WO2020234938A1 - Robot movement assist system - Google Patents
Robot movement assist system Download PDFInfo
- Publication number
- WO2020234938A1 WO2020234938A1 PCT/JP2019/019774 JP2019019774W WO2020234938A1 WO 2020234938 A1 WO2020234938 A1 WO 2020234938A1 JP 2019019774 W JP2019019774 W JP 2019019774W WO 2020234938 A1 WO2020234938 A1 WO 2020234938A1
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- WIPO (PCT)
- Prior art keywords
- robot
- basket
- information
- support system
- movement support
- 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
- B25J19/06—Safety devices
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- 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
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- 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
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- 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
Definitions
- the present invention relates to a robot movement support system.
- Patent Document 1 discloses a robot movement support system. According to the movement support system, a plurality of robots can be efficiently moved by an elevator.
- the movement support system described in Patent Document 1 determines whether or not a plurality of robots are to be carried together based on the occupied area of the robots. For this reason, a robot that can only move forward may not be able to get out of the basket after getting into the basket.
- An object of the present invention is to provide a robot movement support system capable of efficiently moving a wide variety of robots by an elevator.
- the robot maintenance work support system determines whether or not the robot can board the car based on the information of the range when the robot turns inside the car when getting on and off the car of the elevator. Equipped with a mounting order determination unit.
- the maintenance work support system determines whether or not the robot can board the car based on the information of the range when the robot turns inside the car when getting on and off the car of the elevator. Therefore, a wide variety of robots can be efficiently moved by the elevator.
- FIG. 1 is a block diagram of the robot movement support system in Embodiment 1.
- FIG. 5 is a hardware configuration diagram of an elevator group management device to which the robot movement support system according to the first embodiment is applied.
- FIG. 2 is a block diagram of the robot movement support system in Embodiment 2.
- FIG. This is an example showing the arrangement of the robot inside the basket of the elevator to which the robot movement support system according to the second embodiment is applied.
- Embodiment 6 It is a flowchart for demonstrating the outline of the operation of the group management apparatus of an elevator to which the movement support system of a robot is applied in Embodiment 6. It is a flowchart for demonstrating the outline of the operation of the group management apparatus of an elevator to which the movement support system of a robot is applied in Embodiment 6. It is a flowchart for demonstrating the outline of the operation of the robot to which the movement support system of the robot in Embodiment 7 is applied.
- FIG. 1 is a configuration diagram of a movement support system for the robot 1 according to the first embodiment.
- each of the plurality of robots 1 is provided so as to be able to run on its own.
- Each of the plurality of robots 1 includes a collision prevention sensor 1a.
- Each of the plurality of robots 1 is controlled so as not to collide with a surrounding object based on the detection result of the collision prevention sensor 1a.
- Each of the cages 2 of the plurality of elevators is provided so that the building can move in the vertical direction.
- Each of the plurality of destination registration devices 3 for robots is provided at each of the landings of the plurality of elevators.
- Each of the plurality of control devices 4 is provided so as to be able to control the operation of each of the plurality of baskets 2.
- the group management device 5 is provided so as 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 the information of the robot attribute table that stores the attribute information of the robot 1.
- the attribute information of the robot 1 is information in which the information of the model 6a, the occupied area 6b, the sensor area 6c, the turning area 6d, and the moving direction 6e is associated with each other.
- the information of the model 6a is information for identifying the function, model, etc. of the robot 1.
- the information of the model 6a is the information of the model number of the robot 1.
- the information of the model 6a is the information of the contents specified by the user. In this example, "first" and "second" are defined as the model 6a.
- the information of the occupied area 6b is the information of the area on the floor surface occupied by the housing of the robot 1.
- the floor surface occupied by the housing of the robot 1 is defined not by the area of the floor surface installation surface but by the area on the horizontal projection surface including the protrusions.
- the information in the sensor area 6c is information on the floor area of the area that the robot 1 grasps with the collision prevention sensor 1a for collision prevention.
- the sensor area 6c is defined as around 1 m of the occupied area 6b.
- the information of the turning area 6d is the information of the area on the horizontal projection surface required when the robot 1 makes a turning or the like for getting on and off the basket 2, including the sensor area 6c.
- the information in the moving direction 6e is information in the movable direction such as the forward direction and the front-back direction according to the traveling function of the robot 1.
- the robot 1 that can move only in the forward direction needs to turn when getting out of the basket 2.
- the robot movement table information storage unit 5b stores the information of the robot 1 movement table that stores the movement information of the robot 1.
- the movement information of the robot 1 is information in which the information of the ID 7a, the model 7b, the boarding floor 7c, and the destination floor 7d is associated with each other.
- the information of ID7a is the identification information of the robot 1.
- A, B, C, and D are defined as the ID 7a of the robot 1.
- 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 the information on the floor on which the robot 1 gets into the basket 2.
- the information on the destination floor 7d is the information on the floor where the robot 1 gets out of the basket 2.
- the movement information of the robot 1 is registered in the order of registration in the robot destination registration device 3.
- the movement information of the robot 1 is deleted from the robot movement table when the robot 1 gets off.
- the boarding floor of the robot 1 whose ID 7a is C is the first floor.
- the destination floor of the robot 1 with ID 7a is the third floor.
- the boarding floor of Robot 1 with ID7a B is the second floor.
- the destination floor of robot 1 with ID7a B is the 3rd floor.
- the boarding floor of the robot 1 with ID7a A is the first floor.
- the destination floor of robot 1 with ID7a A is the 5th floor.
- the boarding floor of Robot 1 with ID7a D is the first floor.
- the destination floor of robot 1 with ID7a D is the 3rd floor.
- the elevator information storage unit 5c stores elevator information.
- the elevator information is elevator information such as the weight that can be mounted on the basket 2, the boarding area, and the door width.
- the mountable area is 5 m * 6 m.
- the door width is 4 m.
- the loading order determination unit 5d determines whether or not the robot 1 can board the basket 2.
- the loading order determination unit 5d determines the loading order of the robot 1 in consideration of the boarding / alighting order of the robot 1 inside the basket 2, the layout at the time of boarding, the door width at the time of disembarking, and the like.
- the robot remote control unit 5e issues a boarding permission to the basket 2 to the robot 1 based on the mounting order determined by the mounting order determination unit 5d.
- the plurality of robots 1 register the destination floor using the robot destination registration device 3 according to their respective separate instructions.
- the plurality of robots 1 register the destination floor in the robot destination registration device 3 by wireless communication.
- the plurality of robots 1 register the destination floor by operating the robot destination registration device 3 with an arm (not shown).
- the mounting order determination unit 5d is mounted based on the turning area 6d of the robot 1 whose ID 7a is C. Judge that it is possible. At this time, the robot remote control unit 5e issues a boarding permission to the robot 1 whose ID 7a is C.
- the mounting order determination unit 5d confirms the free area of the basket 2 based on the boarding location of the robot 1 whose ID 7a is C and the information on the mountable area of the basket 2, and the mounting order determination unit 5d of the robot 1 whose ID 7a is A It is determined that there is no turning area 6d of 5.5m * 6.5m. At this time, the robot remote control unit 5e does not give boarding permission to the robot 1 whose ID 7a is A.
- FIG. 2 is an example showing the arrangement of the robot 1 inside the basket 2 of the elevator to which the movement support system of the robot 1 according to the first embodiment is applied.
- FIG. 3 is an example showing the arrangement of the robot 1 inside the basket 2 of the elevator to which the movement support system of the robot 1 in the first embodiment is not applied.
- FIG. 2 shows a state in which a robot 1 having ID 7a C is on board.
- the solid line shows the occupied area 6b of the robot 1.
- the alternate long and short dash line indicates the sensor area 6c of the robot 1.
- the dotted line indicates the turning area of the robot 1.
- the alternate long and short dash line indicates the turning area 6d of the robot 1.
- FIG. 3 is an example in which a robot 1 having an ID 7a of A and a robot 1 having an ID 7a of C are on board.
- the sensor areas 6c and the ID 7a of the robot 1C having the ID 7a C are A. It overlaps with the sensor area 6c of the robot 1. In this case, the robot 1 having ID 7a C cannot turn in order to avoid a collision. Therefore, unless the robot 1 with ID7a A gets off once, the robot 1 with ID7a C cannot get on.
- the group management device 6 refers to the robot 1 with respect to the robot 1 based on the information of the range when the robot 1 turns inside the basket 2 when getting on and off the basket 2. Determine whether or not boarding in 2 is possible. Therefore, a wide variety of robots 1 can be efficiently moved by the elevator. Specifically, even when the robot 1 turns when it gets off the basket 2, the robot 1 can be smoothly lowered from the basket 2.
- FIG. 4 is a hardware configuration diagram of the group management device 5 of the elevator to which the movement support system of the robot 1 according to the first embodiment is applied.
- Each function of the group management device 5 can be realized by a processing circuit.
- the processing circuit includes at least one processor 100a and at least one memory 100b.
- the processing circuit comprises at least one dedicated hardware 200.
- each function of the group management device 5 is realized by software, firmware, or a combination of software and firmware. At least one of the software and firmware is written as a program. At least one of the software and firmware is stored in at least one memory 100b. At least one processor 100a realizes each function of the group management device 5 by reading and executing a program stored in at least one memory 100b. At least one processor 100a is also referred to as a central processing unit, a processing unit, an arithmetic unit, a microprocessor, a microcomputer, and a DSP.
- at least one memory 100b is a non-volatile or volatile semiconductor memory such as RAM, ROM, flash memory, EPROM, EEPROM, magnetic disk, flexible disk, optical disk, compact disk, mini disk, DVD, or the like.
- the processing circuit comprises at least one dedicated hardware 200
- the processing circuit may be implemented, for example, as a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC, an FPGA, or a combination thereof.
- each function of the group management device 5 is realized by a processing circuit.
- each function of the group management device 5 is collectively realized by a processing circuit.
- a part may be realized by the dedicated hardware 200, and the other part may be realized by software or firmware.
- the function of the robot remote control unit 5e is realized by a processing circuit as dedicated hardware 200, and at least one processor 100a is stored in at least one memory 100b for functions other than the function of the robot remote control unit 5e. It may be realized by reading and executing the program.
- the processing circuit realizes each function of the group management device 5 by hardware 200, software, firmware, or a combination thereof.
- each function of the control device 4 is also realized by a processing circuit equivalent to a processing circuit that realizes each function of the group management device 5.
- Each function of the server provided with the mounting order determination unit 5d is also realized by a processing circuit equivalent to the processing circuit that realizes each function of the group management device 5.
- FIG. 5 is a configuration diagram of the movement support system of the robot 1 according to the second embodiment.
- the same or corresponding parts as those of the first embodiment are designated by the same reference numerals. The explanation of the relevant part is omitted.
- the attribute information of the robot 1 is information in which the information of the model 6a, the occupied area 6b, the sensor area 6c, the turning area 6d, the moving direction 6e, and the suppression sensor area 6f are associated with each other.
- the suppression sensor area 6f is information on the area when the effective distance of the collision prevention sensor 1a is changed.
- the turning area 6d is automatically changed according to the suppression sensor area 6f.
- the mounting order determination unit 5d determines that the robot 1 having the ID 7a C can be mounted in the mountable area of the basket 2.
- the robot remote control unit 5e issues a boarding permission to the robot 1 whose ID 7a is C.
- the robot remote control unit 5e causes the robot 1 whose ID 7a is C to change the detection range of the collision prevention sensor 1a.
- the detection range of the collision prevention sensor 1a is changed from the setting of 1 m to 0.5 m.
- the region where the collision prevention sensor 1a is effective is from the region of 3m * 4m of the sensor area 6c to the region of 2.5 * 3.5m of the suppression sensor area 6f.
- the radius of the turning area 6d is changed to 2.15 m.
- the mounting order determination unit 5d confirms the empty area of the basket 2 based on the information of the boarding location of the robot 1 whose ID 7a is A and the mountable area of the basket 2, and turns the robot 1 whose ID 7a is A. It is determined that there is an area 6d of 1.5m * 1.5m.
- the robot remote control unit 5e issues a boarding permit to the robot 1A.
- FIG. 6 is an example showing the arrangement of the robot 1 inside the basket 2 of the elevator to which the movement support system of the robot 1 according to the second embodiment is applied.
- FIG. 6A shows a situation in which a robot 1 having an ID 7a of A and a robot 1 having an ID 7a of C are in the basket 2.
- the solid line shows the occupied area 6b.
- the alternate long and short dash line indicates the suppression sensor area 6f.
- the alternate long and short dash line indicates the turning area 6d.
- FIG. 6B shows a situation when the robot 1 having ID 7a C turns and gets off.
- the turning area 6d narrows according to the suppression sensor area 6f. As a result, not only can the plurality of robots 1 efficiently ride together, but they can also turn and get off.
- FIG. 7 is an example showing the detection range of the collision prevention sensor of the robot to which the movement support system of the robot 1 according to the second embodiment is applied.
- the detection range of the collision prevention sensor 1a is narrowed according to the moving speed of the robot 1.
- the speed is high during normal movement. Therefore, the detection range of the collision prevention sensor 1a is set wider in the traveling direction.
- the robot 1 reduces the speed when boarding and disembarking. Therefore, the detection range of the collision prevention sensor 1a is gradually narrowed.
- the robot 1 stops inside the basket 2. Therefore, the detection range of the collision prevention sensor 1a is set to the minimum.
- the group management device 5 outputs a command to the robot 1 to narrow the detection range of the collision prevention sensor 1a of the robot 1 inside the basket 2. Therefore, even if a plurality of robots 1 are in close contact with each other inside the basket 2, it is possible to suppress raising an alarm or the like.
- FIG. 8 is an example showing the detection range of the collision prevention sensor 1a of the robot to which the movement support system of the robot 1 according to the third embodiment is applied.
- the same or corresponding parts as those of the second embodiment are designated by the same reference numerals. The explanation of the relevant part is omitted.
- the robot 1 has a lighting device (not shown).
- the lighting device is a simple LED lighting, a lamp lighting, a projector or the like.
- the lighting device illuminates the floor surface of the basket 2 so that the boundary of the sensor area 6c of the robot 1 can be distinguished.
- the lighting device projects the sensor area 6c of the robot 1 onto the floor surface of the basket 2.
- the lighting device projects the sensor area 6c of the robot 1 with colors and galleys.
- the lighting device projects an image with a projector or the like.
- the lighting device projects the traveling direction, speed, etc. of the robot 1 onto the floor surface of the basket 2 with figures such as the thickness, direction, and length of the arrows.
- the group management device 5 outputs a command to illuminate the robot so that the range of the collision prevention sensor 1a of the robot 1 can be distinguished. In this case, the person riding the robot 1 can be urged to move away from the detection range of the collision prevention sensor 1a.
- the lighting device projects the traveling direction, speed, etc. of the robot 1 onto the floor surface of the basket 2 with a diagram of the thickness, direction, length, etc. of the arrows. Therefore, the movement of the sensor area due to the movement of the robot 1 can be notified to the surroundings.
- FIG. 9 is a diagram showing an example of the attribute information and the movement information of the robot of the movement support system of the robot 1 in the fourth embodiment.
- the same or corresponding parts as those of the second embodiment are designated by the same reference numerals. The explanation of the relevant part is omitted.
- the attribute information of the robot 1 is information on 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 rideable type 6i. Is the associated information.
- the information on the weight of 6 g is the information on the weight of the robot 1.
- Type 6h is information on the type of robot 1.
- the information on the rideable type 6i is the information on the type of the robot 1 that can be on board.
- the movement information of the robot 1 is information in which information of ID 7a, model 7b, boarding floor 7c, destination floor 7d, load weight 7e, and priority 7f is 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 on the priority of the robot 1.
- the priority 7f is dynamically changed according to the desired degree of completion even for the robot 1 of the same type. For example, if there are many loaded items during the delivery of the meal delivery robot 1, the priority 7f is set higher. For example, if there is no load after the delivery of the meal delivery robot 1 is completed, the priority 7f is set lower.
- the group management device 5 sets the priority of the robot 1 based on the attributes of the robot 1. Therefore, the plurality of robots 1 can be moved more efficiently.
- the priority 7f of the robot 1 may be set higher. In this case, the cleaning can be completed within the designated time.
- the priority 7f may be changed in the work mode of the robot 1.
- the priority of the robot 1 being delivered may be set higher than the priority of the robot 1 being forwarded.
- FIG. 10 is a diagram showing an example of refusal to board the robot 1 by the movement support system of the robot 1 in the fifth embodiment.
- the same or corresponding parts as those of the fourth embodiment are designated by the same reference numerals. The explanation of the relevant part is omitted.
- the type of the robot 1 to be carried is determined based on the attribute information of the robot 1 of the fourth embodiment.
- the method of narrowing the sensor area 6c is changed depending on the type of the robot 1.
- the plurality of robots 1 are mounted at different distances from each other.
- the robot 1 for cleaning the meal delivery robot 1 is not on board. Do not ride with the security robot 1 of the meal delivery robot 1.
- the meal delivery robot 1 determines whether or not the food can be carried depending on whether the food is in contact with the outside or stored and not touching the outside. For example, when meals are stored, the meal delivery robot 1 rides on the document delivery robot 1. For example, when the meal comes into contact with the outside, only the robot 1 of the same type of meal delivery is on board. For example, when the robot 1 delivers the packaged food, the robot 1 rides on the robot 1 that delivers documents, medicines, sealed drinks, and the like.
- the sensor area 6c of the plurality of meal delivery robots 1 is minimized.
- security robot 1 and the cleaning robot 1 are set so that they can ride together.
- security robot 1 and the document delivery robot 1 are set so that they can ride together.
- 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 according to the fifth embodiment is applied.
- step S1 the group management device 5 starts the process of getting the robot 1 into the basket 2. After that, the group management device 5 performs the operation of step S2.
- step S2 the group management device 5 receives a request from the robot 1 to board the basket 2. After that, the group management device 5 performs the operation of step S3.
- step S3 the group management device 5 selects a basket 2 on which the robot 1 can board from the robot movement table.
- step S4 the group management device 5 confirms the status of the basket 2. After that, the group management device 5 performs the operation of step S5. In step S5, the group management device 5 determines whether or not another robot 1 is in the basket 2.
- step S5 When another robot 1 is in the basket 2 in step S5, the group management device 5 performs the operation of step S6. In step S6, the group management device 5 determines whether or not the robot 1 can ride with the robot 1 in the basket 2.
- step S6 the group management device 5 performs the operation of step S7.
- step S7 the group management device 5 calculates the mountable area of the basket 2 based on the robot information table, the elevator information, and the loading status of the basket 2.
- step S8 the group management device 5 determines whether or not the robot 1 can be boarded based on the mountable area of the basket 2.
- step S8 the group management device 5 performs the operation of step S9.
- step S9 the group management device 5 outputs a command to the robot 1 to board while narrowing down the sensor area. After that, the group management device 5 ends the operation.
- step S5 If another robot 1 is not in the basket 2 in step S5, the group management device 5 performs the operation of step S9.
- step S6 If the robot 1 cannot ride with the robot 1 in the basket 2 in step S6, or if the robot 1 cannot be boarded in step S8, the group management device 5 returns to step S2 and the basket 2 from the robot 1 Re-accept boarding requests.
- the group management device 5 determines whether or not to ride in the basket 2 based on the attributes of each of the plurality of robots 1. Therefore, the robot 1 can be moved under more appropriate conditions.
- Embodiment 6. 12 and 13 are flowcharts for explaining the 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 the sixth embodiment is applied.
- the same or corresponding parts as those in the fifth embodiment are designated by the same reference numerals. The explanation of the relevant part is omitted.
- step S11 the group management device 5 starts the process of getting the robot 1 into the basket 2. After that, the group management device 5 performs the operation of step S12.
- step S12 the group management device 5 receives input of information on the weight of the load from the robot 1. After that, the group management device 5 performs the operation of step S13.
- step S13 the group management device 5 selects a basket 2 on which the robot 1 can board from the robot movement table.
- step S14 the group management device 5 confirms the status of the basket 2. Specifically, the group management device 5 confirms the total load of the elevator from the scale information of the elevator. The group management device 5 confirms the weight of the robot 1 mounted on the basket 2 and the weight of the load thereof.
- step S15 the group management device 5 determines whether or not the total on-board usage amount matches the total of the weight of the robot 1 being mounted and the weight of the mounted object.
- the group management device 5 determines whether or not the robot 1 can ride with a person.
- the group management device 5 When the total load capacity matches the total weight of the loaded robot 1 and the weight of the loaded object in step S15, the group management device 5 has only the robot 1 mounted in the basket 2 or nothing is loaded. It is determined that either is not done.
- step S15 If the total load-bearing amount in step S15 matches the sum of the weight of the robot 1 being mounted and the weight of the load thereof, or if the robot 1 can ride with a person in step S16, the group management device 5 steps. The operation of S17 is performed. In step S17, the group management device 5 determines whether or not the robot 1 can ride with the robot 1 in the basket 2.
- step S18 the group management device 5 calculates the sum of the current weighing information, the weight of the robot 1, and the weight of the load thereof. After that, 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 weighing information, the weight of the robot 1, and the weight of the load thereof is within the maximum load capacity.
- step S19 When the sum of the current weighing information, the weight of the robot 1 and the weight of the load thereof is within the maximum load capacity in step S19, the group management device 5 performs the operation of step S20. In step S20, the group management device 5 calculates the mountable area of the basket 2.
- step S21 the group management device 5 determines whether or not the robot 1 can be boarded based on the mountable area of the basket 2.
- step S21 the group management device 5 performs the operation of step S22.
- step S22 the group management device 5 outputs a command to the robot 1 to board while narrowing down the sensor area. At this time, the sensor area may be displayed as in the fourth embodiment. After that, the group management device 5 ends the operation.
- step S16 the robot 1 cannot ride with a person
- step S17 the robot 1 cannot ride with the robot 1 in the basket 2
- step S19 the current scale information, the weight of the robot 1, and the weight thereof.
- the group management device 5 returns to step S12 and starts from the robot 1. Re-accept the request to board the basket 2.
- the weight of the robot 1 and the weight of the load of the robot 1 are determined. Based on the information, it is determined whether or not the robot 1 can board the basket 2. Therefore, the robot 1 can be moved more efficiently.
- the group management device 5 detects the riding status of the user based on the information of the weight of the robot 1, the weight of the load of the robot 1, and the weighing information of the basket 2. Therefore, the robot 1 can be moved more appropriately.
- the group management device 5 when the group management device 5 detects that the basket 2 is empty based on the scale information of the basket 2, it may output information indicating that the basket 2 is empty to the robot 1. .. In this case, the robot 1 can be encouraged to use the elevator.
- 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 the seventh embodiment is applied.
- the same or corresponding parts as those in the fifth embodiment are designated by the same reference numerals. The explanation of the relevant part is omitted.
- step S31 the robot 1 calls an empty basket 2. After that, the robot 1 performs the operation of step S32.
- step S32 the robot 1 outputs information on the estimated time of arrival at the elevator hall when moving at a normal speed to the group management system.
- step S33 the robot 1 receives input from the group management device 5 of information on the estimated arrival time of the basket 2 that can be dispatched before and after the estimated arrival time.
- step S34 the robot 1 determines whether or not the estimated time of arrival of the basket 2 is later than the estimated time of arrival of the basket 2.
- step S34 If the estimated time of arrival of the basket 2 at the elevator hall in step S34 is later than the estimated time of arrival at its own elevator hall, the robot 1 performs the operation of step S35.
- step S35 the robot 1 slows down the movement speed and moves according to the time when the basket 2 arrives at the elevator hall. At this time, the robot 1 accelerates in a state where safety is ensured.
- step S34 If the estimated time of arrival of the basket 2 at the elevator hall in step S34 is not later than the estimated time of arrival at its own elevator hall, the robot 1 performs the operation of step S36.
- step S36 the robot 1 increases the moving speed and moves according to the time when the basket 2 arrives at the elevator hall. At this time, the robot 1 decelerates while ensuring safety.
- step S35 or after step S36 the robot 1 performs the operation of step S37.
- step S37 the robot 1 gets into the basket 2. After that, the robot 1 ends the operation.
- the group management device 5 when the robot 1 calls the basket 2, the group management device 5 outputs information on the estimated time of arrival of the basket 2 to the robot 1. Therefore, it is possible to reduce the waiting time for the robot 1 to get in and the waiting time for the basket 2 of the robot 1 to arrive. As a result, it is possible to make it difficult for the user to get into the basket 2 dedicated to the robot 1.
- the estimated time of arrival of the robot 1 is likely to change due to an obstacle on the route, the current call to the basket 2 may be canceled and the call to the basket 2 may be registered again. In this case, the estimated arrival time can be corrected.
- the robot movement support system according to the present invention can be used for the robot system.
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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 assist system capable of efficiently moving a large variety of robots with an elevator. A robot maintenance operation support system comprises a load order determination unit that determines whether a robot can be loaded in an elevator cage on the basis of information on the range when the robot turns inside the cage while entering and exiting the cage. Due to this configuration, the maintenance operation support system determines whether a robot can be loaded to an elevator cage on the basis of the information on the range when the robot turns inside the cage while entering and exiting the cage. Thus, a large variety of robots can be efficiently moved by elevator.
Description
この発明は、ロボットの移動支援システムに関する。
The present invention relates to a robot movement support system.
特許文献1は、ロボットの移動支援システムを開示する。当該移動支援システムによれば、複数のロボットをエレベータで効率的に移動させ得る。
Patent Document 1 discloses a robot movement support system. According to the movement support system, a plurality of robots can be efficiently moved by an elevator.
しかしながら、特許文献1に記載の移動支援システムは、ロボットの占有面積に基づいて複数のロボットを同乗させるか否かを判定する。このため、前方にしか進めないロボットは、カゴに乗り込んだ後カゴから降りることができない場合もある。
However, the movement support system described in Patent Document 1 determines whether or not a plurality of robots are to be carried together based on the occupied area of the robots. For this reason, a robot that can only move forward may not be able to get out of the basket after getting into the basket.
この発明は、上述の課題を解決するためになされた。この発明の目的は、多種多様なロボットをエレベータで効率的に移動させることができるロボットの移動支援システムを提供することである。
This invention was made to solve the above-mentioned problems. An object of the present invention is to provide a robot movement support system capable of efficiently moving a wide variety of robots by an elevator.
この発明に係るロボットの保守作業支援システムは、ロボットがエレベータのカゴの乗降時において前記カゴの内部で旋回する際の範囲の情報に基づいて、当該ロボットに対して前記カゴへの搭乗可否を判定する搭載順序決定部、を備えた。
The robot maintenance work support system according to the present invention determines whether or not the robot can board the car based on the information of the range when the robot turns inside the car when getting on and off the car of the elevator. Equipped with a mounting order determination unit.
この発明によれば、保守作業支援システムは、ロボットがエレベータのカゴの乗降時においてカゴの内部で旋回する際の範囲の情報に基づいて、当該ロボットに対してカゴへの搭乗可否を判定する。このため、多種多様なロボットをエレベータで効率的に移動させることができる。
According to the present invention, the maintenance work support system determines whether or not the robot can board the car based on the information of the range when the robot turns inside the car when getting on and off the car of the elevator. Therefore, a wide variety of robots can be efficiently moved by the elevator.
この発明を実施するための形態について添付の図面に従って説明する。なお、各図中、同一または相当する部分には同一の符号が付される。当該部分の重複説明は適宜に簡略化ないし省略する。
The embodiment for carrying out the present invention will be described with reference to the attached drawings. In each figure, the same or corresponding parts are designated by the same reference numerals. The duplicate description of the relevant part will be simplified or omitted as appropriate.
実施の形態1.
図1は実施の形態1におけるロボット1の移動支援システムの構成図である。Embodiment 1.
FIG. 1 is a configuration diagram of a movement support system for therobot 1 according to the first embodiment.
図1は実施の形態1におけるロボット1の移動支援システムの構成図である。
FIG. 1 is a configuration diagram of a movement support system for the
図1において、複数のロボット1の各々は、自走し得るように設けられる。複数のロボット1の各々は、衝突防止センサ1aを備える。複数のロボット1の各々は、衝突防止センサ1aの検知結果に基づいて周囲の物体と衝突しないように制御される。
In FIG. 1, each of the plurality of robots 1 is provided so as to be able to run on its own. Each of the plurality of robots 1 includes a collision prevention sensor 1a. Each of the plurality of robots 1 is controlled so as not to collide with a surrounding object based on the detection result of the collision prevention sensor 1a.
複数のエレベータのカゴ2の各々は、建築物を縦方向に移動し得るように設けられる。複数のロボット用行先登録装置3の各々は、複数のエレベータの乗場の各々に設けられる。複数の制御装置4の各々は、複数のカゴ2の各々の動作を制御し得るように設けられる。群管理装置5は、複数の制御装置4を制御し得るように設けられる。
Each of the cages 2 of the plurality of elevators is provided so that the building can move in the vertical direction. Each of the plurality of destination registration devices 3 for robots is provided at each of the landings of the plurality of elevators. Each of the plurality of control devices 4 is provided so as to be able to control the operation of each of the plurality of baskets 2. The group management device 5 is provided so as to be able to control a plurality of control devices 4.
群管理装置5は、ロボット属性テーブル情報記憶部5aとロボット移動テーブル情報記憶部5bとエレベータ情報記憶部5cと搭載順序決定部5dとロボット遠隔制御部5eとを備える。
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.
ロボット属性テーブル情報記憶部5aは、ロボット1の属性情報を格納したロボット属性テーブルの情報を記憶する。ロボット1の属性情報は、機種6aと占有エリア6bとセンサエリア6cと旋回エリア6dと移動方向6eとの情報が対応付けられた情報である。
The robot attribute table information storage unit 5a stores the information of the robot attribute table that stores the attribute information of the robot 1. The attribute information of the robot 1 is information in which the information of the model 6a, the occupied area 6b, the sensor area 6c, the turning area 6d, and the moving direction 6e is associated with each other.
機種6aの情報は、ロボット1の機能、機種等を識別する情報である。例えば、機種6aの情報は、ロボット1の型番号の情報である。例えば、機種6aの情報は、ユーザが指定した内容の情報である。本例は、機種6aとして、「第1」と「第2」とが定義される。
The information of the model 6a is information for identifying the function, model, etc. of the robot 1. For example, the information of the model 6a is the information of the model number of the robot 1. For example, the information of the model 6a is the information of the contents specified by the user. In this example, "first" and "second" are defined as the model 6a.
占有エリア6bの情報は、ロボット1の筐体が占める床面での面積の情報である。ロボット1の筐体が占める床面は、床面設置面の面積ではなく突起物を含む水平投影面上での面積で定義される。
The information of the occupied area 6b is the information of the area on the floor surface occupied by the housing of the robot 1. The floor surface occupied by the housing of the robot 1 is defined not by the area of the floor surface installation surface but by the area on the horizontal projection surface including the protrusions.
センサエリア6cの情報は、ロボット1が衝突防止のための衝突防止センサ1aで把握する領域の床面積の情報である。センサエリア6cは、占有エリア6bの1m周囲と定義される。
The information in the sensor area 6c is information on the floor area of the area that the robot 1 grasps with the collision prevention sensor 1a for collision prevention. The sensor area 6c is defined as around 1 m of the occupied area 6b.
旋回エリア6dの情報は、センサエリア6cを含めて当該ロボット1がカゴ2の乗降のために旋回等を行う際に必要な水平投影面上での面積の情報である。
The information of the turning area 6d is the information of the area on the horizontal projection surface required when the robot 1 makes a turning or the like for getting on and off the basket 2, including the sensor area 6c.
移動方向6eの情報は、ロボット1の走行機能に合わせて、前方向、前後方向等の移動可能方向の情報である。前方向にしか進めないロボット1は、カゴ2から降りる際に旋回が必要となる。
The information in the moving direction 6e is information in the movable direction such as the forward direction and the front-back direction according to the traveling function of the robot 1. The robot 1 that can move only in the forward direction needs to turn when getting out of the basket 2.
ロボット移動テーブル情報記憶部5bは、ロボット1の移動情報を格納したロボット1移動テーブルの情報を記憶する。ロボット1の移動情報は、ID7aと機種7bと搭乗階7cと行先階7dとの情報が対応付けられた情報である。
The robot movement table information storage unit 5b stores the information of the robot 1 movement table that stores the movement information of the robot 1. The movement information of the robot 1 is information in which the information of the ID 7a, the model 7b, the boarding floor 7c, and the destination floor 7d is associated with each other.
ID7aの情報は、ロボット1の識別情報である。ロボット1のID7aとして、A、B、C、Dが定義される。機種7bの情報は、機種6aの情報と同じで、ロボット1の機種の情報である。搭乗階7cの情報は、ロボット1がカゴ2に乗る階の情報である。行先階7dの情報は、ロボット1がカゴ2から降りる階の情報である。
The information of ID7a is the identification information of the robot 1. A, B, C, and D are defined as the ID 7a of the robot 1. 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 the information on the floor on which the robot 1 gets into the basket 2. The information on the destination floor 7d is the information on the floor where the robot 1 gets out of the basket 2.
ロボット1の移動情報は、ロボット用行先登録装置3で登録された順に登録される。ロボット1の移動情報は、ロボット1が降車した段階で、ロボット移動テーブルから削除される。
The movement information of the robot 1 is registered in the order of registration in the robot destination registration device 3. The movement information of the robot 1 is deleted from the robot movement table when the robot 1 gets off.
図1においては、ID7aがCのロボット1の搭乗階は1階である。ID7aがCのロボット1の行先階は3階である。ID7aがBのロボット1の搭乗階は2階である。ID7aがBのロボット1の行先階は3階である。ID7aがAのロボット1の搭乗階は1階である。ID7aがAのロボット1の行先階は5階である。ID7aがDのロボット1の搭乗階は1階である。ID7aがDのロボット1の行先階は3階である。
In FIG. 1, the boarding floor of the robot 1 whose ID 7a is C is the first floor. The destination floor of the robot 1 with ID 7a is the third floor. The boarding floor of Robot 1 with ID7a B is the second floor. The destination floor of robot 1 with ID7a B is the 3rd floor. The boarding floor of the robot 1 with ID7a A is the first floor. The destination floor of robot 1 with ID7a A is the 5th floor. The boarding floor of Robot 1 with ID7a D is the first floor. The destination floor of robot 1 with ID7a D is the 3rd floor.
エレベータ情報記憶部5cは、エレベータ情報を記憶する。エレベータ情報は、カゴ2の搭載可能重量、搭乗可能面積、扉幅等のエレベータの情報である。例えば、搭載可能面積は、5m*6mである。例えば、扉幅は、4mである。
The elevator information storage unit 5c stores elevator information. The elevator information is elevator information such as the weight that can be mounted on the basket 2, the boarding area, and the door width. For example, the mountable area is 5 m * 6 m. For example, the door width is 4 m.
搭載順序決定部5dは、ロボット1に対してカゴ2への搭乗可否を判定する。搭載順序決定部5dは、カゴ2の内部でのロボット1の乗降車順、搭乗時レイアウト、降車時の扉幅等を考慮してロボット1の搭載順を決定する。
The loading order determination unit 5d determines whether or not the robot 1 can board the basket 2. The loading order determination unit 5d determines the loading order of the robot 1 in consideration of the boarding / alighting order of the robot 1 inside the basket 2, the layout at the time of boarding, the door width at the time of disembarking, and the like.
ロボット遠隔制御部5eは、搭載順序決定部5dにより決定された搭載順に基づいて、ロボット1に対してカゴ2への乗車許可等を出す。
The robot remote control unit 5e issues a boarding permission to the basket 2 to the robot 1 based on the mounting order determined by the mounting order determination unit 5d.
例えば、複数のロボット1は、それぞれの別途指示により、ロボット用行先登録装置3を用いて行先階を登録する。例えば、複数のロボット1は、無線通信でロボット用行先登録装置3に行先階を登録する。例えば、複数のロボット1は、図示されないアームでロボット用行先登録装置3を操作することで行先階を登録する。
For example, the plurality of robots 1 register the destination floor using the robot destination registration device 3 according to their respective separate instructions. For example, the plurality of robots 1 register the destination floor in the robot destination registration device 3 by wireless communication. For example, the plurality of robots 1 register the destination floor by operating the robot destination registration device 3 with an arm (not shown).
複数のロボット1に対して利用を許可し得るカゴ2が1台であり、当該カゴ2が空である場合、搭載順序決定部5dは、ID7aがCのロボット1の旋回エリア6dに基づいて搭載可能であると判定する。この際、ロボット遠隔制御部5eは、ID7aがCのロボット1に対して搭乗許可を出す。
When there is one basket 2 that can be permitted to be used by a plurality of robots 1 and the basket 2 is empty, the mounting order determination unit 5d is mounted based on the turning area 6d of the robot 1 whose ID 7a is C. Judge that it is possible. At this time, the robot remote control unit 5e issues a boarding permission to the robot 1 whose ID 7a is C.
その後、搭載順序決定部5dは、ID7aがCのロボット1の搭乗個所と当該カゴ2の搭載可能面積の情報とに基づいて、当該カゴ2の空き領域を確認し、ID7aがAのロボット1の旋回エリア6dである5.5m*6.5mがないと判定する。この際、ロボット遠隔制御部5eは、ID7aがAのロボット1に対して搭乗許可を出さない。
After that, the mounting order determination unit 5d confirms the free area of the basket 2 based on the boarding location of the robot 1 whose ID 7a is C and the information on the mountable area of the basket 2, and the mounting order determination unit 5d of the robot 1 whose ID 7a is A It is determined that there is no turning area 6d of 5.5m * 6.5m. At this time, the robot remote control unit 5e does not give boarding permission to the robot 1 whose ID 7a is A.
なお、当該カゴ2の空き領域とロボット1の搭乗可否判定とは、一般的なレイアウト問題で解決される。
Note that the free area of the basket 2 and the boarding availability judgment of the robot 1 are solved by a general layout problem.
次に、図2と図3とを用いて、カゴ2の内部のロボット1の配置を説明する。
図2は実施の形態1におけるロボット1の移動支援システムが適用されるエレベータのカゴ2の内部のロボット1の配置を示す例である。図3は実施の形態1におけるロボット1の移動支援システムが適用されないエレベータのカゴ2の内部のロボット1の配置を示す例である。 Next, the arrangement of therobot 1 inside the basket 2 will be described with reference to FIGS. 2 and 3.
FIG. 2 is an example showing the arrangement of therobot 1 inside the basket 2 of the elevator to which the movement support system of the robot 1 according to the first embodiment is applied. FIG. 3 is an example showing the arrangement of the robot 1 inside the basket 2 of the elevator to which the movement support system of the robot 1 in the first embodiment is not applied.
図2は実施の形態1におけるロボット1の移動支援システムが適用されるエレベータのカゴ2の内部のロボット1の配置を示す例である。図3は実施の形態1におけるロボット1の移動支援システムが適用されないエレベータのカゴ2の内部のロボット1の配置を示す例である。 Next, the arrangement of the
FIG. 2 is an example showing the arrangement of the
図2は、ID7aがCのロボット1が搭乗している状態を示す。実線は、当該ロボット1の占有エリア6bを示す。二点鎖線は、当該ロボット1のセンサエリア6cを示す。点線は、当該ロボット1の旋回時のエリアを示す。一点鎖線は、当該ロボット1の旋回エリア6dを示す。
FIG. 2 shows a state in which a robot 1 having ID 7a C is on board. The solid line shows the occupied area 6b of the robot 1. The alternate long and short dash line indicates the sensor area 6c of the robot 1. The dotted line indicates the turning area of the robot 1. The alternate long and short dash line indicates the turning area 6d of the robot 1.
図3は、ID7aがAのロボット1とID7aがCのロボット1とが同乗する場合の例である。
FIG. 3 is an example in which a robot 1 having an ID 7a of A and a robot 1 having an ID 7a of C are on board.
占有エリア6bだけで計算すると、図3(a)に示されるように、ロボット1Cとロボット1Aとは同乗できると判定される。
When calculated using only the occupied area 6b, it is determined that the robot 1C and the robot 1A can ride together as shown in FIG. 3A.
しかし、図3の(b)に示されるように、ID7aがCのロボット1が降車のためにカゴ2の内部で旋回しようとすると、ID7aがCのロボット1Cのセンサエリア6cとID7aがAのロボット1のセンサエリア6cとが重なる。この場合、ID7aがCのロボット1は、衝突を回避するために旋回できない。このため、ID7aがAのロボット1が一端降車しなければ、ID7aがCのロボット1は乗車できない。
However, as shown in FIG. 3B, when the robot 1 having the ID 7a C tries to turn inside the basket 2 to get off, the sensor areas 6c and the ID 7a of the robot 1C having the ID 7a C are A. It overlaps with the sensor area 6c of the robot 1. In this case, the robot 1 having ID 7a C cannot turn in order to avoid a collision. Therefore, unless the robot 1 with ID7a A gets off once, the robot 1 with ID7a C cannot get on.
以上で説明した実施の形態1によれば、群管理装置6は、ロボット1がカゴ2の乗降時においてカゴ2の内部で旋回する際の範囲の情報に基づいて、当該ロボット1に対してカゴ2への搭乗可否を判定する。このため、多種多様なロボット1をエレベータで効率的に移動させることができる。具体的には、ロボット1がカゴ2から降りる際に旋回する場合でも、当該ロボット1を円滑にカゴ2から降ろすことができる。
According to the first embodiment described above, the group management device 6 refers to the robot 1 with respect to the robot 1 based on the information of the range when the robot 1 turns inside the basket 2 when getting on and off the basket 2. Determine whether or not boarding in 2 is possible. Therefore, a wide variety of robots 1 can be efficiently moved by the elevator. Specifically, even when the robot 1 turns when it gets off the basket 2, the robot 1 can be smoothly lowered from the basket 2.
次に、図4を用いて、群管理装置5の例を説明する。
図4は実施の形態1におけるロボット1の移動支援システムが適用されるエレベータの群管理装置5のハードウェア構成図である。 Next, an example of thegroup management device 5 will be described with reference to FIG.
FIG. 4 is a hardware configuration diagram of thegroup management device 5 of the elevator to which the movement support system of the robot 1 according to the first embodiment is applied.
図4は実施の形態1におけるロボット1の移動支援システムが適用されるエレベータの群管理装置5のハードウェア構成図である。 Next, an example of the
FIG. 4 is a hardware configuration diagram of the
群管理装置5の各機能は、処理回路により実現し得る。例えば、処理回路は、少なくとも1つのプロセッサ100aと少なくとも1つのメモリ100bとを備える。例えば、処理回路は、少なくとも1つの専用のハードウェア200を備える。
Each function of the group management device 5 can be realized by a processing circuit. For example, the processing circuit includes at least one processor 100a and at least one memory 100b. For example, the processing circuit comprises at least one dedicated hardware 200.
処理回路が少なくとも1つのプロセッサ100aと少なくとも1つのメモリ100bとを備える場合、群管理装置5の各機能は、ソフトウェア、ファームウェア、またはソフトウェアとファームウェアとの組み合わせで実現される。ソフトウェアおよびファームウェアの少なくとも一方は、プログラムとして記述される。ソフトウェアおよびファームウェアの少なくとも一方は、少なくとも1つのメモリ100bに格納される。少なくとも1つのプロセッサ100aは、少なくとも1つのメモリ100bに記憶されたプログラムを読み出して実行することにより、群管理装置5の各機能を実現する。少なくとも1つのプロセッサ100aは、中央処理装置、処理装置、演算装置、マイクロプロセッサ、マイクロコンピュータ、DSPともいう。例えば、少なくとも1つのメモリ100bは、RAM、ROM、フラッシュメモリ、EPROM、EEPROM等の、不揮発性または揮発性の半導体メモリ、磁気ディスク、フレキシブルディスク、光ディスク、コンパクトディスク、ミニディスク、DVD等である。
When the processing circuit includes at least one processor 100a and at least one memory 100b, each function of the group management device 5 is realized by software, firmware, or a combination of software and firmware. At least one of the software and firmware is written as a program. At least one of the software and firmware is stored in at least one memory 100b. At least one processor 100a realizes each function of the group management device 5 by reading and executing a program stored in at least one memory 100b. At least one processor 100a is also referred to as a central processing unit, a processing unit, an arithmetic unit, a microprocessor, a microcomputer, and a DSP. For example, at least one memory 100b is a non-volatile or volatile semiconductor memory such as RAM, ROM, flash memory, EPROM, EEPROM, magnetic disk, flexible disk, optical disk, compact disk, mini disk, DVD, or the like.
処理回路が少なくとも1つの専用のハードウェア200を備える場合、処理回路は、例えば、単一回路、複合回路、プログラム化したプロセッサ、並列プログラム化したプロセッサ、ASIC、FPGA、またはこれらの組み合わせで実現される。例えば、群管理装置5の各機能は、それぞれ処理回路で実現される。例えば、群管理装置5の各機能は、まとめて処理回路で実現される。
If the processing circuit comprises at least one dedicated hardware 200, the processing circuit may be implemented, for example, as a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC, an FPGA, or a combination thereof. To. For example, each function of the group management device 5 is realized by a processing circuit. For example, each function of the group management device 5 is collectively realized by a processing circuit.
群管理装置5の各機能について、一部を専用のハードウェア200で実現し、他部をソフトウェアまたはファームウェアで実現してもよい。例えば、ロボット遠隔制御部5eの機能については専用のハードウェア200としての処理回路で実現し、ロボット遠隔制御部5eの機能以外の機能については少なくとも1つのプロセッサ100aが少なくとも1つのメモリ100bに格納されたプログラムを読み出して実行することにより実現してもよい。
For each function of the group management device 5, a part may be realized by the dedicated hardware 200, and the other part may be realized by software or firmware. For example, the function of the robot remote control unit 5e is realized by a processing circuit as dedicated hardware 200, and at least one processor 100a is stored in at least one memory 100b for functions other than the function of the robot remote control unit 5e. It may be realized by reading and executing the program.
このように、処理回路は、ハードウェア200、ソフトウェア、ファームウェア、またはこれらの組み合わせで群管理装置5の各機能を実現する。
In this way, the processing circuit realizes each function of the group management device 5 by hardware 200, software, firmware, or a combination thereof.
図示されないが、制御装置4の各機能も、群管理装置5の各機能を実現する処理回路と同等の処理回路で実現される。搭載順序決定部5dを備えたサーバの各機能も、群管理装置5の各機能を実現する処理回路と同等の処理回路で実現される。
Although not shown, each function of the control device 4 is also realized by a processing circuit equivalent to a processing circuit that realizes each function of the group management device 5. Each function of the server provided with the mounting order determination unit 5d is also realized by a processing circuit equivalent to the processing circuit that realizes each function of the group management device 5.
実施の形態2.
図5は実施の形態2におけるロボット1の移動支援システムの構成図である。なお、実施の形態1の部分と同一又は相当部分には同一符号が付される。当該部分の説明は省略される。Embodiment 2.
FIG. 5 is a configuration diagram of the movement support system of therobot 1 according to the second embodiment. The same or corresponding parts as those of the first embodiment are designated by the same reference numerals. The explanation of the relevant part is omitted.
図5は実施の形態2におけるロボット1の移動支援システムの構成図である。なお、実施の形態1の部分と同一又は相当部分には同一符号が付される。当該部分の説明は省略される。
FIG. 5 is a configuration diagram of the movement support system of the
実施の形態2において、ロボット1の属性情報は、機種6aと占有エリア6bとセンサエリア6cと旋回エリア6dと移動方向6eと抑制センサエリア6fとの情報が対応付けられた情報である。
In the second embodiment, the attribute information of the robot 1 is information in which the information of the model 6a, the occupied area 6b, the sensor area 6c, the turning area 6d, the moving direction 6e, and the suppression sensor area 6f are associated with each other.
抑制センサエリア6fは、衝突防止センサ1aの有効距離を変更した場合の面積の情報である。なお、旋回エリア6dは、抑制センサエリア6fに応じて自動で変更される。
The suppression sensor area 6f is information on the area when the effective distance of the collision prevention sensor 1a is changed. The turning area 6d is automatically changed according to the suppression sensor area 6f.
例えば、1階において、カゴ2は空とする。搭載順序決定部5dは、ID7aがCのロボット1がカゴ2の搭載可能面積に搭載可能であると判定する。この際、ロボット遠隔制御部5eは、ID7aがCのロボット1に対して搭乗許可を出す。その後、ロボット遠隔制御部5eは、ID7aがCのロボット1に対して衝突防止センサ1aの検知範囲を変更させる。本例では、衝突防止センサ1aの検知範囲は、1mの設定から0.5mに変更される。その結果、衝突防止センサ1aが有効な領域は、センサエリア6cの3m*4mの領域から抑制センサエリア6fの2.5*3.5mの領域となる。この際、旋回エリア6dの半径は2.15mに変更となる。
For example, on the first floor, basket 2 is empty. The mounting order determination unit 5d determines that the robot 1 having the ID 7a C can be mounted in the mountable area of the basket 2. At this time, the robot remote control unit 5e issues a boarding permission to the robot 1 whose ID 7a is C. After that, the robot remote control unit 5e causes the robot 1 whose ID 7a is C to change the detection range of the collision prevention sensor 1a. In this example, the detection range of the collision prevention sensor 1a is changed from the setting of 1 m to 0.5 m. As a result, the region where the collision prevention sensor 1a is effective is from the region of 3m * 4m of the sensor area 6c to the region of 2.5 * 3.5m of the suppression sensor area 6f. At this time, the radius of the turning area 6d is changed to 2.15 m.
その後、搭載順序決定部5dは、ID7aがAのロボット1の搭乗個所とカゴ2の搭載可能面積との情報に基づいて、当該カゴ2の空き領域を確認し、ID7aがAのロボット1の旋回エリア6dである1.5m*1.5mがあると判定する。この際、ロボット遠隔制御部5eは、ロボット1Aに対して搭乗許可を出す。
After that, the mounting order determination unit 5d confirms the empty area of the basket 2 based on the information of the boarding location of the robot 1 whose ID 7a is A and the mountable area of the basket 2, and turns the robot 1 whose ID 7a is A. It is determined that there is an area 6d of 1.5m * 1.5m. At this time, the robot remote control unit 5e issues a boarding permit to the robot 1A.
次に、図6を用いて、カゴ2の内部のロボット1の配置を説明する。
図6は実施の形態2におけるロボット1の移動支援システムが適用されるエレベータのカゴ2の内部のロボット1の配置を示す例である。 Next, the arrangement of therobot 1 inside the basket 2 will be described with reference to FIG.
FIG. 6 is an example showing the arrangement of therobot 1 inside the basket 2 of the elevator to which the movement support system of the robot 1 according to the second embodiment is applied.
図6は実施の形態2におけるロボット1の移動支援システムが適用されるエレベータのカゴ2の内部のロボット1の配置を示す例である。 Next, the arrangement of the
FIG. 6 is an example showing the arrangement of the
図6(a)は、ID7aがAのロボット1とID7aがCのロボット1とがカゴ2に搭乗している状況を示す。実線は、占有エリア6bを示す。一点鎖線は、抑制センサエリア6fを示す。二点鎖線は、旋回エリア6dを示す。図6(b)は、ID7aがCのロボット1が旋回して降車する際の状況を示す。
FIG. 6A shows a situation in which a robot 1 having an ID 7a of A and a robot 1 having an ID 7a of C are in the basket 2. The solid line shows the occupied area 6b. The alternate long and short dash line indicates the suppression sensor area 6f. The alternate long and short dash line indicates the turning area 6d. FIG. 6B shows a situation when the robot 1 having ID 7a C turns and gets off.
旋回エリア6dは、抑制センサエリア6fに応じて狭まる。その結果、複数のロボット1が効率的に同乗するだけなく、旋回して降車することができる。
The turning area 6d narrows according to the suppression sensor area 6f. As a result, not only can the plurality of robots 1 efficiently ride together, but they can also turn and get off.
次に、図7を用いて、衝突防止センサ1aの検知範囲を説明する。
図7は実施の形態2におけるロボット1の移動支援システムが適用されるロボットの衝突防止センサの検知範囲を示す例である。 Next, the detection range of thecollision prevention sensor 1a will be described with reference to FIG. 7.
FIG. 7 is an example showing the detection range of the collision prevention sensor of the robot to which the movement support system of therobot 1 according to the second embodiment is applied.
図7は実施の形態2におけるロボット1の移動支援システムが適用されるロボットの衝突防止センサの検知範囲を示す例である。 Next, the detection range of the
FIG. 7 is an example showing the detection range of the collision prevention sensor of the robot to which the movement support system of the
図7に示されるように、衝突防止センサ1aの検知範囲は、ロボット1の移動速度に合わせて狭められる。例えば、図7の(a)に示されるように、通常の移動時においては、スピードも速い。このため、衝突防止センサ1aの検知範囲は、進行方向に広めに設定される。例えば、図7の(b)と(c)とに示されるように、搭乗・降車時においては、ロボット1は、スピードを低下させる。このため、衝突防止センサ1aの検知範囲は、少しずつ狭められる。例えば、図7の(d)に示されるように、カゴ2の内部において、ロボット1は、停止する。このため、衝突防止センサ1aの検知範囲は、最小に設定される。
As shown in FIG. 7, the detection range of the collision prevention sensor 1a is narrowed according to the moving speed of the robot 1. For example, as shown in FIG. 7A, the speed is high during normal movement. Therefore, the detection range of the collision prevention sensor 1a is set wider in the traveling direction. For example, as shown in FIGS. 7 (b) and 7 (c), the robot 1 reduces the speed when boarding and disembarking. Therefore, the detection range of the collision prevention sensor 1a is gradually narrowed. For example, as shown in FIG. 7D, the robot 1 stops inside the basket 2. Therefore, the detection range of the collision prevention sensor 1a is set to the minimum.
以上で説明した実施の形態2によれば、群管理装置5は、カゴ2の内部におけるロボット1の衝突防止センサ1aの検知範囲を狭める指令を当該ロボット1に向けて出力する。このため、複数のロボット1がカゴ2の内部において密接してもアラーム等をあがることを抑制できる。
According to the second embodiment described above, the group management device 5 outputs a command to the robot 1 to narrow the detection range of the collision prevention sensor 1a of the robot 1 inside the basket 2. Therefore, even if a plurality of robots 1 are in close contact with each other inside the basket 2, it is possible to suppress raising an alarm or the like.
実施の形態3.
図8は実施の形態3におけるロボット1の移動支援システムが適用されるロボットの衝突防止センサ1aの検知範囲を示す例である。なお、実施の形態2の部分と同一又は相当部分には同一符号が付される。当該部分の説明は省略される。Embodiment 3.
FIG. 8 is an example showing the detection range of thecollision prevention sensor 1a of the robot to which the movement support system of the robot 1 according to the third embodiment is applied. The same or corresponding parts as those of the second embodiment are designated by the same reference numerals. The explanation of the relevant part is omitted.
図8は実施の形態3におけるロボット1の移動支援システムが適用されるロボットの衝突防止センサ1aの検知範囲を示す例である。なお、実施の形態2の部分と同一又は相当部分には同一符号が付される。当該部分の説明は省略される。
FIG. 8 is an example showing the detection range of the
実施の形態3において、ロボット1は、図示されない照明装置を有する。照明装置は、簡単なLED照明、ランプ照明、プロジェクタ等である。
In the third embodiment, the robot 1 has a lighting device (not shown). The lighting device is a simple LED lighting, a lamp lighting, a projector or the like.
照明装置は、ロボット1のセンサエリア6cの境界が区別できるようにカゴ2の床面に光を照らす。例えば、照明装置は、ロボット1のセンサエリア6cをカゴ2の床面に投影する。例えば、照明装置は、色、ガラを付けてロボット1のセンサエリア6cを投影する。例えば、照明装置は、プロジェクタ等により画像を投射する。
The lighting device illuminates the floor surface of the basket 2 so that the boundary of the sensor area 6c of the robot 1 can be distinguished. For example, the lighting device projects the sensor area 6c of the robot 1 onto the floor surface of the basket 2. For example, the lighting device projects the sensor area 6c of the robot 1 with colors and galleys. For example, the lighting device projects an image with a projector or the like.
例えば、照明装置は、ロボット1の進行方向、速度等を、矢印の太さ、方向、長さ等の図形でカゴ2の床面に投影する。
For example, the lighting device projects the traveling direction, speed, etc. of the robot 1 onto the floor surface of the basket 2 with figures such as the thickness, direction, and length of the arrows.
以上で説明した実施の形態3によれば、群管理装置5は、ロボット1の衝突防止センサ1aの範囲が区別できるように光を照らす指令を当該ロボットに向けて出力する。この場合、ロボット1と同乗する人に対し、衝突防止センサ1aの検知範囲から離れるように促すことができる。
According to the third embodiment described above, the group management device 5 outputs a command to illuminate the robot so that the range of the collision prevention sensor 1a of the robot 1 can be distinguished. In this case, the person riding the robot 1 can be urged to move away from the detection range of the collision prevention sensor 1a.
また、照明装置は、ロボット1の進行方向、速度等を、矢印の太さ、方向、長さ等の図でカゴ2の床面に投影する。このため、ロボット1の移動に伴うセンサエリアの動きを周囲に知らせることができる。
In addition, the lighting device projects the traveling direction, speed, etc. of the robot 1 onto the floor surface of the basket 2 with a diagram of the thickness, direction, length, etc. of the arrows. Therefore, the movement of the sensor area due to the movement of the robot 1 can be notified to the surroundings.
実施の形態4.
図9は実施の形態4におけるロボット1の移動支援システムのロボットの属性情報と移動情報との例を示す図である。なお、実施の形態2の部分と同一又は相当部分には同一符号が付される。当該部分の説明は省略される。Embodiment 4.
FIG. 9 is a diagram showing an example of the attribute information and the movement information of the robot of the movement support system of therobot 1 in the fourth embodiment. The same or corresponding parts as those of the second embodiment are designated by the same reference numerals. The explanation of the relevant part is omitted.
図9は実施の形態4におけるロボット1の移動支援システムのロボットの属性情報と移動情報との例を示す図である。なお、実施の形態2の部分と同一又は相当部分には同一符号が付される。当該部分の説明は省略される。
FIG. 9 is a diagram showing an example of the attribute information and the movement information of the robot of the movement support system of the
実施の形態3において、ロボット1の属性情報は、機種6aと占有エリア6bとセンサエリア6cと旋回エリア6dと移動方向6eと抑制センサエリア6fと重量6gと種類6hと同乗可種類6iとの情報が対応付けられた情報である。
In the third embodiment, the attribute information of the robot 1 is information on 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 rideable type 6i. Is the associated information.
重量6gの情報は、ロボット1の重量の情報である。種類6hは、ロボット1の種類の情報である。同乗可種類6iの情報は、同乗可能なロボット1の種類の情報である。
The information on the weight of 6 g is the information on the weight of the robot 1. Type 6h is information on the type of robot 1. The information on the rideable type 6i is the information on the type of the robot 1 that can be on board.
実施の形態3において、ロボット1の移動情報は、ID7aと機種7bと搭乗階7cと行先階7dと搭載物重量7eと優先度7fとの情報が対応付けられた情報である。
In the third embodiment, the movement information of the robot 1 is information in which information of ID 7a, model 7b, boarding floor 7c, destination floor 7d, load weight 7e, and priority 7f is associated with each other.
搭載物重量7eは、ロボット1に搭載された物体の重量の情報である。優先度7fは、ロボット1の優先度の情報である。優先度7fは、同じ種類のロボット1に対しても目的の完了度に応じて動的に変更される。例えば、食事宅配のロボット1の宅配途中において搭載物が多い場合、優先度7fは、より高く設定される。例えば、食事宅配のロボット1の宅配完了後において搭載物がない場合、優先度7fは、より低く設定される。
The load weight 7e is information on the weight of the object mounted on the robot 1. The priority 7f is information on the priority of the robot 1. The priority 7f is dynamically changed according to the desired degree of completion even for the robot 1 of the same type. For example, if there are many loaded items during the delivery of the meal delivery robot 1, the priority 7f is set higher. For example, if there is no load after the delivery of the meal delivery robot 1 is completed, the priority 7f is set lower.
以上で説明した実施の形態4によれば、群管理装置5は、ロボット1の属性に基づいて当該ロボット1の優先度を設定する。このため、複数のロボット1をより効率的に移動させることができる。
According to the fourth embodiment described above, the group management device 5 sets the priority of the robot 1 based on the attributes of the robot 1. Therefore, the plurality of robots 1 can be moved more efficiently.
例えば、掃除のロボット1において掃除が指定時間内に終わりそうでない場合、当該ロボット1の優先度7fをより高く設定すればよい。この場合、指定時間内に清掃を終えることができる。
For example, if cleaning is not likely to be completed within the specified time in the cleaning robot 1, the priority 7f of the robot 1 may be set higher. In this case, the cleaning can be completed within the designated time.
なお、ロボット1の作業モードで優先度7fを変更してもよい。例えば、配送中のロボット1の優先度を回送中のロボット1の優先度よりも高く設定してもよい。
Note that the priority 7f may be changed in the work mode of the robot 1. For example, the priority of the robot 1 being delivered may be set higher than the priority of the robot 1 being forwarded.
実施の形態5.
図10は実施の形態5におけるロボット1の移動支援システムによるロボット1の乗車拒否の例を示す図である。なお、実施の形態4の部分と同一又は相当部分には同一符号が付される。当該部分の説明は省略される。Embodiment 5.
FIG. 10 is a diagram showing an example of refusal to board therobot 1 by the movement support system of the robot 1 in the fifth embodiment. The same or corresponding parts as those of the fourth embodiment are designated by the same reference numerals. The explanation of the relevant part is omitted.
図10は実施の形態5におけるロボット1の移動支援システムによるロボット1の乗車拒否の例を示す図である。なお、実施の形態4の部分と同一又は相当部分には同一符号が付される。当該部分の説明は省略される。
FIG. 10 is a diagram showing an example of refusal to board the
実施の形態5において、同乗させるロボット1の種類は、実施の形態4のロボット1の属性情報に基づいて判定される。複数のロボット1が同乗する場合、ロボット1の種類によって、センサエリア6cの狭め方が変更される。その結果、複数のロボット1は、互いの間隔を変更して搭載される。
In the fifth embodiment, the type of the robot 1 to be carried is determined based on the attribute information of the robot 1 of the fourth embodiment. When a plurality of robots 1 are on board, the method of narrowing the sensor area 6c is changed depending on the type of the robot 1. As a result, the plurality of robots 1 are mounted at different distances from each other.
例えば、図10の(a)に示されるように、食事宅配のロボット1の掃除のロボット1とは、同乗しない。食事宅配のロボット1の警備のロボット1とは、同乗しない。
For example, as shown in FIG. 10A, the robot 1 for cleaning the meal delivery robot 1 is not on board. Do not ride with the security robot 1 of the meal delivery robot 1.
例えば、図10の(b)に示されるように、食事宅配のロボット1において、食品が外部に触れる状態の場合と格納して外部に触れない状態によって同乗可否が変更される。例えば、食事が格納される場合、食事宅配のロボット1は、書類宅配のロボット1と同乗する。例えば、食事が外部に触れる場合、同種の食事宅配のロボット1のみが同乗する。例えば、ロボット1がパッケージされている食品を配送する場合、当該ロボット1は、書類、薬、密閉の飲み物等を配送するロボット1と同乗する。
For example, as shown in FIG. 10B, in the meal delivery robot 1, whether or not the food can be carried is changed depending on whether the food is in contact with the outside or stored and not touching the outside. For example, when meals are stored, the meal delivery robot 1 rides on the document delivery robot 1. For example, when the meal comes into contact with the outside, only the robot 1 of the same type of meal delivery is on board. For example, when the robot 1 delivers the packaged food, the robot 1 rides on the robot 1 that delivers documents, medicines, sealed drinks, and the like.
例えば、図10の(c)に示されるように、複数の食事宅配のロボット1が同乗する場合、複数の食事宅配のロボット1のセンサエリア6cは最小にされる。
For example, as shown in FIG. 10C, when a plurality of meal delivery robots 1 are on board, the sensor area 6c of the plurality of meal delivery robots 1 is minimized.
なお、警備のロボット1と掃除のロボット1とは同乗できるように設定される。警備のロボット1と書類宅配のロボット1とは同乗できるように設定される。
Note that the security robot 1 and the cleaning robot 1 are set so that they can ride together. The security robot 1 and the document delivery robot 1 are set so that they can ride together.
次に、図11を用いて、群管理装置5の動作の概要を説明する。
図11は実施の形態5におけるロボット1の移動支援システムが適用されるエレベータの群管理装置5の動作の概要を説明するためのフローチャートである。 Next, the outline of the operation of thegroup management device 5 will be described with reference to FIG.
FIG. 11 is a flowchart for explaining an outline of the operation of thegroup management device 5 of the elevator to which the movement support system of the robot 1 according to the fifth embodiment is applied.
図11は実施の形態5におけるロボット1の移動支援システムが適用されるエレベータの群管理装置5の動作の概要を説明するためのフローチャートである。 Next, the outline of the operation of the
FIG. 11 is a flowchart for explaining an outline of the operation of the
ステップS1では、群管理装置5は、ロボット1のカゴ2への乗り込み処理を開始する。その後、群管理装置5は、ステップS2の動作を行う。ステップS2では、群管理装置5は、ロボット1からのカゴ2への乗り込み要求を受け付ける。その後、群管理装置5は、ステップS3の動作を行う。ステップS3では、群管理装置5は、ロボット移動テーブルから当該ロボット1が搭乗し得るカゴ2を選択する。
In step S1, the group management device 5 starts the process of getting the robot 1 into the basket 2. After that, the group management device 5 performs the operation of step S2. In step S2, the group management device 5 receives a request from the robot 1 to board the basket 2. After that, the group management device 5 performs the operation of step S3. In step S3, the group management device 5 selects a basket 2 on which the robot 1 can board from the robot movement table.
その後、群管理装置5は、ステップS4の動作を行う。ステップS4では、群管理装置5は、当該カゴ2の状況を確認する。その後、群管理装置5は、ステップS5の動作を行う。ステップS5では、群管理装置5は、他のロボット1が当該カゴ2に乗っているか否かを判定する。
After that, the group management device 5 performs the operation of step S4. In step S4, the group management device 5 confirms the status of the basket 2. After that, the group management device 5 performs the operation of step S5. In step S5, the group management device 5 determines whether or not another robot 1 is in the basket 2.
ステップS5で他のロボット1が当該カゴ2に乗っている場合、群管理装置5は、ステップS6の動作を行う。ステップS6では、群管理装置5は、当該ロボット1が当該カゴ2に乗っているロボット1と同乗できるか否かを判定する。
When another robot 1 is in the basket 2 in step S5, the group management device 5 performs the operation of step S6. In step S6, the group management device 5 determines whether or not the robot 1 can ride with the robot 1 in the basket 2.
ステップS6で当該ロボット1が当該カゴ2に乗っているロボット1と同乗できる場合、群管理装置5は、ステップS7の動作を行う。ステップS7では、群管理装置5は、ロボット情報テーブルとエレベータ情報とカゴ2の搭載状況とに基づいて当該カゴ2の搭載可能エリアを計算する。
If the robot 1 can ride with the robot 1 in the basket 2 in step S6, the group management device 5 performs the operation of step S7. In step S7, the group management device 5 calculates the mountable area of the basket 2 based on the robot information table, the elevator information, and the loading status of the basket 2.
その後、群管理装置5は、ステップS8の動作を行う。ステップS8では、群管理装置5は、当該カゴ2の搭載可能エリアに基づいて当該ロボット1が搭乗可能であるか否かを判定する。
After that, 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 can be boarded based on the mountable area of the basket 2.
ステップS8で当該ロボット1が搭乗可能である場合、群管理装置5は、ステップS9の動作を行う。ステップS9では、群管理装置5は、当該ロボット1に対してセンサエリアを絞り込みながら乗り込むように指令を出力する。その後、群管理装置5は、動作を終了する。
If the robot 1 can be boarded in step S8, the group management device 5 performs the operation of step S9. In step S9, the group management device 5 outputs a command to the robot 1 to board while narrowing down the sensor area. After that, the group management device 5 ends the operation.
ステップS5で他のロボット1が当該カゴ2に乗っていない場合、群管理装置5は、ステップS9の動作を行う。
If another robot 1 is not in the basket 2 in step S5, the group management device 5 performs the operation of step S9.
ステップS6で当該ロボット1が当該カゴ2に乗っているロボット1と同乗できない場合またはステップS8で当該ロボット1が搭乗可能でない場合、群管理装置5は、ステップS2に戻り、ロボット1からのカゴ2への乗り込み要求を再び受け付ける。
If the robot 1 cannot ride with the robot 1 in the basket 2 in step S6, or if the robot 1 cannot be boarded in step S8, the group management device 5 returns to step S2 and the basket 2 from the robot 1 Re-accept boarding requests.
以上で説明した実施の形態5によれば、群管理装置5は、複数のロボット1の各々の属性に基づいてカゴ2への同乗可否を判定する。このため、より適切な条件でロボット1を移動させることができる。
According to the fifth embodiment described above, the group management device 5 determines whether or not to ride in the basket 2 based on the attributes of each of the plurality of robots 1. Therefore, the robot 1 can be moved under more appropriate conditions.
実施の形態6.
図12と図13は実施の形態6におけるロボット1の移動支援システムが適用されるエレベータの群管理装置5の動作の概要を説明するためのフローチャートである。なお、実施の形態5の部分と同一又は相当部分には同一符号が付される。当該部分の説明は省略される。 Embodiment 6.
12 and 13 are flowcharts for explaining the outline of the operation of thegroup management device 5 of the elevator to which the movement support system of the robot 1 according to the sixth embodiment is applied. The same or corresponding parts as those in the fifth embodiment are designated by the same reference numerals. The explanation of the relevant part is omitted.
図12と図13は実施の形態6におけるロボット1の移動支援システムが適用されるエレベータの群管理装置5の動作の概要を説明するためのフローチャートである。なお、実施の形態5の部分と同一又は相当部分には同一符号が付される。当該部分の説明は省略される。 Embodiment 6.
12 and 13 are flowcharts for explaining the outline of the operation of the
ステップS11では、群管理装置5は、ロボット1のカゴ2への乗り込み処理を開始する。その後、群管理装置5は、ステップS12の動作を行う。ステップS12では、群管理装置5は、当該ロボット1から搭載物の重量の情報の入力を受け付ける。その後、群管理装置5は、ステップS13の動作を行う。ステップS13では、群管理装置5は、ロボット移動テーブルから当該ロボット1が搭乗し得るカゴ2を選択する。
In step S11, the group management device 5 starts the process of getting the robot 1 into the basket 2. After that, 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 load from the robot 1. After that, the group management device 5 performs the operation of step S13. In step S13, the group management device 5 selects a basket 2 on which the robot 1 can board from the robot movement table.
その後、群管理装置5は、ステップS14の動作を行う。ステップS14では、群管理装置5は、当該カゴ2の状況を確認する。具体的には、群管理装置5は、エレベータの秤情報からエレベータの全搭載従量を確認する。群管理装置5は、当該カゴ2に搭載中のロボット1の重量とその搭載物の重量とを確認する。
After that, the group management device 5 performs the operation of step S14. In step S14, the group management device 5 confirms the status of the basket 2. Specifically, the group management device 5 confirms the total load of the elevator from the scale information of the elevator. The group management device 5 confirms the weight of the robot 1 mounted on the basket 2 and the weight of the load thereof.
その後、群管理装置5は、ステップS15の動作を行う。ステップS15では、群管理装置5は、全搭載従量が搭載中のロボット1の重量とその搭載物の重量との合計と一致するか否かを判定する。
After that, 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 on-board usage amount matches the total of the weight of the robot 1 being mounted and the weight of the mounted object.
ステップS15で全搭載従量が搭載中のロボット1の重量とその搭載物の重量との合計と一致しない場合、群管理装置5は、当該カゴ2にはロボット1以外に人が搭乗していると判定する。この場合、群管理装置5は、ステップS16の動作を行う。ステップS16では、群管理装置5は、当該ロボット1が人と同乗可能であるか否かを判定する。
If the total load capacity does not match the sum of the weight of the robot 1 being loaded and the weight of the load thereof in step S15, the group management device 5 states that a person other than the robot 1 is in the basket 2. judge. In this case, the group management device 5 performs the operation of step S16. In step S16, the group management device 5 determines whether or not the robot 1 can ride with a person.
ステップS15で全搭載従量が搭載中のロボット1の重量とその搭載物の重量との合計と一致する場合、群管理装置5は、当該カゴ2にはロボット1のみが搭載しているか何も搭乗していないかのいずれかであると判定する。
When the total load capacity matches the total weight of the loaded robot 1 and the weight of the loaded object in step S15, the group management device 5 has only the robot 1 mounted in the basket 2 or nothing is loaded. It is determined that either is not done.
ステップS15で全搭載従量が搭載中のロボット1の重量とその搭載物の重量との合計と一致する場合またはステップS16で当該ロボット1が人と同乗可能である場合、群管理装置5は、ステップS17の動作を行う。ステップS17では、群管理装置5は、当該ロボット1が当該カゴ2に乗っているロボット1と同乗できるか否かを判定する。
If the total load-bearing amount in step S15 matches the sum of the weight of the robot 1 being mounted and the weight of the load thereof, or if the robot 1 can ride with a person in step S16, the group management device 5 steps. The operation of S17 is performed. In step S17, the group management device 5 determines whether or not the robot 1 can ride with the robot 1 in the basket 2.
ステップS17で当該ロボット1が当該カゴ2に乗っているロボット1と同乗できる場合、群管理装置5は、ステップS18の動作を行う。ステップS18では、群管理装置5は、現在の秤情報と当該ロボット1の重量とその搭載物の重量との和を計算する。その後、群管理装置5は、ステップS19の動作を行う。ステップS19では、群管理装置5は、現在の秤情報と当該ロボット1の重量とその搭載物の重量との和が最大搭載従量以内であるか否かを判定する。
If the robot 1 can ride with the robot 1 in the basket 2 in step S17, the group management device 5 performs the operation of step S18. In step S18, the group management device 5 calculates the sum of the current weighing information, the weight of the robot 1, and the weight of the load thereof. After that, 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 weighing information, the weight of the robot 1, and the weight of the load thereof is within the maximum load capacity.
ステップS19で現在の秤情報と当該ロボット1の重量とその搭載物の重量との和が最大搭載従量以内である場合、群管理装置5は、ステップS20の動作を行う。ステップS20では、群管理装置5は、当該カゴ2の搭載可能エリアを計算する。
When the sum of the current weighing information, the weight of the robot 1 and the weight of the load thereof is within the maximum load capacity in step S19, the group management device 5 performs the operation of step S20. In step S20, the group management device 5 calculates the mountable area of the basket 2.
その後、群管理装置5は、ステップS21の動作を行う。ステップS21では、群管理装置5は、当該カゴ2の搭載可能エリアに基づいて当該ロボット1が搭乗可能であるか否かを判定する。
After that, 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 can be boarded based on the mountable area of the basket 2.
ステップS21で当該ロボット1が搭乗可能である場合、群管理装置5は、ステップS22の動作を行う。ステップS22では、群管理装置5は、当該ロボット1に対してセンサエリアを絞り込みながら乗り込むように指令を出力する。この際、実施の形態4のように、センサエリアを表示してもよい。その後、群管理装置5は、動作を終了する。
If the robot 1 can be boarded in step S21, the group management device 5 performs the operation of step S22. In step S22, the group management device 5 outputs a command to the robot 1 to board while narrowing down the sensor area. At this time, the sensor area may be displayed as in the fourth embodiment. After that, the group management device 5 ends the operation.
ステップS16で当該ロボット1が人と同乗可能でない場合とステップS17で当該ロボット1が当該カゴ2に乗っているロボット1と同乗できない場合とステップS19で現在の秤情報と当該ロボット1の重量とその搭載物の重量との和が最大搭載従量以内でない場合とステップS21で当該ロボット1が搭乗可能でない場合とのうちのいずれかの場合、群管理装置5は、ステップS12に戻り、ロボット1からのカゴ2への乗り込み要求を再び受け付ける。
In step S16, the robot 1 cannot ride with a person, in step S17, the robot 1 cannot ride with the robot 1 in the basket 2, and in step S19, the current scale information, the weight of the robot 1, and the weight thereof. When the sum with the weight of the load is not within the maximum load capacity or when the robot 1 cannot be boarded in step S21, the group management device 5 returns to step S12 and starts from the robot 1. Re-accept the request to board the basket 2.
以上で説明した実施の形態6によれば、群管理装置5は、当該ロボット1が搭乗できる領域が前記カゴ2に存在する場合に、ロボット1の重量と当該ロボット1の搭載物の重量との情報に基づいて、当該ロボット1の当該カゴ2への搭乗可否を判定する。このため、ロボット1をより効率的に移動させることができる。
According to the sixth embodiment described above, in the group management device 5, when the area where the robot 1 can board exists in the basket 2, the weight of the robot 1 and the weight of the load of the robot 1 are determined. Based on the information, it is determined whether or not the robot 1 can board the basket 2. Therefore, the robot 1 can be moved more efficiently.
また、群管理装置5は、ロボット1の重量と当該ロボット1の搭載物の重量との情報とカゴ2の秤情報とに基づいて、利用者の同乗状況を検知する。このため、ロボット1をより適切に移動させることができる。
Further, the group management device 5 detects the riding status of the user based on the information of the weight of the robot 1, the weight of the load of the robot 1, and the weighing information of the basket 2. Therefore, the robot 1 can be moved more appropriately.
また、群管理装置5において、カゴ2の秤情報に基づいてカゴ2が空であることを検知した場合に、ロボット1に対してカゴ2が空であることを示す情報を出力してもよい。この場合、ロボット1に対して、エレベータの利用を促すことができる。
Further, when the group management device 5 detects that the basket 2 is empty based on the scale information of the basket 2, it may output information indicating that the basket 2 is empty to the robot 1. .. In this case, the robot 1 can be encouraged to use the elevator.
実施の形7.
図14は実施の形態7におけるロボット1の移動支援システムが適用されるロボット1の動作の概要を説明するためのフローチャートである。なお、実施の形態5の部分と同一又は相当部分には同一符号が付される。当該部分の説明は省略される。 Form of implementation 7.
FIG. 14 is a flowchart for explaining an outline of the operation of therobot 1 to which the movement support system of the robot 1 according to the seventh embodiment is applied. The same or corresponding parts as those in the fifth embodiment are designated by the same reference numerals. The explanation of the relevant part is omitted.
図14は実施の形態7におけるロボット1の移動支援システムが適用されるロボット1の動作の概要を説明するためのフローチャートである。なお、実施の形態5の部分と同一又は相当部分には同一符号が付される。当該部分の説明は省略される。 Form of implementation 7.
FIG. 14 is a flowchart for explaining an outline of the operation of the
ステップS31では、ロボット1は、空のカゴ2を呼ぶ。その後、ロボット1は、ステップS32の動作を行う。ステップS32では、ロボット1は、通常速度で移動した際のエレベータホールへの到着予定時刻の情報を群管理システムに向けて出力する。
In step S31, the robot 1 calls an empty basket 2. After that, the robot 1 performs the operation of step S32. In step S32, the robot 1 outputs information on the estimated time of arrival at the elevator hall when moving at a normal speed to the group management system.
その後、ロボット1は、ステップS33の動作を行う。ステップS33では、ロボット1は、群管理装置5から到着予定時刻前後に配車可能なカゴ2の到着予定時刻の情報の入力を受け付ける。
After that, the robot 1 performs the operation of step S33. In step S33, the robot 1 receives input from the group management device 5 of information on the estimated arrival time of the basket 2 that can be dispatched before and after the estimated arrival time.
その後、ロボット1は、ステップS34の動作を行う。ステップS34では、ロボット1は、カゴ2の到着予定時刻が自らの到着予定時刻よりも遅いか否かを判定する。
After that, the robot 1 performs the operation of step S34. In step S34, the robot 1 determines whether or not the estimated time of arrival of the basket 2 is later than the estimated time of arrival of the basket 2.
ステップS34でカゴ2のエレベータホールへの到着予定時刻が自らのエレベータホールへの到着予定時刻よりも遅い場合、ロボット1は、ステップS35の動作を行う。ステップS35では、ロボット1は、移動速度を下げて、カゴ2がエレベータホールに着く時間にあわせて移動する。この際、ロボット1は、安全が確保される状態で加速する。
If the estimated time of arrival of the basket 2 at the elevator hall in step S34 is later than the estimated time of arrival at its own elevator hall, the robot 1 performs the operation of step S35. In step S35, the robot 1 slows down the movement speed and moves according to the time when the basket 2 arrives at the elevator hall. At this time, the robot 1 accelerates in a state where safety is ensured.
ステップS34でカゴ2のエレベータホールへの到着予定時刻が自らのエレベータホールへの到着予定時刻よりも遅くない場合、ロボット1は、ステップS36の動作を行う。ステップS36では、ロボット1は、移動速度を上げて、カゴ2がエレベータホールに着く時間にあわせて移動する。この際、ロボット1は、安全が確保される状態で減速する。
If the estimated time of arrival of the basket 2 at the elevator hall in step S34 is not later than the estimated time of arrival at its own elevator hall, 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 basket 2 arrives at the elevator hall. At this time, the robot 1 decelerates while ensuring safety.
ステップS35の後またはステップS36の後、ロボット1は、ステップS37の動作を行う。ステップS37では、ロボット1は、カゴ2に乗り込む。その後、ロボット1は、動作を終了する。
After step S35 or after step S36, the robot 1 performs the operation of step S37. In step S37, the robot 1 gets into the basket 2. After that, the robot 1 ends the operation.
以上で説明した実施の形態7によれば、群管理装置5は、ロボット1がカゴ2を呼んだ際に当該カゴ2の到着予定時刻の情報を当該ロボット1に向けて出力すする。このため、ロボット1の乗り込み待ち、ロボット1のカゴ2の到着待ちを減らすことができる。その結果、利用者がロボット1に専用のカゴ2に乗り込みにくくすることができる。
According to the seventh embodiment described above, when the robot 1 calls the basket 2, the group management device 5 outputs information on the estimated time of arrival of the basket 2 to the robot 1. Therefore, it is possible to reduce the waiting time for the robot 1 to get in and the waiting time for the basket 2 of the robot 1 to arrive. As a result, it is possible to make it difficult for the user to get into the basket 2 dedicated to the robot 1.
なお、途中経路の障害物等により、ロボット1の到着予定時刻が変わりそうな場合は、現時点のカゴ2の呼びをキャンセルし、再度、カゴ2の呼びを登録すればよい。この場合、到着予定時刻のずれを修正することができる。
If the estimated time of arrival of the robot 1 is likely to change due to an obstacle on the route, the current call to the basket 2 may be canceled and the call to the basket 2 may be registered again. In this case, the estimated arrival time can be corrected.
以上のように、この発明に係るロボットの移動支援システムは、ロボットシステムに利用できる。
As described above, the robot movement support system according to the present invention can be used for the robot system.
1 ロボット、 1a 衝突防止センサ、 2 カゴ、 3 ロボット用行先登録装置、 4 制御装置、 5 群管理装置、 5a ロボット属性テーブル情報記憶部、 5b ロボット移動テーブル情報記憶部、 5c エレベータ情報記憶部、 5d 搭載順序決定部、 5e ロボット遠隔制御部、 6a 機種、 6b 占有エリア、 6c センサエリア、 6d 旋回エリア、 6e 移動方向、 6f 抑制センサエリア、 6g 重量、 6h 種類、 6i 同乗可種類、 7a ID、 7b 機種、 7c 搭乗階、 7d 行先階、 7e 搭載物重量、 7f 優先度、 100a プロセッサ、 100b メモリ、 200 ハードウェア
1 robot, 1a collision prevention sensor, 2 basket, 3 robot destination registration device, 4 control device, 5 group management device, 5a robot attribute table information storage unit, 5b robot movement table information storage unit, 5c elevator information storage unit, 5d Mounting order determination unit, 5e robot remote control unit, 6a model, 6b occupied area, 6c sensor area, 6d turning area, 6e movement direction, 6f suppression sensor area, 6g weight, 6h type, 6i rideable type, 7a ID, 7b Model, 7c boarding floor, 7d destination floor, 7e loading weight, 7f priority, 100a processor, 100b memory, 200 hardware
Claims (14)
- ロボットがエレベータのカゴの乗降時において前記カゴの内部で旋回する際の範囲の情報に基づいて、当該ロボットに対して前記カゴへの搭乗可否を判定する搭載順序決定部、
を備えたロボットの移動支援システム。 A mounting order determination unit that determines whether or not the robot can board the car based on the information of the range when the robot turns inside the car when getting on and off the car of the elevator.
Robot movement support system equipped with. - 前記カゴの内部におけるロボットの衝突防止センサの検知範囲を狭める指令を当該ロボットに向けて出力するロボット遠隔制御部、
を備えた請求項1に記載のロボットの移動支援システム。 A robot remote control unit that outputs a command to the robot to narrow the detection range of the robot's collision prevention sensor inside the basket.
The robot movement support system according to claim 1. - 前記ロボット遠隔制御部は、ロボットの衝突防止センサの検知範囲が区別できるように光を照らす指令を当該ロボットに向けて出力する請求項2に記載のロボットの移動支援システム。 The robot movement support system according to claim 2, wherein the robot remote control unit outputs a command to illuminate the robot so that the detection range of the robot's collision prevention sensor can be distinguished.
- 前記ロボット遠隔制御部は、ロボットの進行方向または速度を矢印の向きと太さまたは矢印の向きと太さで示した図形を表すように光を照らす指令を当該ロボットに向けて出力する請求項2に記載のロボットの移動支援システム。 The robot remote control unit outputs a command to the robot to illuminate the robot so as to represent a figure showing the direction or speed of the robot by the direction and thickness of the arrow or the direction and thickness of the arrow. Robot movement support system described in.
- 前記搭載順序決定部は、ロボットの属性に基づいて当該ロボットの優先度を設定する請求項1から請求項4のいずれか一項に記載のロボットの移動支援システム。 The robot movement support system according to any one of claims 1 to 4, wherein the mounting order determination unit sets the priority of the robot based on the attributes of the robot.
- 前記搭載順序決定部は、複数のロボットの各々の属性に基づいて前記カゴへの同乗可否を判定する請求項1から請求項5のいずれか一項に記載のロボットの移動支援システム。 The robot movement support system according to any one of claims 1 to 5, wherein the mounting order determination unit determines whether or not the robot can ride in the basket based on the attributes of each of the plurality of robots.
- 前記搭載順序決定部は、当該ロボットが搭乗できる領域が前記カゴに存在する場合に、ロボットの重量と当該ロボットの搭載物の重量との情報に基づいて、当該ロボットの前記カゴへの搭乗可否を判定する請求項1から請求項6のいずれか一項に記載のロボットの移動支援システム。 When the area in which the robot can be boarded exists in the basket, the mounting order determination unit determines whether or not the robot can be boarded in the basket based on the information of the weight of the robot and the weight of the load of the robot. The robot movement support system according to any one of claims 1 to 6.
- 前記搭載順序決定部は、ロボットの重量と当該ロボットの搭載物の重量との情報と前記カゴの秤情報とに基づいて、利用者の同乗状況を検知する請求項1から請求項7のいずれか一項に記載のロボットの移動支援システム。 The mounting order determination unit is any one of claims 1 to 7, which detects the riding status of the user based on the information of the weight of the robot, the weight of the loaded object of the robot, and the weighing information of the basket. The robot movement support system described in item 1.
- ロボットの重量と当該ロボットの搭載物の重量との情報を記憶する記憶部、
を備え、
前記搭載順序決定部は、ロボットの重量と当該ロボットの搭載物の重量との情報を前記記憶部から得る請求項8に記載のロボットの移動支援システム。 A storage unit that stores information on the weight of the robot and the weight of the load on the robot.
With
The robot movement support system according to claim 8, wherein 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. - 前記搭載順序決定部は、前記カゴの秤情報に基づいて前記カゴが空であることを検知した場合に、ロボットに対して前記カゴが空であることを示す情報を出力する請求項1から請求項9のいずれか一項に記載のロボットの移動支援システム。 According to claim 1, when the loading order determining unit detects that the basket is empty based on the scale information of the basket, it outputs information indicating that the basket is empty to the robot. Item 9. The robot movement support system according to any one of items 9.
- 前記搭載順序決定部は、ロボットがカゴを呼んだ際に当該カゴの到着予定時刻の情報を当該ロボットに向けて出力する請求項1から請求項10にいずれか一項に記載のロボットの移動支援システム。 The robot movement support according to any one of claims 1 to 10, wherein the mounting order determination unit outputs information on the estimated time of arrival of the basket to the robot when the robot calls the basket. system.
- ロボットの衝突防止センサの検知範囲が区別できるように光を照らす指令を当該ロボットに向けて出力するロボット遠隔制御部、
を備えたロボットの移動支援システム。 A robot remote control unit that outputs a command to illuminate the robot so that the detection range of the robot's collision prevention sensor can be distinguished.
Robot movement support system equipped with. - ロボットの進行方向または速度を矢印の向きと太さまたは矢印の向きと太さで示した図形を表すように光を照らす指令を当該ロボットに向けて出力するロボット遠隔制御部、
を備えたロボットの移動支援システム。 A robot remote control unit that outputs a command to illuminate a robot so as to represent a figure indicating the direction or speed of the robot by the direction and thickness of the arrow or the direction and thickness of the arrow.
Robot movement support system equipped with. - ロボットが搭乗できる領域がエレベータのカゴに存在する場合に、ロボットの重量と当該ロボットの搭載物の重量との情報に基づいて、当該ロボットの前記カゴへの搭乗可否を判定する搭載順序決定部、
を備えたロボットの移動支援システム。 When the area where the robot can board exists in the elevator basket, the mounting order determination unit that determines whether or not the robot can board the basket based on the information of the weight of the robot and the weight of the load of the robot.
Robot movement support system equipped with.
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