Robot system and robot control method

Abstract

To provide a robot system and a robot control method which can enhance cleaning performance.SOLUTION: A robot system 1 comprises: a robot arm 3; a nozzle 5, arranged in the robot arm 3, which discharges cleaning liquid CL to an object to be cleaned; a stain detecting part 47 that detects a degree of stain adhering to the object to be cleaned; a discharging-adjusting part 51 that adjusts a discharged state of the cleaning liquid CL from the nozzle 5, on the basis of the degree of stain detected by the stain detecting part 47; and a robot controller 15 that controls the robot arm 3.SELECTED DRAWING: Figure 14

Description

[Technical field]

[0001] The disclosed embodiments relate to a robot system and a robot control method. [Background technology]

[0002] Patent Document 1 describes a nozzle-jet type cleaning device that cleans the surface of an object to be cleaned by spraying cleaning liquid from a nozzle. This nozzle-jet type cleaning device has an imaging device that recognizes the object to be cleaned placed in a cleaning housing as an image, an image processing device that analyzes a signal from the imaging device and determines the position, shape and / or dirt on the object to be cleaned, a nozzle control device that controls the position of the cleaning nozzle based on a signal from the image processing device, a nozzle driving device that moves the cleaning nozzle based on a signal from the nozzle control device, and a cleaning nozzle that sprays cleaning liquid onto the object to be cleaned. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 10-296194 Summary of the Invention [Problem to be solved by the invention]

[0004] In the above-mentioned conventional nozzle jet type cleaning device, depending on the degree of dirt on the object being cleaned, there is a possibility that dirt may remain, and therefore higher cleaning performance is required.

[0005] The present invention has been made in consideration of the above problems, and an object of the present invention is to provide a robot system and a robot control method capable of improving cleaning performance. [Means for solving the problem]

[0006] In order to solve the above problems, according to one aspect of the present invention, a robot system is applied having a robot arm, a nozzle arranged on the robot arm and releasing a cleaning medium onto an object to be cleaned, a first detection unit that detects the degree of dirt adhering to the object to be cleaned, an adjustment unit that adjusts the release mode of the cleaning medium from the nozzle based on the degree of dirt detected by the first detection unit, and a first controller that controls the robot arm.

[0007] According to another aspect of the present invention, a robot system is provided which includes a robot arm, a nozzle arranged on the robot arm for spraying a cleaning medium onto an object to be cleaned, and a first controller for controlling the robot arm to spray the cleaning medium onto the object to be cleaned, wherein the first controller controls the robot arm to perform self-cleaning by spraying the cleaning medium onto an apparatus associated with the robot arm or the nozzle.

[0008] According to another aspect of the present invention, a robot control method is applied for controlling the robot arm of a robot system having a robot arm and a nozzle arranged on the robot arm for releasing a cleaning medium onto an object to be cleaned, the robot control method comprising the steps of detecting a degree of dirt adhering to the object to be cleaned and adjusting a release mode of the cleaning medium from the nozzle based on the detected degree of dirt.

[0009] According to another aspect of the present invention, a robot control method is applied for controlling the robot arm of a robot system having a robot arm and a nozzle arranged on the robot arm for spraying a cleaning medium onto an object to be cleaned, the method comprising controlling the robot arm to spray the cleaning medium onto the object to be cleaned and cleaning it, the control of the robot arm comprising controlling the robot arm to perform self-cleaning by spraying the cleaning medium onto an apparatus associated with the robot arm or the nozzle. Effect of the Invention

[0010] According to the robot system etc. of the present invention, cleaning performance can be improved. [Brief description of the drawings]

[0011] [Figure 1] FIG. 1 is a diagram illustrating an example of a configuration of a robot system according to an embodiment. [Diagram 2] FIG. 2 is a perspective view illustrating an example of a configuration of a robot arm. [Figure 3A] 13 is a diagram illustrating an example of a nozzle configuration when the nozzle opening degree is medium. FIG. [Figure 3B] 11A and 11B are diagrams illustrating an example of a nozzle configuration when the nozzle opening degree is large. [Figure 3C] 11A and 11B are diagrams illustrating an example of a nozzle configuration when the nozzle opening degree is small. [Figure 4] 4 is a perspective view illustrating an example of a configuration of a support member that supports a nozzle. FIG. [Diagram 5] FIG. 1 is a diagram conceptually illustrating an example of an object to be cleaned. [Figure 6] 13A and 13B are diagrams conceptually illustrating an example of a process for a cleaning operation using a robot arm and a mobile cart. [Figure 7] 13A and 13B are diagrams conceptually illustrating an example of a process for a cleaning operation using a robot arm and a mobile cart. [Figure 8] 13A and 13B are diagrams conceptually illustrating an example of a process for a cleaning operation using a robot arm and a mobile cart. [Figure 9] 13A and 13B are diagrams conceptually illustrating an example of a process for a cleaning operation using a robot arm and a mobile cart. [Figure 10] FIG. 2 is a diagram illustrating an example of a section of an object to be cleaned. [Figure 11] 13A and 13B are diagrams conceptually illustrating an example of a process for a cleaning operation using a robot arm and a mobile cart. [Figure 12] 13A and 13B are diagrams conceptually illustrating an example of a process for a cleaning operation using a robot arm and a mobile cart. [Figure 13A] 11A and 11B are diagrams illustrating an example of a self-cleaning operation performed by a robot arm and a mobile carriage. [Figure 13B] 11A and 11B are diagrams illustrating an example of a self-cleaning operation performed by a robot arm and a mobile carriage. [Figure 14] FIG. 2 is a block diagram illustrating an example of a functional configuration of the robot system 1. [Figure 15] 4 is a flowchart illustrating an example of a processing procedure executed by a higher-level control device. [Figure 16] FIG. 2 is a block diagram illustrating an example of a hardware configuration of a higher-level control device. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] Hereinafter, an embodiment will be described with reference to the drawings.

[0013] <1. Robot system configuration> An example of the configuration of a robot system 1 according to an embodiment will be described with reference to FIG.

[0014] The robot system 1 performs cleaning by spraying a cleaning liquid onto an object to be cleaned using a nozzle 5 provided on a robot arm 3. The object to be cleaned is not particularly limited as long as it can be cleaned by spraying a cleaning liquid, and may be, for example, a wall or floor of a building, equipment, a vehicle, etc.

[0015] As shown in FIG. 1, the robot system 1 includes a robot arm 3, a nozzle 5, a camera 9, a movable carriage 11, a host control device 13, a robot controller 15, and a carriage controller 17.

[0016] The robot arm 3 is mounted on the upper part of the movable dolly 11. In the embodiment, the robot arm 3 is a vertical multi-joint type robot having, for example, six joints. The attitude, movement, etc. of the robot arm 3 are controlled by a robot controller 15. The robot arm 3 may be a vertical multi-joint type other than six axes (for example, five axes or seven axes), or may be a robot arm other than the vertical multi-joint type, such as a horizontal multi-joint type. The robot arm 3 may be a general-purpose robot, or may be a dedicated working machine designed specifically for cleaning work, such as a gantry mechanism, equipped with an actuator that can move in XYZθ directions, etc.

[0017] The nozzle 5 is disposed at the tip of the robot arm 3 and discharges a cleaning liquid (one example of a cleaning medium). The cleaning liquid may be simple water or a cleaning agent containing various chemicals. A pump (not shown) that discharges the cleaning liquid via a hose 19 (see Figs. 3 and 4) is connected to the nozzle 5. Note that the hose 19 is not shown in Figs. 1 and 2. The position and direction of the nozzle 5 are adjusted by the robot arm 3. As will be described in detail later, the nozzle 5 is configured to be able to change the mode of discharging the cleaning liquid. Note that the cleaning medium discharged from the nozzle 5 is not limited to a liquid, and may be, for example, a foam, a mist, or a gas (air).

[0018] Camera 9 (an example of a first detection unit) is installed near the tip of robot arm 3 and captures an image of the object to be cleaned. The image captured by camera 9 is transmitted to host controller 13. Host controller 13 detects the position, degree of dirt, shape, etc. of the object to be cleaned based on the captured image. Camera 9 may be a 2D camera or a 3D camera, but a 3D camera capable of acquiring information in the depth direction is preferable.

[0019] The movable dolly 11 (an example of a movable body) has a housing 21 and a plurality of (for example, four) wheels 23 provided on the lower part of the housing 21. At least some of the plurality of wheels 23 are changed in direction by a motor MC1 (see FIG. 14) and are rotated by a motor MC2 (see FIG. 14). The housing 21 is, for example, substantially rectangular parallelepiped in shape, and a robot arm 3 is mounted on the upper part. A motor for driving the wheels 23, a battery, and the like are housed inside the housing 21. Note that the upper control device 13, the robot controller 15, and the dolly controller 17 may all or partly be housed inside the housing 21. A tank for a cleaning liquid, a pump, and the like may also be housed inside the housing 21. The position, orientation, and movement of the movable dolly 11 are controlled by the dolly controller 17. Note that tracks may be provided instead of the wheels. Also, the position, orientation, and movement of the movable dolly 11 may be operated by an operator by inputting, for example, through an operation panel or the like. Furthermore, the movable cart 11 does not necessarily have to be electrically driven by a motor, and may be moved manually by an operator, for example by pushing it.

[0020] The host controller 13 receives the image captured by the camera 9 and executes various processes based on the captured image. The various processes include grasping the self-position (the position of the robot arm 3 and the nozzle 5, etc.) with respect to the object to be cleaned, detecting the position and the degree of dirt of the object to be cleaned, discharging the cleaning liquid according to the detected degree of dirt, adjusting the position and angle of the nozzle 5, detecting the shape of the object to be cleaned, discharging the cleaning liquid according to the detected shape, adjusting the position and angle of the nozzle 5, etc. The host controller 13 transmits commands based on the results of various processes to the robot controller 15 and the dolly controller 17. The host controller 13 is composed of, for example, a personal computer (PC), a motion controller, a programmable logic controller (PLC), etc. The host controller 13 may be mounted on the robot arm 3 or the mobile dolly 11, or may be installed at a location away from the mobile dolly 11.

[0021] The robot controller 15 (an example of a first controller) controls the robot arm 3 based on commands from the upper control device 13. The robot controller 15 has a servo amplifier 55 (see FIG. 14) that supplies driving power to the robot arm 3, and the like. The robot controller 15 controls the attitude and movement of the robot arm 3 by controlling the driving of a plurality of motors MR1 ​​to MR6 (see FIG. 2) and the like provided in the robot arm 3. The robot controller 15 may be mounted on the robot arm 3 or the movable carriage 11, or may be installed in a location away from the movable carriage 11.

[0022] The cart controller 17 (an example of a second controller) controls the mobile cart 11 based on commands from the higher-level control device 13. The cart controller 17 has a servo amplifier 59 (see FIG. 14) that supplies driving power to the mobile cart 11, and the like. The cart controller 17 controls the position, orientation, and movement of the mobile cart 11 by controlling the driving of multiple motors MC1-MC2 (see FIG. 14) and the like provided on the mobile cart 11. The cart controller 17 may be mounted on the robot arm 3 or the mobile cart 11, or may be installed in a location away from the mobile cart 11.

[0023] The configuration of the robot system 1 described above is an example, and is not limited to the above. For example, the nozzle 5 may be disposed at a location other than the tip of the robot arm 3. The camera 9 may be disposed on the movable dolly 11, not limited to the robot arm 3. The number of cameras 9 may be multiple, not limited to one. In this case, for example, a camera that locally captures a narrow range may be disposed on the robot arm 3, and a camera that captures a wide range may be disposed on the movable dolly 11. For example, when only a taught cleaning operation is performed, the camera 9 does not necessarily have to be disposed. The upper control device 13, the robot controller 15, and the dolly controller 17 may be disposed separately as three control devices, may be disposed integrally as one control device, or may be disposed separately as two or four or more control devices.

[0024] <2. Robot configuration> An example of the configuration of the robot arm 3 will be described with reference to Fig. 2. Note that the camera 9 is not shown in Fig. 2.

[0025] 2, the robot arm 3 is a six-axis robot having six joints equipped with, for example, six motors MR1 ​​to MR6. The robot arm 3 has a base 25, a rotating section 27, a lower arm 29, an elbow section 31, an upper arm section 33, a wrist section 35, and a flange section 37.

[0026] The base 25 is fixed to the upper end of the housing 21 of the movable dolly 11. The rotating unit 27 is supported on the upper end of the base 25 so as to be rotatable around a rotation axis Ax1 parallel to the vertical direction. The rotating unit 27 is driven to rotate around the rotation axis Ax1 with respect to the upper end of the base 25 by driving a motor MR1 provided at a joint J1 between the rotating unit 27 and the base 25. The rotation angle of the motor MR1 and the like are detected by an encoder ER1 and transmitted to the robot controller 15.

[0027] The lower arm 29 is supported on the upper side of the rotating part 27 so as to be rotatable around a rotation axis Ax2 perpendicular to the rotation axis Ax1. The lower arm 29 is driven to rotate around the rotation axis Ax2 with respect to the upper side of the rotating part 27 by driving a motor MR2 provided at a joint J2 between the lower arm 29 and the rotating part 27. The rotation angle of the motor MR2 and the like are detected by an encoder ER2 and transmitted to the robot controller 15.

[0028] The elbow 31 is supported at the tip of the lower arm 29 so as to be rotatable around a rotation axis Ax3 parallel to the rotation axis Ax2. The elbow 31 is driven to rotate around the rotation axis Ax3 relative to the tip of the lower arm 29 by driving a motor MR3 provided at a joint J3 between the elbow 31 and the lower arm 29. The rotation angle of the motor MR3, etc. are detected by an encoder ER3 and transmitted to the robot controller 15.

[0029] The upper arm 33 is supported at the tip of the elbow 31 so as to be rotatable around a rotation axis Ax4 perpendicular to the rotation axis Ax3. The upper arm 33 is driven to rotate around the rotation axis Ax4 relative to the tip of the elbow 31 by driving a motor MR4 provided at a joint J4 between the upper arm 33 and the elbow 31. The rotation angle of the motor MR4 and the like are detected by an encoder ER4 and transmitted to the robot controller 15.

[0030] The wrist 35 is supported at the tip of the upper arm 33 so as to be rotatable around a rotation axis Ax5 perpendicular to the rotation axis Ax4. The wrist 35 is driven to rotate around the rotation axis Ax5 relative to the tip of the upper arm 33 by driving a motor MR5 provided at a joint J5 between the wrist 35 and the upper arm 33. The rotation angle of the motor MR5 and the like are detected by an encoder ER5 and transmitted to the robot controller 15.

[0031] The flange portion 37 is supported at the tip of the wrist portion 35 so as to be rotatable around a rotation axis Ax6 perpendicular to the rotation axis Ax5. The flange portion 37 is driven to rotate around the rotation axis Ax6 relative to the tip of the wrist portion 35 by driving a motor MR6 provided at a joint J6 between the flange portion 37 and the wrist portion 35. The rotation angle of the motor MR6 and the like are detected by an encoder ER6 and transmitted to the robot controller 15.

[0032] The nozzle 5 is supported by both the wrist portion 35 and the flange portion 37 via a support member 39. A detailed configuration of the support member 39 will be described later. Note that the support member 39 is illustrated in a simplified form in Figures 1 and 2.

[0033] In the above, the rotation around the rotation axis along the longitudinal direction (also called the extension direction) of the robot arm 3 is called "rotation," while the rotation around the rotation axis perpendicular to the longitudinal direction of the robot arm 3 is called "turning."

[0034] <3. Nozzle configuration and nozzle support configuration> An example of the configuration of the nozzle 5 and the configuration of the support member 39 that supports the nozzle 5 will be described with reference to FIGS.

[0035] As described above, the nozzle 5 is configured to be able to change the release mode of the cleaning liquid. Specifically, as shown in FIG. 3A to FIG. 3C, the nozzle 5 has a fixed part 5A and a rotating part 5B. The fixed part 5A is fixed to the robot arm 3. The rotating part 5B is arranged to be rotatable with respect to the fixed part 5A, and changes the release mode of the cleaning liquid CL by being rotated. In the embodiment, the nozzle 5 changes the release range and release pressure of the cleaning liquid CL. Note that changing the release pressure is synonymous with changing the flow rate of the release. For example, FIG. 3A shows a state in which the release range and release pressure of the cleaning liquid CL are medium. As shown in FIG. 3B, when the rotating part 5B is rotated, for example, in a counterclockwise direction (arrow AR1 direction) as viewed from the fixed part 5A side, the opening degree of the nozzle 5 increases according to the rotation angle, the release range is expanded, and the release pressure is reduced. As shown in FIG. 3C, when the rotating part 5B is rotated, for example, in a clockwise direction (the direction of the arrow AR2) when viewed from the fixed part 5A side, the opening of the nozzle 5 becomes smaller according to the rotation angle, the discharge range is reduced, and the discharge pressure increases.

[0036] In the embodiment, the case where the discharge range and the discharge pressure are changed while the discharge flow rate of the cleaning liquid CL is kept substantially constant will be described, but other discharge modes, such as the discharge flow rate and the discharge shape, may be changed. When the discharge flow rate is changed, for example, the rotation speed of the pump that discharges the cleaning liquid CL may be varied, the nozzle 5 may be configured to change the discharge flow rate, or a flow rate adjustment valve or the like may be provided separately. When the discharge shape is changed, for example, the nozzle 5 may be configured so that the discharge shape changes according to the rotation angle of the rotating part 5B.

[0037] FIG. 4 shows an example of the configuration of the support member 39 that supports the nozzle 5. As described above, in the joint J6 of the robot arm 3, the flange portion 37 (an example of the second arm portion) on the tip side is rotatably connected to the wrist portion 35 (an example of the first arm portion) on the base end side. As shown in FIG. 4, the support member 39 has a first support member 39A and a second support member 39B. The nozzle 5 has a fixed portion 5A connected to the wrist portion 35 via the first support member 39A, and a rotating portion 5B connected to the flange portion 37 via the second support member 39B. The first support member 39A has one end portion 39Aa formed in a flat plate shape and fixed to the wrist portion 35, and the other end portion 39Ab formed in a cylindrical shape and the fixed portion 5A of the nozzle 5 is fixed inside. The first support member 39A has an intermediate portion 39Ac between the one end portion 39Aa and the other end portion 39Ab, in which an elongated guide groove 41 that guides the hose 19 to the fixed portion 5A while inserting it therethrough is formed. The second support member 39B has one end 39Ba formed in a pillar shape and fixed to the tip of the flange portion 37, and the other end 39Bb formed in a cylindrical shape into which the rotating portion 5B of the nozzle 5 is inserted and fixed. The first support member 39A and the second support member 39B are configured so as not to interfere with each other within a range in which the rotating portion 5B of the nozzle 5 is rotationally driven.

[0038] <4. Cleaning process using robot arms and mobile carts> An example of a cleaning operation process using the robot arm 3 and the movable carriage 11 will be described with reference to FIGS.

[0039] In the examples shown in Fig. 5 to Fig. 13, the objects to be cleaned are, for example, the walls 7W (including the door 7D) and floor 7F of a shed 7 that houses livestock, agricultural products, tools, etc. As shown in Fig. 5, dirt D is attached to the walls 7W and the floor 7F. The dirt D includes, for example, heavy dirt HD and light dirt LD. The door 7D can be opened and closed, and the mobile cart 11 enters the shed 7 with the door 7D open.

[0040] As shown in Fig. 6, when the mobile cart 11 enters the shed 7, the door 7D is closed. The robot arm 3 rotates the camera 9, for example, 360°, to capture an image of the entire cleaning area with dirt D adhering to the wall 7W and floor 7F. At this time, the mobile cart 11 also moves as necessary. Based on the captured image, the upper control device 13 determines its own position (the positions of the robot arm 3 and nozzle 5, etc.) relative to the wall 7W and floor 7F, and detects the degree of dirt in the entire cleaning area. The degree of dirt in the entire cleaning area may be, for example, the average value or maximum value of the value representing the degree of dirt in the entire cleaning area.

[0041] Next, as shown in FIG. 7, the robot arm 3 discharges the cleaning liquid CL from the nozzle 5 while performing a cleaning operation set in advance based on, for example, teaching data, and cleans the entire wall 7W over a wide area. The cleaning operation is, for example, as shown by the arrow AR3 in FIG. 7, an operation in which the tip of the cleaning liquid CL is moved so as to turn around along the width direction of the wall 7W while repeatedly turning back and forth in the up and down directions relative to the wall 7W. At this time, the movable carriage 11 also moves as necessary. The entire cleaning of the wall 7W shown in FIG. 7 is performed by adjusting the opening of the nozzle 5 by rotating the motor MR6 of the joint J6 according to the degree of dirt in the entire cleaning area detected in FIG. 6, and discharging the cleaning liquid CL with the adjusted discharge range and discharge pressure. For example, if the degree of dirt in the entire cleaning area is divided into three stages, large, medium, and small, the discharge range is adjusted to be narrow and the discharge pressure is high in the case of large, the discharge range and the discharge pressure are both adjusted to be medium in the case of medium, and the discharge range is adjusted to be wide and the discharge pressure is low in the case of small. In this case, teaching data for the cleaning operation corresponding to each of the above three stages may be prepared. By washing the entire wall 7W shown in FIG. 7, for example, small dirt LD adhering to the wall 7W is removed.

[0042] Next, as shown in FIG. 8, the robot arm 3 discharges the cleaning liquid CL from the nozzle 5 while performing a cleaning operation set in advance based on, for example, teaching data, and washes the entire floor 7F over a wide area. The cleaning of the floor 7F is performed after the cleaning of the wall 7W so that the cleaning liquid CL can be washed away together with the dirt removed by the cleaning of the wall 7W. The cleaning operation is, for example, as shown by the arrow AR4 in FIG. 8, an operation in which the tip of the cleaning liquid CL is moved along a second direction perpendicular to the first direction while repeatedly turning back in a first direction relative to the floor 7F. The whole floor 7F is cleaned while moving the moving cart 11 appropriately. The whole floor 7F cleaning shown in FIG. 8 is performed by rotating the motor MR6 of the joint J6 to adjust the opening of the nozzle 5 according to the degree of dirt in the whole cleaning area detected in FIG. 6, as in the whole floor cleaning of the wall 7W, and the cleaning liquid CL is discharged with the adjusted discharge range and discharge pressure. The whole floor 7F cleaning shown in FIG. 8 removes, for example, small dirt LD attached to the floor 7F.

[0043] Next, the cleaning area of ​​the wall 7W and the floor 7F is divided into a plurality of sections, and cleaning is performed for each section. First, the camera 9 of the robot arm 3 captures an image of one of the sections. Based on the captured image, the upper control device 13 detects the dirt HD that was not completely removed by the overall cleaning in the one section, and detects the degree of dirt of the dirt HD. The degree of dirt of the dirt HD may be, for example, an average value or a maximum value of the dirt HD representing the degree of dirt. The robot controller 15 rotates and drives the motor MR6 of the joint J6 to adjust the opening of the nozzle 5 according to the degree of dirt of the detected dirt HD, and discharges the cleaning liquid CL with a discharge range and discharge pressure adjusted for the detected dirt HD as shown in FIG. 9 to perform localized cleaning. For example, when the degree of dirt of the dirt HD is large, the discharge range is adjusted to be narrow and the discharge pressure is adjusted to be high, and when the degree of dirt of the dirt HD is small, the discharge range is adjusted to be wide and the discharge pressure is adjusted to be low. The robot controller 15 also controls the robot arm 3 according to the detected level of dirt on the dirt HD, and changes at least one of the distance between the nozzle 5 and the dirt HD and the angle at which the cleaning liquid CL hits the dirt HD. The angle at which the cleaning liquid CL hits the dirt HD is the angle between the center of the direction of emission of the cleaning liquid CL (the axial direction of the nozzle 5) and the surface direction of the wall or floor on which the dirt HD is attached. For example, when the level of dirt is high, the distance may be reduced or the angle may be adjusted to approach a right angle, and when the level of dirt is low, the distance may be increased or the angle may be adjusted to approach a parallel angle from a right angle. The angle of the nozzle 5 may be adjusted so that the nozzle 5 is directed toward a specific location (e.g., a drain or a slit) on the wall 7W or floor 7F to wash it away.

[0044] The host control device 13 also detects the shape (e.g., unevenness, etc.) of the wall 7W or floor 7F in one section based on the captured image. The robot controller 15 rotates and drives the motor MR6 of the joint J6 in accordance with the detected shape to adjust the opening of the nozzle 5, and discharges the cleaning liquid CL with the adjusted discharge range and discharge pressure to perform localized cleaning. For example, in a recessed area, a corner, or other area where dirt is likely to accumulate, the discharge range is adjusted to be narrow and the discharge pressure is adjusted to be high. Note that, if a weak area or an installed object (e.g., a water pipe, etc.) is detected on the wall 7W or floor 7F, the discharge range may be adjusted to be wide and the discharge pressure may be adjusted to be low. The robot controller 15 also controls the robot arm 3 according to the detected shape of the wall 7W or floor 7F to change at least one of the distance between the nozzle 5 and the dirt HD and the angle at which the cleaning liquid CL hits the dirt HD. For example, the angle of the nozzle 5 may be adjusted according to the uneven shape of the wall 7W or floor 7F.

[0045] The cart controller 17 controls the mobile cart 11 to repeatedly move the mobile cart 11 to another section different from the first section after cleaning of the first section has been performed. In other words, the robot arm 3 moves to each of the multiple sections in sequence and repeatedly performs imaging and cleaning, thereby performing localized cleaning of the entire cleaning area of ​​the wall 7W and the floor 7F.

[0046] An example of the sections is shown in Fig. 10. As shown in Fig. 10, for example, when the mobile cart 11 is stopped, a range corresponding to the area S that can be cleaned by the operation of the robot arm 3 is set as one section. In the example shown in Fig. 10, four sections are set for the entire cleaning area of ​​the wall 7W and floor 7F. Note that the method of setting the sections is not limited to the above. For example, the range of the angle of view of the camera 9 may be set as one section.

[0047] Next, as shown in FIG. 11, the robot arm 3 discharges the cleaning liquid CL from the nozzle 5 while performing a cleaning operation set in advance based on, for example, teaching data, and cleans the entire wall 7W and floor 7F again over a wide area. Cleaning of the floor 7F is performed after cleaning of the wall 7W. The cleaning operation may be the same as that in FIG. 7 and FIG. 8 described above, or may be a different operation. In the full-body cleaning of FIG. 11, the opening of the nozzle 5 is made larger than that in the full-body cleaning of FIG. 7 and FIG. 8, so that the discharge range is wider and the discharge pressure is adjusted to be lower. The opening of the nozzle 5 may be the same in the full-body cleaning of FIG. 11 and the full-body cleaning of FIG. 7 and FIG. 8. By cleaning the entire wall 7W and floor 7F again over a wide area, the dirt removed by the cleaning of FIG. 7 to FIG. 9 can be washed away (rinsed).

[0048] Next, as shown in FIG. 12, the robot arm 3 executes self-cleaning by discharging the cleaning liquid CL onto the wheels 23 of the movable carriage 11 (one example of a device associated with the robot arm). During self-cleaning, the movable carriage 11 moves and rotates the wheels 23. For example, as shown in FIG. 13A, the movable carriage 11 moves to one side (in the direction of the arrow AR5) and cleans the two wheels 23 on one side, and as shown in FIG. 13B, the movable carriage 11 moves to the other side (in the direction of the arrow AR6) and cleans the two wheels 23 on the other side. The moving distance of the movable carriage 11 is set to a distance that the wheels 23 rotate at least once, and the discharging range of the cleaning liquid CL is set to a range that can clean the two wheels 23. Note that the discharging range of the cleaning liquid CL may be narrowed to clean the wheels 23 one by one. In this case, for example, the movable carriage 11 may be reciprocated twice, and the wheels 23 may be cleaned one by one during one of the reciprocating movements. Note that self-cleaning is not limited to only the wheels 23 of the movable cart 11, but may also be performed on, for example, the housing 21 of the movable cart 11 (an example of equipment associated with a robot arm), the robot arm 3 itself, and the hose 19 (an example of equipment associated with a nozzle). After self-cleaning is performed, the door 7D is opened and the movable cart 11 moves to the outside of the shed 7. Note that self-cleaning does not need to be performed in cases where the entire wheels 23 can be sufficiently cleaned without rotating the wheels 23.

[0049] <5. Functional configuration of the robot system> An example of a functional configuration of the robot system 1 will be described with reference to FIG.

[0050] As shown in FIG. 14, the host controller 13 has a robot control unit 43, a cart control unit 45, a dirt detection unit 47, a shape detection unit 49, and a release adjustment unit 51.

[0051] The robot control unit 43 controls the posture and movement of the robot arm 3 by transmitting commands indicating, for example, the hand position of the robot arm 3 (the tip position of the nozzle 5) and the direction of the nozzle 5 to the robot controller 15. For example, the robot control unit 43 controls the posture or movement of the robot arm 3 so as to change at least one of the distance between the nozzle 5 and the object to be cleaned and the angle at which the cleaning liquid CL hits the object to be cleaned, based on the degree of dirt detected by the dirt detection unit 47 or the shape of the object to be cleaned detected by the shape detection unit 49. Also, for example, the robot control unit 43 controls the robot arm 3 so as to perform self-cleaning by discharging the cleaning liquid CL onto the wheels 23. Note that the control of the robot arm 3 by the robot control unit 43 is performed via the robot controller 15, so it can be said that the control by the robot control unit 43 described above is performed by the robot controller 15.

[0052] The dolly control unit 45 controls the position, orientation, and movement of the mobile dolly 11 by, for example, transmitting commands indicating the destination position, orientation, movement, and the like of the mobile dolly 11 to the dolly controller 17. For example, the dolly control unit 45 moves the mobile dolly 11 so that the wheels 23 rotate one or more times during self-cleaning. In addition, for example, the dolly control unit 45 controls the mobile dolly 11 so that the mobile dolly 11 moves to one section, and after cleaning of the one section, the mobile dolly 11 moves to another section different from the first section, and repeats this process. Note that the control of the mobile dolly 11 by the dolly control unit 45 is executed via the dolly controller 17, and therefore it can also be said that the control by the dolly control unit 45 described above is executed by the dolly controller 17.

[0053] The robot control unit 43 and the cart control unit 45 control the robot arm 3 and the mobile cart 11 to perform a first cleaning process in which the entire object to be cleaned is cleaned, a second cleaning process in which, after the first cleaning process, specific locations on the object to be cleaned are cleaned based on the detection results by the dirt detection unit 47, and, after the second cleaning process, a third cleaning process in which the entire object to be cleaned is cleaned again.

[0054] The dirt detection unit 47 (an example of a first detection unit) detects dirt adhering to the object to be cleaned and detects the degree of the detected dirt by performing a predetermined image processing on the image captured by the camera 9. The dirt detection method is not particularly limited, but for example, a predetermined data item obtained from the captured image may be compared with a predetermined data item obtained from a reference image of the corresponding location, and if the difference between the data items exceeds a predetermined threshold, it may be determined that the dirt is on the object to be cleaned. The data items include, for example, brightness, hue, saturation, brightness, gradation, area (area of ​​dirt), volume (volume of dirt), etc. The reference image is an image of each location of the object to be cleaned that has been captured in advance in a state where there is no dirt or there is little dirt, and is stored in association with position data that represents the location. The method of detecting the degree of dirt is also not particularly limited, but for example, depending on the magnitude of the difference between the above data items, it may be determined that the greater the difference, the greater the degree of dirt, and that the smaller the difference, the smaller the degree of dirt. The degree of dirt is not limited to two-dimensional indices such as the brightness, hue, saturation, brightness, gradation, and area of ​​the dirt, but also includes three-dimensional indices such as uneven shape and volume. The dirt detection unit 47 may include a learning model that has previously learned dirt detection by machine learning, deep learning, or the like using, for example, the captured image and the actual degree of dirt. In this case, each time an image is captured, the captured image may be subjected to machine learning to update the learning model, threshold value, and the like for the corresponding location.

[0055] The shape detection unit 49 (an example of a second detection unit) detects the shape of the object to be cleaned by performing a predetermined image processing on the image captured by the camera 9. The shape of the object to be cleaned may be unevenness, depressions, steps, corners, etc., but also includes the shape of an object installed on the object to be cleaned. The shape detection unit 49 may include a learning model that has previously learned shape detection by machine learning, deep learning, etc., using the captured image and the actual shape, for example. In this case, each time an image is captured, the learning model for the corresponding location may be updated by performing machine learning on the captured image.

[0056] The release adjustment unit 51 (an example of an adjustment unit) adjusts the release mode of the cleaning liquid CL from the nozzle 5 based on the degree of dirt detected by the dirt detection unit 47 or the shape of the object to be cleaned detected by the shape detection unit 49. Specifically, the release adjustment unit 51 adjusts the release range and release pressure of the cleaning liquid CL by sending to the robot controller 15 a command representing the rotation angle of the motor MR6 of the joint J6 for realizing the opening degree of the nozzle 5 based on the degree of dirt or the shape of the object to be cleaned. As described above, the degree of dirt includes the volume of dirt.

[0057] The robot controller 15 has a motion control unit 53 and a servo amplifier 55. Based on a command received from the robot control unit 43 of the higher-level control device 13, the motion control unit 53 calculates target rotation angles and the like of the motors MR1 ​​to MR6 of the robot arm 3 that are required to position and orient the tip of the nozzle 5 to the position and orientation specified by the command, and outputs motor position commands corresponding to the motors MR1 ​​to MR6 based on the target rotation angles and detection values ​​of the encoders ER1 to ER6 and the like.

[0058] The servo amplifier 55 controls the drive power supplied to each of the motors MR1 ​​to MR6 based on the motor position command input from the motion control unit 53, and controls the operation of the robot arm 3.

[0059] The carriage controller 17 has a movement control section 57 and a servo amplifier 59. The movement control section 57 calculates target rotation angles and the like of the motors MC1 to MC2 of the movable carriage 11 that are required to make the position, orientation, and movement operation of the movable carriage 11 the position, orientation, and movement operation instructed by the command based on a command received from the carriage control section 45 of the higher-level control device 13, and outputs motor position commands corresponding to the motors MC1 to MC2 based on the target rotation angles and the detection values ​​of the encoders EC1 to EC2, etc.

[0060] The servo amplifier 59 controls the drive power supplied to each of the motors MC1 to MC2 based on the motor position command input from the movement control unit 57, and controls the operation of the movable carriage 11.

[0061] The above-mentioned processes in the robot control unit 43, the cart control unit 45, the dirt detection unit 47, the shape detection unit 49, the release adjustment unit 51, and the like of the upper control device 13 are not limited to the examples of the division of the processes. For example, the processes may be performed by a smaller number of processing units (for example, one processing unit), or may be performed by a processing unit that is further divided. In addition, the functions of each of the above-mentioned processing units do not need to be executed by the upper control device 13, and some or all of the functions may be executed by the robot controller 15 or the cart controller 17. For example, the functions of the robot control unit 43 may be executed by either the upper control device 13 or the robot controller 15, or may be executed by both. Similarly, for example, the functions of the cart control unit 45 may be executed by either the upper control device 13 or the cart controller 17, or may be executed by both. When all of the functions of each of the above-mentioned processing units of the upper control device 13 are executed by at least one of the robot controller 15 and the cart controller 17, the upper control device 13 may be omitted. The functions of each of the above processing units of the upper control device 13 may be implemented by a program executed by a CPU 901 (see FIG. 16) described later, or some or all of the functions may be implemented by actual devices such as ASICs, FPGAs, or other electrical circuits.

[0062] <6. Processing procedure of upper control device> An example of a process executed by the upper control device 13 will be described with reference to Fig. 15. The following process is an example of a robot control method.

[0063] In step S5, the host controller 13 controls the robot arm 3 by rotating the camera 9, for example, 360°, via the robot control unit 43 to capture an image of the entire cleaning area with dirt D adhering to the wall 7W and floor 7F. If necessary, the host controller 13 moves the movable cart 11 via the cart control unit 45. The host controller 13 also determines its own position (the positions of the robot arm 3 and nozzle 5, etc.) relative to the wall 7W and floor 7F based on the captured image, and detects the degree of dirt in the entire cleaning area via the dirt detection unit 47.

[0064] In step S10, the host controller 13 adjusts the opening of the nozzle 5 according to the degree of dirt in the entire cleaning area using the release adjustment unit 51 to adjust the release range and release pressure of the cleaning liquid CL. The host controller 13 also controls the robot control unit 43 to perform a preset cleaning operation while releasing the cleaning liquid CL from the nozzle 5 at the adjusted release range and release pressure, thereby cleaning the entire cleaning area of ​​the wall 7W and floor 7F. If necessary, the host controller 13 controls the cart control unit 45 to move the movable cart 11.

[0065] In step S15, the host controller 13 controls the carriage control unit 45 to move the movable carriage 11 to a specific section of the cleaning area, and controls the robot arm 3 to have the camera 9 capture an image of the specific section using the robot control unit 43. The host controller 13 also controls the dirt detection unit 47 to detect a cleaning target in the specific section (for example, dirt HD that was not completely removed by the cleaning in step S10) based on the captured image, and detects the degree of dirt on the cleaning target.

[0066] In step S20, the host controller 13 adjusts the opening of the nozzle 5 according to the degree of dirt detected in step S15 above, and adjusts the release range and release pressure of the cleaning liquid CL, using the release adjustment unit 51. The host controller 13 also controls the robot control unit 43 to release the cleaning liquid CL from the nozzle 5 with the adjusted release range and release pressure toward the cleaning target detected in step S15 above, thereby cleaning the cleaning target.

[0067] In step S25, the host controller 13 uses the dirt detection unit 47 to determine whether the degree of dirt on all objects to be cleaned in the specific section has fallen below a threshold value. The threshold value is set to a value at which dirt can be considered to have been removed. If the degree of dirt on all objects to be cleaned in the specific section is below the threshold value (step S25: YES), the host controller 13 proceeds to step S35, which will be described later. On the other hand, if there is an object to be cleaned in the specific section that is above the threshold value (step S25: NO), the host controller 13 proceeds to the next step S30.

[0068] In step S30, the upper control device 13 judges whether the number of transitions to step S30 is equal to or greater than a designated number. The designated number is the number of repetitions for stopping (giving up) repeated cleaning if dirt is not removed even after repeated cleaning, and is set to, for example, about three times. If the number of transitions to step S30 is less than the designated number (step S30: NO), the upper control device 13 returns to the above step S15. On the other hand, if the number of transitions to step S30 is equal to or greater than the designated number (step S30: YES), the upper control device 13 transitions to the next step S35.

[0069] In step S35, the host controller 13 judges whether or not cleaning of all the sections constituting the cleaning area has been completed. If cleaning of all the sections has been completed (step S35: YES), the host controller 13 proceeds to step S45 described below. On the other hand, if cleaning of all the sections has not been completed (step S35: NO), the host controller 13 proceeds to the next step S40.

[0070] In step S40, the host controller 13 controls the movable carriage 11 to move to the next section different from the specific section by the carriage control section 45. After that, the process returns to step S15.

[0071] In step S45, the host controller 13 adjusts the opening of the nozzle 5 by the release adjustment unit 51 to adjust the release pressure of the cleaning liquid CL to be smaller than that of step S10. The host controller 13 also controls the robot control unit 43 to release the cleaning liquid CL from the nozzle 5 at the adjusted release pressure while performing a preset cleaning operation, thereby cleaning the entire cleaning area of ​​the wall 7W and floor 7F again. If necessary, the host controller 13 controls the cart control unit 45 to move the movable cart 11.

[0072] In step S50, the host controller 13 controls the robot arm 3 and the movable carriage 11 via the robot control unit 43 and the carriage control unit 45 to perform self-cleaning in which the cleaning liquid CL is sprayed onto the wheels 23 while rotating the wheels 23. This ends the flow chart.

[0073] The above step S10 is an example of a first cleaning step, the above step S20 is an example of a second cleaning step, and the above step S45 is an example of a third cleaning step.

[0074] The above-described processing procedure is an example, and at least some of the above procedures may be deleted or changed, or procedures other than those described above may be added. In addition, the order of at least some of the above procedures may be changed, or multiple procedures may be combined into a single procedure. For example, each time the determination is NO in step S25, the release mode may be changed in stages, such as by increasing the release pressure by one stage.

[0075] <7. Effects of the embodiment> As described above, the robot system 1 of the embodiment includes a robot arm 3, a nozzle 5 arranged on the robot arm 3 and releasing cleaning liquid CL onto an object to be cleaned, a dirt detection unit 47 that detects the degree of dirt adhering to the object to be cleaned, a release adjustment unit 51 that adjusts the release mode of the cleaning liquid CL from the nozzle 5 based on the degree of dirt detected by the dirt detection unit 47, and a robot controller 15 that controls the robot arm 3.

[0076] In the robot system 1 of the embodiment, the dirt detection unit 47 detects the degree of dirt adhering to the object to be cleaned, and the release adjustment unit 51 adjusts the release manner of the cleaning liquid CL from the nozzle 5 based on the detected degree of dirt. By adjusting the release manner of the cleaning liquid CL according to the degree of dirt on the object to be cleaned, the dirt on the object to be cleaned can be effectively removed. Therefore, the cleaning performance can be improved.

[0077] In this embodiment, the robot controller 15 may control the robot arm 3 to change at least one of the distance between the nozzle 5 and the object to be cleaned and the angle at which the cleaning liquid CL hits the object to be cleaned, based on the degree of dirt detected by the dirt detection unit 47. In this case, for example, when the object to be cleaned is heavily soiled, it is possible to reduce the distance between the nozzle 5 and the object to be cleaned depending on the degree of dirt, or to increase the pressure applied to the dirt by bringing the angle at which the cleaning liquid CL hits the object to a right angle. Therefore, it is possible to effectively remove dirt from the object to be cleaned, and the cleaning performance can be further improved.

[0078] In this embodiment, the release adjustment unit 51 may adjust the release manner of the cleaning liquid CL based on the shape of the object to be cleaned detected by the shape detection unit 49. In this case, for example, the release range, release pressure, release flow rate, etc. of the cleaning liquid CL can be adjusted according to the shape of the object to be cleaned. For example, by increasing the release pressure and release flow rate of the cleaning liquid CL in places where dirt tends to accumulate, such as recesses and corners, it becomes possible to effectively remove dirt adhering to the object to be cleaned, and the cleaning performance can be further improved.

[0079] In this embodiment, the robot controller 15 may control the robot arm 3 to change at least one of the distance between the nozzle 5 and the object to be cleaned and the angle at which the cleaning liquid CL hits the object to be cleaned, based on the shape of the object to be cleaned detected by the shape detection unit 49. In this case, the distance between the nozzle 5 and the object to be cleaned and the angle at which the cleaning liquid CL hits the object to be cleaned can be changed according to the shape of the object to be cleaned. For example, the nozzle 5 can be adjusted to an optimal angle according to the uneven shape of the object to be cleaned. Therefore, it is possible to effectively remove dirt adhering to the object to be cleaned, and the cleaning performance can be further improved.

[0080] Furthermore, in this embodiment, the nozzle 5 may have a fixed part 5A fixed to the robot arm 3, and a rotating part 5B that is rotatably disposed with respect to the fixed part 5A and changes the release mode of the cleaning liquid CL by being rotated. In this case, the release mode of the cleaning liquid CL can be adjusted by the simple operation of rotating the rotating part 5B of the nozzle 5.

[0081] In this embodiment, the nozzle 5 may have the fixed part 5A connected to the wrist part 35 of the joint part J6 of the robot arm 3, and the rotating part 5B connected to the flange part 37 of the joint part J6. In this case, the rotating part 5B of the nozzle 5 can be rotated by using the driving of the joint part J6 of the robot arm 3. This eliminates the need for a motor, gears, etc. for rotating the rotating part 5B of the nozzle 5, and the tip part of the robot arm 3 can be made smaller and lighter. In addition, the light weight of the tip part allows the use of a small robot arm with a small payload, and the robot arm can be made slimmer. Therefore, it becomes possible to bring the nozzle 5 close to narrow places such as recessed places and corners where it is difficult to remove dirt without interference.

[0082] In this embodiment, the robot controller 15 may control the robot arm 3 to perform self-cleaning by discharging the cleaning liquid CL to a device associated with the robot arm 3 or the nozzle 5. In this case, after cleaning the object to be cleaned, dirt adhering to the robot system 1 itself can be washed away. Therefore, it is possible to prevent dirt from the object to be cleaned from being carried to another location (for example, the next object to be cleaned, etc.).

[0083] Furthermore, in this embodiment, the robot controller 15 may control the robot arm 3 to perform self-cleaning in which the cleaning liquid CL is discharged onto the wheels 23. That is, in this embodiment, the robot arm 3 is mounted on a movable carriage 11 equipped with wheels 23 and is movable. In this case, if dirt adheres to the wheels 23 of the movable carriage 11 when cleaning an object to be cleaned, the movement of the movable carriage 11 after cleaning is completed may carry the dirt to another location. According to the embodiment, the dirt adhered to the wheels 23 of the movable carriage 11 can be washed away by self-cleaning, so that the amount of dirt carried away by the movement of the movable carriage 11 can be reduced.

[0084] In this embodiment, the cart controller 17 may operate the wheels 23 while self-cleaning is being performed. That is, even if cleaning liquid CL is sprayed on the wheels 23 that are stopped, some parts, such as parts that are in contact with the ground, may not be cleaned. According to this embodiment, by operating the wheels 23 while self-cleaning is being performed, the entire wheels 23 can be cleaned evenly.

[0085] In this embodiment, the cart controller 17 may control the movable cart 11 to move to one section, and after cleaning of the one section, to move to another section different from the first section, and repeat this process. In this case, a cleaning target having a wide area consisting of multiple sections can be cleaned efficiently and without leakage.

[0086] In this embodiment, the robot controller 15 and the carriage controller may control the robot arm 3 and the movable carriage 11 to execute step S10 for cleaning the entire object to be cleaned, step S20 for cleaning a specific portion of the object to be cleaned based on the detection result by the dirt detection unit 47 after executing step S10, and step S45 for cleaning the entire object to be cleaned again after executing step S20. In this case, since the entire object to be cleaned can be wetted in step S10, the dirt removal effect in step S20 can be improved. Also, by executing step S45, the dirt removed in steps S10 and S20 can be washed away (rinsed).

[0087] <8. Variations> The disclosed embodiments are not limited to those described above, and various modifications are possible without departing from the spirit and technical concept thereof.

[0088] For example, in the above, the release manner of the cleaning liquid CL is adjusted by adjusting the opening of the nozzle 5, but for example, an inverter may be provided that variably controls the rotation speed of a pump that discharges the cleaning liquid CL, and the release manner of the cleaning liquid CL (e.g., release flow rate, release pressure, etc.) may be adjusted by varying the rotation speed of the pump. Alternatively, a flow rate adjustment valve, a pressure adjustment valve, etc. may be provided, and the release manner of the cleaning liquid CL (e.g., release flow rate, release pressure, etc.) may be adjusted by varying the opening of these valves. In this case, the release adjustment unit 51 may control the inverter or the valve.

[0089] In the above, the rotating part 5B of the nozzle 5 is rotated by the rotational drive of the joint J6 of the robot arm 3, but for example, a motor for rotating the rotating part 5B of the nozzle 5 may be separately installed in the robot arm 3. In this case, all the joints (six axes in the embodiment) of the robot arm 3 can be used to control the movement and posture, so that the degree of freedom of the movement and posture of the robot arm 3 can be improved.

[0090] In the above, the case where the robot arm 3 is mounted on the movable cart 11 and is movable has been described, but the robot arm 3 may be fixedly installed on, for example, a stand or a floor without providing the movable cart 11, and cleaning may be performed by the operation of the robot arm 3. In this case, the object to be cleaned may be moved.

[0091] <9. Example of hardware configuration for host control device> An example of the hardware configuration of the upper level control device 13 will be described with reference to FIG.

[0092] 16, the upper control device 13 includes, for example, a CPU 901, a ROM 903, a RAM 905, a dedicated integrated circuit 907 constructed for a specific application such as an ASIC or an FPGA, an input device 913, an output device 915, a recording device 917, a drive 919, a connection port 921, and a communication device 923. These components are connected to each other via a bus 909 and an input / output interface 911 so as to be able to transmit signals to each other.

[0093] The program can be recorded in, for example, the ROM 903, the RAM 905, or the recording device 917 such as a hard disk.

[0094] The program may be temporarily or non-temporarily (permanently) recorded on a removable recording medium 925 such as a magnetic disk such as a flexible disk, an optical disk such as various CD / MO disks / DVDs, or a semiconductor memory. Such a recording medium 925 may be provided as a so-called package software. In this case, the program recorded on the recording medium 925 may be read by the drive 919 and recorded on the recording device 917 via the input / output interface 911, the bus 909, etc.

[0095] The program may be recorded, for example, on a download site, another computer, another recording device, or the like (not shown). In this case, the program is transferred via a network NW such as a LAN or the Internet, and the communication device 923 receives the program. The program received by the communication device 923 may then be recorded in the recording device 917 via the input / output interface 911, the bus 909, or the like.

[0096] The program may be recorded in, for example, an appropriate external connection device 927. In this case, the program may be transferred via an appropriate connection port 921 and recorded in the recording device 917 via the input / output interface 911, the bus 909, etc.

[0097] The CPU 901 executes various processes according to the programs recorded in the recording device 917, thereby realizing processes by the robot control unit 43, the cart control unit 45, the dirt detection unit 47, the shape detection unit 49, the release adjustment unit 51, etc. The CPU 901 may, for example, directly read out and execute the programs from the recording device 917, or may execute the programs after first loading them into the RAM 905. When the CPU 901 receives a program via the communication device 923, the drive 919, or the connection port 921, for example, the CPU 901 may directly execute the received program without recording it in the recording device 917.

[0098] The CPU 901 may perform various processes as necessary based on signals and information input from an input device 913 such as a mouse, keyboard, and microphone (not shown).

[0099] The CPU 901 may output the results of the above-mentioned processing from an output device 915, such as a display device or an audio output device. The CPU 901 may transmit the processing results via a communication device 923 or a connection port 921, as necessary. The CPU 901 may record the processing results in the recording device 917 or recording medium 925.

[0100] In the above description, when "vertical", "parallel", "plane" and the like are used, the meanings are not strict. The terms "vertical", "parallel" and "plane" mean "substantially vertical", "substantially parallel" and "substantially plane" with allowance for design and manufacturing tolerances and errors.

[0101] In the above description, when the external dimensions, size, shape, position, etc. are described as "same", "equal", "different", etc., these descriptions are not intended to be strict. The terms "same", "equal", and "different" mean "substantially the same", "substantially the same", "substantially equal", and "substantially different", allowing for design and manufacturing tolerances and errors.

[0102] For example, when there is a description of a value that serves as a specific judgment criterion or a dividing line, such as a threshold value (see the flowchart in Figure 15) or a reference value, the terms "same," "equal," "different," etc., used in relation to such a value have a strict meaning, unlike the above.

[0103] In addition to the above, the methods according to the above-mentioned embodiments and each modified example may be appropriately combined and used. Although not illustrated individually, the above-mentioned embodiments and each modified example may be implemented with various modifications without departing from the spirit thereof.

[0104] The problems and effects that the above-described embodiments and modifications are intended to solve are not limited to those described above. The embodiments and modifications may solve problems or achieve effects that are not described above, or may solve only some of the problems or achieve only some of the effects that are described. [Explanation of symbols]

[0105] 1. Robot System 3. Robot Arm 5 Nozzles 5A fixed part 5B Rotating part 7. Hut 7D Door (Example of object to be cleaned) 7F Floor (example of object to be cleaned) 7W Wall (example of object to be cleaned) 9 Camera (an example of the first detection unit) 11 Mobile cart (an example of a mobile object) 13 Upper control device 15 Robot controller (an example of a first controller) 17 Cart controller (an example of a second controller) 19 Hose (an example of equipment attached to a nozzle) 21 Housing (an example of equipment attached to a robot arm) 23 Wheels (an example of equipment attached to a robot arm) 35 Wrist (an example of the first arm) 37 Flange portion (an example of the second arm portion) 43 Robot control unit 45 Truck control unit 47 Dirt detection unit (an example of the first detection unit) 49 Shape detection unit (an example of the second detection unit) 51 Release adjustment unit (an example of an adjustment unit) CL cleaning solution (an example of a cleaning medium) J6 Joint

Claims

1. A robot arm; A nozzle disposed on the robot arm for ejecting a cleaning medium onto an object to be cleaned; A first detection unit that detects the degree of dirt adhering to the object to be cleaned; an adjustment unit that adjusts a release mode of the cleaning medium from the nozzle based on the degree of the dirt detected by the first detection unit; A first controller for controlling the robot arm; A robot system having the above configuration.

2. The first controller is controlling the robot arm so as to change at least one of a distance between the nozzle and the object to be cleaned and an angle at which the cleaning medium hits the object to be cleaned, based on the degree of dirt detected by the first detection unit; The robot system of claim 1 .

3. Further, a second detection unit is provided for detecting a shape of the object to be cleaned, The adjustment unit is adjusting the release manner of the cleaning medium based on the shape of the object to be cleaned detected by the second detection unit; The robot system of claim 1 .

4. Further, a second detection unit is provided for detecting a shape of the object to be cleaned, The first controller is controlling the robot arm so as to change at least one of a distance between the nozzle and the object to be cleaned and an angle at which the cleaning medium hits the object to be cleaned, based on the shape of the object to be cleaned detected by the second detection unit; The robot system of claim 1 .

5. The nozzle is A fixed part fixed to the robot arm; A rotating part that is rotatably arranged with respect to the fixed part and that changes the release mode of the cleaning medium by being rotated. The robot system according to any one of claims 1 to 4.

6. The robot arm includes: The robot has a plurality of joints in which the second arm is rotatably connected to the first arm, The nozzle is The fixed part is connected to the first arm part of a predetermined joint part of the robot arm, and the rotating part is connected to the second arm part of the predetermined joint part. The robot system according to claim 5 .

7. The first controller is controlling the robot arm to perform a self-cleaning operation to eject the cleaning medium onto an instrument associated with the robot arm or nozzle; The robot system according to any one of claims 1 to 4.

8. The robot arm is mounted on a movable body having wheels or tracks, The first controller is Controlling the robot arm to perform the self-cleaning by discharging the cleaning medium onto the wheels or the tracks. The robot system according to claim 7.

9. A second controller for controlling the moving object is further provided. The second controller is operating the wheels or the tracks while the self-cleaning is being performed; The robot system according to claim 8.

10. A movable body equipped with wheels or tracks and carrying the robot arm; A second controller that controls the moving object, The second controller is When an area of ​​the cleaning object that can be cleaned by the operation of the robot arm while the moving body is stopped is defined as one section, the moving body is controlled so as to move to one section, and after cleaning of the one section is completed, the moving body is moved to another section different from the one section, and this process is repeated. The robot system according to any one of claims 1 to 4.

11. The first controller is A first cleaning step for cleaning the entire object to be cleaned; a second cleaning step of cleaning a specific portion of the object to be cleaned based on a detection result by the first detection unit after the first cleaning step is performed; a third cleaning step of cleaning the entire object again after the second cleaning step is performed; Controlling the robot arm to perform The robot system according to any one of claims 1 to 4.

12. A robot arm; A nozzle disposed on the robot arm for ejecting a cleaning medium onto an object to be cleaned; a first controller that controls the robot arm to release the cleaning medium onto the object to be cleaned; having The first controller is controlling the robot arm to perform a self-cleaning operation to eject the cleaning medium onto an instrument associated with the robot arm or nozzle; Robot system.

13. The robot arm is mounted on a movable body having wheels or tracks, The first controller is Controlling the robot arm to perform the self-cleaning by discharging the cleaning medium onto the wheels or the tracks. The robotic system of claim 12.

14. A second controller for controlling the moving object is further provided. The second controller is operating the wheels or the tracks while the self-cleaning is being performed; The robot system of claim 13.

15. A robot arm; A nozzle disposed on the robot arm for ejecting a cleaning medium onto an object to be cleaned; A robot control method for controlling a robot arm of a robot system having the robot arm, Detecting the degree of dirt adhering to the object to be cleaned; adjusting a manner in which the cleaning medium is discharged from the nozzle based on the detected degree of contamination; A robot control method comprising the steps of:

16. A robot arm; A nozzle disposed on the robot arm for ejecting a cleaning medium onto an object to be cleaned; A robot control method for controlling a robot arm of a robot system having the robot arm, Controlling the robot arm to release the cleaning medium onto the object to be cleaned; having Controlling the robotic arm includes: controlling the robotic arm to perform a self-cleaning operation to eject the cleaning medium onto an instrument associated with the robotic arm or nozzle; A method for controlling a robot.

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