WO2020234938A1 - Robot movement assist system - Google Patents

Robot movement assist system Download PDF

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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
Authority
WO
WIPO (PCT)
Prior art keywords
robot
basket
information
support system
movement support
Prior art date
Application number
PCT/JP2019/019774
Other languages
French (fr)
Japanese (ja)
Inventor
釜坂　等
啓吾 根岸
悠太 鈴木
渡邊　啓嗣
清司 五明
正一 丸田
Original Assignee
三菱電機株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 三菱電機株式会社 filed Critical 三菱電機株式会社
Priority to PCT/JP2019/019774 priority Critical patent/WO2020234938A1/en
Priority to JP2021520509A priority patent/JP7327472B2/en
Priority to CN201980095939.1A priority patent/CN113811501B/en
Publication of WO2020234938A1 publication Critical patent/WO2020234938A1/en

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Classifications

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

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

ロボットの移動支援システムRobot movement support system
　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.
日本特開２０１３－２１６４０８号公報Japanese Patent Application Laid-Open No. 2013-216408
　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.
実施の形態１におけるロボットの移動支援システムの構成図である。It is a block diagram of the robot movement support system in Embodiment 1. FIG. 実施の形態１におけるロボットの移動支援システムが適用されるエレベータのカゴの内部のロボット１の配置を示す例である。This is an example showing the arrangement of the robot 1 inside the basket of the elevator to which the robot movement support system according to the first embodiment is applied. 実施の形態１におけるロボットの移動支援システムが適用されないエレベータのカゴの内部のロボット１の配置を示す例である。This is an example showing the arrangement of the robot 1 inside the basket of the elevator to which the robot movement support system according to the first embodiment is not applied. 実施の形態１におけるロボット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のハードウェア構成図である。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. 実施の形態２におけるロボットの移動支援システムの構成図である。It is a block diagram of the robot movement support system in Embodiment 2. FIG. 実施の形態２におけるロボットの移動支援システムが適用されるエレベータのカゴの内部のロボットの配置を示す例である。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. 実施の形態２におけるロボット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。This is an example showing the detection range of the collision prevention sensor of the robot to which the robot movement support system according to the second embodiment is applied. 実施の形態３におけるロボット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。This is an example showing the detection range of the collision prevention sensor of the robot to which the robot movement support system according to the third embodiment is applied. 実施の形態４におけるロボット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。It is a figure which shows the example of the attribute information and the movement information of the robot of the movement support system of the robot in Embodiment 4. 実施の形態５におけるロボットの移動支援システムによるロボットの乗車拒否の例を示す図である。It is a figure which shows the example of the robot boarding refusal by the robot movement support system in Embodiment 5. 実施の形態５におけるロボット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の動作の概要を説明するためのフローチャートである。It is a flowchart for demonstrating the outline of the operation of the group management apparatus of the elevator to which the movement support system of a robot is applied in Embodiment 5. 実施の形態６におけるロボット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の動作の概要を説明するためのフローチャートである。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. 実施の形態６におけるロボット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の動作の概要を説明するためのフローチャートである。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. 実施の形態７におけるロボットの移動支援システムが適用されるロボットの動作の概要を説明するためのフローチャートである。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.
　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 the robot 1 according to the first embodiment.
　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 the robot 1 inside the basket 2 will be described with reference to FIGS. 2 and 3.
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.
　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 the group management device 5 will be described with reference to FIG.
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.
　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 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.
　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 the robot 1 inside the basket 2 will be described with reference to FIG.
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.
　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 the collision 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 the robot 1 according to the second embodiment is applied.
　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 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.
　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 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.
　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 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.
　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 the group management device 5 will be described with reference to FIG.
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.
　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 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.
　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 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.
　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)

  1. 　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.
  2. 　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.
  3. 　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.
  4. 　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.
  5. 　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.
  6. 　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.
  7. 　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.
  8. 　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.
  9. 　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.
  10. 　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.
  11. 　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.
  12. 　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.
  13. 　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.
  14. 　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.
PCT/JP2019/019774 2019-05-17 2019-05-17 Robot movement assist system WO2020234938A1 (en)

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