Working robot, method for controlling working robot, and program for controlling working robot

Abstract

To provide a working robot that freely moves to work irrespective of a floor surface to move thereon.SOLUTION: A working robot (30) includes: a movement unit (32) provided with rotors (32A) and movable over a floor surface with the rotors (32A); and at least a pair of arms (31) installed to the movement unit (32) and performing an operation to an article, where the pair of arms (31) also serves as a leg part for supporting the movement unit (32).SELECTED DRAWING: Figure 12

Description

[Technical field]

[0001] The present disclosure relates to a working robot, a control method for a working robot, and a control program for a working robot. [Background technology]

[0002] 2. Description of the Related Art Conventionally, there is a running robot that moves by switching between walking-type leg running, in which the robot moves by moving the legs back and forth, and wheel running, in which the robot moves by rotating wheels (see, for example, Patent Document 1).

[0003] The running robot described in Patent Document 1 has a drive unit, a clutch that switches the transmission destination of the drive force of the drive unit, legs driven by the drive force of the drive unit, wheels driven by the drive force of the drive unit, and a control unit. When switching between leg drive and wheel drive, the control unit executes running speed control before the drive switch so that the running speed after the drive switch is approximately equal to the running speed before the drive switch. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2020-134999 A Summary of the Invention [Problem to be solved by the invention]

[0005] Incidentally, the technology described in the above Patent Document 1 is capable of moving by switching between legs and wheels, but since it is not equipped with arms, it cannot perform tasks using arms.

[0006] An object of the present disclosure is to provide a work robot that can move freely and perform work regardless of the condition of the floor surface on which it moves, a control method for a work robot, and a control program for a work robot. [Means for solving the problem]

[0007] The work robot according to the present disclosure comprises a mobile unit provided with a movement mechanism capable of moving across a floor surface by the movement mechanism, and at least a pair of arms provided on the mobile unit for performing work on an object, the pair of arms also serving as legs supporting the mobile unit.

[0008] A control method for a work robot according to the present disclosure is a control method for a work robot comprising: a mobile unit provided with a moving mechanism and capable of moving across a floor surface by the moving mechanism; and at least a pair of arms provided on the mobile unit and performing work on an object, the pair of arms also serving as legs supporting the mobile unit, wherein the work robot acquires the state of the floor surface, and, if the state of the floor surface is level, switches to a first moving mode in which the moving mechanism moves across the floor surface, and, if the state of the floor surface is uneven, switches to a second moving mode in which the pair of arms are used as the legs and move across the floor surface by the legs, or the legs and the moving mechanism.

[0009] A control program for a work robot according to the present disclosure is a control program for a work robot having a moving unit provided with a moving mechanism and capable of moving across a floor surface using the moving mechanism, and at least a pair of arms provided on the moving unit and performing work on objects, the pair of arms also serving as legs supporting the moving unit, and causes a computer to execute a process of acquiring the condition of the floor surface, and, if the condition of the floor surface is level, switching to a first moving mode in which the moving mechanism moves across the floor surface, and, if the condition of the floor surface is uneven, switching to a second moving mode in which the pair of arms serve as the legs and move across the floor surface using the legs, or the legs and the moving mechanism. Effect of the Invention

[0010] The disclosed technology has the advantage that the work robot can move freely and perform work regardless of the condition of the floor surface on which it is moving. [Brief description of the drawings]

[0011] [Figure 1] FIG. 1 is a diagram illustrating an example of the configuration of a production system. [Diagram 2] FIG. 2 is a diagram illustrating an example of a functional configuration of a working robot. [Diagram 3] FIG. 1 illustrates an example of a working robot. [Figure 4] 10 is a flowchart showing an example of a control process flow in a working robot. [Diagram 5] FIG. 13 is a diagram showing an example of a working robot fixed to a floor surface using supports. [Figure 6] FIG. 1 is a diagram showing an example of a work robot equipped with a tool on a mobile unit. [Figure 7] FIG. 1 is a diagram illustrating an example of a work robot that assembles parts in cooperation with other work robots. [Figure 8] FIG. 1 is a diagram showing an example of a working robot equipped with a joint portion. [Figure 9] FIG. 1 is a diagram showing an example of linked work robots. [Figure 10] FIG. 1 is a diagram showing an example of a production line in which a plurality of work robots are linked together. [Figure 11] FIG. 13 is a diagram showing an example in which a work robot located at the final stage of a production line functions as an AMR. [Figure 12] FIG. 2 is a diagram showing an example of a movement mode of a working robot. [Figure 13] 11A and 11B are diagrams illustrating another example of a movement mode of the working robot. [Figure 14] 13A and 13B are diagrams illustrating still another example of the movement mode of the working robot. [Figure 15] 13A and 13B are diagrams illustrating still another example of the movement mode of the working robot. [Figure 16] FIG. 2 is a diagram illustrating an example of a working state of a working robot. [Figure 17] FIG. 2 is a diagram showing an example of a coupled movement form of a working robot. [Figure 18] 13A and 13B are diagrams illustrating another example of a coupled movement form of the working robot. [Figure 19]FIG. 13 is a diagram showing an example of a work performed by working robots in a connected configuration. [Figure 20] 13A and 13B are diagrams showing another example of a work performed by the working robots in a connected configuration. [Figure 21] FIG. 13 is a diagram showing a modified example of the working robot. [Figure 22] FIG. 22 is a diagram showing an example of a connected state of the working robots shown in FIG. 21. [Diagram 23] FIG. 13 is a diagram showing another modified example of the working robot. [Figure 24] 13 is a flowchart showing an example of a control process flow for switching the movement mode of a work robot depending on the condition of a floor surface. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] Hereinafter, the present embodiment will be described with reference to the drawings. Note that the same components and processes are given the same reference numerals throughout the drawings, and duplicated explanations will be omitted. The dimensional ratios of objects depicted in the drawings are exaggerated for the purpose of explanation, and differ from the actual dimensional ratios.

[0013] FIG. 1 is a diagram showing an example of the configuration of a production system 1 that produces products using a working robot 30. There are no restrictions on the type of product produced by the production system 1, and any product may be produced by the working robot 30. Specifically, the production system 1 produces a variety of products, such as transportation machinery such as cars, electrical equipment such as air conditioners, molds, food, beverages, magazines, sporting goods, and woodworking products. As an example, the production system 1 in this embodiment produces electrical equipment.

[0014] The production system 1 includes a server 20 and a plurality of work robots 30. The server 20 and the work robots 30 are located in a factory 40, and a simulation device 10, which is an example of an external device, is located in a remote location away from the factory 40, for example, at a head office. Therefore, the simulation device 10 and the server 20 are connected by a wide area network 2 such as a WAN (Wide Area Network) or the Internet. On the other hand, the server 20 and the work robots 30 are connected by a local network 3 such as a LAN (Local Area Network), local 5G, and local 6G.

[0015] The wide area network 2 and the local network 3 may be wired or wireless, but as will be described later, it is preferable to construct the local network 3 wirelessly because the work robot 30 moves around the factory 40. In addition, the server 20 does not necessarily need to be located within the factory 40; for example, the server 20 may be constructed using cloud computing provided on the wide area network 2.

[0016] 1, the production system 1 includes N (N is an integer equal to or greater than 2) work robots 30. When distinguishing between the individual work robots 30, they are represented by adding numbers from "1" to "N" after the reference numeral of the work robot 30. When explaining matters common to multiple work robots 30, they are simply referred to as "work robot 30."

[0017] The factory 40 is equipped with, for example, machine tools 4A that process and produce parts used in products, and goods shelves 4B on which parts purchased from outside are placed. The work robot 30 moves to supply locations that supply product parts, such as the machine tools 4A and the goods shelves 4B, and assembles, processes, transports, etc. the parts. The product parts according to this embodiment are an example of goods used in the product.

[0018] In this embodiment, the production system 1 will be explained using an example in which the working robot 30 produces electrical equipment in a factory 40. However, the place where the working robot 30 works is not limited to the factory 40, and it may be a place where the primary purpose is not to produce products, such as a laboratory or a home, or it may be outdoors depending on the characteristics of the products to be produced.

[0019] Next, an example of the functional configuration of the simulation device 10, the server 20, and the working robot 30 will be described.

[0020] The simulation device 10 is a device that simulates work performed on parts by multiple work robots 30 working together, using work robots 30 placed in a virtual space that reproduces the space in which the work robots 30 perform their work, i.e., the interior of a factory 40.

[0021] As shown in FIG. 1, the simulation device 10 includes virtual space data 11, an input unit 12, a display unit 13, a simulation execution unit 14, and a communication unit 15.

[0022] The virtual space data 11 is data used to construct a virtual space that faithfully reproduces the space within a factory 40 where the work robot 30 works, that is, a "virtual factory," in the simulation device 10. For example, the virtual space data 11 includes data on the layout of the factory 40 where the work robot 30 works, floor steps, the positions and shapes of objects installed in the factory 40, the positions and shapes of pillars, and the positions and shapes of parts supply locations such as machine tools 4A and item shelves 4B.

[0023] The input unit 12 receives from the user the work content of each work robot 30 and constraint conditions for the work performed by the work robot 30. The constraint conditions include, for example, the range in which the work robot 30 can move, a threshold value of the remaining battery charge at which a charging action is to be started, and the like.

[0024] The display unit 13 displays on a display the execution process and results of a simulation of work using a plurality of working robots 30 in a virtual factory.

[0025] The simulation execution unit 14 controls the work robots 30 present in the virtual factory so that each work robot 30 performs work instructed by a user under specified constraints, and simulates the operation of the work robots 30. The simulation execution unit 14 receives state information of the work robots 30 obtained by the simulation as input, generates teacher data in which the control content at that time is output, and generates a control model 16 corresponding to each work robot 30 by machine learning using the teacher data.

[0026] The state information is information that indicates at least one of the state of the other work robots 30 and the state of the work robot 30 itself. The work robot 30 acquires at least one of the state of the other work robots 30 and the state of the work robot 30 itself from communication with the other work robots 30, its own sensors 33, and information on its own operation, such as the direction of movement and the speed of movement. In the simulation by the simulation execution unit 14, as in the case of an actual work robot 30, the work robot 30 in the virtual factory acquires state information and is controlled so as to take optimal action for the acquired state information. Therefore, multiple teacher data are generated that associate state information with control contents, such as what kind of control should be performed on the work robot 30 for various state information so that the work robot 30 can perform the instructed work. The simulation execution unit 14 uses multiple teacher data to perform machine learning of the control model 16 that outputs the control contents of the work robot 30 from the state information.

[0027] As the control model 16, for example, a CNN (Convolutional Neural Network) or the like is used. As the machine learning technique, for example, deep learning or the like is used. However, there are no restrictions on the form of the control model 16 and the machine learning technique, and the simulation execution unit 14 may generate the control model 16 using a known model form such as YOLO (You Only Look Once) or a known machine learning technique such as a support vector machine.

[0028] The communication unit 15 performs data communication with the server 20 through the wide area network 2. Specifically, the communication unit 15 transmits simulation data including the control model 16 corresponding to each working robot 30 generated by simulating the operation of the working robot 30 in the simulation execution unit 14 and the virtual space data 11 used in the simulation, to the server 20 which manages the actual factory 40 represented by the virtual factory.

[0029] The server 20 is a device that manages data related to the factory 40, such as product production plans and the operating status of the work robots 30, and also manages the production of products using the work robots 30 based on the production plans.

[0030] As shown in FIG. 1, the server 20 includes a simulation data DB 21, an input unit 22, a setting unit 23, and a communication unit 24.

[0031] The simulation data DB 21 stores the simulation data received from the simulation device 10. "DB" is an abbreviation for "Database."

[0032] The input unit 22 receives various instructions from a user, such as an instruction to start production of a product. The server 20 may receive various instructions from the simulation device 10 via the wide area network 2. In this case, the server 20 does not need to include the input unit 22.

[0033] When the setting unit 23 receives an instruction to start production of a product, it associates, with the control model 16 included in the simulation data, designation information that uniquely designates the work robot 30 that will perform the work using the control model 16. Then, the setting unit 23 sets the control model 16 associated with the designation information and the virtual space data 11 for the work robot 30 designated by the designation information. The setting of the control model 16 and the virtual space data 11 for the work robot 30 by the setting unit 23 is performed via the local network 3.

[0034] The setting unit 23 may set the control model 16 and virtual space data 11 for each work robot 30 by unicast through the communication unit 24, or may set them by multicast. The multicast packet contains the control models 16 and virtual space data 11 of all work robots 30 included in the production system 1, and each control model 16 is associated with designation information. When multicast is used, the time difference for each work robot 30 to receive an instruction from the server 20 can be made shorter than when unicast is used. Note that the designation information may be, for example, an identification number that uniquely identifies the work robot 30 or the serial number of the work robot 30. In this embodiment, as an example, the identification number of the work robot 30 is used as the designation information.

[0035] The communication unit 24 performs data communication with the server 20 via the wide area network 2 , and also performs data communication with each of the work robots 30 via the local network 3 .

[0036] The working robot 30 is a robot that autonomously executes tasks instructed for product parts while cooperating with other working robots 30, using the acquired status information and the control model 16. The control model 16 outputs control content for the working robot 30 from the status information, and the working robot 30 performs work according to the control content output by the control model 16, so the control model 16 is also an example of instruction information that instructs the work content for the parts.

[0037] 2 is a diagram showing an example of the functional configuration of working robot 30. Working robot 30 includes an arm 31, a movement unit 32, a sensor 33, a battery , a communication unit 35, and a control unit .

[0038] The arm 31 is an example of a working unit that performs a commanded operation on a part. The working robot 30 has at least a pair of arms 31. At the joint portion of each arm 31, the position of the arm 31 is controlled by moving a link attached to the joint portion in a commanded direction.

[0039] The arm 31 can perform operations such as grasping a part, moving a part, processing a part, and assembling parts together. At the tip of the arm 31, as shown in FIG. 6 later, a mounting part is provided to which a plurality of types of tools 39 can be attached and detached, and the tool 39 according to the work content is mounted on the mounting part under the control of the control unit 36. For example, when grasping a part, a robot hand equipped with a plurality of movable supports imitating human fingers is mounted on the mounting part. Also, for example, when screwing a part, a screwdriver for rotating a screw is mounted on the mounting part. In this way, the tool 39 is switched on the mounting part of the arm 31 according to the work content. Note that a robot hand may be mounted on the mounting part of the arm 31, and when screwing a part, the robot hand may grasp a screwdriver to perform screwing. In this way, the mode of grasping different types of tools 39 by the robot hand is also included in the tool 39 switching operation.

[0040] The moving unit 32 is a device that allows the working robot 30 to move on the floor of the factory 40. The moving unit 32 realizes the movement of the working robot 30 by rotating a rotating body 32A such as a wheel or a ball. However, the movement mechanism provided in the moving unit 32 is not limited to one that uses the rotation of the rotating body 32A. For example, the moving unit 32 may be provided with two or more legs instead of the rotating body 32A and move by walking.

[0041] Fig. 3 is a diagram showing an example of a working robot 30 in which a rotating body 32A is attached to a place where the moving unit 32 comes into contact with the floor surface. In the working robot 30 shown in Fig. 3, the arm 31 is attached to the moving unit 32, but it goes without saying that, for example, the working robot 30 may be provided with a body part (not shown) and the arm 31 may be attached to a place different from the moving unit 32, such as the body part.

[0042] The moving unit 32 is also provided with a work surface 32C that can be used as a workbench for placing components, for example.

[0043] 2 acquires surrounding information that indicates the situation around the working robot 30. The working robot 30 is equipped with the sensors 33, for example, a camera 33A, an ultrasonic sensor 33B, and a LiDAR (Light Detection And Ranging) 33C.

[0044] Camera 33A captures at least one of a visible image and an infrared image. The image captured by camera 33A may be a video or a still image. Camera 33A is mainly used to grasp the shape, type, etc., of a part grasped by arm 31, and is therefore attached, for example, to the tip of arm 31 in a position where the grasped part is included in the angle of view (see FIG. 3). Camera 33A may be a stereo camera, which is an example of a distance sensor that measures the distance to a subject and obtains the positional relationship of surrounding objects as three-dimensional data.

[0045] The ultrasonic sensor 33B measures the distance between the working robot 30 and other objects by measuring the time from when it transmits ultrasonic waves to when it receives ultrasonic waves reflected by other objects around the working robot 30. In other words, the ultrasonic sensor 33B is an example of a distance sensor. The ultrasonic sensor 33B is mainly used for collision judgment to judge whether or not the working robot 30 will collide with other objects, and is therefore attached, for example, to the surface of the working robot 30 that may collide with other objects (see FIG. 3). When the mobile unit 32 has a box shape such as a rectangular parallelepiped or cube, the ultrasonic sensor 33B is attached to the four corners of the working surface 32C of the mobile unit 32. The above-mentioned attachment position of the ultrasonic sensor 33B is one example, and it may be attached to the side of the mobile unit 32 or the arm 31, or it may be attached to both the mobile unit 32 and the arm 31.

[0046] The LiDAR 33C measures the distance between the work robot 30 and other objects, as well as the position and shape of the other objects, by measuring the time from emitting laser light to receiving the light reflected by other objects present around the work robot 30. In other words, the LiDAR 33C is an example of a distance sensor.

[0047] The LiDAR 33C is attached in a position where it can see horizontally, since it is mainly used to create a map showing where things are located in the factory 40. The horizontal direction refers to the direction along the floor surface along which the work robot 30 moves. As an example, when the mobile unit 32 has a box shape, the LiDAR 33C is attached to the side of the mobile unit 32 (see FIG. 3). This attachment position of the LiDAR 33C is one example, and it may be attached to the arm 31, or to both the mobile unit 32 and the arm 31.

[0048] The sensors 33 of the working robot 30 are not limited to the camera 33A, ultrasonic sensor 33B, and LiDAR 33C. In addition to the camera 33A, ultrasonic sensor 33B, and LiDAR 33C, the working robot 30 may be equipped with other types of sensors 33 that acquire surrounding information. The working robot 30 may be equipped with at least one additional sensor 33 as necessary, such as a barcode reader, a gyro sensor, a GPS (Global Positioning System) sensor, and an air pressure sensor. In addition, the working robot 30 does not need to be equipped with all of the camera 33A, ultrasonic sensor 33B, and LiDAR 33C, and it is sufficient to be equipped with at least one of the camera 33A, ultrasonic sensor 33B, and LiDAR 33C.

[0049] The images of the surroundings of the work robot 30 captured by the camera 33A and the LiDAR 33C are an example of surrounding information that represents the situation around the work robot 30.

[0050] The work robot 30 selects the sensor 33 to use for acquiring peripheral information depending on the characteristics of the sensor 33 and the characteristics of the object to be measured.

[0051] 3, a marker 8 containing information indicating, for example, its own identification number is attached to the mobile unit 32. Note that multiple markers 8 may be attached to the mobile unit 32 so that the markers 8 can be seen from any direction. A working robot 30 can identify other working robots 30 by photographing the marker 8 of the other working robots 30 with, for example, camera 33A and reading the identification number.

[0052] For ease of explanation, in the following Figs. 5 to 11, illustrations and reference numerals of the sensors 33 and markers 8 of the working robot 30 are omitted.

[0053] The battery 34 supplies power to various parts of the work robot 30 in accordance with instructions from the control unit 36. The battery 34 is capable of receiving power directly from the outside via a wire, as well as wirelessly from the outside in a non-contact manner. When the remaining charge of the battery 34 falls below a predetermined threshold, for example, under the control of the control unit 36, the work robot 30 moves to a wireless power supply device (not shown) in the factory 40 and autonomously charges the battery 34.

[0054] The communication unit 35 communicates data with each of the other work robots 30 and the server 20 through the local network 3. Specifically, the communication unit 35 transmits status information of its own work robot 30 to the other work robots 30 and receives status information of the other work robots 30 according to instructions from the control unit 36. By sharing status information of the multiple work robots 30, it is possible to obtain information that would be difficult to obtain with only one work robot 30. In addition, the communication unit 35 transmits peripheral information obtained through the sensor 33 and status information of the work robot 30 to the server 20, and receives virtual space data 11, a control model 16 associated with the designated information, and various instructions from the server 20. Thus, the work robot 30 autonomously performs work on the parts, but can also modify its operation according to instructions from the server 20.

[0055] The control unit 36 ​​uses the acquired status information to control the arm 31 and the mobile unit 32 so that the working robot 30 autonomously executes the instructed task on the part while coordinating with the other working robots 30. To achieve this, the control unit 36 ​​performs control over the sensor 33, battery 34, and communication unit 35 necessary for the working robot 30 to perform the instructed task.

[0056] Specifically, the control unit 36 ​​inputs successively updated state information to the control model 16, and performs autonomous control of the working robot 30 in accordance with the control content output from the control model 16. In other words, the control unit 36 ​​performs autonomous control of the working robot 30 while successively determining the optimal control content for the latest state information using the control model 16.

[0057] The control unit 36 ​​is configured using a computer 38 including a CPU (Central Processing Unit) 36A, which is an example of a processor, a RAM (Random Access Memory) 36B, and a non-volatile memory 36C.

[0058] Non-volatile memory 36C pre-stores various programs, including control program 37 that CPU 36A loads to control work robot 30, and various parameters referenced by CPU 36 when controlling work robot 30. RAM 36B is used as a temporary work area for CPU 36A.

[0059] Next, the operation of the working robot 30 according to this embodiment will be described. Fig. 4 is a flow chart showing an example of the flow of the control process of the working robot 30 executed when a command to start production of a product is received from the server 20. The CPU 36A of the working robot 30 reads the control program 37 stored in the non-volatile memory 36C and executes the control process. Each working robot 30 executes the control process in response to the command to start production of a product, but since the same control process is executed in each working robot 30, the following description will focus on one working robot 30 and explain the control process executed by the working robot 30.

[0060] Before executing step S10 in Fig. 4, the CPU 36A determines, as an initial process, whether or not the designation information associated with the control model 16 received from the server 20 matches the identification number of its own work robot 30. Only when the designation information matches the identification number of the work robot 30, i.e., only when the designation information designates its own work robot 30, does the CPU 36A execute the control process for the work robot 30 shown in Fig. 4. Note that the non-volatile memory 36C of each work robot 30 stores the control model 16 and virtual space data 11 associated with its own identification number.

[0061] First, in step S10, the CPU 36A controls the LiDAR 33C to acquire an image of the surroundings of the work robot 30. The CPU 36A may also control the camera 33A to acquire an image of the surroundings of the work robot 30.

[0062] In step S20, the CPU 36A applies a known image analysis method to the peripheral image acquired in step S10 to recognize the peripheral environment, such as what is in which direction. Shape data of objects in the factory 40, such as the machine tool 4A, the shelf 4B, and the work robot 30, are included in advance in the virtual space data 11. Therefore, by comparing the shapes of the objects included in the peripheral image with the shape data of the objects, the CPU 36A can identify the type, position, and orientation of objects within the reach of the laser light irradiated from the LiDAR 33C, and thus creates a map of the factory 40.

[0063] In step S30, CPU 36A controls mobile unit 32 according to the control content obtained by inputting state information into control model 16 while referring to the map created in step S20, and moves working robot 30 toward the target position set by simulation. In this embodiment, as an example, the target position is set to machine tool 4A, and a plurality of working robots 30 work together to perform tasks such as assembly, processing, and transportation on parts produced by machine tool 4A, but the target position may be item shelf 4B or another location. Setting the target position to machine tool 4A means setting the target position to a position where the parts produced by machine tool 4A are within the reach of arm 31.

[0064] The target position is an example of position information received from the server 20 together with the control model 16 and the virtual space data 11, and is included in the simulation data.

[0065] The state information input to control model 16 includes information that represents the operation and internal state of working robot 30 itself, such as the direction and speed of movement of working robot 30.

[0066] The CPU 36A may control the communications unit 35 to obtain status information from each of the other work robots 30, and control the mobile unit 32 according to control content obtained by inputting the status information of the other work robots 30 together with the status information of the robot's own work robot 30 into the control model 16. By inputting the status information of the other work robots 30 in addition to the status information of the robot's own work robot 30 into the control model 16, it becomes possible to set a movement path to a target position without colliding with the other work robots 30 with greater accuracy than when the work robot 30 is controlled using only the status information of the robot's own work robot 30.

[0067] It should be noted that CPU 36A may control mobile unit 32 according to control content obtained by inputting only the status information of other working robots 30 into control model 16, without inputting the status information of its own working robot 30 into control model 16.

[0068] Information acquired by the sensors 33 provided on the working robot 30, such as the surrounding images and maps, and information created from the information acquired by the sensors 33, represent the internal state recognized by the working robot 30. Therefore, information such as the surrounding images and maps are also examples of state information that represent the state of the working robot 30.

[0069] In step S40, CPU 36A controls ultrasonic sensor 33B to measure the distance to other objects while moving work robot 30, and determines the possibility of collision with other objects. CPU 36A may determine the possibility of collision with other objects using peripheral images captured by camera 33A or LiDAR 33C, but measuring the distance to other objects using ultrasonic waves reduces the load on CPU 36A rather than measuring the distance to other objects from peripheral images. Therefore, it is preferable to determine the possibility of collision with other objects using ultrasonic sensor 33B.

[0070] In step S50, if the CPU 36A determines that there is a possibility of collision with another object, the process proceeds to step S60.

[0071] In step S60, the CPU 36A corrects the movement path so as not to collide with other objects, and then the process proceeds to step S70.

[0072] On the other hand, if it is determined in step S50 that there is no possibility of collision with another object, the process proceeds to step S70 without executing the process of step S60.

[0073] In step S70, CPU 36A determines whether or not working robot 30 has arrived at the target position set by simulation. Whether or not working robot 30 has arrived at the target position is determined, for example, based on the distance to destination machine tool 4A or item shelf 4B, and the orientation of machine tool 4A or item shelf 4B included in the peripheral image.

[0074] CPU 36A may use a map created from the surrounding image to set three-dimensional coordinates within factory 40 that are the same as the three-dimensional coordinates set within the virtual factory included in the simulation data, and determine whether or not the work robot 30 has arrived at the target position from its coordinate point in the three-dimensional coordinates.

[0075] Furthermore, even if there is no map, the CPU 36A may identify the position of the work robot 30 within the factory 40 from the movement direction and distance of the work robot 30 itself, and determine whether the work robot 30 has arrived at the target position.

[0076] In addition, for example, bar codes or character strings indicating location information within the factory 40 may be displayed at various points on the floor, and the CPU 36A may read the location information using a camera 33A or a bar code reader provided on the work robot 30 to determine whether the work robot 30 has reached the target position.

[0077] Alternatively, CPU 36A may use camera 33A to recognize a position reference point whose position is fixed, such as a pillar, and use preset position information for the recognized position reference point to determine whether or not work robot 30 has arrived at the target position. The position information of the object that serves as the position reference point may be stored in advance, for example, in non-volatile memory 36C.

[0078] When a network designed for real-time control, such as local 5G or local 6G, is used as the local network 3, the CPU 36A may transmit data including the transmission time from the work robot 30 and determine whether the work robot 30 has arrived at the target position by measuring the position of the work robot 30 from the difference in the reception time of the data at each access point (not shown) within the local network 3.

[0079] If it is determined that the robot has not yet reached the target position, the process proceeds to step S10, and a new image of the surroundings is acquired at the target position. By repeatedly executing steps S10 to S70 until it is determined in the determination process of step S70 that the robot has reached the target position, CPU 36A controls mobile unit 32 to autonomously move working robot 30 toward the target position while recognizing the surrounding environment and avoiding collisions with other objects.

[0080] If it is determined in the determination process of step S70 that the robot has reached the target position, the process proceeds to step S80. In this case, the working robot 30 has moved to a position where the part supply location is included within the reach of the arm 31.

[0081] When performing work on a part using arm 31, even if CPU 36A moves arm 31 accurately based on the control content, if moving unit 32 deviates from the target position, arm 31 will not have moved to the specified position as a whole. Therefore, in step S80, when CPU 36A controls arm 31, it fixes moving unit 32 to the floor surface so that moving unit 32 will not deviate from the target position even if arm 31 is operated.

[0082] Specifically, CPU 36A may lock rotor 32A of moving unit 32 by braking to fix moving unit 32 to the floor surface. CPU 36A may also fix moving unit 32 to the floor surface by adsorbing the floor surface with a suction pad (not shown) provided on working robot 30. For example, CPU 36A may control arm 31 to press a suction pad attached to the tip of arm 31 against the floor surface to fix working robot 30 to the floor surface.

[0083] CPU 36A may also fix mobile unit 32 to the floor by, for example, hooking a hook (not shown) of working robot 30 onto a fixing bracket provided on the floor or machine tool 4A. Furthermore, CPU 36A may control arm 31 so that a robot hand attached to the tip of arm 31 grasps the fixing bracket and fixes working robot 30 to the floor.

[0084] Furthermore, the CPU 36A may fix the working robot 30 to the floor surface by combining at least two of the brake, suction cup, hook, and arm 31 of the rotating body 32A.

[0085] This method of fixing the working robot 30 can prevent the working robot 30 from shifting horizontally. However, because the arm 31 performs three-dimensional movements, it is preferable to prevent the position of the working robot 30 from shifting not only horizontally but also vertically.

[0086] For this purpose, the CPU 36A may control the moving unit 32 to extend the support 32B stored inside the moving unit 32 toward the floor surface until the rotating body 32A is separated from the floor surface, and the support 32B may support the working robot 30. In some cases, the rotating body 32A is covered with an elastic body such as rubber to ensure friction with the floor surface. In such cases, the working robot 30 may vibrate in the vertical direction due to the influence of the elastic body. However, by supporting the working robot 30 with the support 32B, the elastic body covering the rotating body 32A does not come into contact with the floor surface, so that the vibration in the vertical direction can be suppressed. Note that the vertical direction in this embodiment refers to a direction perpendicular to the floor surface. In addition, "perpendicular" does not necessarily have to intersect at 90 degrees, but refers to intersecting at an angle within a predetermined range including 90 degrees. FIG. 5 is a diagram showing an example in which the working robot 30 is fixed to the floor surface using the support 32B.

[0087] Furthermore, when multiple work robots 30 work in cooperation with each other, the absolute position of the work robot 30 is not fixed, and as long as the relative position with respect to the other work robots 30 does not change, the arm 31 can be moved to the specified position even if the work robot 30 deviates from the target position.

[0088] Therefore, CPU 36A may measure the distance to other work robots 30 using, for example, ultrasonic sensor 33B, and control movement unit 32 so that the distance does not change.

[0089] Furthermore, CPU 36A acquires an image of the marker 8 by camera 33A, and identifies other work robots 30 working in cooperation with each other by information representing the identification number contained in the marker 8. CPU 36A may then control movement unit 32 so that the size of the marker 8 on the photographed work robot 30 does not change.

[0090] By controlling the mobile unit 32 in this way, it is possible to prevent the relative position of the mobile unit 32 from changing with respect to the other working robots 30.

[0091] After mobile unit 32 has been fixed to the floor surface, CPU 36A controls communication unit 35 to obtain status information of other working robots 30 in step S90 of FIG.

[0092] In step S100, the CPU 36A acquires status information of its own working robot 30. Specifically, the CPU 36A acquires an image of the surroundings using the camera 33A or the LiDAR 33C, and acquires position information of the arm 31.

[0093] In step S110, the CPU 36A inputs the state information of the other working robots 30 acquired in step S90 and the state information of its own working robot 30 acquired in step S100 into the control model 16, and generates control content for realizing the operation to be performed by the working robot 30 under the state represented by the acquired state information. The CPU 36A also identifies the process being performed from the generated control content. For example, if the control content is to grasp a screw with one arm 31 and rotate the screw with the remaining arm 31, the process being performed is identified as a screw tightening process. In this case, the CPU 36A attaches a screwdriver for tightening screws to the mounting part of the arm 31. In this way, the CPU 36A refers to a process table that predefines the correspondence between the process and the tool 39 used in the process, and controls the switching of the tool 39 to be mounted on the mounting part of the arm 31 according to the identified process. The process table may be stored in advance in, for example, the non-volatile memory 36C.

[0094] 6, for example, if multiple types of tools 39 are attached to the moving unit 32, the CPU 36A can select a tool 39 from the multiple types of tools 39 attached to the moving unit 32 according to the specified process. In other words, the working robot 30 can perform the instructed work even if a person does not place the tools required for the work around the machine tool 4A in advance. It is not necessary to attach the tool 39 to the working surface 32C of the moving unit 32, and it may be attached to the side of the moving unit 32, for example.

[0095] The method of identifying the work process is not limited to this, and the control model 16 may output a work process in response to the input state information. Also, the control model 16 may generate control content corresponding to the work process, such as attaching a screwdriver to the attachment part of the arm 31 in response to the input state information. Also, the CPU 36A may identify the work process being performed from the position and shape of the part from the peripheral image acquired in step S100, as well as the tip position and angle of the arm 31 of the other working robot 30, and the type of tool 39 attached, etc. By identifying the work process from the peripheral image as well, it is possible to improve the accuracy of identifying the work process compared to identifying the work process only from the control content generated by the control model 16.

[0096] In the above, status information of the other working robots 30 and status information of the own working robot 30 are input into the control model 16 to generate control content for realizing the operation to be performed by the working robot 30. However, this is just one example, and status information of the other working robots 30 or status information of the own working robot 30 may also be input into the control model 16 to generate control content for the working robot 30.

[0097] In step S120 of FIG. 4, the CPU 36A controls the position of the arm 31 and the movement timing of the arm 31 according to the control content generated in step S110, and cooperates with the other working robots 30 to execute the instructed work. For example, when controlling the position of the working robot 30 using the marker 8, the CPU 36A may obtain an image of the marker 8 on the other working robot 30 by the camera 33A, and use information on the appearance of the marker 8, such as the size, position, and shape, to periodically grasp the relative position of the other working robot 30 with respect to its own working robot 30, thereby controlling the position of the arm 31, and execute the instructed work in cooperation with the other working robots 30. Specifically, the CPU 36A obtains the position of the arm 31 based on the position of the marker 8 using the position information of the arm 31, and moves the arm 31 to the target position while referring to the obtained relative distance between the marker 8 and the arm 31. The position information of the arm 31 is obtained from the position information of the working robot 30 and the drive amount of the arm 31.

[0098] Since the working robot 30 is provided with a working surface 32C on which parts can be placed, the working robot 30 can perform work requiring a work table on the working surface 32C, even if a person does not prepare a work table in advance in the factory 40. In this case, the CPU 36A controls the arm 31 to perform the instructed work on the parts placed on the working surface 32C. The working surface 32C on which the parts are placed does not necessarily have to be flat, and may have uneven or curved parts, for example. For example, even if the shape of the part to be worked on is spherical, if the working surface 32C has a semicircular depression, the spherical part can be placed on the working surface 32C by placing the spherical part in the semicircular depression.

[0099] When placing a component on the work surface 32, the CPU 36A, in addition to controlling the arm 31 to grasp the component and place it on the work surface 32, may also control the arm 31 to grasp a jig for placing the component at a specified position on the work surface 32, and use the jig to place the component at the specified position on the work surface 32. Furthermore, the CPU 36A may control the arm 31 to grasp a fixture for fixing the component placed on the work surface 32, and fix the component to the work surface 32 by the fixture.

[0100] In step S130, CPU 36A determines whether the instructed work has been completed. For example, CPU 36A may determine that the instructed work has been completed if the control content generated by control model 16 indicates that the work has been completed. If the instructed work has not been completed, the process proceeds to step S90. By repeatedly executing the processes of steps S90 to S130 until it is determined in the determination process of step S130 that the instructed work has been completed, CPU 36A inputs successively acquired state information to control model 16, controls arm 31 in accordance with the control content output from control model 16, and cooperates with other working robots 30 to perform the instructed work.

[0101] FIG. 7 is a diagram showing an example of a working robot 30 that cooperates with other working robots 30 to assemble parts.

[0102] On the other hand, if it is determined in the determination process of step S130 that the instructed work has been completed, the process proceeds to step S140.

[0103] Since the work of the working robot 30 at its current position has been completed, in step S140, the CPU 36A releases the locking of the moving unit 32 performed in step S80, allowing the working robot 30 to move.

[0104] In step S150, CPU 36A determines whether there is a subsequent task instructed by server 20. If there is a subsequent task, the process proceeds to step S10. CPU 36A repeatedly executes the processes of steps S10 to S150 to move to the next location and have working robot 30 perform the subsequent task. As a result, until it is determined by the determination process of step S150 that there is no subsequent task, working robot 30 moves to the target position where the subsequent task will be performed, and performs the task at the target position.

[0105] If it is determined in the determination process of step S150 that there is no subsequent work, CPU 36A moves to a predetermined waiting location for working robot 30, and ends the control process for working robot 30 shown in FIG.

[0106] In this way, the working robot 30 according to the present embodiment can autonomously produce products using the simulation data generated by the simulation device 10, even if the working environment, such as the work bench and tools 39, is not constructed in advance according to the work content instructed by the user to the working robot 30. Therefore, without performing a simulation for each production base, each base factory is prepared with standardized and equivalent multiple working robots 30, for example, machine tools 4A that process and produce parts used in the products, and item shelves 4B on which parts purchased from outside are placed, and the factory space in which they are produced, and products can be produced simultaneously in standardized factories around the world. If the user uses the simulation device 10 to generate simulation data for production bases around the world and transmits the simulation data to each production base, the same product can be produced at multiple locations in the same period, even if it is a small quantity of many kinds. This makes it possible to quickly respond to diversifying product needs.

[0107] In the above embodiment, an example has been described in which the server 20 is installed in a predetermined location in the factory 40, but the location of the server 20 may be moved as the working robot 30 moves. Specifically, a mobile server robot (not shown) is used in which the functions of the server 20 are mounted on a mobile unit 32. The server robot is an example of a mobile robot, and does not require the arm 31 since it does not perform work on parts as the working robot 30 does.

[0108] If a mobile server robot is introduced into the production system 1, it can move to a position where good communication with the work robot 30 can be established as the work robot 30 moves. This allows the work robot 30 to have a wider range of movement than if the server 20 were fixed in place, for example, when a communication means such as Bluetooth (registered trademark) that limits the communication distance to line-of-sight is used for the local network 3.

[0109] Note that the functions of the server 20 may be installed in any one of the working robots 30. In this case, the server robot is not required.

[0110] Furthermore, the types of working robots 30 in the production system 1 do not necessarily have to be the same type, and may be different types. That is, in the production system 1, general-purpose working robots 30 with different numbers of arms 31 or different types of sensors 33 may work together to execute instructed tasks. Furthermore, working robots 30 specialized in specific tasks, such as a working robot 30 specialized in drilling holes in parts and a working robot 30 specialized in screwing, may work together to execute instructed tasks.

[0111] <Connection of the work robot 30> In the control process for the work robot 30 shown in FIG. 4, an example has been described in which each work robot 30 that arrives at the target position works together individually to carry out the instructed tasks, but there are cases in which it is better for each work robot 30 to be linked together at the target position to carry out the instructed tasks.

[0112] For this reason, the working robot 30 is provided with a connecting portion 5 on the moving unit 32 that enables the working robot 30 to be connected to other working robots 30.

[0113] FIG. 8 is a diagram showing an example of a working robot 30 equipped with a connecting part 5. On the opposing sides of the moving unit 32 of the working robot 30, there is a first connecting part 5A equipped with a female connector and a second connecting part 5B equipped with a male connector. The first connecting part 5A and the second connecting part 5B have a structure that allows them to be fitted together, and are equipped with a locking mechanism 6 that mechanically locks the first connecting part 5A and the second connecting part 5B together so that when one working robot 30 moves after fitting, the other working robot 30 can move accordingly. The locking mechanism 6 starts and releases locking under the control of the CPU 36A. Hereinafter, the first connecting part 5A and the second connecting part 5B are collectively referred to as the "connecting part 5". The connecting part 5 may also exchange power and electrical signals.

[0114] Furthermore, the connecting parts 5 have positioning parts 7 that are machined into a shape that allows them to be fitted together only when the connecting parts 5 of the working robots 30 are in the correct positions. The positioning part 7 of the second connecting part 5B has a shape that protrudes from the contact surface with the first connecting part 5A, for example, and the positioning part 7 of the first connecting part 5A has a shape that is recessed from the contact surface with the second connecting part 5B so that the protrusion of the positioning part 7 of the second connecting part 5B can be accommodated therein. Therefore, the first connecting part 5A and the second connecting part 5B cannot be connected together unless the protrusion of the positioning part 7 of the second connecting part 5B fits into the recess of the positioning part 7 of the first connecting part 5A.

[0115] 8 is provided with two female connectors and two male connectors, there is no restriction on the number of female connectors and male connectors in the connecting part 5. Also, it is not necessary to provide the connecting part 5 on the moving unit 32, and the connecting part 5 may be provided elsewhere, such as on the torso, if the working robot 30 has a torso. Also, when providing the connecting part 5 on the moving unit 32, the first connecting part 5A and the second connecting part 5B may be provided on adjacent side surfaces of the moving unit 32, rather than on opposing side surfaces of the moving unit 32, for example.

[0116] For ease of explanation, the reference numerals for the lock mechanism 6 and the positioning portion 7 in the connecting portion 5 will be omitted in Figs. 9 to 11 shown below.

[0117] Fig. 9 is a diagram showing an example of a state in which two working robots 30 are connected by a connection part 5. As shown in Fig. 9, CPU 36A may control arm 31 and moving unit 32 so as to execute an instructed task while connected to another working robot 30. Whether or not to connect to another working robot 30 depends on the control content output from control model 16.

[0118] When multiple work robots 30 are connected, the CPU 36A of a specific work robot 30 may receive instructions from the other connected work robots 30 through the connector 5, and control the arm 31 and movement unit 32 of its own work robot 30 in accordance with the received instructions. When multiple work robots 30 are connected, the CPU 36A of a specific work robot 30 may receive measurement values ​​of the sensor 33 acquired by the other connected work robots 30 through the connector 5, and control the arm 31 and movement unit 32 of its own work robot 30 in accordance with the received measurement values ​​of the sensor 33. When multiple work robots 30 are connected, a specific work robot 30 may receive power from the other connected work robots 30 through the connector 5, and charge the battery 34 of its own work robot 30.

[0119] In this case, a specific work robot 30 can receive instructions, sensor 33 measurement values, and power not only from other adjacent work robots 30 through connection, but also from all work robots 30 connected via the other adjacent work robots 30. A specific work robot 30 designates another work robot 30 from which it will receive instructions, sensor 33 measurement values, and power from the multiple work robots 30 it is connected to, and receives instructions, sensor 33 measurement values, and power from the designated other work robot 30.

[0120] In this way, by linking multiple work robots 30 together, it is possible to carry out tasks that would not be possible if the individual work robots 30 were simply grouped together without being linked together.

[0121] 10 is a diagram showing an example in which multiple work robots 30 are linked in front of a machine tool 4A. The work robots 30 are linked so that the working surfaces 32C of the moving units 32 of adjacent work robots 30 are continuous, thereby forming a production line that extends from the machine tool 4A along the direction in which the work robots 30 are linked.

[0122] The CPU 36A of each work robot 30 uses its arm 31 to perform instructed work on parts produced by the machine tool 4A, while controlling the transfer of worked parts between the arms 31 of adjacent work robots 30. In this way, the parts are transported from upstream to downstream along the connection direction of the work robots 30. "Upstream" along the connection direction of the work robots 30 refers to a position approaching the machine tool 4A, and "downstream" along the connection direction of the work robots 30 refers to a position away from the machine tool 4A. An adjacent work robot 30 that is downstream from a particular work robot 30 is also referred to as the "following work robot 30."

[0123] Since the work surfaces 32C of the work robots 30 are continuous, a production line is constructed along the connection direction. Therefore, the CPU 36A of each work robot 30 may place parts on the work surface 32C, perform instructed work, and transport the parts along the connection direction of the work robots 30 by pushing the worked parts placed on the work surface 32C downstream with the arm 31.

[0124] In addition, each connected work robot 30 may perform the instructed work by holding the part with its arm 31 without placing the part on the work surface 32C, and transport the part along the connection direction of the work robots 30 by transferring the worked part in mid-air between the arm 31 of the downstream work robot 30.

[0125] By transporting parts in the connected direction while the working robots 30 are connected, parts can be transported while working without the working robots 30 moving. In other words, by using the working robots 30, a production line can be flexibly constructed according to the situation in the factory 40.

[0126] Of the linked working robots 30, the CPU 36A of the working robot 30 located at the most downstream position, i.e., the working robot 30 constituting the final stage of the production line, may control the movement unit 32 to separate its own working robot 30 from the other working robots at the connection part 5 after finishing its work on the part, and transport the part to a specified position. In this way, the working robot 30 at the final stage of the production line may function as an autonomous mobile robot (AMR).

[0127] FIG. 11 is a diagram showing an example in which a working robot 30 located at the final stage of a production line made up of a plurality of working robots 30 functions as an AMR.

[0128] The working robot 30 functioning as an AMR transports a part while grasping the part in the air with the arm 31, or while holding down the part with the arm 31 so as to prevent the part placed on the work surface 32C from shifting position.

[0129] In this way, the working robot 30 located at the final stage of a production line made up of multiple working robots 30 functions as an AMR, making it possible to transport parts that have been worked on to the target position while maintaining the production line. Also, by changing the target position, it is possible to change the destination of each part. After the working robot 30 has finished transporting a part as an AMR, it reconnects to the final stage of the production line and transports the next part.

[0130] In the above, we have described an example of a working robot 30 that operates autonomously in accordance with control content obtained by inputting state information into the control model 16. However, the control model 16 is not necessarily a required element for the working robot 30 to operate autonomously.

[0131] For example, the work robot 30 may move to a specific position in response to an instruction from the server 20, transmit the acquired status information to the server 20, and generate control content for the work robot 30 from the status information received by the server 20. The server 20 transmits the generated control content to the work robot 30, which is the source of the status information. The work robot 30, which has received the control content, controls the arm 31 and the moving unit 32 according to the received control content. Even while controlling the arm 31 and the moving unit 32, the work robot 30 periodically acquires status information and uses the acquired status information to correct the control content received from the server 20 and control the arm 31 and the moving unit 32. For example, if it can be determined from the status information that there is a possibility of collision with another work robot 30 if moving according to the control content received from the server 20, the CPU 36A in the work robot 30 corrects the control content and selects a movement route with a lower possibility of collision than the movement route instructed by the control content received from the server 20. Such control is also an example of autonomous control by the work robot 30.

[0132] <Movement of the Working Robot 30> Next, the movement form of the working robot 30 according to this embodiment when moving on a floor surface will be specifically described with reference to Figures 12 to 23. For ease of explanation, the illustrations and reference numerals of the sensors 33 and markers 8 of the working robot 30 will be omitted in Figures 12 to 23 shown below.

[0133] The working robot 30 according to this embodiment includes a pair of arms 31 and a moving unit 32. The number of pairs of arms 31 may be two or more pairs.

[0134] The moving unit 32 is provided with a moving mechanism, which allows it to move on a floor surface. The moving mechanism includes, in addition to the rotating body 32A, for example, legs, which will be described later. In addition to the above-mentioned wheels and balls, the rotating body 32A also includes, for example, caterpillars, loaders, and the like. The pair of arms 31 are provided on the moving unit 32 and also serve as legs that support the moving unit 32. Hereinafter, the legs that are transformed by the pair of arms 31 are also referred to as "transformed legs 31."

[0135] The control unit 36 ​​switches between a first movement mode and a second movement mode. The first movement mode is a mode in which the robot moves on a floor surface by a movement mechanism, and the second movement mode is a mode in which the pair of arms 31 are used as legs and the robot moves on a floor surface by the transformable legs 31. The second movement mode may be a mode in which the robot moves on a floor surface by the transformable legs 31 and the movement mechanism.

[0136] FIG. 12 is a diagram showing an example of a movement form of the working robot 30. The "rotating body movement form" in FIG. 12 is a form in which the robot moves on a floor surface by using a rotating body 32A, which is an example of a movement mechanism, and is an example of the first movement mode. The "leg movement form" in FIG. 12 is a form in which the robot moves on a floor surface by using transformable legs 31, and is an example of the second movement mode. By using the rotating body 32A as the movement mechanism, the rotating body 32A enables high-speed movement in the first movement mode, and the transformable legs 31 enable movement even if there are steps or the like in the second movement mode.

[0137] The control unit 36 ​​switches between a first movement mode in which the rotating body 32A moves on the floor surface and a second movement mode in which the transforming leg unit 31 moves on the floor surface. Specifically, the control unit 36 ​​acquires the state of the floor surface from, for example, sensor data of the sensor 33 or virtual space data 11 (for example, digital twin, etc.), and switches to the first movement mode shown in FIG. 12 when the state of the floor surface is a level ground state, and switches to the second movement mode shown in FIG. 12 when the state of the floor surface is an uneven ground state. That is, the control unit 36 ​​acquires the state of the floor surface from the sensor 33, the server 20, or the simulation device 10, and switches the movement mode depending on whether the floor surface is a level ground state or an uneven ground state. Here, the "level ground state" refers to a state of the floor surface where the floor surface is relatively flat and the rotating body 32A can run on it. On the other hand, the "uneven ground state" refers to a state of the floor surface where the floor surface has steps, stairs, etc., making it difficult for the rotating body 32A to run on it.

[0138] The control unit 36 ​​may also be configured to receive the state of the floor surface from the user. For example, the state of the floor surface is received from the user via the input unit 22 of the server 20 or the input unit 12 of the simulation device 10. In other words, the state of the floor surface may be received from the user, and the movement mode may be switched depending on whether the floor surface is in a smooth or rough state.

[0139] When the floor surface is flat, the work robot 30 can move at high speed by rotating the rotating body 32A. On the other hand, when the floor surface has steps or stairs, the work robot 30 can move by walking using the transformable legs 31 as a pair of arms 31.

[0140] This allows the working robot 30 to move freely and perform work regardless of the condition of the floor surface on which it moves. Also, it can move by switching between two movement modes depending on the condition of the floor surface.

[0141] Furthermore, the movement mechanism of the working robot 30 may be, instead of the rotating body 32A, a separate leg 32D that can also function as a pair of separate arms, as shown in Fig. 13. The separate leg 32D may have the same configuration as the pair of arms 31, or may have a different configuration.

[0142] FIG. 13 is a diagram showing another example of the movement form of the working robot 30. The "two-legged movement form" in FIG. 13 is a form in which the robot moves using the alternative legs 32D, and is another example of the first movement mode. Also, the "four-legged movement form" in FIG. 13 is a form in which the robot moves using the transformable legs 31 and the alternative legs 32D, and is another example of the second movement mode. By using the alternative legs 32D as the movement mechanism, the robot walks on four legs in the second movement mode, enabling more stable movement over steps and the like.

[0143] Furthermore, if the movement mechanism of the working robot 30 is the rotating body 32A, the mode in which movement is achieved by the rotating body 32A may be defined as a first movement mode, and the mode in which movement is achieved by the transformable legs 31 and the rotating body 32A may be defined as a second movement mode. An example of the second movement mode in this case is shown in Figures 14 and 15.

[0144] 14 and 15 are diagrams showing yet another example of the movement mode of the working robot 30. As shown in Fig. 14 and 15, when the floor surface is uneven, such as having steps, the rotating body 32A and the transformable legs 31 work together to stably ascend or descend the steps. That is, in the first movement mode, the rotating body 32A enables high-speed movement, and in the second movement mode, the rotating body 32A and the transformable legs 31 enable stable movement over steps. Note that it is preferable that the rotating body 32A is provided at the front or rear end of the moving unit 32 of the working robot 30 so that the robot can easily move over steps.

[0145] 14 and 15, the moving unit 32 may include a holder 32E. The holder 32E holds an attachment member 31B that can be replaced with or attached to the hand unit 31A provided at the tip of the pair of arms 31. The attachment member 31B may be any member that can suppress impacts, loads, and the like applied to the pair of arms 31 serving as legs, and for example, an elastic member such as rubber, a cushion member, or a shock-absorbing member is used.

[0146] The control unit 36 ​​controls the pair of arms 31 so that, when the pair of arms 31 are used as legs, the attachment member 31B held by the holding unit 32E is replaced with the hand unit 31A or attached to the hand unit 31A.

[0147] According to this, when the pair of arms 31 are moved as legs, the pair of arms 31 can be protected by attaching or replacing the attachment members 31B.

[0148] <Working Mode of Working Robot 30> Here, the working robot 30 moves to a supply location of the article, which is a target position, while switching between the first movement mode and the second movement mode. Specifically, the control unit 36 ​​controls the pair of arms 31 or the moving unit 32 to move to a supply location of the article to be used in the product, and also controls the pair of arms 31 and the moving unit 32 to perform work on the article obtained from the supply location.

[0149] Fig. 16 is a diagram showing an example of the working state of the working robot 30. Fig. 16 shows a case where a plurality of working robots 30 come together to work when producing a large item. The working robots 30 move to a supply location that supplies product parts, such as the above-mentioned machine tool 4A and item shelf 4B, and assemble, process, transport, etc. the parts. Note that the product parts according to this embodiment are an example of items used in the product.

[0150] This allows the work to be carried out without changing the supply location of the article or providing equipment for moving the article to the workbench.

[0151] Furthermore, when performing work on an item, it is preferable that the control unit 36 ​​controls the moving unit 32 so that the position of the moving unit 32 does not change, as shown in Fig. 16. Specifically, the moving unit 32 is equipped with a fixture 32F, such as a fixing hook or a suction cup. The working robot 30 uses the fixture 32F to fix the moving unit 32 to the floor surface during work.

[0152] According to this, the position of the working robot 30 is fixed, so that the pair of arms 31 can perform precise work.

[0153] Furthermore, as described above, the control unit 36 ​​uses status information that indicates at least one of the status of the other working robots 30 and its own status to control the pair of arms 31 and the moving unit 32 so that the working robot 30 performs work on an item in cooperation with the other working robots. In other words, the working robot 30 autonomously performs work instructed for a product part in cooperation with the other working robots 30, using the acquired status information and the control model 16. The control model 16 outputs control contents for the working robot 30 from the status information, and the working robot 30 performs work in accordance with the control contents output by the control model 16.

[0154] This makes it possible to quickly build, for example, manufacturing lines capable of handling small quantities of a wide variety of products in multiple locations without the need for additional equipment such as workbenches and transport equipment for transporting items to the workbenches.

[0155] <Connected movement form of the working robot 30> In the above, an example has been described in which each work robot 30 moves individually and works together to carry out the instructed tasks, but each work robot 30 may also be connected to move and work together to carry out the instructed tasks.

[0156] As described above, the moving unit 32 of the working robot 30 is provided with a connecting portion 5 (see FIG. 8) for connecting with the moving unit 32 of another working robot 30.

[0157] The control unit 36 ​​connects to another work robot 30 via the connection unit 5, and when the condition of the floor surface is level, switches to a first movement mode for the connected work robot 30 and each of the other work robots 30, and when the condition of the floor surface is uneven, switches to a second movement mode for the connected work robot 30 and each of the other work robots 30.

[0158] According to this, by connecting with another work robot 30, faster movement is possible in the first movement mode, and in the second movement mode, it is possible to move stably and quickly on uneven floor surfaces.

[0159] FIG. 17 is a diagram showing an example of a coupled movement form of the working robot 30. In the example of FIG. 17, the movement mechanism of the movement unit 32 is a rotating body 32A. A form in which multiple working robots 30 are coupled is called a coupled body 300. The "rotating body movement form" in FIG. 17 is a form in which the working robot 30 and the other working robots 30 move using their respective rotating bodies 32A, and is another example of the first movement mode. The "leg movement form" in FIG. 17 is a form in which the working robot 30 and the other working robots 30 move using their respective pairs of arms 31 as legs, and is another example of the second movement mode.

[0160] According to this, by using the rotating body 32A as the movement mechanism, in the first movement mode, the rotating body 32A enables high-speed movement, and in the second movement mode, the robot walks on four legs, allowing it to move stably and quickly on uneven floor surfaces.

[0161] FIG. 18 is a diagram showing another example of the coupled movement form of the working robot 30. In the example of FIG. 18, the movement mechanism of the movement unit 32 is separate legs 32D that can also become a pair of separate arms. The "four-legged movement form" in FIG. 18 is a form in which the working robot 30 and the other working robots 30 move using their respective separate legs 32D, and is another example of the first movement mode. The "eight-legged movement form" in FIG. 18 is a form in which the working robot 30 and the other working robots 30 move using their respective pairs of arms 31 as legs, and the transformable legs 31 and the separate legs 32D, and is another example of the second movement mode.

[0162] According to this, by using the separate leg 32D as the moving mechanism, the robot walks on eight legs in the second moving mode, and can move more stably and quickly on an uneven floor surface.

[0163] <Connected working form of the working robot 30> When working robot 30 is in a connected configuration, the pair of arms 31 may be switched between being used as arms and being used as legs depending on the type of work.

[0164] When performing work on an object, the control unit 36 ​​switches between whether or not the pair of arms 31 of the working robot 30 and the other working robot 30 connected via the connection unit 5 are used as legs depending on the content of the work. The content of the work is acquired from, for example, the server 20 or the simulation device 10.

[0165] Figure 19 is a diagram showing an example of a task performed by the working robot 30 in a connected configuration. The example in Figure 19 shows a case where multiple connected bodies 300 come together to perform a task on one item. In this case, the task is performed within a range that does not exceed the height of the connected bodies 300 (for example, the height of the moving units 32 in the connected state), so the pair of arms 31 of the connected bodies 300 are controlled to be used as arms to perform the task.

[0166] Fig. 20 is a diagram showing another example of work performed by the connected configuration of the working robots 30. The example in Fig. 20 shows the case of working at a high place. When the work is to be performed at a position higher than a predetermined height, the control unit 36 ​​treats one pair of arms 31 of the working robot and the other working robot connected via the connection part 5 as arms as they are, and treats the other pair of arms 31 as legs. The "predetermined height" is set to an appropriate height depending on the connected state of the working robot 30.

[0167] According to this, when working at height, one arm 31 can be used as an arm as it is, and the other arm 31 can be used as a leg.

[0168] <Modification 1 of the Working Robot 30> A modification of the working robot 30 will be described with reference to FIGS.

[0169] 21 is a diagram showing a modified example of working robot 30. The movement mechanism of working robot 30 is a rotating body 32A. Movement unit 32 includes a first unit 321 and a second unit 322 that can be bent relative to first unit 321.

[0170] The first unit 321 is provided with a plurality of legs 32G having a rotor 32A at one end. The second unit 322 is provided with a pair of arms 31. With this, since the second unit 322 has a plurality of legs 32G in addition to the pair of arms 31, it is possible to move at high speed and to perform work with a higher degree of freedom.

[0171] The "movement form" in Fig. 21 is a form in which the working robot 30 moves on a floor surface. When moving on a floor surface, the control unit 36 ​​controls the moving unit 32 to bend the second unit 322 relative to the first unit 321 and move using the pair of arms 31 and the multiple legs 32G. Specifically, if the floor surface is level, the robot moves at high speed by rotating the rotors 32A of the multiple legs 32G while being supported by the pair of arms 31, and if the floor surface is uneven, the rotation of the rotors 32A is stopped and the robot moves by walking using the pair of arms 31 and the multiple legs 32G.

[0172] On the other hand, the "working form" in Fig. 21 is a form in which the working robot 30 works on an item. When working on an item, the control unit 36 ​​raises the second unit 322 relative to the first unit 321, and controls the pair of arms 31 and the moving unit 32. Specifically, the rotating bodies 32A of the multiple legs 32G are fixed so as not to rotate, and work is performed using the pair of arms 31 while being supported by the multiple legs 32G.

[0173] With this, when moving, the robot can move stably using the pair of arms 31 and the multiple legs 32G, and when working, the robot can perform work using the pair of arms 31 while being supported by the multiple legs 32G.

[0174] Figure 22 is a diagram showing an example of a connected state of the working robots 30 shown in Figure 21. As described above, the moving unit 32 of the working robot 30 is equipped with a connecting part 5 (see Figure 8) that connects to the moving unit 32 of another working robot 30. In the example of Figure 22, the connecting part 5 is provided on the first unit 321, but the installation location of the connecting part 5 is not particularly limited.

[0175] The control unit 36 ​​controls the moving unit 32 so as to connect the second unit 322 to the first unit 321 via the connecting unit 5 in a state in which the second unit 322 is folded relative to the first unit 321, or in a state in which the second unit 322 is raised relative to the first unit 321.

[0176] This allows multiple working robots 30 to be linked together to perform various tasks.

[0177] <Modification 2 of Working Robot 30> Another modified example of the working robot 30 will be described with reference to FIG.

[0178] Figure 23 is a diagram showing another modified example of the working robot 30. In the example of Figure 23, the movement mechanism of the working robot 30 is a rotating body 32A. The "rotating body movement form" in Figure 23 is a form in which the working robot 30 moves on the floor surface using the rotating body 32A. On the other hand, the "hanging movement form" in Figure 23 is a form in which the working robot 30 moves while hanging from a guide rail 50.

[0179] As shown in Fig. 23, it is assumed that there is a step on the floor surface and the working robot 30 works on the step. A support pillar 51 is erected on the floor surface, and a guide rail 50 is extended horizontally from the support pillar 51. The guide rail 50 allows the working robot 30 to hang from it.

[0180] When the floor surface is in an uneven state and a guide rail 50 is provided, the control unit 36 ​​controls the pair of arms 31 so that the pair of arms 31 grip the guide rail 50, hang down from the guide rail 50, and move along the guide rail 50. Note that there may be two or more pairs of arms 31 gripping the guide rail 50.

[0181] With this, for example, even if there is a large step or the like on the floor surface, the work robot 30 can move while hanging from the guide rails 50.

[0182] Next, the operation of the working robot 30 according to this embodiment will be described with reference to FIG.

[0183] 24 is a flow chart showing an example of the flow of control processing for switching the movement mode of the working robot 30 depending on the condition of the floor surface. The CPU 36A of the working robot 30 reads a control program 37 stored in non-volatile memory 36C and executes the control processing. Each working robot 30 executes the control processing, but since the same control processing is executed by all working robots 30, the following explanation will focus on one working robot 30 and explain the control processing executed by the working robot 30.

[0184] First, in step S201 of Fig. 24, the CPU 36A acquires the state of the floor surface. The state of the floor surface may be acquired from the sensor 33, the server 20, or the simulation device 10, or may be received from the user via the input unit 22 of the server 20 or the input unit 12 of the simulation device 10.

[0185] In step S202, CPU 36A judges whether the state of the floor surface acquired in step S201 is a level ground state. If it is judged to be a level ground state (if the judgment is positive), the process proceeds to step S203, and if it is judged not to be a level ground state, that is, to be an uneven ground state such as a step (if the judgment is negative), the process proceeds to step S204.

[0186] In step S203, the CPU 36A switches to a first movement mode in which the rotating body 32A moves on the floor surface, and moves on the floor surface.

[0187] On the other hand, in step S204, the CPU 36A switches to a second movement mode in which the pair of arms 31 function as legs and move on the floor surface by the transformable legs 31, and moves on the floor surface.

[0188] In step S205, the CPU 36A judges whether or not the target position has been reached while switching between the first movement mode and the second movement mode. That is, the CPU 36A judges whether or not the work robot 30 has arrived at the target position set by simulation. The judgment of whether or not the target position has been reached is made based on, for example, the distance to the destination machine tool 4A or item shelf 4B, and the orientation of the machine tool 4A or item shelf 4B included in the peripheral image.

[0189] If it is determined that the robot has not yet reached the target position (if the determination is negative), the process proceeds to step S201, and the state of the floor surface is acquired. By repeatedly executing the processes of steps S201 to S205 until it is determined in the determination process of step S205 that the robot has reached the target position, CPU 36A controls movement unit 32 to autonomously move working robot 30 toward the target position while switching between the first movement mode and the second movement mode.

[0190] If it is determined in the determination process of step S205 that the target position has been reached (if the determination is positive), the process proceeds to step S206. In this case, the working robot 30 has moved to a position where the part supply location is included within the reach of the pair of arms 31. Note that steps S206 to S213 in Fig. 24 are the same processes as steps S80 to S150 in Fig. 4 described above, and therefore repeated explanations will be omitted.

[0191] Although one embodiment of the production system 1 and the working robot 30 has been described above, the disclosed embodiment is merely an example, and the embodiments of the production system 1 and the working robot 30 are not limited to the scope of the embodiment. Various modifications and improvements can be made to the embodiment without departing from the gist of the present disclosure, and the modified or improved forms of the production system 1 and the working robot 30 are also included in the technical scope of the disclosure.

[0192] For example, the internal process order in the flowchart shown in FIG. 4 or FIG. 24 may be changed without departing from the gist of the present disclosure.

[0193] In the above embodiment, as an example, the control process shown in Fig. 4 or Fig. 24 is implemented by software. However, the same process as the control process flow chart may be executed by hardware. In this case, the process can be executed at a higher speed than when the control process is implemented by software.

[0194] In the above embodiment, the control program 37 is stored in the non-volatile memory 36C. However, the storage destination of the control program 37 is not limited to the non-volatile memory 36C. The control program 37 may be provided in a form recorded on a computer-readable storage medium.

[0195] For example, the control program 37 may be provided in a form recorded on an optical disk such as a CD-ROM (Compact Disk Read Only Memory), a DVD-ROM (Digital Versatile Disk Read Only Memory), or a Blu-ray disk. The control program 37 may also be provided in a form recorded on a portable semiconductor memory such as a Universal Serial Bus (USB) memory or a memory card. The non-volatile memory 36C, a CD-ROM, a DVD-ROM, a Blu-ray disk, a USB, and a memory card are examples of non-transitory storage media.

[0196] Furthermore, the control unit 36 ​​may download the control program 37 from the server 20 through the communication unit 35 and store the downloaded control program 37 in the non-volatile memory 36C. The server 20 downloads the control program 37 from an external device connected to the wide area network 2, such as the simulation device 10.

[0197] The control unit and the method described herein may be implemented by a special-purpose computer having a processor programmed to execute one or more functions embodied in a computer program. Alternatively, the device and the method described herein may be implemented by a special-purpose computer having a processor configured by dedicated hardware logic circuits. Alternatively, the device and the method described herein may be implemented by one or more special-purpose computers configured by a combination of a processor that executes a computer program and one or more hardware logic circuits. The computer program may also be stored in a computer-readable non-transitory tangible recording medium as instructions to be executed by the computer.

[0198] The following supplementary notes are further disclosed regarding the above embodiment.

[0199] (Appendix 1) a moving unit (32) provided with a moving mechanism (32A, 32D) and capable of moving on a floor surface by the moving mechanism; At least a pair of arms (31) provided on the moving unit for performing work on an object, the pair of arms also serving as legs for supporting the moving unit; A work robot (30) equipped with the above-mentioned.

[0200] (Appendix 2) a first movement mode in which the movement mechanism moves on the floor surface; a second movement mode in which the pair of arms are used as the legs, and the legs or the legs and the movement mechanism move on the floor surface; Further, a control unit (36) for switching 2. The working robot according to claim 1.

[0201] (Appendix 3) The control unit acquires a state of the floor surface, and switches to the first movement mode when the state of the floor surface is a level ground state, and switches to the second movement mode when the state of the floor surface is an uneven ground state. 3. A working robot as described in appendix 2.

[0202] (Appendix 4) The control unit receives a state of the floor surface from a user, and switches to the first movement mode when the state of the floor surface is a level ground state, and switches to the second movement mode when the state of the floor surface is an uneven ground state. 3. A working robot as described in appendix 2.

[0203] (Appendix 5) the moving unit includes hand units (31A) provided at the ends of the pair of arms and a holder (32E) for holding an attachment member (31B) replaceable with or attachable to the hand units; The control unit controls the pair of arms so that, when the pair of arms are used as the legs, the attachment members held by the holding units are replaced with the hand units or attached to the hand units. The working robot according to any one of Supplementary Note 2 to Supplementary Note 4.

[0204] (Appendix 6) The moving mechanism is a rotating body (32A), the first movement mode is a mode in which movement is performed by the rotating body, The second movement mode is a mode in which the robot moves using the legs. 6. The working robot according to claim 2,

[0205] (Appendix 7) The moving mechanism is another leg portion (32D) that can also be a pair of other arms, the first movement mode is a mode in which the robot moves using the other leg; The second movement mode is a mode in which the robot moves using the leg and the other leg. 6. The working robot according to claim 2,

[0206] (Appendix 8) The moving mechanism is a rotating body (32A), the first movement mode is a mode in which movement is performed by the rotating body, The second movement mode is a mode in which the robot moves using the legs and the rotating body. 6. The working robot according to claim 2,

[0207] (Appendix 9) The control unit controls the pair of arms or the moving unit to move to a supply location (4A, 4B) of the items to be used in the product, and controls the pair of arms and the moving unit to perform the work on the items obtained from the supply location. 5. The working robot according to claim 3 or 4.

[0208] (Appendix 10) The control unit controls the moving unit so that the position of the moving unit does not change when the work is performed on the item. 10. The working robot according to claim 9.

[0209] (Appendix 11) The control unit controls the pair of arms and the moving unit to perform the work on the item in cooperation with the other work robot, using status information indicating at least one of a status of the other work robot and the control unit's own status. 10. The working robot according to claim 9.

[0210] (Appendix 12) The mobile unit includes a connecting portion (5) for connecting with the mobile unit of another work robot, The control unit connects the other work robot via the connection unit, and when the condition of the floor surface is a level ground state, switches each of the connected work robot and the other work robot to the first movement mode, and when the condition of the floor surface is an uneven ground state, switches each of the connected work robot and the other work robot to the second movement mode. 5. The working robot according to claim 3 or 4.

[0211] (Appendix 13) The moving mechanism is a rotating body (32A), the first movement mode is a mode in which the work robot and the other work robot move by the rotating body, The second movement mode is a mode in which the pair of arms of each of the work robot and the other work robot move as the legs. 13. The working robot according to claim 12.

[0212] (Appendix 14) The moving mechanism is another leg portion (32D) that can also be a pair of other arms, the first movement mode is a mode in which the working robot and the other working robot move using the different legs, The second movement mode is a mode in which the pair of arms of each of the work robot and the other work robot are used as the legs, and the work robot moves using the legs and the other legs. 13. The working robot according to claim 12.

[0213] (Appendix 15) The mobile unit includes a connecting portion (5) for connecting with the mobile unit of another work robot, When the work is performed on the article, the control unit switches, depending on the content of the work, whether or not the pair of arms of the work robot and the other work robot connected via the connection unit are used as the legs. 10. The working robot according to claim 9.

[0214] (Appendix 16) When the content of the work is work at a position higher than a predetermined height, the control unit sets one of the pair of arms of the work robot and the other work robot connected via the connection unit as an arm as it is, and sets the other pair of arms as the legs. 16. The working robot according to claim 15.

[0215] (Appendix 17) The moving mechanism is a rotating body (32A), The moving unit includes a first unit (321) and a second unit (322) that is bendable relative to the first unit, The first unit is provided with a plurality of legs (32G) each having the rotor at one end, The second unit is provided with the pair of arms. 2. The working robot according to claim 1.

[0216] (Appendix 18) The robot further includes a control unit (36) that controls the moving unit so that the second unit is bent relative to the first unit and moved by the pair of arms and the plurality of legs when moving on the floor surface, and that raises the second unit relative to the first unit and controls the pair of arms and the moving unit when performing the work on the object. 18. The working robot according to claim 17.

[0217] (Appendix 19) The mobile unit includes a connecting portion (5) for connecting with the mobile unit of another work robot, The control unit controls the moving unit to connect the second unit to the first unit via the connecting unit in a folded state or in a standing state. 19. The working robot of claim 18.

[0218] (Appendix 20) When the floor surface is in an uneven condition and a guide rail (50) on which the work robot can hang is provided, the control unit controls the pair of arms so that the work robot grips and hangs from the guide rail and moves along the guide rail. 5. The working robot according to claim 3 or 4.

[0219] (Appendix 21) a moving unit (32) provided with a moving mechanism (32A, 32D) and capable of moving on a floor surface by the moving mechanism; At least a pair of arms (31) provided on the moving unit for performing work on an object, the pair of arms also serving as legs for supporting the moving unit; A control method for a work robot (30) comprising: The working robot, Acquire the condition of the floor surface; When the state of the floor surface is a leveled state, the mode is switched to a first movement mode in which the movement mechanism moves on the floor surface; When the condition of the floor surface is uneven, the mode is switched to a second movement mode in which the pair of arms are used as the legs and the legs, or the legs and the movement mechanism, move on the floor surface. Control methods.

[0220] (Appendix 22) a moving unit (32) provided with a moving mechanism (32A, 32D) and capable of moving on a floor surface by the moving mechanism; At least a pair of arms (31) provided on the moving unit for performing work on an object, the pair of arms also serving as legs for supporting the moving unit; A control program (37) for a working robot (30) comprising: Acquire the condition of the floor surface; When the state of the floor surface is a leveled state, the mode is switched to a first movement mode in which the movement mechanism moves on the floor surface; When the floor surface is in an uneven state, a process of switching to a second movement mode in which the pair of arms are used as the legs and the legs or the legs and the movement mechanism move on the floor surface, A control program for executing on a computer (37). [Explanation of symbols]

[0221] 1 Production system, 2 Wide area network, 3 Local network, 4A Machine tool, 4B Goods shelf, 5 Connection part, 5A First connection part, 5B Second connection part, 6 Lock mechanism, 7 Positioning part, 8 Marker, 10 Simulation device, 11 Virtual space data, 12 Input part, 13 Display part, 14 Simulation execution part, 15 Communication part, 16 Control model, 20 Server, 21 Simulation data DB, 22 Input part, 23 Setting part, 24 Communication part, 30 Work robot, 31 Arm (transformable leg part), 31A Hand part, 31B Attachment member, 32 Mobile unit, 32A Rotating body, 32B Support, 32C Work surface, 32D Leg part, 32E Holding part, 32F Fixture, 32G Leg part, 33 Sensor, 33A Camera, 33B Ultrasonic sensor, 33C LiDAR, 34 Battery, 35 communication unit, 36 control unit, 36A CPU, 36B RAM, 36C non-volatile memory, 37 control program, 38 computer, 39 tool, 40 factory, 50 guide rail, 51 support, 300 connecting body, 321 first unit, 322 second unit

Claims

1. a moving unit (32) provided with a moving mechanism (32A, 32D) and capable of moving on a floor surface by the moving mechanism; At least a pair of arms (31) provided on the moving unit for performing work on an object, the pair of arms also serving as legs for supporting the moving unit; A work robot (30) equipped with the

2. a first movement mode in which the movement mechanism moves on the floor surface; a second movement mode in which the pair of arms are used as the legs, and the legs or the legs and the movement mechanism move on the floor surface; Further provided with a control unit (36) for switching The working robot according to claim 1 .

3. The control unit acquires a state of the floor surface, and switches to the first movement mode when the state of the floor surface is a level ground state, and switches to the second movement mode when the state of the floor surface is an uneven ground state. The working robot according to claim 2 .

4. The control unit receives information about a state of the floor surface from a user, and switches to the first movement mode when the state of the floor surface is a level ground state, and switches to the second movement mode when the state of the floor surface is an uneven ground state. The working robot according to claim 2 .

5. the moving unit includes hand parts (31A) provided at the ends of the pair of arms and a holder (32E) for holding an attachment member (31B) replaceable or attachable to the hand parts; The control unit controls the pair of arms so that, when the pair of arms are used as the legs, the attachment members held by the holding units are replaced with the hand units or attached to the hand units. The working robot according to claim 2 .

6. The moving mechanism is a rotating body (32A), the first movement mode is a mode in which movement is performed by the rotating body, The second movement mode is a mode in which the robot moves using the legs. The working robot according to claim 2 .

7. The moving mechanism is another leg portion (32D) which can also be a pair of other arms, the first movement mode is a mode in which the robot moves using the other leg; The second movement mode is a mode in which the robot moves using the leg and the other leg. The working robot according to claim 2 .

8. The moving mechanism is a rotating body (32A), the first movement mode is a mode in which movement is performed by the rotating body, The second movement mode is a mode in which the robot moves using the legs and the rotating body. The working robot according to claim 2 .

9. The control unit controls the pair of arms or the moving unit to move to a supply location (4A, 4B) of the items to be used in the product, and controls the pair of arms and the moving unit to perform the work on the items acquired from the supply location. The working robot according to claim 3 or 4.

10. The control unit controls the moving unit so that the position of the moving unit does not change when the work is performed on the item. The working robot according to claim 9.

11. The control unit controls the pair of arms and the moving unit to perform the work on the item in cooperation with the other work robot, using status information indicating at least one of a status of the other work robot and the control unit's own status. The working robot according to claim 9.

12. The mobile unit includes a connecting portion (5) for connecting with the mobile unit of another work robot, The control unit connects the other work robot via the connection unit, and when the condition of the floor surface is a level ground state, switches the connected work robot and the other work robot to the first movement mode, and when the condition of the floor surface is an uneven ground state, switches the connected work robot and the other work robot to the second movement mode. The working robot according to claim 3 or 4.

13. The moving mechanism is a rotating body (32A), the first movement mode is a mode in which the work robot and the other work robot move by the rotating body, The second movement mode is a mode in which the pair of arms of each of the work robot and the other work robot move as the legs. The working robot according to claim 12.

14. The moving mechanism is another leg portion (32D) which can also be a pair of other arms, the first movement mode is a mode in which the work robot and the other work robot move using the different legs, The second movement mode is a mode in which the pair of arms of each of the work robot and the other work robot are used as the legs, and the work robot moves using the legs and the other legs. The working robot according to claim 12.

15. The mobile unit includes a connecting portion (5) for connecting with the mobile unit of another work robot, When the work is performed on the article, the control unit switches, depending on the content of the work, whether or not the pair of arms of the work robot and the other work robot connected via the connection unit are used as the legs. The working robot according to claim 9.

16. When the content of the work is work at a position higher than a predetermined height, the control unit sets one of the pair of arms of the work robot and the other work robot connected via the connection unit as an arm as it is, and sets the other pair of arms as the legs. The working robot according to claim 15.

17. The moving mechanism is a rotating body (32A), The moving unit includes a first unit (321) and a second unit (322) that is bendable relative to the first unit; The first unit is provided with a plurality of legs (32G) each having the rotating body at one end, The second unit is provided with the pair of arms. The working robot according to claim 1 .

18. The robot further includes a control unit (36) that, when moving on the floor surface, bends the second unit relative to the first unit and controls the moving unit so that the second unit moves by the pair of arms and the plurality of legs, and, when performing the work on the object, raises the second unit relative to the first unit and controls the pair of arms and the moving unit. The working robot according to claim 17.

19. The mobile unit includes a connecting portion (5) for connecting with the mobile unit of another work robot, The control unit controls the moving unit to connect the second unit to the first unit via the connecting unit in a folded state or in a standing state. The working robot according to claim 18.

20. When the floor surface is in an uneven state and a guide rail (50) on which the work robot can hang is provided, the control unit controls the pair of arms to grip the guide rail, hang from the guide rail, and move along the guide rail. The working robot according to claim 3 or 4.

21. a moving unit (32) provided with a moving mechanism (32A, 32D) and capable of moving on a floor surface by the moving mechanism; At least a pair of arms (31) provided on the moving unit for performing work on an object, the pair of arms also serving as legs for supporting the moving unit; A control method for a work robot (30) comprising: The working robot, Acquire the condition of the floor surface; When the state of the floor surface is a leveled state, the mode is switched to a first movement mode in which the movement mechanism moves on the floor surface; When the condition of the floor surface is uneven, the mode is switched to a second movement mode in which the pair of arms are used as the legs and the legs, or the legs and the movement mechanism, move on the floor surface. Control methods.

22. a moving unit (32) provided with a moving mechanism (32A, 32D) and capable of moving on a floor surface by the moving mechanism; At least a pair of arms (31) provided on the moving unit for performing work on an object, the pair of arms also serving as legs for supporting the moving unit; A control program (37) for a working robot (30) comprising: Acquire the condition of the floor surface; When the state of the floor surface is a leveled state, the mode is switched to a first movement mode in which the movement mechanism moves on the floor surface; When the floor surface is in an uneven state, a process of switching to a second movement mode in which the pair of arms are used as the legs and the legs or the legs and the movement mechanism move on the floor surface; A control program (37) for execution by a computer.

Images