Work system, work device, and work method

Abstract

To provide a work system capable of reducing a contact risk to a person.SOLUTION: A work system 1 comprises a first work device 100, and a second work device 200. The first work device 100 includes a first detection unit 103 for detecting the presence / absence of an object in a first detection object area 103a, and outputting first detection information showing a detection result, a movable unit 101, and a first control unit 104 for controlling the movable unit 101 on the basis of the first detection information. If the movable unit 101 performs cooperative work with the second work device 200, the first control unit 104 limits the first detection object area 103a, acquires second detection information showing the presence / absence of an object around the second work device 200 from a second detection unit 203 attached to the second work device 200, and controls the movable unit 101 on the basis of the first detection information and the second detection information.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present disclosure relates to a work system for performing work. [Background technology]

[0002] A self-propelled robot control system for a self-propelled robot that ensures safety has been proposed as a work system (see Patent Document 1). This self-propelled robot control system includes a self-propelled robot and a command device. The self-propelled robot travels and performs work in a work area that includes a first area and a second area. The first area is an area where people are permitted to enter, and the second area is an area where people are not permitted to enter. When the self-propelled robot is in the first area, the self-propelled robot and the command device are connected by a wire. The command device issues a compulsory control command to the self-propelled robot via the wire, which compulsorily controls the operation of the self-propelled robot. On the other hand, when the self-propelled robot is in the second area, the wired connection between the self-propelled robot and the command device is automatically disconnected. As a result, even if a person enters the first area while the self-propelled robot is in the first area, the command device can issue a compulsory control command to the self-propelled robot, forcibly stopping the self-propelled robot and ensuring safety. On the other hand, when the self-propelled robot is in the second area, the wired connection is cut off, making it possible to alleviate restrictions on the working range or movement range of the self-propelled robot. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2010-23183 Summary of the Invention [Problem to be solved by the invention]

[0004] However, the work system of Patent Document 1 has a problem in that, when multiple work devices, such as self-propelled robots, are used and the multiple work devices work cooperatively, it is difficult to reduce the risk of the work devices coming into contact with a person. This risk is also called a contact risk. For example, a first work device among the multiple work devices is expected to work cooperatively with a second work device while detecting the presence or absence of people in its vicinity. However, the presence of the second work device may result in blind spots in the detection by the first work device. As a result, there is a risk of the first work device coming into contact with a person.

[0005] Therefore, the present disclosure provides a work system that can reduce the risk of contact with people. [Means for solving the problem]

[0006] A work system according to one aspect of the present disclosure includes a first work device that performs work and a second work device that performs collaborative work with the first work device, the first work device including a first traveling unit that causes the first work device to travel, a first detection unit that detects the presence or absence of an object in a detection target area around the first work device and outputs first detection information indicating the detection result, a movable unit that performs operations for the work, and a control unit that controls the movable unit based on the first detection information, and when the travel of the first work device is stopped by the first traveling unit and the collaborative work is performed, the control unit limits the detection target area so that an area on the second work device side as viewed from the first work device is excluded from the detection target area, obtains second detection information indicating the presence or absence of an object in the area around the second work device from a second detection unit attached to the second work device, and controls the movable unit based on the first detection information and the second detection information.

[0007] These comprehensive or specific aspects may be realized as a system, a method, an integrated circuit, a computer program, or a computer-readable recording medium such as a CD-ROM, or may be realized as any combination of the system, the method, the integrated circuit, the computer program, and the recording medium. The recording medium may also be a non-transitory recording medium. [Effects of the Invention]

[0008] The work system of the present disclosure can reduce the risk of contact with people.

[0009] Further advantages and benefits of certain aspects of the present disclosure will become apparent from the specification and drawings. Such advantages and / or benefits may be provided by some of the embodiments and features described in the specification and drawings, but not all of them necessarily need to be provided to obtain one or more identical features. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 is a diagram for explaining a state in which a work system according to an embodiment performs a cooperative work. [Figure 2] FIG. 2 is a block diagram showing the functional configuration of each of the first work device and the second work device in the embodiment. [Figure 3] FIG. 3 is a diagram showing an example of a detection target area of ​​a traveling first work implement in the embodiment. [Figure 4] FIG. 4 is a diagram showing an example of a detection target area of ​​a traveling second work implement in the embodiment. [Figure 5] FIG. 5 is a diagram for explaining that a blind spot occurs in the first working device in the embodiment. [Figure 6] FIG. 6 is a diagram for explaining a process for connecting a communication cable by the first work device in the embodiment. [Figure 7]FIG. 7 is a diagram showing an example of the detection target areas of the first work device and the second work device when a cooperative work is being performed in the embodiment. [Figure 8A] FIG. 8A is a flowchart showing the processing operation of the first working device in the embodiment. [Figure 8B] FIG. 8B is a flowchart showing the processing operation of the second working device in the embodiment. [Figure 9] FIG. 9 is a diagram showing an example of a detection target area of ​​the first work device when a cooperative work is being performed in the modification of the embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0011] According to one aspect of the present disclosure, there is provided a work system including a first work apparatus that performs work and a second work apparatus that performs a collaborative work with the first work apparatus. The first work apparatus includes a first traveling unit that moves the first work apparatus, a first detector that detects the presence or absence of an object in a detection target area around the first work apparatus and outputs first detection information indicating the detection result, a movable unit that performs an operation for the work, and a control unit that controls the movable unit based on the first detection information. When the first work apparatus stops traveling by the first traveling unit and the collaborative work is performed, the control unit limits the detection target area so that an area on the second work apparatus side as viewed from the first work apparatus is excluded from the detection target area, obtains second detection information from a second detector attached to the second work apparatus that indicates the presence or absence of an object in the area around the second work apparatus, and controls the movable unit based on the first detection information and the second detection information. The control unit is also referred to as a first control unit, and the detection target area is also referred to as, for example, a first detection target area.

[0012] As a result, when the first work device performs a cooperative task with the second work device, the detection target area is limited, thereby preventing the second work device and other objects from being detected as obstacles. Furthermore, limiting the detection target area creates an area around the second work device that cannot be detected by the first detection unit, i.e., a blind spot for the first detection unit. However, the detection target area of ​​the second detection unit attached to the second work device can cover that blind spot. The detection target area of ​​the second detection unit is also referred to as the second detection target area. The first control unit acquires second detection information indicating the presence or absence of an object in the detection target area of ​​the second detection unit, which can cover such a blind spot, thereby preventing the occurrence of a blind spot for the first work device. Therefore, the first control unit can control the moving part while detecting the presence or absence of objects over a wide area, preventing the occurrence of blind spots not only around the first work device but also around the second work device. This reduces the risk of the moving part coming into contact with an object, such as a person.

[0013] The second detector may detect the presence or absence of an object in an area on the opposite side of the first work device from the second work device, and output the second detection information indicating the detection result.

[0014] This allows areas around the second work device that are difficult to cover with the limited detection target area of ​​the first detection unit to be appropriately included in the detection target area of ​​the second detection unit.As a result, the first control unit can control the movable part while appropriately suppressing the occurrence of blind spots not only around the first work device but also around the second work device, and determining the presence or absence of objects over a wide area.

[0015] Furthermore, when the second detection information indicates that an object is present, the control unit of the first working device may slow down the movement of the movable unit or stop the operation of the movable unit.

[0016] As a result, for example, if a person enters the blind spot and is detected as an object by the second detection unit, the second detection information indicates the presence of an object, and the movement of the moving part slows down or stops. As a result, the risk of contact between the moving part and the person can be effectively reduced, and even if the moving part comes into contact with the person, damage to the person can be reduced.

[0017] The second work device may also include a second traveling section that causes the second work device to travel, and the second detection section.

[0018] This allows the second work device to travel autonomously in the same way as the first work device, and furthermore, when cooperative work is being carried out, the first work device can use the second detection unit provided on the second work device even if it does not itself have a second detection unit, thereby simplifying the configuration of the first work device.

[0019] Furthermore, when acquiring the second detection information, the control unit may acquire the second detection information from the second detection unit via a communication cable connecting the first work device and the second work device.

[0020] As a result, the second detection information is transmitted from the second detection unit to the control unit via a communication cable. In other words, the second detection information is transmitted by wire. Therefore, compared to when the second detection information is transmitted wirelessly, it is possible to reduce the occurrence of transmission delays or transmission failures. As a result, it is possible to more appropriately reduce the risk of contact with people, and further improve safety.

[0021] Furthermore, one of the first work device and the second work device may connect the communication cable between the first work device and the second work device before the cooperative work is performed.

[0022] This allows the first work device or the second work device to automatically connect the communication cable, thereby reducing the burden on the user of the work system.

[0023] The first work device may further include the communication cable, and the control unit may cause the movable part to grip one end of the communication cable and connect it to the second work device.

[0024] This allows the movable part to be used not only for collaborative work but also for connecting communication cables, making it possible to make effective use of the movable part and eliminating the need to install a new mechanism for connecting communication cables.

[0025] Furthermore, when the first working device and the second working device are viewed from above, the movable part may move one end of the communication cable from the first working device to the second working device through a space between the first working device and the second working device, and connect the communication cable to the second working device.

[0026] This allows the communication cable to be connected while reducing the possibility that one end of the communication cable will come out of the area surrounding the first work device, the second work device, and the space between them when viewed from above. Therefore, the possibility that the movable part will come out of that area can also be reduced. As a result, even if a person approaches that area, for example, the movable part can be prevented from interfering with the person. In other words, the risk of contact with a person can be reduced even before the communication cable is connected.

[0027] Furthermore, one of the first work device and the second work device may disconnect the communication cable connected between the first work device and the second work device after the collaborative work is performed.

[0028] This allows the communication cable to be automatically removed by the first work device or the second work device, thereby reducing the burden on the user of the work system.

[0029] The control unit may also cause the movable unit to grip one end of the communication cable and remove it from the second working device.

[0030] This allows the movable part to be used not only for collaborative work but also for removing the communication cable, allowing the movable part to be used effectively and eliminating the need to install a new mechanism for removing the communication cable.

[0031] The first work device may further include the second detection unit, and the control unit may cause the movable unit to grasp the second detection unit and attach it to the second work device before the collaborative work is performed.

[0032] As a result, even if the second working device does not have a second detector, the second detector provided on the first working device can be attached to the second working device and used, thereby simplifying the configuration of the second working device and relaxing the conditions for devices that can be used as the second working device.

[0033] These comprehensive or specific aspects may be realized as a system, a method, an integrated circuit, a computer program, or a computer-readable recording medium such as a CD-ROM, or may be realized as any combination of the system, the method, the integrated circuit, the computer program, or the recording medium. The recording medium may also be a non-transitory recording medium.

[0034] Hereinafter, the embodiments will be specifically described with reference to the drawings.

[0035] The embodiments described below are all comprehensive or specific examples. The numerical values, shapes, materials, components, component placement and connection configurations, steps, and step order shown in the following embodiments are merely examples and are not intended to limit the present disclosure. Furthermore, among the components in the following embodiments, components that are not described in the independent claims that represent the highest concepts are described as optional components.

[0036] Furthermore, each figure is a schematic diagram and is not necessarily an exact illustration. Furthermore, the same components are assigned the same reference numerals in each figure. Furthermore, in the following embodiments, expressions such as "approximately horizontal" are used. For example, "approximately horizontal" does not only mean completely horizontal, but also means substantially horizontal, that is, including an error of, for example, a few percent. Furthermore, "approximately horizontal" means horizontal within the range in which the effects of the present disclosure can be achieved. The same applies to other expressions using "approximately."

[0037] (Embodiment) FIG. 1 is a diagram for explaining a state in which a work system according to this embodiment performs a cooperative work.

[0038] The work system 1 is arranged in, for example, a production facility that produces mounted boards by mounting components P on a board B, and includes a first work device 100 and a second work device 200 that perform work to produce the mounted boards. For example, a component mounting device 10 and the like are arranged in the production facility. The first work device 100 and the second work device 200 of the work system 1 perform work to prepare the component mounting device 10, for example.

[0039] The component mounting apparatus 10 includes, for example, a component supply unit 11a to which a plurality of cassettes 11 are attached. Each of the plurality of cassettes 11 stores, for example, a reel-shaped component tape. The component tape stores a plurality of components P. The component mounting apparatus 10 unwinds the component tape from the cassette 11 and removes the components P from the component tape. The component mounting apparatus 10 then mounts the components P onto the loaded board B, and removes the mounted board, which is the board B on which the components P are mounted.

[0040] The first working device 100 is configured, for example, as an AGV (Automatic Guided Vehicle) having a main body 111 and a movable part 101. The movable part 101 is attached to the top of the main body 111 and is configured, for example, as a robot arm. Such a first working device 100 can also be said to be a self-propelled robot.

[0041] The second work apparatus 200 is configured as, for example, an AGV having a work platform 201, and performs a cooperative task with the first work apparatus 100. Such a second work apparatus 200 can also be considered a self-propelled robot. The second work apparatus 200 is also an example of a partner work apparatus that performs a cooperative task with the first work apparatus 100.

[0042] The first work device 100 and the second work device 200 of this work system 1 work cooperatively to attach cassettes 11 containing component tapes to the component supply unit 11a of the component mounting apparatus 10. Specifically, the first work device 100 and the second work device 200, on whose work table 201 a plurality of cassettes 11 are placed, move in front of the component supply unit 11a of the component mounting apparatus 10 and stop at a predetermined position. Then, the movable part 101 of the first work device 100 grasps the cassette 11 placed on the work table 201 of the second work device 200 and attaches the cassette 11 to the component supply unit 11a.

[0043] Alternatively, the first work device 100 and the second work device 200 of the work system 1 perform a cooperative task of removing and collecting an empty cassette 11 from the component supply unit 11a. Specifically, the first work device 100 and the second work device 200 move to a position just before the component supply unit 11a of the component mounting apparatus 10 and stop at a predetermined position. Then, the movable unit 101 of the first work device 100 grasps the empty cassette 11 attached to the component supply unit 11a and removes the cassette 11 from the component supply unit 11a. Then, the movable unit 101 places the removed cassette 11 on the work table 201 of the second work device 200. Note that such cooperative task can also be considered a joint task.

[0044] FIG. 2 is a block diagram showing the functional configuration of each of the first work device 100 and the second work device 200. As shown in FIG.

[0045] The first working device 100 includes a movable part 101, a first traveling part 102, a plurality of first detecting parts 103, a first control part 104, and a first connecting part 105. Of these components, all components except the movable part 101 are provided in a main body 111.

[0046] The movable unit 101 is configured as, for example, a robot arm as described above, and performs operations for tasks such as attaching and detaching the cassette 11 .

[0047] The first traveling section 102 has, for example, a plurality of tires and a motor that drives the tires, and causes the first working device 100 to travel.

[0048] The first detection unit 103 detects the presence or absence of an object in a detection target area around the first work apparatus 100, and outputs first detection information indicating the detection result to the first control unit 104. Such a first detection unit 103 is configured as, for example, a LiDAR (Laser Imaging Detection and Ranging). Note that the first detection unit 103 is not limited to a LiDAR, and may be, for example, a sensor using a camera, or may be another type of sensor. In the present embodiment, the number of first detection units 103 provided in the first work apparatus 100 is two. However, the number is not limited to two, and may be one, or three or more.

[0049] The first connection part 105 is a member that is electrically connected to the connector 301 of the communication cable 300. The communication cable 300 is a member that is attached to the main body 111 of the first working apparatus 100, and has two connectors 301. One of the two connectors 301 is connected to the first connection part 105. The other connector 301 is used to connect to the second working apparatus 200, but is attached to the main body 111 without being connected to anything except when a collaborative work is being performed.

[0050] The first control unit 104 acquires first detection information from the first detection unit 103, and controls the movable unit 101 and the first traveling unit 102 based on the first detection information. Furthermore, when the first control unit 104 acquires second detection information (described below) from the second working device 200 via the communication cable 300, it controls the movable unit 101 and the like based on not only the first detection information but also the second detection information.

[0051] The second work device 200 includes a work platform 201 , a second traveling unit 202 , a plurality of second detection units 203 , a second control unit 204 , and a second connection unit 205 .

[0052] The workbench 201 is a table having a substantially horizontal plane on which the above-mentioned cassette 11 and the like are placed.

[0053] The second traveling section 202 has, for example, a plurality of tires and a motor that drives the tires, and causes the second working device 200 to travel.

[0054] The second detection unit 203 detects the presence or absence of an object in a detection target area around the second work apparatus 200, and outputs second detection information indicating the detection result to the second control unit 204. Like the first detection unit 103, this second detection unit 203 is configured as, for example, a LiDAR. Note that the second detection unit 203 is not limited to a LiDAR, and may be, for example, a sensor using a camera, or may be another type of sensor. Furthermore, in this embodiment, the number of second detection units 203 provided in the second work apparatus 200 is two. However, the number is not limited to two, and may be one, or three or more.

[0055] The second connection portion 205 is a member that is electrically connected to a connector 301 of a communication cable 300 attached to the first working device 100.

[0056] The second control unit 204 acquires second detection information from the second detection unit 203, and controls the second traveling unit 202 based on the second detection information. Furthermore, when the connector 301 of the communication cable 300 is connected to the second connection unit 205, the second control unit 204 transmits the second detection information to the first working device 100 via the communication cable 300.

[0057] FIG. 3 is a diagram showing an example of a detection target area of ​​the traveling first working device 100. Note that FIG. 3 shows the first working device 100 as viewed from above. In addition, in this disclosure, the vertical direction is referred to as the Z-axis direction, one direction in a plane perpendicular to the vertical direction is referred to as the Y-axis direction, and the direction perpendicular to the Y-axis direction in that perpendicular plane is referred to as the X-axis direction. In other words, the X-axis direction and the Y-axis direction are horizontal directions. In addition, in this disclosure, the positive side of the Z-axis direction is upward, upward facing, or up, and the negative side of the Z-axis direction is downward, downward facing, or down.

[0058] The top surface 110 of the main body 111 of the first working device 100 is, for example, a substantially rectangular plane extending in the horizontal direction, and the base of the movable part 101 is fixed near the center of the top surface 110. Furthermore, the two first detection parts 103 described above are arranged at two diagonal corners of the top surface 110. Also, a communication cable 300 having two connectors 301 is arranged on the top surface 110, one of which is connected to the first connection part 105 of the first working device 100 and the other of which is connected to neither.

[0059] For example, when the first work device 100 travels toward the positive side of the Y-axis direction (hereinafter also referred to as the traveling direction), the first control unit 104 sets the mode of the first work device 100 to a traveling mode. In this traveling mode, the first control unit 104 causes the movable unit 101 to remain stationary in a folded state near the center of the upper surface 110 so that the movable unit 101 does not interfere with objects around the traveling path. The first control unit 104 then controls the first traveling unit 102 to cause the first work device 100 to travel in a state in which one of the two first detection units 103 is disposed in front of the traveling direction and the other is disposed in the rear of the traveling direction. The first detection target area 103a, which is the detection target area of ​​each of the two first detection units 103, is an area that does not include the first work device 100 and is, for example, a fan-shaped area with a central angle of approximately 270°. Parts of the two first detection target areas 103a may overlap each other. Each of the two first detectors 103 detects the presence or absence of an object in its first detection target area 103a and outputs first detection information indicating the detection result to the first control unit 104. Based on the first detection information, the first control unit 104 controls the first traveling unit 102 to prevent the first work apparatus 100 from coming into contact with an object, such as a person. For example, when the first detection information indicates the presence of an object, the first control unit 104 controls the first traveling unit 102 to slow down the traveling speed of the first work apparatus 100 or stop the traveling of the first work apparatus 100. Furthermore, based on the first detection information, the first control unit 104 controls the first traveling unit 102 while confirming the position of the first work apparatus 100 in the production facility. Through this control, the first control unit 104 causes the first work apparatus 100 to travel toward a first collaborative work position for performing collaborative work with the second work apparatus 200, for example.

[0060] Fig. 4 is a diagram showing an example of a detection target area of ​​a traveling second work device 200. Note that Fig. 4 shows the second work device 200 as seen from above.

[0061] The top surface 210 of the workbench 201 of the second working device 200 is, for example, a substantially rectangular flat surface extending in the horizontal direction. The two second detectors 203 described above are disposed at two corners along one side of the top surface 210. In addition, a second connector 205 to be connected to a connector 301 of a communication cable 300 is disposed on the top surface 210.

[0062] For example, when the second work device 200 travels toward the positive side in the Y-axis direction, the second control unit 204 sets the mode of the second work device 200 to a travel mode. In this travel mode, the second control unit 204 controls the second traveling unit 202 to cause the second work device 200 to travel in a state in which both second detection units 203 are positioned forward in the traveling direction (i.e., the Y-axis direction). The second detection target area 203a, which is the detection target area of ​​each of the two second detection units 203, is an area that does not include the second work device 200 and is, for example, a fan-shaped area with a central angle of approximately 270°. The two second detection target areas 203a may partially overlap each other. Each of the two second detection units 203 detects the presence or absence of an object in its second detection target area 203a and outputs second detection information indicating the detection result to the second control unit 204. Based on the second detection information, the second control unit 204 controls the second traveling unit 202 so that the second work apparatus 200 does not come into contact with objects such as a person. For example, when the second detection information indicates the presence of an object, the second control unit 204 controls the second traveling unit 202 to slow down the traveling speed of the second work apparatus 200 or stop the traveling of the second work apparatus 200. Furthermore, based on the second detection information, the second control unit 204 controls the second traveling unit 202 while confirming the position of the second work apparatus 200 in the production facility. Through this control, the second control unit 204 causes the second work apparatus 200 to travel toward a second collaborative work position for performing collaborative work with the first work apparatus 100, for example.

[0063] FIG. 5 is a diagram for explaining that the first working device 100 has a blind spot.

[0064] To perform a cooperative task, the first work device 100 and the second work device 200 travel to their respective predetermined cooperative task positions and stop at the cooperative task positions. That is, the first work device 100 travels to the first cooperative task position and stops there, and the second work device 200 travels to the second cooperative task position and stops there. For example, as shown in FIG. 5 , the first work device 100 and the second work device 200 stop next to each other along the Y-axis direction.

[0065] Then, the first control unit 104 of the first work apparatus 100 and the second control unit 204 of the second work apparatus 200 each switch their mode from travel mode to cooperative mode. Specifically, in order for the first work apparatus 100 to perform cooperative work with the second work apparatus 200, the first control unit 104 restricts the first detection target region 103a of the first detection unit 103 that is closer to the second work apparatus 200, of the two first detection units 103. In other words, the first control unit 104 restricts the first detection target region 103a of the first detection unit 103 that has detected the presence of the second work apparatus 200 as an object. Specifically, the first control unit 104 restricts the central angle of the first detection target region 103a from approximately 270° to approximately 180°, thereby excluding the region in which the second work apparatus 200 exists from the first detection target region 103a. Note that the restriction of the first detection target area 103a may be performed as a process of the first detection unit 103, or may be performed as an internal process of the first control unit 104. For example, the first detection unit 103 may restrict the first detection target area 103a by restricting the irradiation range of a laser used in LiDAR in accordance with control by the first control unit 104. Alternatively, the first control unit 104 may acquire a detection result of a predetermined area detected by the first detection unit 103, and internally restrict the first detection target area 103a, which is the whole or a part of that area.

[0066] Thus, in this embodiment, when the traveling of the first work device 100 is stopped by the first traveling section 102 and collaborative work is performed, the first control section 104 restricts the first detection target area 103a so that the area on the second work device 200 side as viewed from the first work device 100 is excluded from the first detection target area 103a.

[0067] As a result, it is possible to prevent the second work device 200, the cassette 11 placed on the work table 201 of the second work device 200, and the like from being detected as obstacles by the first detection unit 103. Therefore, the first work device 100 can appropriately perform cooperative work with the second work device 200. However, due to the limitation of the first detection target area 103a, there are areas around the second work device 200 that cannot be detected by the first detection unit 103, i.e., areas that are considered to be blind spots of the first detection unit 103. For example, the area 20 on the negative side of the Y-axis direction as seen from the second work device 200 becomes a blind spot where the two first detection units 103 of the first work device 100 cannot detect the presence or absence of an object.

[0068] In the work system 1 of this embodiment, the first work device 100 and the second work device 200 are connected via a communication cable 300 so as to prevent the occurrence of such blind spots.

[0069] FIG. 6 is a diagram for explaining the process of connecting the communication cable 300 by the first work device 100. As shown in FIG.

[0070] The first control unit 104 of the first working device 100 controls the movable unit 101 to cause the movable unit 101 to grip the connector 301 that is not connected to the first connection unit 105, out of the two connectors 301 of the communication cable 300. Then, the first control unit 104 controls the movable unit 101 to connect the connector 301 gripped by the movable unit 101 to the second connection unit 205 of the second working device 200.

[0071] When the connector 301 is connected to the second connection portion 205 , the second work device 200 transmits second detection information indicating the detection result of at least one of the two second detection portions 203 to the first work device 100 .

[0072] As described above, in the present embodiment, the first work device 100 connects the communication cable 300 between the first work device 100 and the second work device 200 before collaborative work is performed. This allows the first work device 100 to automatically connect the communication cable 300, thereby reducing the burden on the user of the work system 1. In other words, unmanned operations in production facilities can be promoted. Specifically, the first work device 100 is equipped with the communication cable 300, and the first control unit 104 causes the movable unit 101 to grasp one end of the communication cable 300 and connect it to the second work device 200. This allows the movable unit 101 to be used not only for collaborative work but also for connecting the communication cable 300, making it possible to effectively utilize the movable unit 101 and eliminating the need to install a new mechanism for connecting the communication cable 300.

[0073] FIG. 7 is a diagram showing an example of the detection target areas of the first work device 100 and the second work device 200 when a cooperative work is being performed.

[0074] 7, the second detection target area 203a of one of the two second detectors 203 included in the second work device 200 covers the area 20 in FIG. 5. Second detection information obtained by the one second detector 203 is transmitted from the second work device 200 to the first work device 100 via the communication cable 300. That is, in the cooperative mode, when the connector 301 of the communication cable 300 is connected to the second connection unit 205, the second control unit 204 of the second work device 200 acquires the second detection information from the second detector 203 and transmits the second detection information to the first work device 100 via the second connection unit 205 and the communication cable 300.

[0075] As a result, the first control unit 104 of the first working apparatus 100 can acquire the second detection information from the second working apparatus 200 via the communication cable 300 and the first connection unit 105. Then, based on the second detection information, the first control unit 104 can determine whether or not an object is present in the second detection target area 203a, which includes the area 20 shown in Fig. 5. Therefore, the first control unit 104 can prevent the occurrence of the blind spot described above.

[0076] As described above, in this embodiment, the first control unit 104 acquires second detection information indicating the presence or absence of an object in the vicinity of the second work apparatus 200 from the second detection unit 203 attached to the second work apparatus 200. Then, the first control unit 104 controls the movable unit 101 based on the first detection information and the second detection information.

[0077] Therefore, the second detection target area 203a of the second detection unit 203 attached to the second working device 200 can cover the blind spot. The first control unit 104 acquires second detection information indicating the presence or absence of an object in the second detection target area 203a of the second detection unit 203 that can cover such a blind spot, and therefore can suppress the occurrence of a blind spot for the first working device 100. As a result, the first control unit 104 can control the movable unit 101 while suppressing the occurrence of a blind spot not only around the first working device 100 but also around the second working device 200, and grasping the presence or absence of an object over a wide area. This can reduce the risk of the movable unit 101 coming into contact with an object such as a person.

[0078] Furthermore, in this embodiment, the second detection unit 203 detects the presence or absence of an object in an area on the opposite side of the first work device 100 as viewed from the second work device 200, and outputs second detection information indicating the detection result. This makes it possible to appropriately include in the second detection target area 203a of the second detection unit 203 an area 20 around the second work device 200 that is difficult to cover in the limited first detection target area 103a of the first detection unit 103. As a result, the first control unit 104 can control the movable part 101 while appropriately suppressing the occurrence of blind spots not only around the first work device 100 but also around the second work device 200, and determining the presence or absence of an object over a wide area.

[0079] Furthermore, in this embodiment, when the first control unit 104 acquires the second detection information, it acquires the second detection information from the second detection unit 203 via the communication cable 300 connecting the first working apparatus 100 and the second working apparatus 200. As a result, the second detection information is transmitted from the second detection unit 203 to the first control unit 104 via the communication cable 300. In other words, the second detection information is transmitted via a wired connection. Therefore, compared to when the second detection information is transmitted wirelessly, it is possible to prevent the occurrence of transmission delays or failures. As a result, it is possible to more appropriately reduce the risk of contact with people, and further improve safety.

[0080] In addition, in this embodiment, as shown in FIG. 7 , when the first working device 100 and the second working device 200 are viewed from above, the movable part 101 moves one end of the communication cable 300 from the first working device 100 to the second working device 200 through the space between the first working device 100 and the second working device 200, and connects it to the second working device 200.

[0081] This allows the communication cable 300 to be connected while reducing the possibility that one end of the communication cable 300 will protrude outside the area surrounding the first work device 100, the second work device 200, and the space therebetween, as viewed from above. This also reduces the possibility that the movable part 101 will protrude outside that area. As a result, for example, even if a person approaches that area, the movable part 101 is prevented from interfering with the person. In other words, even before the communication cable 300 is connected, the risk of contact with the person can be reduced. Furthermore, the second connection part 205 may be located near the center of the area surrounding the first work device 100, the second work device 200, and the space therebetween. In other words, the second connection part 205 may be located on the first work device 100 side of the second work device 200, and may be located near the center of the second work device 200 in a direction perpendicular to the arrangement direction of the first work device 100 and the second work device 200. In this case, the communication cable 300 can be connected while further reducing the possibility that one end of the communication cable 300, the movable part 101, etc. will come out of the area surrounding the first working device 100, the second working device 200, and the space between them, thus further improving safety.

[0082] Furthermore, in this embodiment, when the second detection information indicates the presence of an object, the first control unit 104 of the first working apparatus 100 slows down the movement of the movable unit 101 or stops the operation of the movable unit 101. As a result, for example, when a person enters the blind spot area 20 described above and the person is detected as an object by the second detection unit 203, the second detection information indicates the presence of an object, and the movement of the movable unit 101 slows down or stops. As a result, the risk of contact between the movable unit 101 and the person can be effectively reduced, and even if the movable unit 101 comes into contact with the person, damage to the person can be reduced.

[0083] FIG. 8A is a flowchart showing the processing operation of the first working device 100 in this embodiment.

[0084] First, the first work apparatus 100 travels while acquiring first detection information and identifying surrounding objects based on the first detection information (step S11). That is, the first control unit 104 of the first work apparatus 100 performs control in travel mode. Specifically, the first control unit 104 sequentially acquires first detection information from the first detection unit 103, and controls the first traveling unit 102 while checking whether the first detection information indicates the presence of an object and further checking the current position of the first work apparatus 100.

[0085] Then, the first control unit 104 determines whether or not the first work apparatus 100 has arrived at the first collaborative work position based on the first detection information (step S12). This first collaborative work position is a position where the first work apparatus 100 performs collaborative work with the second work apparatus 200. Here, the first control unit 104 determines that the first work apparatus 100 has not arrived at the first collaborative work position (No in step S12), and repeats the processing from step S11.

[0086] On the other hand, when the first control unit 104 determines that the first work device has arrived at the first cooperative work position (Yes in step S12), it switches the mode from the travel mode to the cooperative mode. Then, the first control unit 104 limits the first detection target area 103a in which the second work device 200 is detected, out of the first detection target areas 103a of the two first detection units 103 (step S13). In other words, the first control unit 104 limits the first detection target area 103a by narrowing the central angle of the first detection target area 103a so that the area in which the second work device 200 exists is excluded from the first detection target area 103a.

[0087] Next, the first control unit 104 controls the movable unit 101 to connect the connector 301 of the communication cable 300 to the second connection unit 205 of the second working device 200 (step S14).

[0088] Next, the first control unit 104 acquires first detection information from each of the two first detection units 103, and acquires second detection information from the second detection unit 203 from the second work device 200 via the communication cable 300 (step S15).

[0089] The first control unit 104 then controls the movable part 101 based on the first detection information and the second detection information (step S16). As a result, the first work device 100 performs a cooperative work with the second work device 200.

[0090] Next, the first control unit 104 determines whether the cooperative work has ended (step S17). For example, the first control unit 104 determines that the cooperative work has ended when one or more specified cassettes 11 have been removed from the component supply unit 11a of the component mounting apparatus 10 and placed on the work table 201 of the second work apparatus 200. Alternatively, the first control unit 104 determines that the cooperative work has ended when all of the cassettes 11 placed on the work table 201 of the second work apparatus 200 have been attached to the component supply unit 11a of the component mounting apparatus 10.

[0091] Here, if the first control unit 104 determines that the collaborative work has not ended (No in step S17), it repeats the processing from step S15. On the other hand, if the first control unit 104 determines that the collaborative work has ended (Yes in step S17), it controls the movable unit 101 to detach the connector 301 of the communication cable 300 from the second connection unit 205 of the second work device 200 (step S18).

[0092] That is, in this embodiment, after the collaborative work is completed, the first work device 100 disconnects the communication cable 300 connected between the first work device 100 and the second work device 200. As a result, just like connecting the communication cable 300, the first work device 100 automatically disconnects the communication cable 300, thereby reducing the burden on the user of the work system 1. In other words, unmanned operations in production facilities can be promoted. Specifically, the first control unit 104 causes the movable unit 101 to grasp one end of the communication cable 300 and disconnect it from the second work device 200. As a result, the movable unit 101 is used not only for the collaborative work but also for disconnecting the communication cable 300, allowing the movable unit 101 to be used effectively and eliminating the need to install a new mechanism for disconnecting the communication cable 300. .

[0093] Next, the first control unit 104 switches the mode from the cooperative mode to the moving mode, thereby canceling the restriction on the first detection target area 103a imposed in step S13 (step S19). For example, the first control unit 104 widens the central angle of the sector-shaped first detection target area 103a from approximately 180° to approximately 270°.

[0094] Then, the first control unit 104 determines whether or not all work by the first work device 100 has been completed (step S20). If the first control unit 104 determines that all work has not been completed (No in step S20), it repeats the processing from step S11. On the other hand, if the first control unit 104 determines that all work has been completed (Yes in step S20), it ends all processing.

[0095] FIG. 8B is a flowchart showing the processing operation of the second work device 200 in this embodiment.

[0096] First, the second work apparatus 200 travels while acquiring second detection information and grasping surrounding objects based on the second detection information (step S31). That is, the second control unit 204 of the second work apparatus 200 performs control in travel mode. Specifically, the second control unit 204 sequentially acquires second detection information from the second detection unit 203, and controls the second traveling unit 202 while checking whether the second detection information indicates the presence of an object and further checking the current position of the second work apparatus 200.

[0097] Then, based on the second detection information, the second control unit 204 determines whether the second work apparatus 200 has arrived at the second collaborative work position (step S32). This second collaborative work position is a position where the second work apparatus 200 performs collaborative work with the first work apparatus 100. If the second control unit 204 determines that the second work apparatus 200 has not arrived at the second collaborative work position (No in step S32), it repeats the processing from step S31.

[0098] On the other hand, when the second control unit 204 determines that the first work apparatus 100 has arrived at the second collaborative work position (Yes in step S32), it switches the mode from travel mode to collaborative mode. Then, the second control unit 204 determines whether the connector 301 of the communication cable 300 has been connected to the second connection unit 205 of the second work apparatus 200 by the first work apparatus 100 (step S33). Here, when the second control unit 204 determines that the connector 301 of the communication cable 300 is not connected (No in step S33), it executes the process of step S33 again. In other words, the second control unit 204 waits until the connector 301 of the communication cable 300 is connected.

[0099] On the other hand, when the second control unit 204 determines that the connector 301 of the communication cable 300 is connected (Yes in step S33), it acquires second detection information from the second detection unit 203 and transmits the second detection information to the first work apparatus 100 via the communication cable 300 (step S34). Then, the second control unit 204 controls the second traveling unit 202 so that the second work apparatus 200 waits at the second collaborative work position until the first work apparatus 100 has finished handling the cassette 11. In this way, the second work apparatus 200 performs collaborative work with the first work apparatus 100 (step S35).

[0100] Next, the second control unit 204 determines whether the connector 301 of the communication cable 300 has been detached from the second connection unit 205 (step S36). If the second control unit 204 determines that the connector 301 of the communication cable 300 has not been detached (No in step S36), it repeats the processing from step S34. On the other hand, if the second control unit 204 determines that the connector 301 of the communication cable 300 has been detached (Yes in step S36), it further determines whether all work by the second work device 200 has been completed (step S37).

[0101] If the second control unit 204 determines that all work has not been completed (No in step S37), it switches the mode from the cooperative mode to the moving mode and repeats the processing from step S31. On the other hand, if the second control unit 204 determines that all work has been completed (Yes in step S37), it ends all processing.

[0102] As described above, in the work system 1 of this embodiment, when the first work device 100 and the second work device 200 perform cooperative work, the first control unit 104 acquires the second detection information, thereby making it possible to reduce the occurrence of blind spots for the first work device 100. Therefore, the first control unit 104 can control the movable unit 101 while suppressing the occurrence of blind spots not only around the first work device 100 but also around the second work device 200, and grasping the presence or absence of objects over a wide area. This reduces the risk of the movable unit 101 coming into contact with an object such as a person.

[0103] (Variation) The second work device 200 in the above embodiment is provided with the second detector 203. However, the second work device 200 does not necessarily have to be provided with the second detector 203.

[0104] FIG. 9 is a diagram showing an example of the detection target area of ​​the first work device 100 when a cooperative work is being performed in this modified example.

[0105] The second work device 200 in this modified example does not have a second detector 203. Instead, the first work device 100 has a portable second detector 203. In other words, when a collaborative task is being performed, the first control unit 104 of the first work device 100 controls the movable unit 101 to cause the movable unit 101 to grip the second detector 203, which is portable and attached to the first work device 100. The first control unit 104 then controls the movable unit 101 to attach the second detector 203 to a corner of the top surface 210 of the workbench 201 of the second work device 200. For example, the first control unit 104 places the second detector 203 in the corner of the top surface 210 that is farthest from the two first detectors 103 of the first work device 100. Here, one end of a communication cable 300 is connected to the second detection unit 203 , and a connector 301 at the other end of the communication cable 300 is connected to the first connection unit 105 of the first working device 100 .

[0106] The second detection unit 203 arranged and attached in this manner detects the presence or absence of an object in a second detection target area 203a around the second working device 200, as in the above embodiment. The second detection unit 203 then transmits second detection information indicating the detection result to the first control unit 104 of the first working device 100 via the communication cable 300. The second detection target area 203a is a sector-shaped area with a central angle set to approximately 270° so as to exclude the area of ​​the second working device 200 and to cover area 20 in Figure 5.

[0107] As a result, even if the second work device 200 does not have the second detection unit 203, the first control unit 104 can acquire the second detection information from the second detection unit 203 by attaching the second detection unit 203 to the second work device 200.

[0108] As described above, the first work device 100 in this modification includes the second detector 203. The first control unit 104 of the first work device 100 then causes the movable part 101 to grip the second detector 203 and attach it to the second work device 200 before a collaborative task is performed. This allows the second detector 203 of the first work device 100 to be attached to the second work device 200 and used, even if the second work device 200 does not include the second detector 203. This simplifies the configuration of the second work device 200, and relaxes the requirements for devices that can be used as the second work device 200. Even if the second work device 200 includes the second detector 203, there may be cases in which the first control unit 104 is unable to acquire the second detection information of the second detector 203 via the communication cable 300. For example, this may occur when the first work device 100 and the second work device 200 are made by different manufacturers. However, even in such a case, in this modified example, the first work device 100 attaches the second detection unit 203, which is pre-connected to the first connection unit 105, to the second work device 200, so the first control unit 104 can properly acquire the second detection information.

[0109] (Other variations) The work system 1 according to one or more aspects has been described above based on an embodiment and its modifications, but the present disclosure is not limited to this embodiment and its modifications. Various modifications that a person skilled in the art could conceive of may be made to the above embodiment and its modifications, as well as modifications constructed by combining the components of the embodiment and its modifications, may also be included in the present disclosure, provided they do not deviate from the spirit of the present disclosure.

[0110] For example, in the above embodiment and its variations, the second detection information is transmitted to the first work apparatus 100 via the communication cable 300, i.e., via a wired connection. However, the second detection information may also be transmitted to the second work apparatus 200 wirelessly. That is, the first connection unit 105 of the first work apparatus 100 and the second connection unit 205 of the second work apparatus 200 may each be a wireless communication interface. When a collaborative work is being performed, the second control unit 204 of the second work apparatus 200 causes the second detection information obtained by the second detection unit 203 to be wirelessly transmitted from the second connection unit 205 to the first work apparatus 100. The first connection unit 105 of the first work apparatus 100 receives the wirelessly transmitted second detection information and outputs the second detection information to the first control unit 104. The wireless communication method may be, for example, Wi-Fi (registered trademark), Bluetooth (registered trademark), ZigBee (registered trademark), specified low-power radio, infrared communication, or other methods. Furthermore, the portable second detection unit 203 in the above modification may be provided with a wireless communication interface. In this case, the second detection unit 203 can transmit the second detection information directly to the first working apparatus 100 without going through the second control unit 204 and the second connection unit 205.

[0111] Furthermore, in the above embodiment, the first work device 100 connects the connector 301 of the communication cable 300 to the second connection part 205 of the second work device 200. However, conversely, the second work device 200 may connect the connector 301 of the communication cable 300. In this case, the second work device 200 includes a movable part that performs the same operation as the movable part 101. Then, when a collaborative work is performed, the movable part of the second work device 200 grasps the connector 301 that is not connected to any of the communication cables 300 and connects the connector 301 to the second connection part 205 of the second work device 200. Furthermore, the movable part of the second work device 200 may disconnect the connector 301 of the communication cable 300 from the second connection part 205.

[0112] Alternatively, in the above embodiment, the communication cable 300 is a component attached to the first work device 100, but it may also be a component attached to the second work device 200. One of the two connectors 301 of the communication cable 300 is connected to the second connection part 205 of the second work device 200, and the other is not connected to either connector except when a collaborative task is being performed. When a collaborative task is being performed, the movable part of the second work device 200 grasps the connector 301 of the communication cable 300 that is not connected to either connector, and connects the connector 301 to the first connection part 105 of the first work device 100. Furthermore, the movable part of the second work device 200 may disconnect the connector 301 of the communication cable 300 from the first connection part 105 of the first work device 100.

[0113] That is, either one of the first work apparatus 100 and the second work apparatus 200 may connect the communication cable 300 between the first work apparatus 100 and the second work apparatus 200 before a cooperative task is performed. Furthermore, either one of the first work apparatus 100 and the second work apparatus 200 may disconnect the communication cable 300 connected between the first work apparatus 100 and the second work apparatus 200 after a cooperative task is performed.

[0114] Furthermore, in the modification of the above embodiment, the movable part 101 of the first working device 100 grips the second detector 203 and attaches it to the second working device 200, but conversely, the second working device 200 may attach it. In this case, the second working device 200 has a movable part that performs the same operation as the movable part 101. The movable part of the second working device 200 grips the second detector 203 on the first working device 100 and attaches it to, for example, the workbench 201 of the second working device 200.

[0115] 7 , the second detection information obtained by one of the two second detection units 203 of the second work apparatus 200 is transmitted to the first work apparatus 100. However, the second detection information obtained by each of the two second detection units 203 may be transmitted to the first work apparatus 100. This allows the first control unit 104 of the first work apparatus 100 to determine whether or not an object such as a person is present in the second detection target region 203a of each of the two second detection units 203.

[0116] In the above embodiment, the movable part 101 connects the connector 301 of the communication cable 300 to the second connection part 205 of the second working apparatus 200. At this time, the first control part 104 may cause the movable part 101 to connect the connector 301 to the second connection part 205 while confirming the position of the second connection part 205 from an image of the second connection part 205 obtained by capturing an image of the second connection part 205, for example. The camera may be provided on the first working apparatus 100 or may be provided on the movable part 101. The image from the camera may also be used when removing the connector 301 from the second connection part 205. In other words, the first control part 104 may cause the movable part 101 to remove the connector 301 from the second connection part 205 while confirming the position of the connector 301 connected to the second connection part 205 from the image from the camera.

[0117] Similarly, in a modification of the above embodiment, the movable unit 101 attaches the second detector 203 to the second work apparatus 200. At this time, the first control unit 104 may cause the movable unit 101 to attach the second detector 203 to the second work apparatus 200 while checking the position of each part of the second work apparatus 200 from an image of the second work apparatus 200 obtained by capturing an image, for example, with a camera. The image from the camera may also be used when removing the second detector 203 from the second work apparatus 200. In other words, the first control unit 104 may cause the movable unit 101 to remove the second detector 203 from the second work apparatus 200 while checking the position of the second detector 203 attached to the second work apparatus 200 from the image from the camera.

[0118] Furthermore, in the above embodiment and its variations, the first control unit 104 of the first work device 100 and the second control unit 204 of the second work device 200 switch the mode between a movement mode and a cooperative mode. At this time, the first control unit 104 of the first work device 100 and the second control unit 204 of the second work device 200 may change the radius of the sector-shaped detection target area of ​​the first detection unit 103 or the second detection unit 203. For example, in the movement mode, the radius may be changed to be larger than in the cooperative mode, and conversely, in the cooperative mode, the radius may be changed to be smaller than in the movement mode.

[0119] In the above embodiment and its modified examples, the two first detectors 103 are arranged at two diagonal corners on the top surface 110 of the main body 111 of the first working device 100, but they may be arranged at other locations. The two first detectors 103 may be arranged at a position lower than the top surface 110. In the above embodiment, the two second detectors 203 are arranged at two corners on one side of the top surface 210 of the workbench 201 of the second working device 200, but they may be arranged at other locations. The two second detectors 203 may be arranged at a position lower than the top surface 210.

[0120] Furthermore, in the above embodiment, the first connection part 105 is disposed on the top surface 110 of the main body 111 of the first work device 100, but the first connection part 105 may be disposed on a side surface of the main body 111 that faces the second work device 200 when a collaborative task is being performed. Similarly, in the above embodiment, the second connection part 205 is disposed on the top surface 210 of the work table 201 of the second work device 200, but the second connection part 205 may be disposed on a side surface of the work table 201 that faces the first work device 100 when a collaborative task is being performed.

[0121] In the above-described embodiment and its variations, each component may be configured with dedicated hardware or may be realized by executing a software program appropriate for each component. Each component may be realized by a program execution unit such as a CPU or processor reading and executing a software program recorded on a recording medium such as a hard disk or semiconductor memory. Here, software for realizing the first work device 100 of the above-described embodiment causes a computer to execute, for example, the steps of the flowchart shown in FIG. 8A, and software for realizing the second work device 200 of the above-described embodiment causes a computer to execute, for example, the steps of the flowchart shown in FIG. 8B.

[0122] The following cases are also included in this disclosure:

[0123] (1) The at least one device is specifically a computer system comprising a microprocessor, a ROM (Read Only Memory), a RAM (Random Access Memory), a hard disk unit, a display unit, a keyboard, a mouse, etc. A computer program is stored in the RAM or hard disk unit. The at least one device achieves its function when the microprocessor operates in accordance with the computer program. Here, the computer program is composed of a combination of multiple instruction codes that indicate instructions to the computer to achieve a predetermined function.

[0124] (2) Some or all of the components constituting at least one of the above devices may be configured as a single system LSI (Large Scale Integration). A system LSI is an ultra-multifunctional LSI manufactured by integrating multiple components on a single chip, and specifically, is a computer system configured to include a microprocessor, ROM, RAM, etc. A computer program is stored in the RAM. The system LSI achieves its functions when the microprocessor operates in accordance with the computer program.

[0125] (3) Some or all of the components constituting at least one of the above devices may be configured as an IC card or a standalone module that can be attached to the device. The IC card or module is a computer system composed of a microprocessor, ROM, RAM, etc. The IC card or module may include the above-mentioned ultra-multifunctional LSI. The IC card or module achieves its functions when the microprocessor operates according to a computer program. This IC card or module may be tamper-resistant.

[0126] (4) The present disclosure may be embodied as the methods described above, a computer program for implementing these methods on a computer, or a digital signal comprising the computer program.

[0127] The present disclosure may also be a computer program or a digital signal recorded on a computer-readable recording medium, such as a flexible disk, a hard disk, a CD (Compact Disc)-ROM, a DVD, a DVD-ROM, a DVD-RAM, a BD (Blu-ray (registered trademark) Disc), a semiconductor memory, etc. Alternatively, the present disclosure may be a digital signal recorded on such a recording medium.

[0128] The present disclosure may also be applied to transmitting a computer program or digital signal via a telecommunications line, a wireless or wired communication line, a network such as the Internet, data broadcasting, or the like.

[0129] Furthermore, the program or digital signal may be recorded on a recording medium and transferred, or the program or digital signal may be transferred via a network or the like, so that the program or digital signal may be implemented by another independent computer system. [Industrial Applicability]

[0130] The present disclosure is applicable to a work system equipped with a plurality of work devices that perform work in, for example, a production facility. [Explanation of symbols]

[0131] 1. Work System 10. Component mounting equipment 11 cassettes 11a Parts Supply Department 100 1st working device 101 Movable part (robot arm) 102 First Running Section 103 First detection unit 103a First detection target area 104 First Control Section 105 First connection part 110 Top surface 111 Main Unit 200 2nd working device 201 Workbench 202 Second Running Section 203 Second detection unit 203a Second detection target area 204 Second Control Section 205 Second connection part 210 Top 300 Communication Cable 301 Connector P parts B board

Claims

1. a first working device that performs work; a second working device that performs a cooperative work with the first working device, The first working device is a first traveling unit that causes the first working device to travel; a first detection unit that detects the presence or absence of an object in a detection target area around the first work device and outputs first detection information indicative of the detection result; a movable part that performs an operation for work; a control unit that controls the movable unit based on the first detection information, When the traveling of the first work device is stopped by the first traveling section and the cooperative work is performed, The control unit limiting the detection target area so that a range on the second work device side as viewed from the first work device is excluded from the detection target area; acquiring second detection information indicating the presence or absence of an object in the vicinity of the second work device from a second detection unit attached to the second work device; controlling the movable part based on the first detection information and the second detection information; When acquiring the second detection information, The second detection information is acquired from the second detection unit via a communication cable connecting the first work device and the second work device. Working system.

2. the second detection unit detects the presence or absence of an object in an area on the opposite side of the first work device from the second work device, and outputs the second detection information indicating the detection result. The work system according to claim 1 .

3. The control unit of the first working device When the second detection information indicates that an object is present, the movement of the movable unit is slowed down or the operation of the movable unit is stopped. The work system according to claim 1 or 2.

4. The second working device is a second traveling section that causes the second working device to travel; The second detection unit, The work system according to any one of claims 1 to 3.

5. One of the first working device and the second working device is connecting the communication cable between the first work device and the second work device before the cooperative work is performed; The work system according to claim 1 .

6. The first working device further includes: The communication cable is provided, The control unit one end of the communication cable is held by the movable portion and connected to the second working device; The work system according to claim 5 .

7. In a state where the first working device and the second working device are viewed from above, the movable portion moves one end of the communication cable from the first working device to the second working device through a space between the first working device and the second working device, and connects the one end of the communication cable to the second working device. The work system according to claim 6 .

8. One of the first working device and the second working device is After the cooperative work is performed, the communication cable connected between the first work device and the second work device is disconnected. The work system according to any one of claims 1 to 7.

9. The control unit one end of the communication cable is gripped by the movable portion and removed from the second working device; The work system according to claim 8 .

10. A first work device that performs work; a second working device that performs a cooperative work with the first working device, The first working device is a first traveling unit that causes the first working device to travel; a first detection unit that detects the presence or absence of an object in a detection target area around the first work device and outputs first detection information indicative of the detection result; a movable part that performs an operation for work; a control unit that controls the movable unit based on the first detection information, When the traveling of the first work device is stopped by the first traveling section and the cooperative work is performed, The control unit limiting the detection target area so that a range on the second work device side as viewed from the first work device is excluded from the detection target area; acquiring second detection information indicating the presence or absence of an object in the vicinity of the second work device from a second detection unit attached to the second work device; controlling the movable part based on the first detection information and the second detection information; The first working device further includes: The second detection unit is provided, The control unit before the cooperative work is performed, the second detection unit is gripped by the movable unit and attached to the second work device; Working system.

11. A work apparatus that performs a cooperative work with a partner work apparatus, a traveling unit that causes the working device to travel; a first detection unit that detects the presence or absence of an object in a detection target area around the working device and outputs first detection information indicative of the detection result; a movable part that performs an operation for work; a control unit that controls the movable unit based on the first detection information, When the traveling of the working device is stopped by the traveling unit and the cooperative work is performed, The control unit limiting the detection target area so that a range on the partner work apparatus side as viewed from the work apparatus is excluded from the detection target area; acquiring second detection information indicating the presence or absence of an object in the vicinity of the partner work apparatus from a second detection unit attached to the partner work apparatus; controlling the movable part based on the first detection information and the second detection information; When acquiring the second detection information, The second detection information is acquired from the second detection unit via a communication cable connecting the working apparatus and the partner working apparatus. Working equipment.

12. A working method for a working device that performs a cooperative work with a partner working device, comprising: The working device is a traveling unit that causes the working device to travel; a first detection unit that detects the presence or absence of an object in a detection target area around the working device and outputs first detection information indicative of the detection result; a movable part that performs an operation for the work, In the method, When the traveling of the working device is stopped by the traveling section and the cooperative work is performed, limiting the detection target area so that a range on the partner work apparatus side as viewed from the work apparatus is excluded from the detection target area; acquiring second detection information indicating the presence or absence of an object in the vicinity of the partner work apparatus from a second detection unit attached to the partner work apparatus; controlling the movable part based on the first detection information and the second detection information; When acquiring the second detection information, The second detection information is acquired from the second detection unit via a communication cable connecting the working apparatus and the partner working apparatus. How to work.

Images