Moving Robot Passage Notification System and Moving Robot Passage Notification Method

Abstract

To provide a mobile robot passage notification system which can secure the safety of workers while suppressing a decrease in work efficiency of workers and a mobile robot.SOLUTION: A mobile robot passage notification system 1 manages a plurality of facilities 40 and a plurality of mobile robots 50 for moving to one facility 40 of the plurality of facilities 40 and performing work. This system comprises: a notification command unit 15 for determining, on the basis of movement information regarding the movement of the plurality of mobile robots 50, whether or not there is a facility 40 among the plurality of facilities 40 that satisfies a first condition regarding the passage of one mobile robot 50 of the plurality of mobile robots 50; and a notification unit (e.g., a touch panel display installed in the facility 40) for notifying to the effect that the mobile robot 50 will soon pass through the facility 40 that satisfies the first condition when it is determined that there exists the facility 40 that satisfies the first condition.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present disclosure relates to a mobile robot passage notification system and a mobile robot passage notification method for notifying the passage of a mobile robot.

Background Art

[0002] Patent Document 1 discloses a component mounting system capable of reducing the work of an operator involved in component replacement work.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In a component mounting system as disclosed in Patent Document 1, automation of work is required, and a mobile robot that moves to equipment to perform work has been introduced. On the other hand, it is difficult to automate all processes by a mobile robot or the like, and in many cases, an operator also works in parallel on the floor where the equipment is provided. When an operator and a mobile robot work on the same floor, if an attempt is made to ensure the safety of the operator, the work efficiency of the operator and the mobile robot may decrease.

[0005] Therefore, the present disclosure provides a mobile robot passage notification system and the like that can ensure the safety of an operator while suppressing a decrease in the work efficiency of the operator and the mobile robot.

Means for Solving the Problems

[0006] A mobile robot passing notification system according to an aspect of the present disclosure is a mobile robot passing notification system that manages a plurality of facilities and a plurality of mobile robots that move to any one of the plurality of facilities to perform work, and based on movement information regarding the movement of the plurality of mobile robots, a first determination unit that determines whether there is a facility that satisfies a first condition regarding the passage of any one of the plurality of mobile robots among the plurality of facilities, and when it is determined that there is a facility that satisfies the first condition, a notification unit that notifies that the mobile robot will soon pass the facility that satisfies the first condition.

[0007] Note that these general or specific aspects may be implemented by a system, apparatus, method, recording medium, or computer program, or may be implemented by any combination of a system, apparatus, method, recording medium, and computer program.

Advantages of the Invention

[0008] According to the mobile robot passing notification system and the like according to the present disclosure, it is possible to ensure the safety of the operator while suppressing a decrease in the work efficiency of the operator and the mobile robot.

Brief Description of the Drawings

[0009]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Embodiment for Carrying out the Invention

[0010] The mobile robot passage notification system of the present disclosure is a mobile robot passage notification system that manages a plurality of facilities and a plurality of mobile robots that move to any one of the plurality of facilities to perform work. Based on the movement information regarding the movement of the plurality of mobile robots, a first determination unit determines whether there is a facility that satisfies a first condition regarding the passage of any one of the plurality of mobile robots among the plurality of facilities, and when it is determined that there is a facility that satisfies the first condition, a notification unit that notifies that the mobile robot will soon pass through the facility that satisfies the first condition.

[0011] According to this, it is notified that the mobile robot will soon pass through a facility that satisfies a first condition (for example, a condition for the mobile robot to pass through soon) regarding the passage of the mobile robot. Therefore, the worker working at the facility can recognize that the mobile robot will soon pass through the facility and can prepare in advance for the passage of the mobile robot, so that the safety of the worker can be ensured. In addition, until it is notified that the mobile robot will soon pass through, the worker can concentrate on the work, so that a decrease in the work efficiency of the worker can be suppressed. Also, after the notification is made, the worker pays attention to the mobile robot that will soon pass through and, for example, keeps a distance from the mobile robot, so that the mobile robot can move easily without being obstructed by the worker, and a decrease in the work efficiency of the mobile robot can be suppressed. In this way, it is possible to ensure the safety of the worker while suppressing a decrease in the work efficiency of the worker and the mobile robot.

[0012] Further, based on the passing time information indicating which equipment among the plurality of facilities each of the plurality of mobile robots will pass through at what time as the movement information, the first determination unit calculates the remaining time until each of the plurality of mobile robots passes through any of the plurality of facilities, and determines whether there is a facility that satisfies the first condition and the remaining time until the mobile robot passes through is equal to or less than a predetermined time.

[0013] According to this, it is possible to notify that the mobile robot will soon pass through a facility where the remaining time until the mobile robot passes through is equal to or less than a predetermined time.

[0014] Further, based on the current position information of each of the plurality of mobile robots and the work information indicating which equipment among the plurality of facilities each of the plurality of mobile robots will pass through to perform work as the movement information, the first determination unit determines whether there is a facility that satisfies the first condition among the facilities passed by the mobile robot scheduled to perform work after passing through itself at a specific point.

[0015] According to this, it is possible to notify that the mobile robot will soon pass through a facility passed by the mobile robot scheduled to perform work after passing through itself at a specific point.

[0016] Further, based on the current position information of each of the plurality of mobile robots and the work information indicating which equipment among the plurality of facilities each of the plurality of mobile robots will pass through to perform work as the movement information, the first determination unit determines whether there is a facility that satisfies the first condition among the facilities from which the mobile robot scheduled to perform work after passing through itself departs at a specific point.

[0017] According to this, it is possible to notify that the mobile robot will soon pass through a facility from which the mobile robot scheduled to perform work after passing through itself departs at a specific point.

[0018] Further, based on the movement information and the equipment management information of the plurality of facilities, the first determination unit determines whether there is a facility among the plurality of facilities that satisfies the first condition and also satisfies a second condition regarding the state of the facility. When it is determined that there is a facility that satisfies the first condition and also satisfies the second condition, the notification unit may notify that the mobile robot will soon pass by the facility that satisfies the first condition and also satisfies the second condition.

[0019] According to this, depending on the state of the facility, there may be cases where it is not necessary to notify that the mobile robot will soon pass by. Therefore, it is possible to notify that the mobile robot will soon pass by a facility that satisfies not only the first condition but also a second condition regarding the state of the facility.

[0020] Further, as the equipment management information, the first determination unit may determine whether there is a facility in which an operator is working among the facilities that satisfy the second condition, based on equipment status information indicating whether an operator is working in each of the plurality of facilities.

[0021] According to this, it is possible to notify that the mobile robot will soon pass by a facility in which an operator is working as a facility that satisfies the second condition.

[0022] Furthermore, the mobile robot passing notification system further includes a second determination unit provided in each of the plurality of facilities for determining whether an operator is working in the facility itself. When it is determined that there is a facility that satisfies the first condition, the second determination unit provided in the facility determines whether an operator is working in the facility. When it is determined that an operator is working in the facility, the notification unit may notify that the mobile robot will soon pass by the facility.

[0023] According to this, the first determination unit only needs to determine whether or not the first condition is satisfied, and the second determination unit provided in the facility only needs to determine whether or not an operator is working in the facility. Therefore, each process can be divided into inside and outside the facility, and each process can be simplified.

[0024] The mobile robot passage notification method of the present disclosure is a mobile robot passage notification method executed by a mobile robot passage notification system that manages a plurality of facilities and a plurality of mobile robots that move to and work on any one of the plurality of facilities. Based on movement information regarding the movement of the plurality of mobile robots, a first determination step of determining whether or not there is a facility that satisfies a first condition regarding the passage of any one of the plurality of mobile robots among the plurality of facilities; and a notification step of notifying that the mobile robot will soon pass through the facility that satisfies the first condition when it is determined that there is a facility that satisfies the first condition.

[0025] According to this, it is possible to provide a mobile robot passage notification method that can ensure the safety of an operator while suppressing a decrease in the work efficiency of the operator and the mobile robot.

[0026] Note that each of the embodiments described below shows comprehensive or specific examples. The numerical values, shapes, materials, components, arrangement positions and connection forms of the components, steps, order of steps, etc. shown in the following embodiments are examples and are not intended to limit the present disclosure.

[0027] (Embodiment) Hereinafter, embodiments will be described with reference to FIGS. 1 to 7.

[0028] FIG. 1 is a diagram showing an application example of a mobile robot passage notification system 1 according to an embodiment. The mobile robot passage notification system 1 is a system that manages a plurality of facilities and a plurality of mobile robots that move to and work on any one of the plurality of facilities. The mobile robot passage notification system 1 is applied, for example, to a floor provided with a plurality of facilities, a plurality of mobile robots, and a parts warehouse in which parts used in the plurality of facilities are stored.

[0029] The plurality of facilities are provided in a production area on the floor. In FIG. 1, facilities 40a to 40l are shown as the plurality of facilities. For example, facilities 40a to 40d constitute one line, facilities 40e to 40h constitute one line, and facilities 40i to 40l constitute one line. Hereinafter, facilities 40a to 40l are also collectively referred to as facility 40. The facility 40 is a component mounting device, a printing device, an inspection device, or the like.

[0030] The plurality of mobile robots standby in a mobile robot standby area when not working, and when performing work, they depart from the mobile robot standby area and move to the target facility 40. In FIG. 1, mobile robots 50a to 50e are shown as the plurality of mobile robots. For example, mobile robots 50a and 50b are standby in the mobile robot standby area, mobile robot 50c is loaded with parts used for work in the parts warehouse, mobile robot 50d is performing work on facility 40l, and mobile robot 50e is performing work on facility 40b. Hereinafter, mobile robots 50a to 50e are also collectively referred to as mobile robot 50. The work of the mobile robot 50 includes work such as transporting parts to the target facility 40 and supplying the parts to the facility 40, or moving to the target facility 40 and collecting waste or the like from the facility 40.

[0031] Also, it can be seen that workers are working in parallel with the mobile robots 50 in the production area. For example, workers are working on facilities 40c and 40j.

[0032] For example, operations may be performed on both the front side and the rear side of the equipment 40. Assuming that the upper side of FIG. 1 is the front side and the lower side is the rear side, a mobile robot 50e is performing an operation on the front side of the equipment 40b, an operator is performing an operation on the rear side of the equipment 40c, an operator is performing an operation on the front side of the equipment 40j, and a mobile robot 50d is performing an operation on the front side of the equipment 40l.

[0033] The mobile robot 50c is attempting to move to the front side of the equipment 40j and perform an operation on the front side of the equipment 40j. The interval between each line is narrow. As shown in FIG. 1, when the mobile robot 50c passes through the equipment 40c in the path of moving to the equipment 40j, the operator performing an operation on the equipment 40c and the mobile robot 50c approach each other, and there is a possibility of danger to the operator. Also, when the mobile robot 50c arrives at the equipment 40j, the operator performing an operation on the equipment 40j and the mobile robot 50c approach each other, and there is a possibility of danger to the operator.

[0034] If an attempt is made to ensure the safety of the operator, the work efficiency of the operator and the mobile robot 50 may decrease. Hereinafter, a mobile robot passage notification system 1 that can ensure the safety of the operator while suppressing a decrease in the work efficiency of the operator and the mobile robot 50 will be described.

[0035] Note that FIG. 1 shows a floor management system 10, a mobile robot group management system 20, and line management systems 30a to 30c. The floor management system 10 is a system that manages the entire floor, and the mobile robot group management system 20 is a system that manages and controls a plurality of mobile robots 50. The line management systems 30a to 30c are systems that manage and control the equipment 40 that constitutes the line. The line management system 30a manages and controls the equipment 40a to 40d, the line management system 30b manages and controls the equipment 40e to 40h, and the line management system 30c manages and controls the equipment 40i to 40l. Hereinafter, the line management systems 30a to 30c will also be collectively referred to as the line management system 30.

[0036] Next, the details of the mobile robot passage notification system 1 will be described.

[0037] FIG. 2 is a configuration diagram showing an example of the mobile robot passage notification system 1 according to the embodiment.

[0038] The mobile robot passage notification system 1 includes a floor management system 10, a mobile robot group management system 20, a line management system 30, a plurality of facilities 40, a plurality of mobile robots 50, and a production plan 100. Note that what is shown in FIG. 2 is an example as a component of the mobile robot passage notification system 1. The mobile robot passage notification system 1 only needs to include at least a first determination unit and a notification unit. The mobile robot passage notification system 1 is a system including a processor, a communication interface, a memory, and the like. The memory is a ROM (Read Only Memory), a RAM (Random Access Memory), or the like, and can store a program executed by the processor. The first determination unit and the notification unit are realized by a processor or the like that executes a program stored in the memory. The first determination unit and the notification unit may be distributed and arranged in a plurality of devices (or systems) within the mobile robot passage notification system 1, or may be arranged in one device (or system). Hereinafter, an example in which the floor management system 10 has the function of the first determination unit and each of the plurality of facilities 40 has the function of the notification unit will be described. The details of the first determination unit and the notification unit will be described later.

[0039] The floor management system 10 is a system that manages the entire floor, and includes a time table update unit 11, a first storage unit 12, a second storage unit 13, a facility management information update unit 14, a notification command unit 15, and a work information generation unit 16.

[0040] The time table update unit 11 updates the passing time table 12a and the arrival time table 12b. The time table update unit 11 includes, for example, a passing time calculation unit 11a and an arrival time calculation unit 11b. The passing time calculation unit 11a calculates a passing time indicating which of the plurality of facilities 40 each of the plurality of mobile robots 50 passes through and at what time, using the map information 21a and the work information 21b described later, and updates the passing time table 12a according to the calculated passing time. The arrival time calculation unit 11b calculates an arrival time indicating which of the plurality of facilities 40 each of the plurality of mobile robots 50 arrives at and at what time, using the work information 21b described later, and updates the arrival time table 12b according to the calculated arrival time.

[0041] The first storage unit 12 stores the passing time table 12a and the arrival time table 12b. The passing time table 12a and the arrival time table 12b stored in the first storage unit 12 are updated by the time table update unit 11. Here, an example of the passing time table 12a and the arrival time table 12b will be described with reference to FIG. 3.

[0042] FIG. 3 is a diagram showing an example of the passing time table 12a or the arrival time table 12b. Each column in FIG. 3 is blank, but for example, the time is described. When FIG. 3 is the passing time table 12a, the table shows at what time each of a plurality of mobile robots 50 (here, robots A, B, C,...) passes through which of the plurality of facilities 40 (here, facilities A, B, C,...). For example, when robot A passes through the front side of facility C, the passing time is described in the corresponding column. The passing time table 12a is an example of passing time information indicating at what time each of the plurality of mobile robots 50 passes through which of the plurality of facilities 40. Similarly, when FIG. 3 is the arrival time table 12b, the table shows at what time each of the plurality of mobile robots 50 arrives at which of the plurality of facilities 40. For example, when robot B arrives at the rear side of facility B, the arrival time is described in the corresponding column. The arrival time table 12b is an example of arrival time information indicating at what time each of the plurality of mobile robots 50 arrives at which of the plurality of facilities 40. Note that the passing time table 12a and the arrival time table 12b may be combined into one table.

[0043] The second storage unit 13 stores the facility management information 13a. The facility management information 13a stored in the second storage unit 13 is updated by the facility management information update unit 14. Here, an example of the facility management information 13a will be described with reference to FIG. 4.

[0044] FIG. 4 is a diagram showing an example of the facility management information 13a. Although each column in FIG. 4 is blank, for example, in the column of the "During work?" row, it is described whether the operator is currently working, and in the column of the "Notified?" row, it is described whether a notification for notification has already been made. For example, when the operator is working on the front side of Facility A, it is described in the corresponding column of the "During work?" row that the operator is working. For example, the information in the column of the "During work?" row of the facility management information 13a is an example of facility status information indicating whether the operator is working in each of the plurality of facilities 40. For example, when a notification for notification has already been made for the rear side of Facility B, it is described in the corresponding column of the "Notified?" row that the notification has already been made.

[0045] The facility management information update unit 14 updates the facility management information 13a. The facility management information update unit 14 updates the facility management information 13a, for example, using the determination result of the facility status determination unit 31 described later.

[0046] The notification command unit 15 is a processing unit that notifies a command for causing a notification. The notification command unit 15 is an example of the first determination unit. Details of the notification command unit 15 will be described later.

[0047] The work information generation unit 16 generates work information 21b. For example, the work information generation unit 16 generates work information 21b using the production plan 100. For example, the production plan 100 includes information indicating the type of product, the production quantity of the product, information on the parts constituting the product, the scheduled production start time, and the scheduled production end time. For example, the work information generation unit 16 generates work information 21b that can achieve the production plan 100. The work information generation unit 16 transmits the generated work information 21b to the mobile robot group management system 20, and the mobile robot group management system 20 stores the received work information 21b in the storage unit 21.

[0048] The mobile robot group management system 20 is a system that manages and controls a plurality of mobile robots 50, and includes a storage unit 21, a work instruction unit 22, and a wireless communication unit 23.

[0049] The storage unit 21 stores map information 21a and work information 21b.

[0050] The map information 21a includes position information such as production areas on the floor, a plurality of facilities 40, a parts warehouse, and a mobile robot waiting area. The map information 21a is, for example, stored in the storage unit 21 in advance.

[0051] The work information 21b includes information indicating which of the plurality of facilities 40 each of the plurality of mobile robots 50 moves to and performs work on at what time. For example, the work information 21b includes the time when each of the plurality of mobile robots 50 should depart from the mobile robot waiting area, the position information of the facilities 40 where each of the plurality of mobile robots 50 performs work, and the time when each of the plurality of mobile robots 50 should arrive at the facilities 40 where they perform work. Also, the work information 21b includes information indicating the movement route of the mobile robot 50, or information about the facilities 40 that the mobile robot 50 passes through before moving to the facilities 40 where it performs work. Further, the work information 21b includes information indicating the work content of the mobile robot 50. Note that the arrival time calculation unit 11b may not be provided in the time table update unit 11, and the arrival time table 12b may be updated based on the time when each of the plurality of mobile robots 50 included in the work information 21b should arrive at the facilities 40 where they perform work.

[0052] The work instruction unit 22 is an example of a control unit that controls a plurality of mobile robots 50. The work instruction unit 22 controls a plurality of mobile robots 50 using the work information 21b and the like.

[0053] The wireless communication unit 23 is a communication interface for performing wireless communication between the mobile robot group management system 20 and the plurality of mobile robots 50. The work instruction unit 22 communicates wirelessly with the plurality of mobile robots 50 via the wireless communication unit 23 and controls the plurality of mobile robots 50.

[0054] The line management system 30 is a system that manages and controls a plurality of facilities 40, and includes a facility state determination unit 31, a notification processing unit 32, and a worker selection determination unit 33.

[0055] The equipment status determination unit 31 is a processing unit that determines the status of a plurality of pieces of equipment 40. The equipment status determination unit 31 determines whether an operator is working in each of the plurality of pieces of equipment 40. Further, the equipment status determination unit 31 determines whether a notification for notification has already been made for each of the plurality of pieces of equipment 40.

[0056] The notification processing unit 32 is a processing unit that performs processing according to a command notified from the notification command unit 15 on a plurality of pieces of equipment 40. For example, the notified command includes information for notifying that the mobile robot 50 passes by a specific piece of equipment 40 or arrives at a specific piece of equipment 40 after a specific time has elapsed. Further, the notified command may include information indicating what kind of work is to be performed, information indicating the type of the mobile robot 50, or arbitrary comment information according to the equipment 40. The notification processing unit 32 gives an instruction according to the notified command to the designated piece of equipment 40.

[0057] The operator selection determination unit 33 is a processing unit that determines the selection content (operator's command) of the operator input to the input unit. The input unit is a component to which a command for changing the work content of the mobile robot 50 is input when it is notified that the mobile robot 50 is about to arrive at the equipment 40. For example, each of the plurality of pieces of equipment 40 has the function of the input unit.

[0058] For example, the equipment 40 is provided with a notification unit and an input unit. Here, an example of the notification unit and the input unit will be described with reference to FIG. 5.

[0059] FIG. 5 is a diagram showing an example of the notification unit and the input unit. For example, the equipment 40 is provided with a touch panel display 41, and the touch panel display 41 is an example of the notification unit and the input unit.

[0060] As shown in FIG. 5, the touch panel display 41 shows "The robot will supply parts in *** minutes", and it can be seen that the notification unit notifies that the mobile robot 50 will arrive at the facility 40 where the touch panel display 41 is provided soon. Note that the notified content is not limited to the remaining time until arrival or the work content, and the remaining time until passage, the type of the mobile robot 50, or any comment may be notified. Note that the notification unit is not limited to the touch panel display 41, and may be a speaker, a buzzer, a lamp, or the like. For example, notification may be performed by voice, warning sound, or lighting or blinking of a lamp. Further, the notification unit may not be provided in the facility 40, and a display, a speaker, a lamp, or the like provided near the facility 40 may have the function of the notification unit.

[0061] Also, as shown in FIG. 5, the touch panel display 41 shows "Do you want to continue the work?", and buttons for "Continue Work", "Interrupt", and "End Work" are displayed. The buttons for "Continue Work", "Interrupt", and "End Work" are buttons displayed on the touch panel display 41 that can be operated by the operator. "Continue Work" means to continue the operator's work without changing the work content of the mobile robot 50, "Interrupt" means to prioritize the operator's work and change the work content of the mobile robot 50, and "End Work" means to prioritize the work of the mobile robot 50, not change the work content of the mobile robot 50, and end the operator's work. The mobile robot 50 is controlled according to the selected content (operator's command) input by the operator. Details will be described later. Note that the input unit is not limited to the touch panel display 41, and may be a physical button, a microphone, or the like, and operation of a physical button, voice input, or the like may be performed. Further, the input unit may not be provided in the facility 40, and a touch panel display, a physical button, a microphone, or the like provided near the facility 40 may have the function of the input unit.

[0062] Next, the details of the operation of the mobile robot passage notification system 1 will be described with reference to FIGS. 6 and 7. First, the operation of the mobile robot passage notification system 1 during notification will be described with reference to FIG. 6.

[0063] FIG. 6 is a flowchart showing an example of the operation during notification of the mobile robot passage notification system 1 according to the embodiment.

[0064] First, the notification command unit 15 (first determination unit) determines whether there is a facility 40 that satisfies a predetermined condition (step S11). Specifically, based on the movement information regarding the movement of the plurality of mobile robots 50, the notification command unit 15 determines whether there is a facility 40 among the plurality of facilities 40 that satisfies the first condition regarding the passage of any one of the plurality of mobile robots 50. Alternatively, based on the movement information regarding the movement of the plurality of mobile robots 50, the notification command unit 15 determines whether there is a facility 40 among the plurality of facilities 40 that satisfies the first condition regarding the arrival of any one of the plurality of mobile robots 50.

[0065] More specifically, based on the passing time information indicating which facility 40 among the plurality of facilities 40 each of the plurality of mobile robots 50 will pass through and at what time as movement information, the notification instruction unit 15 calculates the remaining time until each of the plurality of mobile robots 50 passes through any one of the plurality of facilities 40, and determines whether there is a facility 40 that satisfies the first condition for passing and the remaining time until the mobile robot 50 passes through is equal to or less than a predetermined time. Alternatively, based on the arrival time information indicating which facility 40 among the plurality of facilities 40 each of the plurality of mobile robots 50 will arrive at and at what time as movement information, the notification instruction unit 15 calculates the remaining time until each of the plurality of mobile robots 50 arrives at any one of the plurality of facilities 40, and determines whether there is a facility 40 that satisfies the first condition for arrival and the remaining time until the mobile robot 50 arrives is equal to or less than a predetermined time. The remaining time can be calculated by comparing the current time with the time described in the passing time table 12a or the arrival time table 12b. The predetermined time is not particularly limited, and may be appropriately determined according to the scale of the floor, the type of work, and the like.

[0066] Then, when it is determined that there is a facility 40 that satisfies the first condition for passing, or when it is determined that there is a facility 40 that satisfies the first condition for arrival (Yes in step S11), the touch panel display 41 (notification unit) notifies that the mobile robot 50 will soon pass through the facility 40 that satisfies the first condition for passing, or that the mobile robot 50 will soon arrive at the facility 40 that satisfies the first condition for arrival (step S12). When there is no facility 40 that satisfies the first condition (No in step S11), the process in step S11 is repeated until it is determined that there is a facility 40 that satisfies the first condition.

[0067] In this way, it is notified that the mobile robot 50 will soon pass through the facility 40 that satisfies the first condition for passing, and that the mobile robot 50 will soon arrive at the facility 40 that satisfies the first condition for arrival. Note that "soon" is not particularly limited, and may be within a few minutes.

[0068] Furthermore, in step S11, the notification instruction unit 15 may determine whether there is a facility 40 among the plurality of facilities 40 that satisfies the first condition and the second condition regarding the state of the facility 40 based on the movement information and the facility management information 13a of the plurality of facilities 40. Specifically, as the facility management information 13a, the notification instruction unit 15 may determine whether there is a facility 40 in which an operator is working as a facility 40 that satisfies the second condition based on the facility state information indicating whether an operator is working in each of the plurality of facilities 40 (for example, the information in the "Working?" column shown in FIG. 4). Note that the notification instruction unit 15 may determine whether there is an operating facility 40 as a facility 40 that satisfies the second condition based on the operating state information indicating the operating state of each of the plurality of facilities 40 as the facility management information 13a.

[0069] And in step S12, when it is determined that there is a facility 40 that satisfies the first condition and the second condition, the touch panel display 41 may notify that the mobile robot 50 will soon pass by the facility 40 that satisfies the first condition and the second condition, or that the mobile robot 50 will soon arrive at the facility 40.

[0070] When an operator is not working in the facility 40, or when the facility 40 is stopped, etc., it may be meaningless to notify that the mobile robot 50 will soon pass by the facility 40 or that the mobile robot 50 will soon arrive at the facility 40. Therefore, the notification of passing or arrival can be performed only for the facility 40 in which an operator is working or the operating facility 40. Note that when there is a facility 40 that satisfies the first condition but does not satisfy the second condition, it may be notified that the mobile robot 50 will soon arrive at the facility 40. This is because even for a facility 40 in which an operator is not working or a stopped facility 40, an operator working in the vicinity of the facility 40, etc. can be notified that the mobile robot 50 will soon arrive at the facility 40.

[0071] In addition, each of the plurality of facilities 40 may be provided with a second determination unit that determines whether or not an operator is working in the facility itself. In this case, the notification instruction unit 15 only needs to determine whether or not there is a facility 40 that satisfies the first condition. When it is determined that there is a facility 40 that satisfies the first condition, the second determination unit provided in the facility 40 determines whether or not an operator is working in the facility 40, and the touch panel display 41 of the facility 40 indicates that when it is determined that an operator is working in the facility 40, the mobile robot 50 will pass by the facility 40 soon, or the mobile robot 50 will arrive at the facility 40 soon. This may be notified. In this case, the notification instruction unit 15 only needs to determine whether or not the first condition is satisfied, and the second determination unit provided in the facility 40 only needs to determine whether or not an operator is working in the facility 40. Therefore, each process can be divided into inside and outside the facility 40, and each process can be simplified.

[0072] In addition, even after the notification is made, based on the information indicating whether or not the notification has already been made (for example, the information in the "Notified?" column shown in FIG. 4) included in the facility management information 13a, the notification may not be repeated many times. Also, according to the remaining time until the mobile robot 50 passes or arrives, the notification (for example, notification by output such as display or voice) may be stopped after the elapse of the remaining time. Further, a button or the like for stopping the notification may be provided, and the notification may be stopped by operating the button.

[0073] In addition, although an example in which passage time information or arrival time information is used as the movement information has been described, other information may be used.

[0074] For example, in step S11, based on, as movement information, the current position information of each of the plurality of mobile robots 50 and work information 21b indicating which of the plurality of facilities 40 each of the plurality of mobile robots 50 will pass through to perform work, the notification instruction unit 15 may determine whether the facility 40 through which the mobile robot 50 scheduled to perform work through itself passes a specific point exists as a facility 40 that satisfies a first condition regarding passage. Alternatively, for example, in step S11, based on, as movement information, the current position information of each of the plurality of mobile robots 50 and work information 21b indicating which of the plurality of facilities 40 each of the plurality of mobile robots 50 will move to to perform work, the notification instruction unit 15 may determine whether the facility 40 through which the mobile robot 50 scheduled to perform work to itself passes a specific point exists as a facility 40 that satisfies a first condition regarding arrival. For example, the specific point is predetermined for each of the plurality of facilities 40 and is, for example, the entrance of the production area or a point at a predetermined distance from the facility 40. When the mobile robot 50 passes through such a specific point, the mobile robot 50 is approaching the facility 40 where it will perform work, and the mobile robot 50 may arrive at the facility 40 soon, or the mobile robot 50 may pass through the facility 40 between the facility 40 and the specific point soon. Therefore, depending on whether the mobile robot 50 has passed through the specific point predetermined for each of the plurality of facilities 40, it is possible to determine whether there exists a facility 40 that the mobile robot 50 will soon pass through or arrive at (that is, a facility 40 that satisfies the first condition regarding passage or the first condition regarding arrival).

[0075] Also, for example, in step S11, the notification instruction unit 15, based on, as movement information, the current position information of each of the plurality of mobile robots 50 and work information 21b indicating which of the plurality of facilities 40 each of the plurality of mobile robots 50 will pass through to perform work, may determine whether the facility 40 from which the mobile robot 50 scheduled to perform work by passing through itself departs satisfies the first condition regarding passage. Alternatively, for example, in step S11, the notification instruction unit 15, based on, as movement information, the current position information of each of the plurality of mobile robots 50 and work information 21b indicating which of the plurality of facilities 40 each of the plurality of mobile robots 50 will move to to perform work, may determine whether the facility 40 from which the mobile robot 50 scheduled to perform work by moving to itself departs satisfies the first condition regarding arrival. For example, the specific point is determined in advance for each of the plurality of facilities 40 and is, for example, a mobile robot waiting area or a parts warehouse. When the mobile robot 50 departs from such a specific point, the mobile robot 50 is approaching the facility 40 where it will perform work, and the mobile robot 50 can arrive at the facility 40 shortly, or the mobile robot 50 can pass through the facility 40 between the facility 40 and the specific point shortly. Therefore, depending on whether the mobile robot 50 has departed from the specific point determined in advance for each of the plurality of facilities 40, it is possible to determine whether there is a facility 40 that the mobile robot 50 will pass through or arrive at shortly (that is, a facility 40 that satisfies the first condition regarding passage or the first condition regarding arrival).

[0076] Next, the operation after notification of the mobile robot passage notification system 1 (specifically, after notification regarding arrival) will be described with reference to FIG. 7.

[0077] FIG. 7 is a flowchart showing an example of the operation after notification of the mobile robot passage notification system 1 according to the embodiment.

[0078] First, the operator selection determination unit 33 determines whether a command for changing the work content of the mobile robot 50 has been input (step S21). Specifically, the operator selection determination unit 33 determines whether the "interrupt" button shown in FIG. 5 has been operated. As described above, "interrupt" means giving priority to the work of the operator and changing the work content of the mobile robot 50, and the operation of the "interrupt" button is an input of a command for changing the work content of the mobile robot 50.

[0079] Then, the work instruction unit 22 controls the mobile robot 50 according to the input command (step S22). Specifically, the work information generation unit 16 changes the work information 21b according to the input command, and the work instruction unit 22 controls the mobile robot 50 based on the changed work information 21b. Note that the work information generation unit 16 is an example of a work information change unit that changes the work information 21b indicating the work content of the mobile robot 50 according to the command input to the input unit.

[0080] For example, the command may include information for stopping the mobile robot 50. Thereby, the mobile robot 50 can be stopped, and during that time, the operator can finish the work. For example, a button for notifying that the operator's work has been completed may be displayed on the touch panel display 41, and by the operator operating the button, the stopped mobile robot 50 can be moved to cause the mobile robot 50 to perform work.

[0081] Also, for example, the command may include information for making the mobile robot 50 wait at a specific position. For example, there may be a case where the passage between the lines is narrow, and if the mobile robot 50 stops in the passage, it may interfere with the passage of the operator or another mobile robot 50. Therefore, by making the mobile robot 50 wait at a specific position where it does not interfere with the passage of the operator or another mobile robot 50, the mobile robot 50 can be stopped so as not to interfere with the passage of the operator or another mobile robot 50.

[0082] Further, for example, the instruction may include information for moving the mobile robot 50 to a facility 40 different from the facility 40 where the work was to be performed. For example, for the facility 40 where the mobile robot 50 was scheduled to perform work next, it is possible to cause the work to be performed earlier. For example, a button for notifying the operator that the work has been completed may be displayed on the touch panel display 41, and by the operator operating the button, it is possible to cause the work to be performed next for the facility 40 where the operator was working.

[0083] As described above, it is reported that the mobile robot 50 will soon pass through a facility 40 that satisfies the first condition regarding the passage of the mobile robot 50 (for example, the condition for the mobile robot 50 to pass through soon). Therefore, the operator working at the facility 40 can recognize that the mobile robot 50 will soon pass through the facility 40 and can prepare in advance for the passage of the mobile robot 50, so that the safety of the operator can be ensured. In addition, until it is reported that the mobile robot 50 will soon pass through, the operator can concentrate on the work, so that a decrease in the work efficiency of the operator can be suppressed. Further, after the notification is made, the operator pays attention to the mobile robot 50 that will soon pass through and, for example, keeps a distance from the mobile robot 50, so that the mobile robot 50 can move easily without being obstructed by the operator, and a decrease in the work efficiency of the mobile robot 50 can be suppressed. In this way, it is possible to ensure the safety of the operator while suppressing a decrease in the work efficiency of the operator and the mobile robot 50.

[0084] (Other Embodiments) As described above, the mobile robot passage notification system 1 of the present disclosure has been described based on the embodiments. However, the present disclosure is not limited to the above embodiments. As long as the gist of the present disclosure is not deviated from, various modifications conceived by those skilled in the art applied to the present embodiment, and forms constructed by combining components in different embodiments are also included in the scope of the present disclosure.

[0085] For example, in the above-described embodiment, an example has been described in which it is determined whether there is a facility 40 that satisfies a first condition regarding the arrival of any one of the plurality of mobile robots 50 among the plurality of facilities 40, but this determination may not be made. Accordingly, it may not be notified that a mobile robot 50 will soon arrive at a facility 40 that satisfies the first condition regarding arrival.

[0086] For example, in the above-described embodiment, an example has been described in which the mobile robot passage notification system 1 includes an input unit for inputting a command for changing the work content of the mobile robot 50 when it is notified that the mobile robot 50 will soon arrive at the facility 40, but the mobile robot passage notification system 1 may not include the input unit.

[0087] For example, the present disclosure can be realized not only as the mobile robot passage notification system 1 but also as a mobile robot passage notification method including steps (processes) performed by each component constituting the mobile robot passage notification system 1.

[0088] As shown in FIG. 6, the mobile robot passage notification method is a mobile robot passage notification method executed by a mobile robot passage notification system 1 that manages a plurality of facilities 40 and a plurality of mobile robots 50 that move to and work at any one of the plurality of facilities 40. Based on movement information regarding the movement of the plurality of mobile robots 50, a first determination step (step S11) of determining whether there is a facility 40 that satisfies a first condition regarding the passage of any one of the plurality of mobile robots 50 among the plurality of facilities 40; and a notification step (step S12) of notifying that the mobile robot 50 will soon pass through the facility 40 that satisfies the first condition when it is determined that there is a facility 40 that satisfies the first condition (Yes in step S11).

[0089] For example, the steps in the mobile robot passage notification method may be executed by a computer (computer system). And the present disclosure can be realized as a program for causing a computer to execute the steps included in the mobile robot passage notification method. Further, the present disclosure can be realized as a non-transitory computer-readable recording medium such as a CD-ROM recording the program.

[0090] For example, when the present disclosure is realized by a program (software), each step is executed by the program being executed using hardware resources such as a CPU, memory, and input / output circuits of a computer. That is, each step is executed by the CPU acquiring data from the memory or input / output circuits or the like and performing calculations, or outputting the calculation result to the memory or input / output circuits or the like.

[0091] Also, each component included in the mobile robot passage notification system 1 of the above embodiment may be realized as a dedicated or general-purpose circuit.

[0092] Also, each component included in the mobile robot passage notification system 1 of the above embodiment may be realized as a large-scale integration (LSI) which is an integrated circuit (IC: Integrated Circuit).

[0093] Also, the integrated circuit is not limited to LSI, and may be realized by a dedicated circuit or a general-purpose processor. A programmable field-programmable gate array (FPGA), or a reconfigurable processor whose connection and setting of circuit cells inside the LSI can be reconfigured, may be used.

[0094] Furthermore, if a technology for integrating circuits that replaces LSI appears due to the progress of semiconductor technology or another derived technology, naturally, each component included in the mobile robot passage notification system 1 may be integrated using that technology.

[0095] In addition, forms obtained by applying various modifications that can be conceived by those skilled in the art to the embodiments, and forms realized by arbitrarily combining the components and functions in each embodiment without departing from the spirit of the present disclosure are also included in the present disclosure.

Industrial Applicability

[0096] The present disclosure can be used, for example, in a system for transporting parts.

Explanation of Signs

[0097] 1 Mobile robot passage notification system 10 Floor management system 11 Time table update unit 11a Passage time calculation unit 11b Arrival time calculation unit 12 First storage unit 12a Passage time table 12b Arrival time table 13 Second storage unit 13a Facility management information 14 Facility management information update unit 15 Notification instruction unit (first determination unit) 16 Work information generation unit (work information change unit) 20 Mobile robot group management system 21 Storage unit 21a Map information 21b Work information 22 Work instruction unit (control unit) 23 Wireless communication unit 30, 30a, 30b, 30c Line management system 31 Facility state determination unit 32 Notification processing unit 33 Worker selection determination unit 40, 40a, 40b, 40c, 40d, 40e, 40f, 40g, 40h, 40i, 40j, 40k, 40l Facilities 41 Touch panel display (notification unit, input unit) 50, 50a, 50b, 50c, 50d, 50e Mobile robots 100 Production plan

Claims

1. A mobile robot passage notification system for managing a plurality of facilities and a plurality of mobile robots that move to and work on any one of the plurality of facilities, comprising: a first determination unit that determines, based on movement information regarding the movement of the plurality of mobile robots, whether there is a facility among the plurality of facilities that satisfies a first condition regarding the passage of any one of the plurality of mobile robots; a notification unit that, when it is determined that there is a facility that satisfies the first condition, notifies an operator that a mobile robot will soon pass through the facility that satisfies the first condition; The first determination unit determines, based on the movement information and the facility management information of the plurality of facilities, whether there is a facility among the plurality of facilities that satisfies the first condition and also satisfies a second condition regarding the state of the facility; When it is determined that there is a facility that satisfies the first condition and also satisfies the second condition, the notification unit notifies that a mobile robot will soon pass through the facility that satisfies the first condition and also satisfies the second condition; The facility that satisfies the first condition is a facility through which a mobile robot will soon pass; The facility that satisfies the second condition is a facility where the operator is working. Mobile robot passage notification system.

2. The first determination unit calculates, based on the passage time information indicating at what time each of the plurality of mobile robots will pass through which of the plurality of facilities as the movement information, the remaining time until each of the plurality of mobile robots passes through any one of the plurality of facilities, and determines whether there is a facility for which the remaining time until a mobile robot passes through is equal to or less than a predetermined time as the facility that satisfies the first condition. The mobile robot passage notification system according to claim 1.

3. The first determination unit determines, based on, as the movement information, the current position information of each of the plurality of mobile robots and work information indicating which of the plurality of facilities each of the plurality of mobile robots passes through to perform work, whether there exists, as a facility satisfying the first condition, a facility through which a mobile robot scheduled to perform work by passing through itself has passed a specific point. The mobile robot passing notification system according to claim 1.

4. The first determination unit determines, based on, as the movement information, the current position information of each of the plurality of mobile robots and work information indicating which of the plurality of facilities each of the plurality of mobile robots passes through to perform work, whether there exists, as a facility satisfying the first condition, a facility from which a mobile robot scheduled to perform work by passing through itself has departed a specific point. The mobile robot passing notification system according to claim 1.

5. The first determination unit determines, based on, as the facility management information, facility status information indicating whether an operator is working in each of the plurality of facilities, whether there exists, as a facility satisfying the second condition, a facility in which an operator is working. The mobile robot passing notification system according to any one of claims 1 to 4.

6. A mobile robot passing notification system that manages a plurality of facilities and a plurality of mobile robots that move to and perform work on any one of the plurality of facilities, a first determination unit that determines, based on movement information regarding the movement of the plurality of mobile robots, whether there exists, among the plurality of facilities, a facility that satisfies a first condition regarding the passage of any one of the plurality of mobile robots; a notification unit that, when it is determined that there exists a facility that satisfies the first condition, notifies an operator that a mobile robot will soon pass through the facility that satisfies the first condition; and a second determination unit provided in each of the plurality of facilities that determines whether an operator is working in itself. When it is determined that there is equipment that satisfies the first condition, the second determination unit provided in the equipment determines whether an operator is working in the equipment. When it is determined that an operator is working in the equipment, the notification unit notifies that the mobile robot will soon pass through the equipment. The equipment that satisfies the first condition is equipment that the mobile robot will soon pass through. Mobile robot passing notification system.

7. A mobile robot passing notification method executed by a mobile robot passing notification system that manages a plurality of pieces of equipment and a plurality of mobile robots that move to and work on any one of the plurality of pieces of equipment, A first determination step of determining whether there is equipment that satisfies a first condition regarding the passage of any one of the plurality of mobile robots among the plurality of pieces of equipment based on movement information regarding the movement of the plurality of mobile robots; When it is determined that there is equipment that satisfies the first condition, a notification step of notifying an operator that the mobile robot will soon pass through the equipment that satisfies the first condition. In the first determination step, based on the movement information and the equipment management information of the plurality of pieces of equipment, it is determined whether there is equipment that satisfies the first condition and also satisfies a second condition regarding the state of the equipment among the plurality of pieces of equipment. In the notification step, when it is determined that there is equipment that satisfies the first condition and also satisfies the second condition, it is notified that the mobile robot will soon pass through the equipment that satisfies the first condition and also satisfies the second condition. The equipment that satisfies the first condition is equipment that the mobile robot will soon pass through. The equipment that satisfies the second condition is equipment in which the operator is working. Mobile robot passing notification method.

Images