Mobile robot, control method, and control program

Abstract

To improve the moving efficiency of a mobile robot whose occupied area can be changed and to improve the volume efficiency of a space under an environment where a plurality of mobile robots share a prescribed area.SOLUTION: A mobile robot that moves in a shared area in which a plurality of mobile robots are group-controlled, the mobile robot comprising: a movement mechanism unit including a movement means capable of causing the mobile robot to turn; an operation unit directly or indirectly connected to the movement mechanism unit and including an object manipulation means; and a control unit that controls the movement mechanism unit and the operation unit. A control unit, wherein the control unit controls the operation unit within a range in which the operation unit does not extend from a turning diameter of the movement mechanism unit in a plan view of the mobile robot while the mobile robot is moving in the shared area.SELECTED DRAWING: Figure 7

Description

[Technical Field]

[0001] The present invention relates to a robot, particularly to a mobile manipulator or the like. [Background technology]

[0002] Automation of work performed in designated facilities such as warehouses and factories is progressing. For example, automation of object transportation has been progressing in recent years in facilities such as warehouses. In such facilities, multiple transport robots (or mobile robots, or mobile manipulators) move within a designated area without colliding with each other to transport objects.

[0003] In this type of facility, multiple reference points are sometimes set up regularly within the facility, and each transport robot moves by following these points in a predetermined order. For example, Patent Document 1 discloses a technology in which multiple automated guided vehicles travel by sequentially following multiple points on a travel path. Furthermore, MAPF (Multi-Agent Path Finding) is sometimes used for group control of the routes of this type of multiple mobile robots.

[0004] Furthermore, mobile manipulators with various configurations have been developed in recent years. For example, a mobile manipulator equipped with an articulated robot arm that can assume a variety of postures is also known. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Laid-Open No. 2001-100842 Summary of the Invention [Problem to be solved by the invention]

[0006] Conventionally, the intervals between reference points provided on the travel path along which the transport robot moves have been determined appropriately based on the working area, the size of the robot, and other factors.

[0007] However, there are robots, such as mobile manipulators equipped with articulated robot arms, whose area (occupied area or footprint) when projected onto the floor in a plan view varies depending on their posture. There was no knowledge on how to determine the above-mentioned reference point intervals for such robots. Furthermore, although narrowing the reference point intervals can improve the volumetric efficiency of a work area or facility, there was no knowledge on to what extent the reference point intervals can be narrowed for this type of robot. In other words, with the previous configuration, there was no known method for optimizing the movement efficiency of a mobile robot and the volumetric efficiency of a facility in an environment where multiple robots with variable occupied areas are active.

[0008] The present invention has been made in consideration of the above-mentioned technical background, and its purpose is to improve the movement efficiency of mobile robots whose occupied area may vary and to improve the volumetric efficiency of space in an environment where multiple mobile robots share a specified area. [Means for solving the problem]

[0009] The above-mentioned technical problems can be solved by a mobile robot, a control method, a system, etc. having the following configurations.

[0010] In other words, the mobile robot of the present invention is a mobile robot that moves within a shared area where multiple mobile robots are collectively controlled, and is equipped with a mobile mechanism unit equipped with a moving means capable of causing the mobile robot to turn, an operating unit connected directly or indirectly to the mobile mechanism unit and equipped with an object manipulation means, and a control unit that controls the mobile mechanism unit and the operating unit, and while the mobile robot is moving within the shared area, the control unit controls the operating unit within a range such that the operating unit does not extend beyond the turning diameter of the mobile mechanism unit when the mobile robot is viewed in a plane.

[0011] With this configuration, a mobile robot that moves within a shared area and whose occupancy area can change depending on its operating unit is controlled to operate its operating unit within the turning diameter of the mobile mechanism. This makes the mobile robot's exclusive area equal to the turning diameter of the mobile mechanism, thereby minimizing the turning diameter of the mobile robot and improving its movement efficiency and volumetric efficiency. In other words, in an environment where multiple mobile robots share a given area, it is possible to improve the movement efficiency of mobile robots whose occupancy area can change and improve the volumetric efficiency of the space. [Effects of the Invention]

[0012] According to the present invention, in an environment where a plurality of mobile robots share a predetermined area, it is possible to improve the movement efficiency of mobile robots whose occupied area can vary and to improve the volumetric efficiency of space. [Brief explanation of the drawings]

[0013] [Figure 1] FIG. 1 is a perspective view showing the overall configuration of a mobile manipulator. [Figure 2] FIG. 2 is an enlarged perspective view of the object manipulation unit. [Figure 3] FIG. 3 is a diagram showing the overall configuration of the object transport system. [Figure 4] FIG. 4 is a functional block diagram of the management server. [Figure 5] FIG. 5 is a functional block diagram of the mobile manipulator. [Figure 6] FIG. 6 is a general flowchart of the operation of a mobile manipulator to perform an object manipulation task. [Figure 7] FIG. 7 is a schematic plan view of the working area in which the mobile manipulator operates. [Figure 8] FIG. 8 is an explanatory diagram showing an example of control in which none of the components of the mobile manipulator extends beyond the turning diameter of the moving mechanism. [Figure 9]FIG. 9 is an explanatory diagram showing an example in which the operating unit of the mobile manipulator extends outside the turning diameter of the moving mechanism unit. [Figure 10] FIG. 10 is a plan view showing changes in the posture of a mobile manipulator moving in an occupied area provided between shelves. [Figure 11] FIG. 11 is a perspective view of the mobile manipulator performing a process to acquire an object on a shelf. [Figure 12] FIG. 12 is an explanatory diagram of an example in which a plurality of entrances and exits are provided in an occupied area. [Figure 13] FIG. 13 is an explanatory diagram relating to an example of dynamic switching between a shared area and an occupied area. [Figure 14] FIG. 14 is an explanatory diagram regarding additional conditions for controlling the operation unit. DETAILED DESCRIPTION OF THE INVENTION

[0014] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0015] (1. First embodiment) As a first embodiment, an example will be described in which the present invention is applied to an object transport system 900 and a mobile robot constituting the object transport system 900, that is, a mobile manipulator 100 (or a mobile robot). Note that the facilities to which the object transport system 900 is applicable are not limited to warehouses, but include any facilities where similar functions are required.

[0016] (1.1 Robot Configuration) 1 is an external perspective view showing the overall configuration of a mobile manipulator 100 according to this embodiment. A coordinate system consisting of three mutually orthogonal axes (x-axis, y-axis, and z-axis) is displayed in the lower right of the figure, and hereinafter, the positive direction of the x-axis may be referred to as the forward direction, the negative direction as the backward direction, the positive direction of the y-axis as the right direction, the negative direction as the left direction, the positive direction of the z-axis as the upward direction, and the negative direction as the downward direction.

[0017] As is clear from the figure, the mobile manipulator 100 comprises a main body 10 having an overall shape of a roughly rectangular parallelepiped with long sides in the vertical direction, an articulated robot arm 30 attached to the top end (or top surface) of the main body 10, and an object manipulator 50 attached to the tip of the articulated robot arm 30. The left and right side surfaces of the main body 10 are parallel to the x-axis (xz plane), and the front and back surfaces are parallel to the y-axis (yz plane). In this embodiment, the articulated robot arm 30 and the object manipulator 50 are referred to separately, but they may also be referred to collectively as parts that perform object manipulation or parts that involve changes in physical posture, and may be referred to simply as an articulated robot arm, operating device, etc.

[0018] As is clear from the figure, in this embodiment, the articulated robot arm unit 30 is disposed on the center line of the left-right width of the main body unit 10.

[0019] This configuration provides a good left-right weight balance for the mobile manipulator 100. Furthermore, the left-right width of the mobile manipulator 100 can be made smaller than when the articulated robot arm unit 30 is attached to the side.

[0020] On the front surface of the main body 10, object storage sections 15 (15-1, 15-2, ... 15-7 from the top), each having seven rectangular parallelepiped spaces for storing objects, are aligned vertically with their openings facing forward. Each space of the object storage sections 15 is large enough to store at least one object.

[0021] With this configuration, the object storage unit 15 has multiple storage spaces, so multiple objects can be transported simultaneously. In addition, the spaces for storing objects are arranged vertically, so the width of the mobile manipulator 100 can be reduced. This allows it to move through narrow passages, etc.

[0022] The articulated robot arm unit 30 is attached above (vertically above) the object storage unit 15.

[0023] According to this configuration, the articulated robot arm unit 30 can be used to access the object storage unit 15 from above.

[0024] A LiDAR device 13 is installed on the top surface of the main body 10 via an upside-down U-shaped rod-like support member 12 at a position higher than the main body 10 and in a manner that allows detection from a position higher than surrounding shelves, etc. The LiDAR device 13 is, for example, a LiDAR unit, etc., and can detect the distance, position, shape, etc. of an object.

[0025] With this configuration, sensing can be performed from a high position using the LiDAR device 13. This makes it possible to estimate the self-position even when various obstacles exist in the surroundings.

[0026] The bottom surface of the main body 10 is provided with a moving mechanism 20 (or a carriage) consisting of two differential wheels (w1, w2) that are controlled and driven independently on the left and right sides. In addition, passive wheels w' that rotate passively are arranged at the four corners of the bottom surface.

[0027] With this configuration, a low-cost moving mechanism can be realized by utilizing the differential two wheels.

[0028] In this embodiment, the mobile manipulator 100 can also turn on the spot using the differential two wheels (w1, w2). As is clear from the figure, in this embodiment, the movement mechanism 20 is larger than the main body 10 in the left-right and front-rear directions when viewed from above. Therefore, the minimum turning diameter of the mobile manipulator 100 is equal to the turning diameter of the movement mechanism 20, when not considering the operating units described below.

[0029] In this embodiment, the articulated robot arm unit 30 has five rotationally driven joints (J1 to J5). One end (or base end) of a rod-shaped first link 31 is rotatably and swingably connected to the upper end (or top surface) of the main body unit 10 via the first joint (J1). In this case, the rotation center axis of the first joint (J1) is perpendicular to the floor surface, and the rotation center axis of the second joint (J2) is a horizontal axis (or pitch axis) extending in the left-right direction.

[0030] One end (or base end) of the rod-shaped second link 32 is swingably connected to the other end (or tip) of the first link 31 via a third joint (J3). At this time, the rotation center axis of the third joint (J3) is a horizontal axis (or pitch axis) extending in the left-right direction.

[0031] One end (base end) of the third link 33, which is shorter and bent than the first link 31 and the second link 32, is swingably connected to the other end (or tip) of the second link 32 via a fourth joint (J4). At this time, the rotation center axis of the fourth joint (J4) is a horizontal axis (or pitch axis) extending in the left-right direction.

[0032] With this configuration, the hand position of the third link 33 can be freely positioned, thereby increasing the degree of freedom in the positioning of the object manipulation unit 50.

[0033] The object manipulator 50 is rotatably attached via a fifth joint (J5) to the tip of the third link 33. The rotation center axis of the fifth joint (J5) is parallel to the normal to the top surface of the object manipulator 50, and in the example shown in the figure, is parallel to the vertical axis.

[0034] In this embodiment, the object manipulator 50 has two drive joints (J6 to J7).

[0035] 2 is an enlarged perspective view of the exterior of object manipulator 50. In this embodiment, object manipulator 50 has a roughly U-shaped base body 51 that is laid on its side in the figure. A slide member 52 is slidably attached to one side of the bottom surface of base body 51 via a first linear joint (JL1) (or sixth joint (J6)). An end effector 53 is attached to the top surface of slide member 52.

[0036] In this embodiment, the end effector 53 is a gripper equipped with left and right claws (55L, 55R) and left and right drive units (551L, 551R) that linearly move the claws in the opening and closing directions. These drive units (551L, 551R) are interlocked and form a second linear joint (JL2) (or seventh joint (J7)). The left and right claws (55L, 55R) are equipped with sensors (not shown) that detect contact or force.

[0037] A first camera 56 is provided on the upper part of the base body 51 and is oriented in an axial direction parallel to the first linear axis (JL1). The first camera 56 has, for example, a function as an RGB camera and a function as a ToF (Time of Flight) camera. This first camera 56 can be used to recognize markers, objects, and the space (gaps) surrounding the objects.

[0038] A distance sensor 58 is provided near the center of the end effector 53, i.e., the gripper, and is oriented in the axial direction parallel to the first linear axis (JL1). By using this distance sensor 58, the relative distance between the object and the gripper can be detected. This makes it possible to detect whether slippage occurs between the object and the jaws 55 when gripping the object.

[0039] A second camera 57 is provided directly above the distance sensor 58 and oriented in an axial direction parallel to the first linear axis (JL1). The second camera 57 is, for example, a monochrome camera, and captures an image of an identifier such as a barcode attached to an object. Based on this captured image, for example, an identification or recognition process of the object or its contents is performed. Note that the second camera 57 may have a higher resolution and a narrower angle of view than the first camera 56.

[0040] It should be noted that the sensors attached to object manipulation unit 50 are not limited to these sensors (first camera 56, second camera 57, distance sensor 58). Therefore, various other known sensors may also be employed.

[0041] 3 is a diagram showing the overall configuration of the object transport system. As is clear from the diagram, a management server 700 and a plurality of mobile manipulators 100 are connected to each other via a network so that they can communicate with each other. The network may be, for example, the Internet, a LAN, or a WAN.

[0042] 4 is a functional block diagram of a management server 700 that manages the mobile manipulator 100. As is clear from the diagram, the management server 700 includes a control unit 701, a storage unit 702, a communication unit 703, a display output unit 705, an audio output unit 706, and an input unit 708, which are connected to one another via a bus.

[0043] The control unit 701 is a calculation device such as a CPU, and executes various processes described below according to programs read from the storage unit 702. The storage unit 702 is a storage device such as a ROM, RAM, flash memory, or hard disk, and stores programs and various data executed by the control unit 701. The communication unit 703 is a wired or wireless communication unit that exchanges information with external devices and provides data to the control unit 701 or the storage unit 702.

[0044] The display output unit 705 outputs images to a connected display (not shown) or the like in accordance with the output of the control unit 701. The audio output unit 706 outputs audio to a connected speaker (not shown) or the like in accordance with the output of the control unit 701. The input unit 708 provides input signals from input devices (not shown) such as a keyboard, mouse, touch panel, or button to the control unit 701 or the storage unit 702.

[0045] 5 is a functional block diagram of the mobile manipulator 100. As is clear from the diagram, the mobile manipulator 100 includes a control unit 101, a memory unit 102, a communication unit 103, a LiDAR device 13, a movement mechanism unit 20, an articulated robot arm unit 30, and an object manipulation unit 50, which are all connected to one another via a bus.

[0046] The control unit 101 is a computing device such as a CPU, and executes various processes described below according to programs read from the storage unit 102. The storage unit 102 is a storage device such as a ROM, RAM, or flash memory, and stores programs and various data. The communication unit 103 is a communication unit for wireless communication, and transmits and receives information to and from external devices. The LiDAR device 13 is a sensor unit that acquires the distance, position, shape, etc. of the environment. The acquired information is stored in the storage unit 102, etc., and used by the control unit 101.

[0047] The articulated robot arm unit 30 is provided with an arm drive unit including an actuator used to drive the joints, and an arm sensor that acquires the state of the articulated robot arm unit 30, such as the joint angles.

[0048] The moving mechanism unit 20 is a trackless moving mechanism that does not require rails or the like, and is equipped with a wheel drive unit, which is a drive circuit for driving the drive wheels (W1, W2), and wheel sensors that detect the rotational state of the drive wheels (W1, W2). Information detected via the sensors is stored in the memory unit 102 or used by the control unit 101.

[0049] The object manipulator 50 is equipped with a claw driver to drive the joint (JL2) associated with the interlocking left and right claws (55L, 55R). It also has a linear axis driver as a drive circuit to drive the first linear joint (JL1). Additionally, the object manipulator 50 is equipped with a sensor to detect force or contact acting on the claws 55.

[0050] In addition, the object manipulation unit 50 is equipped with various sensors, namely, a first camera 56, a second camera 57, and a distance sensor 553, and information obtained through the sensors is stored in the memory unit 102 or used by the control unit 101.

[0051] The above configuration is an example, and various additions, changes, deletions, etc. may be made to the configuration. It may be modified to have the following configuration.

[0052] (1.2 Robot behavior) 6 is a general flowchart of the operation of the mobile manipulator 100 for performing an object manipulation task. Before describing the operation, the working area in which the mobile manipulator 100 moves will be described.

[0053] 7 is a schematic plan view of the working area in which the mobile manipulator 100 operates. As is clear from the drawing, in this embodiment, the working area includes a shared area 400 at the top of the drawing and a plurality of occupied areas 500 extending downward from the shared area 400.

[0054] The shared area 400 is an area in which multiple mobile manipulators 100 can move simultaneously, and within this area, virtual element areas 90 in a grid or square pattern are regularly arranged. In this embodiment, the element areas 90 are set to a size that is equal to or slightly larger than the turning diameter 80 of the movement mechanism unit 20 of the mobile manipulator 100. In addition, element areas 90 are also provided near the entrance and exit of the occupied area 500. As will be described later, in this embodiment, the mobile manipulator 100 moves within the shared area 400 with a minimized turning diameter 80, so the element areas 90 can be set small.

[0055] The management server 700 generates a movement path in which the mobile manipulators 100 do not collide with each other in the shared area 400, i.e., a movement order between the element areas 90, by solving a MAPF (Multi-agent Path Finding) problem. Note that various known methods (or algorithms) can be used to solve the MAPF problem.

[0056] The occupied area 500 is an area into which, once one mobile manipulator 100 has entered, other mobile manipulators 100 cannot enter, i.e., an area in which movement of only one mobile manipulator 100 is permitted. In this embodiment, the occupied area 500 is set in the passage between shelves 202 on which objects are placed.

[0057] In this embodiment, in the occupied area 500, path generation in the form of solving the MAPF problem is not performed, but a path is simply generated for one mobile manipulator 100 from the element area 90 near the entrance to in front of the storage position of the object on the shelf 202. Various known methods can be adopted as a method for generating a movement path.

[0058] As will be described later, information on the movement path in the shared area 400 and the movement path in the occupied area 500 is used to generate an object manipulation task execution command.

[0059] 6, when the process starts, the control unit 101 of the mobile manipulator 100 enters a standby state until it receives a command to execute a predetermined object manipulation task from the management server 700 (S10 NO). The object manipulation task is a task that includes movement of the mobile manipulator 100 and object manipulation, and in this embodiment, it is a task that commands one of the mobile manipulators 100 present in the shared area 400 to move sequentially through the shared area 400 and the occupied area 500, and acquire (or pick) an object on the shelf 202.

[0060] When an execution command for the object manipulation task is received (S10 YES), the control unit 101 executes a movement process for the shared area 400 (S11). More specifically, the control unit 101 executes a process for moving the mobile manipulator 100 from its current position to the center of an element area 90 near the entrance / exit of one of the occupied areas 500 that is optimal for acquiring the target object, while controlling the movement mechanism unit 20 while performing self-location estimation using the LiDAR device 13 according to the given route. This movement process ends when the mobile manipulator 100 moves to the center of the element area 90 near the entrance / exit of the occupied area 500.

[0061] During this movement, the control unit 101 controls the multi-joint robot arm unit 30 and / or the object manipulation unit 50 (hereinafter referred to as the operating unit), which are parts whose posture changes, so that when the mobile manipulator 100 is viewed in a plane, the structure above the movement mechanism unit 20, i.e., in this embodiment, the operating unit, does not extend outside the rotation diameter of the movement mechanism unit 20.

[0062] 8 is an explanatory diagram showing an example of control to prevent any component of the mobile manipulator 100, i.e., the articulated robot arm unit 30 and / or the object manipulation unit 50, from extending outside the turning diameter 80 of the movement mechanism unit 20. Note that Fig. 8(a) is an external perspective view of the mobile manipulator 100 showing a state in which none of the components of the mobile manipulator 100 extends outside the turning diameter of the movement mechanism unit 20, and Fig. 8(b) is a plan view of the mobile manipulator 100 showing a state in which none of the components of the mobile manipulator 100 extends outside the turning diameter of the movement mechanism unit 20.

[0063] As is clear from Fig. 1(a), the operating unit is folded up into a small size. Fig. 1(b) is a plan view of the mobile manipulator 100 in such a position, and it can be seen from this figure that all of the components are contained within the turning diameter of the moving mechanism unit 20.

[0064] With this configuration, the mobile manipulator 100, which moves within the shared area 400 and whose occupied area can change depending on the operating unit (e.g., the articulated robot arm unit 30 and / or the object manipulation unit 50), controls the operating unit to operate within the turning diameter 80 of the movement mechanism unit 20. As a result, the occupied area of ​​the mobile manipulator 100 becomes equal to the turning diameter 80 of the movement mechanism unit 20, so the turning diameter of the mobile manipulator 100 can be minimized, thereby improving the movement efficiency and volumetric efficiency. In other words, in an environment where multiple mobile manipulators 100 share a predetermined area, it is possible to improve the movement efficiency of the mobile manipulators 100, whose occupied area can change, and to improve the volumetric efficiency of the space.

[0065] Furthermore, with this configuration, the moving part can be housed within the turning diameter 80 of the moving mechanism part 20 by taking advantage of the property of the articulated robot arm that allows the posture to be changed with a high degree of freedom.

[0066] 6, when the movement process of the shared area 400 is completed, the control unit 101 starts the movement process of the occupied area (S12). More specifically, the control unit 101 performs self-location estimation using the LiDAR device 13 while controlling the movement mechanism unit 20 to move the mobile manipulator 100 from the element area 90 near the entrance / exit of the occupied area 500 to in front of the storage position of the target object on the shelf. When the mobile manipulator 100 moves in front of the target object, it stops and the movement process ends.

[0067] During this movement, the control unit 101 controls the operating unit to change the position of the operating unit to a position suitable for starting object manipulation after stopping, i.e., a position that allows the operating unit to immediately reach the object on the shelf in this embodiment, i.e., a preparatory operation for object manipulation. At this time, the control unit 101 controls the position by allowing a part of the operating unit to extend outside the movement mechanism unit 20 when viewed from above.

[0068] 9 is an explanatory diagram showing an example in which the operating units of the mobile manipulator 100, i.e., the articulated robot arm unit 30 and / or the object manipulation unit 50, extend outward from the turning diameter 80 of the movement mechanism unit 20. Note that FIG. 9(a) is an external perspective view of the mobile manipulator 100 showing a state in which the operating units of the mobile manipulator 100 extend outward from the turning diameter of the movement mechanism unit 20, and FIG. 9(b) is a plan view of the mobile manipulator 100 showing a state in which the operating units of the mobile manipulator 100 extend outward from the turning diameter of the movement mechanism unit 20.

[0069] As is clear from Fig. 1(a), the operating unit is in a more open intermediate position from the folded position in the shared area 400. Also, as is clear from Fig. 1(b), in this position the operating unit extends outward beyond the turning diameter 80 of the moving mechanism unit 20. At this time, the turning diameter 85 of the mobile manipulator is at the position indicated by the outer dashed line.

[0070] 10 is a plan view showing the change in posture of the mobile manipulator 100 moving in the occupied area 500 provided between the shelves 202. Fig. 10(a) is a plan view of the mobile manipulator 100 immediately after starting to move, and Fig. 10(b) is a plan view of the mobile manipulator 100 midway through its movement.

[0071] As is clear from Fig. 1(a), immediately after moving to the occupied area 500, the mobile manipulator 100 has passed through the shared area 500, and therefore none of the components of the mobile manipulator 100 extend outside the turning diameter 80 of the movement mechanism 20. After that, as is clear from Fig. 1(b), the mobile manipulator 100, while moving, extends the operating unit of the mobile manipulator 100 outside the turning diameter 80 of the movement mechanism 20 in order to change the attitude of the operating unit to an attitude suitable for starting object manipulation after stopping.

[0072] With this configuration, movement efficiency and volume efficiency can be improved in the shared area 400, while in the occupied area 500, the operating unit is allowed to operate beyond the turning diameter of the movement mechanism unit 20, allowing the operating unit to be used efficiently.

[0073] Returning to FIG. 6, once the movement process of occupied area 500 is completed, control unit 101 performs object manipulation process (S13). More specifically, control unit 101 recognizes the object on the shelf using images obtained from first camera 56 and / or second camera 57, etc. Then, control unit 101 acquires the object using the operation unit. More specifically, object manipulator 50 is made to face the object using articulated robot arm unit 30, and then object manipulator 50 is used to store the object in object manipulator 50, thereby acquiring the object.

[0074] 11 is a perspective view of mobile manipulator 100 performing a process to acquire an object on shelf 202. This figure shows the mobile manipulator 100 immediately before changing the orientation of the articulated robot arm unit 30 to move the object manipulator 50 toward the object on the top shelf of shelf 202. After moving the object manipulator 50 toward the object, the mobile manipulator 100 slides the slide member 52 of the object manipulator 50 so as to extend it, grasps the object using the end effector 53, i.e., the gripper, on the slide member 52, and then slides the slide member 52 back in, thereby retracting the object into the object manipulator 50. In this way, the mobile manipulator 100 acquires the object.

[0075] At this time, the mobile manipulator 100 has already performed a preparatory operation while moving within the occupied area 500, so when it completes its movement and stops, it has already adopted a posture suitable for object manipulation.

[0076] With this configuration, the operating unit can be used efficiently by performing preparatory operations in the occupied area 500 near the shelf 202 where object manipulation will be performed in the near future.

[0077] Returning to FIG. 6, after the object manipulation process is completed, the series of operations ends.

[0078] In this embodiment, the task of the mobile manipulator 100 moving from the shared area 400 to the occupied area 500 to acquire an object on the shelf 202 has been described, but the present invention is not limited to such a task. For example, the present invention can also be applied to a task of transporting an object acquired from the shelf 202 from the occupied area 500 to the shared area 400, or a task of transporting an object in the shared area 400 to the shelf 202.

[0079] Furthermore, in this embodiment, although the preparatory operation for object manipulation is started in the occupied area 500, the preparatory operation for object manipulation may also be started while moving in the shared area 400, provided that the operating unit does not extend beyond the turning diameter 80 of the moving mechanism unit 20.

[0080] According to this configuration, the preparatory operation in the shared area 400 allows the operating section to be used more efficiently.

[0081] (2. Modifications) The present invention can be implemented in various modifications.

[0082] In the first embodiment, there is one entrance from the shared area 400 to each of the occupied areas 500, but the present invention is not limited to such a configuration, and there may be multiple entrances.

[0083] 12 is an explanatory diagram of an example in which multiple entrances and exits are provided in each occupied area 500. As is clear from the figure, each occupied area 500 is provided with two entrances and exits, and it is possible to enter or exit each occupied area 500 from either of the entrances and exits. In this case, virtual element areas 90 are provided near each entrance and exit.

[0084] With this configuration, it is possible to move between the shared area 400 and the occupied area 500 via various routes.

[0085] In the first embodiment, the shared area 400, in which group control is performed by solving the MAPF problem, and the occupied area 500, in which only one vehicle is allowed to move, are fixedly provided, but the present invention is not limited to such a configuration. Therefore, the management server 700 may dynamically switch between the shared area 400 and the occupied area 500 for a part of the working area.

[0086] 13 is an explanatory diagram relating to an example of dynamic switching between a shared area 400 and an occupied area 500. In the example of the figure, four shelves 202 are arranged parallel to one another. In the figure, the area between the leftmost shelf 202 and the second shelf 202 from the left and between the rightmost shelf 202 and the second shelf 202 from the right is the shared area 400, and the area between the second shelf 202 from the left and the second shelf 202 from the right is the occupied area 500.

[0087] In the example of the figure, the management server 700 sets the area where the mobile manipulator 100 is moving or is scheduled to move between the shelves 202 as the occupied area 500, and the other area as the shared area 400. That is, in the example of the figure, the mobile manipulator 100 (not shown) is present between the second shelf 202 from the left and the second shelf 202 from the right, so this area is set as the occupied area 500, and the area between the other shelves 202 is set as the shared area 400. At this time, in the shared area 400, group control is performed by solving the MAPF problem.

[0088] This configuration allows for efficient use of the work area.

[0089] In the first embodiment, the control of the operating part of the mobile manipulator 100 moving in the occupied area 500 was only mentioned in relation to the turning diameter 80 of the moving mechanism part 20, but in the present invention, other conditions may also be added.

[0090] 14 is an explanatory diagram regarding additional conditions for controlling the operating unit. In the example shown in the figure, the operating unit of the mobile manipulator 100 is allowed to extend beyond the turning diameter 80 of the mobile mechanism 20, but is controlled so as not to extend beyond the width W of the mobile mechanism 20 in a plan view.

[0091] With this configuration, even if the operating unit operates, it is possible to prevent a part of the mobile manipulator 100 from interfering with or colliding with the shelf 202, and the mobile manipulator 100 can be moved more safely. Note that in this modified example, the operating unit must not extend beyond the width W, but other conditions may be adopted based on environmental conditions, etc. Furthermore, the environment may include walls, etc. in addition to shelves.

[0092] Although the embodiments of the present invention have been described above, the above embodiments merely illustrate some of the application examples of the present invention, and the technical scope of the present invention is not intended to be limited to the specific configurations of the above embodiments. Furthermore, the above embodiments can be combined as appropriate within the scope of not causing any contradiction. [Industrial Applicability]

[0093] The present invention can be used in industries that manufacture robots and the like. [Explanation of symbols]

[0094] 10 Main body 20 Transition Mechanism 30 Articulated robot arm 50 Object operation section 100 Mobile Manipulator 400 Shared Area 500 occupied area 700 Management Server 900 Object

Claims

1. A mobile robot that moves in a shared area under collectively controlled control of a plurality of mobile robots, a movement mechanism unit including a movement means capable of causing the mobile robot to turn; an operating unit connected directly or indirectly to the movement mechanism unit and equipped with an object manipulation means; a control unit that controls the movement mechanism unit and the operation unit, A mobile robot, wherein the control unit controls the operating unit within a range in which the operating unit does not extend beyond the turning diameter of the movement mechanism unit when the mobile robot is viewed in a planar view while the mobile robot is moving in the shared area.

2. the mobile robot moves between the shared area and an occupied area in which movement by only one mobile robot is permitted; 2. The mobile robot according to claim 1, wherein the control unit controls the operating unit by allowing the operating unit to extend outside the turning diameter of the movement mechanism unit when the mobile robot is viewed in a plan view while the mobile robot is moving within the occupied area.

3. In the shared area, each of the mobile robots is collectively controlled to identify a movement path between lattice-shaped virtual areas by solving a MAPF problem; The mobile robot according to claim 1 , wherein the size of the virtual area is defined based on a turning diameter of the mobile robot.

4. the object manipulation means includes an articulated robot arm, 2. The mobile robot according to claim 1, wherein the control unit controls the operating unit within a range that does not extend beyond a turning diameter of the moving mechanism unit by folding the articulated robot arm.

5. The mobile robot according to claim 2 , wherein the occupied area is located in a vicinity of a shelf on which the object is placed.

6. 6. The mobile robot according to claim 5, wherein the control unit controls the operation unit to perform a preparatory operation for placing an object on the shelf or for retrieving an object from the shelf while the mobile robot is moving in the occupied area.

7. 7. The mobile robot according to claim 6, wherein the control unit controls the operation unit to perform a preparatory operation for placing an object on the shelf or for retrieving an object from the shelf while the mobile robot is moving in the shared area.

8. The mobile robot according to claim 2 , wherein the shared area and the occupied area are configured to be movable between each other through a plurality of entrances and exits.

9. The mobile robot according to claim 2 , wherein the occupied area is dynamically changed to a shared area.

10. 3. The mobile robot according to claim 2, wherein the control unit controls the operating unit so that the operating unit does not come into contact with the external environment when the mobile robot is viewed from above while the mobile robot is moving in the shared area or the occupied area.

11. A method for controlling mobile robots in which a plurality of mobile robots move in a shared area under collectively controlled control, comprising the steps of: The mobile robot is a movement mechanism unit including a movement means capable of causing the mobile robot to turn; an operating unit connected directly or indirectly to the movement mechanism unit and equipped with an object manipulation means; The control method includes: a control step of controlling the movement mechanism unit and the operation unit, The control step is a control method in which, while the mobile robot is moving in the shared area, the operating unit is controlled within a range in which the operating unit does not extend beyond the turning diameter of the moving mechanism unit when the mobile robot is viewed in a planar view.

12. A control program for a mobile robot in which a plurality of mobile robots move in a shared area under collectively controlled control, comprising: The mobile robot is a movement mechanism unit including a movement means capable of causing the mobile robot to turn; an operating unit connected directly or indirectly to the movement mechanism unit and equipped with an object manipulation means; The control program a control step of controlling the movement mechanism unit and the operation unit, The control step is a control program that controls the operating unit within a range that does not extend beyond the turning diameter of the movement mechanism unit when the mobile robot is viewed in a planar view while the mobile robot is moving in the shared area.

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