Robot and robot system

Abstract

To provide a robot for suppressing the instruction mistake of a work instructor, and for shortening a time to be spent on a work instruction.SOLUTION: A robot according to an aspect of the invention includes a work mechanism that grips and moves a work target object, a reading section that reads identification information of an identifier set in a work place, a storing section that stores a work pattern corresponding to the identification information, and a control section that controls the work mechanism on the basis of the work pattern corresponding to the identification information read by the reading section.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to a robot and a robot system. [Background technology]

[0002] The labor shortage in the medical field has long been a concern. There is a strong demand for labor-saving and automation in laboratories, particularly in laboratory operations. The introduction of robots is considered as one means of automation. Because robots are expensive, there is also a strong demand for a single robot to handle multiple tasks, rather than just one task. For example, Patent Document 1 discloses a technology that allows a user to select specific work objects and tasks that can be performed by a robot. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2015-136762 Summary of the Invention [Problem to be solved by the invention]

[0004] When a single robot can perform multiple tasks, the person instructing the robot must select the correct task from the multiple task patterns registered on the robot. Therefore, if the person instructing the robot instructs (operates) the wrong task pattern, there is a risk that the robot or the peripheral devices may be damaged due to contact with the robot, or the object being picked may fall and be lost. It is also expected that it will take a long time to select the correct task.

[0005] An object of the present invention is to provide a robot and a robot system that reduce instruction errors made by a work instructor and shorten the time required to issue work instructions. [Means for solving the problem]

[0006] In order to solve the above-mentioned problems, the robot of the present invention comprises a work mechanism that grasps and moves a work object, a reading unit that reads identification information of an identifier installed at a work location, a memory unit that stores a work pattern corresponding to the identification information, and a control unit that controls the work mechanism based on the work pattern corresponding to the identification information read by the reading unit. [Effects of the Invention]

[0007] According to the present invention, it is possible to provide a robot and a robot system that can reduce instruction errors by a work instructor and reduce the time required to issue work instructions. Problems, configurations, and effects other than those described above will become apparent from the following description of the embodiments. [Brief explanation of the drawings]

[0008] [Figure 1] Table showing examples of tasks that the robot performs in the examination room. [Figure 2] FIG. 1 is a schematic configuration diagram of a robot system according to a first embodiment. [Figure 3] FIG. 1 is a block diagram showing the configuration of a robot (main body) according to a first embodiment. [Figure 4] 3 is an example of an operation pattern table stored in a storage unit of the robot according to the first embodiment. [Figure 5] 4 is a flowchart showing the operation of the robot according to the first embodiment. [Figure 6] FIG. 10 is a schematic configuration diagram of a robot system according to a second embodiment. [Figure 7] FIG. 10 is a block diagram showing the configuration of a robot (main body) and a computer according to a second embodiment. [Figure 8] 10 is an example of an operation pattern table stored in a storage unit of the robot according to the second embodiment. [Figure 9] 10 is a flowchart showing the operation of the robot according to the second embodiment. [Figure 10] 10 is an example of a screen displayed on an output unit of a computer according to the second embodiment. [Figure 11]11 is an example of a two-dimensional code displayed on an identifier according to the third embodiment. [Figure 12] 11 is an example of an operation pattern table stored in a storage unit of the robot according to the third embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described in detail with reference to the accompanying drawings.

[0010] The robot of this embodiment is placed, for example, in a laboratory, and performs a plurality of work tasks (hereinafter sometimes referred to as tasks) related to testing. In addition to the robot, the laboratory is also equipped with analyzers for analyzing specimens such as serum, plasma, and urine, a storage cabinet for storing reagents, shelves for storing specimen racks and consumables, a workbench where an operator works, and the like.

[0011] Figure 1 is a table showing examples of tasks that a robot can perform in a laboratory. When the work object is a specimen container (test tube) that contains a specimen, the work content includes capping, uncapping, and loading onto a specimen rack. Note that the capping work is performed next to the specimen loading section of the analyzer, while the uncapping and loading onto the specimen rack is performed on a work desk. When the work object is a reagent container (reagent bottle) that contains a reagent, the work content includes removing a used reagent container from the analyzer and loading an unused reagent container into the analyzer.

[0012] In this way, when it is assumed that one robot will perform multiple tasks, a work instructor (such as an operator) must instruct the robot which task to perform. Therefore, in this embodiment, the work instructor has the robot read the identification information of a predetermined identifier installed in the work area of ​​the examination room, and causes the robot to perform a predetermined work pattern corresponding to the identification information. Since the work instructor only needs to move the robot in front of the identifier corresponding to the task that the robot is to perform, incorrect instructions are reduced and the time required to issue instructions is also shortened. Specific explanations will be given below using Examples 1 to 3. [Example]

[0013] 2 is a schematic configuration diagram of a robot system according to Example 1. As shown in FIG. 2, the robot system of Example 1 includes an identifier 20 and a robot 10.

[0014] The identifier 20 is installed in the work area of ​​the robot 10 and displays identification information such as marks such as symbols and figures, numbers and character strings, combinations of these, barcodes and two-dimensional codes, etc. However, the identifier 20 is not limited to being attached to structures such as analytical devices and shelves near the work area, but may also be attached as an RFID tag or have identification information defined by the characteristic shape or arrangement of the structure itself.

[0015] Furthermore, as one element of the robot system, a position correction marker may be installed in the work area as a reference position for the robot 10 to grasp the position information necessary for operation. This position correction marker may be installed separately from the identifier 20 that displays the identification information corresponding to the work pattern, or may be installed integrally. If the position correction marker and the identification information are displayed on the same identifier 20, the robot 10 only needs to read the identifier 20 once, which has the advantage of reducing work time.

[0016] Next, the configuration of the robot 10 will be described. The robot 10 according to the first embodiment is mainly composed of a traveling unit 11 and a main body unit 12. The traveling unit 11 supports the main body unit 12 and is equipped with tires and the like so that it can be moved to a work location automatically or manually. However, the traveling unit 11 may be separate from the robot 10. An example of an automatic traveling unit 11 is an AGV (Automatic Guided Vehicle), and an example of a manual traveling unit 11 is a cart that is pushed or pulled by a work instructor.

[0017] Fig. 3 is a block diagram showing the configuration of the robot (main body) according to Example 1. As shown in Fig. 3, the main body 12 includes a working mechanism 13, a reading unit 14, a storage unit 15, and a control unit 16.

[0018] The working mechanism 13 is made up of a hand that grips and releases the work object, an arm that moves the hand to a predetermined position, and the like.

[0019] The reading unit 14 reads the identification information of the identifier 20 installed in the work area. For example, if the identifier 20 is a mark, a two-dimensional code, or the like, the reading unit 14 is a camera, and if the identifier 20 is an RFID tag, the reading unit 14 is an RFID reader. The reading unit 14 can read not only the identification information of the identifier 20, but also a position correction marker displayed on an identifier 20 that is the same as or different from the identifier 20. However, the reading unit 14 that reads the identification information and the reading unit 14 that reads the position correction marker may be different units.

[0020] The memory unit 15 stores work patterns corresponding to the identification information. FIG. 4 shows an example of a work pattern table stored in the memory unit of the robot according to the first embodiment. Here, it is assumed that multiple types of marks are displayed on each identifier 20 as identification information. As shown in FIG. 4, the work pattern table defines different work patterns associated with each mark. The work patterns, including the work object and work location, are defined using a programming language or the like.

[0021] The control unit 16 controls the operation of the working mechanism 13 by providing predetermined parameters to the working mechanism 13, sends reading commands to the reading unit 14, and receives read information from the reading unit 14. The control unit 16 also corrects the position of the robot 10 (working mechanism 13) based on the position information of the position correction marker.

[0022] Next, the operation of the robot 10 will be described. FIG. 5 is a flowchart showing the operation of the robot according to the first embodiment. First, when a work instructor moves the robot 10 in front of an identifier 20 corresponding to a task that the robot 10 is to perform, among multiple identifiers 20 installed in the work area of ​​the examination room, the reading unit 14 of the robot 10 reads the identification information of the identifier 20 (step S101). Next, the control unit 16 of the robot 10 checks the operation pattern table in the memory unit 15 based on the identification information read by the reading unit 14 and extracts an operation pattern corresponding to the identification information (step S102). For example, if the identification information read by the reading unit 14 is a star mark shown in No. 4 of FIG. 4, the control unit 16 extracts the operation pattern "open the test tube." Then, the control unit 16 starts the operation of the operation mechanism 13 according to the extracted operation pattern (step S103).

[0023] In this embodiment, the robot 10 automatically identifies the work pattern to be performed and starts the work without the work instructor having to give instructions (operations) to the robot, improving workability for the work instructor. Although not shown in Fig. 5, the control unit 16 also corrects the position of the robot (work mechanism) based on the position information of the position correction marker read by the reading unit 14. [Example]

[0024] FIG. 6 is a schematic configuration diagram of a robot system according to Example 2. As shown in FIG. 6, the robot system of Example 2 includes an identifier 20, a robot 10, and a computer 30. In Example 1, the robot 10 always automatically identifies the work pattern, but in Example 2, a work instructor can operate the computer 30 as needed to intervene in the identification of the work pattern. The following mainly describes the differences from Example 1.

[0025] FIG. 7 is a block diagram illustrating the configuration of a robot (main body) and a computer according to the second embodiment.

[0026] The robot's main body 12 includes a working mechanism 13, a reading unit 14, a memory unit 15, a control unit 16, and a communication unit 17. The configurations of the working mechanism 13, the reading unit 14, and the control unit 16 are the same as those in the first embodiment. Figure 8 is an example of a work pattern table stored in the memory unit of the robot according to the second embodiment. As shown in Figure 8, Nos. 1 to 4 are the same as those in Figure 4 of the first embodiment, but Nos. 5 and 6 have different work patterns defined for the common square mark. The communication unit 17 is an interface for sending and receiving signals to and from the computer 30, and the connection method with the computer 30 may be wireless or wired.

[0027] The computer 30 includes an output unit 31, an input unit 32, and a communication unit 33. The output unit 31, which is a display, outputs multiple work patterns when there are multiple work patterns corresponding to the identification information. The input unit 32, which is a keyboard or mouse, selects a specific work pattern from the multiple work patterns. The communication unit 33 is an interface for sending and receiving signals to and from the robot 10. The output unit 31 and the input unit 32 may be touch-panel monitors that combine the functions of both, and the computer 30 may be a smartphone or tablet terminal.

[0028] Next, the operation of the robot 10 will be described. FIG. 9 is a flowchart showing the operation of the robot according to the second embodiment. First, when a work instructor moves the robot 10 in front of an identifier 20 corresponding to a task that the robot 10 is to perform, among multiple identifiers 20 installed in the work area of ​​the inspection room, the reader 14 of the robot 10 reads the identification information of the identifier 20 (step S201). Next, the control unit 16 of the robot 10 checks the work pattern table in the memory unit 15 based on the identification information read by the reader 14 and extracts a work pattern corresponding to the identification information (step S202). Thereafter, the control unit 16 determines whether there are multiple extracted work patterns (step S203). If there is not multiple extracted work patterns, i.e., if there is only one extracted work pattern, the control unit 16 starts the operation of the work mechanism 13 according to the work pattern (step S206).

[0029] On the other hand, if it is determined in step S203 that there are multiple work patterns, the control unit 16 transmits each extracted work pattern to the computer 30 via the communication unit 17, and the output unit 31 of the computer 30 displays them (step S204). For example, if the identification information read by the reader 14 of the robot 10 is a square mark common to Nos. 5 and 6 in FIG. 8, the output unit 31 of the computer 30 displays two work patterns, as shown in FIG. 10: "Remove used reagent bottles from the analyzer and insert unused reagent bottles" and "Move consumables from the shelf to the side of the analyzer." Note that even if the marks themselves are the same, if the corresponding work patterns are different, accompanying information that can distinguish them may be displayed in the identifier. In FIG. 8, the notation "1" or "2" following the square mark corresponds to the accompanying information. The work instructor selects a desired work pattern from the multiple work patterns displayed on the output unit 31 using the input unit 32 (step S205). The selection result is transmitted to the robot 10 by the communication unit 33, and the control unit 16 starts the operation of the working mechanism 13 in accordance with the selected work pattern (step S206).

[0030] According to this embodiment, even if it is not possible to install a large number of identifiers 20 due to constraints on the layout of the examination room or the like, it is possible to have a single robot 10 perform a large number of tasks by having the work instructor make a selection. Note that in this embodiment, the identification information is output only when there are multiple work patterns corresponding to it, and the work instructor is prompted to make a selection; however, a non-automatic mode may also be provided in which the read work pattern is always displayed on the output unit 31, prompting the work instructor to confirm it via the input unit 32. When the non-automatic mode is set by the work instructor, the work instructor will confirm it even if there is only one work pattern corresponding to the identification information, which further reduces errors in work instructions.

[0031] 8 is stored in the memory unit 15 of the robot 10, it may be stored in a memory unit (not shown) of the computer 30. The computer 30 may be an operator's PC placed in an examination room to control an analyzer or the like, or it may be a server placed in a location separate from the examination room. Furthermore, in this embodiment, the output unit and input unit are provided in the computer 30, but the output unit and input unit may be provided in the robot 10. [Example]

[0032] In the third embodiment, in addition to the identification information, part of the information for defining a work pattern is also included in the identifier 20. That is, in the work pattern table of the third embodiment, only part of the work pattern corresponding to the identification information is defined, and information defining the other part of the work pattern is displayed in the identifier 20.

[0033] Fig. 11 is an example of a two-dimensional code displayed on an identifier according to Example 3. As shown in Fig. 11, display information 21 of the two-dimensional code includes sentences A to E. Sentence A is used to extract a specific work pattern in the work pattern table. Sentences B to E are used to define part of the work pattern, and are information such as parameters related to the operating distance and initial posture, and arguments for calling a predetermined operation on the robot.

[0034] Fig. 12 is an example of an operation pattern table stored in the storage unit of the robot according to Example 3. As shown in Fig. 12, in the operation pattern table of Example 3, a function of the robot operation assigned to the above-mentioned argument is associated with a predetermined two-dimensional code as part of information defining the operation pattern.

[0035] When the reading unit 14 of the robot 10 reads the two-dimensional code shown in FIG. 11, in addition to the information of sentence A, the information of sentences B to E is sent to the control unit 16. Next, the control unit 16 of the robot 10 checks the work pattern table based on the information of sentence A and extracts the work pattern of "QR1" as identification information. Furthermore, the control unit 16 combines the information of sentences B to E with the extracted work pattern to uniquely define the content of the work pattern. In the example of FIGS. 11 and 12, the work pattern defined is "PICK (robot operation function) at XYZ coordinates X100Y-50Z350, and PLACE (robot operation function) at XYZ coordinates X500Y250Z400."

[0036] According to this embodiment, when it is desired to change or add a definition of a work pattern, the work pattern table can be left as is, and only the identifier 20 can be changed or added. This has the advantage of being possible.

[0037] The present invention is not limited to the above-described embodiments and includes various modifications. For example, the above-described embodiments have been described in detail to clearly explain the present invention, and the present invention is not necessarily limited to those including all of the described configurations. Furthermore, it is possible to replace part of the configuration of one embodiment with the configuration of another embodiment, or to add the configuration of another embodiment to the configuration of one embodiment. Furthermore, it is possible to add, delete, or replace part of the configuration of each embodiment with other configurations. [Explanation of symbols]

[0038] 10...robot, 11...traveling unit, 12...main body unit, 13...work mechanism, 14...reading unit, 15...storage unit, 16...control unit, 17...communication unit, 20...identifier, 21...display information, 30...computer, 31...output unit, 32...input unit, 33...communication unit

Claims

1. a working mechanism for gripping and moving a work object; a reading unit that reads identification information of an identifier installed in a work location; a storage unit that stores an operation pattern corresponding to the identification information; a control unit that controls the working mechanism based on the working pattern corresponding to the identification information read by the reading unit; A robot equipped with

2. In claim 1, The reading unit also reads the marker at the reference position, The control unit corrects the position of the robot based on the position information of the marker read by the reading unit.

3. In claim 2, The robot is characterized in that the marker and the identification information are displayed on the same identifier.

4. In claim 1, A robot characterized in that the identifier is defined by the shape or arrangement of a structure itself in the work location.

5. A robot system including a robot and an identifier installed in a work location of the robot, The robot a working mechanism for gripping and moving a work object; a reading unit that reads the identification information of the identifier; a control unit that controls the working mechanism based on a working pattern corresponding to the identification information read by the reading unit.

6. In claim 5, the robot further includes a storage unit that stores information defining a part of the work pattern corresponding to the identification information; A robot system characterized in that the identifier displays, in addition to the identification information, information defining another part of the work pattern corresponding to the identification information.

7. In claim 5, Further comprising a computer capable of communicating with the robot; The computer an output unit that outputs the plurality of work patterns when there are a plurality of work patterns corresponding to the identification information; and an input unit for selecting a specific work pattern from the plurality of work patterns.

8. In claim 5, Further comprising a computer capable of communicating with the robot; The computer A robot system comprising a storage unit that stores a work pattern corresponding to the identification information.

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