ROBOT SYSTEM AND ROBOT OPERATION METHOD

Abstract

This robot system comprises: a self-propelled robot 1 which has a wagon capable of travelling autonomously and at least one robot arm mounted on said wagon; and a plurality of operation consoles for operating the self-propelled robot. The plurality of operation consoles comprise: a first operation console that is configured to exclusively operate some of a plurality of to-be-operated parts of the self-propelled robot which includes the wagon and the at least one robot arm; and a second operation console that is configured to exclusively operate either the rest or all of the to-be-operated parts.

Description

[Technical field]

[0001] The present disclosure relates to a robot system and a robot operation method. [Background technology]

[0002] Work that has traditionally been performed by humans is now being performed by self-propelled robots equipped with robotic arms.

[0003] For example, Patent Document 1 discloses that a self-propelled robot equipped with a robot arm is used to lift and lower luggage onto shelves. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 6137005 Summary of the Invention [Problem to be solved by the invention]

[0005] Among the tasks performed using a self-propelled robot, there is one task in which the robot arm is used to perform a task while the self-propelled robot is moving. However, in the above-mentioned conventional technology, the self-propelled robot's traveling section and robot arm are operated by a single operation terminal, in other words, by a single person, so such tasks cannot necessarily be performed suitably.

[0006] The present disclosure has been made to solve the above-mentioned problems, and aims to provide a robot system and a robot operation method that can suitably perform work using an arm section while a self-propelled robot is traveling. [Means for solving the problem]

[0007] In order to achieve the above object, a robot system according to one aspect of the present disclosure includes: A self-propelled robot having an autonomously movable cart and at least one robot arm mounted on the cart; a plurality of operation consoles for operating the self-propelled robot, the plurality of operation consoles being operated by different operators; the self-propelled robot has a plurality of operated units including a first robot arm included in the at least one robot arm and the cart; The plurality of operation consoles include a first operation console configured to exclusively manually operate the first robot arm, and a second operation console configured to exclusively manually operate the carriage. and the first robot arm can be operated by operating the first operation console while the carriage is moved by operating the second operation console. It is something.

[0008] Further, a robot operation method according to another aspect of the present disclosure includes: A robot operation method using a self-propelled robot having an autonomously movable cart and at least one robot arm mounted on the cart, and a plurality of operation consoles for operating the self-propelled robot, comprising: the plurality of operation consoles include a first operation console and a second operation console operated by different operators, the self-propelled robot has a plurality of operated units including a first robot arm included in the at least one robot arm and the cart; The first robot arm is manually operated exclusively by the first operation console, and the carriage is manually operated exclusively by the second operation console. The second operation console is operated to move the carriage, while the first robot arm is operated to perform a task. This is what we have in mind. Effect of the Invention

[0009] The present disclosure has an effect of providing a robot system and a robot operation method that can suitably perform work using an arm while causing a self-propelled robot to travel. [Brief description of the drawings]

[0010] [Figure 1]FIG. 1 is a schematic diagram illustrating an example of a configuration of a robot system according to a first embodiment of the present disclosure. [Diagram 2] FIG. 2 is a plan view showing an example of the configuration of the operation unit in FIG. [Diagram 3] FIG. 3 is a schematic diagram showing an outline of the configuration of a control system of the robot system of FIG. [Figure 4] FIG. 4 is a functional block diagram showing the detailed configuration of the control system of the robot system of FIG. [Figure 5A] FIG. 5A is an association table showing the association between an operation unit of a group of operation units and an operated part of a self-running robot, and shows a state in which no association is made. [Figure 5B] FIG. 5B is an association table showing the association between the operation units of the operation unit group and the operated part of the self-propelled robot, the association table showing a state in which the first operation unit is associated with the operated part of the self-propelled robot. [Figure 5C] FIG. 5C is an association table showing the association between the operation units of the operation unit group and the operated parts of the self-propelled robot, showing the state in which the first operation unit and the second operation unit are associated with the operated parts of the self-propelled robot. [Figure 5D] Figure 5D is an association table showing the association between the operation units of the operation unit group and the operated parts of the self-propelled robot, and shows the state in which the first operation unit, the second operation unit, and the third operation unit are associated with the operated parts of the self-propelled robot. [Figure 6] FIG. 6 is a diagram showing the operation of the robot system according to the first embodiment of the present disclosure, and is a schematic diagram showing the self-propelled robot picking up products in a warehouse of a supermarket. [Figure 7] Figure 7 is an association table showing the association between the operation units of the operation unit group in the robot system of embodiment 2 of the present disclosure and the operated part of the self-propelled robot, and is an association table showing the state in which the first operation unit and the second operation unit are associated with the operated part of the self-propelled robot. [Figure 8] FIG. 8 is a diagram showing the operation of the robot system according to embodiment 2 of the present disclosure, and is a schematic diagram showing the self-propelled robot self-propelling while holding a glass filled with beer in each of the hands of each of the robot arms. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] Hereinafter, specific embodiments of the present disclosure will be described with reference to the drawings. In the following, the same or corresponding elements are denoted by the same reference numerals throughout all the drawings, and their repeated description will be omitted. In addition, since the following drawings are for explaining the present disclosure, elements unrelated to the present disclosure may be omitted, dimensions may be inaccurate due to exaggeration, or may be simplified, and the shapes of corresponding elements in multiple drawings may not match. In addition, the present disclosure is not limited to the following embodiments.

[0012] (Embodiment 1) FIG. 1 is a schematic diagram illustrating an example of a configuration of a robot system 100 according to a first embodiment of the present disclosure.

[0013] [Hardware configuration] 1, robot system 100 of embodiment 1 includes self-propelled robot 1 equipped with running unit 11 capable of autonomously traveling and arm unit 13 provided on running unit 11, and operation unit group (multiple operation consoles) 120 including three operation units (operation consoles) 2A-2C. The three operation units 2-2C of operation unit group 120 can exclusively operate running unit 11, lifting unit 12, and arm unit 13 of self-propelled robot 1, respectively.

[0014] Specifically, robot system 100 includes self-running robot 1 and two or more (three in this example) operation units 2A-2C.

[0015] Self-propelled robot 1 and two or more operation units 2A-2C are connected, for example, via data communications network 3. Self-propelled robot 1 and two or more operation units 2A-2C may also be connected directly, by wire or wirelessly. When referring to two or more operation units, reference signs 2A, 2B, 2C, etc. are used to refer to the individual operation units, and when referring to two or more operation units collectively or to a representative operation unit, reference sign 2 is used to refer to the operation unit.

[0016] These elements of the robot system 100 are described in detail below.

[0017] <Data communication network 3> The data communication network 3 may be any network capable of data communication. Examples of the data communication network 3 include the Internet, a Local Area Network (LAN), and a Wide Area Network (WAN).

[0018] <Self-propelled robot 1> Referring to FIG. 1, it is sufficient that self-running robot 1 is basically configured to include running unit 11 capable of autonomous running and arm unit (robot arm) 13 mounted on running unit 11.

[0019] Self-running robot 1 here comprises a running unit 11, a lifting unit 12, and an arm unit 13.

[0020] The running unit 11 is, for example, configured as a dolly (hereinafter, referred to as dolly 11). The dolly 11 is provided with wheels 11a consisting of front and rear wheels at its base. One of the front and rear wheels is a steering wheel, and at least one of the front and rear wheels is a driving wheel. In addition, a lifting unit 12 is provided at the front of the dolly 11, and a shelf 11b for placing items is provided at the rear of the dolly 11.

[0021] The cart 11 further includes a battery and a motor, and the cart 11 moves autonomously by driving the wheels 11a using the battery as a power source with the motor. The lifting unit 12, the arm unit 13, and the robot display unit (robot monitor) 14, the robot microphone 15, and the robot sound emitting unit (robot speaker) 16, which will be described later, operate using the battery as a power source.

[0022] The lifting unit 12 includes a base 122 and a lifting shaft 123 that moves up and down relative to the base 122 .

[0023] A first robot arm 121A and a second robot arm 121B are provided on the upper part of the lift shaft 123 so as to be rotatable around the central axis of the lift shaft 123. The second robot arm 121B is provided above the first robot arm 121A. The rotation positions of the first robot arm 121A and the second robot arm 121B can be interchanged, and there is no distinction between left and right.

[0024] The first robot arm 121A and the second robot arm 121B are each constituted by an articulated robot arm, and each includes a hand 124A and a hand 124B at the tip thereof.

[0025] Although not particularly limited, the hands 124A and 124B are formed in a shape capable of gripping an object here.

[0026] A surrounding camera 17 is provided in front of the lifting shaft 123. Other surrounding cameras 17 are provided on the right side (denoted by reference number 17), rear (not shown in FIG. 1), and left side (not shown in FIG. 1) of the cart 11. These four surrounding cameras 17 are provided at the same height. The four surrounding cameras 17 are devices that enable operator P to check the situation (environment) around self-propelled robot 1.

[0027] The tip of the second robot arm 121B is provided with a hand camera 18. The hand camera 18 is a device that allows the operators P1 to P3 to check an object that is to be grasped by the pair of hands 124A, 124B.

[0028] The robot display unit 14 is attached to the upper end of the lift shaft 123 via a support member 125. The robot display unit 14 is configured, for example, by a liquid crystal display.

[0029] A robot microphone 15, a robot sound emitting unit 16, and a main camera 19 are provided in appropriate positions on the robot display unit 14.

[0030] The robot display unit 14, robot microphone 15, robot sound emitting unit 16, and main camera 19 are a group of devices that allow the self-propelled robot 1 to converse with a person (hereinafter referred to as the interlocutor). The robot display unit 14 displays information (image information, text information, etc.) to be transmitted to the interlocutor. The robot microphone 15 acquires the voice of the interlocutor. The robot sound emitting unit 16 is, for example, constituted by a loudspeaker, and emits the audio information to be transmitted to the interlocutor. The main camera 19 captures an image of the interlocutor.

[0031] The cart 11 further includes an arithmetic circuit module Cm1 and a robot communication unit (robot communication device) 113. The arithmetic circuit module Cm1 includes a processor Pr1 and a memory Me1. As described later, the arithmetic circuit module Cm1 configures an association unit (association circuit) 111 and a robot control unit (robot controller) 112 (see FIG. 4).

[0032] <Operation unit 2> 2 is a plan view showing an example of the configuration of operation unit 2 in FIG. 1. There is no particular limitation on operation unit 2 as long as it can operate self-running robot 1. Operation unit 2 may be integrated as shown in FIG. 2, or may be composed of multiple operation parts formed separately. There is no particular limitation on the operation parts as long as they can be operated by the operator. Examples of operation parts include keys, joysticks, handles, etc.

[0033] In addition, as shown in FIG. 2, the operation unit 2 may be configured such that the operation sections 21A, 21B are integrated with the operation side display section (operation side monitor) 23, the operation side microphone 25, and the operation side sound emission section (operation side speaker) 26, or the operation sections 21A, 21B are formed separately from the operation side display section 23, the operation side microphone 25, and the operation side sound emission section 26.

[0034] 2, the operation unit 2 includes a main body 20. The main body 20 is formed in the shape of a flat rectangular parallelepiped box.

[0035] Left-hand operation unit 21A and right-hand operation unit 21B are provided at the left and right ends of main body 20, respectively. Left-hand operation unit 21A and right-hand operation unit 21B constitute operation unit 21. A predetermined group of operation keys 29 is arranged on left-hand operation unit 21A and right-hand operation unit 21B, respectively. This predetermined group of operation keys 29 is configured similarly to a well-known group of operation keys on a game machine, for example. Therefore, a description of this predetermined group of operation keys 29 will be omitted. When operators P1 to P3 operate this group of operation keys 29 appropriately with both hands, running unit 11, lifting unit 12, and arm unit 13 of self-propelled robot 1 operate in response to the operation. In other words, operation unit 21 is configured to output operation signals for operating running unit 11, lifting unit 12, and arm unit 13 of self-propelled robot 1.

[0036] An operating-side display unit 23 is provided in the center of the top surface of main body 20. Operating-side display unit 23 is configured, for example, by a touch screen. Operating-side display unit 23 displays information (image information, text information, etc.) necessary for operators P1-P3 to operate self-running robot 1. For example, operating-side display unit 23 appropriately displays images captured by surrounding camera 17, images captured by main camera 19, and images captured by hand camera 18. Operating-side display unit 23 also displays an association table, which will be described later.

[0037] An operating-side microphone 25 and an operating-side sound emitting unit 26 are provided at appropriate positions on the upper surface of the main body 20. The operating-side microphone 25 acquires the voice of the interlocutor. The operating-side sound emitting unit 26 is composed of, for example, a loudspeaker, and emits the voice of the interlocutor acquired by the robot-side microphone 15. The operating-side sound emitting unit 26 further includes a wearable speaker 26a such as a headphone. An audio output terminal (not shown) is provided at an appropriate position on the main body 20, and when a connection cord 30 of the wearable speaker 26a is connected to this audio output terminal, the output unit of the operating-side sound emitting unit 26 switches from the loudspeaker to the wearable speaker 26a, and the voice of the interlocutor acquired by the robot-side microphone 15 is emitted from the wearable speaker 26a.

[0038] An arithmetic circuit module Cm2 and an operation side communication unit (operation side communication device) 28 are provided inside the main body 20. The arithmetic circuit module Cm2 includes a processor Pr2 and a memory Me2. As will be described later, the arithmetic circuit module Cm2 constitutes an operation control unit (operation controller) 27 (see FIG. 4).

[0039] [Control system configuration] Fig. 3 is a schematic diagram showing an outline of the configuration of a control system of the robot system 100 of Fig. 1. Fig. 4 is a functional block diagram showing the details of the configuration of the control system of the robot system 100 of Fig. 3.

[0040] 3, in robot system 100, first to third operation units 2A to 2C are connected to self-running robot 1 via data communications network 3. As shown in FIG.

[0041] 4, there is shown self-running robot 1 and operation unit 2 representing first to third operation units 2A to 2C. In other words, first to third operation units 2A to 2C are configured substantially the same as one another.

[0042] The configuration of the control system of robot system 100 will be explained below separately as a "basic configuration" and a "configuration relating to the association between operation units 2A-2C and self-running robot 1".

[0043] <Basic configuration> {Configuration of operation unit 2} The operation unit 2 includes an operation section 21, an operation-side display section 23, an operation-side microphone 25, an operation-side sound emitting section 26, an operation control section 27, and an operation-side communication section .

[0044] The operation unit 21 outputs to the operation control unit 27 key operation signals corresponding to the operations of the group of operation keys 29 by the operators P1 to P3.

[0045] The operating-side display unit 23 displays an image according to an image display signal input from the operation control unit 27. Specifically, the operating-side display unit 23 displays a main image, a hand image, a surrounding image, and an association table according to a main image signal, a hand image signal, a surrounding image signal, and an association table information, respectively. In addition, the operating-side display unit 23 outputs operated-part designation information, which will be described in detail later.

[0046] The operating-side microphone 25 acquires the voice of the operator P1 and outputs it to the operation control unit 27 as an operator voice signal.

[0047] The operation-side sound emitting section 26 emits a sound in accordance with the interlocutor voice signal input from the operation control section 27 .

[0048] Operation control unit 27 generates a traveling unit operation signal, a lifting unit operation signal, and an arm unit operation signal in response to key operation signals input from operation unit 21, and outputs these to operation-side communication unit 28. These operation signals are generated, for example, based on assignment information of "operations of the traveling unit, the lifting unit, and the arm unit of the self-propelled robot" to a preset "combination of key operation signals of a group of operation keys 29."

[0049] Moreover, the operation control unit 27 outputs an operator voice signal input from the operating-side microphone 25 to the operating-side communication unit 28. Moreover, the operation control unit 27 outputs operated unit designation information input from the operating-side display unit 23 to the operating-side communication unit 28.

[0050] On the other hand, the operation control unit 27 generates an image display signal as appropriate based on the surrounding image signal, hand image signal, main image signal, and association table information input from the operation side communication unit 28, and outputs these to the operation side display unit 23.

[0051] Moreover, the operation control unit 27 outputs an interlocutor voice signal input from the operating-side communication unit 28 to the operating-side sound emitting unit 26 .

[0052] The operation-side communication unit 28 is composed of a communication device capable of data communication. The operation-side communication unit 28 converts the traveling unit operation signal, the lifting unit operation signal, the arm unit operation signal, the operator voice signal, and the operated unit designation signal input from the operation control unit 27 into communication data (packets), and transmits them to the robot-side communication unit 113.

[0053] In addition, the operation side communication unit 28 receives communication data of the surrounding image signal, the hand image signal, the main image signal, the association table information, and the interlocutor voice signal from the robot side communication unit 113, and converts these back into the surrounding image signal, the hand image signal, the main image signal, the association table information, and the interlocutor voice signal, respectively, and outputs them to the operation control unit 27.

[0054] These communications are here carried out via a data communications network 3 .

[0055] Here, the operation control unit 27 is composed of an arithmetic circuit module Cm2 having a processor Pr2 and a memory Me2. The operation control unit 27 is a functional block realized by the processor Pr2 executing a control program stored in the memory Me2 in this arithmetic circuit module Cm2. Specifically, this arithmetic circuit module Cm2 is composed of, for example, a microcontroller, an MPU, an FPGA (Field Programmable Gate Array), a PLC (Programmable Logic Controller), etc. These may be composed of a single arithmetic circuit module performing centralized control, or may be composed of multiple arithmetic circuit modules performing distributed control.

[0056] {Configuration of self-propelled robot 1} The self-propelled robot 1 comprises a running unit 11, a lifting unit 12, an arm unit 13, a robot side display unit 14, a robot side microphone 15, a robot side sound emission unit 16, a surrounding camera 17, a hand camera 18, a main camera 19, an association unit 111, a robot control unit 112, and a robot side communication unit 113.

[0057] The robot-side communication unit 113 is composed of a communication device capable of data communication. The robot-side communication unit 113 receives communication data of a traveling unit operation signal, a lifting unit operation signal, an arm unit operation signal, an operator voice signal, and an operated unit designation information from the operating-side communication unit 28, converts them back into a traveling unit operation signal, a lifting unit operation signal, an arm unit operation signal, an operator voice signal, and an operated unit designation information, and outputs them to the robot control unit 112.

[0058] In addition, the robot side communication unit 113 converts the surrounding image signal, hand image signal, main image signal, association table information, and interlocutor voice signal input from the robot control unit 112 into communication data (packets) and transmits them to the operation side communication unit 28.

[0059] The robot control unit 112 first outputs the running unit operation signal, lifting unit operation signal, and arm unit operation signal input from the robot side communication unit 113 to the association unit 111, and then outputs the post-confirmation running unit operation signal, post-confirmation lifting unit operation signal, and post-confirmation arm unit operation signal input from the association unit 111 to the running unit 11, lifting unit 12, and arm unit 13, respectively.

[0060] In addition, the robot control unit 112 outputs operated unit designation information input from the robot side communication unit 113 to the association unit 111.

[0061] Furthermore, the robot control unit 112 generates an image display signal as appropriate and outputs it to the robot side display unit 14 .

[0062] Furthermore, the robot control unit 112 outputs the operator voice signal input from the robot communication unit 113 to the robot sound emission unit 16. In this case, the robot control unit 112 may, for example, cause the robot display unit 14 to display an image of a person (e.g., an illustrated image) wearing a uniform appropriate for a specific work site, and convert the operator voice signal into a voice signal appropriate for that person (e.g., a voice that corresponds to the gender of the employee and is soft).

[0063] In addition, the robot control unit 112 outputs the surrounding image signal input from the surrounding camera 17, the hand image signal input from the hand camera 18, and the main image signal input from the main camera 19 to the robot side communication unit 113.

[0064] Travel unit 11, lift unit 12, and arm unit 13 operate in accordance with a post-confirmation travel unit operation signal, a post-confirmation lift unit operation signal, and a post-confirmation arm unit operation signal input from robot control unit 112, respectively.

[0065] The robot-side display unit 14 displays an image in accordance with an image display signal input from the robot control unit 112 .

[0066] The robot microphone 15 acquires the voice of the interlocutor (for example, a customer) and outputs it to the robot control unit 112 as an interlocutor voice signal.

[0067] The robot-side sound emitting unit 16 emits a sound in accordance with an operator voice signal input from the robot control unit 112. The robot-side sound emitting unit 16 is composed of, for example, a speaker.

[0068] Surrounding camera 17 captures images of the environment surrounding self-running robot 1 and outputs the images to robot control unit 112 as a surrounding image signal.

[0069] The hand camera 18 captures an image of the environment (scenery) of the hand of the second robot arm 121B and outputs the image as a hand image signal to the robot control unit 112. An example of the environment of the hand of the second robot arm 121B is an object to be grasped by the hand 124B.

[0070] Main camera 19 captures an image of a field of view equivalent to that of a standing person, and outputs this as a main image signal to robot control unit 112. When self-propelled robot 1 is facing an interlocutor, an image of the interlocutor is present in the main image.

[0071] Here, the robot control unit 112 and the association unit 111 are configured by an arithmetic circuit module Cm1 having a processor Pr1 and a memory Me1. The robot control unit 112 and the association unit 111 are functional blocks that are realized in this arithmetic circuit module Cm1 by the processor Pr1 executing a control program stored in the memory Me1. Specifically, this arithmetic circuit module Cm1 is configured by, for example, a microcontroller, an MPU, an FPGA (Field Programmable Gate Array), a PLC (Programmable Logic Controller), etc. These may be configured by a single arithmetic circuit module that performs centralized control, or may be configured by multiple arithmetic circuit modules that perform distributed control.

[0072] Here, the functions of the elements disclosed herein can be performed using circuits or processing circuits, including general purpose processors, special purpose processors, integrated circuits, ASICs (Application Specific Integrated circuits), conventional circuits, and / or combinations thereof, configured or programmed to perform the disclosed functions. A processor is considered a processing circuit or circuit because it includes transistors and other circuits. In this disclosure, a "unit" or "part" is hardware that performs the recited functions or hardware that is programmed to perform the recited functions. The hardware may be hardware disclosed herein or other known hardware that is programmed or configured to perform the recited functions. In the case of a processor, where the hardware is considered a type of circuit, a "unit" or "part" is a combination of hardware and software, and the software is used to configure the hardware and / or the processor.

[0073] <Configuration for Association Between Operation Units 2A-2C and Self-Propelled Robot 1> {Association settings configuration} FIG. 5A is an association table showing the association between the operation unit 2 of the operation unit group 120 and the operated part of the self-running robot 1, showing a state where no association is made. FIG. 5B is an association table showing the association between the operation unit 2 of the operation unit group 120 and the operated part of the self-running robot 1, showing a state where the first operation unit 2A is associated with the operated part of the self-running robot 1. FIG. 5C is an association table showing the association between the operation unit 2 of the operation unit group 120 and the operated part of the self-running robot 1, showing a state where the first operation unit 2A and the second operation unit 2B are associated with the operated part of the self-running robot 1. FIG. 5D is an association table showing the association between the operation unit 2 of the operation unit group 120 and the operated part of the self-running robot 1, showing a state where the first operation unit 2A, the second operation unit 2B, and the third operation unit 2C are associated with the operated part of the self-running robot 1. In these figures, a + sign indicates that an association is made, and a - sign indicates that an association is prohibited.

[0074] Associating unit 111 associates first to third operation units 2A-2C of operation unit group 120 with traveling unit 11, lifting unit 12, and arm unit 13 of self-running robot 1, for example, in the following manner. Here, first to third operation units 2A-2C are operated by operators P1-P3, respectively.

[0075] 3, 4, and 5A, when communication is established between first to third operation units 2A-2C and self-running robot 1, associating unit 111 generates association table 114 for a non-associated state as shown in Fig. 5A and outputs this as association table information. Then, this association table 114 for a non-associated state is displayed on operating-side display unit 23 of each of the first to third operation units 2A-2C.

[0076] Here, for example, operator P1 first sets arm section 13 as the operated section of the operation target and touches the corresponding section of association table 114. This touch information is then sent to association section 111 as operated section designation information, and association section 111 generates association table 114 in a state in which first operation unit 2A is associated with arm section 13 of self-running robot 1 and other operation units 2B, 2C are prohibited from being associated with arm section 13, as shown in Fig. 5B, and outputs this as association table information. This association table 114 is then displayed on operation-side display sections 23 of the first to third operation units 2A to 2C, respectively.

[0077] Next, for example, operator P2, second, sets traveling unit 11 as the operated unit to be operated and touches the corresponding unit in association table 114. This touch information is then sent to association unit 111 as operated unit designation information, and association unit 111 generates association table 114 shown in Fig. 5C in which second operation unit 2B is further associated with traveling unit 11 of self-running robot 1 and other operation units 2A, 2C are prohibited from being associated with traveling unit 11, and outputs this as association table information. This association table 114 is then displayed on operation-side display units 23 of the first to third operation units 2A to 2C, respectively.

[0078] Next, for example, operator P3, third, sets lift-and-lower section 12 as the operated section to be operated and touches the corresponding section in association table 114. This touch information is then sent to association section 111 as operated section designation information, and association section 111 generates association table 114 in a state in which third operation unit 2C is further associated with lift-and-lower section 12 of self-running robot 1 and other operation units 2A, 2B are prohibited from being associated with lift-and-lower section 12, as shown in FIG. 5D, and outputs this as association table information. This association table 114 is then displayed on operation-side display sections 23 of the first to third operation units 2A to 2C, respectively.

[0079] As described above, associating unit 111 prohibits arm unit 13, lifting unit 12, and traveling unit 11 of self-running robot 1 from being overlappingly associated with first to third operation units 2A to 2C. Therefore, in the above case, if first operation unit 2A designates arm unit 13 as an operated unit and then second operation unit 2B or third operation unit 2C designates arm unit 13 as an operated unit, associating unit 111 will reject this. The same applies to overlapping designations of other operated units.

[0080] However, first through third operation units 2A-2C can also designate two or more operated parts of self-running robot 1 as operation targets. Here, first through third operation units 2A-2C can also designate two or all of arm section 13, lifting section 12, and traveling section 11 of self-running robot 1 as operation targets (operated parts).

[0081] The associating unit 111 stores the association table (association information) 114 of FIG. 5D after the association is completed in the storage unit (memory).

[0082] As a result, an association between operation units 2A to 2C and arm section 13, lifting section 12, and traveling section 11 of self-running robot 1 is set.

[0083] In addition, operators P1 to P3 can learn the association between operation units 2A to 2C and arm section 13, lifting section 12, and running section 11 of self-running robot 1 from association table 114 in FIG. 5D, which shows the completed association and is displayed on operator display section 23.

[0084] {Configuration for exclusive operation} An identification symbol is attached to each of the two or more operation units (here, the first to third operation units 2A to 2C).

[0085] The operation control unit 27 of each operation unit 2A-2C attaches the identification symbol of the operation unit 2A-2C to the generated travel unit operation signal, lift unit operation signal, and arm unit operation signal, and outputs them. The association unit 111 of the self-running robot 1 checks the identification symbols of the travel unit operation signal, lift unit operation signal, and arm unit operation signal received from the robot control unit 112 against the association table 114 of FIG. 5D to confirm whether the identification symbol of the travel unit operation signal, the identification symbol of the lift unit operation signal, and the identification symbol of the arm unit operation signal are the identification symbols of the operation units 2A-2C associated with the travel unit 11, the lift unit 12, and the arm unit 13, respectively. If the confirmation result is positive, the association unit 111 sends the received travel unit operation signal, lift unit operation signal, and arm unit operation signal to the robot control unit 112 as a confirmed travel unit operation signal, a confirmed lift unit operation signal, and a confirmed arm unit operation signal, respectively. Thereby, the travel unit 11, the lift unit 12, and the arm unit 13 operate in accordance with the post-confirmation travel unit operation signal, the post-confirmation lift unit operation signal, and the post-confirmation arm unit operation signal, respectively.

[0086] On the other hand, if the above confirmation result is negative, the associating unit 111 discards the negative traveling unit operation signal, lifting unit operation signal, and arm unit operation signal, and outputs an error message as association table information with the corresponding identification symbols. This error message is then displayed on the operating side display unit 23 of the corresponding operation units 2A to 2C (the non-corresponding operation units 2A to 2C do not process the association table information since the identification symbols of other operation units are attached to the association table information). This allows the operators P1 to P3 to know the operation error and correct it.

[0087] With the above configuration, two or more operation units (here, first to third operation units 2A-2C) can each share, i.e., exclusively, the operation of the operated parts of self-running robot 1 (here, running part 11, lifting part 12, and arm part 13).

[0088] [Movement (Robot operation method)] Next, a description will be given of the operation (robot operation method) of the robot system 100 configured as described above. Fig. 6 is a diagram showing the operation of the robot system 100 according to the first embodiment, and is a schematic diagram showing a state in which the self-propelled robot 1 is picking up an item 55 in warehouse 50 of a supermarket.

[0089] 6, self-propelled robot 1 is placed in warehouse 50 of a supermarket. Operators P1-P3 operate first to third operation units 2A-2C, respectively, to operate arm section 13, traveling section 11, and lifting section 12 of self-propelled robot 1. These operations cause self-propelled robot 1 to operate, for example, as follows.

[0090] In warehouse 50, self-propelled robot 1 picks up products 55 while moving along product shelves 54. During the process, empty product storage boxes 56 stacked on storage shelf 11b are placed on the floor in front of product shelves 54, and desired products 55 are sequentially taken out from product shelves 54 and stored in product storage boxes 56 in order. When product storage boxes 56 become full, they are stacked on storage shelf 11b.

[0091] At this time, self-propelled robot 1 alternately grips product 55 with pair of hands 124A, 124B.

[0092] Second operation unit 2B operated by operator P2 has exclusive control over operation of traveling section 11 of self-running robot 1. Operator P2 moves self-running robot 1 by operating second operation unit 2B while monitoring the surroundings using surrounding images from surrounding camera 17 displayed on operator-side display section 23 of second operation unit 2B.

[0093] Furthermore, first operation unit 2A operated by operator P1 is exclusively responsible for operating arm 13 of self-propelled robot 1. Operator P1 checks product shelf 54 displaying products 55 in the main image from main camera 19 displayed on operation side display unit 23 of first operation unit 2A. Operator P1 then lowers product storage box 56 from shelf 11b to the floor while checking the gripping position of product storage box 56 in the hand image from hand camera 18 displayed on operation side display unit 23 of first operation unit 2A, and grips product 55 while checking the gripping position of product 55 in the hand image from hand camera 18.

[0094] Additionally, third operation unit 2C operated by operator P3 is exclusively responsible for operating lifting section 12 of self-propelled robot 1. Operator P3 operates third operation unit 2C to raise and lower lifting section 12 while watching the movement of pair of hands 124A, 124B of self-propelled robot 1 in the main image from main camera 19 displayed on operator-side display section 23 of third operation unit 2C, thereby assisting self-propelled robot 1 in taking out product 55 and raising and lowering product storage box 56.

[0095] Thus, according to robot system 100 of embodiment 1, first to third operation units 2A-2C can each share the responsibility of operating traveling section 11, lifting section 12, and arm section 13 of self-propelled robot 1. This makes it possible to suitably perform product picking, which involves tasks such as picking out product 55 with arm section 13 while self-propelled robot 1 is traveling.

[0096] (Embodiment 2) The second embodiment of the present disclosure differs from the first embodiment in the following respects, but is otherwise similar to the first embodiment. The differences will be described below.

[0097] Fig. 7 is an association table showing the association between operation unit 2 of operation unit group 120 in robot system 100 of embodiment 2 and an operated part of self-propelled robot 1, and is association table 114 showing a state in which first operation unit 2A and second operation unit 2B are associated with the operated part of self-propelled robot 1. Fig. 8 is a diagram showing the operation of robot system 100 according to embodiment 2, and is a schematic diagram showing self-propelled robot 1 self-propelling while holding glasses 92, 92, 92 filled with beer in hands 124A, 124B of both robot arms 121A, 121B, respectively.

[0098] 7, in embodiment 2, first operation unit 2A is associated with arm section 13 of self-running robot 1, and second operation unit 2B is associated with lifting section 12 and traveling section 11 of self-running robot 1. Therefore, third operation unit 2C is not associated with any of the operated sections. This is because in embodiment 2, there is little need to operate lifting section 12.

[0099] For example, self-propelled robot 1 holds tray 91 with two glasses 92, 92 filled with beer in hand 124A of first robot arm 121A, and also holds one glass 92 filled with beer directly in hand 124B of second robot arm 121B. Then, in this state, self-propelled robot 1 travels to the destination. The three glasses 92, 92, 92 are almost full of beer. Therefore, self-propelled robot 1 must travel while preventing the three glasses 92, 92, 92 held by both hands 124A, 124B from shaking so that the beer does not spill out.

[0100] However, in the second embodiment, operator P1 operates arm section 13 of self-propelled robot 1 with first operation unit 2A, and operator P2 operates lifting section 12 and running section 11 of self-propelled robot 1 with second operation unit 2B. This allows operator P2 to concentrate on operating lifting section 12 and running section 11 so that self-propelled robot 1 does not shake, and operator P1 can concentrate on operating arm section 13 so that beer does not spill from three glasses 92, 92, 92. When self-propelled robot 1 is caused to travel, self-propelled robot 1 appropriately converses with a customer as necessary. This dialogue is carried out using operation-side display section 23, operation-side microphone 25, and operation-side sound emitting section 26 of first operation unit 2A, and robot-side microphone 15, robot-side sound emitting section 16, and main camera 19 of self-propelled robot 1.

[0101] As a result, self-propelled robot 1 can be driven in an appropriate manner so as to prevent beer from spilling from three glasses 92, 92, 92 held by both hands 124A, 124B.

[0102] (Embodiment 3) In the third embodiment of the present disclosure, first to third operation units 2A-2C are configured as dedicated operation units capable of operating only one of the operated parts of self-running robot 1. Therefore, association unit 111 of self-running robot 1 is omitted. Other points are the same as those of the first embodiment.

[0103] In this embodiment 3, the first to third operation units 2A to 2C can respectively exclusively operate the running section 11, the lifting section 12, and the arm section 13 of the self-propelled robot 1, so that product picking, which involves tasks such as removing product 55 with the arm section 13 while the self-propelled robot 1 is traveling, can be preferably performed.

[0104] (Embodiment 4) The fourth embodiment of the present disclosure differs from the first embodiment in the following respects, but is otherwise similar to the first embodiment. The differences will be described below.

[0105] Referring to FIG. 1, operation unit group 120 includes operation units 2A-2C that enable operators P1-P3 to operate operated parts 11-13 of self-propelled robot 1, and operation units 2A-2C that can automatically drive operated parts 11-13 of self-propelled robot 1.

[0106] Specifically, referring to FIG. 4, the operation control unit 27 is equipped with a predetermined automatic driving program, and when an operation signal to switch from manual operation to automatic driving is input from the manual operation unit 21, the operation control unit 27 outputs an operation signal in accordance with the predetermined automatic driving program to the operation side communication unit 28.

[0107] As a result, self-running robot 1 is automatically driven by operation units 2A to 2C.

[0108] According to such embodiment 4, the number of operators P1 to P3 can be reduced.

[0109] (Other embodiments) In any of the first to third embodiments, the association unit 111 may be disposed in a server connected to the data communication network 3 .

[0110] Also, in the first or second embodiment, it may be possible to exclusively operate each of the two robot arms 121A, 121B. It may also be possible to exclusively operate another part of the self-running robot 1. For example, it may be possible to exclusively operate the hands 124A, 124B.

[0111] As described above, in the above embodiment of the present disclosure, the self-propelled robot 1 further includes a lifting unit 12 that raises and lowers the arm unit 13, the arm unit 13 is provided on the running unit 11 via the lifting unit 12, and the operation unit group 120 includes an operation unit 2 that can exclusively operate the lifting unit 12 of the self-propelled robot 1.

[0112] Therefore, operation unit group 120 can include two or three operation units 2A-2C. If operation unit group 120 includes three operation units, three operators can share the operation of running section 11, lifting section 12, and arm section 13 of self-running robot 1, making it possible to more suitably perform work with robot arms 121A, 121B while traveling self-running robot 1.

[0113] Moreover, the arm section 13 includes two robot arms 121A, 121B, and the operation unit group 120 includes operation units 2A to 2C capable of exclusively operating the two robot arms 121A, 121B of the arm section 13, respectively.

[0114] Therefore, two operators can share the operation of the two robot arms 121A, 121B, and therefore the work performed with the arm portion 13 can be performed more suitably.

[0115] Furthermore, operation units 2A-2C included in operation unit group 120 can each exclusively operate at least two of traveling section 11 and two robot arms 121A, 121B of arm section 13 of self-running robot 1.

[0116] Therefore, the number of operators P1 to P3 sharing the work can be reduced depending on the work content.

[0117] Operation unit group 120 also includes operation units 2A-2C that enable an operator to operate an operated part of self-running robot 1, and operation units 2A-2C that can drive the operated part of self-running robot 1 automatically.

[0118] Therefore, the number of operators P1 to P3 can be further reduced.

[0119] In addition, robot system 100 is provided with an association unit that associates one operated unit 11-13 of self-propelled robot 1 designated by one operation unit 2 included in operation unit group 120 with the designated operation units 2A-2C, and sends only the operation signal output by the associated operation unit 2A-2C to the associated operated unit 11-13, thereby associating the operation signals output by all operation units 2A-2C included in operation unit group 120 with the operation signals received by all operated units 11-13 of self-propelled robot 1.

[0120] Therefore, only the operation signals output by the associated operation units 2A-2C are sent to the associated operated parts 11-13, allowing the associated operation units 2A-2C to exclusively operate the associated operated parts 11-13. This association is made between the operation signals output by all operation units 2A-2C included in operation unit group 120 and the operation signals received by all operated parts 11-13 of self-running robot 1, allowing any two or more operation units 2A-2C included in operation unit group 120 to exclusively operate any two or more operated parts 11-13 of self-running robot 1, respectively.

[0121] [Summary] Robot system 100 according to the present disclosure includes self-propelled robot 1 having cart 11 capable of autonomous travel and at least one robot arm 121A, 121B mounted on cart 11, and multiple operation consoles 2A, 2B, 2C that operate self-propelled robot 1. The multiple operation consoles 2A, 2B, 2C are characterized by including a first operation console 2 configured to exclusively operate some of multiple operated units 11, 12, 13 of self-propelled robot 1, including cart 11 and at least one robot arm 121A, 121B, and a second operation console 2 configured to exclusively operate some or all of the remaining multiple operated units 11, 12, 13.

[0122] In addition, the robot work method disclosed herein is a robot work method that uses a self-propelled robot 1 having an autonomously movable cart 11 and at least one robot arm 121A, 121B mounted on the cart 11, and multiple operation consoles 2A, 2B, 2C that operate the self-propelled robot 1, wherein the multiple operation consoles 2A, 2B, 2C include a first operation console 2 and a second operation console 2, the first operation console 2 exclusively operates some of the multiple operated units 11, 12, 13 of the self-propelled robot 1, including the cart 11 and at least one robot arm 121A, 121B, and the second operation console 2 exclusively operates the remaining some or all of the multiple operated units 11, 12, 13.

[0123] According to the above robot system 100 and robot operation method, multiple operators can share the operation of operated parts of self-propelled robot 1 (i.e., traveling part 11, lifting part 12, and arm part 13 including at least one robot arm 121A, 121B) by each operating operation console 2. This allows self-propelled robot 1 to more efficiently perform the task of moving robot arms 121A, 121B while traveling on cart 11.

[0124] In the above robot system 100, at least one robot arm 121A, 121B may include a first robot arm 121A operated exclusively by a first operation console 2, and a second robot arm 121B operated exclusively by a second operation console.

[0125] In addition, in the above robot system 100, at least one of the robot arms 121A, 121B includes a first robot arm 121A and a second robot arm 121B, and two of the cart 11, the first robot arm 121A, and the second robot arm 121B may be exclusively operated by one of the first operation console 2 and the second operation console 2.

[0126] In the above robot system 100, the multiple operation consoles 2A, 2B, 2C may include a manual operation console configured to manually operate the multiple operated units 11, 12, 13 by an operator (i.e., the operation console 2 that manually operates the self-propelled robot 1), and an automatic operation console configured to automatically operate the multiple operated units 11, 12, 13 (i.e., the operation console 2 that automatically operates the self-propelled robot 1).

[0127] In the above robot system 100, the association circuit 111 (Cm1) may be configured to acquire operated unit designation information that designates an operation target among multiple operated units 11, 12, 13 from each of the multiple operation consoles 2 by the processor Pr1 executing a predetermined program stored in the memory Me1, generate association information in which each of the multiple operated units 11, 12, 13 is associated with one of the multiple operation consoles 2, and store the association information.

[0128] In this way, the operators can use the operation console 2 to specify the operated units 11, 12, and 13 that are to be operated by each of the multiple operation consoles 2.

[0129] Furthermore, in the above robot system 100, the self-propelled robot 1 has a robot controller 112 that controls the operation of the self-propelled robot 1, and the association circuit 111 is configured to acquire an operation signal for a first operated unit among the multiple operated units 11, 12, 13 and an identification symbol of the operation console 2 that output the operation signal by the processor Pr1 executing a predetermined program stored in the memory Me1, and to confirm that the identification symbol corresponds to that of the operation console 2 associated with the first operated unit by referring to the association information, and if the confirmation is positive, to send the operation signal to the robot controller 112 as a confirmed operation signal for the first operated unit, and if the confirmation is negative, to discard the operation signal, and the robot controller 112 may be configured to operate the first operated unit in accordance with the received confirmed operation signal.

[0130] As a result, each of the multiple operated units 11, 12, 13 will only operate with operations input from the associated operation console 2, preventing operational errors and allowing operators to recognize and correct operational errors.

[0131] Numerous modifications and other embodiments will be apparent to those skilled in the art in light of the above description, and therefore the above description is to be construed as illustrative only.

[0132] The functions of the elements disclosed herein can be performed using circuits or processing circuits, including general purpose processors, special purpose processors, integrated circuits, Application Specific Integrated Circuits (ASICs), conventional circuits, and / or combinations thereof, configured or programmed to perform the disclosed functions. Processors are considered processing circuits or circuits because they include transistors and other circuits. In this disclosure, a circuit, unit, or means is hardware that performs the recited functions or hardware that is programmed to perform the recited functions. The hardware may be hardware disclosed herein or other known hardware that is programmed or configured to perform the recited functions. In the case where the hardware is a processor, which is considered a type of circuit, the circuit, means, or unit is a combination of hardware and software, and the software is used to configure the hardware and / or the processor.

Claims

1. A self-propelled robot having an autonomously movable cart and at least one robot arm mounted on the cart; a plurality of operation consoles for operating the self-propelled robot, the plurality of operation consoles being operated by different operators; the self-propelled robot has a plurality of operated units including a first robot arm included in the at least one robot arm and the cart; the plurality of operation consoles include a first operation console configured to exclusively manually operate the first robot arm, and a second operation console configured to exclusively manually operate the cart, and are configured to be able to perform work with the first robot arm by operating the first operation console while running the cart by operating the second operation console. Robot system.

2. the plurality of operated units have a second robot arm included in the at least one robot arm, the plurality of operation consoles include a third operation console that exclusively manually operates the second robot arm; The robot system of claim 1 .

3. the plurality of operated units have a second robot arm included in the at least one robot arm, the first robot arm and the second robot arm are operated by the first operation console; The robot system of claim 1 .

4. A self-propelled robot having an autonomously movable cart and at least one robot arm mounted on the cart; a plurality of operation consoles for operating the self-propelled robot, the plurality of operation consoles being operated by different operators; a robot controller having an association circuit including a processor and a memory; the self-propelled robot has a plurality of operated units including a first robot arm included in the at least one robot arm and the cart; the plurality of operation consoles include a first operation console configured to exclusively manually operate the first robot arm, and a second operation console configured to exclusively manually operate the cart, and are configured to be able to perform work with the first robot arm by operating the first operation console while running the cart by operating the second operation console, When communication between the multiple operation consoles and the robot controller is established by the processor executing a predetermined program stored in the memory, the association circuit generates an association table that associates one of the multiple operation consoles with each of the multiple operated units, outputs information to the multiple operation consoles for displaying the association table in a state in which nothing is associated with the multiple operated units, obtains first operated unit designation information that designates the first robot arm from the first operation console, and associates the first operation console with the first robot arm of the multiple operated units based on the first operated unit designation information, and outputs information to the multiple operation consoles for displaying the association table in a state in which nothing is associated with the multiple operated units, obtains first operated unit designation information that designates the first robot arm from the first operation console, and outputting, to the plurality of operation consoles, information for displaying the association table in a state in which associating the plurality of operation consoles other than the first operation console with the arm is prohibited; acquiring, from the second operation console, second operated unit designation information for designating the cart; outputting, to the plurality of operation consoles, information for displaying the association table in a state in which the second operation console is associated with the cart among the plurality of operated units based on the second operated unit designation information and associating the plurality of operation consoles other than the second operation console with the cart is prohibited; and storing the association table in which association has been completed for each of the plurality of operated units. Robot system.

5. the self-propelled robot has an association circuit including a processor and a memory; the association circuit is configured to acquire, from each of the plurality of operation consoles, operated unit designation information that designates an operation target among the plurality of operated units, generate association information in which each of the plurality of operated units is associated with any one of the plurality of operation consoles, and store the association information, by the processor executing a predetermined program stored in the memory. The robot system according to any one of claims 1 to 3.

6. the self-propelled robot has a robot controller that controls an operation of the self-propelled robot, the association circuit is configured to acquire an operation signal for a first operated part among the plurality of operated parts and an identification symbol of the operation console which outputs the operation signal, by the processor executing a predetermined program stored in the memory, and confirm that the identification symbol corresponds to that of the operation console associated with the first operated part by referring to the association information, and if the confirmation is affirmative, send the operation signal to the robot controller as a confirmed operation signal for the first operated part, and if the confirmation is negative, discard the operation signal; The robot controller is configured to operate the first operated unit in accordance with the received operation signal after the confirmation. The robot system according to claim 5 .

7. A robot operation method using a self-propelled robot having an autonomously movable cart and at least one robot arm mounted on the cart, and a plurality of operation consoles for operating the self-propelled robot, comprising: the plurality of operation consoles include a first operation console and a second operation console operated by different operators, the self-propelled robot has a plurality of operated units including a first robot arm included in the at least one robot arm and the cart; the first robot arm is manually operated exclusively by the first operation console, the cart is manually operated exclusively by the second operation console, and work is performed with the first robot arm by operation of the first operation console while the cart is moved by operation of the second operation console; Robot working method.

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