Production system, production method and information storage medium

Abstract

The present disclosure provides a production system, a production method and an information storage medium. The production system (S) includes a self-movable industrial device (80). A preparation control unit (803) controls the industrial device (80) to prepare for a next operation before the industrial device (80) arrives at a next location. A job control unit (804) controls the industrial device (80) to perform a next operation when the industrial device (80) arrives at the next location and the preparation for the next operation is completed.

Description

Technical Field

[0001] The invention relates to a production system, a production method and an information storage medium. Background Art

[0002] Patent document 1 describes a self-movable industrial device having a robot arm mounted on an automatic carrier and a power accumulating part for accumulating power supplied through a connecting part (which is connected to or removed from a power source) and supplying power to the robot arm.

[0003] Citation List

[0004] Patent Literature

[0005] Patent Document 1: JP2017-132002A Summary of the invention

[0006] One of the problems to be solved by the present disclosure is, for example, to improve production efficiency in a production system.

[0007] According to one aspect of the present invention, a production system includes: industrial equipment that is self-movable; a preparation control unit that is configured to control the industrial equipment to prepare for a next job before the industrial equipment arrives at a next location; and an operation control unit that is configured to control the industrial equipment to perform a next job when the industrial equipment arrives at the next location and preparation for the next job is completed.

[0008] A production system according to one aspect of the present invention includes a first preparation control unit configured to control the industrial equipment to prepare for a next job while the industrial equipment is moving to a next position.

[0009] A production system according to one aspect of the present invention includes: a determination unit for determining whether a current job of an industrial device is completed; and a second preparation control unit configured to control the industrial device to prepare for a next job if it is determined that the current job is completed.

[0010] A production system according to an aspect of the present invention includes: an instruction unit configured to instruct industrial equipment to move to a next position; and a third preparation control unit configured to control the industrial equipment to prepare for a next job when the movement to the next position is instructed.

[0011] According to one aspect of the present invention, a production system includes: a download control unit configured to control industrial equipment to download data to be used in a next job as preparation for a next location; and a first job control unit configured to control the industrial equipment to perform a next job when the industrial equipment arrives at the next location and the downloading of data is completed.

[0012] A production system according to one aspect of the present invention includes: an installation control unit configured to control industrial equipment to install equipment to be used in a next operation; and a second operation control unit configured to control the industrial equipment to perform a next operation when the industrial equipment reaches a next location and the installation of the equipment is completed.

[0013] In a production system according to an aspect of the present invention, another industrial device is disposed at a next location, and the production system includes a synchronization control unit configured to synchronize the industrial device with the another industrial device when the industrial device reaches the next location.

[0014] According to one aspect of the present invention, a production system includes an acquisition control unit, which is configured to control industrial equipment to obtain at least one of the following information when the industrial equipment reaches a next location: information about the status of another industrial equipment, information about the status of a work object at the next location, and detection information of a peripheral device at the next location.

[0015] In a production system according to one aspect of the present invention, another industrial equipment is set at a next location, and the production system includes a before / after preparation control unit configured to control the industrial equipment to prepare for a job to be performed before or after the next job before the industrial equipment arrives at the next location.

[0016] In a production system according to one aspect of the present invention, another industrial device and a communication device for wired communication are arranged at a next position, and the production system includes a communication control unit, which is configured to: control the industrial device to communicate using wireless communication while the industrial device is moving to the next position; and control the industrial device to communicate using wired communication via the communication device when the industrial device reaches the next position.

[0017] A production system according to an aspect of the present invention includes a setup unit configured to perform setup of a next job based on at least one of a current position or a current orientation of the industrial equipment when the industrial equipment reaches a next position.

[0018] In a production system according to an aspect of the present invention, industrial equipment includes an automatic guided vehicle and a robot that performs a next job.

[0019] According to one aspect of the present invention, a production system includes an instruction device, which is configured to be communicatively connected to a scheduling device that schedules a production plan and provides instructions for each job based on the schedule, and the instruction device receives a predetermined job completion notification when the current job of the industrial equipment is completed, and when the job completion notification is received, instructs the industrial equipment to move to a next position, and the production system includes a fourth preparation control unit, which is configured to control the industrial equipment to prepare for the next job when the instruction device instructs to move to the next position.

[0020] According to one aspect of the present invention, a production system includes: a synchronization control unit configured to synchronize an industrial device with another industrial device when the industrial device reaches a next position where the other industrial device is located; and an operation control unit configured to control the industrial device synchronized with the other industrial device to perform a next operation.

[0021] According to one aspect of the present invention, a production system includes an acquisition control unit that controls industrial equipment to obtain at least one of the following information when the industrial equipment reaches a next location: information about the status of another industrial equipment, information about the status of a work object at the next location, and detection information of a peripheral device at the next location.

[0022] A production system according to an aspect of the present invention includes a transmission control unit configured to control the industrial equipment to transmit information about the industrial equipment to the information collecting device when the industrial equipment reaches a next location.

[0023] A production method according to one aspect of the present invention includes controlling a self-movable industrial device to prepare for a next operation before the industrial device reaches a next location, and controlling the industrial device to perform the next operation when the industrial device reaches the next location and preparation for the next operation is completed.

[0024] A production method according to one aspect of the present invention includes: when a self-movable industrial device reaches a next position where another industrial device is installed, synchronizing the industrial device with the other industrial device, and controlling the industrial device synchronized with the other industrial device to perform a next operation.

[0025] A program according to one aspect of the present invention enables a computer to: a preparation control unit configured to control a self-movable industrial device to prepare for a next job before the industrial device arrives at a next location; and an operation control unit configured to control the industrial device to perform the next job when the industrial device arrives at the next location and preparation for the next job is completed.

[0026] According to an aspect of the present invention, an information storage medium stores a program which, when executed by a computer, causes the computer to function as: a synchronization control unit configured to synchronize a self-movable industrial device with another industrial device when the industrial device reaches a next location where another industrial device is located; and an operation control unit configured to control the industrial device synchronized with the other industrial device to perform a next operation.

[0027] According to the present disclosure, for example, production efficiency in a production system can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 is a diagram showing an example of the overall configuration of the production system of Embodiment 1.

[0029] Figure 2 is a diagram showing an example of a detailed configuration of a self-movable robot.

[0030] Figure 3 is a diagram showing an example of a cell in a production system.

[0031] Figure 4 is a diagram showing an example of cells in a production system.

[0032] Figure 5 is a diagram showing an example of cells in a production system.

[0033] Figure 6 is a diagram showing an example of cells in a production system.

[0034] Figure 7 is a functional block diagram showing the functions implemented in the production system.

[0035] Figure 8 is a diagram showing an example of data storage of scheduling data.

[0036] Fig. 9 is a flowchart showing a process performed in a production system.

[0037] Fig.10 is a flowchart showing a process performed in a production system.

[0038] Fig.11 is a flowchart showing a process performed in a production system.

[0039] Fig.12 This is a functional block diagram of Example 2.

[0040] Fig.13 is a functional block diagram of the modified example. DETAILED DESCRIPTION

[0041] [1. Example 1]

[0042] The inventors have considered moving a self-movable industrial device sequentially to each of a plurality of locations to perform a job. In this case, the self-movable industrial device must be prepared for the job at each location. For example, if the self-movable industrial device arrives at a certain location and then starts to prepare for the job at that location, the job cannot be started until the preparation is completed, and thus the production efficiency in the production system is reduced. Therefore, as a result of intensive research and development to improve the production efficiency in the production system, the inventors conceived a new and pioneering production system. Hereinafter, an embodiment of the production system (hereinafter referred to as Embodiment 1) will be described.

[0043] [1-1. Overall configuration of the production system]

[0044] Figure 1 is a diagram showing an example of the overall structure of the production system according to Embodiment 1. Figure 1 As shown, the production system S includes, for example, a scheduling device 10, an instruction device 20, an information collection device 30, a simulation device 40, a cell controller 50, a robot controller 60, a robot 70 and a self-moving robot 80. Figure 1 One device is shown for each device, however, there may be multiple of each device. The production system S may include other devices, or some devices may be omitted.

[0045] The scheduling device 10 is a computer that manages the scheduling of the entire production system S. Scheduling is a plan that indicates when and what operations are to be performed, and may also be referred to as a production plan or an operation plan. In the present embodiment, the production system S includes a plurality of cells, and the scheduling device 10 manages the scheduling of the cells. For example, the scheduling device 10 manages a rough schedule, such as when and what operations are to be performed in each cell, and the instruction device 20 determines a specific operation.

[0046] A cell is a group in a production system S, which is similar to a line in concept. In this embodiment, a cell is a unit smaller than a line, but the concept of a cell is not limited to this. There may be only one cell. At least one industrial device belongs to a cell. Industrial devices belonging to the same cell cooperate with each other to perform operations. In this embodiment, the mobile robot 80 can join and leave the cell, so the number of industrial devices belonging to the cell fluctuates.

[0047] Industrial equipment is equipment for performing work on behalf of humans. Industrial equipment performs work on a work object. For example, the cell controller 50, the robot controller 60, the robot 70, and the self-movable robot 80 correspond to industrial equipment. Industrial equipment is not limited to these examples and can be any type of equipment. For example, industrial equipment can be a machine tool, a transport device, an electric controller, or a programmable logic controller (PLC). For example, industrial equipment can be a sensor such as a motor encoder, an I / O device, or a visual camera.

[0048] A job is a physical operation performed by an industrial device and may also be referred to as a process. For example, a job may be processing, detection, transportation, or inspection of a job object. A job object is a so-called workpiece and may be, for example, a component of a car or motorcycle, an electrical product, a material of a ceramic or resin, or a food. For example, a job object is placed on a transport device such as a belt conveyor to be moved and processed. In addition, for example, a job object is grasped and processed by a robot 70 or a self-movable robot 80.

[0049] For example, the scheduling device 10 may be a server computer or a personal computer. The scheduling device 10 includes a CPU 11, a storage unit 12, and a communication unit 13. The CPU 11 is an example of a configuration called a circuit, and includes, for example, at least one processor. The storage unit 12 includes a RAM, an EEPROM, and a hard disk. The storage unit 12 stores programs and data. The CPU 11 performs processing based on the program and data. The communication unit 13 includes at least one of a communication interface for wired communication and a communication interface for wireless communication. The communication unit 13 may include both or may include only one of the two.

[0050] The instruction device 20 is a computer for instructing a specific job based on the schedule managed by the scheduling device 10. For example, the instruction device 20 generates a program required for each job based on the rough schedule received from the scheduling device 10. In other words, the instruction device 20 implements the rough instruction received from the scheduling device 10 and gives a specific instruction to each cell.

[0051] For example, the instruction device 20 may be a server computer or a personal computer. The instruction device 20 includes a CPU 21, a storage unit 22, and a communication unit 23. The physical configurations of the CPU 21, the storage unit 22, and the communication unit 23 may be the same as those of the CPU 11, the storage unit 12, and the communication unit 13, respectively.

[0052] The information collection device 30 is a computer that collects various information in the production system S. For example, the information collection device 30 obtains tracking data in which the operation results of industrial equipment belonging to each cell are stored in a time series. The tracking data indicates a time series change of a physical quantity detected by, for example, a sensor 71 described later. For example, the information collection device 30 can acquire an image or video captured by a camera 72. In addition, the information collection device 30 can analyze the information collected by itself. For example, the information collection device 30 can analyze the cause of an alarm based on the collected information, or evaluate the quality of a work object or a final product.

[0053] For example, the information collection device 30 may be a server computer or a personal computer. The information collection device 30 includes a CPU 31, a storage unit 32, and a communication unit 33. The physical configurations of the CPU 31, the storage unit 32, and the communication unit 33 may be the same as those of the CPU 11, the storage unit 12, and the communication unit 13, respectively.

[0054] The simulation device 40 is a computer for simulating the operation of the entire production system S. For example, the simulation device 40 inputs the instructions input for each industrial device into a known simulator to obtain the simulation result of the operation. The simulation device 40 compares the actual operation results obtained by the information collection device 30 with the simulation results. The simulation device 40 determines whether these results deviate, and if they deviate, changes the program or notifies the administrator. Deviation means that the simulation result (expected result) cannot be obtained.

[0055] For example, the simulation device 40 is a server computer or a personal computer. The simulator 40 includes a CPU 41, a storage unit 42, and a communication unit 43. The physical configurations of the CPU 41, the storage unit 42, and the communication unit 43 may be the same as those of the CPU 11, the storage unit 12, and the communication unit 13, respectively.

[0056] The cell controller 50 is an industrial device that controls the cell. In this embodiment, a case where one cell controller 50 is included in each cell will be described, however, a plurality of cell controllers 50 may be included in each cell. In addition, the cell may include industrial devices at a higher level than the cell controller 50. The cell controller 50 controls the industrial devices that belong to it. When the self-movable robot 80 arrives at the cell and connects to the cell controller 50, the cell controller 50 controls the self-movable robot 80. When the self-movable robot 80 leaves the cell, the self-movable robot 80 is removed from the control of the cell controller 50.

[0057] For example, the cell controller 50 includes a CPU 51, a storage unit 52, and a communication unit 53. The physical configurations of the CPU 51, the storage unit 52, and the communication unit 53 may be the same as those of the CPU 11, the storage unit 12, and the communication unit 13, respectively.

[0058] The robot controller 60 is an industrial device for controlling the robot 70. For example, the robot controller 60 controls power to a motor in the robot 70 to move a robot arm or open and close a robot hand based on an instruction from the cell controller 50. The robot 70 of the present embodiment is a fixed type, and the robot arm and the robot hand move, but the robot 70 itself does not move.

[0059] For example, the cell includes a sensor 71, a camera 72, and a communication device 73 in addition to the robot 70. The sensor 71 may be any sensor capable of detecting a physical quantity, such as a motor encoder, a torque sensor, a temperature sensor, a motion sensor, or a pressure sensor. Figure 1 Only one sensor 71 is shown, however a cell may include a plurality of sensors 71. The data obtained by the sensor 71 may also be referred to as sensed data.

[0060] The camera 72 is a camera for capturing the state of the cell. The camera 72 is used to replace the visual confirmation of humans and is also called a visual camera (visual sensor). For example, the camera 72 captures each of the robot 70 and the work object in the cell and generates an image or video. For example, the camera 72 sends the captured image or video to other devices such as the information collection device 30, the cell controller 50, and the robot controller 60. If the camera 72 has an image analysis function, the camera 72 sends the analysis result. The analysis result may be the current state of the robot 70 or the current state of the work object.

[0061] The communication device 73 is a communication interface for wired communication. The communication device 73 is connected to the self-movable robot 80 that has arrived at its cell. For example, the self-movable robot 80 approaches the communication device 73 of the cell as the destination, and connects the wired communication unit 85B described later to the communication device 73. Thereby, wired communication is established between the self-movable robot 80 and the destination cell. The communication device 73 can use a device of any communication standard (for example, a dedicated communication standard such as IO-Link (registered trademark) or a general communication standard such as Ethernet (registered trademark)). For example, the communication device 73 can have a communication connector into which a communication cable can be inserted, or can use infrared rays to realize pseudo-wired communication (not plug-in type communication but contact type wired communication).

[0062] The self-movable robot 80 is a self-movable industrial device. Self-movable means running by its own power. The self-movable industrial device may be any industrial device having a self-movable function, and is not limited to the self-movable robot 80. For example, the self-movable industrial device may be a self-movable machine tool, a self-movable transport device, a self-movable motor controller, a self-movable PLC, a self-movable sensor, or a self-movable camera.

[0063] In the present embodiment, the self-movable robot 80 can be freely moved to any position. For example, the self-movable robot 80 moves between one cell and another cell. The self-movable robot 80 is not limited to movement between cells, and can move within a cell or can move to a position unrelated to the cell. In the present embodiment, a situation in which the self-movable robot 80 can move freely on the ground will be described, but the self-movable robot 80 can move on a track. For example, a track can be set between cells, and the self-movable robot 80 can move between cells by moving on the track.

[0064] Figure 2 is a diagram showing an example of a detailed configuration of the self-movable robot 80. Figure 2 As shown, the self-movable robot 80 includes a robot unit 81 and an automatic guided vehicle (AGV) unit 89. The self-movable robot 80 may not be divided into the robot unit 81 and the AGV unit 89, and they may be integrated together, and they may not be distinguished from each other.

[0065] The robot unit 81 performs work in a cell to which the self-movable robot 80 has moved. For example, the robot unit 81 includes a robot controller 82, a robot 86, a sensor 87, and a camera 88. Figure 2 In the embodiment, the number of each of them is one, but each of them may be plural. The robot unit 81 may include other devices. For example, the robot unit 81 may include a spare end effector or a battery.

[0066] The physical configurations of the robot controller 82, the robot 86, the sensor 87, and the camera 88 may be respectively the same as those of the robot controller 60, the robot 70, the sensor 71, and the camera 72. The camera 88 is used not only to detect the work object but also to detect the communication device 73.

[0067] For example, the robot controller 82 includes a CPU 83, a storage unit 84, and a communication unit 85. The physical configurations of the CPU 83, the storage unit 84, and the communication unit 85 may be the same as those of the CPU 11, the storage unit 12, and the communication unit 13, respectively.

[0068] The robot controller 82 may not be installed on the self-movable robot 80. In this case, the cell controller 50 may be connected to the robot controller 82 for the self-movable robot 80, and when the self-movable robot 80 arrives at the cell, the robot controller 82 may control the robot 86 installed on the self-movable robot 80. If the robot controller 82 is not installed on the self-movable robot 80, the weight of the self-movable robot 80 may be reduced.

[0069] In this embodiment, wireless communication is used while the self-movable robot 80 is moving, and is switched to wired communication when the self-movable robot 80 arrives at a cell. In this way, the work that can be performed after the self-movable robot 80 arrives at the cell can be synchronized with the data within a good control cycle, not by using wireless communication with insufficient reliability, immediacy, and throughput, but by using wired communication that ensures sufficient reliability, immediacy, and throughput. For example, the communication unit 85 includes: a wireless communication unit 85A, which is a communication interface for wireless communication; and a wired communication unit 85B, which is a communication interface for wired communication.

[0070] The wireless communication unit 85A includes, for example, a communication card and an antenna for wireless communication. The wireless communication unit 85A can use any communication standard, for example, a wireless LAN, WiFi (registered trademark) or Bluetooth (registered trademark). The wired communication unit 85B includes, for example, a communication card and a connector for wired communication. The wired communication unit 85B can also use any communication standard, although in the present embodiment, wired communication is achieved by using the communication device 73 in the cell, so the wired communication unit 85B uses the same communication standard as the communication device 73. The communication standard is as described above.

[0071] The AGV unit 89 is a so-called automated guided vehicle or traveling vehicle. For example, the AGV unit 89 includes an AGV controller 90, a sensor 94, a camera 95, a motor 96, a tire 97, and a battery 98. Figure 2 , the number of each of them is one, however each of them may be plural.

[0072] The AGV controller 90 is a computer that controls the movement of the self-movable robot 80. The AGV controller 90 controls the movement of the self-movable robot 80 based on a predetermined movement path. The movement control of the self-movable robot 80 itself can use various known methods, for example, a self-movable control algorithm adopted in a cleaning robot and an automatic driving technology adopted in a car. In addition, for example, the movement control of the self-movable robot 80 can be implemented by an open source called ROS.

[0073] For example, the AGV controller 90 is a personal computer, a tablet terminal, or a smart phone. For example, the AGV controller 90 includes a CPU 91, a storage unit 92, and a communication unit 93. The physical configurations of the CPU 91, the storage unit 92, and the communication unit 93 may be the same as the physical configurations of the CPU 11, the storage unit 12, and the communication unit 13, respectively.

[0074] The sensor 94 detects the state around the self-movable robot 80. For example, the sensor 94 may be a depth sensor, an ultrasonic sensor, an infrared sensor, an object detection sensor, an indoor GPS sensor, a beacon sensor, an RFID sensor, a geomagnetic sensor, a gyro sensor, or a motion sensor. The camera 95 is a camera for capturing a field of view around the self-movable robot 80. The camera 95 may have a physical configuration similar to that of the cameras 72 and 88, and may be a so-called visual sensor.

[0075] For example, upon receiving a predetermined movement instruction from the instruction device 20, the AGV controller 90 generates a movement path to the destination included in the movement instruction. The AGV controller 90 supplies power from the battery 98 to the motor 96 based on information obtained from each of the sensor 94 and the camera 95 to control the rotation of the tire 97, thereby moving along the generated movement path.

[0076] The AGV controller 90 may not be installed on the self-movable robot 80. In this case, the self-movable robot 80 may receive instructions from another computer (e.g., the instruction device 20) and may move based on the instructions. For example, another computer having the same function as that of the AGV controller 90 is set in the facility, and the self-movable robot 80 moves between cells by communicating with the other computer. If the AGV controller 90 is not installed on the self-movable robot 80, the weight of the self-movable robot 80 may be reduced.

[0077] In addition, the programs and data described as being stored in each of the scheduling device 10, the instruction device 20, the information collection device 30, the simulation device 40, the cell controller 50, the robot controller 60, and the self-movable robot 80 can be provided through a network. In addition, the hardware configuration of each device is not limited to the above examples, and various types of hardware can be applied. For example, a reading unit (e.g., an optical drive or a memory card slot) for reading a computer-readable information storage medium or an input / output unit (e.g., a USB terminal) for directly connecting to an external device may be included. In this case, the program and data stored in the information storage medium may be provided by the reading unit or the input / output unit. In addition, a dedicated integrated circuit called an ASIC may also be included.

[0078] [1-2. Overview of production system]

[0079] In this embodiment, the processing of the production system S will be described by taking the case of realizing so-called multi-product small batch production as an example. In multi-product small batch production, the products produced in each cell change fluidly, so the number of industrial equipment required in each cell also changes fluidly. For example, only the fixed robot 70 fixed to the cell is sufficient to perform the work in a certain period of time, but in other time periods, only the fixed robot 70 may be insufficient.

[0080] In this regard, if the maximum number of fixed robots 70 required at the cell is set for all cells, the work can be performed according to the schedule, but the cost in the production system S increases. That is, in a time zone where the work can be completed with fewer robots 70, the robot 70 that does nothing is wasted. Therefore, in the production system S, the movable robot 80 is moved to the cell as needed to reduce the number of fixed robots 70.

[0081] Figures 3 to 6 1 and 2 are diagrams showing examples of cells in the production system S. In these drawings, for the sake of explanation, the number of cells is two, but the number of cells may be three or more. In addition, the number of self-movable robots 80 is described as one, but the number of self-movable robots 80 may be two or more. Figure 3 As shown, the fixed robots 70A to 70C are arranged in the cell X, and the fixed robots 70D and 70E are arranged in the cell Y. Figures 3 to 6 In the figure, other devices such as the instruction device 20 are omitted.

[0082] exist Figure 3 In the state, the self-movable robot 80 is positioned away from cells X and Y and does not belong to any cell. For example, the self-movable robot 80 is connected to the instruction device 20 through wireless communication and is on standby at the site. Wireless communication can be achieved by at least one of the wireless communication unit 85A of the robot controller 82 and the communication unit 93 of the AGV controller 90. They can both be used for wireless communication, or only one of them can be used for wireless communication.

[0083] When the time comes for the self-movable robot 80 to move to any cell, the instruction device 20 sends a movement instruction to the self-movable robot 80. It is assumed that the movement instruction includes a specific position of the destination of the self-movable robot 80 in the cell. In this embodiment, the mobile robot 80 switches from wireless communication to wired communication when arriving at the cell of the destination, so the location of the destination is close to the communication device 73 of the cell of the destination.

[0084] Here, description will be made by taking as an example a case where the self-movable robot 80 is instructed to move to the cell Y. When the self-movable robot 80 receives a movement instruction to move to the cell Y from the instruction device 20, the AGV controller 90 generates a movement path to the cell Y. The AGV controller 90 controls the motor 96 to move on the generated movement path.

[0085] like Figure 4 As shown, while moving to cell Y, the self-mobile robot 80 can download data required for the next operation (operation in cell Y) from the instruction device 20 through wireless communication. The self-mobile robot 80 records the downloaded data in the storage unit 84 of its robot controller 82. This eliminates the need to download data after the self-mobile robot 80 arrives at cell Y.

[0086] When arriving near the communication device 73 of the cell Y, the self-movable robot 80 detects the communication device 73 using the sensor 87 and the camera 88, and connects its wired communication unit 85B to the communication device 73. That is, insertion is performed. When they are connected to each other, the self-movable robot 80 switches from wireless communication to wired communication, and communicates, for example, with the cell controller 50 of the cell Y. After the wired communication connection is established, the self-movable robot 80 performs the processing required for the work in the cell Y. Examples of this processing include processing for synchronizing with other robots 70D and 70E of the cell Y and performing calibration of the self-movable robot 80. The details of this processing will be described in Example 2 and the modified example.

[0087] When moving to cell Y, the self-movable robot 80 has downloaded data required for the next operation through wireless communication, so when the above-mentioned processing performed by the cell controller 50 is completed, the operation in cell Y can be started immediately. The self-movable robot 80 performs the operation in cell Y based on the downloaded data and the instructions received from the cell controller 50 through wired communication.

[0088] When the work in cell Y is completed, the self-movable robot 80 disconnects the communication device 73 of cell Y and deletes the downloaded data. The data can be retained without being deleted. When leaving cell Y, the self-movable robot 80 disconnects the wired communication to switch to wireless communication. After establishing wireless communication with the instruction device 20, the self-movable robot 80 waits for the next movement instruction. The self-movable robot 80 can stay on the site or can move away from cell Y.

[0089] Here, the description will be made by taking the case of indicating movement to cell X as an example. Figure 5 As shown, when the self-movable robot 80 receives a movement instruction from the instruction device 20, the AGV controller 90 generates a movement path, and the self-movable robot starts to move toward the cell X. Figure 6As shown, while moving toward the cell X, the self-movable robot 80 can download data required for the work in the cell X from the instruction device 20. This eliminates the need for the self-movable robot 80 to download data after arriving at the cell X.

[0090] When arriving near the communication device 73 of the cell X, the self-movable robot 80 detects the communication device 73 using the sensor 87 and the camera 88, and connects its wired communication unit 85B to the communication device 73. After that, the self-movable robot 80 performs the same process as the case of arriving at the cell Y, and starts the work in the cell X. The self-movable robot 80 moves and performs the work according to the schedule until all the work of the day is completed. The self-movable robot 80 is not limited to moving between cells, and can be moved to a predetermined standby position for the purpose of charging, for example. This movement is also scheduled by the scheduling device 10.

[0091] As described above, the production system S of this embodiment enables the self-movable robot 80 to prepare for the next work before the self-movable robot 80 reaches the next cell, thereby starting the next work earlier and improving the production efficiency in the production system S. In the following, the detailed configuration of the production system S will be described.

[0092] [1-3. Functions implemented in production systems]

[0093] Figure 7 is a functional block diagram showing functions implemented in the production system S. Afterwards, functions implemented in each of the scheduling device 10, the instruction device 20, the information collection device 30, the simulation device 40, the cell controller 50, the robot controller 60, and the self-movable robot 80 will be described.

[0094] [1-3-1. Functions implemented in the dispatching device]

[0095] In the scheduling device 10, a data storage unit 100 and a scheduling control unit 101 are implemented. The data storage unit 100 is mainly implemented by the storage unit 12, and the scheduling control unit 101 is mainly implemented by the CPU 11.

[0096] [Data storage unit]

[0097] The data storage unit 100 stores scheduling data related to the scheduling of the entire production system S. Figure 8 is a diagram showing an example of data storage of scheduling data. Figure 8As shown, the scheduling data stores the job sequence, job ID, cell ID, industrial equipment ID, and job content. The job sequence is the order of jobs in a day. The job ID is an ID that uniquely identifies the job. The cell ID is an ID that uniquely identifies the cell. The industrial equipment ID is an ID for uniquely identifying an industrial device. The content of the job is the job to be performed by the industrial device indicated by the industrial equipment ID. As described above, in this embodiment, the jobs are roughly scheduled, so the content of the jobs stored in the scheduling data is rough. The scheduling data is generated by the administrator of the production system S.

[0098] [Scheduling control unit]

[0099] The scheduling control unit 101 controls the scheduling of the production system S based on the scheduling data. For example, when a certain job sequence is reached, the scheduling control unit 101 sends the cell ID, industrial equipment ID, and the job content of this job to the instruction device 20. In addition, for example, when a completion notification of a currently executed job is received from the instruction device 20, the scheduling control unit 101 refers to the scheduling data to specify the job in the next job sequence, and obtains the cell ID, industrial equipment ID, and the content of the job. The scheduling control unit 101 sends the obtained information to the instruction device 20. After that, the scheduling control unit 101 instructs the instruction device 20 to perform the job according to the schedule defined in the scheduling data until all jobs of the day are completed.

[0100] [1-3-2. Functions implemented in the command device]

[0101] In the instruction device 20, a data storage unit 200, an instruction unit 201, and a receiving unit 202 are implemented. The data storage unit 200 is mainly implemented by the storage unit 22, and each of the instruction unit 201 and the receiving unit 202 is mainly implemented by the CPU 21.

[0102] [Data storage unit]

[0103] The data storage unit 200 stores data required for various instructions to the industrial device. The instruction device 20 mainly instructs the self-movable robot 80 to move and instructs the cell controller 50 to perform a specific job, so the data storage unit 200 stores the data required for these instructions. For example, the data storage unit 200 stores the location information of each cell and the map information of the facilities of the production system S. In this embodiment, the self-movable robot 80 can move to the vicinity of the communication device 73 in the cell, and therefore, the data storage unit 200 stores the location information of the communication device 73 in each cell.

[0104] For example, the data storage unit 200 stores an operation program and setting data to be sent to the cell controller 50 and the self-movable robot 80. The operation program is a program in which the operation process is defined. In the operation program, the process from the start to the end of the operation is indicated in a time series. The operation program can be generated in any language such as a ladder diagram language and a robot language. In this embodiment, the instruction device 20 generates the operation program, but the operation program can be stored in the instruction device 20 in advance. The operation program itself can be generated by a known method.

[0105] The setting data is related to the setting of the work content. For example, the setting data is a parameter such as a torque value. The teaching data in the robot control is also an example of the setting data. As in the modified example to be described later, the setting data can be adjusted by the position and orientation of the self-movable robot 80 after the self-movable robot 80 arrives.

[0106] [Command Unit]

[0107] The instruction unit 201 sends instructions to each industrial device. For example, the instruction unit 201 sends a movement instruction including the location of the destination to the self-movable robot 80. In addition, for example, the instruction unit 201 sends the operation program and setting data stored in the data storage unit 200 as an operation instruction to the cell controller 50 and the self-movable robot 80. In this embodiment, the instruction unit 201 instructs the self-movable robot 80 to move to the next position when receiving the operation completion notification. The instruction unit 201 instructs the self-movable robot 80 to move to the next position when receiving the operation completion notification. The instruction unit 201 does not instruct the self-movable robot 80 to move to the next position when the operation completion notification is not received, and instructs the self-movable robot 80 to move to the next position in response to receiving the operation completion notification.

[0108] [Receiving unit]

[0109] The receiving unit 202 receives a predetermined job completion notification. The job completion notification is a notification indicating that the job has been completed, and is performed by sending data in a predetermined format. For example, the job completion notification includes information such as the job ID of the industrial device that has completed the job and the job ID of the completed job. In this embodiment, the receiving unit 202 receives the job completion notification from the cell controller 50, but the receiving unit 202 may receive the job completion notification from other devices such as the robot controllers 60 and 82.

[0110] [1-3-3. Functions implemented in the information collection device]

[0111] In the information collection device 30, a data storage unit 300 and an information collection unit 301 are implemented. The data storage unit 300 is mainly implemented by the storage unit 32, and the information collection unit 301 is mainly implemented by the CPU 31.

[0112] [Data storage unit]

[0113] The data storage unit 300 stores various types of data related to the production system S. For example, the data storage unit 300 stores tracking data generated by each of the robot controllers 60 and 82. For example, the data storage unit 300 stores images or videos captured by the camera 72. For example, the data storage unit 300 stores the state of industrial equipment and the state of a work object obtained by analyzing an image or video. For example, the data storage unit 300 stores information transmitted by the self-movable robot 80 when the self-movable robot 80 arrives at each cell.

[0114] [Information Collection Unit]

[0115] The information collection unit 301 collects various types of data related to the production system S. For example, the information collection unit 301 collects tracking data and images or videos captured by the camera 72 from the cell controller 50. For example, when image analysis is performed by the cell controller 50, the information collection unit 301 collects analysis results of the image analysis (the state of the industrial equipment or the state of the work object) from the cell controller 50. For example, the information collection unit 301 collects information sent from the self-movable robot 80 when the self-movable robot 80 arrives at each cell.

[0116] [1-3-4. Functions implemented in the simulation device]

[0117] In the simulation device 40, a data storage unit 400 and a simulation execution unit 401 are implemented. The data storage unit 400 is mainly implemented by the storage unit 42, and the simulation execution unit 401 is mainly implemented by the CPU 41.

[0118] [Data storage unit]

[0119] The data storage unit 400 stores data required for performing simulation. For example, the data storage unit 400 stores a simulator. A simulator is a program developed for simulating industrial equipment. Various well-known simulators can be used as the simulator itself, for example, a robot simulator provided by an industrial equipment manufacturer can be used. In addition, for example, the data storage unit 400 stores simulation results of the simulator.

[0120] [Simulation execution unit]

[0121] The simulation execution unit 401 performs a simulation. For example, the simulation execution unit 401 obtains the content of the operation instruction from the instruction device 20, the information collection device 30, or the cell controller 50. The simulation execution unit 401 inputs the obtained instruction content into the simulator and obtains a simulation result. For example, the state of the industrial equipment or the state of the operation object can be obtained as the simulation result. The simulation execution unit 401 compares the simulation result with the tracking data stored in the information collection device 30 to, for example, verify the degree of their deviation.

[0122] [1-3-5. Functions implemented in the cell controller]

[0123] In the cell controller 50 , a data storage unit 500 , a cell control unit 501 and a sending unit 502 are implemented. The data storage unit 500 is mainly implemented by the storage unit 52 , and the cell control unit 501 and the sending unit 502 are mainly implemented by the CPU 51 .

[0124] [Data storage unit]

[0125] The data storage unit 500 stores data required for controlling industrial equipment in the cell (i.e., industrial equipment to be managed by the cell controller 50). For example, the data storage unit 500 stores operating procedures and setting data received from the instruction device 20. In addition, for example, the data storage unit 500 stores data in which various types of information of industrial equipment in the cell are stored. This information includes, for example, the industrial equipment ID, IP address, serial number, or model of the industrial equipment in the cell. In addition, for example, the data storage unit 500 may store operating procedures and setting data generated in advance by an administrator instead of the operating procedures and setting data received from the instruction device 20.

[0126] [Cell Control Unit]

[0127] The cell control unit 501 controls the industrial equipment in the cell based on the data stored in the data storage unit 500. For example, the cell control unit 501 executes the work program and determines the instruction to the robot controller 60 by using the setting data as an argument. The cell control unit 501 sends the instruction to the robot controller 60. The cell control unit 501 receives a response from the robot controller 60 and records the response in the data storage unit 500 in a time series.

[0128] When the self-movable robot 80 arrives at the cell and starts working, the cell control unit 501 sends instructions to the robot controller 82 of the self-movable robot 80 similarly to the robot controller 60 that controls the fixed robot 70. The cell control unit 501 receives responses and tracking data from the robot controllers 60 and 82. For example, instructions or responses of work contents are performed by synchronous communication, and transmission of tracking data is performed by asynchronous communication. Communication may be performed by periodic communication, or the period may not be particularly determined.

[0129] The cell control unit 501 transmits the tracking data collected, for example, from the robot controller 60 and the self-movable robot 80 to the information collection device 30. The timing at which the cell control unit 501 transmits the tracking data to the information collection device 30 can be freely determined. For example, the data can be uploaded to the information collection device 30 one by one, or the administrator can upload the data by a predetermined operation. In addition, for example, the tracking data can be directly transmitted from each of the robot controller 60 and the self-movable robot 80 to the information collection device 30.

[0130] [Sending unit]

[0131] When the current jobs of the robots 70 and 86 are completed, the sending unit 502 sends a predetermined job completion notification to the instruction device 20. The sending unit 502 sends the job completion notification to the instruction device 20 under the condition that the current jobs of the robots 70 and 86 are completed. When the current jobs of the robots 70 and 86 are not completed, the sending unit 502 does not send the job completion notification to the instruction device 20, and sends the job completion notification to the instruction device 20 in response to the completion of the current jobs of the robots 70 and 86.

[0132] [1-3-6. Functions implemented in the robot controller]

[0133] In the robot controller 60, a data storage unit 600 and a work control unit 601 are implemented. The data storage unit is mainly implemented by the storage unit 62, and the work control unit 601 is mainly implemented by the CPU 61.

[0134] [Data storage unit]

[0135] The data storage unit 600 stores data required for controlling the robot 70. For example, the data storage unit 600 stores the operation program and setting data received from the cell controller 50. In addition, for example, the data storage unit 600 may store the operation program and setting data generated in advance by the administrator instead of the program and data received from the cell controller 50. For example, the data storage unit 600 stores the tracking data before the tracking data is transmitted.

[0136] [Job control unit]

[0137] The operation control unit 601 controls the robot 70 based on the data stored in the data storage unit 600. For example, the operation control unit 601 executes the operation program and controls the voltage to the motor in the robot 70 using the setting data as an independent variable so that the robot 70 performs the desired movement. When the instruction from the robot controller 60 is completed, the operation control unit 601 sends a response to the cell controller 50.

[0138] [1-3-7. Functions implemented in autonomous mobile robots]

[0139] like Figure 7 As shown, in the self-movable robot 80, a data storage unit 800, a movement control unit 801, a communication control unit 802, a preparation control unit 803 and a work control unit 804 are implemented.

[0140] [Data storage unit]

[0141] The data storage unit 800 stores data required for moving to a cell to perform a job. For example, the data storage unit 800 includes a first data storage unit 800A and a second data storage unit 800B.

[0142] The first data storage unit 800A is mainly implemented by the storage unit 84 of the robot controller 82. The first data storage unit 800A stores data required for the operation after arriving at the cell. In this embodiment, this data is downloaded during movement, but the data can be stored in the first data storage unit 800A in advance. In this embodiment, as an example of this data, an operation program and setting data will be described. As described above, each of the operation program and setting data is generated by the instruction device 20. For example, the first data storage unit 800A can store tracking data according to the operation of the self-movable robot 80.

[0143] The second data storage unit 800B is mainly implemented by the storage unit 92 of the AGV controller 90. The second data storage unit 800B stores the data required for moving to the cell. In this embodiment, this data is generated by the mobile control unit 801 described later, but the data can be pre-stored in the second data storage unit 800B or received from the instruction device 20. The moving path data will be described as an example of this data. The second data storage unit 800B also stores a path search algorithm for generating the moving path data.

[0144] The moving path is data indicating a path from the current position of the self-movable robot 80 to the destination. The moving path data indicates a position to which the self-movable robot 80 can move in time series. For example, the moving path data is indicated by coordinates on a map indicating a facility such as a factory. It is assumed that the map data is pre-stored in the second data storage unit 800B. The moving path data may not be displayed on the map.

[0145] [Mobile Control Unit]

[0146] The mobile control unit 801 is mainly implemented by the CPU 91 of the AGV controller 90. The mobile control unit 801 controls the movement of the self-movable robot 80. In the present embodiment, the movement instruction is sent by the instruction device 20, and therefore, the mobile control unit 801 controls the movement of the self-movable robot 80 based on the position of the destination included in the movement instruction. In this embodiment, the destination is the next cell, and therefore the mobile control unit 801 controls the movement of the self-movable robot based on the position of the next cell included in the movement instruction. Controlling the movement means controlling at least one of the movement direction and the movement speed.

[0147] For example, the mobile control unit 801 obtains the current position based on at least one of the communication result of the communication unit 93, the detection signal of the sensor 94, and the image or video captured by the camera 95. The detection method of the current position can use a known method, such as a position detection method used in indoor positioning. The detection method of the current position can use the following methods: a method of detecting a mark set indoors using an image, a beacon positioning method, a positioning method by RFID, a positioning method by ultrasonic waves, a positioning method by geomagnetism, or a positioning method by wireless communication.

[0148] The mobile control unit 801 inputs the current position and the destination into the path search algorithm and generates the mobile path data. The path search algorithm itself can use known techniques, such as the Dijkstra algorithm and the A-star algorithm. The mobile control unit 801 controls the movement of the self-movable robot 80 based on the mobile path data. For example, the mobile control unit 801 obtains the current position of the self-movable robot 80 by the above method, and moves the self-movable robot 80 so that the current position passes through the mobile path indicated by the mobile path data. The mobile control unit 801 repeatedly obtains the current position and controls the movement of the self-movable robot 80 until the self-movable robot 80 reaches the next cell as the last point on the mobile path.

[0149] [Communication control unit]

[0150] The communication control unit 802 is mainly implemented by the CPU 83 of the robot controller 82. The communication control unit 802 controls the communication of the self-movable robot 80. In this embodiment, the communication control unit 802 controls the self-movable robot 80 to perform wireless communication while the self-movable robot 80 is moving to the next position, and controls the self-movable robot 80 to perform wired communication through the communication device when the self-movable robot 80 reaches the next position.

[0151] The next position is the destination of the self-movable robot 80. In this embodiment, the self-movable robot 80 moves between cells, so the next cell as the destination corresponds to the next position. Thus, in this embodiment, the next cell or the destination can be replaced by the next position. If the self-movable robot 80 moves to a different position within the same cell, the next position means a different position in the same cell.

[0152] “In the process of moving to a next position” refers to, for example, a time period during the movement of the self-movable robot 80 and before the self-movable robot 80 reaches the next position. The self-movable robot 80 does not need to move continuously and can pause in the middle of the movement. The time period during which the self-movable robot 80 pauses along the way is also included in the time of movement to the next position. For example, during the movement of the self-movable robot 80, the communication control unit 802 uses the wireless communication unit 85A to enable the self-movable robot 80 to perform wireless communication. In this embodiment, the self-movable robot 80 performs wireless communication with the instruction device 20, however, the self-movable robot 80 can communicate wirelessly with other devices such as the information collection device 30 or the cell controller 50.

[0153] When the self-movable robot 80 arrives at the next position, the communication control unit 802 connects the wired communication unit 85B to the communication device 73 provided at this position, and switches from wireless communication to wired communication. It is assumed that the arrival of the self-movable robot 80 is detected by the movement control unit 801. For example, the communication control unit 802 turns off the wireless communication unit 85A and moves the wired communication unit 85B closer to the communication device 73.

[0154] For example, the communication control unit 802 specifies a specific position of the communication device 73 based on at least one of the communication result of the wireless communication unit 85A, the detection signal of the sensor 87, and the image or video captured by the camera 88. The communication control unit 802 moves the wired communication unit 85B to be closer to the specified position of the communication device 73. The wired communication unit 85B can also be moved by controlling the motor in the robot unit 81 in the same manner as controlling the robot. The wired communication unit 85B can be moved by moving the self-movable robot 80 itself under the control of the AGV controller 90.

[0155] For example, in the case where the contact type communication device 73 uses infrared rays, the communication control unit 802 moves the wired communication unit 85B until the wired communication unit 85B contacts the communication device 73. In the case where a communication cable is inserted into the communication device 73, the communication control unit 802 moves the wired communication unit 85B until the communication cable of the wired communication unit 85B is inserted into the communication device 73. In this process, wired communication can be established according to the communication standard. In this embodiment, the communication partner in the wired communication is the cell controller 50, however, the communication partner in the wired communication may be other devices, such as the instruction device 20, the information collection device 30, and the robot controller 60.

[0156] After the self-movable robot 80 completes the operation, the communication control unit 802 switches from wired communication to wireless communication. The timing of switching from wired communication to wireless communication can be any timing after the operation is completed, for example, immediately after the operation is completed or after a certain period of time. It is assumed that the completion of the operation of the self-movable robot 80 is detected by the operation control unit 804. The communication control unit 802 moves the wired communication unit 85B so that the wired communication unit 85B is disconnected from the communication device 73 and turns on the wireless communication unit 85A. Wireless communication can also be established according to the communication standard during the process.

[0157] In this embodiment, the switching between wired communication and wireless communication is performed for the communication unit 85 of the robot controller 82, not for the communication unit 93 of the AGV controller. In this way, if the communication control unit 802 switches from wireless communication to wired communication, the wireless communication function of the AGV controller 90 is enabled, and as a whole, the self-movable robot 80 can communicate wirelessly with the instruction device 20.

[0158] [Prepare the control unit]

[0159] The preparation control unit 803 is mainly implemented by the CPU 83. The preparation control unit 803 controls the self-movable robot 80 to prepare for the next operation before arriving at the next position. In the present embodiment, the preparation control unit 803 is implemented by the self-movable robot 80, however, as described later in a modified example, the preparation control unit 803 may be implemented by another computer such as the instruction device 20.

[0160] "Before reaching the next position" refers to any time before the next position can be reached by the self-moving robot 80. Although this embodiment describes the situation where moving to the next position corresponds to before reaching the next position, it may correspond to other times, such as a modified example described later. The next job is a job to be performed at the next position. In the present embodiment, the specific content of the job is instructed from the instruction device 20, so the job instructed from the instruction device 20 corresponds to the next job.

[0161] Preparation is the preparation required for the next operation. The preparation control unit 803 can prepare for the operation electronically or physically. In this embodiment, the case where electronic preparation is performed by downloading data will be described, but the electronic preparation is not limited to downloading data. For example, the electronic preparation can be reading data from an information storage medium, activating an operation program, expanding data to RAM, completing initialization, or activating the robot controller 82 or the sensor 87.

[0162] In the present embodiment, the preparation control unit 803 includes a first preparation control unit 803A and a download control unit 803B. The first preparation control unit 803A controls the self-movable robot 80 to prepare for the next operation while the self-movable robot 80 is moving to the next position. That is, the first preparation control unit 803A controls the self-movable robot 80 to prepare for the next operation while the self-movable robot 80 is moving. The first preparation control unit 803A does not need to spend all the time for preparation during the movement of the self-movable robot 80, and the preparation can be completed on the way.

[0163] The download control unit 803B controls the download of data to be used in the next operation to prepare for the next position from the mobile robot 80. In this embodiment, the download control unit 803B downloads the operation program and setting data from the instruction device 20, and records the downloaded operation program and setting data in the first data storage unit 800A. The mobile robot 80 can communicate wirelessly while moving, so the download control unit 803B downloads data using wireless communication.

[0164] Preparation for the next job can be started at least before the self-movable robot 80 arrives at the next position, and the preparation does not have to be completed when the self-movable robot 80 arrives at the next position. For example, when the size of the job program and setting data is large or the distance to the next position is short, the preparation may not be completed when the next position is reached. In this case, the preparation is continued after the self-movable robot 80 arrives. In this case, if the communication is switched to wired communication, the download control unit 803B can continue downloading using wired communication. If not only the next job but also the next and subsequent jobs (jobs two or more steps in advance) are determined, the preparation control unit 803 can prepare for the next and subsequent jobs.

[0165] [Job control unit]

[0166] The operation control unit 804 is mainly implemented by the CPU 83. When the self-movable robot 80 reaches the next position and the preparation for the next operation is completed, the operation control unit 804 controls the self-movable robot 80 to perform the next operation. In this embodiment, the operation control unit 804 is implemented by the self-movable robot 80, however, as described later in a modified example, the operation control unit 804 may be implemented by other computers such as the cell controller 50.

[0167] Under the condition that the self-movable robot 80 reaches the next position and the preparation for the next operation is completed, the operation control unit 804 controls the self-movable robot 80 to perform the next operation. For example, the arrival at the next position is detected by the movement control unit 801. For example, the operation control unit 804 can determine whether the self-movable robot 80 has reached the next position. In this embodiment, the robot controller 60 and the communication device 73 for wired communication are set at the next position, so the operation control unit 804 can determine whether a wired connection has been established with the robot controller 60. The establishment of the wired connection means that the self-movable robot 80 has reached the next position.

[0168] The arrival of the self-movable robot 80 may be determined by any method. For example, the arrival of the self-movable robot 80 may be determined based on at least one of the content of the communication of the wireless communication unit 85A, the signal detected by the sensor 94 of the AGV unit 89, and the image or video captured by the camera 95. In this case, a transmitter that transmits a predetermined signal may be provided, or a predetermined marker may be arranged at the next position. Upon detecting the signal or the marker, the operation control unit 804 determines that the self-movable robot 80 has arrived at the next position.

[0169] For example, the operation control unit 804 determines whether the preparation for the next operation is completed. The completion of the preparation may be determined by any method, for example, by the preparation control unit 803 referring to the progress of the preparation to determine whether the preparation is completed. The operation control unit 804 controls the self-movable robot 80 to perform the next operation based on the completion of the preparation by the preparation control unit 803. A well-known method may be used as a method of performing the operation. For example, the cell controller 50 and the robot controller 82 of the self-movable robot 80 communicate with each other to perform the next operation.

[0170] In this embodiment, the operation control unit 804 includes a first operation control unit 804A. When the self-movable robot 80 reaches the next position and completes the download of data, the first operation control unit 804A controls the self-movable robot 80 to perform the next operation. For example, the first operation control unit 804A determines whether the download control unit 803B has completed the download of data. Completion of data download means completion of preparation for the next operation. The first operation control unit 804A performs the next operation based on the downloaded data.

[0171] [1-4. Processing performed in the production system]

[0172] Figures 9 to 11 is a flowchart showing the processing performed in the production system S. Figures 9 to 11 The processing shown in is executed by the CPUs 11, 21, 31, 41, 51, 61, 83 operating according to the programs stored in the storage units 12, 22, 32, 42, 52, 62, 72, 84, and 92, respectively. The processing described below is executed by Figure 4 An example of the processing performed by the functional blocks shown in FIG.

[0173] like Fig. 9 As shown, the scheduling device 10 sends the rough content of the job in the production plan to the instruction device 20 (S1) based on the scheduling data stored in the storage unit 12. In S1, the scheduling device 10 sends the cell ID, industrial equipment ID and job content stored in the scheduling data as the rough job content. The rough job content sent by the scheduling device 10 does not need to include the industrial equipment ID.

[0174] Upon receiving the rough work content, the instruction device 20 generates data required for the work (S2). In S2, the instruction device 20 generates data to be used by at least one of the cell controller 50, the robot controller 60, and the self-movable robot 80. In the present embodiment, this data is a work program and setting data. It is assumed that an algorithm for generating data is pre-stored in the storage unit 22. The data generation algorithm defines the relationship between the work content and the data generation method.

[0175] In S3, the instruction device 20 specifies the destination to which the data generated in S2 is to be sent, and determines whether the self-movable robot 80 is included in the destination. This destination is an entity that performs the next job. In this embodiment, a situation will be described in which the industrial equipment indicated by the industrial equipment ID included in the rough job content received in S2 is the destination, but the instruction device 20 can determine the destination to which the data is to be sent by itself. For example, in the case where the industrial equipment ID is not included in the rough job content sent from the scheduling device 10, the instruction device 20 can specify a suitable industrial equipment based on the job content and determine the industrial equipment as the destination to which the data is to be sent.

[0176] When it is determined that the self-movable robot 80 is not included in the destination to which the data is to be sent (S3; No), the instruction device 20 sends a work instruction including the data generated in S2 to the cell controller 50 (S4). The work instruction instructs to start a work and is executed by sending data in a predetermined format.

[0177] Upon receiving the work instruction from the instruction device 20, the cell controller 50 records the data included in the work instruction in the storage unit 52 (S5), and instructs the robot controller 60 of its cell to perform the work (S6). In S6, the robot controller 60 controls the robot 70 in response to the instruction from the cell controller 50. It is assumed that between the cell controller 50 and each robot controller 60, the work program and setting data are developed in the robot controller 60, and processing such as IP address exchange is performed in advance.

[0178] The robot controller 60 performs the job based on the instruction from the cell controller 50 (S7). In S7, the robot controller 60 sends the execution result of the job to the cell controller 50 as a response. In addition, the robot controller 60 can send tracking data based on the detection signal of the sensor 71 connected to the robot controller 60. The cell controller 50 also receives a response from the robot controller 60. The cell controller 50 also records the received tracking data and the image or video captured by the camera 72 in the storage unit 52. It is assumed that the data in the cell is synchronized and the time axes of the data are aligned with each other.

[0179] The cell controller 50 determines whether the job instructed by the instruction device 20 is completed (S8). If it is determined that the job is not completed (S8; No), the process returns to S6 and the job continues. If it is determined that the job is completed (S8; Yes), the cell controller 50 sends a job completion notification to the instruction device 20 (S9).

[0180] Upon receiving the job completion notification from the cell controller 50, the instruction device 20 transmits the job completion notification to the scheduling device 10 (S10). The processing of S10 may be omitted. When a predetermined number of jobs are completed, the instruction device 20 may notify the scheduling device 10. The instruction device 20 determines whether there is a next job based on the rough job content received from the scheduling device 10 or the data generated in S2 (S11). If it is determined that there is a next job (S11; Yes), the processing proceeds to S3, and the destination of the data of the next job is referenced.

[0181] In S3, if it is determined that the self-movable robot 80 is included in the destination of the data of the instruction device 20 (S3; Yes), the process proceeds to Fig.10 , the instruction device 20 sends the work instruction including the data generated in S2 to the cell controller 50 (S12), and sends the movement instruction to the self-movable robot 80 (S13). The processing of S12 is the same as the processing of S4. The movement instruction sent in S13 is an instruction to move to the next position, and is executed by sending data in a predetermined format. It is assumed that the movement instruction includes information for identifying the position of the movement destination. As described above, the movement destination is a position near the communication device 73 of the next cell.

[0182] The processing of S14 performed by the cell controller 50 is the same as the processing of S5. The cell controller 50 determines whether the self-movable robot 80 has arrived at its cell (S15). When it is determined that the self-movable robot 80 has not arrived (S15; No), the processing returns to S15 again and waits for the arrival of the self-movable robot 80.

[0183] Upon receiving the movement instruction, the self-movable robot 80 generates a movement path to the destination included in the movement instruction using the AGV controller 90 (S16). In S16, the self-movable robot 80 may generate the movement path based on a known path search algorithm. The movement path is generated so as not to interfere with the fixed robot 70 or other self-movable robots 80 from the current position of the self-movable robot 80 toward the destination.

[0184] The self-movable robot 80 controls movement toward the next cell as a destination based on the movement path generated in S16 (S17). In S17, the self-movable robot 80 analyzes the surrounding state based on the detection signal of the sensor 94 and the image or video captured by the camera 95. Based on the analysis result, the self-movable robot 80 moves on the movement path by rotating the motor 94.

[0185] In moving toward the next cell, the data generated in S2 may be downloaded from the instruction device 20 using the wireless communication unit 85A from the mobile robot 80 (S18). If the download is completed during the movement, the process of S18 is not performed.

[0186] The self-movable robot 80 determines whether the self-movable robot 80 has arrived at the next cell as the destination based on at least one of the communication content of the wireless communication unit 85A, the detection signal of the sensor 94, and the image or video captured by the camera 95 (S19). For example, a predetermined mark may be arranged near the communication device 73, and when the self-movable robot 80 detects the mark, it can be determined that the self-movable robot 80 has arrived at the next cell. If it is determined that the self-movable robot 80 has not arrived at the next cell (S19; No), the process returns to S17, and the movement control by the self-movable robot 80 is continued.

[0187] If it is determined that the self-movable robot 80 has arrived at the next cell (S19; yes), the self-movable robot 80 provides a wired connection between the communication device 73 of the cell and the wired communication unit 85B of the self-movable robot 80 (S20). In S20, the self-movable robot 80 identifies the position of the communication device 73 and connects its own wired communication unit 85B based on the communication content of the wireless communication unit 85A, the detection signal of the sensor 94, and at least one of the image or video captured by the camera 95. In the case of a contact-type communication device 73, when the wired communication unit 85B contacts the communication device 73, the devices are connected by wired communication. The self-movable robot 80 establishes wired communication with the cell controller 50 via the communication device 73, and performs initial settings for performing operations in the cell that the self-movable robot 80 reaches. As described in Example 2 below, the self-movable robot 80 is able to perform operations synchronously with the robot 70 of the cell.

[0188] When the wired communication is established with the self-movable robot 80, if it is determined in S15 that the self-movable robot 80 has arrived (S15; Yes), the cell controller 50 instructs each of the robot controller 60 and the self-movable robot 80 to perform a job (S21). Thus, communication is performed between the cell controller 50, the robot controller 60, and the self-movable robot 80, and the job instructed from the instruction device 20 is performed (S22). The processing of S22 is the same as the processing of S7. In the processing of S22, the robot controller 82 of the self-movable robot 80 is operated in the same manner as the robot controller 60.

[0189] The cell controller 50 determines whether the operation instructed by the instruction device 20 is completed (S23). If it is determined that the operation is not completed (S23; No), the process returns to S21, and the operation is continued. If it is determined that the operation is completed (S23; Yes), the cell controller 50 sends an instruction to the self-movable robot 80 to leave its cell (S24). The leaving instruction is an instruction to leave the cell, and is executed by sending data in a predetermined format. Subsequently, the cell controller 50 proceeds to Fig. 9 The process of S9 shown in the figure is executed, and a job completion notification is sent to the instruction device 20.

[0190] Upon receiving the leave instruction, the self-mobile robot 80 disconnects the wired connection between the communication device 73 and its wired communication unit 85B (S25), and switches to a wireless connection using its wireless communication unit 85A (S26). In S26, the self-mobile robot 80 specifies the location of the communication device 73 based on the detection signal of the sensor 94 and the image or video captured by the camera 95, and disconnects its wired communication unit 85B. In the case of a contact type communication device 73, the connection is disconnected by separating the wired communication unit 85B from the communication device 73.

[0191] refer to Fig.11 , the cell controller 50 determines whether the information collection timing has arrived (S27). The information collection timing is the timing for providing information such as tracking data to the information collection device 30. When it is determined that the information collection timing has not arrived (S27; No), the information such as tracking data is not sent. If it is determined that the information collection timing has arrived (S27; Yes), the cell controller 50 sends the information such as the tracking data recorded in the storage unit 52 to the information collection device 30 (S28).

[0192] Upon receiving information such as trace data, the information collecting device 30 records the data in the storage unit 32 (S29), and sends a request to execute simulation to the simulation device 40 (S30). The execution request is a request to execute simulation based on the information stored in the storage unit 32, and is executed by sending data in a predetermined format. The execution request includes the trace data to be simulated and the instruction content at that time.

[0193] Upon receiving the execution request, the simulation device 40 executes the simulation (S31). In S31, the simulation device 40 inputs the instruction from the instruction device 20 to the simulator and obtains the simulation result.

[0194] The simulation device 40 compares the simulation result with the actual operation result indicated by the tracking data, and determines whether the deviation between the results is equal to or greater than a threshold value (S32). If it is determined that the deviation is equal to or greater than the threshold value (S32; Yes), the information collection device 30 performs processing such as changing the operation program (S33).

[0195] The above process is executed until there is no schedule for the next job. Fig. 9 In S11 shown, if it is determined that there is no schedule for the next job (S11; No), all jobs for the day have been completed, and the process is terminated.

[0196] The production system S of the embodiment 1 enables the self-movable robot 80 to start preparing for the next job before arriving at the next location, thereby quickly starting the next job and improving the production efficiency in the production system S. For example, if the self-movable robot 80 arrives at the next location and then starts preparing for the next job, the robot controller 60 at the next location needs to wait until the preparation is completed. The production system S of the embodiment 1 eliminates or shortens this waiting time, thereby improving the production efficiency.

[0197] Furthermore, in the production system S, the self-movable robot 80 is controlled to prepare for the next job while moving toward the next position, thereby preparing for the job at an earlier stage to effectively improve the production efficiency in the production system S.

[0198] Furthermore, in the production system S, the self-movable robot 80 is controlled to download data to be used in the next job as a preparation for the next location. Thus, even if the data to be used in the next job is not recorded in the self-movable robot 80, the data can be downloaded at an earlier stage, so that the production efficiency in the production system S can be improved. Furthermore, if the data of all jobs performed by the self-movable robot 80 on the day are recorded in advance, the memory consumption increases, but the memory consumption can be reduced by downloading the data before the self-movable robot 80 arrives at the next location.

[0199] In addition, in the production system S, the self-movable robot 80 provides wireless communication while the self-movable robot 80 is moving toward the next position, and when the self-movable robot 80 reaches the next position, the self-movable robot 80 provides wired communication through the communication device 73 for wired communication. This enables communication to be provided in a manner suitable for the situation at the time. For example, when the self-movable robot 80 performs a job in the next position, the job can be performed through stable wired communication. In addition, for example, in the movement toward the next position, the self-movable robot 80 can use wireless communication to prepare for the job at the next position. In addition, for example, when the self-movable robot 80 uses wired communication in the movement toward the next position, the cable may interfere with the movement, but switching to wireless communication during the movement can reduce the possibility of interference with the movement of the self-movable robot 80. In addition, for example, by switching to wired communication when the self-movable robot 80 starts the job, the time axis of the tracking data can be aligned with other devices such as the cell controller 50. In this way, the time points of the various states indicated by the tracking data of the self-movable robot 80 can be identified.

[0200] Furthermore, in the production system S, before the self-movable robot 80 having the AGV unit 89 and the robot 86 reaches the next position, the self-movable robot 80 is controlled to prepare for the next work. This can improve the production efficiency in the production system S.

[0201] [2. Example 2]

[0202] Next, another embodiment of the production system S (hereinafter referred to as Embodiment 2) will be described. As described in Embodiment 1, in the next cell to which the self-movable robot 80 moves, the fixed robot 70 belonging to this cell is set. In the work at the next position, if the self-movable robot 80 and the robot controller 60 are not operated in synchronization with each other, they may hinder the work, for example, due to contact with each other. Therefore, the production system S of Embodiment 2 synchronizes the self-movable robot 80 with the robot controller 60 when the self-movable robot 80 reaches the next position.

[0203] Fig.12 is a functional block diagram of Embodiment 2. Fig.12 As shown in , in Embodiment 2, in addition to the functions described in Embodiment 1, a synchronization control unit 805 is implemented in the self-movable robot 80. For example, the synchronization control unit 805 is mainly implemented by the CPU 83 of the robot. When the self-movable robot 80 reaches the next position, the synchronization control unit 805 synchronizes the self-movable robot 80 and the robot controller 60.

[0204] Synchronization is the coordination between the operation of one industrial device and the operation of another industrial device. In other words, synchronization is that an industrial device detects the state of another industrial device and operates according to the state of the other industrial device. Synchronization is also called synchronous control and can be achieved through synchronous communication. Waiting until another industrial device becomes a predetermined state also corresponds to synchronization.

[0205] The synchronization control unit 805 operates the self-movable robot 80 in response to the operation of the fixed robot 70. For example, the synchronization control unit 805 operates the self-movable robot 80 so that it is a predetermined distance away from the fixed robot 70 (so as not to contact the robot 70). For example, the synchronization control unit 805 operates the self-movable robot 80 so that when the fixed robot 70 holds the work object, the robot hand of the self-movable robot 80 approaches the work object. For example, the synchronization control unit 805 operates the self-movable robot 80 so that when the self-movable robot 80 holds the work object, the work object approaches the fixed robot 70.

[0206] For example, the synchronization control unit 805 includes an acquisition control unit 805A. When the self-movable robot 80 reaches the next position, the acquisition control unit 805A controls the self-movable robot 80 to obtain at least one of information about the state of the robot 70 controlled by the robot controller 60, information about the work object at the next position, and detection information of the peripheral device at the next position.

[0207] The information about the state of the robot 70 is information about at least one of the position, posture, orientation, and speed of the robot 70. The work performed by the robot controller 60 that controls the robot 70 is also an example of the information about the state of the robot 70. For example, information (sensing data, images, videos) detected by the sensor 71 or the camera 72 is also an example of the information about the state of the robot 70.

[0208] The information about the state of the work object is information about at least one of the shape, position, posture, orientation, and speed of the work object. The information is detected by the sensor 71 or the camera 72. The peripheral device is a device other than the robot controller 60 and the robot 70, and is, for example, at least one of the sensor 71 and the camera 72. For example, the detection information of the peripheral device is a physical quantity detected by a temperature sensor or a torque sensor.

[0209] The above information is information necessary for synchronization. The acquisition control unit 805A can control to acquire all of this information from the mobile robot 80, or acquire only one or two of these information. In this embodiment, the cell controller 50 sends this information, but other devices such as the information collection device 30 can also send this information. The robot controller 60 also obtains the information required for synchronization.

[0210] It is assumed that a program for instructing the actions of the self-movable robot 80 corresponding to the above information is stored in the storage unit 84. The program is necessary for synchronization with the robot 70. The program can be obtained using wireless communication during movement, or using wired communication after arriving at a cell. The self-movable robot 80 performs actions according to the obtained information based on the program, thereby synchronizing with the robot 70.

[0211] For example, when the robot arm of the robot 86 of the self-movable robot 80 is in the vicinity of the robot arm of the other robot 70, the self-movable robot 80 controls the robot 86 to move away from the robot arm of the robot 70. For example, if the work object does not reach a predetermined state, the self-movable robot 80 waits until the work of the other robot 70 is completed. For example, the self-movable robot 80 may change its work according to the physical quantity detected by the sensor 71. In addition, for example, the self-movable robot 80 may change its work according to the state of the work object detected by the camera 72 or the state of the other robot 70.

[0212] According to the production system S of Embodiment 2, when the self-movable robot 80 reaches the next position, the self-movable robot 80 and the robot controller 60 are synchronized, so that the self-movable robot 80 is synchronized with the robot controller 60. This improves the production efficiency of the production system S. In addition, the self-movable robot 80 and the robot controller 60 are synchronized, and this can prevent them from interfering with each other due to contact with each other during work, for example.

[0213] Furthermore, in the production system S, when the self-movable robot 80 reaches the next position, the self-movable robot 80 obtains at least one of the information about the state of the robot controller 60, the state of the work object at the next position, and the information detected by the peripheral device at the next position. This can improve the production efficiency of the production system S. For example, the state of the robot controller 60 is provided to the self-movable robot 80, which prevents the self-movable robot 80 from becoming an obstacle to the operation of the robot controller 60. Furthermore, for example, the state of the work object at the next position is provided to the self-movable robot 80, which is used to improve the operation accuracy of the self-movable robot 80 at the next position. Furthermore, for example, the detection information of the peripheral device at the next position is provided to the self-movable robot 80, which is used to improve the operation efficiency of the next position.

[0214] The production system S of Embodiment 2 may not have the functions of Embodiment 1. For example, when the self-movable robot 80 arrives at the next cell, the production system S may synchronize the self-movable robot 80 with other robots 70 in the cell without making the self-movable robot 80 prepare during movement as described in Embodiment 1. In this case, the self-movable robot 80 can prepare for work in the next cell after arriving at the next cell.

[0215] [3. Modification example]

[0216] The present invention is not limited to the above-described embodiments, and the present invention can be appropriately changed without departing from the spirit of the present invention.

[0217] Fig.13 is a functional block diagram of the modified example. Fig.13 As shown, in the modified example described below, in addition to the functions described in Embodiment 1, the front / rear preparation control unit 503, the second preparation control unit 803C, the third preparation control unit 803D, the installation control unit 803E, the fourth preparation control unit 803F, the second operation control unit 804B, the determination unit 806, the setting unit 807, and the sending control unit 808 are implemented. Fig.13 In the embodiment, the synchronization control unit 805 described in the embodiment 2 can be omitted, however, the synchronization control unit 805 can also be implemented in the following modified example.

[0218] (1) For example, the timing at which the self-movable robot 80 can prepare for the next work is not limited to the time during movement described in Embodiments 1 and 2. Figures 3 to 6 In the example of , preparation for the next job in cell X can begin when the self-movable robot 80 completes the job in cell Y.

[0219] In the production system S of the present modified example, a determination unit 806 is implemented. The determination unit 806 is mainly implemented by the CPU 83. The determination unit 806 determines whether the current job of the self-movable robot 80 is completed. The current job is a job in the cell where the self-movable robot 80 is currently located. The current job can be a job performed by the self-movable robot 80 in the cell, or a job in the entire cell. For example, in the case where the cell controller 50 sends a predetermined job completion notification to the self-movable robot 80 when the current job is completed, the determination unit 806 determines whether the job completion notification is received. Receiving a job completion notification means that the current job is completed.

[0220] The preparation control unit 803 of the present modification example includes a second preparation control unit 803C. When it is determined that the current job is completed, the second preparation control unit 803C controls the self-movable robot 80 to prepare for the next job. The second preparation control unit 803C controls the self-movable robot 80 to prepare for the next job under the condition that the current job is completed. When the current job is not completed, the second preparation control unit 803C controls the self-movable robot 80 not to prepare for the next job, and when the current job is completed, allows the self-movable robot 80 to prepare for the next job. The preparation method of the self-movable robot 80 is as described in Example 1.

[0221] According to the modification example (1), when it is determined that the current work of the self-movable robot 80 is completed, preparation for the next work is started at an earlier stage. This effectively improves the production efficiency in the production system S.

[0222] (2) In addition, for example, Figures 3 to 6 In the example of , when the self-movable robot 80 completes the work in cell Y and is instructed to move toward the next cell X, preparations for the next work can begin.

[0223] The preparation control unit 803 of this modified example includes a third preparation control unit 803D. When the self-movable robot 80 is instructed to move to the next position, the third preparation control unit 803D controls the self-movable robot 80 to prepare for the next operation. The third preparation control unit 803D controls the self-movable robot 80 to prepare for the next operation under the condition that the self-movable robot 80 is instructed to move to the next position. The third preparation control unit 803D controls the self-movable robot 80 not to prepare for the next operation when the movement to the next position is not instructed, and allows the self-movable robot 80 to prepare for the next operation when the movement to the next position is instructed. The preparation method of the self-movable robot 80 is as described in Example 1.

[0224] According to the modification example (2), when the movement to the next position is instructed, the self-movable robot 80 is allowed to prepare for the next work. This enables preparation for the work at an earlier stage and effectively improves the production efficiency in the production system S.

[0225] (3) For example, in Embodiments 1 and 2, the example of downloading data as preparation for the self-movable robot 80 has been described, however, the preparation may be physical preparation as described above. For example, when the robot hand of the robot 86 of the self-movable robot 80 is detachable, the robot hand may be replaced with a robot hand required in the next operation as preparation for the next operation.

[0226] The preparation control unit 803 of this modified example includes an installation control unit 803E. The installation control unit 803E controls the self-movable robot 80 to install a device to be used in the next operation to prepare for the next position. The device can be any device that can be installed on the self-movable robot 80 and can be used in the operation. For example, the device is a so-called end effector. The device can be any type of device and is not limited to a robot hand. For example, the device can be a tool such as a soldering iron, a machine tool, a sensor, or a camera.

[0227] The installation of the equipment itself can be achieved by various methods. For example, the installation control unit 803E can detect the equipment to be installed by the sensor 87 or the camera 88, and install the equipment at a predetermined position, such as the far end of the robot 86. For example, the equipment can be set on the cart of the self-movable robot 80, or at a predetermined position in the facility to be picked up by the self-movable robot 80. For example, the installation control unit 803E removes the equipment currently installed on the robot 86, and installs the equipment to be used in the subsequent operation on the robot 86. The removed equipment can be, for example, set on the cart of the self-movable robot 80, or at a predetermined position to which the self-movable robot 80 moves.

[0228] The operation control unit 804 of this modification example includes a second operation control unit 804B. When the self-movable robot 80 arrives at the next position and the equipment has been installed, the second operation control unit 804B controls the self-movable robot 80 to perform the next operation. The second operation control unit 804B controls the self-movable robot 80 to perform the next operation under the condition that the self-movable robot 80 arrives at the next position and the equipment has been installed. This modification example is different from Embodiments 1 and 2 only in that the installed equipment can be used, and the method of controlling the operation is as described in Embodiments 1 and 2.

[0229] According to modification example (3), the self-movable robot 80 is provided with the equipment to be used in the next operation as a preparation for the next position. In this way, even if the self-movable robot 80 is not equipped with the equipment to be used in the next operation, the self-movable robot 80 can be provided with the equipment at an earlier stage, which helps to improve the production efficiency of the production system S.

[0230] (4) For example, before the self-movable robot 80 reaches the next location, the robot controller 60 and the fixed robot 70 at that location can prepare for the operation. Figures 3 to 6For example, before the self-movable robot 80 arrives at cell Y, the robot controller 60 and the fixed robots 70D and 70E of cell Y can prepare for the operation. Similarly, before the self-movable robot 80 arrives at cell X, the robot controller 60 and the fixed robots 70A to 70C of cell X can prepare for the operation.

[0231] The preparation control unit 803 of the present modified example includes a front / rear preparation control unit 503. The front / rear preparation control unit 503 is mainly implemented by the CPU 51. The front / rear preparation control unit 503 controls the robot controller 60 to prepare for a job to be performed before or after the next job before the self-movable robot 80 reaches the next position. The job to be performed before or after the next job is a front step or a rear step of the job to be performed by the self-movable robot 80 at the next position. In other words, the job to be performed before or after the next job is a job to be performed by the fixed robot 70 in cooperation with the self-movable robot 80.

[0232] The meanings of “before reaching the next position” and preparation are the same as those described in Embodiment 1. For example, in the case where the robot controller 60 electronically prepares for the job, the front / rear preparation control unit 503 sends data required in the job before or after the next job to the robot controller 60. In addition, for example, in the case where the robot controller 60 physically prepares for the job, the front / rear preparation control unit 503 performs control to replace a device such as a robot arm of the robot 70. These preparations are the same as those of the self-movable robot 80.

[0233] According to modification example (4), before the self-movable robot 80 arrives at the next position, the robot controller 60 at the position is controlled to prepare for the operation, so that the next operation can be started quickly. This improves the production efficiency in the production system S. For example, if the robot controller 60 starts preparing for the operation after the self-movable robot 80 arrives at the next position, the operation cannot be started until all preparations of the self-movable robot 80 are completed. By eliminating or shortening such waiting time, the production efficiency can be improved.

[0234] (5) In addition, for example, when the self-movable robot 80 reaches the next position, the self-movable robot 80 may not stop at the position or orientation as expected. In this case, if the self-movable robot 80 attempts to perform the next operation based on the downloaded data, a slight difference may occur and hinder the next operation. In this way, calibration for correcting this difference can be performed based on the state when the self-movable robot 80 reaches the next position.

[0235] In the production system S of the present modified example, a setting unit 807 is implemented. The setting unit 807 is mainly implemented by the CPU 83 of the robot controller 82. When the self-movable robot 80 reaches the next position, the setting unit 807 sets the next job based on at least one of the current position and orientation. In the present modified example, both the position and the orientation are used, but only one of them may be used.

[0236] For example, a reference mark is arranged near the communication device 73 in the cell. The setting unit 807 detects the mark by the camera 88, and specifies the relative position with respect to the mark and the deviation with respect to the orientation of the mark (the deviation from the position and the orientation to which the self-movable robot 80 should originally be located). The setting data is generated so that there is no deviation in the position and orientation, so the setting unit 807 corrects the setting data by the specified deviation. For example, the setting unit 807 performs reference alignment of the coordinate system for control based on the deviation. In addition, for example, the setting unit 807 absorbs the deviation by correcting the teaching data indicated by the setting data by the specified deviation.

[0237] According to the modification example (5), when the self-movable robot 80 reaches the next position, the setting of the next operation is performed based on at least one of the current position and orientation of the self-movable robot 80. This improves the accuracy of the operation. For example, it is conceivable to move the self-movable robot 80 to eliminate the deviation of the position and orientation of the self-movable robot 80, but it takes time to move the self-movable robot 80. In this way, if the deviation is corrected by calibration, the operation can be started earlier.

[0238] (6) In addition, for example, the timing at which the mobile robot 80 prepares for the next operation may be the time at which the instruction device 20 instructs the movement to the next position. As described in Embodiments 1 and 2, the instruction device 20 is communicatively connected to the scheduling device 10 for scheduling the production plan, and provides instructions for each operation based on the schedule. The production plan is an overall plan in the production system S. For example, the production plan may indicate at least one of the products to be produced, the quantity of the products, and the operation deadline. The production plan is the content shown in the scheduling data.

[0239] Also in this modified example, when the current work of the robots 70 and 84 is completed, the sending unit 502 of the cell controller 50 sends a predetermined work completion notification to the instruction device 20. Upon receiving the work completion notification, the receiving unit 202 of the instruction device 20 instructs the mobile robot 80 to move to the next position. These processes are as described in reference to Fig. 9 and Fig.10 described.

[0240] The preparation control unit 803 of this modified example includes a fourth preparation control unit 803F. When the instruction device 20 instructs the self-movable robot 80 to move to the next position, the fourth preparation control unit 803F controls the self-movable robot 80 to prepare for the next operation. The fourth preparation control unit 803F controls the self-movable robot 80 to prepare for the next operation under the condition that the self-movable robot 80 is instructed to move to the next position. When the movement to the next position is not instructed, the fourth preparation control unit 803F controls the self-movable robot 80 not to prepare for the next operation, and when the movement to the next position is instructed, the fourth preparation control unit 803F allows the self-movable robot 80 to prepare for the next operation. The preparation method of the self-movable robot 80 is as described in Examples 1 and 2.

[0241] According to the modification example (6), the scheduling device 10 schedules the production plan, and the instruction device 20 gives a specific work instruction. In this way, the roles of the various devices in the production system S are shared, which improves the efficiency of the production system S.

[0242] (7) For example, when the self-movable robot 80 reaches the next location, the self-movable robot 80 may transmit information about itself to the information collecting device 30 .

[0243] The production system S of this modified example includes a transmission control unit 808. The transmission control unit 808 is mainly implemented by the CPU 83 of the robot controller 82. When the self-movable robot 80 arrives at the next position, the transmission control unit 808 controls the self-movable robot 80 to send information related to the self-movable robot 80 to the information collecting device 30. The transmission control unit 808 controls the self-movable robot 80 to send the information of the self-movable robot 80 to the information collecting device 30 under the condition that the self-movable robot 80 arrives at the next position. As described in Embodiments 1 and 2, when the self-movable robot arrives at the next position, the communication is switched to the wired communication, and therefore, the transmission control unit 808 controls the self-movable robot 80 to send the information about the self-movable robot 80 by using the wired communication.

[0244] The information related to the self-movable robot 80 may be any information, for example, the name or IP address of the self-movable robot 80, the function of the self-movable robot 80, tracking data stored in the self-movable robot 80, information detected by the sensors 87 and 94, images or videos captured by the cameras 88 and 95, or the current state of the self-movable robot 80. The current state is, for example, the position, posture, and remaining battery capacity of the self-movable robot 80. The information sent to the information collecting device 30 is not limited to these examples, and any information may be sent.

[0245] According to modified example (7), when the self-movable robot 80 reaches the next position, the self-movable robot 80 is controlled to send information related to the self-movable robot 80 to the information collecting device, so that, for example, the information can be used to analyze the operating status of the self-movable robot 80 and improve production efficiency.

[0246] (8) Furthermore, for example, the above modification examples may be combined.

[0247] In addition, for example, the self-movable robot 80 may have a function of switching communication without having the function described in Embodiments 1 and 2. That is, the self-movable robot 80 may perform wireless communication during movement and may switch to wired communication after arriving at the next cell (without preparing for the next cell during movement) and synchronize after arriving at the next cell. For example, the self-movable robot 80 may send tracking data to the information collection device 30 by wireless communication while moving, and may switch to wired communication when arriving at the next cell.

[0248] In addition, for example, the case where the instruction device 20 issues a movement instruction has been described, but the movement instruction may be issued by another computer. For example, when a movement plan for a day is pre-recorded in the AGV controller 90, the self-moving robot 80 can determine the timing of moving to the cell based on the movement plan.

[0249] For example, a case has been described in which both the robot unit 81 and the AGV unit 89 of the self-movable robot 80 are provided with a communication function, but only one of them may be provided with a communication function. For example, only the robot unit 81 may have a communication function, and the AGV unit 89 may receive a movement instruction via the robot unit 81. For example, only the AGV unit 89 may have a communication function, and the robot unit 81 may receive a movement instruction via the AGV unit 89.

[0250] In addition, for example, if sufficiently reliable wireless communication can be used, the self-movable robot 80 may not have the function of switching between wireless communication and wired communication. For example, the self-movable robot 80 can communicate with the cell controller 50 through wireless communication to perform the next operation. In this case, the self-movable robot 80 can always perform wireless communication without having the function of wired communication. On the contrary, if the communication cable does not interfere with the movement of the self-movable robot 80, the self-movable robot 80 can prepare for the next cell through wired communication. In this case, the self-movable robot 80 can always perform wired communication without having the function of wireless communication.

[0251] In addition, for example, a case has been described where the self-movable robot 80 can freely move to any cell, however, the cell to be processed by the self-movable robot 80 can be determined. For example, one self-movable robot 80 can be responsible for cells X and Y, and another self-movable robot 80 can be responsible for other cells. For example, the self-movable robot 80 can move within a cell. In this case, when the job of a cell is completed, the self-movable robot 80 moves to a position in the cell where post-processing of the job is performed, and performs the post-processing. At this time, preparation for post-processing can be performed during movement by the process described in Example 1, or synchronization can be performed after movement by the process described in Example 2.

[0252] In addition, for example, the processing of the production system S has been described by taking multi-type small batch production as an example, but the production system S can be applied to any other case. For example, the production system S can be applied to one type of large batch production. In this case, by performing the same processing as above, the self-movable robot 80 can move between cells to perform work. For example, if a failure occurs in the fixed robot 70 in a cell, the self-movable robot 80 can move to this cell to replace the robot 70 to perform the work.

[0253] In addition, for example, the case where the fixed robot 70 is set in the cell has been described, but the robot 70 set in the cell may move to some extent. For example, the robot 70 may move on a track set in the cell.

[0254] In addition, for example, in Fig. 9 In the processing of S1 in , the scheduling device 10 may send a day's schedule to the instruction device 20, but the scheduling device 10 may send only a part of the day's schedule to the instruction device 20. In this case, when it is confirmed that a part of the schedule is completed, the instruction device 20 notifies the scheduling device 10 of this information. After receiving the notification, the scheduling device 10 refers to the schedule data and checks whether there is a next schedule. When it is determined that there is a next schedule, the scheduling device 10 sends the rough work content of the next schedule to the instruction device 20. Thereafter, the execution Fig. 9 The processing of S2 and subsequent steps in the above process is performed, and the next scheduled job is executed. When it is determined that there is no next schedule, this means that all jobs of the day have been completed, so the scheduling device 10 can terminate the processing. For example, the instruction device 20 can send a job completion notification to the scheduling device 10 for each job, and can receive the schedule of the next job.

[0255] For example, the production system S may have a cell configured only by self-movable robots 80. In this case, a plurality of self-movable robots 80 gather and perform jobs together. For example, each self-movable robot 80 performs the processing described in Example 1, and prepares for the job to be performed in the cell before arriving at the work space assigned to the cell. In addition, for example, each self-movable robot 80 performs the processing described in Example 2, and when arriving at the cell, synchronizes with other self-movable robots 80. The cell controller 50 may be set in the work space of the cell, or may not be set in the work space of the cell. Similarly, the communication device 73 may be set in the work space, or may not be set in the work space. When the job in the cell is completed, each self-movable robot 80 advances to the next job, and thus the cell disappears. In addition, the cell may be configured by only one self-movable robot 80.

[0256] For example, a case has been described in which the main functions are implemented by the self-movable robot 80, but the functions described as being implemented by the self-movable robot 80 may be implemented by another device. For example, the mobile control unit 801, the communication control unit 802, and the preparation control unit 803 may all be implemented by the instruction device 20 or another device. Furthermore, for example, the job control unit 804 may be implemented by the cell controller 50 or another device. Furthermore, for example, the synchronization control unit 805 may be implemented by the cell controller 50 or other devices. Other functions may be similarly implemented by any device in the production system S. Furthermore, for example, the data described as being stored in the production system S may be obtained from other systems. Furthermore, for example, the configuration of the production system S is not limited to Figure 1 The production system S may include at least one self-movable robot 80.

[0257] The above-described embodiments have been shown as specific examples, and the present invention disclosed in this specification is not limited to the configurations of these specific examples and the data storage examples themselves. Those skilled in the art may make various modifications to the disclosed embodiments, such as modifications to the shape and number of physical components, data structures, and the execution order of processing. It should be understood that the technical scope of the present invention disclosed herein includes such modifications. In other words, those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions may be made according to design requirements and other factors, as long as they are within the scope of the attached claims or their equivalents.

Claims

1. A production system comprising: Industrial equipment, the industrial equipment being self-mobile; a preparation control unit configured to control the industrial device to start downloading at least a part of a work program and setting data to be used in a next work before the industrial device that has finished a work in one cell arrives at a next cell, wherein the work program indicates a process from the start to the end of the next work in a time series; as well as A job control unit is configured to control the industrial device to execute the next job when the industrial device reaches the next cell and the downloading is completed.

2. The production system according to claim 1, wherein: A first preparation control unit is included, and the first preparation control unit is configured to control the industrial device to start at least a part of the downloading when the industrial device moves to the next cell.

3. The production system according to claim 1 or 2, comprising: a determination unit configured to determine whether a current operation of the industrial equipment in the one cell is completed; as well as A second preparation control unit, wherein the second preparation control unit is configured to: if it is determined that the current job is completed, control the industrial device to start at least a part of the downloading before the industrial device reaches the next cell.

4. The production system according to claim 1 or 2, comprising: an instruction unit, wherein the instruction unit is configured to instruct the industrial equipment to move to the next cell; as well as A third preparation control unit is configured to control the industrial device to start at least a part of the downloading before the industrial device reaches the next cell when movement to the next cell is instructed.

5. The production system according to claim 1 or 2, comprising: An installation control unit configured to control the industrial equipment to start installing at least a portion of equipment to be used in the next operation before the industrial equipment arrives at the next cell; as well as A second operation control unit is configured to control the industrial equipment to perform the next operation when the industrial equipment reaches the next cell and installation of the equipment is completed.

6. The production system according to claim 1 or 2, wherein: Another industrial device is arranged in the next cell, and The production system includes a before / after preparation control unit configured to control the other industrial device to start downloading at least a portion of data used in a job to be performed before or after the next job before the industrial device reaches the next cell.

7. The production system according to claim 1 or 2, wherein: Another industrial device and a communication device for wired communication are arranged in the next cell, The production system includes a communication control unit, which is configured to: control the industrial equipment to perform wireless communication when the industrial equipment moves to the next cell; and when the industrial equipment reaches the next cell, control the industrial equipment to perform wired communication via the communication device.

8. The production system according to claim 1 or 2, wherein: A setting unit is included, and the setting unit is configured to perform setting of the next job based on at least one of a current position and a current orientation of the industrial equipment when the industrial equipment reaches the next cell.

9. The production system according to claim 1 or 2, wherein: The industrial equipment includes an automatic guided vehicle and a robot that performs the next operation.

10. The production system according to claim 1 or 2, comprising: an instruction device configured to be communicatively connected to a scheduling device that schedules a production plan and to provide instructions for each job based on the schedule; as well as A sending unit, the sending unit being configured to send a predetermined job completion notification to the instruction device when the current job of the industrial device is completed, wherein: The instruction device comprises: a receiving unit configured to receive the predetermined job completion notification; and an instruction unit configured to instruct the industrial equipment to move to the next cell when the job completion notification is received; and The production system includes a fourth preparation control unit configured to control the industrial device to start at least a part of the downloading when the instruction device instructs to move to the next cell.

11. A production system, wherein: Industrial equipment, the industrial equipment being self-mobile; a preparation control unit configured to control the industrial device to prepare for a next operation before the industrial device reaches a next location where another industrial device is configured; a work control unit configured to control the industrial equipment to perform the next work when the industrial equipment reaches the next position and completes preparation for the next work; as well as A synchronization control unit is configured to synchronize the industrial device with the other industrial device when the industrial device reaches the next position.

12. The production system according to claim 11, wherein: It includes an acquisition control unit, which is configured to control the industrial equipment to obtain at least one of the following information when the industrial equipment arrives at the next cell: information about the state of the other industrial equipment, information about the state of the working object of the next cell, and detection information of the peripheral equipment of the next cell.

13. A production method comprising: Controlling the self-movable industrial equipment so that, before the industrial equipment having finished working in one cell arrives at the next cell, it starts downloading at least a part of the working program and setting data to be used in the next working, wherein the working program indicates the process from the start to the end of the next working in a time series; as well as When the industrial device reaches the next cell and the downloading is completed, the industrial device is controlled to perform the next operation.

14. An information storage medium storing a program, which, when executed by a computer, causes the computer to function as: a preparation control unit configured to control the self-movable industrial equipment to start downloading at least a part of a work program and setting data to be used in a next work before the industrial equipment, which has finished a work in one cell, arrives at a next cell, wherein the work program indicates a process from the start to the end of the next work in a time series; and A job control unit is configured to control the industrial device to execute the next job when the industrial device reaches the next cell and the downloading is completed.

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