Walking speed control system and program

Abstract

The humanoid robot automatically measures the average of the walking speeds of the human worker through the sensor set. The humanoid robot is moved at the same speed as the measured walking speed. The movement speed of the whole working environment can be synchronized (synchronization in the first stage). The loudspeaker plays so that both the human worker and the humanoid robot can hear the rhythm at the same time. By playing such music with rhythm sensation on the floor, the whole is synchronized with the same rhythm (synchronization in the second stage). If music is played at 1.2 times (A * 1.2) relative to the walking speed A of a human worker, the overall music is 1.2 times, the rhythm is good, accidents (such as contact, collision and the like) are reduced, and the movement process can be synchronized (synchronization in the third stage).

Description

Technical Field

[0001] The present disclosure relates to a walking speed control system and a program. Background Art

[0002] In the past, in operations such as picking in a warehouse, manufacturing (component assembly) in a factory, and packaging operations (hereinafter referred to as picking operations, etc.), each operator performed the operations at different speeds.

[0003] In operations such as picking in a warehouse, even in the operation environments including countries, regions, operation bases, facilities such as enterprises and warehouses set up at the operation bases, each floor of the facilities, and operation time periods (dates and times) (hereinafter collectively referred to as operation environments), the average walking speeds of the operators are different.

[0004] One of the reasons is that the average height of the staff on a specific floor and the degree of busyness during the operation time period are different, resulting in different average times taken for the picking operation.

[0005] In such an operation environment, there are cases where robots that are automatically controlled are introduced, and the robots and operators (human workers) are mixed and move to play their respective roles.

[0006] For example, in Japanese Unexamined Patent Application Publication No. 2019-093506, the posture control of a humanoid robot used for automatically performing operations on a production line in a factory is described. Summary of the Invention

[0007] Problems to be Solved by the Invention

[0008] However, if human workers and robots are mixed in the same area of the operation environment, the overall movement, including that of the human workers, will be chaotic. In addition, even in an operation environment without human workers and only robots, if multiple robots with different moving speeds are mixed, the overall movement will also be chaotic.

[0009] The present disclosure has been made in view of the above circumstances, and an object thereof is to obtain a walking speed control system and a program that can synchronize the overall movement in the area of the operation environment and suppress the chaos of the overall movement in an operation environment including at least robots programmed with operation execution information in advance.

[0010] Means for Solving the Problems

[0011] The walking speed control system according to the present disclosure is a walking speed control system for a human worker and a robot hybrid working staff to move within a specified area to perform operations. The walking speed control system is characterized in that it has: a detection unit that detects the human worker; an arithmetic unit that calculates the moving speeds of a plurality of the human workers detected by the detection unit; and a setting unit that synchronously sets a moving speed with the average value of the moving speeds calculated by the arithmetic unit.

[0012] According to the present disclosure, by moving the robot synchronously with the moving speed (average value) of the human worker, interference (contact, collision, etc.) between the human worker and the robot can be avoided.

[0013] Thereby, in a working environment including at least a robot programmed in advance with operation execution information, it is possible to synchronize the overall movement in the area of the working environment and suppress the chaos of the overall movement.

[0014] In the present disclosure, the walking speed control system is characterized in that it further has: a speaker disposed in the specified area; and a control unit that outputs music from the speaker based on music information played at a predetermined rhythm.

[0015] By the human worker performing operations while keeping rhythm with the music, it is possible to perform operations with consistent actions (moving speeds) throughout the specified area.

[0016] In addition, in the present disclosure, the control unit outputs the music based on the music information at a speed faster than the normal speed.

[0017] If the rhythms of the human workers are consistent with each other, it is possible to increase the moving speed of the human workers as a whole and achieve an improvement in efficiency.

[0018] In addition, when only robots are in the specified area, the degree of speed increase can be made further than when mixed with human workers. In this case, even if there are multiple robots controlled by different programming, it is possible to avoid interference between the robots by moving in accordance with the same rhythm.

[0019] The program according to the present disclosure is characterized in that it causes a computer to function as the detection unit, arithmetic unit, and setting unit of the above walking speed control system.

[0020] The walking speed control system according to the present disclosure controls the moving speeds of a plurality of robots when the plurality of robots move in a specified area to perform operations. The walking speed control system is characterized in that it has: a synchronization control unit having a sound collection device for collecting music information, and the synchronization control unit causes the plurality of robots to move at a first moving speed synchronized with the beat and rhythm of the music information collected by the sound collection device; and an adjustment unit that, when a human worker performing the operation is detected in the specified area, calculates a second moving speed of the human worker moving in synchronization with the music information, and adjusts the first moving speed for synchronizing the plurality of robots by the synchronization control unit based on the calculated second moving speed.

[0021] According to the present disclosure, generally, a plurality of robots are synchronized with music information played in a specified area (such as a floor), but when a human worker joins, the plurality of robots move in accordance with the moving speed of the human worker synchronized with the music.

[0022] Thereby, in a working environment including at least robots programmed in advance with operation execution information, it is possible to synchronize the overall movement in the area of the working environment and suppress the chaos of the overall movement.

[0023] In the present disclosure, it is characterized in that the music information is output at a beat faster than the normal beat set for the underlying music piece.

[0024] To improve work efficiency, the music information is, for example, speeded up to 1.2 times or the like. If the beats and rhythms of human workers match each other, the overall moving speed of the human workers can be increased, and the efficiency can be improved.

[0025] In the present disclosure, it is characterized in that the synchronization control unit adjusts the period of the first moving speed when the plurality of robots move in synchronization to 1 / integer of the period of the second moving speed.

[0026] The robots can move at high speed among themselves. When coexisting with human workers, if the periods of the beats are the same, for example, even if the moving speed of the robots (operation speed): the moving speed of the humans (operation speed) = 10:1, the interference is small.

[0027] In addition, when only robots are in the specified area, the degree of speed increase can be further increased compared to when mixed with human workers. In this case, even if there are multiple types of robots controlled by different programming, it is possible to avoid interference between the robots by moving in accordance with the same beats and rhythms.

[0028] The program according to the present disclosure is characterized in that a computer functions as the synchronization control unit and the adjustment unit of the walking speed control system described above.

[0029] The walking speed control system according to the present disclosure is a walking speed control system when a human worker and a robot hybrid working staff move within a specified area to perform operations. The walking speed control system is characterized in that it has: at least one robot, the at least one robot is provided with a detection unit, an arithmetic unit, and a setting unit, the detection unit detects the human worker, the arithmetic unit calculates the average value of the moving speeds of a plurality of the human workers detected by the detection unit, and the setting unit synchronizes with the average value of the moving speeds calculated by the arithmetic unit to set the moving speed when the device moves; a speaker, which is arranged in the specified area; a music control unit, which outputs music with a constant rhythm from the speaker at a preset beat; and a timing providing unit, which provides timing to the human worker by flashing or vibrating at the same beat as the beat of the music emitted from the speaker.

[0030] According to the present disclosure, by the human worker performing operations while keeping the rhythm in coordination with the music, operations can be performed with consistent actions (moving speeds) throughout the specified area, and even a human worker with lower hearing than other human workers can perform actions matching the beat of the music.

[0031] In addition, in the present disclosure, the timing providing unit may be a lighting device that provides visual timing to the human worker by flashing at the same beat as the beat of the music emitted from the speaker.

[0032] Furthermore, in the present disclosure, the timing providing unit may be a vibrating device that provides tactile timing to the human worker by vibrating at the same beat as the beat of the music emitted from the speaker.

[0033] In addition, in the present disclosure, the walking speed control system may further include an action control unit, which respectively detects the hearing of the human worker and provides the timing by the timing providing unit only to the human worker whose detected hearing is below a preset value.

[0034] Thereby, it is possible to provide a rhythm based on means other than music only to the human worker whose hearing is below a preset value.

[0035] In addition, in the present disclosure, the walking speed control system may further include a photographing unit that photographs an image including the multiple human workers, and the action control unit sequentially outputs from the speaker voices calling the names of the human workers in such a manner that the sound output gradually increases, and detects the hearing of the human worker based on whether the human worker called by name responds when a certain sound is output.

[0036] Furthermore, the program according to the present disclosure is characterized in that a computer functions as the detection unit, arithmetic unit, setting unit, music control unit, and timing providing unit of the walking speed control system described above. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 is a top view of a floor of a warehouse where the picking operation according to the first embodiment is performed.

[0038] Figure 2 is a front view of the humanoid robot according to the first embodiment.

[0039] Figure 3 is a diagram schematically showing an example of the functional structure of the humanoid robot.

[0040] Figure 4 is a flowchart (first-stage synchronization) showing an example of the operation execution control routine on the humanoid robot side when a human worker and a humanoid robot are mixed and executed by the walking speed control system according to the first embodiment.

[0041] Figure 5 is a flowchart (second-stage synchronization) showing the control routine on the management control device side when a human worker and a humanoid robot are mixed and executed by the walking speed control system according to the first embodiment.

[0042] Figure 6 is a flowchart (third-stage synchronization) showing the control routine on the management control device side when a human worker and a humanoid robot are mixed and executed by the walking speed control system according to the first embodiment.

[0043] Figure 7 is a top view of a floor of a warehouse where the picking operation according to the second embodiment is performed.

[0044] Figure 8A is a flowchart showing the control routine executed by the management control device according to the second embodiment.

[0045] Figure 8B is a flowchart showing the operation execution control routine executed by the humanoid robot according to the second embodiment.

[0046] Figure 9It is a flowchart showing a humanoid robot side operation execution control routine executed by the walking speed control system according to the third embodiment.

[0047] Figure 10 It is a flowchart showing a management control device side control routine executed by the walking speed control system according to the third embodiment.

[0048] Figure 11 It is a flowchart showing a modified example of the management control device side control routine executed by the walking speed control system according to the third embodiment.

[0049] Figure 12A It is a flowchart showing a control routine executed by the management control device according to the fourth embodiment.

[0050] Figure 12B It is a flowchart showing an operation execution control routine executed by the humanoid robot according to the fourth embodiment.

[0051] Figure 13 It is a top view of the floor of a warehouse where picking operations according to the fifth embodiment are performed.

[0052] Figure 14 It is a diagram showing the state of a human worker wearing a smartwatch.

[0053] Figure 15 It is a diagram for explaining the detailed structure of the smartwatch.

[0054] Figure 16 It is a diagram schematically showing an example of computer hardware that functions as an information processing device of the humanoid robot in the first to fifth embodiments.

[0055] Figure 17 It is a flowchart for synchronizing multiple application actions in the second and fourth embodiments. Detailed Embodiments

[0056] Hereinafter, the present disclosure will be described through disclosed embodiments. However, the following embodiments do not limit the disclosure covered by the claims. In addition, all combinations of the features described in the embodiments are not essential for the disclosed solution.

[0057] (First Embodiment)

[0058] Figure 1 It is a top view of floor 50 of a warehouse where picking operations according to the first embodiment are performed.

[0059] The picking operation refers to the work of collecting (picking up) necessary items. Picking staff (including human worker 52 and humanoid robot 1) play an indispensable role in the item shipping in the warehouse, and thus are configured in all types of warehouses.

[0060] For example, the main work is to collect specified items based on a pre-instructed list or order form, and hand over the aggregated items to the inspection staff or the packing staff. The larger the warehouse scale, the more diverse and numerous the types and quantities of items stored. Therefore, a large number of picking staff move within floor 50.

[0061] In Figure 1 As shown in the floor 50, multiple shelves 54 are provided, and the spaces between each shelf 54 and between the floor 50 and the shelf 54 respectively form movement passages 56 for the picking staff.

[0062] The picking staff working on floor 50 includes a mixture of human worker 52 and humanoid robot 1.

[0063] The operation of the picking staff (movement within floor 50) is managed by a management control device 58 that manages floor 50. The management control device 58 functions as the control unit of the present disclosure.

[0064] As Figure 1 shown, the management control device 58 includes a microcomputer 60. The microcomputer 60 is composed of a CPU (Central Processing Unit), 60A, a RAM (Random Access Memory) 60B, a ROM (Read Only Memory) 60C, an input / output unit (I / O) 60D, and buses 60E such as a data bus and a control bus that connect them. A recording medium 62 is connected to the I / O 60D.

[0065] In addition, connected to the I / O 60D are: a transceiver unit 66 for human workers, which transceives operation information between the portable terminal 64 held by the human worker 52; and a transceiver unit 68 for robots, which transceives motion control information including operation information between the control system of the humanoid robot 1.

[0066] Furthermore, a speaker 70 (to be described in detail later) is connected to the I / O 60D.

[0067] The human worker 52 receives the information of the list and the order form from the management control device 58 that manages floor 50 through the portable terminal 64, and moves in the movement passage 56 according to the received information to pick up the target items.

[0068] In addition, the humanoid robot 1 receives information on inventories and purchase orders through the control system installed on the humanoid robot 1, moves in the movement passage 56 according to the received information, and picks up the target items.

[0069] (Humanoid robot 1)

[0070] As Figure 2 shown, the humanoid robot 1 includes an upper body part 2, a leg part 3, and a connecting part 4 that connects the upper body part 2 to the leg part 3 in a rotatable manner, and is programmed to perform picking operations on the floor 50.

[0071] The upper body part 2 has two arm parts 5 and 6. The arm parts 5 and 6 are rotatably mounted on the left and right of the upper body part 2. In addition, a gripping part (not shown) for gripping an object is mounted at the front ends of the arm parts 5 and 6. It should be noted that the number of arm parts is not limited to two, and may also be one or more than three.

[0072] The leg part 3 has two wheels 7 and 8 mounted on its lower part and can move on the floor where the humanoid robot 1 is placed.

[0073] The connecting part 4 rotatably connects the upper body part 2 to the leg part 3. Therefore, the upper body part 2 can lean forward and backward relative to the leg part 3.

[0074] In addition, as Figure 2 shown, the connecting part 4 has a function of being able to change the distance between the upper body part 2 and the leg part 3. Therefore, the vertical position of the upper body part 2 relative to the leg part 3 can be adjusted as shown by the arrow A to match the height of the workbench in the production line.

[0075] In addition, the humanoid robot 1 according to the present embodiment is controlled by a control system 10 installed inside the humanoid robot 1.

[0076] (Schematic structure of the humanoid robot 1)

[0077] Figure 3 is a schematic diagram of an example of the control system of the humanoid robot 1. The control system 10 includes a sensor 12 and an information processing device 14 mounted on the humanoid robot 1.

[0078] The sensor 12 functions as a detection unit of the present disclosure and detects the human worker 52. In addition, the sensor 12 sequentially obtains information indicating at least the distances and angles between the object on which the humanoid robot 1 performs operations and the arms 5 and 6 located around the humanoid robot 1. As the sensor 12, the highest-performance cameras, solid-state lidars (LiDARs), multi-color laser coaxial displacement gauges, or various other sensor groups can be adopted. In addition, as the sensor 12, vibration meters, thermal imagers, hardness meters, radars, LiDARs, high-pixel / long-focus / ultra-wide-angle / 360-degree / high-performance cameras, visual recognition, faint sounds, ultrasounds, vibrations, infrared rays, ultraviolet rays, electromagnetic waves, temperature, humidity, spot artificial intelligence (AI) weather forecasts, high-precision multi-channel global positioning systems (GPSs), low-altitude satellite information, or long-tail event AI data, etc. can be cited.

[0079] It should be noted that in addition to detecting the above information, the sensor 12 also detects images, distances, vibrations, heat, odors, colors, sounds, ultrasounds, ultraviolet rays, or infrared rays, etc. In addition, as the information detected by the sensor 12, the center-of-gravity movement of the humanoid robot 1, the detection of the material of the floor on which the humanoid robot 1 is set, the detection of the external air temperature, the detection of the external air humidity, the detection of the vertical, horizontal, and diagonal tilt angles of the floor, the detection of the moisture content, etc. can be cited.

[0080] The sensor 12 performs these detections, for example, every nanosecond.

[0081] The information processing device 14 includes an information acquisition unit 140, a control unit 142, and an information storage unit 144. The information acquisition unit 140 functions as an arithmetic unit and a setting unit of the present disclosure.

[0082] The information acquisition unit 140 acquires the information of the object detected by the sensor 12.

[0083] The control unit 142 uses the information acquired by the information acquisition unit 140 and AI (Artificial Intelligence) to control the rotational movement of the connecting part 4, the vertical movement, and the movements of the arms 5 and 6, etc.

[0084] For example, the control unit 142 performs the following respective processes.

[0085] (1) Drive the connecting part 4 to incline the upper body part 2 forward or backward so that an object located on the floor can be picked up.

[0086] (2) Drive the arms 5 and 6 and the gripping part so that an object can be grasped.

[0087] (3) Drive the upper body part 2 up and down relative to the leg part 3 so as to match the height of the workbench of the production line.

[0088] (4) Achieve balance to prevent the humanoid robot 1 from tipping over.

[0089] (5) Control the driving of the wheels 7 and 8 so that the humanoid robot 1 can push a trolley or the like.

[0090] Here, the humanoid robot 1 automatically measures the average walking speed of the human worker 52 in the same working environment through a sensor group such as LiDAR and a camera. The humanoid robot 1 is moved at the same speed as the measured walking speed.

[0091] Thereby, it is possible to synchronize the overall moving speed of the human worker 52 and the humanoid robot 1 existing in the working environment (synchronization control in the first stage).

[0092] A speaker 70 is provided on the floor 50 according to the first embodiment. The speaker 70 is controlled by the management control device 58 to play a rhythm (for example, a march like "The Nutcracker") that can be heard simultaneously by both the human worker 52 and the humanoid robot 1.

[0093] By playing this rhythmic music on the floor 50, the whole is synchronized at the same rhythm (synchronization control in the second stage).

[0094] If the synchronization control in the second stage based on the music (rhythm) emitted from the speaker 70 is achieved, further, for example, if the music is played at 1.2 times the walking speed A of the human worker 52 (A × 1.2), the whole is 1.2 times, the rhythm is good, and accidents (such as contact, collision, etc.) are reduced, and the moving process can be synchronized (synchronization control in the third stage).

[0095] That is, instead of the chaotic floor 50 where different human workers 52 move at various moving speeds on this floor, it is possible to achieve a floor where the whole is unified and, while listening to the march in perfect synchronization, for example, work is carried out at 10 times the speed, which has the advantages of safety and a 10-fold reduction in cost or a 10-fold cut in cost relative to the order fee.

[0096] Hereinafter, according to Figures 4 - 6 the flowchart below, the operation of the first embodiment will be described.

[0097] Figure 4 It is a flowchart (synchronization in the first stage) showing a control routine for performing operations on the humanoid robot side when a human worker and a humanoid robot are mixed, which is executed by the walking speed control system according to the first embodiment.

[0098] In step 100, a job instruction is received. Next, it transfers to step 102 and starts moving towards the destination.

[0099] In the next step 104, it is determined whether a human worker 52 is detected during the movement. If an affirmative determination is made, it transfers to step 106, calculates the walking speed of the human worker 52, and calculates the average walking speed of multiple detected human workers 52, and then transfers to step 108.

[0100] In step 108, the humanoid robot 1 is controlled to move at a speed synchronized with the average walking speed and transfers to step 110. Additionally, in the case where a negative determination is made in step 104, it transfers to step 110.

[0101] In step 110, it is determined whether the destination has been reached. If a negative determination is made, it returns to step 104 and repeats the above process. Additionally, in the case where an affirmative determination is made in step 110, this routine ends.

[0102] Figure 5 It is a flowchart (second-stage synchronization) showing the control routine on the management control device side when a human worker and a humanoid robot are mixed and executed by the walking speed control system according to the first embodiment.

[0103] In step 112, it is determined whether the job has started, and this step 112 is repeated until an affirmative determination is made.

[0104] If an affirmative determination is made in step 112, it transfers to step 114, reads the pre-stored rhythm (music) information (for example, a piece of music such as "The Nutcracker"), and transfers to step 116. In step 116, the output of the read rhythm (music) is started. That is, the rhythm (music) is emitted from the speaker 70. The rhythm at this time is the normal speed (1x speed).

[0105] In the next step 118, it is determined whether the job has ended, and this step 118 is repeated until an affirmative determination is made. If an affirmative determination is made in step 118, it transfers to step 120, stops the output of the rhythm (music), and this routine ends.

[0106] The human worker 52 walks along with this rhythm (music) and moves at a constant rhythm. On the other hand, since the humanoid robot 1 moves synchronously with the movement of the human worker 52, the overall movement becomes coordinated, and interference (contact, collision) is avoided compared to the case of moving randomly.

[0107] Figure 6It is a flowchart (synchronization in the third stage) showing the control routine on the management control device side when a human worker and a humanoid robot are mixed and executed by the walking speed control system according to the first embodiment.

[0108] In step 122, it is judged whether the operation has started, and this step 122 is repeated until an affirmative determination is made.

[0109] If an affirmative determination is made in step 122, it transfers to step 124, reads the pre-stored rhythm (music) information (for example, a piece of music such as "The Nutcracker"), and transfers to step 126. In step 126, the beat at the time of output of the rhythm (music) is set to a speed faster than the normal speed (for example, double speed n = 1.2 times speed), and it transfers to step 128.

[0110] In step 128, the output starts with the read rhythm (music) and beat. That is, the rhythm (music) is emitted from the speaker 70 at a speed faster than the normal speed (for example, double speed n = 1.2 times speed).

[0111] In the next step 130, it is judged whether the operation has ended, and this step 130 is repeated until an affirmative determination is made. If an affirmative determination is made in step 130, it transfers to step 132 to stop the output of the rhythm (music), and this routine ends.

[0112] The human worker 52 walks along with the rhythm (music) and moves at a constant rhythm. At this time, since the rhythm is faster than the normal speed (n = 1.2), the efficiency is correspondingly improved. On the other hand, since the humanoid robot 1 moves synchronously with the movement of this human worker 52, the overall movement becomes coordinated, and interference (contact, collision) is avoided compared with the case of moving randomly.

[0113] (Second Embodiment)

[0114] Figure 7 It is a top view of the floor 50 of the warehouse where the picking operation according to the second embodiment is carried out. It should be noted that the same reference numerals are given to the same structural parts as those in the first embodiment, and the description of the structure is omitted.

[0115] As Figure 7 shown, in the second embodiment, the picking worker who performs the operation on the floor 50 is the humanoid robot 1, and there is no human worker 52 described in the first embodiment (refer to Figure 1 ).

[0116] In other words, the movement path 56 of the working environment on the floor 50 can be called a dedicated path for robots. In the movement path 56 which is a dedicated path for robots, as long as it is within the scope of this dedicated path for robots, all picking workers can be uniformly controlled by the management and control device 58, so the speed of the process can be made faster.

[0117] That is, in the management and control device 58, the movement trajectories of all humanoid robots 1 on the time axis are grasped. Moreover, the overall movement speed of the humanoid robot 1 is made n times the movement speed of human workers (n > 1), so that the humanoid robot 1 is perfectly synchronized.

[0118] The value of n can also travel at a speed of 10 times or more to 20 times or more the movement speed of human workers, as long as adverse situations other than mutual contact and collision are considered (for example, balance when transporting the picked items, etc.).

[0119] It should be noted that in order to synchronize the humanoid robot 1, it can be achieved through the control program even if a specified rhythm (music) is not specifically played from the speaker 70 to the floor 50. However, by playing a specified rhythm (music) from the speaker 70 to the floor 50, for robots operating with different control programs and newly added robots, without programming for synchronization with the management and control device 58, the added robots can independently listen to (receive) the rhythm and synchronize.

[0120] According to Figure 8A and Figure 8B the flowchart, the operation of the second embodiment will be described.

[0121] Figure 8A It is a flowchart showing an operation instruction control routine executed by the management and control device 58 related to the second embodiment.

[0122] In step 134, the types of humanoid robots 1 within the floor 50 are confirmed, and then it proceeds to step 136 to calculate the movement patterns of each humanoid robot 1, and then proceeds to step 138.

[0123] In step 138, the pre-stored rhythm (music) information (for example, a piece of music such as "The Nutcracker") is read, and then it proceeds to step 140.

[0124] In step 140, as the beats of the rhythm (music) to be output for performance, the multiple speed value n most suitable for the calculated movement pattern is set. For example, if it is only a robot, there is no problem even if n = 10 to 20 times the speed.

[0125] In the next step 142, an operation instruction is output to each robot. Next, the process proceeds to step 144 to output a rhythm (music) from the speaker 70 based on the tempo value n, and this routine ends.

[0126] Figure 8B It is a flowchart showing an operation execution control routine executed by the humanoid robot 1 according to the second embodiment.

[0127] If an operation instruction is received in step 146, the process proceeds to step 148 to receive a rhythm (music) (e.g., collect sound using a microphone, etc.). Next, the process proceeds to step 150 to move based on the tempo of the received rhythm (tempo value n) and execute a picking operation.

[0128] In the next step 152, it is determined whether the operation has ended. If a negative determination is made, the process returns to step 150. If a positive determination is made, the process proceeds to step 154.

[0129] In step 154, it is determined whether to continue the operation. If a negative determination is made, the process returns to step 146 and the above process is repeated. Additionally, if a positive determination is made in step 154, this routine ends.

[0130] (Third Embodiment)

[0131] Hereinafter, according to Figures 9 - 11 the flowchart, the operation of the third embodiment will be described. The structure of the walking speed control system according to the third embodiment is the same as the structure of the walking speed control system according to the above first embodiment (refer to Figure 1 ).

[0132] Figure 9 It is a flowchart showing a humanoid robot side operation execution control routine executed by the walking speed control system according to the third embodiment.

[0133] In step 200, the music to be played to the floor 50 is obtained from the speaker 70. Next, the process proceeds to step 202 to communicate between the humanoid robots 1 to set the moving speed (first moving speed), and then proceeds to step 204.

[0134] In step 204, an operation instruction is received, and then the process proceeds to step 206 to start moving to the destination.

[0135] In the next step 208, it is determined whether a human worker 52 is detected during the movement. If a positive determination is made, the process proceeds to step 210 to calculate the walking speed of the human worker 52 and calculate the average walking speed (second moving speed) of the detected multiple human workers 52, and then proceeds to step 212.

[0136] In step 212, the humanoid robot 1 is controlled to move at a speed synchronized with the average walking speed and transfers to step 214. Additionally, in the case where a negative determination is made in step 208, it transfers to step 214.

[0137] Here, the definition of synchronization is roughly divided into the following two types.

[0138] (Synchronization 1) The rhythms are the same and the beats are the same

[0139] For example, consider the case where the period (beat) of the first moving speed = the period (beat) of the second moving speed.

[0140] (Synchronization 2) The rhythms are the same and the beats are different

[0141] For example, consider the case where the period (beat) of the moving speed is 1 / integer of the period (beat) of the second moving speed.

[0142] In step 214, it is determined whether the destination has been reached. In the case where a negative determination is made, it returns to step 208 and repeats the above process. Additionally, in the case where an affirmative determination is made in step 214, this routine ends.

[0143] Figure 10 It is a flowchart showing the control routine on the management control device side executed by the walking speed control system according to the third embodiment.

[0144] In step 216, it is determined whether the operation has started, and this step 216 is repeated until an affirmative determination is made.

[0145] If an affirmative determination is made in step 216, it transfers to step 218, reads the previously stored beat and rhythm (music) information (for example, a piece of music such as "The Nutcracker"), and transfers to step 220. In step 220, the output of the read beat and rhythm (music) is started. That is, the beat and rhythm (music) are emitted from the speaker 70. The beat at this time is the normal speed (1x speed).

[0146] In the next step 222, it is determined whether the operation has ended, and this step 222 is repeated until an affirmative determination is made. If an affirmative determination is made in step 222, it transfers to step 224, stops the output of the beat and rhythm (music), and this routine ends.

[0147] The human worker 52 walks along with the beat and rhythm (music) and moves at a constant beat and rhythm. On the other hand, since the humanoid robot 1 moves in synchronization with the movement of this human worker 52, the overall movement becomes coordinated, and interference (contact, collision) is avoided compared to the case of moving randomly.

[0148] Figure 11 This is a flowchart showing a modified example of the control routine on the management control device side executed by the walking speed control system according to the third embodiment.

[0149] In step 226, it is judged whether the operation has started, and this step 226 is repeated until an affirmative judgment is made.

[0150] If an affirmative judgment is made in step 226, the process proceeds to step 228, the previously stored beat and rhythm (music) information (e.g., a piece of music such as "The Nutcracker") is read, and the process proceeds to step 230. In step 230, the beat at the time of output of the beat and rhythm (music) is set to a speed faster than the normal speed (e.g., double speed n = 1.2 times speed), and the process proceeds to step 232.

[0151] In step 232, the read beat and rhythm (music) and the beat start to be output. That is, the beat and rhythm (music) are emitted from the speaker 70 at a speed faster than the normal speed (e.g., double speed n = 1.2 times speed).

[0152] In the next step 234, it is judged whether the operation has ended, and this step 234 is repeated until an affirmative judgment is made. If an affirmative judgment is made in step 234, the process proceeds to step 236, and the output of the beat and rhythm (music) is stopped, and this routine ends.

[0153] The human worker 52 walks along with this beat and rhythm (music) and moves at a constant beat and rhythm. At this time, since the beat is faster than the normal speed (n = 1.2), the efficiency is correspondingly improved. On the other hand, since the humanoid robot 1 moves synchronously with the movement of this human worker 52, the overall movement becomes coordinated, and interference (contact, collision) is avoided compared with the case of moving randomly.

[0154] (Fourth Embodiment)

[0155] Hereinafter, according to Figure 12A and Figure 12B the flowchart of, the operation of the fourth embodiment will be described. The structure of the walking speed control system according to the fourth embodiment is the same as the structure of the walking speed control system according to the above-described second embodiment (refer to Figure 7 ).

[0156] It should be noted that in the situation where the picking staff is only the humanoid robot 1, it becomes the situation where the human worker 52 is added (refer to Figure 1)In the case of adding a picking worker and the situation where the human worker 52 is mixed with the humanoid robot 1, through the music with a specified beat and rhythm played from the speaker 70, the human worker 52 synchronizes with the music and thus synchronizes with the humanoid robot 1. As a result, the overall movement on the floor 50 becomes coordinated, and interference (contact, collision) is avoided compared to the case of random movement.

[0157] Figure 12A It is a flowchart showing an operation instruction control routine executed by the management control device 58 according to the fourth embodiment.

[0158] In step 238, the type of the humanoid robot 1 in the floor 50 is confirmed. Next, in step 240, an operation instruction is output to each robot, and the process proceeds to step 242. In step 242, the movement pattern of each humanoid robot 1 is calculated, and the process proceeds to step 244.

[0159] In step 244, the previously stored beat and rhythm (music) information (for example, a piece of music such as "The Nutcracker") is read, and the process proceeds to step 246.

[0160] In step 246, it is judged whether the human worker 52 is detected. If a negative determination is made, the process proceeds to step 248. As the beat of the beat and rhythm (music) to be output for performance, a speed multiplier value n that is most suitable for the calculated movement pattern is set, and the process proceeds to step 252. For example, if there are only robots, even if n = 10 - 20 times the speed is fine.

[0161] In addition, if an affirmative determination is made in step 246, the process proceeds to step 250. As the beat of the beat and rhythm (music) to be output for performance, a speed multiplier value n that is most suitable for the movement of the human worker 52 is set, and the process proceeds to step 252. For example, in the case where the human worker 52 is the main body, preferably n = 1 - 1.2 times the speed (taking Figure 10 、 Figure 11 as the standard).

[0162] In step 252, the beat and rhythm (music) are output from the speaker 70 at the beat based on the speed multiplier value n, and the process proceeds to step 254.

[0163] In step 254, it is judged whether the operation is completed. If a negative determination is made, the process returns to step 246 and the above process is repeated. In addition, if an affirmative determination is made in step 254, this routine ends.

[0164] Figure 12B It is a flowchart showing an operation execution control routine executed by the humanoid robot 1 according to the fourth embodiment.

[0165] When receiving a job instruction in step 256, transfer to step 258 to receive the tempo and rhythm (music) (e.g., collecting sound by a sound collection device such as a microphone), and then transfer to step 260 to perform a picking operation by moving based on the tempo (multiplier value n) of the received music.

[0166] In the next step 262, it is determined whether a human worker 52 is detected. In the case of a positive determination, transfer to step 264 to calculate the walking speed of the human worker 52 and calculate the average walking speed (second moving speed) of the detected multiple human workers 52, and then transfer to step 266.

[0167] In step 266, control the humanoid robot 1 to move at a speed synchronized with the average walking speed and transfer to step 268. Additionally, in the case of a negative determination in step 262, transfer to step 268.

[0168] Here, the definition of synchronization is roughly divided into the following two types.

[0169] (Synchronization 1) The rhythms are the same and the tempos are the same

[0170] For example, consider the case where the period (tempo) of the first moving speed = the period (tempo) of the second moving speed.

[0171] (Synchronization 2) The rhythms are the same and the tempos are different

[0172] For example, consider the case where the period (tempo) of the moving speed is 1 / an integer of the period (tempo) of the second moving speed.

[0173] In step 268, it is determined whether the job is completed. In the case of a negative determination, return to step 260. In the case of a positive determination, transfer to step 270.

[0174] In step 270, it is determined whether to continue the job. In the case of a negative determination, return to step 256 to repeat the above process. Additionally, in the case of a positive determination in step 270, this routine ends.

[0175] (Fifth Embodiment)

[0176] Figure 13 It is a top view of the floor 50 of a warehouse where the picking operation according to the fifth embodiment is performed.

[0177] In this embodiment, different from Figure 1 the first embodiment shown, a plurality of LED lights 100 are arranged on the shelf 54. Additionally, different from Figure 1The difference from the first embodiment shown is also that some human workers 52 wear smartwatches 80 on their wrists. Different from Figure 1 The difference from the first embodiment shown is also that the management control device 58 in this embodiment further includes a timing signal transmission unit 69. And, the management control device 58 in this embodiment is connected to a camera 90 via an I / O 60D. The camera 90 is Figure 13 shown in the position of photographing the condition of the floor 50 of the warehouse where the picking operation is performed from the side, but is actually arranged in such a way that the entire condition of the floor 50 can be photographed.

[0178] In addition, the timing signal transmission unit 69 transmits a timing signal to the smartwatch 80 worn by the human worker 52 via a wireless communication line such as Wi-Fi (registered trademark) or Bluetooth (registered trademark). This timing signal is a signal indicating a beat or timing synchronized with the beat of the music output from the speaker 70. Then, the smartwatch 80 vibrates based on the timing signal transmitted from the timing signal transmission unit 69, and provides timing by transmitting the vibration to the human worker 52.

[0179] Figure 14 The condition of the human worker 52 wearing the smartwatch 80 is shown. Referring to Figure 14 , the condition of the smartwatch 80 vibrating on the wrist of the human worker 52 is shown. And, this smartwatch 80 vibrates synchronously with the transmitted timing signal, and vibrates at a timing synchronized with the beat of the music output from the speaker 70. Therefore, even when the hearing of the human worker 52 wearing the smartwatch 80 is low and the music output from the speaker 70 cannot be heard, by performing an action synchronized with the vibration of the smartwatch 80, an action synchronized with the music output from the speaker 70 can be performed.

[0180] Referring to Figure 15 the detailed structure of this smartwatch 80 will be described. As Figure 15 shown, the smartwatch 80 includes a timing signal receiving unit 81, a control unit 82, and a vibrator 83.

[0181] The timing signal receiving unit 81 receives the timing signal transmitted from the timing signal transmission unit 69. The control unit 82 causes the vibrator 83 to vibrate based on the timing indicated by the timing signal received by the timing signal receiving unit 81.

[0182] In the first embodiment, the management control device 58 synchronizes the actions of multiple human workers 52 at the same rhythm by outputting music with a constant rhythm from the speaker 70 at a preset rhythm. However, when the hearing of some of the multiple human workers 52 is lower than that of other human workers 52, they cannot hear the music output from the speaker 70 and cannot perform actions synchronized with the beats of the music.

[0183] Therefore, in the present embodiment, in addition to providing the beats (timing) based on music to the human workers 52, visual beats or timing based on the LED lighting 100 are also provided. Further, in the present embodiment, haptic beats or timing based on the smartwatch 80 worn on the wrist of the human worker 52 are also provided.

[0184] In the present embodiment, the LED lighting 100 and the smartwatch 80 function as a timing providing unit that provides beats or timing to the human worker 52 by flashing or vibrating at the same rhythm as the beats of the music emitted from the speaker 70.

[0185] Specifically, the LED lighting 100 functions as a lighting device that provides visual timing to the human worker 52 by flashing at the same rhythm as the beats of the music emitted from the speaker 70.

[0186] In addition, the smartwatch 80 functions as a vibrating device that provides haptic timing to the human worker 52 by vibrating at the same rhythm as the beats of the music output from the speaker 70.

[0187] It should be noted that if a device such as smart glasses that can display something to the human worker 52 is used, visual timing can also be provided to the human worker 52 wearing the smart glasses. Further, even for a device other than the smartwatch 80, by using a device such as a smartphone that has a certain vibration function, haptic beats can be provided to the human worker 52.

[0188] Further, it can be considered that among the multiple human workers 52, there are those with normal hearing and those with lower hearing than other human workers 52. Therefore, not all human workers 52 need to be provided with beats or timing by means other than music. Therefore, the management control device 58 can also detect the hearing of multiple human workers 52 respectively, and only provide the timing based on the smartwatch 80 to the human workers 52 whose detected hearing is below a preset value. The management control device 58 functions as an action control unit for performing such control.

[0189] Specifically, the camera 90 captures a moving image including multiple human workers 52 working on the floor 50. And the management control device 58 that functions as an action control unit sequentially outputs voices calling the names of the human workers 52 from the speaker 70 in a manner of gradually increasing the voice output. Then, the management control device 58 refers to the moving image captured by the camera 90 and detects the hearing of the human worker 52 based on whether the human worker 52 called by name reacts when a certain voice output is made. That is, when calling the name of a certain human worker 52 and the human worker 52 makes a reaction such as turning around, it is determined that the human worker 52 heard the voice based on the voice output at this stage.

[0190] Then, by sending a timing signal only to the smartwatch 80 worn by the human worker 52 determined to have low hearing from the timing signal sending unit 69, it is possible to make only the smartwatch 80 of the human worker 52 with low hearing vibrate.

[0191] In this way, according to the present embodiment, when outputting music from the speaker 70 to synchronize the actions of the human workers 52 with the rhythm of the music, even if there is a person with lower hearing than other human workers 52 among the multiple human workers 52, a working environment where the actions of the multiple human workers 52 working on the floor 50 are synchronized is achieved.

[0192] (Embodiment of the information processing device 14 of the humanoid robot 1)

[0193] Figure 16 An example of the hardware configuration of a computer 1200 that functions as the information processing device 14 is schematically shown. The program installed in the computer 1200 can cause the computer 1200 to function as one or more "units" of the device according to the first embodiment, or cause the computer 1200 to execute operations associated with the device according to the present embodiment or the one or more "units", and / or can cause the computer 1200 to execute the process according to the present embodiment or a stage of the process. Such a program can be executed by the CPU 1212 to cause the computer 1200 to execute specific operations associated with some or all of the blocks in the flowcharts and block diagrams described in this specification.

[0194] The computer 1200 according to the present embodiment includes a CPU 1212, a RAM 1214, and a graphics controller 1216 that are interconnected via a host controller 1210. The computer 1200 also includes input / output units such as a communication interface 1222, a storage device 1224, a DVD drive, and an IC card drive, which are connected to the host controller 1210 via an input / output controller 1220. The DVD drive can be a DVD-ROM drive, a DVD-RAM drive, etc. The storage device 1224 can be a hard disk drive, a solid state drive, etc. The computer 1200 also includes a ROM 1230 and input / output units such as a keyboard, which are connected to the input / output controller 1220 via an input / output chip 1240.

[0195] The CPU 1212 operates according to programs stored in the ROM 1230 and the RAM 1214, thereby controlling each unit. The graphics controller 1216 acquires image data generated by the CPU 1212 from a frame buffer provided in the RAM 1214 or within itself, and causes the image data to be displayed on the display device 1218.

[0196] The communication interface 1222 communicates with other electronic devices via a network. The storage device 1224 stores programs and data used by the CPU 1212 within the computer 1200. The DVD drive reads programs or data from a DVD-ROM or the like and provides them to the storage device 1224. The IC card drive reads programs and data from an IC card and / or writes programs and data to the IC card.

[0197] The ROM 1230 stores therein a boot program executed by the computer 1200 at startup, etc., and / or a program dependent on the hardware of the computer 1200. The input / output chip 1240 can also connect various input / output units to the input / output controller 1220 via a USB port, a parallel port, a serial port, a keyboard port, a mouse port, etc.

[0198] The program is provided by a computer-readable storage medium such as a DVD-ROM or an IC card. The program is read from the computer-readable storage medium, installed in the storage device 1224, the RAM 1214, or the ROM 1230, which are also examples of computer-readable storage media, and executed by the CPU 1212. The information processing described in these programs is read by the computer 1200, and causes cooperation between the programs and the various types of hardware resources described above. The apparatus or method can be configured by operating or processing information according to the use of the computer 1200.

[0199] For example, when communication is performed between the computer 1200 and an external device, the CPU 1212 may execute a communication program loaded into the RAM 1214, and command the communication interface 1222 to perform communication processing based on the processing described in the communication program. Under the control of the CPU 1212, the communication interface 1222 reads the transmission data stored in the transmission buffer provided in a recording medium such as the RAM 1214, the storage device 1224, the DVD-ROM, or the IC card, and transmits the read transmission data to the network, or writes the received data received from the network into the reception buffer provided on the recording medium, etc.

[0200] In addition, the CPU 1212 may cause all or a necessary part of a file or a database stored in an external recording medium such as the storage device 1224, the DVD drive (DVD-ROM), the IC card, etc. to be read into the RAM 1214, and perform various types of processing on the data on the RAM 1214. Next, the CPU 1212 may write the processed data back to the external recording medium.

[0201] Various types of information such as various types of programs, data, tables, and databases may be stored in the recording medium to undergo information processing. The CPU 1212 may perform various types of processing on the data read from the RAM 1214, and write the result back to the RAM 1214. The various types of processing include various types of operations, information processing, conditional judgment, conditional branch, unconditional branch, information retrieval / replacement, etc. described throughout this disclosure and specified by the instruction sequence of the program. In addition, the CPU 1212 may retrieve information in files, databases, etc. in the recording medium. For example, in a case where there are a plurality of entries each having an attribute value of a first attribute associated with an attribute value of a second attribute stored in the recording medium, the CPU 1212 may retrieve an entry that matches the condition specifying the attribute value of the first attribute from the plurality of entries, and read the attribute value of the second attribute stored in the entry, thereby obtaining the attribute value of the second attribute associated with the first attribute that satisfies a predetermined condition.

[0202] The programs or software modules described above may be stored in a computer-readable storage medium on or near the computer 1200. In addition, a recording medium such as a hard disk or a RAM provided in a server system connected to a dedicated communication network or the Internet may be used as a computer-readable storage medium, thereby providing a program to the computer 1200 via the network.

[0203] The blocks in the flowcharts and block diagrams in this embodiment may represent stages of a process of performing operations or "parts" of a device having the function of performing operations. Specific stages and "parts" may be implemented by dedicated circuits, programmable circuits supplied together with computer-readable instructions stored on a computer-readable storage medium, and / or processors supplied together with computer-readable instructions stored on a computer-readable storage medium. The dedicated circuits may include digital and / or analog hardware circuits, and may also include integrated circuits (ICs) and / or discrete circuits. The programmable circuits may include, for example, reconfigurable hardware circuits such as field programmable gate arrays (FPGAs) and programmable logic arrays (PLAs), which include logical AND, logical OR, logical exclusive OR, logical NAND, logical NOR, and other logical operations, flip-flops, registers, and storage elements.

[0204] A computer-readable storage medium may include any tangible device capable of storing instructions executable by a suitable device. As a result, a computer-readable storage medium having instructions stored therein has a product including the instructions that can be executed to generate a unit for performing the operations specified in the flowchart or block diagram. Examples of computer-readable storage media may include electronic storage media, magnetic storage media, optical storage media, electromagnetic storage media, semiconductor storage media, etc. More specific examples of computer-readable storage media may include floppy (registered trademark) disks, magnetic disks, hard disks, random access memories (RAMs), read-only memories (ROMs), erasable programmable read-only memories (EPROMs or flash memories), electrically erasable programmable read-only memories (EEPROMs), static random access memories (SRAMs), compact disc read-only memories (CD-ROMs), digital versatile discs (DVDs), Blu-ray (registered trademark) disks, memory sticks, integrated circuit cards, etc.

[0205] Computer-readable instructions can include any one of assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state-setting data, or source code or object code described in any combination of one or more programming languages, where the one or more programming languages include object-oriented programming languages such as Smalltalk (registered trademark), JAVA (registered trademark), C++, etc. and traditional procedural programming languages such as the "C" programming language or similar programming languages.

[0206] The computer-readable instructions can be provided locally or via a local area network (LAN), a wide area network (WAN) such as the Internet, etc. to a processor or programmable circuit of a general-purpose computer, a special-purpose computer, or other programmable data processing device, causing the processor or programmable circuit of the general-purpose computer, special-purpose computer, or other programmable data processing device to execute the computer-readable instructions to generate units for performing the operations specified in the flowchart or block diagram. Examples of the processor include a computer processor, a processing unit, a microprocessor, a digital signal processor, a controller, a microcontroller, etc.

[0207] It should be noted that in this embodiment (the first to fifth embodiments), the information processing device 14 of the humanoid robot 1 functions as each part of the present disclosure, but the management control device 58 can also undertake this function.

[0208] (Summary of the present disclosure)

[0209] The first embodiment, the third embodiment, the fifth embodiment "Working environment where human workers and humanoid robots are mixed"

[0210] As an example of an intelligent robot, a humanoid robot automatically measures the average walking speed of human workers in the same working environment using a sensor group such as LiDAR and a camera, and causes the humanoid robot to move at the same speed as the measured walking speed.

[0211] Thereby, it is possible to synchronously achieve the overall moving speed including human workers and humanoid robots present in the working environment.

[0212] A more perfect moving speed is that both the operator (human worker) and the participating humanoid robot move at exactly the same or a speed close thereto. In this case, a safer and more efficient synchronized overall floor moving operation can be performed.

[0213] In order to achieve perfect movement speed, by playing a rhythm (e.g., a march like "The Nutcracker") that both the operator (human worker) and the humanoid robot can hear simultaneously in the working environment, the whole can be synchronized at the same rhythm.

[0214] If the rhythm synchronization is achieved, further, for example, if the music is played at 1.2 times the walking speed A (A×1.2), the whole is 1.2 times, with a good rhythm and few accidents (e.g., contact, collision, etc.), and the movement process can be synchronized.

[0215] That is, instead of a chaotic floor where different people move at various speeds on this floor, it is possible to achieve an overall unity and, while listening to the march in perfect synchronization, for example, work at 10 times the speed. It has the advantages of being safe and reducing the cost by 10 times or cutting it by 10 times compared to its ordering cost.

[0216] Second Embodiment, Fourth Embodiment "Working Environment of Only Humanoid Robots"

[0217] On the other hand, if a robot-only lane is formed in the working environment, within the scope of this robot-only lane, the process speed can be made faster.

[0218] To make the working environment (e.g., the whole floor) the safest and most speed-efficient, in order to work on this floor, it is necessary to have zero operators (human workers) working on this floor, make the overall movement speed n times the speed, and make all robots perfectly synchronized. In this case, the most efficient movement process can be achieved. For example, it can also travel at a speed of more than 10 to 20 times or more than the movement speed of the operator (human worker).

[0219] When selling, it can also be promoted as an advantage of quickly achieving a unified robot floor.

[0220] It should be noted that Figure 17 is an embodiment related to the second embodiment and the fourth embodiment, and is a flowchart for synchronizing multiple application actions.

[0221] For example, consider the case where the synchronization rhythm for all floors is 20 times the speed.

[0222] In this case, the traveling action and the arm movement can reach 20 times the speed, and the finger movement can reach 100 times the speed. Additionally, for the eyes and the head, it can be set to 1 million times.

[0223] When output on the floor with perfectly synchronized music (at a rhythm 20 times the speed of "The Nutcracker"), fully unmanned warehouse operations without any collisions or accidents can be carried out, and a Total Logistics OS and its applications can be realized.

[0224] As described above, the technology of the present disclosure has been described using embodiments, but the technical scope of the present disclosure is not limited to the scope described in the above embodiments. Those skilled in the art should understand that various changes or improvements can be made to the above embodiments. As can be seen from the claims, embodiments with such changes or improvements are also included in the technical scope of the present disclosure.

[0225] It should be noted that the execution order of each process such as actions, sequences, steps, and stages in the devices, systems, programs, and methods shown in the claims, the specification, and the drawings is not particularly specified as "before...", "earlier than...", etc., or as long as the output of the previous process is not used in the subsequent process, it can be implemented in any order. Regarding the action flow in the claims, the specification, and the drawings, even if it is described using "first", "next", etc. for convenience, it does not mean that it must be implemented in that order.

[0226] The entire disclosures of Japanese Patent Application No. 2022-166242 filed on October 17, 2022, Japanese Patent Application No. 2022-176626 filed on November 2, 2022, and Japanese Patent Application No. 2022-184307 filed on November 17, 2022 are incorporated herein by reference. All documents, patent applications, and technical standards described in this specification are incorporated by reference into this specification to the same extent as if each individual document, patent application, and technical standard were specifically and individually described as being incorporated by reference.

Claims

1. A walking speed control system, wherein, the walking speed control system is a walking speed control system for a human worker and a robot hybrid working staff moving in a specified area to perform operations, and the walking speed control system has: a detection unit that detects the human worker; a calculation unit that calculates the moving speeds of a plurality of the human workers detected by the detection unit; and a setting unit that synchronously sets a moving speed with the average value of the moving speeds calculated by the calculation unit.

2. The walking speed control system according to claim 1, wherein, the walking speed control system further has: a speaker disposed in the specified area; and a control unit that outputs music from the speaker based on music information played at a predetermined rhythm.

3. The walking speed control system according to claim 2, wherein, the control unit outputs the music based on the music information at a speed faster than the normal speed.

4. A walking speed control system, wherein, the walking speed control system controls the moving speeds of at least a plurality of robots when the plurality of robots move in a specified area to perform operations, the walking speed control system has: a synchronization control unit that includes a sound collection device for collecting music information, and the synchronization control unit causes the plurality of robots to move at a first moving speed respectively synchronized with the beat and rhythm of the music information collected by the sound collection device; and an adjustment unit that, when a human worker performing the operation is detected in the specified area, calculates a second moving speed of the human worker moving in synchronization with the music information, and adjusts the first moving speed used by the synchronization control unit to synchronize the plurality of robots based on the calculated second moving speed.

5. The walking speed control system according to claim 4, wherein, the music information is output at a beat faster than the normal beat set for the underlying music piece.

6. The walking speed control system according to claim 4, wherein, the synchronization control unit adjusts the period of the first moving speed when the plurality of robots move in synchronization to 1 / integer of the period of the second moving speed.

7. A walking speed control system, wherein, the walking speed control system is a walking speed control system for a human worker and a robot hybrid working staff moving in a specified area to perform operations, the walking speed control system has: at least one robot that includes a detection unit, a calculation unit, and a setting unit, the detection unit detects the human worker, the calculation unit calculates the average value of the moving speeds of a plurality of the human workers detected by the detection unit, and the setting unit synchronously sets the moving speed when moving the device with the average value of the moving speeds calculated by the calculation unit; a speaker disposed in the specified area; A music control unit that outputs music with a constant rhythm from the speaker at a preset beat; and A timing providing unit that provides timing to the human worker by flashing or vibrating at the same beat as the beat of the music emitted from the speaker.

8. The walking speed control system according to claim 7, wherein, The timing providing unit is a lighting device that provides visual timing to the human worker by flashing at the same beat as the beat of the music emitted from the speaker.

9. The walking speed control system according to claim 7, wherein, The timing providing unit is a vibration device that provides tactile timing to the human worker by vibrating at the same beat as the beat of the music emitted from the speaker.

10. The walking speed control system according to claim 7, wherein, The walking speed control system further includes an action control unit that respectively detects the hearing of the human worker and provides the timing provided by the timing providing unit only to the human worker whose detected hearing is below a preset value.

11. The walking speed control system according to claim 10, wherein, The walking speed control system further has a photographing unit that photographs an image including the multiple human workers, The action control unit sequentially outputs voices calling the names of the human workers from the speaker in such a way that the sound output gradually increases, and detects the hearing of the human worker according to whether the human worker called by name reacts at a certain sound output.

12. A program, wherein, The program causes a computer to function as a detection unit, an arithmetic unit, and a setting unit of the walking speed control system according to any one of claims 1 to 3.

13. A program, wherein, The program causes a computer to function as a synchronization control unit and an adjustment unit of the walking speed control system according to any one of claims 4 to 6.

14. A program, wherein, The program causes a computer to function as a detection unit, an arithmetic unit, a setting unit, a music control unit, and a timing providing unit of the walking speed control system according to any one of claims 7 to 11.

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