WO2006038576A1 - ロボット制御装置 - Google Patents
ロボット制御装置 Download PDFInfo
- Publication number
- WO2006038576A1 WO2006038576A1 PCT/JP2005/018265 JP2005018265W WO2006038576A1 WO 2006038576 A1 WO2006038576 A1 WO 2006038576A1 JP 2005018265 W JP2005018265 W JP 2005018265W WO 2006038576 A1 WO2006038576 A1 WO 2006038576A1
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- WIPO (PCT)
- Prior art keywords
- task
- robot
- battery
- replenishment
- execution
- Prior art date
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Classifications
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- 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
- B25J19/005—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators using batteries, e.g. as a back-up power source
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/00032—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by data exchange
- H02J7/00036—Charger exchanging data with battery
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/00047—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries with provisions for charging different types of batteries
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0013—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries acting upon several batteries simultaneously or sequentially
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0042—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction
- H02J7/0044—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction specially adapted for holding portable devices containing batteries
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J2310/00—The network for supplying or distributing electric power characterised by its spatial reach or by the load
- H02J2310/10—The network having a local or delimited stationary reach
- H02J2310/20—The network being internal to a load
- H02J2310/22—The load being a portable electronic device
Definitions
- the present invention relates to a robot control apparatus that causes an autonomous mobile robot to execute one or more tasks. More specifically, based on the remaining amount of the battery that is the power source of the autonomous mobile robot, the execution order of multiple tasks assigned to the autonomous mobile robot is reviewed, the task is changed, and other autonomous mobile robots of the task. This is related to a robot controller that performs multiple tasks efficiently by autonomous robots.
- Japanese Patent Application Laid-Open No. 2001-92529 discloses a charging control system for a mobile robot that transports luggage in a manufacturing factory where FA (factory automation) is introduced.
- the host computer manages the operation of each mobile robot, and each mobile robot is controlled to carry a package or move to a charging station according to instructions from the host computer. .
- a mobile robot that performs a task in an environment where a person exists, such as a task in a reception task or a guidance task, causes a response (human response) due to the presence of a person during task execution. ) Often need to be done.
- the mobile robot is performing a task (package delivery task) to deliver a package to a person
- the person to whom the package is delivered (the target person) is not always in the same place.
- the mobile robot needs to make a response (human response) that keeps moving until it reaches the target person.
- a device that enables a mobile robot to efficiently execute a plurality of tasks even under conditions where there is an unpredictable factor of human response, that is, a battery that is a power source of the robot Based on the remaining amount, review the execution order of multiple tasks assigned to the robot, assign unexecuted tasks to other mobile robots, and transfer other tasks that have been difficult to perform to other mobile robots There was a need for a robot controller that efficiently performs multiple tasks with a mobile robot. Disclosure of the invention
- the present invention relates to a robot control device that manages tasks to be executed by each robot having a moving function.
- the robot control device includes: a battery level determination unit that determines a battery level of a plurality of predetermined battery levels based on a remaining battery level of the robot; Enter the task execution plan to be executed by the robot.
- the task management means for reviewing the task execution order registered in the execution plan and changing the task according to the procedure determined for each battery level, and the execution plan,
- An execution command generation unit that generates an execution command for causing the robot to execute a set task, and a transmission unit that transmits the execution command to the robot.
- a task that is determined to be difficult to be executed by the robot by reviewing the execution order of tasks registered in the execution plan performed by the task management unit is transferred to another robot. Prefer to register in the execution plan.
- the battery level determining means of the robot control device determines whether or not the robot needs to be replenished (replaced / charged) based on the remaining amount of the battery.
- the battery replenishment unit When it is determined that the battery replenishment unit needs to be replenished with a battery, it selects one battery replenishment area in the middle of a plurality of battery replenishment areas prepared in advance, and selects the selected battery replenishment area as the robot.
- Battery supply area selection unit to be set as the movement target area of the robot, the amount of battery consumed to perform the task being executed by the robot, and the amount of battery consumed to move the robot to the movement target area By comparing the threshold value obtained by taking into account the remaining battery level, the state of the battery is determined from any of a plurality of predetermined battery levels. It is preferable to have a battery level determination unit that determines whether the battery level is reached.
- the battery replenishment area selection unit sets the movement target area based on a current position of the robot or an end position of a task being executed by the robot.
- the task management means of the robot control device registers a movement task for moving the robot to the movement target area in the execution plan when it is determined that notch replenishment is necessary. I prefer that.
- the task execution order registered in the execution plan of each robot is reviewed and the task is changed based on the remaining amount of the battery that is the power source of each robot.
- FIG. 1 is a system configuration diagram of a robot control system A according to an embodiment of the present invention.
- FIG. 2 is a block diagram of Robot R
- FIG. 3 is a block diagram of the robot control device 3.
- FIG. 4 is an explanatory diagram showing an example of information items in a task information database 220.
- FIG. 5 is an explanatory diagram showing an example of a configuration of a task schedule table 230.
- FIG. 6 is a block configuration diagram of the control means 300 and the storage means 200 of the robot control device 3.
- FIG. 7 is an explanatory diagram for explaining processing performed in a task schedule generation unit 341
- FIG. 8 is an explanatory diagram for explaining processing performed in a task schedule generation unit 341
- FIG. 9 is an explanatory diagram showing an example of a task information database 220 when a notch reservation task is registered.
- FIG. 10 (a) is an explanatory diagram showing an example of a task schedule table 230 before a notch reservation task is registered.
- (B) is an explanatory diagram showing an example of a task schedule table 230 when a notch reservation task is registered.
- FIG. 11 is a flowchart for explaining processing performed in the robot control device 3 when determining whether or not to insert a battery replenishment task into the task schedule of the robot R.
- FIG. 1 is a system configuration diagram of a robot control system provided with a robot control apparatus according to the present invention.
- the robot control system A includes a plurality of robots having a moving function. RA, RB, RC (however, if the robot is not specified, it is simply called “Robot R”).
- Each robot R has a task execution plan (preliminarily set for each robot R in the robot controller 3). Execute the task according to the task schedule.
- the tasks registered in the task schedule are reset based on the remaining battery level of each robot R so that multiple tasks can be efficiently executed by multiple robots R. It is configured.
- a robot control system A is connected to a plurality of robots R, a base station 1 connected to these robot scales by radio communication, and the base station 1 via a router 2.
- the robot control device 3 includes a robot control device 3 and a terminal 5 connected to the robot control device 3 via a network 4.
- the robot R executes a task in accordance with an execution command input from the robot controller 3, and at least one robot R is arranged in a task execution area set in advance as an area where the robot R executes a task. ing.
- Fig. 1 shows a robot RA performing a task (guidance task) that guides a visitor to a predetermined place such as a conference room, and a task (delivery package) to a person.
- a robot RB that is executing (task)
- a robot RC that is executing a task (waiting task) that is waiting for a new task to be assigned are illustrated.
- the base station 1 mediates data exchange between the robot R and the robot control device 3.
- the base station 1 transmits an execution command output from the robot controller 3 to the robot R, and also transmits data (status information) on the state of the robot R transmitted from the robot R and the robot R A signal (reception report signal) indicating that the execution command has been received is received and output to the robot controller 3.
- At least one base station 1 is provided in the task execution area in order to ensure data exchange between the robot R and the robot controller 3.
- the task execution area is set over several floors of the building, it is preferable that one base station 1 is provided for each floor. Must have multiple base stations] _ in the task execution area Is preferred.
- the robot control device 3 sets an execution plan (task schedule) of tasks to be executed by the robot R for each robot R and, based on the battery remaining amount of the robot R, the tasks registered in the task schedule. Re-setting (reviewing task execution order or changing tasks).
- the terminal 5 is used for registering tasks to be executed by the robot R, changing the task schedule set in the robot controller 3, and inputting robot R operation commands.
- the robot R of this embodiment is an autonomous mobile biped robot.
- This robot R executes a task mainly based on an execution command transmitted from the robot control device 3.
- this robot R has a head Rl, an arm R2, and a leg R3, and the head Rl, arm R2, and leg R3 are each driven by an actuator.
- the bipedal walking is controlled by the autonomous movement control unit 50 (see FIG. 2). Details of this bipedal walking are disclosed in, for example, Japanese Patent Application Laid-Open No. 2001-62760.
- FIG. 2 is a block configuration diagram of the robot R.
- the robot R has a camera C, C, a speaker S, a microphone MC, an image processing unit 10, an audio processing unit 20, A control unit 40, an autonomous movement control unit 50, a wireless communication unit 60, and a battery 70 are included.
- the robot R has a gyro sensor SR1 and a GPS receiver SR2.
- the cameras C and C are capable of capturing video as digital data.
- a color CCD (Charge-Coupled Device) camera is used.
- Cameras C and C are arranged side by side on the left and right, and the captured image is output to the image processing unit 10.
- the cameras C and C, the speaker S, and the microphone MC are all disposed inside the head R1. [0029] [Image processing unit]
- the image processing unit 10 processes the images taken by the cameras C and C, and recognizes the surrounding obstacles and people in order to grasp the situation around the captured image and the robot R. It is.
- the image processing unit 10 includes a stereo processing unit l la, a moving body extraction unit l lb, and a face recognition unit 11c.
- the stereo processing unit 11a performs pattern matching on the basis of one of the two images taken by the left and right cameras C and C, and calculates the parallax of each corresponding pixel in the left and right images to generate a difference image Then, the generated parallax image and the original image are output to the moving body extraction unit l ib. This parallax represents the distance to the object where the robot R force is also photographed.
- the moving object extraction unit l ib extracts a moving object in the photographed image based on the data output from the stereo processing unit 11a.
- the reason for extracting the moving object (moving object) is to recognize the person by estimating that the moving object is a person.
- the moving object extraction unit l ib stores images of several past frames (frames), and compares the latest frame (image) with the past frames (images). Then, no-turn matching is performed, the movement amount of each pixel is calculated, and a movement amount image is generated. Then, the moving body extraction unit l ib has a person at that position when there is a pixel with a large amount of movement within a predetermined distance range from the cameras C and C from the parallax image and the movement amount image. The moving object is extracted as a parallax image only in the predetermined distance range, and the moving object image is output to the face recognition unit 11c.
- the face recognition unit 11c extracts the extracted moving body strength skin color portion, and recognizes the position of the strength face such as its size and shape. Similarly, the hand position is also recognized from the skin color area, size, shape, and the like.
- the position of the recognized face is output to the control unit 40 and also to the wireless communication unit 60 as information when the robot R moves and to communicate with the person. And transmitted to the robot controller 3 via the base station 1.
- the speech processing unit 20 includes a speech synthesis unit 21a and a speech recognition unit 21b.
- the speech synthesizer 21a is based on the speech action command determined and output by the control unit 40. This is the part that generates audio data from the text information and outputs the audio to the speaker S.
- voice data For the generation of voice data, the correspondence between the character information stored in advance and the voice data is used.
- the voice recognition unit 21b receives the microphone MC power voice data and stores the voice data and characters stored in advance. Based on the correspondence with the information, character information is generated from the voice data and output to the control unit 40.
- the control unit 40 generates a signal to be output to the robot control device 3 to be described later, and based on the execution command output from the robot control device 3, each unit of the robot R (image processing unit 10, audio processing unit). 20, autonomous movement control unit 50 and radio communication unit 60)
- the control unit 40 when receiving the execution command output from the robot controller 3, the control unit 40 generates a signal (reception report signal) indicating that the execution command has been received, and receives the reception report signal. Is output to the robot controller 3 via the wireless communication unit 60.
- control unit 40 controls each part of the robot R (the image processing unit 10, the audio processing unit 20, the autonomous movement control unit 50, and the wireless communication unit 60) in order to execute the task specified in the execution instruction.
- the control signal to be generated is generated, and the generated control signal is output to each part of the robot rule as necessary.
- control unit 40 generates data (status information) related to the state of the robot R at predetermined time intervals, and outputs the generated status information to the robot control device 3 via the wireless communication unit 60. .
- the status information is used when determining whether or not the robot R needs to be refilled in the robot controller 3 described later.
- this status information includes battery remaining data indicating the remaining amount of the battery 70 mounted on the robot R, data indicating the battery temperature, the battery voltage value, and the battery current value. (Hereinafter collectively referred to as battery information), coordinate data indicating the current position of Robot R (position information), task ID indicating the task currently being performed by Robot R, and its progress. Data to be shown (task information) and assigned to robot R And data (robot ID) indicating a unique identification number.
- control unit 40 is configured to (1) periodically generate and transmit status information, but (2) when the remaining battery level becomes a predetermined value or less, (3) When a signal (data request signal) requesting transmission of status information transmitted from the robot control device 3 is received, the control unit 40 may generate and transmit status information.
- data request signal requesting transmission of status information transmitted from the robot control device 3
- the control unit 40 may generate and transmit status information.
- these (1) to (3) may be arbitrarily combined.
- the autonomous movement control unit 50 includes a head control unit 51a, an arm control unit 51b, and a leg control unit 51c.
- the head control unit 51a drives the head R1 according to the control signal input from the control unit 40, and the arm control unit 51b operates the arm unit according to the control signal input from the control unit 40.
- R2 is driven, and the leg control unit 51c drives the leg R3 according to the instruction of the control signal input from the control unit 40.
- the wireless communication unit 60 is a communication device that transmits and receives data to and from the robot control device 3.
- the radio communication unit 60 has a public line communication device 6 la and a radio communication device 6 lb.
- the public line communication device 61a is a wireless communication means using a public line such as a mobile phone line or a PHS (Personal Handyphone System) line.
- the 6 lb wireless communication device is a short-range wireless communication means such as a wireless LAN that conforms to the IE EE802.11b standard.
- the wireless communication unit 60 selects the public line communication device 61a or the wireless communication device 61b according to the connection request from the robot control device 3, and performs data communication with the robot control device 3.
- the notch 70 is a power supply source necessary for the operation and processing of each part of the robot R.
- the gyro sensor SR1 and the GPS receiver SR2 periodically generate coordinate data indicating the current position of the robot R, and output the generated coordinate data to the control unit 40. This coordinate data is used to determine the behavior of the robot R and is also used to generate the status information described above. [0040] [Robot controller]
- the robot controller 3 in FIG. 1 mainly sets a task execution plan (task schedule) to be executed by the robot R for each robot R, and reviews the task schedule based on the remaining battery capacity of the robot R ( Task assignment change or task change).
- task schedule a task execution plan
- the robot controller 3 in FIG. 1 mainly sets a task execution plan (task schedule) to be executed by the robot R for each robot R, and reviews the task schedule based on the remaining battery capacity of the robot R ( Task assignment change or task change).
- the robot control device 3 includes an input / output unit 100, a storage unit 200, and a control unit 300 as main parts.
- the input / output means 100 is an interface for exchanging data with the robot R and the terminal 5 via the base station 1 and the network 4.
- status information and reception report signal transmitted from the robot R a signal for requesting registration or update of a task transmitted from the terminal 5 (task request signal), and generated by an execution command generation unit 350 described later.
- Execution command power is exchanged via this input / output means 100.
- the input / output unit 100 outputs the status information, task request signal, and reception report signal among the input status information, task request signal, and reception report signal to the database management unit 310, and determines only the status information for the battery level. Output to means 330.
- the storage means 200 stores information necessary for control of the robot R.
- the storage means 200 includes a map information database 210, a task information database 220, a task schedule table 230, and a robot information database 240. And are at least remembered.
- the map information database 210 is a database that stores map information (global map) of an area (task execution area) in which the robot R executes tasks.
- map information database 210 information such as passages, stairs, elevators, rooms, and battery replenishment areas existing in the task execution area is registered in association with coordinate data indicating the position in the task execution area. ing. Therefore, in the case of the present embodiment, referring to the map information database 210 based on the current position of the robot R itself, the robot R arranged in the task execution area and the identification in the task execution area are identified. You can know the positional relationship with an object (target).
- the distance from the robot R to the battery replenishment area and the direction in which the notch replenishment area is located with respect to the front of the mouth bot R can be found.
- robot R 3 performs task execution by generating a signal (execution command) for robot R's autonomous movement and task execution command in robot controller 3. Since the robot R can be moved to a desired position in the area (for example, the start position of the task) through the shortest and optimum route, the robot R can autonomously move and execute the task by the robot R. Further, based on this positional relationship and the average moving speed of the robot R, the battery consumption and time when the robot R moves can also be calculated.
- the update of the map information stored in the map information database 210 is set to be performed by the database management means 310 by inputting data from the terminal 5 operated by the operator !,
- the task information database 220 is a database that stores information (task data) related to tasks to be executed by the robot R.
- the task ID which is a unique identifier assigned to each task, the priority of the task, the importance of the task, and the robot which is the identifier of the mouth bot that executes the task ID
- contents of tasks such as guidance and transportation, position to start the task in the task execution area (start position), position to end the task in the task execution area (end position), time required to execute the task (time required) ), Scheduled task start time (start time), scheduled task end time (end time), task status, etc. are included as information items.
- new registration of tasks to the task information database 220 and update of the contents of information items of registered tasks are performed by inputting data from the terminal 5 operated by the operator.
- Database management means 310 is set to perform.
- the task schedule table 230 includes an execution order of tasks to be executed by the robot R, a task ID for identifying a task registered in the task information database 220, a task priority, a task content, It is a table that includes the task status as an information item.
- this task schedule table 230 these information items are arranged for each robot R arranged in the task execution area, and what kind of task power is assigned to each mouth bot R in any order! / Now that you can figure out what!
- the degree is “3”
- each information item displayed in the task schedule table 230 is linked to the corresponding information item in the task information database 220 described above using the task ID as a reference identifier.
- the task schedule table 230 is a database that defines the allocation of unprocessed tasks among the tasks registered in the task information database 220 to each robot R and the execution order of tasks in each robot R.
- the task assignment and execution order shown in the task schedule table 230 are determined and changed by the task management means 340 described later.
- the robot information database 240 is a database that stores data (status information) relating to the state of the robot R.
- the robot information database 240 includes information (data) on the battery information, position information, task information, and the presence or absence of the drive system abnormality of the robot R as information items. It is organized in association with IDs.
- the content of each information item stored in the robot information database 240 is updated by the database management unit 310 of the control unit 300 described later based on the status information transmitted from the robot R. .
- control means 300 includes database management means 310, priority data generation means 320, battery level determination means 330, task management means 340, and execution instruction generation means 350. Consists of.
- the database management means 310 performs registration of data in each database stored in the storage means 200, updating of data registered in each database, and the like. For example, when the database management means 310 is input via the status information force input / output means 100 indicating the state of the robot R, the database management means 310 refers to the robot information database 240 based on the robot ID included in the status information, and The content (data) of the information item related to the robot R specified by the ID is updated to the content (data) of the information item acquired from the status information.
- the database management means 310 indicates that the task information included in the status information indicates that the execution of the robot R force S task has been completed, and the next task assigned to the robot R is displayed.
- the execution command generation means 350 generates a signal (execution command request signal) that requests the execution command generation means 350 to generate an execution command that instructs the robot R to execute the task. Is output to the execution command generation means 350.
- the database management means 310 receives a signal (task request signal) for requesting registration of a new task input at the terminal 5 via the input / output means 100.
- Update the task information database 220 (update the contents of the information item), generate a signal (task update signal) indicating that the task information database 220 has been updated, and prioritize the generated task update signal.
- the data is output to the data generation means 320.
- the priority data generation means 320 determines the priority of tasks to be executed by the robot R.
- the priority data generation means 320 is configured such that when a task update signal is input from the database management means 310, or the notch replenishment task is registered in the task information database 220 from the task management means 340. Therefore, when a signal indicating that the task information database 220 has been updated (task update signal) is input, the task is registered in the task information database 220 and is unprocessed (unexecuted). Determine task priority.
- a signal (schedule request signal) for requesting that scheduling is performed for an unexecuted task among the tasks registered in the task information database 220 is generated and output to the task management means 340.
- the priority of the task is determined by determining the importance of the task set when the task is registered in the task information database 220, the starting position force of the task, and the robot having V closest to the position. This is done in consideration of the separation distance between the task and the start position of the task and the time margin from the current time to the start time and end time of the task.
- the priority data generation means 320 calculates the priority P of each task based on the following formula (1), thereby determining the priority of the task.
- T is arbitrarily determined when a task is registered in the task information database 220.
- the value indicating the importance of this task is set between 1.0 and 5.0 in increments of 0.5.
- the task with the least importance is 1.0, and the importance is The tasks with the largest are 5.0, respectively.
- N (T;) is near the start position of the task.
- sp (n (T)) is set to take a predetermined positive value, and ⁇ is greater than a predetermined threshold value.
- the value of “n (T;)” is set to be “0”.
- f (T;) is a time remainder from the current time to the start time and end time of the task.
- f (T) is set to be a value from 0 to 1
- the maximum value is “1” until the time, and when the task end time elapses, it is set to gradually decrease to “0”!
- the current time is before the reference time
- the following expression (2) is satisfied, and the current time is after the reference time and the task end time elapses. If it is before, the time-dependent importance f (T) is calculated by the following formula (3), and if the current time is after the task end time, the following formula (4) is calculated.
- KT) exp (-K ((T-T) / ⁇ ) ⁇ ' ⁇ ⁇ (2)
- T is the time interval between the current time and the task start time, and the task start time
- T A positive value before, and a negative value after the task start time.
- the battery level determination means 330 is configured to store the remaining battery ( The state power of the battery 70 mounted on the robot R is determined based on the remaining battery level, which battery level corresponds to a predetermined battery level.
- This battery level determination means 330 includes a battery replenishment determination unit 331, a battery replenishment area selection unit 332, and a battery level determination unit 333.
- the notch replenishment determination unit 331 determines whether or not the robot R needs to be replenished (replaced or charged) with the battery 70, that is, the case where the battery replenishment is obviously not necessary is excluded. Is.
- the notch replenishment determination unit 331 is executing the notch replenishment task from the task information included in the status information. Confirm whether or not there is a certain force, and decide whether or not it is necessary to insert the knotter replacement task into the robot R task schedule.
- the case where the robot R is executing the notch replenishment task corresponds to the case where the notch replenishment is not necessary, and therefore the notch replenishment determination unit 331 ends the process.
- the battery replenishment determination unit 331 obtains data indicating the remaining amount of the battery 70 (the battery remaining amount data) from the battery information included in the status information. Then, the acquired battery remaining amount data is compared with a preset first threshold value.
- the battery replenishment determination unit 331 When the value indicated by the battery remaining amount data is less than the first threshold value, the battery replenishment determination unit 331 outputs the status information input from the input / output unit 100 to the battery replenishment area selection unit 332 To do.
- the notch replenishment determining unit 331 ends the process.
- the first threshold value is prepared to reduce the data processing burden in the battery level determination means 330 (robot control device 3), except when the notch replenishment is clearly unnecessary. It has been done.
- the first threshold value is the state of the task execution area where the robot R is placed.
- the battery replenishment area selection unit 332 determines, for the robot R specified by the robot ID included in the status information, a location (battery replenishment area) where the robot R moves for battery replenishment. It is.
- the notch replenishment area selection unit 332 refers to the task information included in the status information, and the robot R performs some task other than the notch replenishment task. Check if the force is running.
- the notch replenishment area selection unit 332 acquires coordinate data (current position data) indicating the current position of the robot R from the position information included in the status information.
- the notch replenishment area selection unit 332 refers to the map information database 210 based on the current position data, and stores a plurality of battery replenishment areas (B1 to B3, see FIG. 1) preset in the task execution area. Select the battery replenishment area that is the nearest notch replenishment area from the position specified by the current position data and has a reservation for refilling the battery, and select the battery replenishment area of the robot R. Set as moving target area
- the notch replenishment area selection unit 332 acquires a task ID indicating the task currently being executed by the robot R from the task information included in the status information. To do. Then, referring to the task information database 220 based on the task ID, the coordinate data (task end position data) indicating the position (task end position) where the task currently performed by the robot R ends is obtained. .
- the notch replenishment area selection unit 332 refers to the map information database 210 based on the task end position data, and from among a plurality of battery replenishment areas (B1 to B3) set in advance in the task execution area, Select the battery replenishment area that is the closest notch replenishment area from the position specified by the task end position data and has no reservation for replenishment of the knotter, and move the selected battery replenishment area to the robot R movement target.
- a plurality of battery replenishment areas B1 to B3
- the battery replenishment area refers to another robot R Is set as a place (movement target area) where the battery moves to replenish the battery. It should be noted that whether or not there is a reservation for notch replenishment can be confirmed by referring to the task information database.
- the notch replenishment area selection unit 332 generates movement target information including coordinate data of the movement target area and data of each information item of the status information, and the generated movement target information Is output to the battery level determination unit 333.
- These coordinate data are used when the threshold value (second threshold value to fourth threshold value) is calculated in the battery level determination unit 333 located in the subsequent stage.
- the movement target area is set according to whether or not the robot R is executing a task. That is, the movement target area is set based on the current position of the mouth bot R when the robot R is not executing the task, and based on the task end position when the robot R is executing the task.
- the battery level force determined by the battery level determination unit 333 in the subsequent stage is the heel level at which the robot rule cannot perform the task currently being executed.
- a signal (resetting request signal) for requesting resetting of the movement target area based on the current position of the robot R may be input from the battery level determination unit 333 at the subsequent stage.
- the notch replenishment area selection unit 332 resets the movement target area based on the current position of the robot R. Then, the coordinate data of the reset movement target area (movement target alternative area) is acquired from the map information database 210, and the acquired coordinate data is output to the battery level determination unit 333.
- the notch level determination unit 333 determines which of the plurality of battery levels (mode 1 to mode 4) defined in advance is the state force of the notch 70 of the robot R.
- the knotter level determination unit 333 refers to the task information included in the movement target information, and the robot R Check if any task other than the battery replenishment task is currently being executed.
- the battery level determination unit 333 determines the amount of battery consumed to perform the task that is being performed by the robot rule, and the position at which the task being executed by Robot R ends (task end).
- the robot R's battery is calculated by comparing the threshold obtained by taking into account the amount of battery consumed for movement from the (position) to the movement target area and the value of the remaining battery data indicating the remaining battery capacity obtained from the movement target information.
- the knotter level determination unit 333 determines the threshold value obtained by considering the amount of battery consumed by the robot R to move from the current position to the movement target area, and the remaining battery level. It is determined which battery level corresponds to the state force mode 1 to mode 4 of the battery 70 of the robot R by comparing with the value of the remaining battery level data.
- the notch level determination unit 333 determines the amount of battery consumed to execute the task being executed by the robot R and the movement target of the robot R depending on whether the robot R is currently executing the task.
- the threshold obtained by taking into account at least one of the amount of notch consumed to move to the area and the remaining battery data indicating the remaining amount of battery are compared.
- ⁇ Determine which battery level corresponds to mode 4.
- three threshold values used in the battery level determination unit 333 are prepared.
- the notch level determination unit 333 first compares the notch remaining amount data with the second threshold value Ref2, and if the notch remaining amount power is equal to or greater than the second threshold value Ref2, the robot
- State power of R battery 70 is determined to be mode 1.
- the remaining battery level is less than the second threshold value Re! 2
- the remaining battery level is compared with the third threshold value Ref3, and the remaining battery level is set to the third threshold value Ref3. If this is the case, it is determined that the state force mode 2 of the knot 70 of the robot R is determined.
- the remaining battery level is less than the third threshold value Ref3
- the remaining battery level is compared with the fourth threshold value Ref4, and the remaining battery level is equal to or higher than the fourth threshold value Ref4. If there is a robot R State power of knotter 70 is determined to be mode 3, and if the remaining amount of knotter is less than the fourth threshold Ref4, it is determined to be mode 4.
- the second threshold value Re! 2 and the third threshold value Refi are values for which the following equations (5) and (6) are also calculated.
- B is the amount of battery that is the robot activity limit (minimum required for autonomous movement of the robot).
- C is the end position or mouth of the task currently being executed by the robot.
- the current position force of Bot R also indicates the amount of battery consumed when moving to the movement target area.
- ⁇ and ⁇ are the amount of battery consumed by the end of the task currently being executed by Robot R and the notch margin, respectively. It is the value which added and.
- Wr is the amount of battery that the robot rule consumes only for the movement of the end position of the task currently being executed or the current position force of the robot rule to the movement target area
- G battery task
- Ctask is the amount of battery consumed by robot R only for task execution until the task currently being executed by robot R is completed, and bm is the battery margin.
- the battery replenishment area (movement target area) set in the battery replenishment area selection unit 332 in the previous stage differs depending on whether or not the robot R is executing a task.
- the second threshold value Ref2 and the third threshold value Refi used in the battery level determination unit 333 also have different values depending on whether or not the robot R force task is being executed.
- the movement target area has the robot scale. Since Wr in Equation (7) is set based on the battery end consumed by the robot R to move to the task end position force movement target area, it is set based on the position at which the task in progress is completed (task end position). Become.
- the second threshold value Ref2 is set to check whether the robot R's remaining battery power is sufficient to move to the movement target area after the robot R has performed the currently assigned task.
- the third threshold value Refi is used to check whether the robot R's remaining battery charge is sufficient to move to the movement target area after the robot R performs the currently assigned task. This corresponds to the set value.
- the movement target area is set based on the current position of the robot R. Therefore, Wr in the equation (7)
- the current position force is also the amount of battery consumed to move to the movement target area.
- the second threshold value Ref2 corresponds to the value set to confirm whether the robot R's remaining battery capacity is sufficient for the robot R to move from the current position to the movement target area.
- the threshold value Refi corresponds to the value set to check whether the robot R's remaining battery power is sufficient for the robot R to move to the current position force movement target area.
- the equations (5) and (6) are expressed by the equations (7) and (8). From (9), the following equations (10) and (11) are obtained.
- Ref2 BL + Wr + G (battery task) + Ctask + 2bm
- Ref3 BL + Wr + G (battery task) + Ctask + bm
- the fourth threshold value Ref4 is a value calculated by the following equation (12), and the fourth threshold value Ref4 is the remaining battery power of the robot R. This value is set to check whether it is enough to move from the current position (current position) to the movement target area.
- BL is the amount of battery that is the robot activity limit (minimum required for autonomous movement of the robot).
- Cb is the amount of knotter that the robot R consumes when moving to the target area, and bm is the knotter margin.
- Wr is the amount of battery consumed only by robot R moving to the current position movement target area
- G battery task
- the battery replenishment area (movement target area) set in the battery replenishment area selection unit 332 in the previous stage differs depending on whether or not the robot R is executing a task.
- the movement target area is determined based on the task end position!
- the amount of battery consumed for movement to the movement target area determined based on the task end position is consumed for movement to the movement target area newly set based on the current position of Robot R.
- the amount of knotter may be smaller.
- the notch level determination unit 333 determines the movement target area based on the current position of the robot R.
- a signal (resetting request signal) for requesting resetting of the key is output to the battery replenishment area selecting unit 332.
- the notch replenishment area selection unit 332 sets the coordinate data of the moving target area (moving target alternative area) reset based on the current position of the robot R!
- the notch level determination unit 333 obtains the amount of battery consumed when the robot scale moves to the movement target alternative area with reference to the map information data database 210, and the obtained value.
- the Ref4 value is also calculated for the force in the above equation (12) by using this as a comparison value.
- the comparison value is larger than the fourth threshold value, the reference value is used as the fourth threshold value as it is.
- the notch level determination unit 333 compares the notch remaining amount value with the fourth threshold value. If the notch remaining amount power is the fourth threshold value Ref4 or more, the state of the battery 70 of the robot R Is determined to be mode 3, and if the remaining battery level is less than the fourth threshold Ref4, it is determined to be mode 4.
- the notch level determination unit 333 determines whether the state power of the battery 70 of the robot R corresponds to one of a plurality of predetermined battery levels (mode 1 to mode 4). The determination is made by comparing the remaining amount data with a threshold value.
- the battery level determination unit 333 indicates whether the state power of the battery 70 of the robot R corresponds to one of the above modes (mode 1, mode 2, mode 3, or mode 4).
- Information battery mode information including at least the information and data of each information item of the movement target information described above is generated, and the generated battery mode information is output to the task management unit 340.
- the battery level determination unit 330 of the present embodiment first compares the battery remaining amount data included in the status information with the first threshold value. If the notch remaining amount data is equal to or greater than the first threshold value, the moving target area is not set.
- the notch replenishment area when the value indicated by the notch remaining amount data is less than the third threshold value and the robot R is executing a task, the notch replenishment area
- the selection unit 332 sets a movement target alternative area based on the current position of the robot R.
- the amount of battery consumed by Robot R to move to the movement target substitution area is set first. If it is less than the amount of knot consumed for the movement to the movement target area, the battery level determination means 330 sets (resets) the movement target alternative area as the movement target area.
- the movement target area can be reset to a movement target area that consumes less battery until it reaches the robot according to the current position of the robot.
- R can be moved to the battery replenishment area while reducing battery consumption.
- the task management means 340 sets an execution plan (task schedule) of tasks to be executed by the robot R for each robot R, and performs task execution according to the procedure determined for each battery level (mode 1 to mode 4).
- the execution plan is reset.
- the task management means 340 includes a task schedule generation unit 341 and a task schedule adjustment unit 342.
- the task schedule generation unit 341 determines the robot R that executes each task based on the priority determined for each task, and sets the execution order of tasks assigned to the robot R for each robot R. To do.
- the task schedule generation unit 341 sets an execution plan (task schedule) of tasks to be executed by each robot R.
- the task schedule generation unit 341 is registered in the task information database 220 and is not executed ( Get data (task data) related to unprocessed tasks. Then, the task schedule generating unit 341 groups the tasks based on the priority included in the task data.
- group priority can be divided into group C if the priority value of the task is less than 2, group B if it is less than 2 to less than 4, and group A if it is greater than 4.
- the task schedule generation unit 341 selects a group (in this case, loop A) that has a higher priority task power from a plurality of existing groups (group A to group C). Schedule the task.
- the task schedule generation unit 341 assigns all combinations that specify which tasks are assigned to each of the mouth bots R arranged in the task execution area and in which order the assigned tasks are executed. I will give you. Then, the task schedule generation unit 341 obtains, for each combination, the total cost required when all tasks are executed in accordance with the assignment of tasks specified in each combination to the robot R and the execution order of the tasks. Find the combination that minimizes the overall cost.
- This scheduling is preferably done for Robot R, who has no reservation for battery replenishment tasks! /.
- the task schedule generation unit 341 arranges all the tasks in the task execution area according to the task schedule defined for each combination (1 to 6). Calculate the total cost required when executed by robot R (R1, R2) In the present embodiment, the total cost (C 1) is calculated using the following formula (14).
- w is a “weight value” that determines whether to focus on operating costs or time costs, and is a value that is arbitrarily set within the range of 0 ⁇ w ⁇ l.
- the overall cost (C) tends to focus on battery consumption.
- C indicates the time when robot R1 starts task 12 and robot R2 performs task 1 all complete.
- the task schedule generation unit 341 obtains the total cost (C) for each combination, and the total total (C) value obtained for the combination having the smallest value is the total total.
- the task assignment to be specified and the task execution order are determined as a task schedule.
- the task schedule generation unit 341 performs the same operation for the remaining groups (group B and group C) in the order of group power with the highest priority, and performs task information data base.
- the robot R to be executed is determined based on the unprocessed tasks among the tasks that are registered in the service 220, and the execution order of the tasks assigned to the robot R is set for each robot R. .
- the task schedule adjustment unit 342 resets the task execution plan (task schedule) according to the procedure determined for each notch level. In other words, the task schedule adjustment unit 342 adds a task (battery replenishment task) that moves to the battery replenishment area to the task schedule of the robot R when the remaining battery capacity of the robot R falls below a certain threshold. Make a reservation or let Robot R execute the battery replenishment task.
- the task schedule adjustment unit 342 performs a process set in advance for each mode indicated in the battery mode information. .
- the task schedule adjustment unit 342 does nothing when the state of the battery indicated by the battery mode information is mode 1 (step S4, Yes).
- the task schedule adjustment unit 342 determines that the robot R force identified by the robot ID from the task information included in the status information, some task, For example, it is confirmed whether or not a transportation task is being executed (step S6).
- the task schedule adjustment unit 342 refers to the task schedule table 230 and performs a task schedule for robot R. It is confirmed whether or not a task (battery replenishment task) for moving the robot R to the movement target area is registered (reserved) in the module (step S7).
- the task schedule adjustment unit 342 When the notch replenishment task is not registered (step S7, No), the task schedule adjustment unit 342 generates data necessary for registering the notch replenishment task in the task information database 220. Based on the generated data, the notch replenishment task is registered in the task information database 220 (step S8).
- the task schedule adjustment unit 342 refers to the task information database 220 based on the task ID included in the notch mode information, and represents coordinate data indicating the end position of the currently executing task. And the data indicating the task end time and the coordinate data of the movement target area from the battery mode information.
- the task schedule adjustment unit 342 uses the coordinate data indicating the end position of the task and the data indicating the end time of the task as the coordinate data of the start position of the notch replenishment task and the data indicating the start time, respectively.
- the battery replenishment task is registered in the task information database 220.
- the priority value is set to the highest value, and the robot performing the task is specified by the robot ID, and then the notch replenishment task is registered.
- the task schedule adjustment unit 342 generates a signal (task update signal) indicating that the task information database 220 has been updated, and uses the generated task update signal as priority data generation means 320. Output to.
- the priority of each task registered in the task information database 220 is reset, and the task schedule is set (reset) based on the priority set at this time. Will be performed according to the procedure.
- processing in the task schedule adjustment unit 342 is performed as shown in FIG. 9, FIG. 10 (a), and FIG.
- the task schedule adjustment unit 342 indicates that robot R is currently running.
- the task schedule generation unit 341 performs the task.
- the content of the task schedule table, which was previously unsatisfactory, will be updated to the content shown in Fig. 10 (b).
- the task schedule adjustment unit 342 refers to the task schedule table 230 and determines the task schedule of robot R.
- the task to move the robot R to the movement target area (battery replenishment task) is registered, and it is confirmed whether or not it has the power
- step S9 If a notch replenishment task is registered (step S9, Yes), the task schedule adjustment unit 342 executes the battery replenishment task reserved in the task schedule table 230 to cause the mouthbot R to execute it.
- An instruction request signal is output to the execution instruction generating means 350 (see FIG. 6).
- the execution command generation means 350 generates an execution command for executing the notch replenishment task and outputs it to the robot R.
- step S9, No the task schedule adjustment unit 342 executes the execution requesting the generation of the execution instruction having the instruction to execute the notch replenishment task.
- An instruction request signal (battery replenishment signal) is output to the execution instruction generation means 350.
- the robot R identified by the robot ID such as coordinate data indicating the current position of the robot R and coordinate data indicating the movement target area, together with the battery replenishment signal is displayed in the battery replenishment area.
- Data required to move to Battery-related data is acquired from the battery mode information input from the battery level determination unit 333 and output to the execution command generation means 350.
- the execution command generation means 350 generates an execution command for executing the notch replenishment task and outputs it to the robot R.
- the task schedule adjustment unit 342 determines the robot R force task specified by the robot ID from the task information included in the status information. Check if the force is running (step S16).
- the task schedule adjustment unit 342 executes an execution command request signal (request to generate an execution command with a content to stop the task being executed) (Task stop signal) is output to the execution command generation means 350 (step S17) 0
- the task schedule adjustment unit 342 outputs an execution instruction request signal (forced battery replenishment signal) that requests generation of an execution instruction having a content for forcibly executing the notch replenishment task to the execution instruction generation means 350. (Step S18).
- the task schedule adjustment unit 342 outputs a forced battery replenishment signal
- the coordinate data indicating the current position of the robot R, the coordinate data indicating the movement target area, and the like, together with the forced battery replenishment signal The data required for the robot R specified by the robot ID to move to the battery supply area (battery replenishment related data) is obtained from the battery mode information input from the battery level determination unit 333 and executed.
- step S16 when the task is not being executed (step S16, No), the forced notch replenishment signal and the notch replenishment related data are output to the execution command generating means 250 (step S18).
- the robot R is forced to execute the notch exchange task based on the execution command generated by the execution command generation means 350 described later.
- the task schedule adjustment unit 342 determines whether the battery status indicated by the battery mode information is When in mode 4 (Step SI 5, No), Robot R generates a signal (emergency signal) notifying the administrator that it cannot perform the task or move to the battery replenishment area. A signal (emergency signal request signal) required for the execution command generation unit 250 is generated and output to the execution command generation unit 250.
- a signal emergency signal request signal
- the execution command generation means 350 generates an execution command (data) for causing the robot R to execute a task.
- Execution instruction generation means 350 is a signal for requesting execution instruction generation (execution instruction request signal). When input from 1S database management means 310 or task adjustment unit 342, it is included in the received execution instruction request signal Based on the robot ID, the task schedule table 230 is referred to, and the task registered in the task schedule table 230 is confirmed.
- the execution instruction generating means 350 outputs an execution instruction (data) for causing the robot R to execute the task.
- the information is generated by referring to the data of each information item in the database 220, and the generated execution command is output to the robot R specified by the robot ID via the input / output means 100.
- the execution command generation means 350 receives an execution command request signal (task stop signal) for requesting generation of an execution command with a content to stop the task being executed by the robot R.
- an execution command (data) for stopping the execution of the task is generated and output to the robot R specified by the robot ID via the input / output means 100.
- the execution instruction generation means 350 executes an execution instruction request signal (forced battery replenishment signal, battery replenishment signal) that requests generation of an execution instruction that causes a notch replenishment task to be executed, and notch replenishment related data.
- an execution instruction (data) for executing the notch replenishment task is generated and directed to the robot R identified by the robot ID via the input / output unit 100. Output.
- the status information power transmitted from the robot R is input to the battery level determination means 330 via the input / output means 100 of the robot controller 3, and the battery replenishment determination unit 331 of the battery level determination means 330 receives the status information Referring to the task information T and the robot ID included in, it is confirmed whether or not the robot R force notch replenishment task specified by the robot ID is being executed (step S1).
- step Sl If the robot rule is executing a notch replenishment task (step Sl, Yes), the data processing is terminated.
- the battery replenishment determination unit 331 uses the battery information included in the status information to indicate data indicating the remaining amount of battery (battery remaining). Amount data) and the obtained battery remaining amount data is compared with a first threshold value (step S2).
- step S2 If the value power indicated in the notch remaining amount data is greater than or equal to the first threshold (step S2, Yes), the battery replenishment determination unit 331 ends the process.
- the battery supply determining unit 331 uses the status information input from the input / output unit 100 as the battery supply area selecting unit 332. Output to.
- the notch replenishment area selection unit 332 selects the battery replenishment area where the robot R is replenished from the plurality of battery replenishment areas preset in the task execution area, and the selected battery replenishment area.
- the area is set as the movement target area (step S3).
- the coordinate information (current position data) indicating the current location of the robot R is acquired from the position information included in the status information. Set the movement target area based on the current position data.
- the task information power task ID included in the status information is acquired, and the task information database 220 is referred to based on the task ID.
- coordinate data (task end position data) indicating the position where the task currently being performed by robot R is completed is obtained. Then, a movement target area is set based on the acquired task end position data.
- the notch level determination unit 333 confirms whether the notch remaining capacity robot R is sufficient to move to the movement target area set in step S3 after performing the currently assigned task. Then, the remaining battery data is compared with the second threshold (step S4).
- step 4 If the battery is equal to or greater than the second threshold, that is, if the remaining battery level is sufficient (step 4, Yes), information indicating that the battery level is mode 1 (notch mode) Information) is generated and output to the task management means 340.
- Step S5 Robot R's remaining battery power If it is less than the second threshold (Step 4, No), the remaining battery power is set in Step S3 after Robot R has performed the currently assigned task. In order to confirm whether it is sufficient to move to the movement target area, the remaining battery level data is compared with the third threshold value (step S5).
- step 5 Information indicating that the battery level is mode 2 when the value of the remaining battery level of robot R is greater than or equal to the third threshold, that is, when the remaining battery level is sufficient (step 5, Yes) (notch mode) Information) is generated and output to the task management means 140.
- the task management means 340 confirms whether or not the robot R specified by the robot ID is executing a task (step S6).
- step S6 If the task is being executed (step S6, Yes), the task management means 340 checks whether or not the notch supplementary task is registered in the task schedule of the robot R (step S6).
- step S7 if a notch replenishment task is registered (step S7, Yes), the process ends, whereas if a notch replenishment task is not registered (step S7, No), the task management means 340 Register the battery replenishment task in the task information database 220 (step S7, Yes).
- step S6 the task management means 340 confirms whether or not the power is registered in the battery replenishment task force task schedule (step S9). If a notch replenishment task is registered (step S9, Yes), an execution command for instructing execution of the reserved battery replacement task is sent from the execution command generation means 350 to the robot R specified by the robot ID. Send (step S10). Then, when a signal (reception report signal) reporting that the execution command has been received is input from the robot scale, the task information database 220 is updated by the database management means 310 (step Sl 1).
- step S9 if a notch replenishment task is registered (step S9, No), task management means 340 generates an execution instruction (data) for executing the notch replenishment task 350 To the robot R specified by the robot ID (step S12). Then, when a signal (reception report signal) reporting that the execution command has been received is input from the robot scale, the task information database 220 is updated by the database management means 310 (step S13).
- Step 5 No If the value of the remaining battery amount of Robot R is less than the third threshold value (Step 5, No), the movement target area is reset based on the current position of Robot R to become the movement target substitution area . Then, the amount of battery consumed by the robot rule for movement from the current position to the movement target area set in step S3, and the amount of battery consumed by the robot rule for movement from the current position to the movement target alternative area Are calculated and compared. If the amount of knot power consumed to move to the movement target alternative area is less than the amount of knot consumption consumed to move to the movement target area, the movement target substitution area is reset as the movement target area. On the other hand, if the amount of battery consumed for moving to the moving target alternative area is larger than the amount of battery consumed for moving to the moving target area, the moving target area set in step S3 is used as it is. Set as the movement target area (step S14).
- step S where robot R is currently located (current position).
- step S 15 the remaining battery data is compared with the fourth threshold value.
- step 15 If the value of the remaining battery level of the robot R specified by the robot ID is equal to or greater than the fourth threshold value (step 15, Yes), the task management means 340 indicates that the robot R specified by the robot ID is tasked. Confirm whether or not the key is being executed (step S16).
- step S16 If the task is being executed (step S16, Yes), the task management means 340 An execution command (data) for stopping execution is transmitted from the execution command generation means 350 to the robot R specified by the robot ID (step S17).
- the task management means 340 When the task is not being executed (step S16, No), the task management means 340 generates an execution instruction (data) for forcibly executing the notch supply task, and uses the robot ID via the input / output means 100. Output to the specified robot R (step S18).
- step 15 No If the value of the remaining battery capacity of the robot R specified by the robot ID is less than the fourth threshold value (step 15, No), the task management means 340 executes the robot R force task, The input / output means 100 outputs an emergency signal notifying the server administrator that it is impossible to move to the area.
- the task schedule adjustment unit 342 may register the canceled task in the task information database with the highest priority, and output a task update signal 320 priority data generation means.
- the canceled task can be preferentially assigned to another robot R, so that the canceled task can be performed.
- Such a function is suitable when the robot R is executing a task (guide task) of guiding a canceled task force visitor to a certain place.
- a plurality of tasks having different priorities can be efficiently executed using a plurality of robots.
- the robot R executes a task for refilling the battery.
- Re-setting the execution plan (task schedule) of tasks assigned to each robot R for example, assigning tasks assigned to robot R determined to require replenishment to other robots' task schedules Sort out to Therefore, even under conditions where there is an unpredictable factor of human response, the robot can efficiently execute multiple tasks.
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Description
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JP2020518906A (ja) * | 2017-04-28 | 2020-06-25 | ロブアート ゲーエムベーハーROBART GmbH | ロボットのナビゲーションの方法 |
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US12023814B2 (en) | 2018-07-27 | 2024-07-02 | Sony Corporation | Mobile object and control method |
CN110790097A (zh) * | 2018-08-03 | 2020-02-14 | 通力股份公司 | 向输送机***生成控制信号 |
CN110790097B (zh) * | 2018-08-03 | 2024-03-15 | 通力股份公司 | 向输送机***生成控制信号 |
Also Published As
Publication number | Publication date |
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US8027750B2 (en) | 2011-09-27 |
JP2006106919A (ja) | 2006-04-20 |
JP4460411B2 (ja) | 2010-05-12 |
US20080109114A1 (en) | 2008-05-08 |
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