Working robot control system, working system, and working robot control method

Abstract

To make a working robot more accurately perform capacity calibration for calculating the capacity of a battery.SOLUTION: A control system 1 includes a determination part 411 and a charge control part 412. The determination part 411 determines whether a working robot 3 is a first working robot that satisfies a determination condition to be an object of capacity calibration or a second working robot that does not satisfy the determination condition not to be the object of capacity calibration. The working robot 3 includes a chargeable battery 31 and a control part 32 for performing capacity calibration of the battery 31 on the basis of a charge amount discharged by the battery 31. The charge control part 412 controls charging operation of the battery 31 by the working robot 3. The charge control part 412 sets the second working robot as a charging object when a residual amount of the battery 31 of the second working robot 3B becomes a first threshold or below by discharging, and sets the first working robot as a charging object when the residual amount of the battery of the first working robot 31 drops down to a second threshold smaller than the first threshold by the discharging.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present disclosure relates to a control system for a work robot, a work system using the same, and a control method for a work robot, and more specifically, to a control system that automates capacity calibration to determine the capacity of a battery of a work robot, a work system that uses this control system, and a control method that automates capacity calibration. [Background technology]

[0002] Patent Document 1 discloses a robot charging system that is characterized by having a mobile robot that needs charging automatically perform the charging task. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2010-237924 A Summary of the Invention [Problem to be solved by the invention]

[0004] In the robot charging system described in Patent Document 1, when the mobile robot's battery is repeatedly charged and discharged, the battery capacity changes due to battery degradation, which may result in a large error in estimating the remaining charge.

[0005] The present disclosure has been made in consideration of the above-mentioned reasons, and aims to provide a control system that can cause a work robot to more accurately perform capacity calibration to determine battery capacity, a work system using the same, and a control method that can cause a work robot to more accurately perform capacity calibration. [Means for solving the problem]

[0006] A control system according to an aspect of the present disclosure includes a determination unit and a charge control unit. The determination unit determines whether a work robot is a first work robot that satisfies a determination condition and is to be subject to capacity calibration, or a second work robot that does not satisfy the determination condition and is not to be subject to capacity calibration. The work robot includes a rechargeable battery and a control unit that performs the capacity calibration of the battery based on the amount of charge discharged from the battery. The charge control unit controls an operation of the work robot to charge the battery. The charge control unit designates the second work robot as a charging target when the remaining battery charge of the second work robot falls below a first threshold due to discharging, and designates the first work robot as a charging target when the remaining battery charge of the first work robot falls to a second threshold lower than the first threshold due to discharging. The determination conditions are to satisfy all of the following: a first condition that the work robot has not received a work command to instruct it to perform a work for a first determination time or more, a second condition that the remaining battery charge of the work robot other than the work robot being determined is a third threshold value or more, a third condition that the elapsed time since the last capacity calibration was performed is a second determination time or more, and a fourth condition that the remaining battery charge of the work robot is a fourth threshold value or more. The third threshold value is greater than the first threshold value, and the fourth threshold value is greater than the third threshold value. A control system according to an aspect of the present disclosure includes a determination unit and a charge control unit. The determination unit determines whether a work robot is a first work robot that satisfies a determination condition and is to be subject to capacity calibration, or a second work robot that does not satisfy the determination condition and is not to be subject to capacity calibration. The work robot includes a rechargeable battery and a control unit that performs the capacity calibration of the battery based on the amount of charge discharged from the battery. The charge control unit controls an operation of the work robot to charge the battery. The charge control unit designates the second work robot as a charging target when the remaining battery charge of the second work robot falls below a first threshold due to discharging, and designates the first work robot as a charging target when the remaining battery charge of the first work robot falls to a second threshold lower than the first threshold due to discharging. The determination conditions are to satisfy all of the following: a first condition that the work robot has not received a work command to instruct it to perform a work for a first determination time or more, a second condition that the remaining battery charge of the work robot other than the work robot being determined is a third threshold value or more, a third condition that the accumulated operating time since the last capacity calibration was performed is a second determination time or more, and a fourth condition that the remaining battery charge of the work robot is a fourth threshold value or more. The third threshold value is greater than the first threshold value, and the fourth threshold value is greater than the third threshold value. A control system according to an aspect of the present disclosure includes a determination unit and a charge control unit. The determination unit determines whether a work robot is a first work robot that satisfies a determination condition and is to be subject to capacity calibration, or a second work robot that does not satisfy the determination condition and is not to be subject to capacity calibration. The work robot includes a rechargeable battery and a control unit that performs the capacity calibration of the battery based on the amount of charge discharged from the battery. The charge control unit controls an operation of the work robot to charge the battery. The charge control unit designates the second work robot as a charging target when the remaining battery charge of the second work robot falls below a first threshold due to discharging, and designates the first work robot as a charging target when the remaining battery charge of the first work robot falls to a second threshold lower than the first threshold due to discharging. The determination conditions are to satisfy all of the following: a first condition that the work robot has not been given a work command to instruct it to perform a work for a determination time or longer, a second condition that the remaining charge of the battery of the work robot other than the work robot being determined is equal to or greater than a third threshold, a third condition that the work robot has a cumulative number of charging cycles since the last capacity calibration was performed equal to or greater than a determination number, and a fourth condition that the remaining charge of the battery of the work robot is equal to or greater than a fourth threshold. The third threshold is greater than the first threshold, and the fourth threshold is greater than the third threshold. A control system according to an aspect of the present disclosure includes a determination unit and a charge control unit. The determination unit determines whether a work robot is a first work robot that satisfies a determination condition and is to be subjected to capacity calibration, or a second work robot that does not satisfy the determination condition and is not to be subjected to capacity calibration. The work robot includes a rechargeable battery and a control unit that performs the capacity calibration of the battery based on the amount of charge discharged from the battery. The charge control unit controls the charging operation of the battery by the work robot. When the remaining charge of the battery of the second work robot becomes equal to or less than a first threshold due to discharging, the charge control unit designates the second work robot as a charging target, and when the remaining charge of the battery of the first work robot decreases to a second threshold lower than the first threshold due to discharging, the charge control unit designates the first work robot as a charging target. The determination condition is that the work robot is one in which the remaining charge of the battery is equal to or greater than a predetermined threshold. The predetermined threshold is a maximum remaining charge of the battery.

[0007] A control system according to one aspect of the present disclosure includes a determination unit and a charge control unit. The determination unit determines whether a work robot is a first work robot that satisfies a determination condition and is to be subject to capacity calibration, or a second work robot that does not satisfy the determination condition and is not to be subject to capacity calibration. The work robot includes a rechargeable battery and a control unit that performs the capacity calibration of the battery based on the amount of charge charged to the battery. The charge control unit controls an operation of the work robot to charge the battery. The charge control unit designates the second work robot as a charging target when the remaining charge of the battery of the second work robot falls below a first threshold due to discharging, and designates the first work robot as a charging target when the remaining charge of the battery of the first work robot falls to a second threshold lower than the first threshold due to discharging. The determination conditions are that a first condition is satisfied that the work robot has not received a work command to instruct it to perform a work for a first determination time or more, a second condition is satisfied that the remaining battery charge of the work robot other than the work robot being determined is equal to or greater than a third threshold, and a third condition is satisfied that the elapsed time since the last capacity calibration of the work robot is equal to or greater than the second determination time. The third threshold is greater than the first threshold. A control system according to one aspect of the present disclosure includes a determination unit and a charge control unit. The determination unit determines whether a work robot is a first work robot that satisfies a determination condition and is to be subject to capacity calibration, or a second work robot that does not satisfy the determination condition and is not to be subject to capacity calibration. The work robot includes a rechargeable battery and a control unit that performs the capacity calibration of the battery based on the amount of charge charged to the battery. The charge control unit controls an operation of the work robot to charge the battery. The charge control unit designates the second work robot as a charging target when the remaining charge of the battery of the second work robot falls below a first threshold due to discharging, and designates the first work robot as a charging target when the remaining charge of the battery of the first work robot falls to a second threshold lower than the first threshold due to discharging. The determination conditions are that a first condition is satisfied that the work robot has not received a work command to instruct it to perform a work for a first determination time or more, a second condition is satisfied that the remaining battery charge of the work robot other than the work robot being determined is equal to or greater than a third threshold, and a third condition is satisfied that the accumulated operating time since the last capacity calibration of the work robot is equal to or greater than the second determination time. The third threshold is greater than the first threshold. A control system according to one aspect of the present disclosure includes a determination unit and a charge control unit. The determination unit determines whether a work robot is a first work robot that satisfies a determination condition and is to be subject to capacity calibration, or a second work robot that does not satisfy the determination condition and is not to be subject to capacity calibration. The work robot includes a rechargeable battery and a control unit that performs the capacity calibration of the battery based on the amount of charge charged to the battery. The charge control unit controls an operation of the work robot to charge the battery. The charge control unit designates the second work robot as a charging target when the remaining charge of the battery of the second work robot falls below a first threshold due to discharging, and designates the first work robot as a charging target when the remaining charge of the battery of the first work robot falls to a second threshold lower than the first threshold due to discharging. The determination conditions are that the work robot has not been given a work command to instruct it to perform a work for a determination time or longer, the second condition is that the remaining charge of the battery of the work robot other than the work robot being determined is equal to or greater than a third threshold, and the work robot has a cumulative number of charging cycles since the last capacity calibration was performed equal to or greater than a determination number, and the third threshold is greater than the first threshold.

[0008] A work system according to one aspect of the present disclosure includes the control system and the work robot.

[0009] A control method according to one aspect of the present disclosure includes a determination process and a charge control process. The determination process determines whether a work robot is a first work robot that satisfies a determination condition and is to be subjected to the capacity calibration, or a second work robot that does not satisfy the determination condition and is not to be subjected to the capacity calibration. The work robot includes a rechargeable battery and a control unit that performs the capacity calibration of the battery based on an amount of charge discharged from the battery. The charge control process controls an operation of the work robot to charge the battery. The charge control process designates the second work robot as a charging target when the remaining charge of the battery of the second work robot becomes equal to or less than a first threshold due to discharging, and designates the first work robot as a charging target when the remaining charge of the battery of the first work robot becomes equal to or less than the first threshold due to discharging. The determination conditions are to satisfy all of the following: a first condition that the work robot has not received a work command to instruct it to perform a work for a first determination time or more, a second condition that the remaining battery charge of the work robot other than the work robot being determined is a third threshold value or more, a third condition that the elapsed time since the last capacity calibration was performed is a second determination time or more, and a fourth condition that the remaining battery charge of the work robot is a fourth threshold value or more. The third threshold value is greater than the first threshold value, and the fourth threshold value is greater than the third threshold value. A control method according to one aspect of the present disclosure includes a determination process and a charge control process. The determination process determines whether a work robot is a first work robot that satisfies a determination condition and is to be subjected to the capacity calibration, or a second work robot that does not satisfy the determination condition and is not to be subjected to the capacity calibration. The work robot includes a rechargeable battery and a control unit that performs the capacity calibration of the battery based on an amount of charge discharged from the battery. The charge control process controls an operation of the work robot to charge the battery. The charge control process designates the second work robot as a charging target when the remaining charge of the battery of the second work robot becomes equal to or less than a first threshold due to discharging, and designates the first work robot as a charging target when the remaining charge of the battery of the first work robot becomes equal to or less than the first threshold due to discharging. The determination conditions are to satisfy all of the following: a first condition that the work robot has not received a work command to instruct it to perform a work for a first determination time or more, a second condition that the remaining battery charge of the work robot other than the work robot being determined is a third threshold value or more, a third condition that the accumulated operating time since the last capacity calibration was performed is a second determination time or more, and a fourth condition that the remaining battery charge of the work robot is a fourth threshold value or more. The third threshold value is greater than the first threshold value, and the fourth threshold value is greater than the third threshold value. A control method according to one aspect of the present disclosure includes a determination process and a charge control process. The determination process determines whether a work robot is a first work robot that satisfies a determination condition and is to be subjected to the capacity calibration, or a second work robot that does not satisfy the determination condition and is not to be subjected to the capacity calibration. The work robot includes a rechargeable battery and a control unit that performs the capacity calibration of the battery based on an amount of charge discharged from the battery. The charge control process controls an operation of the work robot to charge the battery. The charge control process designates the second work robot as a charging target when the remaining charge of the battery of the second work robot becomes equal to or less than a first threshold due to discharging, and designates the first work robot as a charging target when the remaining charge of the battery of the first work robot becomes equal to or less than the first threshold due to discharging. The determination conditions are to satisfy all of the following: a first condition that the work robot has not been given a work command to instruct it to perform a work for a determination time or longer, a second condition that the remaining charge of the battery of the work robot other than the work robot being determined is equal to or greater than a third threshold, a third condition that the work robot has a cumulative number of charging cycles since the last capacity calibration was performed equal to or greater than a determination number, and a fourth condition that the remaining charge of the battery of the work robot is equal to or greater than a fourth threshold. The third threshold is greater than the first threshold, and the fourth threshold is greater than the third threshold.

[0010] A control method according to one aspect of the present disclosure includes a determination process and a charge control process. The determination process determines whether a work robot is a first work robot that satisfies a determination condition and is to be subjected to the capacity calibration, or a second work robot that does not satisfy the determination condition and is not to be subjected to the capacity calibration. The work robot includes a rechargeable battery and a control unit that performs the capacity calibration of the battery based on an amount of charge charged to the battery. The charge control process controls an operation of the work robot to charge the battery. The charge control process designates the second work robot as a charging target when the remaining charge of the battery of the second work robot becomes equal to or less than a first threshold due to discharging, and designates the first work robot as a charging target when the remaining charge of the battery of the first work robot becomes equal to or less than the first threshold due to discharging. The determination conditions are that a first condition is satisfied that the work robot has not received a work command to instruct it to perform a work for a first determination time or more, a second condition is satisfied that the remaining battery charge of the work robot other than the work robot being determined is equal to or greater than a third threshold, and a third condition is satisfied that the elapsed time since the last capacity calibration of the work robot is equal to or greater than the second determination time. The third threshold is greater than the first threshold. A control method according to one aspect of the present disclosure includes a determination process and a charge control process. The determination process determines whether a work robot is a first work robot that satisfies a determination condition and is to be subjected to the capacity calibration, or a second work robot that does not satisfy the determination condition and is not to be subjected to the capacity calibration. The work robot includes a rechargeable battery and a control unit that performs the capacity calibration of the battery based on an amount of charge charged to the battery. The charge control process controls an operation of the work robot to charge the battery. The charge control process designates the second work robot as a charging target when the remaining charge of the battery of the second work robot becomes equal to or less than a first threshold due to discharging, and designates the first work robot as a charging target when the remaining charge of the battery of the first work robot becomes equal to or less than the first threshold due to discharging. The determination conditions are that a first condition is satisfied that the work robot has not received a work command to instruct it to perform a work for a first determination time or more, a second condition is satisfied that the remaining battery charge of the work robot other than the work robot being determined is equal to or greater than a third threshold, and a third condition is satisfied that the accumulated operating time since the last capacity calibration of the work robot is equal to or greater than the second determination time. The third threshold is greater than the first threshold. A control method according to one aspect of the present disclosure includes a determination process and a charge control process. The determination process determines whether a work robot is a first work robot that satisfies a determination condition and is to be subjected to the capacity calibration, or a second work robot that does not satisfy the determination condition and is not to be subjected to the capacity calibration. The work robot includes a rechargeable battery and a control unit that performs the capacity calibration of the battery based on an amount of charge charged to the battery. The charge control process controls an operation of the work robot to charge the battery. The charge control process designates the second work robot as a charging target when the remaining charge of the battery of the second work robot becomes equal to or less than a first threshold due to discharging, and designates the first work robot as a charging target when the remaining charge of the battery of the first work robot becomes equal to or less than the first threshold due to discharging. The determination conditions are that the work robot has not been given a work command to instruct it to perform a work for a determination time or longer, the second condition is that the remaining charge of the battery of the work robot other than the work robot being determined is equal to or greater than a third threshold, and the work robot has a cumulative number of charging cycles since the last capacity calibration was performed equal to or greater than a determination number, and the third threshold is greater than the first threshold. Effect of the Invention

[0011] According to the present disclosure, it is possible to provide a control system that can cause a work robot to more accurately perform capacity calibration to determine battery capacity, a work system using the same, and a control method that can cause a work robot to more accurately perform capacity calibration. [Brief description of the drawings]

[0012] [Figure 1] FIG. 1 is a schematic plan view of a work area in which a work robot, which is an object to be controlled by a control system according to an embodiment of the present disclosure, performs work. [Diagram 2] FIG. 2 is a block diagram showing a schematic configuration of a work system according to an embodiment of the present disclosure. [Diagram 3] FIG. 3 is a diagram for explaining the magnitude relationship between the first threshold value to the fourth threshold value in the operation of the control system according to the above embodiment. [Figure 4] FIG. 4 is a flowchart illustrating control of the second work robot by the control system. [Diagram 5] FIG. 5 is a flowchart illustrating control of the first work robot by the control system. [Figure 6] FIG. 6 is a flowchart illustrating control of the first work robot by the control system of the second modification. [Figure 7] FIG. 7 is a block diagram showing a schematic configuration of a control system according to the sixth modification. [Figure 8] FIG. 8 is a graph showing changes over time in the total amount of work commands that the control system of Modification 6 transmits to the working robot. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0013] A control system 1 according to an embodiment of the present disclosure and a work system 2 using the control system 1 will be described in detail with reference to the drawings. Note that the embodiment and modified examples described below are merely examples of the present disclosure, and the present disclosure is not limited to the embodiment and modified examples. Even if the embodiment and modified examples are different, various modifications can be made according to the design, etc., as long as they do not deviate from the technical idea of ​​the present disclosure.

[0014] (1) Overview First, an overview of a control system 1 and a working system 2 according to the present embodiment will be described with reference to FIGS.

[0015] As shown in FIG. 1, the control system 1 is a system for controlling the charging of at least one work robot 3 performing work in a specified work area A1 and the capacity calibration of the battery 31 of the at least one work robot 3, and is equipped with a server device 4 that performs control.

[0016] Furthermore, the control system 1 constitutes a work system 2 together with at least one work robot 3. In other words, the work system 2 includes the control system 1 and the work robot 3.

[0017] In this embodiment, the control system 1 controls, for example, the charging of the batteries 31 of the multiple work robots 3 and the capacity calibration of the batteries 31. In other words, the work system 2 includes multiple work robots 3.

[0018] The working robot 3 is equipped with a rechargeable battery 31, and uses the electric energy stored in the battery 31 to perform tasks such as transporting items in accordance with work commands given to the working robot 3. Note that the tasks performed by the working robot 3 are not limited to transporting items, and may be security guarding, etc. In this embodiment, the work commands are transmitted from, for example, a server device 4 possessed by the control system 1. The working robot 3 in the present disclosure is, for example, a wheeled robot. Note that the working robot 3 is not limited to a wheeled robot, and may be a crawler type, leg type (including walking type), flying type (drone, etc.), ship type, or submersible type.

[0019] The remaining charge E0 of the battery 31 of the work robot 3 is calculated by the control unit 32 (described later) of the work robot 3 from the ratio of the remaining charge to the current capacity C1 of the battery 31 (the charge amount in a fully charged state) stored in the work robot 3. The remaining charge is a value obtained by subtracting the amount of charge flowing out of the battery 31 from the capacity C1, and is calculated by the control unit 32. However, the remaining charge E0 corresponding to the second threshold E2 and fourth threshold E4 described later is calculated using the voltage of the battery 31. The remaining charge E0 may also be further corrected using the magnitude of the discharge current and the temperature of the battery 31.

[0020] However, as the battery 31 of the work robot 3 deteriorates through repeated charging and discharging, and the capacity C1 decreases, the remaining capacity E0 calculated by the control unit 32 using the capacity C1 becomes a value larger than the actual remaining capacity E10. Therefore, in order to reduce the difference between the remaining capacity E0 and the remaining capacity E10, it is necessary to obtain the current capacity C1 by appropriate capacity calibration and update the value of capacity C1 stored in the work robot 3.

[0021] By correcting the capacity as described above, it is possible to reduce the possibility that the work robot 3 will become inoperable due to insufficient remaining charge in the battery 31.

[0022] As shown in FIG. 2, in this embodiment, the server device 4 included in the control system 1 includes a processing circuit 41, and the processing circuit 41 includes a determination unit 411 and a charging control unit 412.

[0023] The judgment unit 411 judges whether the work robot 3 is a first work robot 3A that satisfies judgment condition F0 (described later) and is subject to capacity calibration, or a second work robot 3B that does not satisfy judgment condition F0 and is not subject to capacity calibration.

[0024] The charging control unit 412 controls the charging operation of the battery 31 by the work robot 3.

[0025] When the remaining charge E0 of the battery 31 of the second work robot 3B falls below a first threshold E1 due to discharging, the charging control unit 412 designates the second work robot 3B as a charging target. In this embodiment, when a fully charged state of the battery 31 is 100%, the first threshold E1 is, for example, 30%. Note that when the work robot 3 that is the charging target satisfies a charging condition H0, which will be described later, the battery 31 is charged in a charger 5, which will be described later.

[0026] When the remaining charge E0 of the battery 31 of the first work robot 3A falls to a second threshold E2, which is smaller than the first threshold E1, due to discharging, the charging control unit 412 sets the first work robot 3A as a charging target. In this embodiment, the second threshold E2 is, for example, 8%.

[0027] The work robot 3 includes a rechargeable battery 31 and a control unit 32 that calibrates the capacity of the battery 31 based on the amount of charge discharged by the battery 31.

[0028] The capacity of the battery 31 is calibrated by the first work robot 3A. In this embodiment, the first work robot 3A calibrates the capacity of the battery 31 based on the amount of charge discharged by the battery 31 while the remaining charge E0 of the battery 31 drops from 100% to the second threshold E2 of 8% due to discharging. In the capacity calibration, the amount of charge discharged from the battery 31 while the remaining charge E0 of the battery 31 drops from 100% to 8% is acquired as the current capacity C1 of the battery 31 and stored in a memory unit 34 (described later) of the first work robot 3A. The control unit 32 of the work robot 3 reads the current capacity C1 from the memory unit 34 and calculates the remaining charge E0 of the battery 31. As shown in FIG. 1, a charger 5 for charging the battery 31 of the work robot 3 is installed in the work area A1. In addition, a charging area A2 is provided in the work area A1 to prohibit the intrusion of work robots 3 other than the work robot 3 being charged. Here, the charger 5 is installed inside the charging area A2. In the work area A1, a waiting area A3 is provided adjacent to the charging area A2, for example, where, when the charger 5 is charging a work robot 3, another work robot 3 waits for the charger 5 to become free. Note that the waiting area A3 may be provided away from the charging area A2.

[0029] (2)Details (2.1) Structure The configuration of the control system 1 according to this embodiment will be described in detail below with reference to Figs. 1 to 5. Note that the numerical values, shapes, materials, positions of components, positional relationships and connection relationships between multiple components, etc. shown below are merely examples and are not intended to limit the present disclosure. In addition, all of the drawings referred to below are schematic diagrams, and the ratios of sizes and thicknesses of the components in the drawings do not necessarily reflect the actual dimensional ratios.

[0030] In the following, a case will be described in which the work robot 3, which is the object to be controlled by the control system 1, is an automated guided vehicle (AGV). The automated guided vehicle as the work robot 3 moves within the work area A1 and performs tasks such as transporting items.

[0031] The work area A1 is a space in which multiple work robots 3 are deployed, and the work robots 3 move within the work area A1 upon receiving instructions from, for example, a server device 4. Examples of the work area A1 include warehouses, factories, construction sites, stores (including shopping malls), logistics centers, offices, parks, homes, schools, hospitals, stations, airports, and parking lots. Furthermore, when the work robots 3 are deployed inside a vehicle, such as the inside of a ship, train, or airplane, the inside of the vehicle becomes the work area A1. In this embodiment, an example will be described in which the work area A1 is a warehouse.

[0032] (2.1.1) Overall Structure As shown in FIGS. 1 and 2, the control system 1 includes a server device 4 and a relay device 6 installed in a work area A1.

[0033] FIG. 1 is a schematic plan view of the work area A1. In this embodiment, the work area A1 is a warehouse and is a space surrounded by an outer wall 71. The work area A1 assumed in this embodiment has entrances 72 and 73 for carrying objects into and out of the work area A1. The work area A1 is divided by a partition wall 74 arranged in the work area A1. One charger 5 described above is installed in this work area A1. Note that the number of chargers 5 is not limited to one, and the number of chargers 5 can be changed as appropriate depending on the number of work robots 3 used in the work area A1, etc. Also, FIG. 1 is merely one example of the work area A1, and the layout of the work area A1 can be changed as appropriate.

[0034] The server device 4 is installed, for example, outside the work area A1, and is connected to a plurality of relay devices 6 via a communication network NT1 such as the Internet.

[0035] The server device 4 and each of the multiple work robots 3 are configured to be able to communicate with each other. In this disclosure, "able to communicate" means that information can be exchanged directly or indirectly via the communication network NT1 or relay device 6, etc., using an appropriate communication method such as wired communication or wireless communication. In other words, the server device 4 and each of the multiple work robots 3 can exchange information with each other. In this embodiment, each of the multiple work robots 3 communicates with one of the multiple relay devices 6 by wireless communication using radio waves as a medium. Therefore, the server device 4 and the multiple work robots 3 communicate indirectly at least via the communication network NT1 and relay device 6.

[0036] In short, each relay device 6 is a device (access point) that relays communication between each work robot 3 and the server device 4. The relay device 6 communicates with the server device 4 via the communication network NT1. In this embodiment, as an example, wireless communication conforming to standards such as Wi-Fi (registered trademark), Bluetooth (registered trademark), ZigBee (registered trademark), or low-power radio (specific low-power radio) that does not require a communication license is adopted for communication between the relay device 6 and the work robot 3. Furthermore, the communication network NT1 is not limited to the Internet, and may be, for example, a local communication network within the work area A1 or within the operating company of the work area A1.

[0037] Next, the work robot 3 will be described in more detail with reference to Figures 1 and 2. The work robot 3 moves autonomously on a flat moving surface 70 formed, for example, by the floor surface of the work area A1. The work robot 3 comprises a control unit 32, a communication unit 35, a memory unit 34, a traveling device 36, a charge / discharge circuit 37, a battery 31, and a detection unit 33. Each of the multiple work robots 3 used in the work area A1 is set with individual identification information.

[0038] The communication unit 35 communicates with the server device 4 via the relay device 6 and the communication network NT1. Here, the communication unit 35 communicates with the relay device 6 by wireless communication.

[0039] The traveling device 36 drives a number of wheels provided on the working robot 3 to make the working robot 3 travel. At least some of the wheels are drive wheels. The drive wheels are omnidirectional wheels, such as omniwheels. The drive wheels are not limited to omnidirectional wheels, and may be unidirectional wheels. The traveling device 36 drives the drive wheels based on a control command input from the control unit 32 to make the working robot 3 travel.

[0040] The battery 31 is a secondary battery such as a lithium ion battery, a nickel-metal hydride battery, or a lead storage battery.

[0041] The charge / discharge circuit 37 controls charging to and discharging from the battery 31. When the work robot 3 is connected to the charger 5, the charge / discharge circuit 37 stores electrical energy supplied from the charger 5 in the battery 31. The charge / discharge circuit 37 also supplies power to the control unit 32, communication unit 35 and traveling device 36 by discharging electrical energy from the battery 31. In other words, the work robot 3 performs work using the electrical energy stored in the battery 31. The battery 31 may be provided separately from the work robot 3 and detachably attached to the work robot 3. In this case, the battery 31 may be charged while detached from the work robot 3.

[0042] The detector 33 detects current position information and the like relating to the current position where the work robot 3 is located within the work area A1. The detector 33 includes, for example, a receiver that receives beacon signals transmitted by radio waves from multiple transmitters. The multiple transmitters are arranged at multiple locations within the work area A1. The detector 33 measures the current position of the work robot 3 based on the positions of the multiple transmitters and the received radio wave strength of the beacon signal at the receiver. The detector 33 may be realized using a satellite positioning system such as a Global Positioning System (GPS). The work robot 3 periodically transmits information about the current position detected by the detector 33 and identification information of the work robot 3 from the communication unit 35 to the server device 4 at a predetermined transmission time interval (for example, one second intervals). The work robot 3 may irregularly transmit information about the current position detected by the detector 33 and identification information of the work robot 3 from the communication unit 35 to the server device 4 in response to a transmission request from the server device 4.

[0043] The detector 33 may also detect the operating state of the work robot 3 and the surrounding conditions of the work robot 3. The operating state of the work robot 3 may include the remaining charge E0 of the battery 31 of the work robot 3, a state indicating whether the work robot 3 is moving or stopped, the speed (and speed change) of the work robot 3, the acceleration acting on the work robot 3, and the posture of the work robot 3. The detector 33 includes sensors such as a speed sensor (rotary encoder, etc.), an acceleration sensor, and a gyro sensor, and detects the operating state of the work robot 3 using these sensors. The detector 33 also includes sensors such as an image sensor (camera), a sonar sensor, a radar, and a LiDAR (Light Detection and Ranging), and detects the surrounding conditions of the work robot 3 using these sensors. The surrounding conditions of the work robot 3 include, for example, the presence or absence of an object (obstacle, etc.) present ahead in the traveling direction of the work robot 3, and the position (distance and direction) of the object. Obstacles include other work robots 3 and people. The work robot 3 periodically transmits information about the remaining charge E0 of the battery 31 detected by the detection unit 33, as well as identification information about the work robot 3, from the communication unit 35 to the server device 4 at a predetermined transmission time interval (for example, one second intervals).

[0044] The memory unit 34 stores the current capacity C1 of the battery 31, which is information required for the control unit 32 to calculate the remaining capacity E0 of the battery 31 of the work robot 3. When the capacity C1 is newly obtained by capacity calibration as described above, the capacity C1 is overwritten and stored in the memory unit 34. The memory unit 34 also stores the reception history of work commands and the implementation history of capacity calibration. The memory unit 34 also stores whether the work robot 3 is the first work robot 3A or the second work robot 3B. The memory unit 34 includes a rewritable non-volatile memory such as an EEPROM (Electrically Erasable Programmable Read-Only Memory) or a flash memory. The capacity C1, the reception history of work commands, the implementation history of capacity calibration, and the control information may be stored in the charge / discharge circuit 37. The memory unit 34 is not an essential component of the work robot 3 and can be omitted as appropriate.

[0045] The control unit 32 mainly comprises, for example, a computer system including a memory and a processor. That is, the functions of the control unit 32 are realized by the processor executing a program stored in the memory of the computer system. The program may be stored in the memory in advance, may be provided via a telecommunication line such as the Internet, or may be provided by storing it in a non-transitory storage medium such as a memory card.

[0046] For example, when the control unit 32 receives a work command to instruct a work from the server device 4, it controls the traveling device 36 to make the work robot 3 travel autonomously, based on the current position information detected by the detection unit 33, the operating state of the surrounding work robots 3, and the surrounding conditions. The control unit 32 controls the traveling of the work robot 3, thereby making it carry out the work instructed by the server device 4.

[0047] Furthermore, the control unit 32 calibrates the capacity of the battery 31, obtains the current battery capacity C1, and stores it in the storage unit 34. In this embodiment, the control unit 32 derives the remaining battery capacity E0 using the remaining charge of the battery 31 and the capacity C1 stored in the storage unit 34. However, the remaining capacity E0 corresponding to a second threshold E2 and a fourth threshold E4 described later is derived using the voltage of the battery 31. The remaining capacity E0 may be derived by the charge / discharge circuit 37.

[0048] Next, the server device 4 will be described in more detail with reference to Fig. 1 and Fig. 2. The server device 4 includes a communication unit 42 and a processing circuit 41. The processing circuit 41 also includes a setting unit 413, a charging control unit 412, an operation control unit 414, and a determination unit 411.

[0049] The communication unit 42 communicates with the relay device 6 via the communication network NT1. The communication unit 42 communicates with each of the multiple (two in this embodiment) work robots 3 via the communication network NT1 and the relay device 6. As the communication method between the communication unit 42 and the relay device 6, an appropriate communication method such as wireless communication or wired communication is adopted.

[0050] The processing circuit 41 mainly comprises, for example, a computer system including a memory and a processor. That is, the processor executes a program stored in the memory of the computer system, thereby realizing functions of the processing circuit 41 (for example, functions of the setting unit 413, the charging control unit 412, the operation control unit 414, the determination unit 411, etc.). The program may be stored in the memory in advance, may be provided through a telecommunication line such as the Internet, or may be provided by storing it in a non-transitory storage medium such as a memory card.

[0051] In this embodiment, the setting unit 413 of the processing circuit 41 sets at least a first threshold E1, a second threshold E2, a third threshold E3, and a fourth threshold E4 as thresholds for the remaining charge E0 of the batteries 31 of a plurality of work robots 3. The first threshold E1 to the fourth threshold E4 set in the setting unit 413 are referenced by the server device 4 and the work robot 3. As shown in FIG. 3, the magnitude relationship between the first threshold E1 to the fourth threshold E4 is second threshold E2<first threshold E1<third threshold E3<fourth threshold E4. The setting unit 413 may be provided in the work robot 3.

[0052] The first threshold E1 is a threshold for determining whether or not it is necessary to charge the battery 31 of the second work robot 3B. In other words, the first threshold E1 is a threshold for determining whether or not to cause the second work robot 3B to charge the battery 31, with charging being given priority over work, and when the fully charged state of the battery 31 is taken as 100%, the first threshold E1 is set to, for example, 30%.

[0053] The fourth threshold E4 corresponds to the maximum value of the remaining charge E0 of the battery 31, and the second threshold E2 corresponds to the minimum value of the remaining charge E0 of the battery 31. The current capacity C1 of the battery 31 is updated based on the amount of charge discharged from the battery 31 while the remaining charge E0 of the battery 31 of the first work robot 3A decreases from the fourth threshold E4 to the second threshold E2. In this embodiment, the fourth threshold E4 is set to, for example, 100%, and the second threshold is set to, for example, 8%. That is, in this embodiment, the capacity calibration of the battery 31 of the first work robot 3A is performed based on the amount of charge discharged from the battery 31 while the remaining charge E0 of the battery 31 decreases, for example, from 100% to 8% due to discharging.

[0054] The third threshold E3 is a threshold used by the determination unit 411 (described later) when determining whether the work robot 3 being determined is the first work robot 3A or the second work robot 3B. As will be described in more detail later, the third threshold E3 is set to, for example, 80%.

[0055] The charging control section 412 of the processing circuit 41 treats each of the multiple (for example, two in this embodiment) work robots 3 as the work robot 3X to be controlled, and controls the charging of the work robot 3X.

[0056] If the work robot 3X is the second work robot 3B, the charging control unit 412 designates the work robot 3X as a charging target when the remaining charge E0 of the battery 31 of the work robot 3X falls below the first threshold E1 due to discharging.

[0057] Furthermore, if the work robot 3X is the first work robot 3A, the charging control unit 412 designates the work robot 3X as a charging target when the remaining charge E0 of the battery 31 of the work robot 3X falls below a second threshold E2 that is smaller than the first threshold E1 due to discharging.

[0058] The work control unit 414 in the processing circuit 41 generates work commands to be given to multiple work robots 3 and transmits them as radio signals from the communication unit 42 to the communication units 35 of the work robots 3, via the communications network NT1 and relay device 6.

[0059] The determination unit 411 of the processing circuit 41 determines that the work robot 3 that satisfies the determination condition F0 is the first work robot 3A that will perform capacity calibration of the battery 31 based on the amount of charge discharged from the battery 31.

[0060] The judgment condition F0 is that all of the following first condition F1 to fourth condition F4 are satisfied.

[0061] The first condition F1 is a condition that the working robot 3 has not received a work command for instructing it to perform a work for a first judgment time T1 or longer. In this embodiment, the first judgment time T1 is set to, for example, 16 hours.

[0062] The second condition F2 is a condition that the remaining charge E0 of the battery 31 of a working robot 3 other than the working robot 3 being judged is equal to or greater than the third threshold value E3. As described above, in this embodiment, the third threshold value E3 is set to, for example, 80%.

[0063] The third condition F3 is a condition that the time that has elapsed since the last capacity calibration of the working robot 3 is equal to or longer than a second judgment time T2. In this embodiment, the second judgment time T2 is set to, for example, 720 hours (i.e., 30 days).

[0064] The fourth condition F4 is a condition that the remaining charge E0 of the battery 31 of the work robot 3 is equal to or greater than a fourth threshold E4. In this embodiment, the fourth threshold E4 is set to, for example, 100%. Note that the third threshold E3 is greater than the first threshold E1, and the fourth threshold E4 is greater than the third threshold E3.

[0065] Furthermore, in this embodiment, the judgment unit 411 judges one of the two work robots 3 to be the first work robot 3A. Therefore, when there are multiple work robots 3 (two in this embodiment) that satisfy the judgment condition F0, the judgment unit 411 judges that the work robot 3 that has had the longest elapsed time since the capacity of the battery 31 was last calibrated is the first work robot 3A.

[0066] (2.1.2) Operation Description The operation of the working robot 3 of this embodiment will be described with reference to FIGS. 2 and 4 to 5.

[0067] First, the charging operation when the working robot 3 is the second working robot 3B will be described with reference to Figures 2 and 4. The determination unit 411 of the server device 4 performs a process at an appropriate timing to determine that one of the multiple working robots 3 that is to undergo capacity calibration is the first working robot 3A, and the other working robots 3 are the second working robots 3B.

[0068] The second work robot 3B transmits information about the remaining charge E0 of the battery 31 and its identification information from its communication unit 35 to the server 4 via the relay device 6 and the communications network NT1 at a predetermined transmission time interval (for example, one second intervals).

[0069] The charging control unit 412 of the server device 4 takes turns controlling each of the two work robots 3 as one work robot 3X. If the work robot 3X is the second work robot 3B, the charging control unit 412 of the server device 4 acquires information on the remaining charge E0 of the battery 31 and identification information of the work robot 3X from the work robot 3X (ST1), and then compares the remaining charge E0 of the battery 31 of the work robot 3X with a first threshold value E1 (30%) (ST2).

[0070] Here, if the remaining charge E0 of the battery 31 of the work robot 3X is equal to or less than the first threshold E1 (ST2: Yes), the charging control unit 412 targets the work robot 3X as a charging target (ST3).

[0071] Next, if charging conditions H0 consisting of, for example, the following two conditions are met (ST4: Yes), the charging control unit 412 sends a command to start the charging operation to the work robot 3X from the communication unit 42 (ST5). In this embodiment, the first condition of the charging conditions H0 is that the power is on and there is one or more standby chargers 5 that are not charging the work robot 3. The second condition of the charging conditions H0 is that, among the multiple work robots 3, the work robot 3X is the work robot 3 with the least remaining charge E0 of the battery 31.

[0072] When the communication unit 35 of the work robot 3X receives a command to start a charging operation from the server device 4, if the work robot 3X is not performing a task, the control unit 32 of the work robot 3X controls the traveling device 36 to move the work robot 3X to the waiting area A3. Also, when the communication unit 35 of the work robot 3X receives a command to start a charging operation from the server device 4, if the work robot 3X is performing a task, the control unit 32 of the work robot 3X controls the traveling device 36 to move the work robot 3X to the waiting area A3 after the task is completed. When the work robot 3X moves to the waiting area A3, if another work robot 3 is not charging in the charging area A2, the control unit 32 of the work robot 3X moves the work robot 3X to the charging area A2 and electrically connects the charging / discharging circuit 37 to the charger 5. At this time, the charging / discharging circuit 37 of the work robot 3X charges the battery 31 with the electric energy supplied from the charger 5.

[0073] The control unit 32 of the work robot 3X continues charging if the remaining charge E0 of the battery 31 detected by the detection unit 33 is less than the fourth threshold E4 (100%) (ST6: No). The control unit 32 of the work robot 3X completes charging (ST7) if the remaining charge E0 of the battery 31 detected by the detection unit 33 becomes equal to or greater than the fourth threshold E4 (100%) (ST6: Yes).

[0074] Next, the determination operations of the first work robot 3A and the second work robot 3B of the control system 1 of this embodiment will be described.

[0075] The two work robots 3 transmit information G1 from their communication units 35 via the relay device 6 and the communication network NT1 to the determination unit 411 of the server device 4 at a predetermined transmission time interval (e.g., one second interval). The information G1 includes at least information on the remaining charge E0 of the battery 31 and identification information for the work robot 3. In this embodiment, the information G1 further includes a work command reception history and a capacity calibration implementation history.

[0076] When the judgment unit 411 of the server device 4 acquires the information G1 of each of the two work robots 3, it judges from the information G1 of each of the two work robots 3 which work robot 3 is the first work robot 3A that satisfies all of the first condition F1 to the fourth condition F4 and has the longest elapsed time since the capacity calibration of the battery 31 was last performed.

[0077] The work command reception history may be stored in the work control unit 414 of the server device 4 as a work command transmission history, and the capacity calibration implementation history may be stored in the charging control unit 412 of the server device 4. In this case, the determination unit 411 of the server device 4 obtains information G1 of each of the two work robots 3, and the work command transmission history and capacity calibration implementation history read from the work control unit 414 and charging control unit 412 of the server device 4, respectively, and determines which of the two work robots 3 is the first work robot 3A.

[0078] When the determination unit 411 determines a first work robot 3A, the charging control unit 412 of the server device 4 stores control information in the memory unit 34 of the first work robot 3A so that the first work robot 3A is controlled as the first work robot 3A.

[0079] Next, the capacity calibration and charging operations of the first work robot 3A will be described with reference to FIGS.

[0080] In this embodiment, the judgment unit 411 of the server device 4 judges a work robot 3 whose remaining battery 31 charge E0 is equal to or greater than the fourth threshold value E4 to be the first work robot 3A. Therefore, the remaining battery 31 charge E0 of the first work robot 3A judged to be the first work robot 3A is 100%, which is the fourth threshold value E4.

[0081] In this embodiment, the control unit 32 of the first work robot 3A performs capacity calibration based on the amount of charge drained from the battery 31 until the remaining charge E0 of the battery 31 falls from the fourth threshold E4, which is 100%, to the second threshold E2, which is 8%.

[0082] The first work robot 3A transmits information about the remaining charge E0 of the battery 31 to the server device 4 at a predetermined transmission time interval (for example, one second intervals).

[0083] The charging control unit 412 of the server device 4 begins controlling the first work robot 3A as the work robot 3X to be controlled, and acquires information on the remaining charge E0 of the battery 31 from the first work robot 3A (ST11). Next, the remaining charge E0 of the battery 31 of the first work robot 3A is compared with a second threshold E2 (8%) (ST12).

[0084] When the remaining charge E0 of the battery 31 of the first work robot 3A falls below the second threshold E2 (ST12: YES), the charging control unit 412 of the server device 4 instructs the control unit 32 of the first work robot 3A to perform capacity calibration. Upon receiving the capacity calibration instruction, the first work robot 3A updates the capacity C1 of the battery 31 based on the amount of charge drained from the battery 31 (ST13). Once the update of capacity C1 is complete, the charging control unit 412 sets the work robot 3X as the charging target (ST14).

[0085] Next, when the charging condition H0 is satisfied (ST15: Yes), the charging control unit 412 sends a command to start the charging operation from the communication unit 42 to the first work robot 3A (ST16). When the remaining charge E0 of the battery 31 detected by the detection unit 33 becomes equal to or greater than the fourth threshold E4 (100%) (ST17: Yes), the control unit 32 of the first work robot 3A completes charging (ST18).

[0086] If the remaining charge E0 of the battery 31 of the first work robot 3A is greater than the second threshold E2 (ST12: No), the charging control unit 412 of the server device 4 causes the first work robot 3A to wait until the first work robot 3A transmits the next information on the remaining charge E0 of the battery 31.

[0087] When a work command is given to instruct the first work robot 3A to perform a work while the battery 31 is being discharged, the first work robot 3A performs the work according to the work command. This allows capacity calibration to be performed not only by the discharge of charge from the battery 31 in standby, but also by the discharge of charge from the battery 31 while the battery 31 is being performed. Here, the work area A4 (hereinafter referred to as the first work area) in which the first work robot 3A performs the work while the battery 31 is being discharged is smaller than the work area A1 (hereinafter referred to as the second work area) in which the second work robot 3B performs the work. A charger 5 for charging the battery 31 is installed within the first work area A4. In this embodiment, the first work area A4 is set to a range in which the first work robot 3A can move to the charger 5 when the remaining charge E0 of the battery 31 of the first work robot 3A is at the second threshold E2 (8%). This shortens the distance that the first work robot 3A needs to travel to the charger 5 after completing a task, reducing the possibility that the remaining charge E0 of the battery 31 will be insufficient and the first work robot 3A will be unable to reach the charger 5.

[0088] When the first work robot 3A receives a work command while on standby (ST19: Yes), it transmits to the server 4 information about the remaining charge E0 of the battery 31 of the first work robot 3A.

[0089] The charging control unit 412 of the server device 4 acquires information on the remaining charge E0 of the battery 31 from the first work robot 3A (ST20), and then compares the remaining charge E0 of the battery 31 of the first work robot 3A with a first threshold value E1 (30%) (ST21).

[0090] At this time, if the remaining charge E0 of the battery 31 of the first work robot 3A is equal to or less than the first threshold E1 (30%) (ST21: Yes), the charging control unit 412 will designate the first work robot 3A as the charging target (ST14) when the first work robot 3A completes the task in accordance with the work command (ST22). In other words, if the first work robot 3A receives a work command when the remaining charge E0 of the battery 31 is equal to or less than the first threshold E1 (30%), it will be excluded from the capacity calibration target.

[0091] If the remaining charge E0 of the battery 31 of the first work robot 3A is greater than the first threshold E1 (30%) (ST21: No), after the first work robot 3A completes the work in accordance with the work command (ST23), the charging control unit 412 causes the first work robot 3A to wait until the first work robot 3A transmits the next information on the remaining charge E0 of the battery 31 (ST11).

[0092] In this embodiment, when the remaining charge E0 of the battery 31 of the second work robot 3B falls below the first threshold E1 (30%), the charging control unit 412 excludes the first work robot 3A from the capacity calibration. In other words, when the remaining charge E0 of the battery 31 of the second work robot 3B falls below the first threshold E1 (30%), the first work robot 3A will not perform capacity calibration and will, for example, start charging the battery 31.

[0093] In this embodiment, the operation of the working robot 3X controlled by the control unit 32 of the working robot 3X may be controlled by the charging control unit 412 of the server device 4. Also, in this embodiment, the operation of the working robot 3X controlled by the charging control unit 412 of the server device 4 may be controlled by the control unit 32 or the charge / discharge circuit 37 of the working robot 3X.

[0094] (3) Modifications The above embodiment is merely one of various embodiments of the present disclosure. The above embodiment can be modified in various ways depending on the design and the like as long as the object of the present disclosure can be achieved. In addition, the same function as the control system 1 may be embodied in a control method, a computer program, or a non-transitory recording medium on which a program is recorded. The control method according to the embodiment includes a determination process and a charge control process. The determination process determines whether the work robot 3 is a first work robot 3A that satisfies the determination condition F0 and is subject to capacity calibration, or a second work robot 3B that does not satisfy the determination condition F0 and is not subject to capacity calibration. The work robot 3 includes a rechargeable battery 31 and a control unit 32 that calibrates the capacity of the battery 31 based on the amount of charge discharged by the battery 31. In the charging control process, when the remaining charge E0 of the battery 31 of the second work robot 3B falls below a first threshold E1 due to discharging, the second work robot 3B is designated as the charging target, and when the remaining charge E0 of the battery 31 of the first work robot 3A falls to a second threshold E2 that is smaller than the first threshold E1 due to discharging, the first work robot 3A is designated as the charging target.

[0095] A (computer) program according to one aspect is a program for causing a computer system to execute a determination process and a charge control process.

[0096] Modifications of the above embodiment are listed below. The modifications described below can be applied in appropriate combinations.

[0097] (3.1) Variation 1 The control system 1 according to the first modification will be described below.

[0098] In the control system 1 of the above embodiment, if the first work robot 3A receives a work command when the remaining charge E0 of the battery 31 is equal to or less than the first threshold E1 (30%), it is excluded from the capacity calibration. Also, in the control system 1 of the above embodiment, the first work robot 3A is excluded from the capacity calibration when the remaining charge E0 of the battery 31 of the second work robot 3B is equal to or less than the first threshold E1 (30%).

[0099] In this first modification, the charging control unit 412 of the server device 4 causes the first work robot 3A to continue discharging the battery 31 until the remaining charge E0 of the battery 31 of the first work robot 3A falls to the second threshold E2 due to discharging. In other words, this modification differs from the embodiment in that the first work robot 3A does not start charging the battery 31, for example, until the remaining charge E0 of the battery 31 falls to the second threshold E2, which is smaller than the first threshold E1. This improves the probability that the capacity of the battery 31 can be calibrated by discharging. However, discharging may be stopped when the first work robot 3A receives an instruction to end discharging from the worker, when an abnormality occurs in the first work robot 3A or the charger 5, when a fire occurs, when a power outage occurs, or when other conditions occur.

[0100] In this first modification, when a work command is given to instruct the first work robot 3A to perform a task while the battery 31 is being discharged, the first work robot 3A performs the task in accordance with the work command. At this time, if the remaining charge E0 of the battery 31 is greater than the second threshold E2 after the first work robot 3A has completed the task, the charging control unit 412 causes the first work robot 3A to continue discharging, and if the remaining charge E0 of the battery 31 is equal to or less than the second threshold E2, the charging control unit 412 excludes the first work robot 3A from being subject to capacity calibration. The first work robot 3A that has been excluded from being subject to capacity calibration may, for example, begin a charging operation. This allows more of the electrical energy stored in the battery 31 to be used for the task than in the embodiment.

[0101] (3.2) Variation 2 In the control system 1 of the above embodiment, the third condition F3, which is one of the judgment conditions F0, is a condition that the time that has elapsed since the last capacitance calibration of the working robot 3 is equal to or longer than the second judgment time T2.

[0102] In this second modification, the third condition F3 is different from the embodiment and the first modification in that it is a condition that the accumulated operating time of the work robot 3 since the last capacity calibration is equal to or longer than the second judgment time T2. Here, the accumulated operating time is the accumulated time that the work robot 3 has operated since the last capacity calibration. Note that "operating" here refers to the execution of work and a power-on state including standby and charging.

[0103] That is, in the present modified example 2, the judgment condition F0 is that all of the following first condition F1 to fourth condition F4 are satisfied.

[0104] The first condition F1 is a condition that the working robot 3 has not received a work command for instructing it to perform a work for a first judgment time T1 or longer.

[0105] The second condition F2 is a condition that the remaining charge E0 of the battery 31 of a work robot 3 other than the work robot 3 being judged is equal to or greater than a third threshold value E3.

[0106] The third condition F3 is a condition that the cumulative operating time of the work robot 3 since the last capacity calibration is equal to or longer than the second judgment time T2.

[0107] The fourth condition F4 is a condition that the remaining charge E0 of the battery 31 of the working robot 3 is equal to or greater than a fourth threshold value E4.

[0108] The third threshold E3 is greater than the first threshold E1, and the fourth threshold E4 is greater than the third threshold E3.

[0109] Furthermore, in variant example 2, when there are multiple work robots 3 that satisfy the judgment condition F0, the judgment unit 411 judges that the work robot 3 that has the longest accumulated operating time since the last capacity calibration of the battery 31 is the first work robot 3A from among the multiple work robots 3 that satisfy the judgment condition F0.

[0110] (3.3) Variation 3 In the control system 1 of the above embodiment, the third condition F3, which is one of the judgment conditions F0, is a condition that the time that has elapsed since the last capacitance calibration of the working robot 3 is equal to or longer than the second judgment time T2.

[0111] In this third modification, the third condition F3 is different from the embodiment and modifications 1 and 2 in that it is a condition that the number of accumulated charging cycles since the last capacity calibration is equal to or greater than the determination count for the work robot 3. Here, the accumulated charging cycles refers to the number of times the battery 31 has been charged from a remaining capacity E0 of 0% to a fully charged state (100%) since the last capacity calibration was performed by the work robot 3. Note that charging from 0% to a fully charged state is considered to be one cycle, and for example, charging the battery 31 from 50% to 100% is considered to be 0.5 cycles.

[0112] That is, in the present modified example 3, the judgment condition F0 is that all of the following first condition F1 to fourth condition F4 are satisfied.

[0113] The first condition F1 is a condition that the working robot 3 has not received a work command for instructing it to perform a work for a determination time or longer.

[0114] The second condition F2 is a condition that the remaining charge E0 of the battery 31 of a work robot 3 other than the work robot 3 being judged is equal to or greater than a third threshold value E3.

[0115] The third condition F3 is a condition that the work robot 3 has a cumulative number of charging cycles since the last capacity calibration was performed that is equal to or greater than the determination number.

[0116] The fourth condition F4 is a condition that the remaining charge E0 of the battery 31 of the working robot 3 is equal to or greater than a fourth threshold value E4.

[0117] The third threshold E3 is greater than the first threshold E1, and the fourth threshold E4 is greater than the third threshold E3.

[0118] Furthermore, in variant example 3, when there are multiple work robots 3 that satisfy the judgment condition F0, the judgment unit 411 judges that the work robot 3 that has the greatest number of accumulated charging cycles since the last capacity calibration of the battery 31 is the first work robot 3A from among the multiple work robots 3 that satisfy the judgment condition F0.

[0119] (3.4) Variation 4 In the control system 1 of the above embodiment, the determination condition F0 is that the first condition F1 to the fourth condition F4 are all satisfied.

[0120] In this fourth modification, the determination condition F0 is different from the embodiment and modifications 1 to 3 in that it is a condition that the remaining charge E0 of the battery 31 is equal to or greater than a fourth threshold E4 for the working robot 3.

[0121] (3.5) Variation 5 The control system 1 according to the fifth modification will be described below.

[0122] The work robot 3 controlled by the control system 1 of the above embodiment calibrates the capacity of the battery 31 based on the amount of charge discharged by the battery 31.

[0123] The working robot 3 controlled by the control system 1 of this modification 2 differs from the above embodiment and modifications 1 to 4 in that the capacity of the battery 31 is calibrated based on the amount of charge stored in the battery 31 .

[0124] More specifically, the server device 4 included in the control system 1 of the fifth modified example includes a processing circuit 41, and the processing circuit 41 includes a determination unit 411 and a charging control unit 412.

[0125] The judgment unit 411 judges whether the work robot 3 is a first work robot 3A that satisfies the judgment condition F0 and is subject to capacity calibration, or a second work robot 3B that does not satisfy the judgment condition F0 and is not subject to capacity calibration.

[0126] The charging control unit 412 controls the charging operation of the battery 31 by the work robot 3.

[0127] When the remaining charge E0 of the battery 31 of the second work robot 3B falls below a first threshold E1 due to discharging, the charging control unit 412 designates the second work robot 3B as a charging target.

[0128] When the remaining charge E0 of the battery 31 of the first work robot 3A falls to a second threshold E2, which is smaller than the first threshold E1, due to discharging, the charging control unit 412 designates the first work robot 3A as a charging target.

[0129] The work robot 3 includes a rechargeable battery 31 and a control unit 32 that calibrates the capacity of the battery 31 based on the amount of charge stored in the battery 31 .

[0130] In addition, in the present modification 5, the charging control unit 412 causes the first work robot 3A to continue charging the battery 31 until the remaining charge E0 of the battery 31 of the first work robot 3A reaches a fifth threshold E5 through charging. In the present modification 2, the fifth threshold E5 is set to, for example, 100%. That is, in the present modification 5, charging of the battery 31 of the first work robot 3A is not interrupted until the remaining charge E0 of the battery 31 reaches the fifth threshold E5 (100%). However, charging may be stopped if the first work robot 3A receives an instruction to end discharging from the operator, if an abnormality occurs in the first work robot 3A or the charger 5, if a fire occurs, if a power outage occurs, or for other reasons.

[0131] The judgment condition F0 in the present modified example 5 is that all of the following first condition F1 to third condition F3 are satisfied.

[0132] The first condition F1 is a condition that the working robot 3 has not received a work command for instructing it to perform a work for a first judgment time T1 or longer.

[0133] The second condition F2 is a condition that the remaining charge E0 of the battery 31 of a work robot 3 other than the work robot 3 being judged is equal to or greater than a third threshold value E3.

[0134] The third condition F3 is a condition that the time that has elapsed since the last capacitance calibration of the working robot 3 is equal to or longer than the second judgment time T2.

[0135] Here, the third threshold E3 is greater than the first threshold E1.

[0136] The judgment condition F0 may be that all of the following first condition F1 to third condition F3 are satisfied.

[0137] The first condition F1 is a condition that the working robot 3 has not received a work command for instructing it to perform a work for a first judgment time T1 or longer.

[0138] The second condition F2 is a condition that the remaining charge E0 of the battery 31 of a work robot 3 other than the work robot 3 being judged is equal to or greater than a third threshold value E3.

[0139] The third condition F3 is a condition that the cumulative operating time of the work robot 3 since the last capacity calibration is equal to or longer than the second judgment time T2.

[0140] Here, the third threshold E3 is greater than the first threshold E1.

[0141] Furthermore, the judgment condition F0 may be that all of the following first condition F1 to third condition F3 are satisfied.

[0142] The first condition F1 is a condition that the working robot 3 has not received a work command for instructing it to perform a work for a determination time or longer.

[0143] The second condition F2 is a condition that the remaining charge E0 of the battery 31 of a work robot 3 other than the work robot 3 being judged is equal to or greater than a third threshold value E3.

[0144] The third condition F3 is a condition that the work robot 3 has a cumulative number of charging cycles since the last capacity calibration was performed that is equal to or greater than the determination number.

[0145] Here, the third threshold E3 is greater than the first threshold E1.

[0146] The charging operation and capacity calibration of the first work robot 3A in the fifth modified example will be described below with reference to FIGS.

[0147] The charging control unit 412 of the server device 4 acquires information on the remaining charge E0 of the battery 31 from the first work robot 3A (ST30), and then compares the remaining charge E0 of the battery 31 of the first work robot 3A with a second threshold value E2 (8%) (ST31).

[0148] Here, when the remaining charge E0 of the battery 31 of the first work robot 3A falls below the second threshold E2 (ST31: Yes), the charge control unit 412 of the server device 4 designates the first work robot 3A as a charging target (ST32).

[0149] Next, when the charging condition H0 is satisfied (ST33: Yes), the charging control unit 412 sends a command to start the charging operation from the communication unit 42 to the first work robot 3A (ST34). The control unit 32 of the first work robot 3A continues charging based on the remaining charge E0 of the battery 31 detected by the detection unit 33 if the remaining charge E0 of the battery 31 is less than the fourth threshold E4 (100%) (ST35: No). The control unit 32 of the work robot 3X completes charging based on the remaining charge E0 of the battery 31 detected by the detection unit 33 if the remaining charge E0 of the battery 31 becomes equal to or greater than the fourth threshold E4 (100%) (ST35: Yes) (ST36).

[0150] After charging of the battery 31 of the first work robot 3A is complete, the charging control unit 412 of the server device 4 instructs the control unit 32 of the first work robot 3A to perform capacity calibration. Upon receiving the capacity calibration instruction, the first work robot 3A updates the value of the capacity C1 of the battery 31 based on the amount of charge stored in the battery 31 (ST37).

[0151] Operations ST38 to ST42 performed when the remaining charge E0 of the battery 31 of the first work robot 3A is greater than the second threshold E2 (ST31: No) are the same as operations ST19 to ST23 in the embodiment shown in FIG. 5, and therefore will not be described here.

[0152] Furthermore, functions similar to those of the control system 1 of the fifth modification may be embodied as a control method, a computer program, or a non-transitory recording medium on which a program is recorded. The control method according to the fifth modification includes a determination process and a charge control process. The determination process determines whether the work robot 3 is a first work robot 3A that satisfies the determination condition F0 and is subject to capacity calibration, or a second work robot 3B that does not satisfy the determination condition F0 and is not subject to capacity calibration. The work robot 3 includes a rechargeable battery 31 and a controller 32 that calibrates the capacity of the battery 31 based on the amount of charge charged to the battery 31. The charge control process designates the second work robot 3B as the charge target when the remaining charge E0 of the battery 31 of the second work robot 3B becomes equal to or less than a first threshold E1 due to discharging, and designates the first work robot 3A as the charge target when the remaining charge E0 of the battery 31 of the first work robot 3A becomes equal to or less than a second threshold E2 that is smaller than the first threshold E1 due to discharging.

[0153] The (computer) program according to the fifth modification is a program for causing a computer system to execute a determination process and a charge control process.

[0154] (3.6) Variation 6 The control system 1 according to the sixth modification will be described below with reference to FIGS.

[0155] The control system 1 according to the sixth modification is different from the above-described embodiment and modifications 1 to 5 in that the processing circuit 41 of the control system 1 further includes a recognition unit 415.

[0156] In this sixth modification, the identification unit 415 identifies a low task period T4 in which the total amount of work commands given to the work robot 3 to instruct it to perform work is less than the judgment amount W1. The judgment unit 411 judges that the work robot 3 that satisfies the judgment condition F0 during the low task period T4 is the first work robot 3A.

[0157] As shown in Fig. 8, the identification unit 415 detects a period during, for example, a week during which the total amount of work orders is less than the judgment amount W1 based on the change over time in the total amount of work orders given to the working robot 3. Furthermore, when the period during which the total amount of work orders is less than the judgment amount W1 reaches the reference period T3, the identification unit 415 identifies the period from that point to the next time the total amount of work orders exceeds the judgment amount W1 as a low task period T4. The setting unit 413 then sets the low task period T4 identified by the identification unit 415 as the period during which the judgment unit 411 will judge that a working robot 3 that satisfies the judgment condition F0 is the first working robot 3A. In the example of Fig. 8, the low task period T4 is, for example, from 3:00 on Saturday to 9:00 on Monday.

[0158] In this sixth modification, if the current time is outside the low task period T4, the judgment unit 411 does not judge the first work robot 3A. In other words, outside the low task period T4, the capacity calibration of the battery 31 of the first work robot 3A is not performed. However, if the current time is within the low task period T4, the judgment unit 411 judges the first work robot 3A and the capacity calibration of the battery 31 of the first work robot 3A is performed.

[0159] In this way, by calibrating the capacity of the battery 31 of the first work robot 3A during the low task period T4, it is possible to reduce the probability that the first work robot 3A will receive a work command when the remaining charge E0 of the battery 31 is below the first threshold value (30%). In other words, it is possible to reduce the probability that the capacity calibration of the battery 31 of the first work robot 3A will be canceled. Furthermore, because the first work robot 3A calibrates the capacity of the battery 31 during the low task period T4 when there is little work, even if the number of work robots 3 that can perform work is reduced, the remaining work robots 3 can handle the work.

[0160] In addition, even if the capacity of the battery 31 of the first work robot 3A is calibrated during the low task period T4, there is a low probability that the work will be assigned to a work robot 3 other than the first work robot 3A. This reduces the probability that the remaining charge E0 of the battery 31 of a work robot 3 other than the first work robot 3A will fall below the first threshold E1 (30%) as a result of the work being performed, causing the capacity calibration of the first work robot 3A to be canceled.

[0161] (3.7) Variation 7 In the control system 1 of the above embodiment, the number of work robots 3 that are targets of control by the charging control unit 412 is two.

[0162] Modification 7 differs from the embodiment and modifications 1 to 6 in that there is only one work robot 3 that is the control target of the charging control unit 412. Therefore, the second condition F2 of the judgment condition F0, that is, the remaining charge E0 of the battery 31 of a work robot 3 other than the work robot 3 that is the judgment target, is not applicable. In other words, the judgment condition F0 in Modification 7 is to satisfy all conditions other than the second condition F2 of the judgment condition F0 in the above embodiment and modifications 1 to 6.

[0163] (3.8) Other Modifications Other variations of the embodiment are listed below. The following variations may be implemented in appropriate combination.

[0164] The control system 1 in the present disclosure includes a computer system. The computer system is mainly composed of a processor and a memory as hardware. The function of the control system 1 in the present disclosure is realized by the processor executing a program recorded in the memory of the computer system. The program may be pre-recorded in the memory of the computer system, may be provided through an electric communication line, or may be recorded and provided in a non-transitory recording medium such as a memory card, an optical disk, or a hard disk drive that can be read by the computer system. The processor of the computer system is composed of one or more electronic circuits including a semiconductor integrated circuit (IC) or a large scale integrated circuit (LSI). The integrated circuits such as IC or LSI referred to here are called by different names depending on the degree of integration, and include integrated circuits called system LSI, VLSI (Very Large Scale Integration), or ULSI (Ultra Large Scale Integration). Furthermore, a field-programmable gate array (FPGA) that is programmed after the manufacture of the LSI, or a logic device that can reconfigure the connection relationship inside the LSI or reconfigure the circuit partition inside the LSI, can also be adopted as a processor. The electronic circuits may be integrated in one chip or distributed among multiple chips. The multiple chips may be integrated into one device, or may be distributed across multiple devices. The computer system referred to here includes a microcontroller having one or more processors and one or more memories. Therefore, the microcontroller is also composed of one or more electronic circuits including a semiconductor integrated circuit or a large-scale integrated circuit.

[0165] Furthermore, it is not essential for the control system 1 that multiple functions are integrated into one housing, and the components of the control system 1 may be distributed across multiple housings. Furthermore, at least some of the functions of the control system 1, for example, the functions of the charging control unit 412, may be realized by the cloud (cloud computing) or the like.

[0166] In the above embodiment, in the comparison between the remaining charge E0 of the battery 31 and a threshold value or the like, "less than" may be "less than." In other words, in the comparison between two values, whether or not the two values ​​are equal can be arbitrarily changed depending on the setting of the reference value, etc., so there is no technical difference between "less than" and "less than." Similarly, "more than" may be "greater than."

[0167] In the above embodiment, the work robot 3 is an automated guided vehicle (AGV) that travels in the first working area A4 and the second working area A1, but the work robot 3 may also be a ship (autonomous ship) or an aircraft (drone). If the work robot 3 is an autonomous ship, the waters in which the autonomous ship navigates become the first working area A4 and the second working area A1, and if the work robot 3 is a drone, the space in which the drone flies becomes the first working area A4 and the second working area A1.

[0168] (4) Summary As described above, the control system (1) of the first aspect includes a determination unit (411) and a charge control unit (412). The determination unit (411) determines whether the work robot (3) is a first work robot (3A) that satisfies the determination condition (F0) and is subject to capacity calibration, or a second work robot (3B) that does not satisfy the determination condition (F0) and is not subject to capacity calibration. The work robot (3) includes a rechargeable battery (31) and a control unit (32) that calibrates the capacity of the battery (31) based on the amount of charge discharged by the battery (31). The charge control unit (412) controls the charging operation of the battery (31) by the work robot (3). When the remaining charge (E0) of the battery (31) of the second work robot (3B) becomes equal to or less than a first threshold (E1) due to discharging, the charging control unit (412) designates the second work robot (3B) as the charging target, and when the remaining charge (E0) of the battery (31) of the first work robot (3A) becomes equal to a second threshold (E2) smaller than the first threshold (E1) due to discharging, the charging control unit (412) designates the first work robot (3A) as the charging target.

[0169] According to this aspect, it is possible to provide a control system (1) that automatically determines the first work robot (3A) that performs capacity calibration to determine the capacity (C1) of the battery (31) based on the amount of charge discharged from the battery (31).

[0170] In the control system (1) of the second aspect, in the first aspect, the charge control unit (412) causes the first work robot (3A) to continue discharging the battery (31) until the remaining charge (E0) of the battery (31) of the first work robot (3A) falls to a second threshold (E2) due to discharging.

[0171] According to this embodiment, it is possible to improve the probability that the capacity of the battery (31) is calibrated by discharging.

[0172] In the control system (1) of the third aspect, in the first or second aspect, the judgment condition (F0) is that all of the following first condition (F1) to fourth condition (F4) are satisfied. The first condition (F1) is a condition that the work robot (3) has not received a work command for instructing a work for a first judgment time (T1) or more. The second condition (F2) is a condition that the remaining amount (E0) of the battery (31) of a work robot (3) other than the work robot (3) to be judged is a third threshold value (E3) or more. The third condition (F3) is a condition that the elapsed time since the last capacity calibration is performed is a second judgment time (T2) or more for the work robot (3). The fourth condition (F4) is a condition that the remaining amount (E0) of the battery (31) of the work robot (3) is a fourth threshold value (E4) or more. The third threshold (E3) is greater than the first threshold (E1), and the fourth threshold (E4) is greater than the third threshold (E3).

[0173] According to this embodiment, the work robot (3) that requires capacity calibration of the battery (31) can be automatically determined as the first work robot (3A).

[0174] In the control system (1) of the fourth aspect, in the first or second aspect, the judgment condition (F0) is that all of the following first condition (F1) to fourth condition (F4) are satisfied. The first condition (F1) is a condition that the work robot (3) has not received a work command for instructing a work for a first judgment time (T1) or more. The second condition (F2) is a condition that the remaining amount (E0) of the battery (31) of a work robot (3) other than the work robot (3) to be judged is a third threshold value (E3) or more. The third condition (F3) is a condition that the cumulative operating time since the last capacity calibration is performed is a second judgment time (T2) or more. The fourth condition (F4) is a condition that the remaining amount (E0) of the battery (31) of the work robot (3) is a fourth threshold value (E4) or more. The third threshold (E3) is greater than the first threshold (E1), and the fourth threshold (E4) is greater than the third threshold (E3).

[0175] According to this embodiment, the work robot (3) that requires capacity calibration of the battery (31) can be automatically determined as the first work robot (3A).

[0176] In the control system (1) of the fifth aspect, in the first or second aspect, the judgment condition (F0) is that the following first condition (F1) to fourth condition (F4) are all satisfied. The first condition (F1) is a condition that the work robot (3) has not been given a work command for instructing a work for a judgment time or more. The second condition (F2) is a condition that the remaining amount (E0) of the battery (31) of a work robot (3) other than the judgment target work robot (3) is a third threshold value (E3) or more. The third condition (F3) is a condition that the cumulative number of charging cycles since the last capacity calibration is performed is a judgment number or more. The fourth condition (F4) is a condition that the remaining amount (E0) of the battery (31) of the work robot (3) is a fourth threshold value (E4) or more. The third threshold value (E3) is greater than the first threshold value (E1), and the fourth threshold value (E4) is greater than the third threshold value (E3).

[0177] According to this embodiment, the work robot (3) that requires capacity calibration of the battery (31) can be automatically determined as the first work robot (3A).

[0178] In the control system (1) of the sixth aspect, in the first or second aspect, the judgment condition (F0) is that the working robot (3) has a remaining charge of the battery (31) equal to or greater than a fourth threshold value (E4).

[0179] According to this embodiment, the work robot (3) that requires capacity calibration of the battery (31) can be automatically determined as the first work robot (3A).

[0180] The control system (1) of the seventh aspect includes a determination unit (411) and a charge control unit (412). The determination unit (411) determines whether the work robot (3) is a first work robot (3A) that satisfies a determination condition (F0) and is subject to capacity calibration, or a second work robot (3B) that does not satisfy the determination condition and is not subject to capacity calibration. The work robot (3) includes a rechargeable battery (31) and a control unit (32) that calibrates the capacity of the battery (31) based on the amount of charge stored in the battery (31). The charge control unit (412) controls the charging operation of the battery (31) by the work robot (3). When the remaining charge (E0) of the battery (31) of the second work robot (3B) becomes equal to or less than a first threshold (E1) due to discharging, the charging control unit (412) designates the second work robot (3B) as the charging target, and when the remaining charge (E0) of the battery (31) of the first work robot (3A) becomes equal to a second threshold (E2) smaller than the first threshold (E1) due to discharging, the charging control unit (412) designates the first work robot (3A) as the charging target.

[0181] According to this aspect, it is possible to provide a control system (1) that automatically determines the first work robot (3A) that performs capacity calibration to determine the capacity (C1) of the battery (31) based on the amount of charge stored in the battery (31).

[0182] In the control system (1) of the eighth aspect, in the seventh aspect, the charging control unit (412) causes the first work robot (3A) to continue charging the battery (31) until the remaining charge (E0) of the battery (31) of the first work robot (3A) reaches a fifth threshold (E5) through charging.

[0183] According to this embodiment, it is possible to improve the probability that the capacity calibration of the battery (31) is performed by charging.

[0184] In the control system (1) of the ninth aspect, in the seventh or eighth aspect, the judgment condition (F0) is that the following first condition (F1) to third condition (F3) are all satisfied. The first condition (F1) is a condition that the work robot (3) has not received a work command for instructing a work for a first judgment time (T1) or more. The second condition (F2) is a condition that the remaining capacity (E0) of the battery (31) of a work robot (3) other than the work robot (3) to be judged is equal to or greater than a third threshold (E3). The third condition (F3) is a condition that the elapsed time since the last capacity calibration of the work robot (3) is equal to or greater than a second judgment time (T2). The third threshold (E3) is greater than the first threshold (E1).

[0185] According to this embodiment, the work robot (3) that requires capacity calibration of the battery (31) can be automatically determined as the first work robot (3A).

[0186] In the control system (1) of the tenth aspect, in the seventh or eighth aspect, the judgment condition (F0) is that the following first condition (F1) to third condition (F3) are all satisfied. The first condition (F1) is a condition that the work robot (3) has not received a work command for instructing a work for a first judgment time (T1) or more. The second condition (F2) is a condition that the remaining capacity (E0) of the battery (31) of a work robot (3) other than the work robot (3) to be judged is equal to or greater than a third threshold (E3). The third condition (F3) is a condition that the cumulative operating time since the last capacity calibration of the work robot (3) is equal to or greater than a second judgment time (T2). The third threshold (E3) is greater than the first threshold (E1).

[0187] According to this embodiment, the work robot (3) that requires capacity calibration of the battery (31) can be automatically determined as the first work robot (3A).

[0188] In the control system (1) of the eleventh aspect, in the seventh or eighth aspect, the judgment condition (F0) is that the following first condition (F1) to third condition (F3) are all satisfied. The first condition (F1) is a condition that the work robot (3) has not received a work command for instructing the work to be performed for a judgment time or more. The second condition (F2) is a condition that the remaining charge (E0) of the battery (31) of a work robot (3) other than the work robot (3) to be judged is equal to or greater than a third threshold (E3). The third condition (F3) is a condition that the cumulative number of charging cycles since the last capacity calibration is equal to or greater than a judgment number. The third threshold (E3) is greater than the first threshold (E1).

[0189] According to this embodiment, the work robot (3) that requires capacity calibration of the battery (31) can be automatically determined as the first work robot (3A).

[0190] In the control system (1) of the twelfth aspect, in any one of the first to eleventh aspects, when there are multiple work robots (3) that satisfy the judgment condition (F0), the judgment unit (411) judges that the work robot (3) that has had the longest elapsed time since the last capacity calibration of the battery (31) is the first work robot (3A) from among the multiple work robots (3) that satisfy the judgment condition (F0).

[0191] According to this embodiment, one work robot (3) that requires capacity calibration of the battery (31) can be automatically determined as the first work robot (3A).

[0192] In the control system (1) of the thirteenth aspect, in any one of the first to eleventh aspects, when there are multiple work robots (3) that satisfy the judgment condition (F0), the judgment unit (411) judges that the work robot (3) having the longest accumulated operating time since the last capacity calibration of the battery (31) is the first work robot (3A) from among the multiple work robots (3) that satisfy the judgment condition (F0).

[0193] According to this embodiment, one work robot (3) that requires capacity calibration of the battery (31) can be automatically determined as the first work robot (3A).

[0194] In the control system (1) of the 14th aspect, in any one of the first to eleventh aspects, when there are multiple work robots (3) that satisfy the judgment condition (F0), the judgment unit (411) judges that the work robot (3) that has the greatest number of accumulated charging cycles since the last capacity calibration of the battery (31) is the first work robot (3A) from among the multiple work robots (3) that satisfy the judgment condition (F0).

[0195] According to this embodiment, one work robot (3) that requires capacity calibration of the battery (31) can be automatically determined as the first work robot (3A).

[0196] In the control system (1) of the fifteenth aspect, in any one of the first to fourteenth aspects, when a work command for instructing a work is given while the battery (31) is being discharged, the first work robot (3A) performs the work in accordance with the work command. If the remaining charge (E0) of the battery (31) of the first work robot (3A) is greater than the second threshold (E2) after the first work robot (3A) completes the work, the charge control unit (412) causes the first work robot (3A) to continue discharging, and if the remaining charge (E0) of the battery (31) of the first work robot (3A) is equal to or less than the second threshold (E2), the charge control unit (412) excludes the first work robot (3A) from being a target for capacity calibration.

[0197] According to this embodiment, the electric energy stored in the battery (31) can be effectively used for work.

[0198] In the control system (1) of the 16th aspect, in any one of the first to fifteenth aspects, a first work area (A4) where the first work robot (3A) performs work while discharging the battery (31) is smaller than a second work area (A1) where the second work robot (3B) performs work. Also, a charger (5) for charging the battery (31) is installed within the first work area (A4).

[0199] According to this embodiment, the distance that the first work robot (3A) travels to the charger (5) after performing work can be shortened, and the possibility that the remaining charge (E0) of the battery (31) will be insufficient and the first work robot (3A) will not be able to reach the charger (5) can be reduced.

[0200] In the control system (1) of the seventeenth aspect, in any one of the first to sixteenth aspects, when a work command for instructing a work is given while the battery (31) is discharging, the first work robot (3A) performs a work in accordance with the work command. If the remaining charge (E0) of the battery (31) of the first work robot (3A) is equal to or less than a first threshold value (E1), the charging control unit (412) excludes the first work robot (3A) from being a target for capacity calibration when the first work robot (3A) completes the work.

[0201] According to this embodiment, it is possible to reduce the possibility that the remaining charge (E0) of the battery (31) of the first work robot (3A) will run out during discharging.

[0202] In the control system (1) of the 18th aspect, in any one of the 1st to 17th aspects, the charging control unit (412) excludes the first work robot (3A) from being a target for capacity calibration when the remaining charge (E0) of the battery (31) of the second work robot (3B) becomes equal to or less than a first threshold value (E1).

[0203] According to this embodiment, it is possible to reduce the possibility that all of the working robots (3) will be unable to perform work.

[0204] The control system (1) of the 19th aspect is any one of the first to 18th aspects, further comprising an identification unit (415), and the identification unit (415) identifies a low task period (T4) in which the total amount of work commands given to the working robot (3) for instructing the working robot to perform a task is less than a judgment amount (W1). The judgment unit (411) judges that the working robot (3) that satisfies the judgment condition (F0) during the low task period (T4) is the first work robot (3A).

[0205] According to this embodiment, it is possible to reduce the possibility that the capacity calibration of the first work robot (3A) will be stopped.

[0206] A working system (2) of a twentieth aspect includes a control system (1) of any one of the first to nineteenth aspects, and a working robot (3).

[0207] According to this embodiment, it is possible to provide a work system (2) that automatically determines the first work robot (3A) that performs capacity calibration to obtain the capacity (C1) of the battery (31).

[0208] The control method of the 21st aspect includes a determination process and a charge control process. The determination process determines whether the work robot (3) is a first work robot (3A) that satisfies a determination condition (F0) and is a target for capacity calibration, or a second work robot that does not satisfy the determination condition (F0) and is not a target for capacity calibration. The work robot (3) includes a rechargeable battery (31) and a control unit (32) that calibrates the capacity of the battery (31) based on the amount of charge discharged by the battery (31). The charge control process controls the charging operation of the battery (31) by the work robot (3). In the charging control process, when the remaining charge (E0) of the battery (31) of the second work robot (3B) becomes equal to or less than a first threshold (E1) due to discharging, the second work robot (3B) is designated as the charging target, and when the remaining charge (E0) of the battery (31) of the first work robot (3A) becomes equal to a second threshold (E2) that is smaller than the first threshold (E1) due to discharging, the first work robot (3A) is designated as the charging target.

[0209] According to this aspect, it is possible to provide a control method for automatically determining the first work robot (3A) that performs capacity calibration to determine the capacity (C1) of the battery (31) based on the amount of charge discharged from the battery (31).

[0210] The control method of the 22nd aspect includes a determination process and a charge control process. The determination process determines whether the work robot (3) is a first work robot (3A) that satisfies a determination condition (F0) and is a target for capacity calibration, or a second work robot that does not satisfy the determination condition (F0) and is not a target for capacity calibration. The work robot (3) includes a rechargeable battery (31) and a control unit (32) that calibrates the capacity of the battery (31) based on the amount of charge stored in the battery (31). The charge control process controls the charging operation of the battery (31) by the work robot (3). In the charging control process, when the remaining charge (E0) of the battery (31) of the second work robot (3B) becomes equal to or less than a first threshold (E1) due to discharging, the second work robot (3B) is designated as the charging target, and when the remaining charge (E0) of the battery (31) of the first work robot (3A) becomes equal to a second threshold (E2) that is smaller than the first threshold (E1) due to discharging, the first work robot (3A) is designated as the charging target.

[0211] According to this aspect, it is possible to provide a control method for automatically determining the first work robot (3A) that performs capacity calibration to determine the capacity (C1) of the battery (31) based on the amount of charge stored in the battery (31).

[0212] It should be noted that the second to sixth aspects and the eighth to nineteenth aspects are not essential components of the control system (1) and may be omitted as appropriate. [Explanation of symbols]

[0213] 1. Control System 2. Working System 3. Working robots 5 charger 31 Battery 32 Control section 411 Judgment section 412 Charging control unit 415 Identification Unit 3A First work robot 3B Second work robot A1 Second work area A4 First work area C1 capacity E0 Remaining E1 First threshold E2 Second Threshold E3 Third Threshold E4 Fourth Threshold E5 5th threshold F0 judgment condition F1 First Condition F2 2nd condition F3 Third condition F4 Fourth condition T1 1st judgment time T2 Second judgment time T4 Low task period W1 Judgment amount

Claims

1. a determination unit that determines whether a work robot including a rechargeable battery and a control unit that calibrates the capacity of the battery based on the amount of charge discharged by the battery is a first work robot that satisfies a determination condition and is a target for the capacity calibration, or a second work robot that does not satisfy the determination condition and is not a target for the capacity calibration; a charging control unit that controls a charging operation of the battery by the working robot, The charging control unit is When the remaining charge of the battery of the second work robot becomes equal to or less than a first threshold due to discharging, the second work robot is set as a charging target; When the remaining charge of the battery of the first work robot decreases to a second threshold value that is smaller than the first threshold value due to discharging, the first work robot is set as a charging target; The judgment condition is: a first condition that a work command for instructing the working robot to perform a work has not been given for a first determination time or longer; a second condition that the remaining battery charge of the work robot other than the work robot being judged is equal to or greater than a third threshold; a third condition that the time elapsed since the last capacitance calibration is equal to or longer than a second determination time for the working robot; a fourth condition that the remaining charge of the battery of the working robot is equal to or greater than a fourth threshold; the third threshold is greater than the first threshold, and the fourth threshold is greater than the third threshold; Control system.

2. A work robot equipped with a rechargeable battery and a control unit that calibrates the capacity of the battery based on the amount of charge discharged by the battery, a determination unit that determines whether the work robot is a first work robot that satisfies a determination condition and is subject to the capacity calibration, or a second work robot that does not satisfy the determination condition and is not subject to the capacity calibration; a charging control unit that controls a charging operation of the battery by the working robot, The charging control unit is When the remaining charge of the battery of the second work robot becomes equal to or less than a first threshold due to discharging, the second work robot is set as a charging target; When the remaining charge of the battery of the first work robot decreases to a second threshold value that is smaller than the first threshold value due to discharging, the first work robot is set as a charging target; The judgment condition is: a first condition that a work command for instructing the working robot to perform a work has not been given for a first determination time or longer; a second condition that the remaining battery charge of the work robot other than the work robot being judged is equal to or greater than a third threshold; a third condition that the cumulative operating time of the working robot since the last capacity calibration is equal to or longer than a second determination time; a fourth condition that the remaining charge of the battery of the working robot is equal to or greater than a fourth threshold; the third threshold is greater than the first threshold, and the fourth threshold is greater than the third threshold; Control system.

3. A work robot equipped with a rechargeable battery and a control unit that calibrates the capacity of the battery based on the amount of charge discharged by the battery, a determination unit that determines whether the work robot is a first work robot that satisfies a determination condition and is subject to the capacity calibration, or a second work robot that does not satisfy the determination condition and is not subject to the capacity calibration; a charging control unit that controls a charging operation of the battery by the working robot, The charging control unit is When the remaining charge of the battery of the second work robot becomes equal to or less than a first threshold due to discharging, the second work robot is set as a charging target; When the remaining charge of the battery of the first work robot decreases to a second threshold value that is smaller than the first threshold value due to discharging, the first work robot is set as a charging target; The judgment condition is: a first condition that a work command for instructing the working robot to perform a work has not been given for a determination time or longer; a second condition that the remaining battery charge of the work robot other than the work robot being judged is equal to or greater than a third threshold; a third condition that the working robot has a cumulative number of charging cycles since the last capacity calibration was performed equal to or greater than a determination number; and a fourth condition that the remaining charge of the battery of the working robot is equal to or greater than a fourth threshold; the third threshold is greater than the first threshold, and the fourth threshold is greater than the third threshold; Control system.

4. A work robot equipped with a rechargeable battery and a control unit that calibrates the capacity of the battery based on the amount of charge discharged by the battery, a determination unit that determines whether the work robot is a first work robot that satisfies a determination condition and is subject to the capacity calibration, or a second work robot that does not satisfy the determination condition and is not subject to the capacity calibration; a charging control unit that controls a charging operation of the battery by the working robot, The charging control unit is When the remaining charge of the battery of the second work robot becomes equal to or less than a first threshold due to discharging, the second work robot is set as a charging target; When the remaining charge of the battery of the first work robot decreases to a second threshold value that is smaller than the first threshold value due to discharging, the first work robot is set as a charging target; the determination condition is that the working robot has a remaining battery charge equal to or greater than a predetermined threshold; The predetermined threshold is a maximum value of the remaining charge of the battery. Control system.

5. The charging control unit causes the first work robot to continue discharging the battery until the remaining charge of the battery of the first work robot decreases to the second threshold due to discharging. A control system according to any one of claims 1 to 4.

6. A work robot equipped with a rechargeable battery and a control unit that calibrates the capacity of the battery based on the amount of charge charged to the battery, a judgment unit that judges whether the work robot is a first work robot that satisfies a judgment condition and is subject to the capacity calibration, or a second work robot that does not satisfy the judgment condition and is not subject to the capacity calibration, a charging control unit that controls a charging operation of the battery by the working robot, The charging control unit is When the remaining charge of the battery of the second work robot becomes equal to or less than a first threshold due to discharging, the second work robot is set as a charging target; When the remaining charge of the battery of the first work robot decreases to a second threshold value that is smaller than the first threshold value due to discharging, the first work robot is set as the charging target; The judgment condition is: a first condition that a work command for instructing the working robot to perform a work has not been given for a first determination time or longer; a second condition that the remaining battery charge of the work robot other than the work robot being judged is equal to or greater than a third threshold; and a third condition that the time elapsed since the last capacitance calibration of the working robot is equal to or longer than a second determination time. The third threshold is greater than the first threshold. Control system.

7. a determination unit that determines whether a work robot including a rechargeable battery and a control unit that calibrates the capacity of the battery based on the amount of charge charged to the battery is a first work robot that satisfies a determination condition and is a target for the capacity calibration, or a second work robot that does not satisfy the determination condition and is not a target for the capacity calibration; a charging control unit that controls a charging operation of the battery by the working robot, The charging control unit is When the remaining charge of the battery of the second work robot becomes equal to or less than a first threshold due to discharging, the second work robot is set as a charging target; When the remaining charge of the battery of the first work robot decreases to a second threshold value that is smaller than the first threshold value due to discharging, the first work robot is set as the charging target; The judgment condition is: a first condition that a work command for instructing the working robot to perform a work has not been given for a first determination time or longer; a second condition that the remaining battery charge of the work robot other than the work robot being judged is equal to or greater than a third threshold; and a third condition that the cumulative operating time of the work robot since the last capacity calibration is equal to or longer than a second determination time. The third threshold is greater than the first threshold. Control system.

8. A work robot equipped with a rechargeable battery and a control unit that calibrates the capacity of the battery based on the amount of charge charged to the battery, a judgment unit that judges whether the work robot is a first work robot that satisfies a judgment condition and is subject to the capacity calibration, or a second work robot that does not satisfy the judgment condition and is not subject to the capacity calibration, a charging control unit that controls a charging operation of the battery by the working robot, The charging control unit is When the remaining charge of the battery of the second work robot becomes equal to or less than a first threshold due to discharging, the second work robot is set as a charging target; When the remaining charge of the battery of the first work robot decreases to a second threshold value that is smaller than the first threshold value due to discharging, the first work robot is set as the charging target; The judgment condition is: a first condition that a work command for instructing the working robot to perform a work has not been given for a determination time or longer; a second condition that the remaining battery charge of the work robot other than the work robot being judged is equal to or greater than a third threshold; and a third condition that the working robot has a cumulative number of charging cycles since the last capacity calibration was performed equal to or greater than a determination number. The third threshold is greater than the first threshold. Control system.

9. The charging control unit causes the first work robot to continue charging the battery until a remaining capacity of the battery of the first work robot reaches a predetermined threshold through charging. A control system according to any one of claims 6 to 8.

10. When there are multiple work robots that satisfy the judgment condition, the judgment unit judges that the work robot that has had the longest elapsed time since the last capacity calibration of the battery is the first work robot, from among the multiple work robots that satisfy the judgment condition. A control system according to any one of claims 1 to 9.

11. When there are multiple work robots that satisfy the judgment condition, the determination unit determines that the work robot that has the longest accumulated operating time since the last capacity calibration of the battery is the first work robot, from among the multiple work robots that satisfy the judgment condition. A control system according to any one of claims 1 to 9.

12. When there are multiple work robots that satisfy the determination condition, the determination unit determines that the work robot that satisfies the determination condition and has the largest number of accumulated charging cycles since the last capacity calibration of the battery is the first work robot, from among the multiple work robots that satisfy the determination condition. A control system according to any one of claims 1 to 9.

13. When a work command for instructing a work is given to the first work robot while the battery of the first work robot is being discharged, and after the first work robot completes the work in accordance with the work command, if the remaining charge of the battery of the first work robot is greater than the second threshold, the charging control unit causes the first work robot to continue discharging, and if the remaining charge of the battery of the first work robot is equal to or less than the second threshold, excludes the first work robot from being subject to the capacity calibration; A control system according to any one of claims 1 to 12.

14. A first work area in which the first work robot performs work while discharging the battery is smaller than a second work area in which the second work robot performs work; A charger for charging the battery is installed in the first working area. A control system according to any one of claims 1 to 13.

15. The charging control unit, when a work command for instructing a work is given to the first work robot while the battery of the first work robot is being discharged, if the remaining charge of the battery of the first work robot is equal to or less than the first threshold, excludes the first work robot from the target of the capacity calibration at a time when the first work robot completes the work in accordance with the work command. A control system according to any one of claims 1 to 14.

16. The charging control unit excludes the first work robot from the capacity calibration when the remaining charge of the battery of the second work robot becomes equal to or less than the first threshold. A control system according to any one of claims 1 to 15.

17. Further comprising an identification unit, the identification unit identifies a low task period in which a total amount of work commands given to the working robot for instructing the robot to perform a task is less than a determination amount; the determination unit determines that the work robot that satisfies the determination condition during the low task period is the first work robot. A control system according to any one of claims 1 to 16.

18. A control system according to any one of claims 1 to 17, The working robot is provided. Working system.

19. A determination process for determining whether a work robot equipped with a rechargeable battery and a control unit that calibrates the capacity of the battery based on the amount of charge discharged by the battery is a first work robot that satisfies a determination condition and is subject to the capacity calibration, or a second work robot that does not satisfy the determination condition and is not subject to the capacity calibration; a charging control process for controlling a charging operation of the battery by the work robot, The charging control process includes: When the remaining charge of the battery of the second work robot becomes equal to or less than a first threshold due to discharging, the second work robot is set as a charging target; When the remaining charge of the battery of the first work robot decreases to a second threshold value that is smaller than the first threshold value due to discharging, the first work robot is set as the charging target; The judgment condition is: a first condition that a work command for instructing the working robot to perform a work has not been given for a first determination time or longer; a second condition that the remaining battery charge of the work robot other than the work robot being judged is equal to or greater than a third threshold; a third condition that the time elapsed since the last capacitance calibration is equal to or longer than a second determination time for the working robot; a fourth condition that the remaining charge of the battery of the working robot is equal to or greater than a fourth threshold; the third threshold is greater than the first threshold, and the fourth threshold is greater than the third threshold; Control methods.

20. A determination process for determining whether a work robot equipped with a rechargeable battery and a control unit that calibrates the capacity of the battery based on the amount of charge discharged by the battery is a first work robot that satisfies a determination condition and is subject to the capacity calibration, or a second work robot that does not satisfy the determination condition and is not subject to the capacity calibration; a charging control process for controlling a charging operation of the battery by the work robot, The charging control process includes: When the remaining charge of the battery of the second work robot becomes equal to or less than a first threshold due to discharging, the second work robot is set as a charging target; When the remaining charge of the battery of the first work robot decreases to a second threshold value that is smaller than the first threshold value due to discharging, the first work robot is set as the charging target; The judgment condition is: a first condition that a work command for instructing the working robot to perform a work has not been given for a first determination time or longer; a second condition that the remaining battery charge of the work robot other than the work robot being judged is equal to or greater than a third threshold; a third condition that the cumulative operating time of the working robot since the last capacity calibration is equal to or longer than a second determination time; a fourth condition that the remaining charge of the battery of the working robot is equal to or greater than a fourth threshold; the third threshold is greater than the first threshold, and the fourth threshold is greater than the third threshold; Control methods.

21. a determination process for determining whether a work robot including a rechargeable battery and a control unit that calibrates the capacity of the battery based on the amount of charge discharged from the battery is a first work robot that satisfies a determination condition and is subject to the capacity calibration, or a second work robot that does not satisfy the determination condition and is not subject to the capacity calibration; a charging control process for controlling a charging operation of the battery by the work robot, The charging control process includes: When the remaining charge of the battery of the second work robot becomes equal to or less than a first threshold due to discharging, the second work robot is set as a charging target; When the remaining charge of the battery of the first work robot decreases to a second threshold value that is smaller than the first threshold value due to discharging, the first work robot is set as the charging target; The judgment condition is: a first condition that a work command for instructing the working robot to perform a work has not been given for a determination time or longer; a second condition that the remaining battery charge of the work robot other than the work robot being judged is equal to or greater than a third threshold; a third condition that the working robot has a cumulative number of charging cycles since the last capacity calibration was performed equal to or greater than a determination number; a fourth condition that the remaining charge of the battery of the working robot is equal to or greater than a fourth threshold; the third threshold is greater than the first threshold, and the fourth threshold is greater than the third threshold; Control methods.

22. a determination process for determining whether a work robot including a rechargeable battery and a control unit that calibrates the capacity of the battery based on the amount of charge charged to the battery is a first work robot that satisfies a determination condition and is subject to the capacity calibration, or a second work robot that does not satisfy the determination condition and is not subject to the capacity calibration; a charging control process for controlling a charging operation of the battery by the work robot, The charging control process includes: When the remaining charge of the battery of the second work robot becomes equal to or less than a first threshold due to discharging, the second work robot is set as a charging target; When the remaining charge of the battery of the first work robot decreases to a second threshold value that is smaller than the first threshold value due to discharging, the first work robot is set as the charging target; The judgment condition is: a first condition that a work command for instructing the working robot to perform a work has not been given for a first determination time or longer; a second condition that the remaining battery charge of the work robot other than the work robot being judged is equal to or greater than a third threshold; and a third condition that the time elapsed since the last capacitance calibration of the working robot is equal to or longer than a second determination time. The third threshold is greater than the first threshold. Control methods.

23. A determination process for determining whether a work robot equipped with a rechargeable battery and a control unit that calibrates the capacity of the battery based on the amount of charge charged to the battery is a first work robot that satisfies a determination condition and is subject to the capacity calibration, or a second work robot that does not satisfy the determination condition and is not subject to the capacity calibration; a charging control process for controlling a charging operation of the battery by the work robot, The charging control process includes: When the remaining charge of the battery of the second work robot becomes equal to or less than a first threshold due to discharging, the second work robot is set as a charging target; When the remaining charge of the battery of the first work robot decreases to a second threshold value that is smaller than the first threshold value due to discharging, the first work robot is set as the charging target; The judgment condition is: a first condition that a work command for instructing the working robot to perform a work has not been given for a first determination time or longer; a second condition that the remaining battery charge of the work robot other than the work robot being judged is equal to or greater than a third threshold; and a third condition that the cumulative operating time of the work robot since the last capacity calibration is equal to or longer than a second determination time. The third threshold is greater than the first threshold. Control methods.

24. A determination process for determining whether a work robot equipped with a rechargeable battery and a control unit that calibrates the capacity of the battery based on the amount of charge charged to the battery is a first work robot that satisfies a determination condition and is subject to the capacity calibration, or a second work robot that does not satisfy the determination condition and is not subject to the capacity calibration; a charging control process for controlling a charging operation of the battery by the work robot, The charging control process includes: When the remaining charge of the battery of the second work robot becomes equal to or less than a first threshold due to discharging, the second work robot is set as a charging target; When the remaining charge of the battery of the first work robot decreases to a second threshold value that is smaller than the first threshold value due to discharging, the first work robot is set as the charging target; The judgment condition is: a first condition that a work command for instructing the working robot to perform a work has not been given for a determination time or longer; a second condition that the remaining battery charge of the work robot other than the work robot being judged is equal to or greater than a third threshold; and a third condition that the working robot has a cumulative number of charging cycles since the last capacity calibration was performed equal to or greater than a determination number. The third threshold is greater than the first threshold. Control methods.

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