Mobile Robot Arrival Notification System and Mobile Robot Arrival Notification Method

Abstract

To provide a mobile robot arrival 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 arrival notification system 1 comprises: a notification command unit 15 for determining whether or not a facility 40 satisfies a first condition regarding the arrival of a mobile robot 50, on the basis of movement information regarding the movement of the mobile robot 50; a notification unit (e.g., a touch panel display installed in the facility 40) for notifying the facility 40 that the mobile robot 50 will soon arrive when it is determined that the facility 40 satisfies the first condition; an input unit (e.g., a touch panel display installed in the facility 40) to which is inputted a command for changing the work content of the mobile robot 50 when the facility 40 is notified to the effect that the mobile robot 50 will soon arrive; and a work indication unit 22 for controlling the mobile robot 50 in accordance with the inputted command.SELECTED DRAWING: Figure 2

Description

Technical Field

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

Background Art

[0002] Patent Document 1 discloses a component mounting system that can reduce the work of workers 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, workers also work in parallel on the floor where the equipment is installed. When workers and mobile robots work on the same floor, if an attempt is made to ensure the safety of the workers, the work efficiency of the workers and the mobile robots may decrease.

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

Means for Solving the Problems

[0006] A mobile robot arrival notification system according to an aspect of the present disclosure is a mobile robot arrival notification system that manages a facility and a mobile robot that moves to the facility to perform work. Based on movement information regarding the movement of the mobile robot, a first determination unit that determines whether the facility satisfies a first condition regarding the arrival of the mobile robot, and when it is determined that the facility satisfies the first condition, a notification unit that notifies that the mobile robot will soon arrive at the facility, and when it is notified that the mobile robot will soon arrive at the facility, an input unit into which a command for changing the work content of the mobile robot is input, and a control unit that controls the mobile robot according to the input command.

[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 arrival notification system according to the present disclosure, etc., 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.

Brief Description of the Drawings

[0009]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Embodiments for Carrying Out the Invention

[0010] The mobile robot arrival notification system of the present disclosure is a mobile robot arrival notification system that manages a facility and a mobile robot that moves to the facility to perform work. Based on the movement information regarding the movement of the mobile robot, the facility includes a first determination unit that determines whether or not the facility satisfies a first condition regarding the arrival of the mobile robot, and when it is determined that the facility satisfies the first condition, a notification unit that notifies that the mobile robot will soon arrive at the facility, and when it is notified that the mobile robot will soon arrive at the facility, an input unit for inputting a command for changing the work content of the mobile robot, and a control unit that controls the mobile robot according to the input command.

[0011] According to this, it is notified that the mobile robot will soon arrive at a facility that satisfies a first condition regarding the arrival of the mobile robot (for example, a condition for the mobile robot to arrive soon). Therefore, the worker working at the facility can recognize that the mobile robot will soon arrive at the facility and can prepare in advance for the arrival 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 arrive, 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 arrive and, for example, keeps a distance from the mobile robot, so that the mobile robot can easily perform the work without being disturbed by the worker, and a decrease in the work efficiency of the mobile robot can be suppressed. Furthermore, when the worker during the work wants to continue the work, a command for changing the work content of the mobile robot can be input, and the work can be continued without being disturbed by the mobile robot, so that a decrease in the work efficiency of the worker 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, the instruction may include information for stopping the mobile robot.

[0013] According to this, the mobile robot can be stopped, and during that time, the operator can finish the work.

[0014] Further, the instruction may include information for causing the mobile robot to wait at a specific position.

[0015] For example, there may be a narrow passage between lines. If the mobile robot stops in the passage, it may prevent the passage of the operator or other mobile robots. Therefore, by causing the mobile robot to wait at a specific position where it does not prevent the passage of the operator or other mobile robots, the mobile robot can be stopped so as not to prevent the passage of the operator or other mobile robots.

[0016] Further, the instruction may include information for moving the mobile robot to a facility different from the said facility.

[0017] According to this, for the facility where the mobile robot was scheduled to perform work next, work can be carried out first.

[0018] Further, the mobile robot arrival notification system further includes a work information change unit that changes work information indicating the work content of the mobile robot according to the instruction, and the control unit may control the mobile robot based on the changed work information.

[0019] In this way, the work content of the mobile robot can be changed.

[0020] Further, based on the arrival time information indicating when the mobile robot will arrive at the facility as the movement information, the first determination unit calculates the remaining time until the mobile robot arrives at the facility, and determines whether the remaining time until the mobile robot arrives at the facility is equal to or less than a predetermined time, thereby determining whether the facility satisfies the first condition.

[0021] According to this, when the remaining time until the mobile robot arrives at the facility is equal to or less than a predetermined time, it is possible to notify that the mobile robot will soon arrive at the facility.

[0022] Further, based on the current position information of the mobile robot as the movement information, the first determination unit determines whether the mobile robot has passed a specific point, thereby determining whether the facility satisfies the first condition.

[0023] According to this, when the mobile robot has passed a specific point, it is possible to notify that the mobile robot will soon arrive at the facility.

[0024] Further, based on the current position information of the mobile robot as the movement information, the first determination unit determines whether the mobile robot has departed from a specific point, thereby determining whether the facility satisfies the first condition.

[0025] According to this, when the mobile robot has departed from a specific point, it is possible to notify that the mobile robot will soon arrive at the facility.

[0026] The facility of the present disclosure is a facility in a mobile robot arrival notification system that manages a facility and a mobile robot that moves to the facility to perform work. Based on movement information regarding the movement of the mobile robot, when it is determined that the facility satisfies a first condition regarding the arrival of the mobile robot, a notification unit that notifies that the mobile robot will arrive at the facility shortly, and an input unit that receives an instruction for changing the work content of the mobile robot when it is notified that the mobile robot will arrive at the facility shortly.

[0027] According to this, it is possible to provide a facility that can ensure the safety of an operator while suppressing a decrease in the work efficiency of the operator and the mobile robot.

[0028] The mobile robot arrival notification method of the present disclosure is a mobile robot arrival notification method executed by a mobile robot arrival notification system that manages a facility and a mobile robot that moves to the facility to perform work. Based on movement information regarding the movement of the mobile robot, a first determination step of determining whether the facility satisfies a first condition regarding the arrival of the mobile robot, a notification step of notifying that the mobile robot will arrive at the facility shortly when it is determined that the facility satisfies the first condition, an input step of receiving an instruction for changing the work content of the mobile robot when it is notified that the mobile robot will arrive at the facility shortly, and a control step of controlling the mobile robot according to the input instruction.

[0029] According to this, it is possible to provide a mobile robot arrival 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.

[0030] Note that the embodiments described below are all examples showing 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.

[0031] (Embodiment) Hereinafter, the embodiment will be described with reference to FIGS. 1 to 7.

[0032] FIG. 1 is a diagram showing an application example of a mobile robot arrival notification system 1 according to the embodiment. The mobile robot arrival notification system 1 is a 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. Note that when focusing on one facility and one mobile robot that moves to the facility to perform work, the mobile robot arrival notification system 1 can also be said to be a system that manages the facility and the mobile robot that moves to the facility to perform work. The mobile robot arrival 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.

[0033] The plurality of facilities are provided in the 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 will also be collectively referred to as facility 40. Facility 40 is a component mounting device, a printing device, an inspection device, or the like.

[0034] Multiple mobile robots wait in the mobile robot waiting area when not working. When performing tasks, they depart from the mobile robot waiting area and move to the target facility 40. In FIG. 1, mobile robots 50a to 50e are shown as multiple mobile robots. For example, mobile robots 50a and 50b are waiting in the mobile robot waiting area, mobile robot 50c is carrying parts used for work in the parts warehouse, mobile robot 50d is working at facility 40l, and mobile robot 50e is working at facility 40b. Hereinafter, mobile robots 50a to 50e are also collectively referred to as mobile robot 50. The tasks of mobile robot 50 include transporting parts to the target facility 40, supplying the parts to the facility 40, or moving to the target facility 40 and collecting waste or the like from the facility 40.

[0035] Also, it can be seen that workers are working in parallel with mobile robot 50 in the production area. For example, workers are working at facilities 40c and 40j.

[0036] For example, work may be performed on both the front side and the rear side of facility 40. Assuming the upper side of FIG. 1 is the front side and the lower side is the rear side, mobile robot 50e is working on the front side of facility 40b, a worker is working on the rear side of facility 40c, a worker is working on the front side of facility 40j, and mobile robot 50d is working on the front side of facility 40l.

[0037] Mobile robot 50c is moving to the front side of facility 40j and trying to work on the front side of facility 40j. The interval between each line is narrow. As shown in FIG. 1, when mobile robot 50c passes through facility 40c on the path to move to facility 40j, the worker working at facility 40c and mobile robot 50c get close, and there is a possibility of danger to the worker. Also, when mobile robot 50c arrives at facility 40j, the worker working at facility 40j and mobile robot 50c get close, and there is a possibility of danger to the worker.

[0038] When trying to ensure the safety of the operator, the work efficiency of the operator and the mobile robot 50 may decrease. Hereinafter, a mobile robot arrival notification system 1 that can ensure the safety of the operator while suppressing the decrease in the work efficiency of the operator and the mobile robot 50 will be described.

[0039] 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 facilities 40 that make up the line. The line management system 30a manages and controls the facilities 40a to 40d, the line management system 30b manages and controls the facilities 40e to 40h, and the line management system 30c manages and controls the facilities 40i to 40l. Hereinafter, the line management systems 30a to 30c will also be collectively referred to as the line management system 30.

[0040] Next, the details of the mobile robot arrival notification system 1 will be described.

[0041] FIG. 2 is a configuration diagram showing an example of the mobile robot arrival notification system 1 according to the embodiment.

[0042] The mobile robot arrival 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 of the components of the mobile robot arrival notification system 1. The mobile robot arrival notification system 1 may include at least a first determination unit, a notification unit, an input unit, and a control unit. The mobile robot arrival 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, the notification unit, the input unit, and the control unit are realized by a processor or the like that executes a program stored in the memory. The first determination unit, the notification unit, the input unit, and the control unit may be distributed and arranged in a plurality of devices (or systems) within the mobile robot arrival notification system 1, or may be arranged in one device (or system). Hereinafter, an example will be described in which the floor management system 10 has the function of the first determination unit, the mobile robot group management system 20 has the function of the control unit, and each of the plurality of facilities 40 has the functions of the notification unit and the input unit. The details of the first determination unit, the notification unit, the input unit, and the control unit will be described later.

[0043] 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.

[0044] 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 when each of the plurality of mobile robots 50 passes through which of the plurality of facilities 40 by using map information 21a and work information 21b, which will be 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 when each of the plurality of mobile robots 50 arrives at which of the plurality of facilities 40 by using the work information 21b, which will be described later, and updates the arrival time table 12b according to the calculated arrival time.

[0045] 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.

[0046] FIG. 3 is a diagram showing an example of the passage time table 12a or the arrival time table 12b. Although each column in FIG. 3 is blank, for example, times are described. When FIG. 3 is the passage 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 a plurality of facilities 40 (here, facilities A, B, C,...). For example, when robot A passes by the front side of facility C, the passage time is described in the corresponding column. The passage time table 12a is an example of passage time information showing at what time each of a plurality of mobile robots 50 passes through which of a plurality of facilities 40. Similarly, when FIG. 3 is the arrival time table 12b, the table shows at what time each of a plurality of mobile robots 50 arrives at which of a 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 showing at what time each of a plurality of mobile robots 50 arrives at which of a plurality of facilities 40. Note that the passage time table 12a and the arrival time table 12b may be combined into one table.

[0047] The second storage unit 13 stores 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.

[0048] 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 worker 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 a worker is working on the front side of Facility A, it is described in the corresponding column of the "During work?" row that the worker 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 a worker 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.

[0049] 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 using, for example, the determination result of the facility status determination unit 31 described later.

[0050] The notification command unit 15 is a processing unit that notifies a command for causing a notification to be made. The notification command unit 15 is an example of the first determination unit. Details of the notification command unit 15 will be described later.

[0051] 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 such as the type of product to be produced, the number of products to be produced, information on the parts constituting the product, the scheduled start time of production, and the scheduled end time of production. 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.

[0052] 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.

[0053] The storage unit 21 stores map information 21a and work information 21b.

[0054] 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.

[0055] 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. Further, 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 facility 40 where it performs work. Also, 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.

[0056] 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 the plurality of mobile robots 50 using the work information 21b and the like.

[0057] 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.

[0058] 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.

[0059] 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.

[0060] 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 period of time. 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.

[0061] 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 will arrive at the equipment 40 soon. For example, each of the plurality of pieces of equipment 40 has the function of the input unit.

[0062] 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.

[0063] 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.

[0064] As shown in FIG. 5, the touch panel display 41 displays "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 content to be notified 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.

[0065] Also, as shown in FIG. 5, the touch panel display 41 displays "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 continuing the operator's work without changing the work content of the mobile robot 50, "Interrupt" means giving priority to the operator's work and changing the work content of the mobile robot 50, and "End Work" means giving priority to the work of the mobile robot 50, not changing the work content of the mobile robot 50, and ending 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.

[0066] Next, the details of the operation of the mobile robot arrival notification system 1 will be described with reference to FIGS. 6 and 7. First, the operation at the time of notification of the mobile robot arrival notification system 1 will be described with reference to FIG. 6.

[0067] FIG. 6 is a flowchart showing an example of the operation at the time of notification of the mobile robot arrival notification system 1 according to the embodiment. Here, description will be made focusing on one piece of equipment 40 among a plurality of pieces of equipment 40 and one mobile robot 50 that moves to the equipment 40 to perform work.

[0068] First, the notification command unit 15 (first determination unit) determines whether the equipment 40 satisfies a first condition regarding the passage or arrival of the mobile robot 50 based on the movement information regarding the movement of the mobile robot 50 (step S11).

[0069] More specifically, the notification command unit 15 calculates the remaining time until the mobile robot 50 passes the equipment 40 based on the passage time information indicating when the mobile robot 50 passes the equipment 40 as the movement information, and determines whether the remaining time until the mobile robot 50 arrives at the equipment 40 is equal to or less than a predetermined time, thereby determining whether the equipment 40 satisfies the first condition regarding passage. Alternatively, the notification command unit 15 calculates the remaining time until the mobile robot 50 arrives at the equipment 40 based on the arrival time information indicating when the mobile robot 50 arrives at the equipment 40 as the movement information, and determines whether the remaining time until the mobile robot 50 arrives at the equipment 40 is equal to or less than a predetermined time, thereby determining whether the equipment 40 satisfies the first condition regarding arrival. The remaining time can be calculated by comparing the current time with the time described in the passage 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.

[0070] Then, when it is determined that the facility 40 satisfies the first condition regarding passage, or when it is determined that the facility 40 satisfies the first condition regarding arrival (Yes in step S11), the touch panel display 41 (notification unit) notifies 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 (step S12). When the facility 40 does not satisfy the first condition (No in step S11), the process in step S11 is repeated until the facility 40 satisfies the first condition.

[0071] In this way, it is notified that the mobile robot 50 will soon pass by the facility 40 that satisfies the first condition regarding passage, and that the mobile robot 50 will soon arrive at the facility 40 that satisfies the first condition regarding arrival. Note that "soon" is not particularly limited, but may be within a few minutes.

[0072] Furthermore, in step S11, the notification command unit 15 may determine whether the facility 40 satisfies the first condition and also satisfies a 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, the notification command unit 15 may determine whether the facility 40 satisfies the second condition by determining whether an operator is working in the facility 40 based on the facility state information indicating whether an operator is working in the facility 40 (for example, the information in the "Working?" column shown in FIG. 4) as the facility management information 13a. Note that the notification command unit 15 may also determine whether the facility 40 satisfies the second condition by determining whether the facility 40 is operating based on the operating state information indicating the operating state of the facility 40 as the facility management information 13a.

[0073] Then, in step S12, when it is determined that the facility 40 satisfies the first condition and also satisfies the second condition, the touch panel display 41 may 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.

[0074] When an operator is not working on the equipment 40 or when the equipment 40 is stopped, etc., it may be meaningless even if it is notified that the mobile robot 50 will soon pass by the equipment 40 or that the mobile robot 50 will soon arrive at the equipment 40. Therefore, the notification of passage or arrival can be made only for the equipment 40 on which the operator is working or the equipment 40 that is in operation. In addition, when there is equipment 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 equipment 40. This is because even for equipment 40 where the operator is not working or the equipment 40 that is stopped, it is possible to notify workers, etc. who are working near the equipment 40 that the mobile robot 50 will soon arrive at the equipment 40.

[0075] In addition, the equipment 40 may be provided with a second determination unit that determines whether or not an operator is working on the equipment itself. In this case, the notification command unit 15 only needs to determine whether or not the equipment 40 satisfies the first condition. When it is determined that the equipment 40 satisfies the first condition, the second determination unit provided in the equipment 40 determines whether or not an operator is working on the equipment 40. When it is determined that an operator is working on the equipment 40, the touch panel display 41 of the equipment 40 may notify that the mobile robot 50 will soon pass by the equipment 40 or that the mobile robot 50 will soon arrive at the equipment 40. In this case, the notification command unit 15 only needs to determine whether or not the first condition is satisfied, and the second determination unit provided in the equipment 40 only needs to determine whether or not an operator is working on the equipment 40. Therefore, each process can be divided into inside and outside the equipment 40, and simplification of each process becomes possible.

[0076] Note that even after the notification is made, based on the information indicating whether 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, depending on 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.

[0077] Also, although an example in which passage time information or arrival time information is used as movement information has been described, other information may be used.

[0078] For example, in step S11, the notification instruction unit 15 may determine whether the facility 40 satisfies the first condition by determining whether the mobile robot 50 has passed a specific point based on the current position information of the mobile robot 50 as movement information. For example, the specific point is predetermined for the facility 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 such a specific point, the mobile robot 50 is approaching the facility 40, and the mobile robot 50 may arrive at the facility 40 soon, or the mobile robot 50 may pass the facility 40 soon. Therefore, depending on whether the mobile robot 50 has passed a specific point predetermined for the facility 40, it is possible to determine whether the mobile robot 50 will soon pass or arrive at the facility 40 (that is, whether the facility 40 satisfies the first condition regarding passage or the first condition regarding arrival).

[0079] Also, for example, in step S11, the notification instruction unit 15 may determine whether the facility 40 satisfies the first condition by determining whether the mobile robot 50 has departed from a specific point based on the current position information of the mobile robot 50 as the movement information. For example, the specific point is predetermined for the facility 40 and is a mobile robot waiting area or a parts warehouse, etc. When the mobile robot 50 departs from such a specific point, the mobile robot 50 is approaching the facility 40, and the mobile robot 50 may arrive at the facility 40 shortly, or the mobile robot 50 may pass by the facility 40 shortly. Therefore, depending on whether the mobile robot 50 has departed from the specific point predetermined for the facility 40, it is possible to determine whether the mobile robot 50 will pass by or arrive at the facility 40 shortly (that is, whether the facility 40 satisfies the first condition regarding passing or the first condition regarding arrival).

[0080] Next, the operation after the notification of the mobile robot arrival notification system 1 (specifically, after the notification regarding arrival) will be described with reference to FIG. 7.

[0081] FIG. 7 is a flowchart showing an example of the operation after the notification of the mobile robot arrival notification system 1 according to the embodiment.

[0082] 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 the input of a command for changing the work content of the mobile robot 50.

[0083] 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.

[0084] 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 ended 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.

[0085] Also, for example, the command may include information for causing the mobile robot 50 to wait at a specific position. For example, there may be a narrow passage between lines, 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 causing the mobile robot 50 to wait at a specific position so as not to 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.

[0086] Also, for example, the command may include information for moving the mobile robot 50 to a facility 40 different from the facility 40 where the work was about to be performed. For example, for the facility 40 that the mobile robot 50 was scheduled to work on next, work can be performed first. For example, a button for notifying that the operator's work has ended may be displayed on the touch panel display 41, and by the operator operating the button, work can be performed on the facility 40 where the operator was working next.

[0087] As described above, it is reported that the mobile robot 50 will soon arrive at the facility 40 that satisfies the first condition regarding the arrival of the mobile robot 50 (for example, the condition for the mobile robot 50 to arrive soon). Therefore, the operator working at the facility 40 can recognize that the mobile robot 50 will soon arrive at the facility 40 and can prepare in advance for the arrival 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 arrive, the operator can concentrate on the work, so that a decrease in the work efficiency of the operator can be suppressed. Also, after the notification is made, the operator pays attention to the mobile robot 50 that will soon arrive and, for example, keeps a distance from the mobile robot 50, so that the mobile robot 50 can easily perform the work without being disturbed by the operator, and a decrease in the work efficiency of the mobile robot 50 can be suppressed. Furthermore, when the operator during the work wants to continue the work, a command for changing the work content of the mobile robot 50 can be input, and the work can be continued without being disturbed by the mobile robot 50, so that a decrease in the work efficiency of the operator can be suppressed. In this way, while suppressing a decrease in the work efficiency of the operator and the mobile robot 50, the safety of the operator can be ensured.

[0088] (Other Embodiments) As described above, the mobile robot arrival notification system 1 and the facility 40 of the present disclosure have 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 within the scope of the present disclosure.

[0089] For example, in the above embodiment, an example in which the facility 40 determines whether or not it satisfies the first condition regarding the passage of the mobile robot 50 has been described. However, this determination may not be made. Along with this, it may not be reported that the mobile robot 50 will soon pass through the facility 40 that satisfies the first condition regarding the passage.

[0090] For example, the present disclosure can be implemented not only as the mobile robot arrival notification system 1 and the facility 40, but also as a mobile robot arrival notification method including steps (processes) performed by each component constituting the mobile robot arrival notification system 1.

[0091] As shown in FIGS. 6 and 7, the mobile robot arrival notification method is a mobile robot arrival notification method executed by a mobile robot arrival notification system 1 that manages a facility 40 and a mobile robot 50 that moves to the facility 40 to perform work. Based on movement information regarding the movement of the mobile robot 50, a first determination step (step S11) in which the facility 40 determines whether or not a first condition regarding the arrival of the mobile robot 50 is satisfied; when it is determined that the facility 40 satisfies the first condition (Yes in step S11), a notification step (step S12) in which the facility 40 notifies that the mobile robot 50 will soon arrive; an input step (step S21) in which a command for changing the work content of the mobile robot 50 is input when it is notified that the mobile robot 50 will soon arrive at the facility 40; and a control step (step S22) in which the mobile robot 50 is controlled according to the input command.

[0092] For example, the steps in the mobile robot arrival notification method may be executed by a computer (computer system). And the present disclosure can be implemented as a program for causing a computer to execute the steps included in the mobile robot arrival notification method. Further, the present disclosure can be implemented as a non-transitory computer-readable recording medium such as a CD-ROM on which the program is recorded.

[0093] For example, when the present disclosure is implemented by a program (software), each step is executed by the program being executed using hardware resources such as a CPU, a memory, and an input / output circuit of a computer. That is, each step is executed by the CPU acquiring data from a memory or an input / output circuit or the like and performing calculations, or outputting the calculation result to a memory or an input / output circuit or the like.

[0094] Further, each component included in the mobile robot arrival notification system 1 and the facility 40 of the above-described embodiment may be realized as a dedicated or general-purpose circuit.

[0095] Further, each component included in the mobile robot arrival notification system 1 and the facility 40 of the above-described embodiment may be realized as an LSI (Large Scale Integration) which is an integrated circuit (IC: Integrated Circuit).

[0096] Further, the integrated circuit is not limited to an LSI, and may be realized by a dedicated circuit or a general-purpose processor. A programmable FPGA (Field Programmable Gate Array), or a reconfigurable processor whose connection and setting of circuit cells inside the LSI can be reconfigured may be used.

[0097] Furthermore, if a technology for integrating circuits that replaces the LSI appears due to the progress of semiconductor technology or another derived technology, of course, each component included in the mobile robot arrival notification system 1 and the facility 40 may be integrated using that technology.

[0098] In addition, forms obtained by applying various modifications that occur to 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

[0099] The present disclosure can be used, for example, in a system for transporting parts.

Explanation of Signs

[0100] 1 Mobile robot arrival notification system 10 Floor management system 11 Time table update unit 11a Passing time calculation unit 11b Arrival time calculation unit 12 First memory unit 12a Passing time table 12b Arrival time table 13 Second memory unit 13a Equipment management information 14 Equipment 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 Memory 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 Equipment status determination unit 32 Notification processing unit 33 Worker selection determination unit 40, 40a, 40b, 40c, 40d, 40e, 40f, 40g, 40h, 40i, 40j, 40k, 40l Equipment 41 Touch panel display (Notification unit, Input unit) 50, 50a, 50b, 50c, 50d, 50e Mobile robot 100 Production plan

Claims

1. A mobile robot arrival notification system for managing a device and a mobile robot that moves to the device to perform work, a first determination unit that determines whether the device satisfies a first condition regarding the arrival of the mobile robot based on movement information regarding the movement of the mobile robot; a notification unit that notifies an operator that the mobile robot will soon arrive at the device when it is determined that the device satisfies the first condition; an input unit into which a command is input by the operator when it is notified that the mobile robot will soon arrive at the device; and a control unit that controls the mobile robot according to the input command, wherein the device that satisfies the first condition is a device at which the mobile robot will soon arrive, a mobile robot arrival notification system.

2. The command includes information for stopping the mobile robot. The mobile robot arrival notification system according to claim 1.

3. The command includes information for causing the mobile robot to wait at a specific position. The mobile robot arrival notification system according to claim 1 or 2.

4. The command includes information for moving the mobile robot to a device different from the said device. The mobile robot arrival notification system according to any one of claims 1 to 3.

5. Furthermore, it is provided with a work information change unit that changes work information indicating the work content of the mobile robot according to the command, and the control unit controls the mobile robot based on the changed work information. The mobile robot arrival notification system according to any one of claims 1 to 4.

6. The first determination unit calculates the remaining time until the mobile robot arrives at the device based on arrival time information indicating when the mobile robot arrives at the device as the movement information, and determines whether the remaining time until the mobile robot arrives at the device is equal to or less than a predetermined time, thereby determining whether the device satisfies the first condition. The mobile robot arrival notification system according to any one of claims 1 to 5.

7. The first determination unit determines whether the device satisfies the first condition by determining whether the mobile robot has passed a specific point based on the current position information of the mobile robot as the movement information. The mobile robot arrival notification system according to any one of claims 1 to 5.

8. The first determination unit determines whether the facility satisfies the first condition by determining whether the mobile robot has departed from a specific point based on the current position information of the mobile robot as the movement information. The mobile robot arrival notification system according to any one of claims 1 to 5.

9. A mobile robot arrival notification method executed by a mobile robot arrival notification system that manages a facility and a mobile robot that moves to the facility to perform work, a first determination step of determining whether the facility satisfies a first condition regarding the arrival of the mobile robot based on movement information regarding the movement of the mobile robot; a notification step of notifying an operator that the mobile robot will soon arrive at the facility when it is determined that the facility satisfies the first condition; an input step in which a command is input by the operator when it is notified that the mobile robot will soon arrive at the facility; and a control step of controlling the mobile robot according to the input command. The facility that satisfies the first condition is the facility where the mobile robot will soon arrive. Mobile robot arrival notification method.

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