of the operation of the group management device of the elevator to which the movement support system of the robot according to embodiment 6 is applied.
Fig. 13 is a flowchart for explaining an outline of the operation of the group management device of the elevator to which the movement support system of the robot according to embodiment 6 is applied.
Fig. 14 is a flowchart for explaining an outline of the operation of a robot to which the movement support system of the robot according to embodiment 7 is applied.
Detailed Description
The mode for carrying out the invention will be described with reference to the accompanying drawings. In addition, in each figure, the same or corresponding portions are denoted by the same reference numerals. Repeated description of this portion is appropriately simplified or omitted.
Embodiment 1
Fig. 1 is a configuration diagram of a movement support system of a robot 1 according to embodiment 1.
In fig. 1, a plurality of robots 1 are each provided to be capable of autonomous walking. The plurality of robots 1 each have an anti-collision sensor 1a. The plurality of robots 1 are controlled not to collide with surrounding objects based on the detection results of the collision avoidance sensors 1a, respectively.
The cars 2 of the plurality of elevators are respectively provided so as to be longitudinally movable in the building. The plurality of robot destination registering devices 3 are provided at each landing of the plurality of elevators. The plurality of control devices 4 are provided so as to be able to control the operations of the plurality of cars 2, respectively. The group management device 5 is provided to be able to control a 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 5e.
The robot attribute table information storage unit 5a stores information of a robot attribute table storing attribute information of the robot 1. The attribute information of the robot 1 is information in which information of the model 6a, the occupied area 6b, the sensor area 6c, the turning area 6d, and the movement direction 6e are associated.
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 content specified by the user. In this example, "1 st" and "2 nd" are defined as 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 defined not by the area of the floor installation surface but by the area on the horizontal projection surface containing the protrusions.
The information of the sensor area 6c is information of the floor area of the area grasped by the robot 1 using the anti-collision sensor 1a for anti-collision. The sensor area 6c is defined around 1m of the occupied area 6b.
The information of the turning area 6d includes the sensor area 6c, and is information of an area on a horizontal projection surface required for the robot 1 to turn or the like in order to mount or dismount the car 2.
The information of the movement direction 6e is information of a movable direction such as a front direction and a front-rear direction according to the traveling function of the robot 1. Only the robot 1 that can advance forward needs to turn when getting off the car 2.
The robot movement table information storage unit 5b stores information of a movement table of the robot 1, and the movement table of the robot 1 stores movement information of the robot 1. The movement information of the robot 1 is information in which information of the ID 7a, model 7b, boarding floor 7c, and destination floor 7d are associated.
The information of ID 7a is identification information of robot 1. As ID 7a of robot 1, A, B, C, D is defined. The information of the model 7b is the same as the information of the model 6a, and is the information of the model of the robot 1. The information on the boarding floor 7c is information on the boarding floor of the robot 1 on the elevator car 2. The information of the destination floor 7d is information of a floor on which the robot 1 gets off the car 2.
The movement information of the robot 1 is registered in the order of registration by the robot destination registration device 3. The movement information of the robot 1 is deleted from the robot movement table at the stage of the robot 1 moving down the ladder.
In fig. 1, the boarding floor of the robot 1 whose ID 7a is C is 1 floor. The destination floor of the robot 1 with 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 with ID 7a B is 3 floors. The boarding floor of the robot 1 whose ID 7a is 1 floor. The destination floor of the robot 1 with 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 with ID 7a as D is 3 floors.
The elevator information storage 5c stores elevator information. The elevator information is information of an elevator such as a mountable weight, a mountable area, and a door width of the car 2. For example, the mounting area is 5×6m. For example, the door width is 4m.
The mounting order determining unit 5d determines whether or not the car 2 can be mounted on the robot 1. The loading sequence determining unit 5d determines the loading sequence of the robot 1 in consideration of the loading and unloading sequence of the robot 1 in the car 2, the layout at the time of loading, the door width at the time of unloading, and the like.
The robot remote control unit 5e issues a boarding permit for the car 2 or the like to the robot 1 according to the boarding sequence determined by the boarding sequence determination unit 5 d.
For example, the plurality of robots 1 register destination floors by using the destination registration device 3 for robots, respectively, by separately instructing them. For example, the plurality of robots 1 register destination floors in a wireless communication manner to the destination registration device 3 for robots. For example, the plurality of robots 1 operate the destination registering device 3 for robots with an arm, not shown, to register the destination floor.
When the number of cars 2 that can be used by the plurality of robots 1 is 1 and the car 2 is empty, the mounting order determining unit 5d determines that the robot 1 can be mounted 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 a boarding pass to the robot 1 whose ID 7a is C.
Then, the mounting order determining unit 5d confirms the empty area 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 is not present as the turning area 6d of the robot 1 having the ID 7a of a. At this time, the robot remote control unit 5e does not issue a boarding pass 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 be mounted are solved by general layout problems.
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 support 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 support system of the robot 1 in embodiment 1 is not applied.
Fig. 2 shows a state in which the robot 1 having ID 7a C rides. The solid line represents the occupied area 6b of the robot 1. The two-dot chain line indicates the sensor region 6c of the robot 1. The dotted line indicates the region when the robot 1 rotates. The dash-dot line shows the turning area 6d of the robot 1.
Fig. 3 shows an example in which the robot 1 having ID 7a and the robot 1 having ID 7a C are multiplied together.
If the calculation is performed only by the occupied area 6b, it is determined that the robot 1C and the robot 1A can be co-located as shown in fig. 3 (a).
However, as shown in fig. 3 (b), when the robot 1 having ID 7a C is to turn inside the car 2 in order to get off the elevator, 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 the ID 7a C cannot turn to avoid collision. Therefore, if the robot 1 having ID 7a does not get off the ladder at one end, the robot 1 having ID 7a C cannot take the ladder.
According to embodiment 1 described above, the group management device 6 determines whether or not the robot 1 can mount the car 2 based on information of a range in which the robot 1 rotates inside the car 2 when the robot is mounted on or dismounted from the car 2. Therefore, a wide variety of robots 1 can be efficiently moved in the elevator. Specifically, even when the robot 1 turns around when moving down from the car 2, the robot 1 can be smoothly moved down 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 support system of the robot 1 according to embodiment 1 is applied.
The functions of the group management device 5 can be realized by a processing circuit. For example, the processing circuitry has at least one processor 100a and at least one memory 100b. 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 in 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 the software and firmware is stored in at least one memory 100b. The at least one processor 100a realizes the respective functions of the group management device 5 by reading out and executing the program stored in the at least one memory 100b. 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, 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, etc., a magnetic disk, a floppy disk, an optical disk, a high-density disk, a mini disk, a DVD, etc.
In the case of processing circuitry having at least one dedicated hardware 200, the processing circuitry is implemented, for example, by a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC, an FPGA, or a combination thereof. For example, each function of the group management device 5 is realized by a processing circuit. For example, the functions of the group management device 5 are unified by a processing circuit.
Regarding the functions of the group management device 5, one part may be implemented by dedicated hardware 200, and the other part may be implemented 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 reading and executing a program stored in at least one memory 100b by at least one processor 100 a.
Thus, the processing circuit implements the functions of the group management device 5 by means of 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. The functions of the server having the order determining unit 5d may be realized by a processing circuit equivalent to the processing circuit for realizing the functions of the group management device 5.
Embodiment 2
Fig. 5 is a configuration diagram of a movement support system of the robot 1 in embodiment 2. The same or corresponding parts as those of embodiment 1 are denoted by the same reference numerals. The description of this portion 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 inhibition sensor area 6f are associated with each other.
The inhibition sensor region 6f is information of an area when the effective distance of the anti-collision sensor 1a is changed. The turning area 6d is automatically changed according to the suppression sensor area 6f.
For example, at level 1, car 2 is empty. The mounting order determining unit 5d determines the area where the robot 1 having the ID 7a of C can be mounted on the car 2. At this time, the robot remote control unit 5e issues a boarding pass for the robot 1 whose ID 7a is C. Then, the robot remote control unit 5e causes the robot 1 having the ID 7a of C to change the detection range of the collision avoidance sensor 1a. In this example, the detection range of the collision avoidance sensor 1a is changed from the setting of 1m to 0.5m. As a result, the effective area of the anti-collision sensor 1a is 3m×4m area of the sensor area 6c to 2.5×3.5m area of the suppression sensor area 6f. At this time, the radius of the turning area 6d was changed to 2.15m.
Then, the mounting order determining unit 5d confirms the empty area of the car 2 based on the information of the mounting location of the robot 1 with ID 7a and the mountable area of the car 2, and determines that 1.5×1.5m is present as the turning area 6d of the robot 1 with ID 7 a. At this time, the robot remote control unit 5e issues a boarding pass 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 is an example showing the arrangement of the robot 1 inside the car 2 of the elevator to which the movement support system of the robot 1 in embodiment 2 is applied.
Fig. 6 (a) shows a state in which the robot 1 having ID 7a as a and the robot 1 having ID 7a as C are mounted on the car 2. The solid line represents the occupied area 6b. The dash-dot line indicates the suppressed sensor area 6f. The two-dot chain line indicates the turning region 6d. Fig. 6 (b) shows a state when the robot 1 whose ID 7a is C is rotated to get off the elevator.
The turning area 6d is narrowed by the suppression sensor area 6f. As a result, the plurality of robots 1 can not only efficiently ride on the elevator but also turn around and get off the elevator.
Next, the detection range of the anti-collision sensor 1a will be described with reference to fig. 7.
Fig. 7 shows an example of detection ranges of an anti-collision sensor of a 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 also high during normal movement. Therefore, the detection range of the anti-collision 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 riding on/off a ladder. Therefore, the detection range of the anti-collision sensor 1a becomes gradually narrower. For example, as shown in fig. 7 (d), the robot 1 is stopped inside the car 2. Therefore, the detection range of the anti-collision sensor 1a is set to be minimum.
According to embodiment 2 described above, the group management device 5 outputs a command to reduce 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 with each other inside the car 2, an alarm or the like can be suppressed from being issued.
Embodiment 3
Fig. 8 shows an example of the detection range of the collision avoidance sensor 1a of the robot to which the movement support system of the robot 1 in embodiment 3 is applied. The same or corresponding parts as those of embodiment 2 are denoted by the same reference numerals. The description of this portion is omitted.
In embodiment 3, the robot 1 has an illumination device, not shown. The lighting means are simple LED lighting, lamp lighting, projectors, etc.
The illumination device irradiates light on the floor of the car 2 so that the boundary of the sensor region 6c of the robot 1 can be distinguished. 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 is colored and shined to project the sensor area 6c of the robot 1. 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 of the thickness, direction, length, and the like of an arrow.
According to embodiment 3 described above, the group management device 5 outputs an instruction to the robot to irradiate light so that the range of the collision avoidance sensor 1a of the robot 1 can be distinguished. In this case, the person riding with the robot 1 can be urged to be away from the detection range of the collision avoidance sensor 1a.
The lighting device projects the traveling direction, speed, and the like of the robot 1 onto the floor of the car 2 in the form of a figure such as the thickness, direction, and length of an arrow. Therefore, the movement of the sensor area 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 support system of the robot 1 in embodiment 4. The same or corresponding parts as those of embodiment 2 are denoted by the same reference numerals. The description of this portion 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 type 6h, and the information of the type 6i that can be multiplied 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 type 6i that can be multiplied is information of the type of the robot 1 that can be multiplied.
In embodiment 3, the movement information of the robot 1 is information in which ID 7a, model 7b, boarding floor 7c, destination floor 7d, load weight 7e, and priority 7f are associated with each other.
The load weight 7e is information on 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 dynamically changed according to the degree of completion of the object also for the same type of robot 1. For example, when there are many articles to be carried during the delivery of the food delivery robot 1, the priority 7f is set to be higher. For example, when no load is present after the completion of the dispensing of the food dispensing robot 1, the priority 7f is set to be lower.
According to embodiment 4 described above, the group management device 5 sets the priority of the robot 1 according to the attribute of the robot 1. Therefore, the plurality of robots 1 can be moved more efficiently.
For example, when the cleaning robot 1 does not end the cleaning for a predetermined period of time, the priority 7f of the robot 1 may be set to be 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 distribution may be set higher than the priority of the robot 1 during return.
Embodiment 5
Fig. 10 is a diagram showing an example of a robot 1 that is rejected from riding in a ladder based on the movement support system of the robot 1 in embodiment 5. The same or corresponding parts as those of embodiment 4 are denoted by the same reference numerals. The description of this portion is omitted.
In embodiment 5, the type of the robot 1 to be co-ridden 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 mode 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 mutual spacing.
For example, as shown in fig. 10 (a), the food dispensing robot 1 is different from the cleaning robot 1. The food dispensing robot 1 is different from the security robot 1.
For example, as shown in fig. 10 (b), in the food dispensing robot 1, whether or not the contact with the outside is allowed is changed according to the state in which the food is in contact with the outside and the state in which the food is stored without contact with the outside. For example, in the case of storing food, the food dispensing robot 1 is co-located with the document dispensing robot 1. For example, in the case where food is in contact with the outside, only the same kind of food dispensing robot 1 is co-ridden. For example, when the robot 1 dispenses packaged foods, the robot 1 is compatible with the robot 1 dispensing documents, medicines, sealed beverages, and the like.
For example, as shown in fig. 10 (c), when the plurality of food dispensing robots 1 are multiplied together, the sensor area 6c of the plurality of food dispensing robots 1 is smallest.
The safety robot 1 and the cleaning robot 1 are set to be compatible with each other. The security robot 1 and the document delivery robot 1 are set to be compatible.
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 of the elevator to which the movement support system of the robot 1 in embodiment 5 is applied.
In step S1, the group management device 5 starts the loading process of the robot 1 into the car 2. Then, the group management device 5 performs the operation of step S2. In step S2, the group management device 5 receives a request for loading from the robot 1 to the car 2. Then, the group management device 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 mount from the robot movement table.
Then, the group management device 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 device 5 performs the operation of step S5. In step S5, the group management device 5 determines whether or not the other robot 1 is riding the car 2.
When another robot 1 is riding in 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 co-ride with the robot 1 that is riding on the car 2.
In step S6, when the robot 1 can co-ride with the robot 1 that is riding on the car 2, the group management device 5 performs the operation of step S7. In step S7, the group management device 5 calculates the area where the car 2 can be mounted based on the robot information table, the elevator information, and the mounting state of the car 2.
Then, the group management device 5 performs the operation of step S8. In step S8, the group management device 5 determines whether or not the robot 1 is able to ride on the basis of the area where the car 2 can be mounted.
In step S8, when the robot 1 is able to ride, 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 get in while narrowing the sensor area. Then, the group management device 5 ends the operation.
When the other robot 1 does not mount the car 2 in step S5, the group management device 5 performs the operation of step S9.
In the case where the robot 1 cannot ride on the car 2 in step S6 or in the case where the robot 1 cannot ride on the car in step S8, the group management device 5 returns to step S2 and accepts the request for the ride on the car 2 from the robot 1 again.
According to embodiment 5 described above, group management device 5 determines whether or not car 2 can be used based on the attribute of each of 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 of the elevator to which the movement support system of the robot 1 according to embodiment 6 is applied. The same or corresponding parts as those of embodiment 5 are denoted by the same reference numerals. The description of this portion is omitted.
In step S11, the group management device 5 starts the loading process of the robot 1 into the car 2. Then, the group management device 5 performs the operation of step S12. In step S12, the group management device 5 receives input of information on the weight of the mounted object from the robot 1. Then, the group management device 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 mount from the robot movement table.
Then, the group management device 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 mount quota 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 mounted object.
Then, the group management device 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 object to be mounted.
When the total mounting quota does not match the total of the weight of the robot 1 being mounted and the weight of the object to be mounted in step S15, the group management device 5 determines that a person is mounted in 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 be ridden by a person.
When the total mounting quota matches the total of the weight of the robot 1 and the weight of the mounted object in step S15, the group management device 5 determines whether the car 2 is mounted with only the robot 1 or nothing.
In step S15, when the total mounting quota matches the total of the weight of the robot 1 being mounted and the weight of the object to be mounted, or when the robot 1 can be co-ridden with 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 co-ride with the robot 1 that is riding on the car 2.
In step S17, when the robot 1 can co-ride with the robot 1 that is riding on the car 2, 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 the weight of the mounted object. Then, the group management device 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 the weight of the mounted object thereof is within the maximum mounting rate.
In step S19, when the sum of the current scale information and the weight of the robot 1 and the weight of the mounted object is within the maximum mounting quota, 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 device 5 performs the operation of step S21. In step S21, the group management device 5 determines whether or not the robot 1 is able to ride on the basis of the area where the car 2 can be mounted.
In step S21, when the robot 1 is allowed to ride, 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 get in while narrowing the sensor area. In this case, the sensor region may be displayed as in embodiment 4. Then, the group management device 5 ends the operation.
In any of the cases where the robot 1 cannot ride on the car 1 in step S16, where the robot 1 cannot ride on the car 2 in step S17, where the sum of the current weight information of the robot 1 and the weight of the mounted object thereof is not within the maximum mounting quota in step S19, and where the robot 1 cannot ride on the car in step S21, the group management device 5 returns to step S12 to accept the request for the ride on the car 2 again from the robot 1.
According to embodiment 6 described above, when an area where the robot 1 can mount is present in the car 2, the group management device 5 determines whether or not the robot 1 can mount the car 2 based on information on the weight of the robot 1 and the weight of the mounted object of the robot 1. Therefore, the robot 1 can be moved more efficiently.
The group management device 5 detects the user's riding condition based on the information on the weight of the robot 1 and the weight of the mounted object of the robot 1 and the balance information on the car 2. Therefore, the robot 1 can be moved more appropriately.
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 support system of the robot 1 according to embodiment 7 is applied. The same or corresponding parts as those of embodiment 5 are denoted by the same reference numerals. The description of this portion is omitted.
In step S31, the robot 1 calls the empty car 2. Then, the robot 1 performs the operation of step S32. In step S32, the robot 1 outputs information of a predetermined 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 of the scheduled arrival times of the 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 predetermined arrival time of the car 2 is later than the predetermined arrival time of itself.
When the predetermined arrival time of the car 2 at the elevator hall is later than the predetermined arrival time of the car itself at the elevator hall in step S34, the robot 1 performs the operation of step S35. In step S35, the robot 1 decreases the moving speed and moves according to the time when the car 2 arrives at the elevator hall. At this time, the robot 1 accelerates in a state where safety can be ensured.
When the scheduled arrival time of the car 2 at the elevator hall is not later than the scheduled arrival time of the car itself 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 according to the time when the car 2 arrives 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 is loaded into 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 predetermined arrival time of the car 2 to the robot 1. Therefore, waiting for the robot 1 to get in and waiting for the robot 1 to arrive at 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 predetermined arrival time of the robot 1 is likely to change due to an obstacle or the like on the halfway route, the call of the car 2 at the current time is canceled, and the call of the car 2 may be registered again. In this case, the deviation of the predetermined arrival time can be modified.
Industrial applicability
As described above, the movement assistance system of the robot of the present invention can be used for a robot system.
Description of the reference numerals
1: a robot; 1a: an anti-collision sensor; 2: a car; 3: a destination registration device for a robot; 4: a control device; 5: a group management device; 5a: a robot attribute table information storage unit; 5b: a robot movement table information storage unit; 5c: an elevator information storage unit; 5d: a mounting order determining unit; 5e: a robot remote control unit; 6a: a model; 6b: occupying an area; 6c: a sensor region; 6d: a turning region; 6e: a direction of movement; 6f: suppressing the sensor area; 6g: a weight; 6h: a category; 6i: the types can be multiplied; 7a: an ID;7b: a model; 7c: boarding floors; 7d: a destination floor; 7e: the weight of the carried object; 7f: a priority; 100a: a processor; 100b: a memory; 200: hardware.

Claims (11)

1. A movement assistance system for a robot, wherein,
the movement support system for a robot includes a mounting order determination unit that determines whether the robot can land on an elevator car based on information of a turning range in which the robot turns around the elevator car, the information of the turning range being obtained based on a detection range in which an effective distance of an anti-collision sensor is reduced when the robot detects a surrounding area during normal movement than when the robot detects the surrounding area, when the robot can only advance forward and has landed on the elevator car.
2. The movement assistance system of a robot according to claim 1, wherein,
the robot movement support system includes a robot remote control unit that outputs a command to reduce the 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, wherein,
the robot remote control unit outputs a command to the robot to irradiate light so that the 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, wherein,
the robot remote control unit outputs an instruction to the robot to irradiate light so that the direction and thickness of the arrow or the graph indicated by the direction and thickness of the arrow indicates the direction or speed of travel of the robot.
5. The movement assistance system for a robot according to any one of claims 1 to 4, wherein,
the mounting order determining unit sets the priority of the robot based on the attribute of the robot.
6. The movement assistance system for a robot according to any one of claims 1 to 4, wherein,
the loading order determining unit determines whether or not the car can be loaded based on the attribute of each of the plurality of robots.
7. The movement assistance system for a robot according to any one of claims 1 to 4, wherein,
when the car has an area where the robot can land, the mounting order determining unit determines whether the robot can land the car based on information on the weight of the robot and the weight of the mounted object of the robot.
8. The movement assistance system for a robot according to any one of claims 1 to 4, wherein,
the loading sequence determining unit detects the user's boarding condition based on the information on the weight of the robot, the weight of the object to be loaded by the robot, and the weight information on the car.
9. The movement assistance system of a robot according to claim 8, wherein,
the movement assistance system for a robot includes a storage unit that stores information on the weight of the robot and the weight of an object to be mounted on the robot,
the mounting order determining unit obtains information on the weight of the robot and the weight of the mounted object of the robot from the storage unit.
10. The movement assistance system for a robot according to any one of claims 1 to 4, wherein,
the loading sequence determining unit outputs information indicating that the car is empty to the robot when detecting 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 4, wherein,
the loading sequence determining unit outputs information of a predetermined arrival time of a car to a robot when the robot calls the car.
CN201980095939.1A 2019-05-17 2019-05-17 Movement assistance system for robot Active CN113811501B (en)

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