Robot control system and robot control method

Abstract

This robot control system (100) manages the operation of a plurality of robots. A robot information management unit (101) stores robot information including information about the control method and the communication method of each robot. An operation control unit (102) generates control information for controlling the operation of each robot. A control information conversion unit (103) converts control information into a telegraphic message in a format compatible with the control method of the robot to which the control information applies. A transmission unit (104) transmits the telegraphic message of the control information using a protocol compatible with the communication method of the robot to which the control information applies. A reception unit (105) receives, from each robot, a telegraphic message of status information indicating the status of the robot. A status information conversion unit (106) converts the telegraphic message of status information into a telegraphic message in a format that can be recognized by the operation control unit (102).

Description

Robot control system and robot control method

[0001] The present disclosure relates to a robot control system that controls the operation of multiple robots.

[0002] A robot control system that controls the operation of multiple robots is known. For example, Patent Document 1 listed below discloses a transport system that selects one robot to transport an object based on information on the characteristics of each robot and information on the stability of each robot when transporting the object.

[0003] Japanese Patent Application Laid-Open No. 2021-86198

[0004] Conventionally, robot control systems that control the operation of multiple robots have been built on the premise that all of the multiple robots can be controlled in the same way. Therefore, the multiple robots controlled by a single robot control system must all use the same control method and communication method. For this reason, conventional robot control systems cannot, for example, operate multiple robots made by different manufacturers in combination.

[0005] The present disclosure has been made to solve the above-mentioned problems, and aims to provide a robot control system capable of controlling the operation of multiple robots with different control methods and communication methods.

[0006] The robot control system disclosed herein is a robot control system that manages the operation of multiple robots, and includes a robot information management unit that stores robot information including information on the control method and communication method of each robot included in the multiple robots; an operation control unit that generates control information for controlling the operation of each robot; a control information conversion unit that converts the control information into a message in a format compatible with the control method of the robot that is the target of the control information based on the robot information; a transmission unit that transmits the control information message based on the robot information using a protocol compatible with the communication method of the robot that is the target of the control information; a receiving unit that receives status information messages indicating the status of the robots from each robot; and a status information conversion unit that converts the status information message into a message in a format recognizable by the operation control unit based on the robot information.

[0007] The robot control system according to the present disclosure is capable of controlling the operation of multiple robots with different control methods and communication methods.

[0008] The objects, features, aspects, and advantages of the present disclosure will become more apparent from the following detailed description and the accompanying drawings.

[0009] FIG. 1 is a diagram showing a configuration of a robot control system according to embodiment 1. FIG. 2 is a flowchart showing a process in which the robot control system according to embodiment 1 transmits control information to a robot. FIG. 3 is a flowchart showing a process in which the robot control system according to embodiment 1 receives status information from a robot. FIG. 4 is a diagram showing a configuration of a robot control system according to embodiment 2. FIG. 5 is a diagram showing a configuration of a robot control system according to embodiment 3. FIG. 6 is a flowchart showing a process in which control information is generated in the robot control system according to embodiment 3. FIG. 7 is a diagram showing a configuration of a robot control system according to embodiment 4. FIG. 8 is a diagram showing an example of a hardware configuration of a robot control system. FIG. 9 is a diagram showing an example of a hardware configuration of a robot control system.

[0010] <First Embodiment> Figure 1 is a diagram showing the configuration of a robot control system 100 according to a first embodiment. The robot control system 100 controls the operation of multiple robots by wirelessly communicating with the multiple robots. Figure 1 shows an example in which the robot control system 100 controls the operation of robots A1 and A2 manufactured by company A, robot B1 manufactured by company B, robot C1 manufactured by company C, and robot D1 manufactured by company D.

[0011] The control methods and communication methods of the robots A1, A2, B1, C1, and D1 are different from each other. However, the robots controlled by the robot control system 100 may include robots with the same control method and communication method. Furthermore, the robots A1, A2, B1, C1, and D1 may be used for any purpose. In this embodiment, the robots A1, A2, B1, C1, and D1 are transport robots that transport objects.

[0012] The robot control system 100 includes a robot information management unit 101, an operation control unit 102, a control information conversion unit 103, a transmission unit 104, a reception unit 105, and a status information conversion unit 106.

[0013] Robot information including information on the control method and communication method of each of the robots A1, A2, B1, C1, and D1 is stored in the robot information management unit 101. The information on the control method and communication method is information required for the robot control system 100 to communicate with the robots A1, A2, B1, C1, and D1.

[0014] The operation control unit 102 generates control information for controlling the operation of each of the robots A1, A2, B1, C1, and D1. The control information is commands for moving the robots, and there are no restrictions on the content of the control information.

[0015] The control information conversion unit 103 refers to the robot information stored in the robot information management unit 101, and converts the control information generated by the operation control unit 102 into a telegram in a format compatible with the control method of the robot that is the target of the control information (hereinafter referred to as the "robot to be controlled") based on the control method information of the robot A1, A2, B1, C1, and D1 included in the robot information. Specifically, the control information conversion unit 103 determines the robot to be controlled from the content of the control information, and converts the control information into a telegram in a format that can be recognized by the robot to be controlled based on the control method information of the robot to be controlled.

[0016] When the robot control system 100 simultaneously (in parallel) controls two or more of the robots A1, A2, B1, C1, and D1, the multiple robots become robots to be controlled simultaneously. In this case, the control information conversion unit 103 generates multiple pieces of control information corresponding to the multiple robots to be controlled.

[0017] The transmitting unit 104 refers to the robot information stored in the robot information managing unit 101, and based on the information on the communication methods of the robots A1, A2, B1, C1, and D1 included in the robot information, transmits the control information converted by the control information converting unit 103 in a protocol compatible with the communication method of the robot to be controlled. This allows the robot to be controlled to receive the control information generated by the operation control unit 102.

[0018] The robots A1, A2, B1, C1, and D1 that are to be controlled operate in accordance with the received control information. In addition, the robots A1, A2, B1, C1, and D1 transmit electronic messages of status information indicating their own status to the robot control system 100.

[0019] The receiving unit 105 of the robot control system 100 receives status information messages transmitted from the robots A1, A2, B1, C1, and D1. Although the communication methods used by the robots A1, A2, B1, C1, and D1 are different, the receiving unit 105 is designed to be able to receive signals (status information messages) transmitted via any communication method and to recognize the sender of the signals. Because common communication protocols such as TCP / IP (Transmission Control Protocol / Internet Protocol) are used to remotely control the robots, regardless of the robot manufacturer, the receiving unit 105 can easily receive signals transmitted by all of the robots A1, A2, B1, C1, and D1 as long as an unknown communication protocol is not used.

[0020] The status information conversion unit 106 refers to the robot information stored in the robot information management unit 101, and, based on the information on the communication method and control method of the robots A1, A2, B1, C1, and D1 included in the robot information, converts the status information message received by the receiving unit 105 into a message in a format recognizable by the operation control unit 102. Specifically, the status information conversion unit 106 converts the signal (status information message) received by the receiving unit 105 into a message in a format recognizable by the operation control unit 102, based on the information on the communication method and control method of the robot that sent the signal. This allows the operation control unit 102 to recognize the status information transmitted from the robots A1, A2, B1, C1, and D1, and to grasp the status of the robots A1, A2, B1, C1, and D1.

[0021] Here, the process in which the robot control system 100 transmits control information to a robot to be controlled (any of the robots A1, A2, B1, C1, and D1) will be described with reference to the flowchart of FIG.

[0022] First, the operation control unit 102 generates control information for controlling the robot to be controlled (step S101). Next, the control information conversion unit 103 converts the control information generated by the operation control unit 102 into a message in a format compatible with the control method of the robot to be controlled, based on the robot information stored in the robot information management unit 101 (step S102). Then, the transmission unit 104 transmits the control information message converted by the control information conversion unit 103 based on the robot information, using a protocol compatible with the communication method of the robot to be controlled (step S103). This allows the robot to be controlled to receive the control information generated by the operation control unit 102.

[0023] Next, a process in which the robot control system 100 receives status information from a robot (any of the robots A1, A2, B1, C1, and D1) will be described with reference to the flowchart of FIG.

[0024] First, the receiving unit 105 receives a telegram containing status information transmitted from the robot (step S201). Next, the status information conversion unit 106 converts the telegram containing status information received by the receiving unit 105 into a telegram in a format recognizable by the operation control unit 102 based on the robot information (step S202). Then, the operation control unit 102 acquires the telegram containing status information converted by the status information conversion unit 106 (step S203). This allows the operation control unit 102 to grasp the status of the robot.

[0025] The robot control system 100 according to the first embodiment can control the operations of multiple robots with different control methods and communication methods (e.g., robots from different manufacturers or robots with different specifications). This broadens the options for robots to be introduced into the system. For example, when introducing a new robot into the system, even if the same product as an existing robot cannot be procured due to reasons such as end-of-life (EOL), the robot that is available at that time can be adopted, enabling flexible and efficient system operation. Furthermore, by introducing multiple robots of different types into the system, they can be used appropriately depending on the size of the transported object, the operating environment, and the like, enabling efficient transport.

[0026] <Embodiment 2> Fig. 4 is a diagram showing the configuration of a robot control system 100 according to embodiment 2. The configuration of the robot control system 100 in Fig. 4 is obtained by adding a current position acquisition unit 107 to the configuration in Fig. 1. The other components are the same as those in Fig. 1, and therefore descriptions thereof will be omitted as appropriate.

[0027] In this embodiment, the status information transmitted by the robots A1, A2, B1, C1, and D1 includes information about the current positions of the robots, and the current position acquisition unit 107 acquires the current positions of the robots A1, A2, B1, C1, and D1 from the status information acquired by the operation control unit 102 (i.e., the status information converted by the status information conversion unit 106). For example, by displaying the information about the current positions of the robots A1, A2, B1, C1, and D1 acquired by the current position acquisition unit 107 on the screen of a display device (not shown), the system administrator can grasp the current positions of the robots A1, A2, B1, C1, and D1.

[0028] <Embodiment 3> Fig. 5 is a diagram showing the configuration of a robot control system 100 according to embodiment 3. The configuration of the robot control system 100 in Fig. 5 is obtained by adding a map data storage unit 108, a point setting unit 109, and a route planning unit 110 to the configuration in Fig. 4. The other components are the same as those in Fig. 4, and therefore descriptions thereof will be omitted as appropriate.

[0029] The map data storage unit 108 is a storage medium that stores map data of locations (facilities, etc.) where the robots A1, A2, B1, C1, and D1 are operated.

[0030] The location setting unit 109 sets locations such as the departure point, waypoints, and destination points for each of the robots A1, A2, B1, C1, and D1. Each location may be specified to the location setting unit 109 by any method, such as manual input by a system administrator, input of a data file indicating each location, or transmission of a message indicating each location. The location setting unit 109 may also set the current location of the robot acquired by the current location acquisition unit 107 as the departure point of the robot.

[0031] Based on the map data stored in the map data storage unit 108, the route planning unit 110 plans a travel route for each of the robots A1, A2, B1, C1, and D1 that passes through the starting point, intermediate points, and destination set by the location setting unit 109. When the robot control system 100 simultaneously controls two or more of the robots A1, A2, B1, C1, and D1, the route planning unit 110 plans a travel route for each robot so that the robots do not collide with each other.

[0032] The operation control unit 102 generates an operation plan based on the travel routes of each robot as control information for the robots A1, A2, B1, C1, and D1. The robots that receive the operation plan from the robot control system 100 operate in accordance with the operation plan. Specific examples of operation plans include an operation plan for collecting goods at a departure point and a waypoint and transporting them to a destination, and an operation plan for delivering multiple packages at a departure point to a waypoint and a destination.

[0033] 6 is a flowchart showing the process of generating control information in the robot control system according to embodiment 3. This process is performed in step S101 shown in FIG.

[0034] When the processing of step S101 starts, first, the location setting unit 109 sets locations such as the departure point, waypoints, and destination of the robot to be controlled (step S301). Next, the route planning unit 110 plans a travel route that passes through the departure point, waypoints, and destination set by the location setting unit 109 based on the map data stored in the map data storage unit 108 (step S302). Then, the operation control unit 102 generates an operation plan based on the travel route as control information for the robot to be controlled (step S303).

[0035] 2, the operation plan is converted into a message in a format compatible with the control method of the robot to be controlled, and in step S103, the message of the operation plan is transmitted using a protocol compatible with the communication method of the robot to be controlled. This allows the robot to receive the operation plan as control information generated by the operation control unit 102.

[0036] <Fourth Embodiment> Fig. 7 is a diagram showing the configuration of a robot control system 100 according to a fourth embodiment. The configuration of the robot control system 100 in Fig. 5 is obtained by adding a transported goods management unit 111 to the configuration in Fig. 5. The other components are the same as those in Fig. 4, and therefore descriptions thereof will be omitted as appropriate.

[0037] The transported goods management unit 111 stores information such as the size, shape, weight, and type (refrigerated goods, dangerous goods, etc.) of the goods to be transported by the robots A1, A2, B1, C1, and D1.

[0038] In the fourth embodiment, the robot information stored in the robot information management unit 101 includes specification information for each of the robots A1, A2, B1, C1, and D1. The specification information is data on the specifications of the robot, such as information on the robot's performance, properties, form, shape, material, and quality. More specific specification information may include maximum operating speed, maximum payload, type of transportable item (refrigerated goods, hazardous materials, etc.), external dimensions, weight, current position estimation accuracy and calculation interval, obstacle avoidance capability, destination setting method, and the number of possible waypoints.

[0039] The map data stored in the map data storage unit 108 also includes information on passageway characteristics such as passageway width, step height, gradient, friction coefficient, speed limit, and load capacity. The passageway characteristic information may also include environmental information that changes in real time, such as traffic volume, temperature, humidity, and solar radiation. If the robot is operated in a hospital, information such as the presence or absence of passersby who require special attention, such as hospitalized patients, is also an effective passageway characteristic.

[0040] The operation of the robot control system 100 according to the fourth embodiment is basically the same as that according to the third embodiment. However, in the process of planning a travel route (step S302 in FIG. 6 ), the route planning unit 110 plans the travel route by taking into account the robot specification information stored in the robot information management unit 101. More specifically, the route planning unit 110 plans a travel route on which the robot can transport the transported object by using the robot specification information, the transported object information stored in the transported object management unit 111, and the passage characteristic information included in the map data in the map data storage unit 108 as constraints. As a result, a travel route that avoids passages that the robot cannot pass through (such as passages narrower than the size of the robot or the transported object, or passages with a load capacity lower than the weight of the robot and the transported object), or a travel route that does not transport an object that the robot cannot transport, can be planned.

[0041] According to the robot control system 100 of embodiment 4, a travel route is planned according to the capabilities of the robot, which prevents situations such as the robot being unable to pass through an aisle, causing disruption to operation, thereby improving the reliability of the system.

[0042] 8 and 9 are diagrams illustrating an example of the hardware configuration of the robot control system 100. The functions of the components of the robot control system 100 illustrated in FIG. 1 are realized, for example, by a processing circuit 50 illustrated in FIG. 8 . Specifically, the robot control system 100 includes a processing circuit 50 that stores robot information including information on the control method and communication method of each of the robots included in the plurality of robots, generates control information for controlling the operation of each of the robots, converts the control information into a message format compatible with the control method of the robot that is the target of the control information based on the robot information, transmits the control information message using a protocol compatible with the communication method of the robot that is the target of the control information based on the robot information, receives status information from each of the robots, and converts the status information message into a message format recognizable by the operation control unit based on the robot information. The processing circuit 50 may be dedicated hardware or may be configured using a processor (also referred to as a central processing unit (CPU), processing device, arithmetic unit, microprocessor, microcomputer, or DSP (digital signal processor)) that executes a program stored in memory.

[0043] When the processing circuitry 50 is dedicated hardware, the processing circuitry 50 may be, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), or a combination thereof. The functions of the components of the robot control system 100 may be realized by individual processing circuits, or these functions may be realized together by a single processing circuit.

[0044] 9 shows an example of the hardware configuration of the robot control system 100 when the processing circuit 50 is configured using a processor 51 that executes a program. In this case, the functions of the components of the robot control system 100 are realized by software, etc. (software, firmware, or a combination of software and firmware). The software, etc. is written as a program and stored in the memory 52. ​​The processor 51 realizes the function of each part by reading and executing the program stored in the memory 52. That is, the robot control system 100 includes a memory 52 for storing a program that, when executed by the processor 51, results in the following execution: storing robot information including information on the control method and communication method of each robot included in the plurality of robots; generating control information for controlling the operation of each robot; converting the control information into a message in a format compatible with the control method of the robot that is the target of the control information, based on the robot information; transmitting the control information message using a protocol compatible with the communication method of the robot that is the target of the control information, based on the robot information; receiving status information messages indicating the status of each robot from each robot; and converting the status information messages into a message in a format recognizable by the operation control unit, based on the robot information. In other words, the program causes a computer to execute the procedures and methods of operation of the components of the robot control system 100.

[0045] Here, the memory 52 may be, for example, a non-volatile or volatile semiconductor memory such as a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, an EPROM (Erasable Programmable Read Only Memory), or an EEPROM (Electrically Erasable Programmable Read Only Memory), a HDD (Hard Disk Drive), a magnetic disk, a flexible disk, an optical disk, a compact disk, a mini disk, a DVD (Digital Versatile Disc), and a drive device for such a disk, or any other storage medium that will be used in the future.

[0046] The above describes a configuration in which the functions of the components of the robot control system 100 are realized either by hardware or software, etc. However, this is not limited to this, and the robot control system 100 may be configured such that some of the components are realized by dedicated hardware and other components are realized by software, etc. For example, the functions of some of the components may be realized by the processing circuit 50 as dedicated hardware, and the functions of other components may be realized by the processing circuit 50 as the processor 51 reading and executing a program stored in the memory 52.

[0047] As described above, the robot control system 100 can realize the above-described functions by hardware, software, or a combination of these.

[0048] It is possible to freely combine the embodiments, and to modify or omit the embodiments as appropriate.

[0049] The above description is illustrative in all respects, and it is understood that countless variations not illustrated can be envisioned.

[0050] 100 Robot control system, 101 Robot information management unit, 102 Operation control unit, 103 Control information conversion unit, 104 Transmission unit, 105 Reception unit, 106 Status information conversion unit, 107 Current position acquisition unit, 108 Map data storage unit, 109 Point setting unit, 110 Route planning unit, 111 Transported item management unit, A1, A2, B1, C1, D1 Robot, 50 Processing circuit, 51 Processor, 52 Memory.

Claims

1. A robot control system for managing the operation of a plurality of robots, comprising: a robot information management unit that stores robot information including information on the control method and communication method of each of the plurality of robots; an operation control unit that generates control information for controlling the operation of each of the robots; a control information conversion unit that converts, based on the robot information, the control information into a message in a format compatible with the control method of the robot that is the subject of the control information; a transmission unit that transmits, based on the robot information, the control information message in a protocol compatible with the communication method of the robot that is the subject of the control information; a reception unit that receives, from each of the robots, a message of status information indicating the status of the robot; and a status information conversion unit that converts, based on the robot information, the status information message into a message in a format recognizable by the operation control unit.

2. The robot control system according to claim 1, wherein the status information includes information on the current position of the robot.

3. A robot control system as described in claim 1 or claim 2, further comprising a path planning unit that plans travel paths for each of the robots, and the operation control unit creates an operation plan for the robot based on the travel paths as the control information.

4. A robot control system as described in claim 3, wherein the robot information includes specification information of each of the robots, and the path planning unit plans the travel path of the robot taking into account the specification information of the robot.

5. A robot control system according to claim 4, wherein the path planning unit further takes into account information about an object to be transported by the robot when planning the travel path of the robot.

6. A robot control system according to claim 4 or claim 5, wherein the path planning unit further takes into account the characteristics of the passageway when planning the travel path of the robot.

7. A robot control method for managing the operation of a plurality of robots, wherein a robot information management unit of a robot control system stores robot information including information on the control method and communication method of each of the plurality of robots; an operation control unit of the robot control system generates control information for controlling the operation of each of the robots; a control information conversion unit of the robot control system converts, based on the robot information, the control information into a telegram in a format compatible with the control method of the robot that is the subject of the control information; a transmission unit of the robot control system transmits, based on the robot information, the control information telegram in a protocol compatible with the communication method of the robot that is the subject of the control information; a receiving unit of the robot control system receives, from each of the robots, a telegram of status information indicating the status of the robot; and a status information conversion unit of the robot control system converts, based on the robot information, the status information telegram into a telegram in a format recognizable by the operation control unit.

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