Walking speed control system, program

Abstract

To synchronize overall movements in a region of a work environment that includes robots with work implementation information programmed thereon at least, thereby suppressing disorder of the overall movements.SOLUTION: A system provides predetermined music from a speaker 70 to allow a newcomer robot to be in synchronization by receiving a tempo or rhythm of the music by itself without programming robots which are actuated by different control programs or the newcomer robot for synchronization. In a situation where a human worker 52 joins with a human robot 1 as picking staff to work with the human robot 1, the human worker 52 gets into synchronization to the predetermined music from the speaker 70 to be synchronism with the human robot 1, thereby providing overall coordinated movements in a whole floor 50 and avoiding interference compared with the case of a random movement.SELECTED DRAWING: Figure 8

Description

Technical Field

[0001] The present disclosure relates to a walking speed control system and a program.

Background Art

[0002] Conventionally, in warehouse picking, factory manufacturing (component assembly), packing work, etc. (hereinafter referred to as picking work, etc.), each worker performs work at a different speed.

[0003] Even in picking work, etc. in a warehouse, in terms of work bases including countries and regions, companies provided in the work bases, facilities such as warehouses, each floor of the facilities, and each work time zone (date and time) (hereinafter collectively referred to as the work environment), the average walking speed of the workers is different.

[0004] This is because the height of the average worker on a specific floor and the busyness depending on the work time zone are different, and the average time required for picking work is different.

[0005] In such a work environment, an automatically controlled robot may be introduced. The robot will move in order to coexist with workers (human workers) and perform their respective roles.

[0006] For example, Patent Document 1 describes the posture control of a humanoid robot for automatically performing work on a factory production line.

Prior Art Documents

Patent Documents

[0007]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0008] However, when human workers and robots are mixed in the same work environment, confusion arises in the overall movement, including that of the human workers. Similarly, even in work environments with only robots and no human workers, confusion arises in the overall movement if multiple types of robots with different movement speeds are mixed together.

[0009] This disclosure is made in view of the above circumstances and aims to provide a walking speed control system and program that can synchronize the overall movement within the work environment and suppress disruption of overall movement, at least in a work environment including a robot that has pre-programmed work execution information. [Means for solving the problem]

[0010] The walking speed control system according to this disclosure is a speed control system for controlling the movement speed of at least multiple robots when they move within a predetermined area to perform a task, wherein each of the multiple robots is equipped with a sound collection device for collecting musical information, and the system includes a synchronization control unit that moves each robot at a first movement speed synchronized with the tempo and rhythm of the musical information collected by the sound collection device, and an adjustment unit that, when it detects a human worker performing the task within the predetermined area, calculates a second movement speed of the human worker moving in sync with the musical information, and adjusts the first movement speed for synchronization between the multiple robots in the synchronization control unit based on the calculated second movement speed.

[0011] According to this disclosure, normally, multiple robots synchronize with music information flowing within a predetermined area (such as a floor), but when a human worker enters the area, the multiple robots move in accordance with the movement speed of the human worker who is synchronized with the music.

[0012] This makes it possible to synchronize the overall movement within the work environment, thereby suppressing disruption to the overall movement, especially in a work environment that includes a robot with pre-programmed work execution information.

[0013] In this disclosure, the music information is characterized by being output at a tempo faster than the normal tempo set for the underlying musical piece.

[0014] To improve work efficiency, the tempo of the music information is increased, for example, by 1.2 times. If the tempo and rhythm of the human workers are synchronized, the overall movement speed of the human workers can be increased, thereby improving efficiency.

[0015] In this disclosure, the synchronization control unit adjusts the period of the first movement speed when the plurality of robots move in synchronization to be 1 / integer of the period of the second movement speed.

[0016] Robots can move at high speeds between themselves, and even when coexisting with human workers, if the tempo cycles match, there will be little interference, for example, even if the ratio of robot movement speed (work speed) to human movement speed (work speed) is 10:1.

[0017] Furthermore, if only robots are present within a designated area, the acceleration rate can be increased even further than when human workers are mixed in. In this case, even if there are multiple types of robots controlled by different programming, interference between robots can be avoided by making them move in accordance with the same tempo and rhythm.

[0018] The program provided in this disclosure is characterized by causing a computer to function as the synchronization control unit and adjustment unit of the walking speed control system described above. [Brief explanation of the drawing]

[0019] [Figure 1] This is a floor plan of the warehouse where the picking operation according to the first embodiment is performed. [Figure 2] This is a front view of a humanoid robot according to the first embodiment. [Figure 3] This diagram schematically shows an example of the functional configuration of a humanoid robot. [Figure 4] It is a flowchart showing a humanoid robot side work execution control routine executed in a walking speed control system according to the first embodiment. [Figure 5] It is a flowchart showing a management control device side control routine executed in a walking speed control system according to the first embodiment. [Figure 6] It is a flowchart showing a modified example of a management control device side control routine executed in a walking speed control system according to the first embodiment. [Figure 7] It is a plan view of the floor of a warehouse where picking work according to the second embodiment is performed. [[ID=​​​​​​​​​​​​​​​​​​​​​​​​​​ Picking is the job of gathering (picking up) the necessary items. Picking staff (including 52 human workers and 1 humanoid robot) play an essential role in shipping items from the warehouse, and are therefore deployed in warehouses of all types.

[0024] For example, their main job is to collect specified items based on pre-assigned lists or order forms, and then pass them on to inspection and packing staff. The larger the warehouse, the greater the variety and number of items stored, which means that a large number of picking staff will be moving around within the 50-floor warehouse.

[0025] As shown in Figure 1, floor 50 is equipped with multiple shelves 54, and the spaces between each shelf 54, and between floor 50 and the shelves 54, serve as passageways 56 for picking staff.

[0026] Figure 1 illustrates a situation where picking staff working on floor 50 consist of a mix of human workers 52 and humanoid robots 1. In other words, it is also possible for the picking staff to consist only of human workers 52, or only of humanoid robots 1. In the following explanation, we will assume that the picking staff initially consisted only of humanoid robots 1, but that during the work, the picking staff became a mix of human workers 52 and humanoid robots 1.

[0027] The picking staff's work (movement within floor 50) is managed by a management control device 58 that manages floor 50. The management control device 58 functions as the control unit of the present invention.

[0028] As shown in Figure 1, the control device 58 is equipped with a microcomputer 60. The microcomputer 60 includes a CPU (Central Processing Unit) 60A, RAM (Random Access Memory) 60B, ROM (Read Only Memory) 60C, and an input / output (I / O) unit. It consists of I / O 60D and buses 60E, such as a data bus and a control bus, that connect them. A recording medium 62 is connected to I / O 60D.

[0029] Furthermore, I / O60D is connected to a human worker transceiver 66 that sends and receives work information with a mobile terminal 64 held by a human worker 52, and a robot transceiver 68 that sends and receives motion control information, including work information, with the control system of the humanoid robot 1.

[0030] Furthermore, Speaker 70 is connected to I / O60D (details below).

[0031] Human workers 52 receive list and order form information from a management control device 58 that manages the floor 50 via a mobile terminal 64, and move along the mobile aisle 56 according to the received information to pick up the desired items.

[0032] Furthermore, the humanoid robot 1 receives information from lists and order forms using a control system installed on the humanoid robot 1, and moves along the mobile passage 56 according to the received information to pick up the desired items.

[0033] (Humanoid robot 1) As shown in Figure 2, the humanoid robot 1 comprises an upper body 2, legs 3, and a connecting part 4 that rotatably connects the upper body 2 to the legs 3, and is programmed to perform picking work on the floor 50.

[0034] The upper body 2 has two arms 5 and 6. The arms 5 and 6 are rotatably attached to the left and right sides of the upper body 2. In addition, gripping parts (not shown) for grasping objects are attached to the tips of the arms 5 and 6. Note that the number of arms is not limited to two, but may be one or three or more.

[0035] The leg section 3 has two wheels 7 and 8 attached to its underside, allowing it to move across the floor on which the humanoid robot 1 is placed.

[0036] The connecting section 4 rotatably connects the upper body section 2 and the leg section 3. As a result, the upper body section 2 can tilt forward and backward relative to the leg section 3.

[0037] Furthermore, the connecting section 4 has the function of changing the distance between the upper body section 2 and the leg section 3, as shown in Figure 2. Therefore, the vertical position of the upper body section 2 relative to the leg section 3 can be adjusted as shown by arrow A to match the height of the workbench on the production line.

[0038] Furthermore, the humanoid robot 1 according to this embodiment is controlled by a control system 10 implemented within the humanoid robot 1.

[0039] (Outline configuration of humanoid robot 1) Figure 3 is a schematic diagram of an example of a control system for the humanoid robot 1. The control system 10 includes a sensor 12 mounted on the humanoid robot 1 and an information processing device 14.

[0040] Sensor 12 functions as the detection unit of the present invention and detects the human worker 52. Sensor 12 also sequentially acquires information that at least represents the distance and angle between the humanoid robot 1 and the object it is working on, and the arms 5, 6, which are located around the humanoid robot 1. As Sensor 12, a high-performance camera, solid-state LiDAR, multi-color laser coaxial displacement meter, or various other sensor groups may be employed. Other examples of Sensor 12 include vibration meters, thermal cameras, hardness testers, radar, LiDAR, high-resolution, telephoto, ultra-wide-angle, 360-degree, high-performance cameras, vision recognition, minute sound, ultrasound, vibration, infrared, ultraviolet, electromagnetic waves, temperature, humidity, spot AI weather forecast, high-precision multi-channel GPS, low-altitude satellite information, or long-tail incident AI data.

[0041] In addition to the information mentioned above, sensor 12 also detects images, distance, vibration, heat, smell, color, sound, ultrasound, ultraviolet light, or infrared light. Other information that sensor 12 may detect includes the movement of the humanoid robot 1's center of gravity, the material of the floor on which the humanoid robot 1 is placed, the ambient temperature, ambient humidity, the vertical, horizontal, and diagonal tilt angles of the floor, and the amount of moisture.

[0042] Sensor 12 performs these detections, for example, every nanosecond.

[0043] The information processing device 14 comprises an information acquisition unit 140, a control unit 142, and an information storage unit 144. The information acquisition unit 140 functions as the calculation unit and setting unit of the present invention.

[0044] The information acquisition unit 140 acquires information about the object detected by the sensor 12.

[0045] The control unit 142 uses the information acquired by the information acquisition unit 140 and AI (Artificial Intelligence) to control the rotational movement of the connecting unit 4, the vertical movement of the connecting unit 4, and the movement of the arm units 5 and 6.

[0046] For example, the control unit 142 performs the following processes.

[0047] (1) The connecting part 4 is driven to tilt the upper body part 2 forward or backward so that it can pick up an object on the floor. (2) The arms 5, 6 and the gripping part are driven so that they can grasp an object. (3) The upper body 2 is moved up and down relative to the leg 3 to match the height of the workbench on the production line. (4) To prevent the humanoid robot 1 from falling over, it maintains balance. (5) The drive of the wheels 7 and 8 is controlled so that the humanoid robot 1 can push a cart or the like forward.

[0048] Here, the humanoid robot 1 automatically measures the average walking speed of 52 human workers in the same work environment using a group of sensors such as LiDAR and cameras. The humanoid robot 1 is then moved at a speed equivalent to this measured walking speed.

[0049] This allows the movement speed of the entire work environment, including the human workers 52 and the humanoid robot 1, to be synchronized.

[0050] A speaker 70 is installed in the floor 50 according to the first embodiment. The speaker 70 is controlled by a management control device 58 and plays music with a tempo and rhythm (for example, a marching order song like "The Nutcracker") that can be heard simultaneously by both the human worker 52 and the humanoid robot 1.

[0051] Playing this rhythmic music throughout the 50th floor synchronizes the entire space with the same tempo and rhythm.

[0052] If synchronized control is achieved using music (tempo and rhythm) emitted from speaker 70, then, for example, if music is played at 1.2 times the walking speed A of human worker 52 (A x 1.2), the entire system can move in a synchronized manner with 1.2 times the rhythm and tempo, with fewer accidents (e.g., contact or collisions).

[0053] In other words, instead of a chaotic floor 50 where 52 different human workers move at varying speeds, it becomes possible to create a floor where the entire team is unified, perfectly synchronized, and can work at, for example, 10 times the normal speed while listening to a marching order song. This is safe and provides the benefit of a 10x cost reduction or 10x cost savings relative to the subscription fee.

[0054] The operation of the first embodiment will be explained below with reference to the flowcharts in Figures 4 to 6.

[0055] Figure 4 is a flowchart showing the humanoid robot's task execution control routine executed by the walking speed control system according to the first embodiment.

[0056] In step 96, music played from speaker 70 to floor 50 is taken in, then the process moves to step 98, where humanoid robots 1 communicate with each other, set the movement speed (first movement speed), and then proceed to step 100.

[0057] In step 100, the work order is received, and then the process moves to step 102 to begin moving to the destination.

[0058] In the next step 104, it is determined whether or not a human worker 52 was detected during movement. If the determination is positive, the process moves to step 106, where the walking speed of the human worker 52 is calculated, as well as the average walking speed (second movement speed) of the multiple human workers 52 detected, and then the process moves to step 108.

[0059] In step 108, the humanoid robot 1 is controlled to move at a speed synchronized with the average walking speed, and the process proceeds to step 110. If a negative result is obtained in step 104, the process proceeds to step 110.

[0060] Here, the definition of synchronization can be broadly classified into the following two types.

[0061] (Synchronization 1) The rhythm is the same, and the tempo is the same. For example, one might consider a case where the period (tempo) of the first movement speed equals the period (tempo) of the second movement speed. (Synchronization 2) The rhythm is the same, but the tempo is different. For example, consider a case where the period (tempo) of the movement speed is 1 / integer of the period (tempo) of the second movement speed.

[0062] In step 110, it is determined whether or not the destination has been reached. If the determination is negative, the process returns to step 104 and the above steps are repeated. If the determination in step 110 is positive, this routine ends.

[0063] Figure 5 is a flowchart showing the control routine on the management control device side that is executed in the walking speed control system according to the first embodiment.

[0064] In step 112, it is determined whether or not the work has started, and this step 112 is repeated until a positive determination is made.

[0065] If a positive result is obtained in step 112, the process proceeds to step 114, where pre-stored tempo and rhythm (music) information is read (for example, a song such as "The Nutcracker"), and the process proceeds to step 116. In step 116, the output of the read tempo and rhythm (music) begins. That is, the tempo and rhythm (music) are spoken from speaker 70. At this time, the tempo is at normal speed (1x speed).

[0066] In the next step, 118, it is determined whether the task is complete or not, and this step 118 is repeated until a positive result is obtained. If a positive result is obtained in step 118, the process moves to step 120, where the output of tempo and rhythm (music) is stopped, and this routine ends.

[0067] Human worker 52 will walk in time with this tempo and rhythm (music), resulting in movement at a constant tempo and rhythm. Meanwhile, humanoid robot 1 will move in sync with the movement of human worker 52, resulting in harmonious movement overall, and interference (contact, collision) will be avoided compared to random movement.

[0068] Figure 6 is a flowchart showing a modified example of the control routine on the management control device side, which is executed in the walking speed control system according to the first embodiment.

[0069] In step 122, it is determined whether the work has started, and this step 122 is repeated until a positive determination is made.

[0070] If a positive result is obtained in step 122, the process proceeds to step 124, where pre-stored tempo and rhythm (music) information is read (for example, a song such as "The Nutcracker"), and then proceeds to step 126. In step 126, the tempo at which the tempo and rhythm (music) are output is set to a speed faster than the normal speed (for example, double speed n = 1.2 times), and the process proceeds to step 128.

[0071] In step 128, the output is started at the read tempo and rhythm (music) and tempo. That is, the tempo and rhythm (music) are spoken from speaker 70 at a speed faster than normal (for example, double speed n = 1.2 times speed).

[0072] In the next step, 130, it is determined whether the task is complete or not, and this step 130 is repeated until a positive result is obtained. If a positive result is obtained in step 130, the process moves to step 132, where the output of tempo and rhythm (music) is stopped, and this routine ends.

[0073] Human worker 52 begins to walk in time with this tempo and rhythm (music), resulting in movement at a constant tempo and rhythm. In this case, since the tempo is faster than normal (n=1.2), efficiency is improved. Meanwhile, humanoid robot 1 moves in sync with the movement of human worker 52, resulting in harmonious movement overall, and interference (contact, collision) is avoided compared to random movement.

[0074] (Second Embodiment)

[0075] Figure 7 is a plan view of the warehouse floor 50 where picking operations are performed according to the second embodiment. Note that components identical to those in the first embodiment are denoted by the same reference numerals, and their descriptions are omitted.

[0076] As shown in Figure 7, in the second embodiment, the picking staff working on floor 50 are humanoid robots 1, and there are no human workers 52 (see Figure 1) as described in the first embodiment.

[0077] In other words, the movement path 56 in the work environment of floor 50 can be called a robot-only lane. In the movement path 56, which is a robot-only lane, the speed of movement can be made faster because all picking staff can be controlled collectively by the management control device 58, as long as it is within the scope of that robot-only lane.

[0078] In other words, the control device 58 tracks the movement trajectories of all humanoid robots 1 along the time axis. Then, it perfectly synchronizes the overall movement speed of the humanoid robots 1 with the movement speed of the human workers at n times the speed (n>1).

[0079] The n value can be set to, for example, 10 to 20 times or more the movement speed of a human worker, and problems other than mutual contact and collision (for example, balance during the transport of picked items) should be taken into consideration.

[0080] Furthermore, in order to synchronize the humanoid robot 1, speaker 70 was deliberately placed on floor 50. Therefore, this can be achieved by the control program even without playing a predetermined tempo and rhythm (music). However, by playing music of a predetermined tempo and rhythm from the speaker 70 on the floor 50, robots operating with different control programs, or newly introduced robots, can independently hear (receive) the tempo and rhythm and synchronize without programming them to synchronize with the management control device 58.

[0081] Furthermore, if the picking staff changes from a situation where only humanoid robot 1 is present to a situation where human workers 52 (see Figure 1) are added to the picking staff, and the human workers 52 and humanoid robot 1 are mixed together, the music played from speaker 70 at a predetermined tempo and rhythm will cause the human workers 52 to synchronize with the music, and the humanoid robot 1 will synchronize with this, resulting in harmonious movement for the entire floor 50, and interference (contact, collision) will be avoided compared to random movement.

[0082] The operation of the second embodiment will be explained according to the flowchart in Figure 8.

[0083] Figure 8(A) is a flowchart showing the work command control routine executed by the management control device 58 according to the second embodiment.

[0084] In step 134, the type of humanoid robot 1 on floor 50 is confirmed, and then in step 135, work commands are output to each robot, and the process moves to step 136. In step 136, the movement pattern of each humanoid robot 1 is calculated, and the process moves to step 138.

[0085] In step 138, pre-stored tempo and rhythm (music) information is read (for example, a song such as "The Nutcracker"), and the process proceeds to step 139.

[0086] In step 139, it is determined whether or not a human worker 52 has been detected. If the detection is negative, the process moves to step 140, where the optimal speed multiplier n for the calculated movement pattern is set as the tempo for playing the output tempo and rhythm (music), and the process moves to step 144. For example, if only robots are present, a speed multiplier of 10 to 20 times is acceptable.

[0087] Furthermore, if a positive result is obtained in step 139, the process proceeds to step 141, where the optimal speed multiplier n for human worker 52 is set as the tempo for playing the output tempo and rhythm (music), and the process proceeds to step 144. For example, if human worker 52 is the main operator, a speed multiplier of n = 1 to 1.2 is preferable (as shown in Figures 5 and 6).

[0088] In step 144, the tempo and rhythm (music) are output from speaker 70 at a tempo based on the double-speed value n, and the process proceeds to step 145.

[0089] In step 145, it is determined whether the task is complete or not. If the result is negative, the process returns to step 139 and the above steps are repeated. If the result in step 145 is positive, this routine ends.

[0090] Figure 8(B) is a flowchart showing the work execution control routine executed by the humanoid robot 1 according to the second embodiment.

[0091] Upon receiving a work instruction in step 146, the process moves to step 148 to receive the tempo and rhythm (music) (for example, by collecting sound with a sound-collecting device such as a microphone), and then moves to step 150 to perform the picking operation, moving at the tempo (double speed value n) based on the received music.

[0092] In the next step 151A, it is determined whether or not a human worker 52 has been detected. If the determination is positive, the process moves to step 151B, where the walking speed of the human worker 52 is calculated, as well as the average walking speed (second movement speed) of the multiple human workers 52 detected, and then the process moves to step 151C.

[0093] In step 151C, the humanoid robot 1 is controlled to move at a speed synchronized with the average walking speed, and the process proceeds to step 152. If a negative result is obtained in step 151A, the process proceeds to step 152.

[0094] Here, the definition of synchronization can be broadly classified into the following two types.

[0095] (Synchronization 1) The rhythm is the same, and the tempo is the same. For example, one might consider a case where the period (tempo) of the first movement speed equals the period (tempo) of the second movement speed. (Synchronization 2) The rhythm is the same, but the tempo is different. For example, consider a case where the period (tempo) of the movement speed is 1 / integer of the period (tempo) of the second movement speed.

[0096] In step 152, it is determined whether the task is complete or not. If the result is negative, the process returns to step 150; if the result is positive, the process proceeds to step 154.

[0097] In step 154, a decision is made as to whether or not to continue the work. If the decision is negative, the process returns to step 146 and the above steps are repeated. If the decision in step 154 ​​is positive, this routine ends.

[0098] (Embodiment of information processing device 14 of humanoid robot 1)

[0099] Figure 9 schematically shows an example of the hardware configuration of a computer 1200 that functions as an information processing device 14. A program installed on the computer 1200 can cause the computer 1200 to function as one or more "parts" of the device according to the first embodiment, or to cause the computer 1200 to execute operations associated with the device according to this embodiment or such one or more "parts", and / or to cause the computer 1200 to execute a process or a stage of such process according to this embodiment. Such a program may be executed by the CPU 1212 to cause the computer 1200 to execute specific operations associated with some or all of the blocks in the flowcharts and block diagrams described herein.

[0100] The computer 1200 according to this embodiment includes a CPU 1212, RAM 1214, and a graphics controller 1216, which are interconnected by a host controller 1210. The computer 1200 also includes input / output units such as a communication interface 1222, a storage device 1224, a DVD drive, and an IC card drive, which are connected to the host controller 1210 via an input / output controller 1220. The DVD drive may be a DVD-ROM drive and a DVD-RAM drive, etc. The storage device 1224 may be a hard disk drive and a solid-state drive, etc. The computer 1200 also includes input / output units such as a ROM 1230 and a keyboard, which are connected to the input / output controller 1220 via an input / output chip 1240.

[0101] The CPU 1212 operates according to the programs stored in the ROM 1230 and RAM 1214, thereby controlling each unit. The graphics controller 1216 is The frame buffer provided in RAM1214, or the RAM itself, is used to acquire image data generated by CPU1212, and to display the image data on display device1218.

[0102] The communication interface 1222 communicates with other electronic devices via a network. The storage device 1224 stores programs and data used by the CPU 1212 in the computer 1200. The DVD drive reads programs or data from a DVD-ROM or the like and provides them to the storage device 1224. The IC card drive reads programs and data from an IC card and / or writes programs and data to an IC card.

[0103] The ROM 1230 stores boot programs and / or hardware-dependent programs of the computer 1200, which are executed by the computer 1200 upon activation. The input / output chip 1240 may also connect various input / output units to the input / output controller 1220 via USB ports, parallel ports, serial ports, keyboard ports, mouse ports, etc.

[0104] The program is provided on a computer-readable storage medium such as a DVD-ROM or IC card. The program is read from the computer-readable storage medium and installed on a storage device 1224, RAM 1214, or ROM 1230, which are examples of computer-readable storage media, and executed by the CPU 1212. The information processing described within these programs is read by the computer 1200, resulting in coordination between the program and the various types of hardware resources described above. The apparatus or method may be configured to realize the operation or processing of information in accordance with the use of the computer 1200.

[0105] For example, when communication is performed between a computer 1200 and an external device, the CPU 1212 may execute a communication program loaded into RAM 1214 and, based on the processing described in the communication program, instruct the communication interface 1222 to perform communication processing. Under the control of the CPU 1212, the communication interface 1222 reads transmission data stored in a transmission buffer area provided in a recording medium such as RAM 1214, storage device 1224, DVD-ROM, or IC card, transmits the read transmission data to the network, or writes received data received from the network to a reception buffer area provided on the recording medium.

[0106] Furthermore, the CPU 1212 may read all or necessary parts of a file or database stored on an external recording medium such as the storage device 1224, a DVD drive (DVD-ROM), or an IC card into the RAM 1214, and perform various types of processing on the data in the RAM 1214. The CPU 1212 may then write the processed data back to the external recording medium.

[0107] Various types of information, such as various types of programs, data, tables, and databases, may be stored on the recording medium and subjected to information processing. The CPU 1212 may perform various types of processing on the data read from RAM 1214, including various types of operations, information processing, conditional judgments, conditional branching, unconditional branching, information retrieval / replacement, etc., as described throughout this disclosure and specified by the program instruction sequence, and write the results back to RAM 1214. The CPU 1212 may also retrieve information in files, databases, etc., within the recording medium. For example, if multiple entries are stored in the recording medium, each having an attribute value of a first attribute associated with an attribute value of a second attribute, the CPU 1212 may search among the multiple entries for an entry that matches the condition in which the attribute value of the first attribute is specified, and retrieve the attribute of the second attribute stored in that entry. You may read the value and thereby obtain the attribute value of the second attribute associated with the first attribute that satisfies a predetermined condition.

[0108] The program or software module described above may be stored on or near the computer 1200 in a computer-readable storage medium. Alternatively, a recording medium such as a hard disk or RAM provided within a server system connected to a dedicated communication network or the Internet can be used as a computer-readable storage medium, thereby providing the program to the computer 1200 via the network.

[0109] In this embodiment, blocks in the flowchart and block diagram may represent a stage in a process in which an operation is performed or a "part" of a device that has the role of performing an operation. A particular stage and "part" may be implemented by a dedicated circuit, a programmable circuit supplied with computer-readable instructions stored on a computer-readable storage medium, and / or a processor supplied with computer-readable instructions stored on a computer-readable storage medium. The dedicated circuit may include digital and / or analog hardware circuits, and may include integrated circuits (ICs) and / or discrete circuits. The programmable circuit may include reconfigurable hardware circuits, such as field-programmable gate arrays (FPGAs) and programmable logic arrays (PLAs), which include logical AND, logical OR, exclusive OR, negated AND, negated OR, and other logical operations, flip-flops, registers, and memory elements.

[0110] A computer-readable storage medium may include any tangible device capable of storing instructions to be executed by a suitable device, and as a result, a computer-readable storage medium having instructions stored therein will comprise a product that includes instructions that can be executed to create means for performing operations specified in a flowchart or block diagram. Examples of computer-readable storage media may include electronic storage media, magnetic storage media, optical storage media, electromagnetic storage media, semiconductor storage media, etc. More specific examples of computer-readable storage media may include floppy disks, diskettes, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), electrically erasable programmable read-only memory (EEPROM), static random access memory (SRAM), compact disk read-only memory (CD-ROM), digital multipurpose disc (DVD), Blu-ray® disc, memory stick, integrated circuit card, etc.

[0111] Computer-readable instructions may include assembler instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Smalltalk®, Java®, C++, and traditional procedural programming languages ​​such as the C programming language or similar languages.

[0112] Computer-readable instructions may be provided to a general-purpose computer, a special-purpose computer, or a programmable circuit's processor or programmable circuit, either locally or via a local area network (LAN), the Internet, or other wide area network (WAN), so that the processor or programmable circuit can execute the instructions to generate means for performing operations specified in a flowchart or block diagram. An example of a processor is: This includes computer processors, processing units, microprocessors, digital signal processors, controllers, microcontrollers, etc.

[0113] In this embodiment (the first and second embodiments), the information management device 14 of the humanoid robot 1 functions as the calculation unit and setting unit of the present invention, but the management control device 58 may also perform these functions.

[0114] (Summary of this disclosure) • First embodiment: "A work environment in which human workers and humanoid robots coexist."

[0115] One example of a smart robot is a humanoid robot that automatically measures the average walking speed of human workers in the same work environment using a group of sensors such as LiDAR and cameras, and then moves the humanoid robot at a speed equivalent to this measured walking speed.

[0116] This allows for synchronized movement speeds for all elements in the work environment, including human workers and humanoid robots.

[0117] A more perfect movement speed would be achieved if both human workers and humanoid robots moved at the exact same or near-same speed, enabling safer, more efficient, and synchronized movement operations across the entire floor.

[0118] To achieve perfect movement speed, both human workers and humanoid robots can simultaneously hear a tempo and rhythm (for example, a marching order song like "The Nutcracker") played in the work environment, allowing the entire system to synchronize at the same tempo and rhythm.

[0119] If tempo and rhythm are synchronized, then, for example, if music is played at 1.2 times the walking speed A (A x 1.2), the overall movement will be synchronized with a good tempo and rhythm, with fewer accidents (e.g., contact or collisions) at 1.2 times the normal speed.

[0120] In other words, instead of a chaotic floor where different people move at varying speeds, it becomes possible to create a floor where everyone is unified, working at, for example, 10 times the normal speed while listening to a marching order song in perfect synchronization. This is safe and provides the benefit of a 10x cost reduction or 10x cost savings relative to the subscription fee.

[0121] • Second embodiment: "Work environment for humanoid robots only" On the other hand, if a dedicated lane for robots is created within the work environment, the speed of the flow can be increased within the scope of that dedicated lane.

[0122] To create the safest and most efficient working environment (for example, the entire floor), the most efficient flow of movement would be achieved by eliminating human workers from that floor, increasing the overall movement speed to n times the normal speed, and perfectly synchronizing all robots. For example, it would be possible to make them move at 10 to 20 times, or even more than, the movement speed of human workers.

[0123] Figure 10 is an example relating to the second embodiment, and is a flowchart showing the process of synchronizing multiple application actions.

[0124] For example, consider the case where the tempo and rhythm of the synchronized movements across all floors are set to 20 times the normal speed.

[0125] In this case, running and arm movements can be sped up 20 times, and finger movements 100 times faster. Furthermore, eye and brain movements can be sped up 1 million times.

[0126] By outputting music with perfect synchronization ("The Nutcracker" at 20 times the tempo and rhythm) to the aforementioned floor, a Total Logistics OS and its applications become possible, enabling completely unmanned warehouse operations with no collisions or accidents whatsoever.

[0127] Although the present invention has been described above using embodiments, the technical scope of the present invention is not limited to the scope described in the above embodiments. It will be apparent to those skilled in the art that various modifications or improvements can be made to the above embodiments. It will be clear from the claims that such modified or improved forms may also be included in the technical scope of the present invention.

[0128] It should be noted that the execution order of operations, procedures, steps, and stages in the apparatus, systems, programs, and methods described in the claims, specifications, and drawings is not explicitly stated as "before" or "prior to," and that these can be implemented in any order unless the output of a previous process is used in a later process. Even if the operation flow in the claims, specifications, and drawings is described using phrases such as "first," and "next," for convenience, this does not mean that it is essential to perform the operations in that order. [Explanation of symbols]

[0129] 1 Humanoid robot, 2 Upper body, 3 Legs, 4 Connecting parts, 5,6 Arms, 7,8 Wheels, 10 Control system, 12 Sensors, 14 Information processing device, 50 Floor, 52 Human worker, 54 Shelf, 56 Movement aisle, 58 Management control device, 60 Microcomputer, 60A CPU, 60B RAM, 60C ROM, 60D Input / Output unit (I / O), 60E Bus, 62 Recording medium, 64 Mobile terminal, 66 Transceiver for human workers, 68 Transceiver for robots, 70 Speaker, 1200 Computer, 1210 Host controller, 1212 CPU, 1214 RAM, 1216 Graphics controller, 1218 Display device, 1220 Input / Output controller, 1222 Communication interface, 1224 Storage device, 1230 ROM, 1240 Input / Output chip

Claims

1. A speed control system for controlling the movement speed of at least multiple robots when they move within a predetermined area to perform a task, Each of the aforementioned plurality of robots is equipped with a sound collection device for collecting musical information, and a synchronization control unit moves each robot at a first movement speed synchronized with the tempo and rhythm of the musical information collected by the sound collection device. An adjustment unit that, when it detects a human worker performing the task within the predetermined area, calculates a second movement speed of the human worker moving in sync with the music information, and adjusts a first movement speed for synchronization among the multiple robots in the synchronization control unit based on the calculated second movement speed, A speed control system that has the following features.

2. The speed control system according to claim 1, wherein the aforementioned music information is output at a faster tempo than the normal tempo set for the underlying music.

3. The synchronization control unit, The speed control system according to claim 1, wherein the period of the first movement speed when the plurality of robots move synchronously is adjusted to be 1 / integer of the period of the second movement speed.

4. Computers, A program that causes the synchronous control unit and the adjustment unit of the speed control system according to any one of claims 1 to 3.

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