Position information system

Abstract

To ensure safety in a specific area where a human being and autonomous travel transport robot coexist.SOLUTION: A position information system 31 has map data 661 of a specific area (building 12), and a sensor (scanner 65) that detects an ambient situation to estimate a position of an own vehicle. The position information system further includes an autonomous travel transport robot 6 that travels in the specific area, a communication terminal 5 that is carried by a human being in the specific area, and a position information provision unit (system controller 16) that provides the autonomous travel transport robot with information concerning a position of the human being on the basis of near field communication with the communication terminal.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The technology disclosed herein relates to a location information system. [Background technology]

[0002] Patent Document 1 describes a conventional control device for an automated guided vehicle. The control device for the automated guided vehicle is equipped with an AGV (Automatic Guided Vehicle). The control device for the automated guided vehicle is applied to a factory where workers and AGVs work in the same place. The AGV travels along a predetermined travel route. The control device for the automated guided vehicle is equipped with a fisheye camera installed on the ceiling. The control device for the automated guided vehicle calculates the distance along the AGV's travel route between the worker and the AGV based on image data from the fisheye camera, and calculates the degree of danger posed to the worker by the AGV based on the calculated distance. The control device for the automated guided vehicle controls the speed of the AGV based on the calculated degree of danger. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2021-140638 Summary of the Invention [Problem to be solved by the invention]

[0004] The travel route of the AGV is predetermined. Since the travel route is predetermined, the conventional control device for the automated guided vehicle can calculate the distance between the worker and the AGV along the travel route.

[0005] The travel path of an autonomous mobile robot (hereinafter referred to as AMR) is not predetermined, and it is difficult to apply the conventional control devices for automated guided vehicles to a robot system equipped with an AMR. [Means for solving the problem]

[0006] The technology disclosed herein relates to a location information system. an autonomous transport robot having map data of a specific area and a sensor that estimates the position of the vehicle by detecting a surrounding situation, and that travels in the specific area; a communication terminal carried by a person in the specific area; a position information providing unit that provides information about the position of the person to the autonomous traveling transport robot based on short-range wireless communication with the communication terminal; Equipped with. [Effects of the Invention]

[0007] Since information about the location of people is provided to the autonomous mobile transport robot, the location information system can ensure safety in a specific area where people and the autonomous mobile transport robot exist. [Brief explanation of the drawings]

[0008] [Figure 1] Figure 1 shows part of an automobile manufacturing plant where a location information system is applied. [Figure 2] FIG. 2 shows the work area where work is performed on the workpiece. [Figure 3] FIG. 3 is a block diagram of a robot system including a position information system. [Figure 4] FIG. 4 is a block diagram of the AMR. [Figure 5] FIG. 5 shows the exchange of information in a location information system. [Figure 6] FIG. 6 shows an example of map data to which the positions of AMRs and people are added. [Figure 7] FIG. 7 is a flowchart showing the driving control of the AMR. [Figure 8] FIG. 8 shows a modified example of the location information system. [Figure 9] FIG. 9 shows another modified example of the location information system. [Figure 10]FIG. 10 shows yet another modified example of the location information system. [Figure 11] FIG. 11 shows yet another modified example of the location information system. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, an embodiment of a location information system will be described with reference to the drawings. The location information system described here is an example.

[0010] (Overall structure of the robot system) FIG. 1 shows a portion of an automobile manufacturing plant to which a position information system is applied. FIG. 2 illustrates an example of a work area 13 in the manufacturing plant where work is performed on workpieces. A manufacturing line 10 is provided in a building 12 of the manufacturing plant. The illustrated manufacturing line 10 is a line where welding, more specifically spot welding, is performed on automobile bodies 11. The workpieces are bodies 11. In the manufacturing line 10, the bodies 11 are transported by an AMR 6, which will be described later. The working area 13 refers to an area where workpieces transported by the AMR 6 stay to receive work. The working area 13 is part of the manufacturing line 10.

[0011] A robot system 1 is constructed in the work area 13. The robot system 1 performs spot welding on the body 11 in the work area 13.

[0012] The robot system 1 includes a robot 2. The robot 2 performs a task on a workpiece transported to a work area 13. The task that the robot 2 performs on a body 11 is welding.

[0013] The robot 2 is a vertical articulated robot having five to seven axes. As shown in Fig. 2, the robot 2 has a welding gun 21 as an end effector. However, the robot 2 is not limited to a vertical articulated robot.

[0014] The robot system 1 includes a plurality of robots 2. The plurality of robots 2 are located on the left and right sides of the body 11 of the automobile. On the right side of the body 11, the plurality of robots 2 are lined up in the front-to-rear direction of the body 11. Similarly, on the left side of the body 11, the plurality of robots 2 are lined up in the front-to-rear direction of the body 11. Each robot 2 performs welding at a different location on the body 11. The number of robots 2 in the robot system 1 is not limited to a specific number. Furthermore, the arrangement of the robots 2 in the robot system 1 is not limited to a specific arrangement.

[0015] The robot system 1 is equipped with a plurality of locators 4. The plurality of locators 4 are positioned on either side of the body 11. As shown by the dashed dotted line in FIG. 2, the locators 4 lift and support the body 11 while the robot 2 is working. The locator 4 in the illustration is a three-axis Cartesian robot. The locator 4 has a rod 41 that engages with the body 11. The rod 41 extends horizontally. The tip of the rod 41 engages with the body 11. The locator 4 changes the position of the tip of the rod 41 forward and backward, left and right, and up and down.

[0016] The robot system 1 is equipped with one or more transport vehicles. The transport vehicles transport workpieces to a work area 13. The transport vehicles are autonomous mobile robots (AMRs) 6. The AMRs 6 travel on a flat floor in a factory. The path 15 of the AMRs 6 is not predetermined, but the approximate path is determined as shown by the two-dot chain line in Figure 1.

[0017] As illustrated in FIG. 2, the body 11 is placed on a bogie 14. The AMR 6 is located below the bogie 14 and engages with the bogie 14. The AMR 6 transports the body 11 via the bogie 14. Note that the AMR 6 may directly support the body 11 without using the bogie 14. Note that the appearance of the AMR 6 illustrated in FIG. 2 is an example. The structure of the AMR 6 will be described later.

[0018] An office 121 is provided in part of the manufacturing plant building 12. The office 121 is separated from the manufacturing line 10 by a partition. While the manufacturing line 10 is operating, people are stationed in the office 121. While the manufacturing line 10 is operating normally, people generally do not enter the manufacturing line 10. However, if an abnormality occurs in the manufacturing line 10, people may enter the manufacturing line 10.

[0019] In building 12, a person carries a communication terminal 5. When the person moves, the communication terminal 5 also moves. The communication terminal 5 has a short-range wireless communication function. The short-range wireless communication is Wi-Fi (registered trademark), Bluetooth (registered trademark), or both Wi-Fi and Bluetooth. The communication terminal 5 may be, for example, a smartphone. The communication terminal 5 may also be a dedicated terminal for the location information system 31. As will be described later, the communication terminal 5 is used in the location information system 31 to acquire location information of the person.

[0020] The position information system 31 is a system that manages the positions of people and the AMR 6 in the building 12. The position information system 31 is included in the robot system 1.

[0021] 3 is a block diagram of the robot system 1 and the position information system 31. The robot system 1 includes a system controller 16. The system controller 16 controls the entire robot system 1.

[0022] The robot system 1 includes a robot controller 17. Note that the robot controller 17 is not an essential element of the robot system 1. The robot controller 17 is electrically connected to the system controller 16. The electrical connection includes a wired or wireless connection. The robot controller 17 is also electrically connected to the robot 2. The robot controller 17 and the robot 2 are connected one-to-one. The robot system 1 includes the same number of robot controllers 17 as the number of robots 2.

[0023] The robot controller 17 controls the robot 2. More specifically, the robot controller 17 receives a control signal from the system controller 16 and outputs a control signal to the robot 2. The robot 2 receives the control signal from the robot controller 17 and performs welding work on the body 11.

[0024] The robot system 1 includes a locator controller 18. The locator controller 18 is electrically connected to the system controller 16. The electrical connection may be a wired or wireless connection. The locator controller 18 is also electrically connected to the plurality of locators 4.

[0025] The locator controller 18 controls the locator 4. More specifically, the locator controller 18 receives a control signal from the system controller 16 and outputs a control signal to the locator 4. The locator 4 receives the control signal from the locator controller 18 and positions and supports the body 11 delivered from the AMR 6 at a predetermined position.

[0026] The robot system 1 includes an access point 19. The access point 19 is a Wi-Fi access point. The communication terminal 5 or the AMR 6 can communicate with the access point 19.

[0027] The robot system 1 includes multiple access points 19. As shown in FIG. 1 or FIG. 2, the multiple access points 19 are installed in various locations in the building 12. The positions of the multiple access points 19 in the building 12 are fixed. A communication terminal 5 or an AMR 6 located in the building 12 is connected to one or more of the access points 19. As shown in FIG. 5, when the access point 19 communicates with the communication terminal 5 or the AMR 6, the access point 19 outputs Wi-Fi measurement information to the system controller 16. The Wi-Fi measurement information is information on radio wave intensity related to the distance between the access point 19 and the communication terminal 5 or the distance between the access point 19 and the AMR 6. As will be described later, the location information system 31 determines the location of the communication terminal 5 or the AMR 6 in the building 12 based on the Wi-Fi measurement information acquired by the access point 19 and the location information of the access point 19.

[0028] In addition to the function of transmitting the Wi-Fi measurement information described above, the access point 19 also functions as a repeater that connects the communication terminal 5 or the AMR 6 to the communication network.

[0029] (AMR structure) Figure 4 shows the structure of AMR6. The structure of AMR6 in Figure 4 is an example of AMR6.

[0030] The AMR 6 has a plurality of wheels that roll on the floor surface, including two drive wheels 611 and 612 and a passive wheel 621 and a passive wheel 622.

[0031] The two drive wheels 611, 612 are independent. The AMR 6 is an independently driven transport vehicle. The drive wheel 611 is located on the right of the midsection of the AMR 6 in the fore-and-aft direction. The drive wheel 612 is located on the left of the midsection of the AMR 6. The rotation axes of the drive wheels 611 and 612 extend in the left-right direction and are coaxial.

[0032] The drive wheel 611 is mechanically connected to a motor 631. The drive wheel 612 is mechanically connected to a motor 632. The drive wheel 611 and the drive wheel 612 can rotate independently of each other.

[0033] The motors 631, 632 are driven by power supplied from a battery. The battery is mounted on the AMR 6. The motors 631, 632 are driving sources for propelling the AMR 6. The driving force of the motors 631, 632 is transmitted to the drive wheels 611, 612, causing the drive wheels 611, 612 to rotate.

[0034] If the drive wheels 611 and 612 rotate in the same direction at the same rotation speed, the AMR 6 moves straight. If the drive wheels 611 and 612 rotate in the same direction at different rotation speeds, the AMR 6 changes direction of travel.

[0035] When the drive wheels 611 and 612 rotate in opposite directions, the AMR 6 turns on the spot, that is, rotates around a vertical axis. When the drive wheels 611 rotate forward and the drive wheels 612 rotate backward, the AMR 6 rotates counterclockwise in Fig. 4. When the drive wheels 611 rotate backward and the drive wheels 612 rotate forward, the AMR 6 rotates clockwise in Fig. 4.

[0036] The passive wheel 621 is located in the center in the left-right direction at the front end of the AMR 6. The passive wheel 622 is located in the center in the left-right direction at the rear end of the AMR 6. The passive wheel 621 and the passive wheel 622 can each change direction. Note that the AMR 6 may have a single passive wheel.

[0037] The AMR 6 has a scanner 65. The scanner 65 acquires information about the surroundings of the AMR 6. The scanner 65 includes, for example, a LiDAR (Light Detection And Ranging) scanner. The scanner 65 is not limited to a LiDAR scanner. The scanners 65 are located at both the front end and the rear end of the AMR 6.

[0038] The AMR 6 has a storage 66. The storage 66 stores various data. The data stored in the storage 66 includes map data 661. The map data 661 is map data of the inside of the building 12 including the production line 10. Before transporting the body 11, the AMR 6 autonomously travels within the building 12 in advance, and creates the map data 661 using the scanner 65 while traveling. Note that the AMR 6 may obtain the previously created map data 661 from an external source.

[0039] The AMR 6 has a communication circuit 67. The communication circuit 67 performs wireless communication with the access point 19 via Wi-Fi. The communication circuit 67 can receive control signals from the system controller 16. The communication circuit 67 can transmit, for example, location information of the AMR 6 to the system controller 16.

[0040] The AMR 6 has a rotary table 68. The rotary table 68 is located on the upper surface of the AMR 6. The rotary table 68 engages with the body 11 via the carriage 14. The rotary table 68 rotates clockwise and counterclockwise around a vertical axis. The rotary table 68 rotates relative to the main body of the AMR 6. The rotary table 68 has a drive source. The drive source is, for example, an electric motor. Examples of electric motors include servo motors and stepping motors. More specifically, the rotary table 68 has a rotary motor that rotates the rotary table 68 around the vertical axis and an elevator motor that raises and lowers the rotary table 68. When the rotary table 68 rotates while the AMR 6 is stopped, the body 11 rotates around the vertical axis via the carriage 14. The body 11 can rotate in place without moving forward / backward or left / right. The AMR 6 rotates in place due to the driving of the drive wheels 611 and 612, and the rotary table 68 also rotates, so that the direction of the AMR 6 can be changed without changing the direction of the body 11.

[0041] The AMR 6 has an AMR controller 69. The AMR controller 69 controls the AMR 6. The AMR controller 69 is electrically connected to the motors 631 and 632, the scanner 65, the storage 66, the communication circuit 67, and the rotary table 68.

[0042] During the creation of the map data 661, the AMR controller 69 creates the map data 661 based on the signal from the scanner 65 while outputting control signals to the motors 631 and 632 to move the AMR 6. The AMR controller 69 stores the created map data 661 in the storage 66.

[0043] The AMR controller 69 receives control signals from the system controller 16 via the communication circuit 67, and causes the AMR 6 to perform an operation in accordance with the received control signal. The AMR 6 travels to a position specified by the system controller 16, that is, to the work area 13 of the robot 2. When the AMR 6 travels, the AMR controller 69 sets a route 15 for the AMR 6 based on map data 661. While the AMR 6 is traveling, the AMR controller 69 determines the position of the AMR 6 based on the signal from the scanner 65 and the map data 661. The AMR 6 autonomously travels to the work area 13 along the route 15, and the body 11 is transported to the work area 13.

[0044] (Configuration of location information system) FIG. 5 shows a block diagram of a position information system 31. The position information system 31 includes a system controller 16. Note that the system controller 16 is not an essential element of the position information system 31. The system controller 16 has a function of managing the positions of people in the building 12 and the position of the AMR 6. In the position information system 31 of FIG. 5, the system controller 16 has map data 161. For example, FIG. 6 shows an example of the map data 161 stored in the system controller 16. The map data 161 is map data of the building 12. The map data 161 is substantially the same as the map data 661 of the AMR 6. The system controller 16 may receive map data from the AMR 6.

[0045] The location information system 31 includes an access point 19. However, the access point 19 is not an essential element of the location information system.

[0046] The location information system 31 includes a communication terminal 5. The communication terminal 5 is carried by a person. In the building 12, the position of the person coincides with the position of the communication terminal 5. As described above, the communication terminal 5 communicates with the access point 19 via Wi-Fi.

[0047] The location information system 31 includes an AMR 6. The AMR 6 also communicates with the access point 19 via Wi-Fi.

[0048] Next, a description will be given of the operation of the location information system 31. Each of the communication terminals 5 or AMRs 6 present in the building 12 communicates with the access point 19. The access point 19 provides Wi-Fi measurement information to the system controller 16.

[0049] The system controller 16 determines the location of the communication terminal 5 or the AMR 6 present in the building 12 based on Wi-Fi measurement information from the access point 19. More specifically, the Wi-Fi measurement information relates to the distance between the access point 19 and the communication terminal 5, or the distance between the access point 19 and the AMR 6. The system controller 16 can determine the location of the communication terminal 5 or the AMR 6 present in the building 12 based on the Wi-Fi measurement information from the access point 19 and the location information of the access point 19 in the building 12. As shown in FIG. 6, the location of the communication terminal 5 and the location of the AMR 6 are added to the map data 161 of the system controller 16. In FIG. 6, the location of the communication terminal 5 is indicated by "ID:*****", and the location of the AMR 6 is indicated by "AMR:*****". The system controller 16 distinguishes between the communication terminal 5 and the AMR 6.

[0050] As people move around in the building 12, the position of the communication terminal 5 changes. Similarly, as the AMR 6 moves, the position of the AMR 6 changes. The access point 19 updates the Wi-Fi measurement information. The system controller 16 constantly monitors the positions of the communication terminal 5 and the AMR 6 based on the updated Wi-Fi measurement information.

[0051] When the distance between the position of the communication terminal 5 and the position of the AMR 6 becomes equal to or shorter than a first distance, the system controller 16 determines that the person and the AMR 6 have approached each other, and transmits approach information to the AMR 6 through the access point 19. When the AMR 6 is moving, it slows down upon receiving the approach information. By slowing down the AMR 6, contact between the person and the AMR 6 is avoided. Furthermore, when the distance between the position of the communication terminal 5 and the position of the AMR 6 becomes equal to or shorter than a second distance, the system controller 16 determines that the person and the AMR 6 have approached each other further, and transmits closest approach information to the AMR 6 through the access point 19. When the AMR 6 is moving, it stops upon receiving the closest approach information. By stopping the AMR 6, contact between the person and the AMR 6 is avoided. Note that the second distance is shorter than the first distance. The approach information and closest approach information are examples of information regarding the position of a person in a specific area.

[0052] The system controller 16 does not transmit approaching information or closest approaching information even when people approach each other. The system controller 16 may also not transmit approaching information or closest approaching information even when two AMRs 6 approach each other. This is because the AMRs 6 can recognize the approach of other AMRs 6 based on the measurement signal of the scanner 65. The system controller 16 may transmit approaching information or closest approaching information when two AMRs 6 approach each other.

[0053] Figure 7 is a flowchart showing the driving control of the AMR 6. In the flow of Figure 7, the order of the steps can be changed, some steps can be omitted, or other steps can be added, to the extent possible.

[0054] After starting, in step S11, the AMR 6 determines whether or not a travel command has been received from the system controller 16. The AMR 6 remains stopped until a travel command is received. If a travel command is received, the AMR 6 travels normally in step S12. Here, normal travel means travel at a set speed.

[0055] In step S13, the AMR 6 determines whether or not it has received approach information from the system controller 16. If it has not received approach information, the AMR 6 determines in step S18 whether or not it has arrived at the work area 13. If it has not arrived at the work area 13, the AMR 6 continues normal traveling in step S12. If the AMR 6 arrives at the work area 13, it stops in step S19. After the AMR 6 has stopped, the locator 4 supports the body 11, and the robot 2 welds the body.

[0056] While the robot 2 is performing welding, the AMR 6 waits for a travel command from the system controller 16 in step S11.

[0057] If the AMR 6 receives approach information from the system controller 16 in step S13 while the AMR 6 is traveling normally, the AMR 6 decelerates in step S14. The traveling speed of the AMR 6 is reduced below the set speed. Furthermore, if the AMR 6 receives closest approach information from the system controller 16 in step S15, the AMR 6 stops in step S16. In step S17, the AMR 6 determines whether it has received separation information from the system controller 16, i.e., information indicating that the person and the AMR 6 have separated. Until it receives separation information, the AMR 6 continues traveling at a reduced speed or remains stopped. If it receives separation information, the AMR 6 resumes normal traveling in step S12. If the distance between the location of the communication terminal 5 and the location of the AMR 6 becomes equal to or greater than a third distance, the system controller 16 may determine that the person and the AMR 6 have separated, and transmit the separation information to the AMR 6 via the access point 19. The third distance may be the same as the first distance or may be greater than the first distance.

[0058] When transmitting the approaching information to the AMR 6 in step S13 or when transmitting the closest approaching information in step S15, the system controller 16 may transmit the approaching information or closest approaching information to the communication terminal 5 related to the approaching information. The communication terminal 5 that has received the approaching information or closest approaching information may notify a person of the approaching information or closest approaching information.

[0059] (Action and effect) The AMR 6 does not require a running guide. As shown in Figure 2, a production line 10 equipped with the AMR 6 has the advantage of not requiring the pits required in conventional production lines for laying body conveyor rails and body elevators. In addition, because the floor of the building 12 is flat, the production line 10 equipped with the AMR 6 also has the advantage of being able to easily accommodate layout changes.

[0060] Furthermore, using an AMR6 in the production line 10 enables production adjustments by adjusting the number of AMR6s, thereby realizing flexible operation of the production line 10.

[0061] The production line 10 on which the AMR 6 travels does not have a predetermined route 15, and the floor of the building 12 is flat. People can move along the route 15 of the AMR 6. For example, if an abnormality occurs, a person who enters the production line 10 may come into contact with the AMR 6.

[0062] The location information system 31 manages the locations of people and the AMR 6 based on short-range wireless communication, thereby reducing contact between people and the AMR 6. This improves safety in factories. The system controller 16 is an example of a location information provider that provides approaching information or closest approaching information to the AMR 6 as information related to the location of people.

[0063] Here, the AMR 6 is equipped with a scanner 65, which can detect surrounding obstacles and prevent contact with people. However, people only enter the production line 10 in abnormal situations, such as when an abnormality occurs. It is possible that a person working to resolve the abnormality may be outside the detection range of the scanner 65, or that the tools used for the work may be outside the detection range of the scanner 65. In addition to the scanner 65 of the AMR 6, the location information system 31 may manage the locations of people and the AMR 6 using short-range wireless communication, further reducing contact between people and the AMR 6. The location information system 31 further improves safety in factories.

[0064] (Variation 1 of the location information system) 8 shows a location information system 32 according to a modified example. In the location information system 32, the location of the AMR 6 is acquired by the AMR 6 itself. Acquisition of the location of the AMR 6 is not limited to using short-range wireless communication between the AMR 6 and the access point 19.

[0065] As described above, the AMR 6 determines the position of its own vehicle using the map data 661 and the scanner 65. The AMR 6 transmits the position information of its own vehicle to the system controller 16 via the access point 19 as needed. The position information of the communication terminal 5 is acquired based on Wi-Fi measurement information obtained by short-range wireless communication between the communication terminal 5 and the access point 19.

[0066] As described above, the system controller 16 constantly monitors the positions of the communication terminal 5 and the AMR 6. The system controller 16 transmits approaching information or closest approaching information to the AMR 6 based on the distance between the positions of the communication terminal 5 and the AMR 6. The AMR 6 executes driving control in accordance with the flowchart in FIG.

[0067] (Variation 2 of the location information system) 9 shows a position information system 33 according to a modified example. In the position information system 33, the AMR 6 monitors the positions of the communication terminal 5 and the AMR 6 in place of the system controller 16.

[0068] In the location information system 33, the location of the communication terminal 5 is acquired by short-range wireless communication with the access point 19. The system controller 16 transmits the location information of the communication terminal 5 to the AMR 6. The system controller 16 is an example of a location information providing unit that provides the AMR 6 with the location information of the communication terminal 5 as information regarding the location of a person.

[0069] The AMR 6 can acquire position information of the communication terminal 5 and its own vehicle from the system controller 16. The AMR 6 constantly monitors the positions of the communication terminal 5 and the AMR 6 in the map data 661. The AMR 6 can detect the positions of people and its own vehicle by means other than detection by the scanner 65. The AMR 6 can reduce contact with people by using two types of means.

[0070] The AMR 6 executes driving control in accordance with the flowchart of Fig. 7. In step S13 of the flow of Fig. 7, the AMR 6 does not determine whether approach information has been received from the system controller 16, but rather determines whether the person being monitored and the vehicle have approached each other based on the position of the person being monitored and the position of the vehicle. In addition, in step S15, the AMR 6 determines whether the person being monitored and the vehicle have come closest to each other based on the position of the person being monitored and the position of the vehicle. In step S17, the AMR 6 further determines whether the person being monitored and the vehicle have separated based on the position of the person being monitored and the position of the vehicle.

[0071] (Variation 3 of the location information system) Fig. 10 shows a location information system 34 according to a modified example. The location information system 34 is a combination of the location information system 31 in Fig. 5 and the location information system 33 in Fig. 9. In other words, the location information of the AMR 6 is obtained by short-range wireless communication between the AMR 6 and the access point 19.

[0072] The system controller 16 acquires both the location of the AMR 6 and the location of the communication terminal 5. The system controller 16 transmits the location information of the AMR 6 and the location information of the communication terminal 5 to the AMR 6. The AMR 6 monitors the location of the communication terminal 5 and the location of the AMR 6. Note that the system controller 16 may monitor the location of the communication terminal 5 and the location of the AMR 6 separately from the AMR 6. The system controller 16 does not have to monitor the location of the communication terminal 5 and the location of the AMR 6.

[0073] In the position information system 34, the AMR 6 executes driving control in accordance with the flowchart of FIG.

[0074] (Variation 4 of the location information system) 11 shows a location information system 35 according to a modified example. The location information system 35 includes a beacon 7 mounted on an AMR 6. The beacon 7 transmits Bluetooth radio waves within a specific radio wave range 71.

[0075] The communication terminal 5 cannot receive Bluetooth radio waves transmitted by the beacon 7 outside the radio wave range 71, but can receive Bluetooth radio waves transmitted by the beacon 7 when it is within the radio wave range 71. The AMR 6 equipped with the beacon 7 can obtain proximity information between the AMR 6 and a person by using short-range wireless communication. The AMR 6 equipped with the beacon 7 is an example of a location information providing unit that provides the AMR 6 with proximity information between a person and the AMR 6 as information regarding the position of a person in a specific area based on short-range wireless communication with the communication terminal 5.

[0076] In the position information system 35, the AMR 6 executes driving control in accordance with the flowchart of FIG.

[0077] (Other variations) The AMR 6 is not limited to the structure shown in Figure 4. The AMR 6 may have omnidirectional wheels such as Mecanum wheels or omni-wheels. Furthermore, the AMR 6 may not be an independently driven transport vehicle, but may have a steering mechanism.

[0078] The system controller 16 may be omitted from the robot system 1. The robot system 1 may achieve the above-described control through mutual communication between the robot controller 17, the locator controller 18, and the AMR 6. The location information systems 31, 32, 33, and 34 may include a location information server instead of the system controller 16. The location information server acquires location information of at least the communication terminal 5 based on short-range wireless communication. The location information server is not limited to being installed in the factory where the robot system 1 is installed, and may also be installed in the cloud.

[0079] Instead of the access points 19 that use Wi-Fi, beacons that use Bluetooth may be installed in various locations in the building 12.

[0080] The access point may be mounted on the AMR 6. The communication terminal 5 performs short-range wireless communication with the access point mounted on the AMR 6. The access point of the AMR 6 may transmit Wi-Fi measurement information together with location information of the AMR 6 to the system controller 16. Furthermore, the AMR 6 may determine the location of the communication terminal 5 based on the Wi-Fi measurement information.

[0081] It should be noted that the work performed by the robot system 1 disclosed herein in the manufacturing line 10 is not limited to welding. Furthermore, the workpiece that the robot system 1 acts on is not limited to the automobile body 11. Furthermore, the robot system 1 is not limited to application to the automobile manufacturing line 10.

[0082] Furthermore, the application of the position information systems 31, 32, 33, 34, and 35 disclosed herein is not limited to manufacturing factories, but can also be applied to, for example, logistics warehouses where AMRs 6 travel.

[0083] The functions of the elements disclosed herein can be performed using circuits or processing circuits, including general-purpose processors, special-purpose processors, integrated circuits, ASICs (Application Specific Integrated Circuits), conventional circuits, and / or combinations thereof, configured or programmed to perform the disclosed functions. A processor is considered a processing circuit or circuit because it includes transistors and other circuitry. In this disclosure, a circuit, unit, or means is hardware that performs the recited functions or hardware that is programmed to perform the recited functions. The hardware may be hardware disclosed herein or other known hardware that is programmed or configured to perform the recited functions. Where the hardware is a processor, which is considered a type of circuit, the circuit, means, or unit is a combination of hardware and software, and the software is used to configure the hardware and / or processor.

[0084] (Aspect) The above-described embodiments are examples of the following aspects.

[0085] (Aspect 1) an autonomous transport robot (6) that travels in a specific area (12), the autonomous transport robot (6) having map data (661) of the specific area (12) and a sensor (65) that estimates the position of the vehicle by detecting the surrounding conditions; a communication terminal (5) carried by a person in the specific area (12); A location information system (31, 32, 33, 34, 35) comprising: a location information providing unit (16, 7) that provides information regarding the location of the person to the autonomous mobile transport robot (6) based on short-range wireless communication with the communication terminal (5).

[0086] The location information system (31, 32, 33, 34, 35) manages the locations of people and the autonomous mobile transport robot (6) based on short-range wireless communication, thereby reducing contact between people and the autonomous mobile transport robot (6). The location information system (31, 32, 33, 34, 35) can improve safety in specific areas where people and the autonomous mobile transport robot (6) coexist.

[0087] (Aspect 2) The position information system (32) according to aspect 1, wherein the autonomously traveling transfer robot (6) provides the estimated position of the autonomously traveling transfer robot (6) to the position information providing unit (16).

[0088] The autonomous mobile transport robot (6) can determine its own position using map data (661) and sensors (65). The location information system (32) can manage the positions of people and the autonomous mobile transport robot (6) based on the position of the autonomous mobile transport robot (6) determined by the autonomous mobile transport robot (6). By utilizing the functions of the autonomous mobile transport robot (6), the configuration of the location information system (32) is simple.

[0089] (Aspect 3) the location information providing unit (16) provides the location information of the communication terminal (5) to the autonomous mobile transfer robot (6) as location information of the person in the specific area (12); The position information system (33) described in aspect 1, wherein the autonomous mobile transport robot (6) determines the relative position between the person and the autonomous mobile transport robot (6) based on the position information of the person and the estimated position of the autonomous mobile transport robot (6).

[0090] The autonomously traveling transport robot (6) can receive position information of a person from the position information providing unit (16). The autonomously traveling transport robot (6) can manage the positions of the person and its own vehicle.

[0091] (Aspect 4) The autonomous traveling transport robot (6) is capable of short-distance wireless communication, The location information providing unit (16) acquires location information of the person in the specific area (12) based on short-range wireless communication with the communication terminal (5), and acquires location information of the autonomous mobile transport robot (6) based on short-range wireless communication with the autonomous mobile transport robot (6). This is a location information system (31, 34) described in aspect 1.

[0092] By using short-range wireless communication, the position information system (31, 34) can acquire position information of both the position of a person and the position of the autonomous mobile transport robot (6) in the specific area (12).

[0093] (Aspect 5) A position information system (31, 32) according to aspect 2 or aspect 4, wherein the position information providing unit (16) provides the autonomous mobile transport robot (6) with information regarding the relative position between the person and the autonomous mobile transport robot (6).

[0094] The autonomous mobile transport robot (6) can prevent contact with people based on information about the relative positions of the autonomous mobile transport robot (6) and people.

[0095] (Aspect 6) the location information providing unit (16) provides the autonomous mobile transport robot (6) with location information of the communication terminal (5) as location information of the person in the specific area (12) and location information of the autonomous mobile transport robot (6); A position information system (34) according to aspect 4, wherein the autonomous mobile transport robot (6) determines the relative position between the person and the autonomous mobile transport robot (6) based on the position information of the person and the position of the autonomous mobile transport robot (6).

[0096] The autonomous mobile transport robot (6) can prevent contact with people based on information about the relative positions of the autonomous mobile transport robot (6) and people.

[0097] (Aspect 7) The location information providing unit (7) is mounted on the autonomous mobile transport robot (6) and provides the autonomous mobile transport robot (6) with proximity information between the person and the autonomous mobile transport robot (6) based on short-range wireless communication with the communication terminal (5). This is the location information system (35) described in aspect 1.

[0098] The autonomous transport robot (6) equipped with the location information providing unit (7) can acquire approach information based on short-range wireless communication with the communication terminal (5). The location information system (35) has a simple configuration.

[0099] (Aspect 8) The position information system (31, 32, 33, 34, 35) according to any one of aspects 1 to 7, wherein the autonomously traveling transport robot (6) decelerates when the person and the autonomously traveling transport robot (6) come close to each other.

[0100] By decelerating the autonomous transport robot (6), contact between people and the autonomous transport robot (6) is suppressed.

[0101] (Aspect 9) (31, 32, 33, 34, 35) according to any one of aspects 1 to 8, wherein the autonomously traveling transport robot (6) stops when the person and the autonomously traveling transport robot (6) come close to each other.

[0102] By stopping the autonomous transport robot (6), contact between people and the autonomous transport robot (6) is prevented. [Explanation of symbols]

[0103] 12 Buildings (specific areas) 16 System controller (location information provider) 31 Location Information System 32 Location Information System 33 Location Information System 34 Location Information System 35 Location Information System 5. Communication terminals 6 Autonomous Mobile Robot (AMR) 65 Scanner (sensor) 661 map data 7 Beacon (location information provider)

Claims

1. an autonomous transport robot having map data of a specific area and a sensor that estimates the position of the vehicle by detecting a surrounding situation, and that travels in the specific area; a communication terminal carried by a person in the specific area; a position information providing unit that provides information about the position of the person to the autonomous traveling transport robot based on short-range wireless communication with the communication terminal; A location information system comprising:

2. 2. The location information system according to claim 1, The autonomously traveling transport robot provides the estimated position of the autonomously traveling transport robot to the position information providing unit.

3. 2. The location information system according to claim 1, the location information providing unit provides the location information of the communication terminal to the autonomous traveling transfer robot as location information of the person; A position information system in which the autonomous mobile transport robot determines the relative position between the person and the autonomous mobile transport robot based on the position information of the person and the estimated position of the autonomous mobile transport robot.

4. 2. The location information system according to claim 1, the autonomous traveling transport robot is capable of short-range wireless communication, The location information providing unit acquires location information of the person based on short-range wireless communication with the communication terminal, and acquires location information of the autonomous mobile transport robot based on short-range wireless communication with the autonomous mobile transport robot.

5. 5. The location information system according to claim 2, The position information providing unit provides the autonomous mobile transport robot with information about the relative position between the person and the autonomous mobile transport robot.

6. 5. The location information system according to claim 4, the location information providing unit provides the autonomous mobile transport robot with location information of the communication terminal as location information of the person and location information of the autonomous mobile transport robot; A position information system in which the autonomous mobile transport robot determines the relative position between the person and the autonomous mobile transport robot based on position information of the person and the position of the autonomous mobile transport robot.

7. 2. The location information system according to claim 1, The location information providing unit is mounted on the autonomous mobile transport robot and provides the autonomous mobile transport robot with information about the proximity of the person to the autonomous mobile transport robot based on short-range wireless communication with the communication terminal.

8. 2. The location information system according to claim 1, The autonomous mobile transport robot decelerates when the person approaches the autonomous mobile transport robot.

9. 9. The location information system according to claim 1, The autonomous mobile transport robot stops when the person comes close to the autonomous mobile transport robot.

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