Transport robots and robotic systems

Abstract

To improve the safety of robotic systems. [Solution] The transport robot 6 comprises a travel mechanism 5, an obstacle sensor 65 having a two-dimensional detection area R along the direction of travel and detecting obstacles in the surroundings, a human detection unit 64 having a three-dimensional detection area Q extending around it and detecting people in the surroundings, and a controller 69. The controller 69 performs autonomous travel control, which controls the travel mechanism 5 to move to a predetermined work area 13 by autonomous travel, and braking control, which reduces the travel speed of the travel mechanism 5 or stops travel when an obstacle is detected by the obstacle sensor 65 or a person is detected by the human detection unit 64 during autonomous travel.

Description

Technical Field

[0001] The technology disclosed herein relates to a transport robot and a robot system.

Background Art

[0002] There is known a robot system using a transport robot that transports work while traveling inside a factory building. The robot system is employed, for example, in an assembly line of an automobile body. As the transport robot, for example, an AGV (Automatic Guided Vehicle) or an AMR (Autonomous Mobile Robot) is adopted.

[0003] Patent Document 1 describes an automatic driving system that drives an automatic driving device within a driving area. In the facility of Patent Document 1, the driving area where the automatic driving device travels is partitioned. In the facility, a human sensor or a camera is provided near a door through which people enter and exit. Then, when the entry of a person is detected through the door, a driving restriction area for the automatic driving device is set based on the position of the door.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] As shown in Figure 9 of Patent Document 1, in Patent Document 1, when entry of a person from a door into the travel area is detected, the following actions are performed: (1) the area around the door is set as a travel restriction area (see Figure 9 of Patent Document 1), (2) a route that avoids the travel restriction area is set as the route of the automatic travel device that is scheduled to pass through the travel restriction area, and (3) the travel speed of the automatic travel device is set to a slower speed than normal (see paragraph

[0062] of Patent Document 1).

[0006] However, even if a uniform restriction zone is set for human entry, it is difficult to predict the extent of human movement. While it is possible to expand the restriction zone to ensure sufficient safety, this could affect transport robots that can continue their work, potentially disrupting the factory's operational efficiency. [Means for solving the problem]

[0007] The technology disclosed herein relates to an autonomous mobile robot. The mobile robot is A travel mechanism for moving the aforementioned transport robot, An obstacle sensor having a two-dimensional detection area along the direction of travel and detecting surrounding obstacles, A human detection unit that has a three-dimensional detection area that extends around it and detects people in the surrounding area, A controller that performs autonomous driving control, which controls the driving mechanism to move to a predetermined work area by autonomous driving, and braking control, which slows down or stops the vehicle when an obstacle is detected by the obstacle sensor or a person is detected by the person detection unit during autonomous driving. It is equipped with. [Effects of the Invention]

[0008] In the aforementioned robot system, the transport robot slows down or stops when an obstacle is detected in its surroundings by an obstacle sensor and when a person is detected in its surroundings by a person detection unit, thereby enhancing safety. [Brief explanation of the drawing]

[0009] [Figure 1] Figure 1 shows a portion of an automobile manufacturing plant where a robotic system has been implemented. [Figure 2] Figure 2 is a perspective view of the work area. [Figure 3] Figure 3 is a rear view of the work area. [Figure 4] Figure 4 is a block diagram of the robot system. [Figure 5] Figure 5 is a block diagram of the transport robot. [Figure 6] Figure 6 is a plan view showing the detection areas of the obstacle sensor and the human detection unit. [Figure 7] Figure 7 is a rear view showing the detection areas of the obstacle sensor and human detection unit. [Figure 8] Figure 8 is a flowchart related to the control of the transport robot. [Figure 9] Figure 9 is a plan view showing other detection areas of the obstacle sensor and human detection unit. [Modes for carrying out the invention]

[0010] The following describes embodiments of a robot system and a method for transporting workpieces using a robot, with reference to the drawings. The robot system and transport method described here are illustrative examples.

[0011] (Overall structure of the robot system) Figure 1 shows a portion of an automobile manufacturing plant where robot system 1 is applied. Figure 2 illustrates a work area 13 in the manufacturing plant where work is performed on the workpiece. Figure 3 shows work area 13 viewed from a different angle than in Figure 2.

[0012] A manufacturing line 10 is set up in the building 12 of the manufacturing plant. The inside of building 12 is an example of a specific area. In the illustrated example, the manufacturing line 10 is a line where welding, more specifically, spot welding, is performed on the automobile body 11. The workpiece is the body 11.

[0013] In manufacturing line 10, a robot system 1 is constructed. The robot system 1 includes an autonomous mobile transfer robot 6, which will be described later. In manufacturing line 10, the body 11 is transferred by the transfer robot 6. The work area 13 means an area where the workpiece transferred by the transfer robot 6 stays to receive work. The work area 13 is a part of the manufacturing line 10. The illustrated manufacturing line 10 has two work areas 13. Note that the number of work areas 13 included in the manufacturing line 10 is not limited to a specific number.

[0014] The front, rear, right, left, top, and bottom of the robot system 1 are defined as follows based on the body 11 of the work object in the work area 13. The front of the robot system 1 is the left back side in the direction connecting the upper right front and the left back of the paper surface in FIG. 2. The front of the robot system 1 corresponds to the front of the automobile body 11, and the rear of the robot system 1 corresponds to the rear of the automobile body 11. As will be described later, the front-rear direction corresponds to the transfer direction of the body 11. The right of the robot system 1 is the right back side in the direction connecting the upper left front and the right back of the paper surface in FIG. 2. The right of the robot system 1 corresponds to the right of the automobile body 11. The left of the robot system 1 corresponds to the left of the automobile body 11. The left-right direction is a direction horizontally orthogonal to the front-rear direction. The top of the robot system 1 is the upper side of the paper surface in FIG. 2, and the bottom of the robot system 1 is the lower side of the paper surface. The top and bottom of the robot system 1 correspond to the top and bottom of the automobile body 11. The up-down direction is a direction vertically orthogonal to the front-rear direction. Note that the above definition is the definition used in the description of the robot system 1 and is not used to limit the structure or configuration of the robot system 1 and the elements included in the robot system 1 disclosed herein.

[0015] As shown in FIG. 2 or 3, work robots 2 and 4 are installed in the work area 13. Spot welding of the body 11 is performed in the work area 13 by the work robots 2 and 4.

[0016] In the work area 13, a plurality of work robots 2 are installed. The plurality of work robots 2 are located on the left and right sides sandwiching the vehicle body 11 respectively. On the right side of the vehicle body 11, the plurality of work robots 2 are arranged in the front-rear direction of the vehicle body 11. Similarly, on the left side of the vehicle body 11, the plurality of work robots 2 are arranged in the front-rear direction of the vehicle body 11. The work robot 2 performs operations on the vehicle body 11 as a workpiece conveyed to the work area 13. The operation performed by the work robot 2 on the vehicle body 11 is welding. The work robot 2 performs welding at various locations on the vehicle body 11 respectively. The work robot 2 is a vertical articulated robot having 5 to 7 axes. As shown in FIG. 3, the work robot 2 has a welding gun 21 as an end effector. Note that the work robot 2 is not limited to a vertical articulated robot. Also, the number of the work robots 2 is not limited to a specific number. Also, the arrangement of the work robots 2 is not limited to a specific arrangement.

[0017] The work robot 4 is a locator 4 that lifts and supports the vehicle body 11 during the operation of the work robot 2. A plurality of locators 4 are installed in the work area 13. The plurality of locators 4 are located on the left and right sides sandwiching the vehicle body 11 respectively. The locator 4 is located between the work robot 2 and the transfer robot 6. Note that the relative arrangement of the work robot 2, the locator 4, and the transfer robot 6 in the work area 13 is not limited to the example of FIG. 3. The locator 4 in the illustrated example is a three-axis orthogonal robot. The locator 4 has a rod 45 that engages with the vehicle body 11. The rod 45 extends in the horizontal direction. The tip of the rod 45 engages with the vehicle body 11. The locator 4 changes the position of the tip of the rod 45 in the front-rear, left-right, and up-down directions.

[0018] The robot system 1 includes one or more transfer robots 6. The transfer robot 6 conveys the workpiece to the work area 13. The transfer robot 6 travels on the flat floor surface of the factory. As shown in FIG. 3, the vehicle body 11 is placed on the carriage 14. The transfer robot 6 is located under the carriage 14 and engages with the carriage 14. The transfer robot 6 conveys the vehicle body 11 via the carriage 14.

[0019] The trolley 14 has a base 141 that supports the body 11 and a plurality of legs 142 that support the base 141. In the illustrated example, the base 141 is a rectangular plate-like body in plan view. However, the shape of the base 141 is not limited to a rectangular shape in plan view; for example, it may be circular in plan view. Also, it is sufficient that the body 11 is supported by the base 141, and the base 141 does not have to be a plate-like body. As shown in Figures 3 and 5, the trolley 14 has four legs 142 that extend downward from each of the four corners of the base 141 and support the base 141. The legs 142 have casters 143 at their lower ends that roll on the floor. The distance between the legs 142 is wider than, for example, the width of the main body 60 of the transport robot 6. For example, the distance w1 between the left and right legs 142 is wider than the left and right width w2 of the main body 60 of the transport robot 6 (see Figure 7). Furthermore, the distance between the front and rear legs 142 is wider than the front-to-back width of the main body 60 of the transport robot 6. The transport robot 6 can enter under the base 141 from between the legs 142. The transport robot 6 has a substantially flat top surface and a low height so that it can be positioned below the trolley 14. The transport robot 6 may also directly support the body 11 without using the trolley 14. The appearance of the transport robot 6 shown in Figure 2 or 3 is illustrative. The structure of the transport robot 6 will be described later.

[0020] Figure 4 is a block diagram of robot system 1. Robot system 1 includes a system controller 16. The system controller 16 controls the entire robot system 1. Note that the system controller 16 is not an essential element of robot system 1.

[0021] The robot system 1 includes a robot controller 17. Note that the robot controller 17 is not an essential component of the robot system 1. The robot controller 17 is electrically connected to the system controller 16. This electrical connection includes wired or wireless connections. The robot controller 17 is electrically connected to the work robot 2. There is a one-to-one connection between the robot controller 17 and the work robot 2. The robot system 1 includes the same number of robot controllers 17 as there are work robots 2. The robot controller 17 controls the work robot 2. More specifically, the robot controller 17 receives control signals from the system controller 16 and outputs control signals to the work robot 2. The work robot 2 receives control signals from the robot controller 17 and, in this case, performs welding operations on the body 11.

[0022] The robot system 1 includes a locator controller 18. However, the locator controller 18 is not an essential component of the robot system 1. The locator controller 18 is electrically connected to the system controller 16. This electrical connection includes wired or wireless connections. The locator controller 18 is also electrically connected to a plurality of locators 4. The locator controller 18 controls the locators 4. More specifically, the locator controller 18 receives control signals from the system controller 16 and outputs control signals to the locators 4. The locators 4, upon receiving control signals from the locator controller 18, position and support the body 11 handed over from the transport robot 6 in a predetermined location.

[0023] The robot system 1 includes a control panel 19 for the transport robot 6. Note that the control panel 19 is not an essential element of the robot system 1. The control panel 19 is electrically connected to the system controller 16. Electrical connections include wired and wireless connections. The control panel 19 is also electrically connected to one or more transport robots 6. The control panel 19 controls the transport robots 6. More specifically, the AMR control panel 19 receives control signals from the system controller 16 and outputs control signals to the transport robots 6.

[0024] (Structure of a transport robot) The transport robot 6 transports the workpiece (body 11 in the diagram) to the work area 13 by autonomous navigation. The transport robot 6 is, for example, an AGV (Automatic Guided Vehicle). The AGV transports the body 11 to the work area 13 by autonomously navigating along magnetic tape on the floor. AGVs are used, for example, in automobile body assembly lines. The transport robot 6 is, for example, an AMR (Autonomous Mobile Robot). The AMR has SLAM (Simultaneous Localization and Mapping) functionality. With the SLAM function, the AMR can navigate autonomously using a map 661 and obstacle sensors 65. Using an AMR eliminates the need for magnetic tape on the floor. The following description will describe an example where the transport robot 6 is an AMR. However, there is no intention to limit the transport robot 6 to only AMRs.

[0025] Figure 5 shows the structure of the transport robot 6. The structure of the transport robot 6 in Figure 5 is an example of the transport robot 6. The path 15 of the transport robot 6 is not predetermined, but the approximate path is determined as shown by the dashed line in Figure 1.

[0026] The transport robot 6 has a travel mechanism 5 that moves the transport robot 6. The travel mechanism 5 has wheels that roll on the floor surface. The wheels include drive wheels 611 and 612, and passive wheels 621 and 622. The drive wheels 611 and 612 are independent. The transport robot 6 is an independently driven transport vehicle. The drive wheel 611 is located on the left side of the middle section in the front-rear direction of the transport robot 6. The drive wheel 612 is located on the right side of the middle section of the transport robot 6. The rotation axes of the drive wheels 611 and 612 extend in the left-right direction and are coaxial. The drive wheel 611 is mechanically connected to a motor 631. The drive wheel 612 is mechanically connected to a motor 632. The drive wheels 611 and 612 can rotate independently of each other.

[0027] Motors 631 and 632 are powered by a battery. The battery is mounted on the transport robot 6. Motors 631 and 632 are the driving source for the transport robot 6. The driving force of motors 631 and 632 is transmitted to the drive wheels 611 and 612, causing them to rotate. In the following description, motors 631 and 632 may be collectively referred to as motor 63.

[0028] If drive wheels 611 and 612 rotate in the same direction at the same speed, the transport robot 6 will move in a straight line. If drive wheels 611 and 612 rotate in the same direction at different speeds, the transport robot 6 will change its direction of travel. If drive wheels 611 and 612 rotate in different directions, the transport robot 6 will turn in place, that is, rotate around its vertical axis. In the following explanation, drive wheels 611 and 612 may be collectively referred to as drive wheel 61.

[0029] The driven wheel 621 is located in the center of the left-right direction at the front end of the transport robot 6. The driven wheel 622 is located in the center of the left-right direction at the rear end of the transport robot 6. The driven wheels 621 and 622 can each be rotated. The transport robot 6 may have only one driven wheel. The transport robot 6 may also employ a travel mechanism other than the drive wheels 61, driven wheels 621 and 622, or motor 63.

[0030] The transport robot 6 has obstacle sensors 65. In a plan view, the obstacle sensors 65 are located at both ends in the front-rear direction along the direction of travel of the transport robot 6. The obstacle sensors 65 detect obstacles in the direction of travel of the transport robot 6. In this disclosure, an obstacle refers to anything that hinders the movement of the transport robot 6, and specifically includes objects and people. As shown in Figures 6 and 7, the obstacle sensor 65 is a two-dimensional sensor that detects a two-dimensional detection area R along the direction of travel of the transport robot 6. The obstacle sensor 65 includes, for example, a two-dimensional LiDAR (Light Detection And Ranging) that has the function of a safety laser scanner. As a function of the safety laser scanner, for example, it uses laser light to monitor the safety area and detect obstacles. By using a two-dimensional LiDAR as the obstacle sensor 65, the cost can be reduced compared to using a three-dimensional LiDAR that is capable of three-dimensional detection.

[0031] The obstacle sensor 65 includes an obstacle sensor 651 located at the front end of the transport robot 6 and an obstacle sensor 652 located at the rear end. Note that when referring to both the obstacle sensor 651 and the obstacle sensor 652 collectively, they may be referred to as the obstacle sensor 65.

[0032] The obstacle sensor 651 detects obstacles in front of the transport robot. In Figure 6, θ11 indicates the detectable range of the obstacle sensor 651. The obstacle sensor 651 has a detectable range that exceeds 180 degrees in front of the transport robot 6. θ12 indicates the angle of the range that passes between the two front legs 142 of the trolley 14 as seen from the obstacle sensor 651. R1 indicates the detection range of the obstacle sensor 651 as a region. The detection region R1 of the obstacle sensor 651 is, for example, the area in front of the transport robot 6 and directly in front of the transport robot 6 within the detectable range of the obstacle sensor 651, and the region that passes between the two front legs 142 of the trolley 14 as seen from the obstacle sensor 651. By setting the detection region R1, the legs 142 are not recognized as obstacles by the obstacle sensor 651. Note that, due to space limitations, the detection region R1 extends even further forward than shown in Figure 6.

[0033] The obstacle sensor 652 detects obstacles behind the transport robot. In Figure 6, θ13 indicates the detectable range of the obstacle sensor 652. The obstacle sensor 652 has a detectable range that extends beyond 180 degrees behind the transport robot 6. θ14 indicates the angle of the range that passes between the two rear legs 142 of the trolley 14 as seen from the obstacle sensor 652. R2 indicates the detection range of the obstacle sensor 652 as a region. The detection region R2 of the obstacle sensor 652 is, for example, the area behind the transport robot 6 and on the back of the transport robot 6 within the detectable range of the obstacle sensor 652, and the region that passes between the two rear legs 142 of the trolley 14 as seen from the obstacle sensor 652. By setting the detection range to R2, the legs 142 are not recognized as obstacles by the obstacle sensor 652. Note that, due to space limitations, the detection region R2 extends even further back than shown in Figure 5. In the following explanation, the detection areas R1 and R2 of the obstacle sensor 652 may be collectively referred to as detection area R.

[0034] Returning to Figure 5, the transport robot 6 has a human detection unit 64. The human detection unit 64 detects a person located to the side of the transport robot 6. In a plan view, the human detection units 64 are located at both ends in the left-right direction. The human detection unit 64 only needs to be able to detect a person, and the specific detection device is not particularly limited. The human detection unit 64 includes, for example, a human presence sensor and a camera. As the human presence sensor, one or more selected from the group of infrared sensors, ultrasonic sensors, microwave sensors, photoelectric sensors, and pressure sensors can be used. As the camera, for example, an infrared camera (including a thermal camera), a visible light camera using an image sensor such as a CMOS or CCD can be used. Note that devices other than those listed above may be used as the human detection unit 64.

[0035] In the example shown in Figure 5, the human detection unit 64 includes human detection units 641, 642, 643, and 644. When referring to human detection units 641, 642, 643, and 644 collectively, they are called the human detection unit 64. Human detection unit 641 is located at the left front corner of the transport robot 6 and detects a person located to the left front of both the transport robot 6 and the body 11. Human detection unit 642 is located at the right front corner of the transport robot 6 and detects a person located to the right front of both the transport robot 6 and the body 11. Human detection unit 643 is located at the left rear corner of the transport robot 6 and detects a person located to the left rear of both the transport robot 6 and the body 11. Human detection unit 644 is located at the right rear corner of the transport robot 6 and detects a person located to the right rear of both the transport robot 6 and the body 11. The human detection unit 64 is a three-dimensional sensor or camera that detects a three-dimensional detection area around the transport robot 6. In Figure 6, Q1 represents the detection area of ​​human detection unit 641, Q2 represents the detection area of ​​human detection unit 642, Q3 represents the detection area of ​​human detection unit 643, and Q4 represents the detection area of ​​human detection unit 644. Hereafter, the detection areas Q1, Q2, Q3, and Q4 of human detection unit 64 may be collectively referred to as the detection area Q of human detection unit 64.

[0036] As shown in Figure 6, in a plan view, the detection area R of the obstacle sensor 65 and the detection area Q of the human detection unit 64 are combined to cover a 360-degree detection range around the body 11. The number of human detection units 64 is not limited to four. For example, two human detection units 64 may be provided, one on each end of the main body 60 at an intermediate position between the front and rear. The number of human detection units 64 may also exceed four.

[0037] The transport robot 6 has storage 66. Storage 66 stores various data. The data stored in storage 66 includes a map 661. Storage 66 includes magnetic recording media such as HDDs (Hard Disk Drives), optical recording media such as Blu-ray discs and DVDs (Digital Versatile Discs), and semiconductor recording media such as SSDs (Solid State Drives), CFAST (registered trademark), and CF cards (Compact Flash). The map 661 is a map of the building 12, which includes the manufacturing line 10. A map of the building 12 may be stored in the transport robot 6 in advance. Before transporting the body 11, the transport robot 6 may autonomously travel inside the building 12 and create the map 661 using obstacle sensors 65 while traveling.

[0038] The transport robot 6 has a communication circuit 67. The communication circuit 67 communicates wirelessly with the system controller 16. The communication circuit 67 can receive control signals from the system controller 16. The communication circuit 67 can transmit, for example, the position information of the transport robot 6 to the system controller 16.

[0039] The transport robot 6 has a controller 69. The controller 69 controls the transport robot 6. The controller 69 is electrically connected to the motor 63, obstacle sensor 65, storage 66, and communication circuit 67. The controller 69 receives control signals from the system controller 16 through the communication circuit 67 and causes the transport robot 6 to perform actions corresponding to the received control signals. The transport robot 6 autonomously travels to a position specified by the system controller 16, i.e., the work area 13 of the work robot 2. When the transport robot 6 is traveling, the controller 69 sets the path 15 for the transport robot 6 based on the map 661. While the transport robot 6 is traveling, the controller 69 estimates the self-position of the transport robot 6 based on the signals from the obstacle sensor 65 and the map 661. As the transport robot 6 autonomously travels to the work area 13 according to the path 15, the body 11 is transported to the work area 13.

[0040] (Operation of the transport robot) Next, we will explain the process of transporting the body 11 of the map 661 by the transport robot 6. Figure 8 is a flowchart related to the control of the transport robot 6.

[0041] In step S1, the controller 69 determines whether or not it has received a transport instruction for the body 11 from the system controller 16 via the communication circuit 67. If a transport instruction for the body 11 is received (YES in S1), the controller 69 performs autonomous driving control. In autonomous driving control, the controller 69 uses the map 661 and the obstacle sensor 65 to make the transport robot 6 autonomously travel to the designated work area 13. More specifically, the transport robot 6 outputs a travel control signal to the motor 63 that controls the rotation speed of the drive wheels 61, thereby controlling the transport robot 6 to travel in a straight line, change direction, or turn (change direction) in place, so that the transport robot 6 autonomously travels to the work area 13. The motor 63 receives the travel control signal and rotates at a speed corresponding to the travel control signal to drive the drive wheels 61.

[0042] Steps S3 and S4 are processes performed while the transport robot 6 is autonomously moving. In step S3, while autonomous movement is in progress, the obstacle sensor 65 detects obstacles in the direction of travel of the transport robot 6. If no obstacles are detected, autonomous movement continues. On the other hand, if an obstacle is detected by the obstacle sensor 65, the controller 69 performs braking control to decelerate the speed of the travel mechanism 5 or to stop the travel mechanism 5. More specifically, the controller 69 outputs a braking signal to the motor 63 instructing it to decelerate or stop. When the motor 63 receives the braking signal, it decelerates or stops the drive wheels 61 in accordance with the braking signal. In step S4, while autonomous movement is in progress, the human detection unit 64 detects a person located to the side of the transport robot 6. If no person is detected, autonomous movement continues. On the other hand, if a person is detected by the human detection unit 64, the controller 69 performs braking control to decelerate the speed of the travel mechanism 5 or to stop the travel mechanism 5. More specifically, the controller 69 outputs a braking signal to the motor 63 instructing it to decelerate or stop. Upon receiving the braking signal, the motor 63 decelerates or stops the drive wheels 61 in accordance with the signal. Although the flowchart in Figure 8 shows an example where steps S3 and S4 are processed in series, steps S3 and S4 may be processed in parallel. Also, the order of steps S3 and S4 may be reversed.

[0043] In step S6, the controller 69 determines whether the transport robot 6 has arrived at the work area 13. The transport robot 6 continues to move autonomously until it arrives at the work area 13. That is, steps S2 to S6 are repeated. When the transport robot 6 arrives at the work area 13, it stops at a predetermined position in the work area 13 (step S7). After that, the locator 4 operates and receives the body 11 from the transport robot 6.

[0044] In step S8, the controller 69 determines whether the work of the work robot 2 is complete. The transport robot 6 remains stopped until the work is completed. Once the work is complete, the process in Figure 8 returns to step S1. The controller 69 determines whether it has received the next instruction, and if it has, it repeats steps S1 to S8.

[0045] (Effects and Benefits) The transport robot 6 according to this disclosure can be made safer by slowing down or stopping not only when an obstacle is detected in the surroundings by the obstacle sensor 65, but also when a person is detected in the surroundings by the person detection unit 64.

[0046] For example, a two-dimensional sensor is used as the obstacle sensor 65, which detects a two-dimensional detection area along the direction of travel of the transport robot 6. For example, a three-dimensional sensor is used as the human detection unit 64, which detects a three-dimensional detection area around the transport robot. With the above configuration, the obstacle sensor 65 can detect obstacles of a height corresponding to the height of the transport robot 6. The human detection unit 64 can then detect the movement of obstacles at a position higher than the top of the transport robot 6. In other words, the obstacle sensor 65 and the human detection unit 64 are combined to handle their respective detection targets. With the above configuration, the safety of the transport robot 6 can be enhanced using a combination of relatively inexpensive sensors.

[0047] (modified version) In robot system 1, the system controller 16 may be omitted. Robot system 1 may perform welding operations on the body 11 through mutual communication between the robot controller 17, the locator controller 18, and the transport robot 6.

[0048] Furthermore, the robot system 1 disclosed herein is not limited to welding in the manufacturing line 10. Also, the workpiece to which the robot system 1 operates is not limited to the automobile body 11. Moreover, the robot system 1 is not limited to application to the automobile manufacturing line 10. For example, the transport robot 6 may transport a workpiece that is not yet in the shape of a body, fixed to the jig. Then, the work robot may perform tasks on the transported workpiece, such as drilling holes, fastening bolts with a nut runner, inspecting the workpiece with a camera, or applying adhesive or sealer with a coating device.

[0049] In the above embodiment, the human detection unit 64 (641, 642, 643, 644) may be a camera (hereinafter referred to as "Webcam") that is connected to a computer such as a server via a network and detects people in the detection area Q. In this case, the video from the Webcam while the transport robot 6 is operating (including while it is traveling) may be transmitted to a cloud server or PC via a network such as the Internet. The cloud server or PC may then provide the images from the Webcam as input to artificial intelligence (AI) having a machine learning model. The machine learning model may analyze in real time whether a person is visible, and if so, the distance to the person, and output the analysis results. When the machine learning model detects a person, the transport robot 6 may receive this information in real time via the aforementioned network, etc., and perform braking control to decelerate the travel speed of the travel mechanism 5 or stop the travel of the travel mechanism 5. More specifically, the controller 69 of the transport robot 6 outputs a braking signal to the motor 63 instructing it to decelerate or stop. In this context, "a person is visible" includes not only the entire figure of a person being visible, but also parts of the human body, such as arms or legs.

[0050] In the above embodiment, the detection area R1 of the obstacle sensor 651 is not limited to the range shown in Figure 6. For example, as shown in Figure 9, in addition to the aforementioned detection area R1, a detection area R3 may be added that is located to the side of the transport robot 6 within the detectable range of the obstacle sensor 65 and does not overlap with the lateral legs 142 of the trolley 14 as viewed from the obstacle sensor 651. Similarly, the detection area R2 of the obstacle sensor 652 is not limited to the range shown in Figure 6. For example, as shown in Figure 9, in addition to the aforementioned detection area R2, a detection area R4 may be added that is located to the side of the transport robot 6 within the detectable range of the obstacle sensor 65 and does not overlap with the lateral legs 142 of the trolley 14 as viewed from the obstacle sensor 652.

[0051] The functions of the elements disclosed herein can be performed using circuits or processing circuits, including general-purpose processors, dedicated 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 circuits. In this disclosure, a circuit, unit, or means is hardware that performs the enumerated functions, or hardware programmed to perform the enumerated functions. The hardware may be hardware disclosed herein, or other known hardware that is programmed or configured to perform the enumerated functions. If the hardware is a processor, which is considered a type of circuit, then the circuit, means, or unit is a combination of hardware and software, and the software is used to configure the hardware and / or the processor.

[0052] (Aspect) The embodiments described above are specific examples of the following embodiments.

[0053] (Aspect 1) An autonomous transport robot (6), A travel mechanism (5) for moving the transport robot (6), An obstacle sensor (65) has a two-dimensional detection area (R) along the direction of travel and detects surrounding obstacles, A human detection unit (64) has a three-dimensional detection area (Q) that extends around it and detects people in the surrounding area, A controller (69) that performs autonomous driving control to move the driving mechanism (5) to a predetermined work area (13) by autonomous driving, and braking control to decelerate or stop when an obstacle is detected by the obstacle sensor (65) or a person is detected by the person detection unit (64) during autonomous driving, A transport robot (6) equipped with the following.

[0054] (Aspect 2) The obstacle sensor (65) is a LiDAR (Light Detection And Ranging) sensor. The transport robot (6) described in Embodiment 1.

[0055] (Aspect 3) The person detection unit (64) is one or more sensors selected from the group consisting of infrared sensors, ultrasonic sensors, microwave sensors, photoelectric sensors, and pressure sensors. A transport robot (6) according to embodiment 1 or 2.

[0056] (Aspect 4) The person detection unit (64) detects a person located to the side of the transport robot (6). A transport robot (6) according to any one of embodiments 1 to 3.

[0057] (Aspect 5) The vehicle has a map (661) of a specific area including the work area (13), and autonomously drives within the specific area while estimating its own position using the map (661) and the obstacle sensor (65). A transport robot (6) according to any one of embodiments 1 to 4.

[0058] (Aspect 6) The obstacle sensor (65) is located at both ends in the front-rear direction along the direction of travel of the transport robot (6) in a plan view. A transport robot (6) according to any one of embodiments 1 to 5.

[0059] (Aspect 7) The human detection unit (64) is positioned at both ends in the left-right direction perpendicular to the direction of travel of the transport robot (6) in a plan view, A transport robot (6) according to any one of embodiments 1 to 6.

[0060] (Pattern 8) A work robot (2) is installed in the work area (13) where work is performed on the workpiece, A transport robot (6) has an obstacle sensor (65) for detecting surrounding obstacles and a human detection unit (64) for detecting surrounding people, and transports the workpiece to the work area (13) by autonomous driving, and slows down or stops if an obstacle is detected by the obstacle sensor (65) or a person is detected by the human detection unit (64) during autonomous driving, A robotic system (1) equipped with the following.

[0061] In the robot system (1) relating to this disclosure, the transport robot (6) slows down or stops not only when an obstacle is detected in its surroundings by the obstacle sensor (65), but also when a person is detected in its surroundings by the person detection unit (64), thereby enhancing the safety of the transport robot (6).

[0062] (Aspect 9) The obstacle sensor (65) is a two-dimensional sensor that detects a two-dimensional detection area (R) along the direction of travel of the transport robot (6). The person detection unit (64) is a three-dimensional sensor that detects a three-dimensional detection area (Q) around the transport robot (6). The robot system (1) described in embodiment 8.

[0063] (Aspect 10) The transport robot (6) has a map (661) of a specific area including the work area (13), and autonomously navigates within the specific area while estimating its own position using the map (661) and the obstacle sensor (65). A robotic system (1) according to embodiment 8 or 9.

[0064] (Aspect 11) The system further comprises a trolley (14) having a base (141) that supports the workpiece, and a plurality of legs (142) that extend downward from the base (141), and which is transported by the transport robot (6) located below the base (141), The detection area of ​​the obstacle sensor (65) is the area that passes from the obstacle sensor (65) to the leg portion (142) of the trolley (14). A transport robot (6) according to any one of embodiments 8 to 10. [Explanation of Symbols]

[0065] 1. Robot System 11 Body (Work) 13 Work Area 14 bogies 141 Pedestal 142 Legs 2. Work robots 5. Running mechanism 6. Transport robots 64-person detection unit 65 Obstacle Sensor 661 Map 69 Controllers Q detection area R detection region

Claims

1. An autonomous transport robot, A travel mechanism for moving the aforementioned transport robot, An obstacle sensor having a two-dimensional detection area along the direction of travel and detecting surrounding obstacles, A human detection unit that has a three-dimensional detection area that extends around it and detects people in the surrounding area, A controller that performs autonomous driving control, which controls the driving mechanism to move to a predetermined work area by autonomous driving, and braking control, which slows down or stops the vehicle when an obstacle is detected by the obstacle sensor or a person is detected by the person detection unit during autonomous driving. A transport robot equipped with the following features.

2. In the transport robot according to claim 1, The obstacle sensor is a two-dimensional LiDAR (Light Detection And Ranging) with the function of a safety laser scanner, in a transport robot.

3. In the transport robot according to claim 1, The human detection unit is one or more selected from the group consisting of an infrared sensor, an ultrasonic sensor, a microwave sensor, a photoelectric sensor, a pressure sensor, and a camera, in a transport robot.

4. In the transport robot according to claim 1, The person detection unit is a transport robot that detects a person located to the side of the transport robot.

5. In the transport robot according to claim 1, A transport robot having a map of a specific area including the aforementioned work area, and autonomously navigating within the specific area while estimating its own position using the map and the obstacle sensors.

6. In the transport robot according to claim 1, The obstacle sensors are located at both ends in the front-to-back direction along the direction of travel of the transport robot in a plan view of the transport robot.

7. In the transport robot according to claim 1, The human detection units are located at both ends of the transport robot in a plan view, in the left and right directions perpendicular to the direction of travel of the transport robot.

8. A work robot installed in a work area where work is performed on a workpiece, A transport robot having an obstacle sensor for detecting surrounding obstacles and a human detection unit for detecting surrounding people, which autonomously transports the workpiece to the work area and slows down or stops if it detects an obstacle with the obstacle sensor or a person with the human detection unit during autonomous travel, A robotic system equipped with the following features.

9. In the robot system according to claim 8, The obstacle sensor is a two-dimensional sensor that detects a two-dimensional detection area along the direction of travel of the transport robot. The aforementioned human detection unit is a robot system that detects a three-dimensional detection area around the transport robot.

10. In the robot system according to claim 8, The transport robot is a robot system that has a map of a specific area including the work area, and autonomously travels within the specific area while estimating its own position using the map and obstacle sensors.

11. In the robot system according to claim 8, The vehicle further comprises a base for supporting the workpiece, and a plurality of legs extending downward from the base, and is transported by the transport robot located below the base. A robot system in which the detection area of ​​the obstacle sensor is the area passing between the obstacle sensor and the legs of the trolley.

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