Conveyance robot, conveyance system, control method for conveyance robot, and control program

Abstract

This conveyance robot conveys an object in cooperation with a conveyance agent including a robot or an operator, and comprises an interface, and a processing circuit that is connected to the interface. The processing circuit acquires first information that affects the travel of the conveyance robot, determines second information concerning conveyance on the basis of the first information, and causes the interface to output the second information to the conveyance agent.

Description

Transfer Robot, Transfer System, Control Method of Transfer Robot, and Control Program 【0001】 The present disclosure relates to a transfer robot, a transfer system, a control method of a transfer robot, and a control program. 【0002】 Patent Document 1 discloses an autonomous mobile robot that transports a cart. 【0003】 Japanese Patent Application Laid-Open No. 2024-111399 【0004】 The autonomous mobile robot transports a cart by itself and cannot transport the cart in cooperation with other transport agents such as other autonomous mobile robots. 【0005】 One aspect of the present disclosure aims to provide a transfer robot that cooperates with a transport agent to carry an object. 【0006】 A transfer robot according to one aspect of the present disclosure is a transfer robot that cooperates with a transport agent including a robot or an operator to carry an object, and includes an interface and a processing circuit connected to the interface. The processing circuit acquires first information that affects the movement of the transfer robot, determines second information related to transfer based on the first information, and causes the interface to output the second information toward the transport agent. 【0007】 A transfer system according to one aspect of the present disclosure includes the transfer robot, a processing circuit, and a server including a communication interface connected to the transfer robot via a communication network. The processing circuit of the server receives environment information indicating the environment around the transfer robot from the transfer robot via the communication network, generates a command regarding the movement of the transfer robot based on the environment information, and transmits the generated command to the transfer robot via the communication interface. 【0008】A transport system according to another aspect of the present disclosure comprises a first transport robot, which is the transport robot, and a second transport robot that transports the object in cooperation with the first transport robot. The second transport robot includes an actuator, a second interface, and a second processing circuit that receives the second information via the second interface and controls the actuator based on the second information. 【0009】 A transport system according to yet another aspect of the present disclosure comprises a transport robot including a battery, a server including a processing circuit and a communication interface connected to the transport robot via a communication network. The processing circuit of the transport robot acquires remaining charge information indicating the remaining charge of the battery and transmits the remaining charge information to the server via the communication network. The processing circuit of the server receives the remaining charge information via the communication network, generates a command for the movement of the transport robot based on the remaining charge information, and transmits the generated command to the transport robot via the communication interface. 【0010】 A control method according to one aspect of the present disclosure is a control method for a transport robot that transports an object in cooperation with a transport agent including a robot or a worker, wherein the method acquires first information that affects the movement of the transport robot and causes the transport robot to output second information related to transport based on the first information. 【0011】 A control program according to one aspect of the present disclosure causes at least one processor to execute the control method. The program may be stored in a computer-readable, non-temporary, and tangible storage medium. 【0012】 According to one aspect of this disclosure, a transport robot can be provided that transports objects in cooperation with a transport agent. 【0013】Figure 1 is a schematic diagram of a transport system according to an embodiment in which the transport agent is a robot. Figure 2 is a block diagram of the first transport robot in Figure 1. Figure 3 is a block diagram of the second transport robot in Figure 1. Figure 4 is a block diagram of the server in Figure 1. Figure 5 is a timing chart showing an example of processing of the transport system in Figure 1. Figures 6A and 6B are plan views showing an example in which the first transport robot and the second transport robot cooperate to transport an object while turning a corner. Figure 7 is a schematic diagram of the transport system in Figure 1 in which the transport agent is a worker. Figure 8 is a block diagram of a portable terminal held by the worker in Figure 7. Figure 9 is a timing chart showing an example of processing of the transport system in Figure 7. 【0014】 Embodiments will be described below with reference to the drawings. 【0015】 Figure 1 is a schematic diagram of a transport system 1 according to an embodiment in which the transport agent is a robot. As shown in Figure 1, the transport system 1 comprises a first transport robot 11 that moves autonomously, a second transport robot 12 that moves autonomously as a transport agent, and a server 13 that can communicate with the first transport robot 11 and the second transport robot 12 via a communication network N. The first transport robot 11 and the second transport robot 12 cooperate with each other to transport an object 14. The communication network N may include, for example, the internet or an intranet. The activity area of ​​the first transport robot 11 and the second transport robot 12 is a place where the movement of the object 14 is required. This activity area may be a facility such as a hospital, airport, warehouse, factory, commercial facility, office, school, etc., and may be an indoor or outdoor facility. 【0016】 Object 14 is the object to be transported. In this embodiment, object 14 is a transport carrier 14 on which the cargo to be transported is placed. The transport carrier 14 is, for example, a cart. The transport carrier 14 comprises wheels 61 and a cargo loading section 62 supported by the wheels 61 on which the cargo is placed. The transport carrier 14 does not need to have wheels, as long as it can accommodate cargo and be transported by a transport robot. Object 14 may consist only of cargo, or it may consist of cargo placed on a trolley. 【0017】 The task assigned to the first transport robot 11 and the second transport robot 12 is to move in order to transport the transport carrier 14 to its destination. The first transport robot 11 and the second transport robot 12 move autonomously toward the destination while detecting their own position on a map. If the first transport robot 11 and the second transport robot 12 move via intermediate points before reaching the final destination, they should move toward the intermediate point closest to their current location. The first transport robot 11 and the second transport robot 12 travel on the ground, but they may also fly in the air. 【0018】 Since the first transport robot 11 and the second transport robot 12 have the same configuration, the first transport robot 11 will be described primarily. Note that the configurations of the transport robots 11 and 12 described below are merely examples and are not limited to these configurations. The first transport robot 11 includes a plurality of wheels 21, a base frame 22 supported by the wheels 21, a body 23 supported by the base frame 22, and a pressing structure 24 supported by the body 23. The first transport robot 11 can change its direction of travel by, for example, using Mecanum wheels for each wheel 21. The wheel type of the first transport robot 11 is not particularly limited, and omni wheels or general wheels may be used instead of Mecanum wheels. When general wheels are used as wheels 21, the first transport robot 11 includes a steering mechanism for steering at least one wheel 21. 【0019】 The pressing structure 24 includes a pressing member 24a that is pressed against the transport carrier 14, and an elastic structure 24b that elastically connects the pressing member 24a to the body 23. The elastic structure 24b has a spring that exerts an elastic force to press the pressing member 24a against the transport carrier 14. The body 23 is connected to the base frame 22 so as to be able to rotate around a vertical axis relative to the base frame 22. The first transport robot 11 is equipped with a replaceable battery 25. For the second transport robot 12, components common to the first transport robot 11 are given the same reference numerals and their description is omitted. 【0020】The first transport robot 11 is positioned in front of the transport carrier 14 in the transport direction, and the second transport robot 12 is positioned behind the transport carrier 14 in the transport direction. The first transport robot 11 and the second transport robot 12 hold the transport carrier 14 by sandwiching it from both the front and rear sides. Specifically, the pressing member 24a of the pressing structure 24 of the first transport robot 11 is pressed against the front of the transport carrier 14 toward the rear, and the pressing member 24a of the pressing structure 24 of the second transport robot 12 is pressed against the rear of the transport carrier 14 toward the front. In this state, the transport carrier 14 is transported in the transport direction as the first transport robot 11 and the second transport robot 12 travel in the transport direction. 【0021】 The second transport robot 12 may be positioned in front of the transport carrier 14 in the transport direction, and the first transport robot 11 may be positioned behind the transport carrier 14 in the transport direction. The first transport robot 11 and the second transport robot 12 may push the transport carrier 14 with their bodies 23. The first transport robot 11 and the second transport robot 12 may be equipped with a gripping structure for gripping the transport carrier 14 instead of the pressing structure 24. For example, the gripping structure may be an arm having an end effector capable of gripping the transport carrier 14. The first transport robot 11 and the second transport robot 12 may be equipped with a hook-like hook structure for hooking onto and pulling the transport carrier 14 instead of the pressing structure 24. 【0022】Figure 2 is a block diagram of the first transport robot 11 shown in Figure 1. As shown in Figure 2, the first transport robot 11 includes a controller 30. The controller 30 includes a processor 31, system memory 32, and storage memory 33. The processor 31 may include a CPU (Central Processing Unit). The system memory 32 may include volatile memory. The storage memory 33 may include non-volatile memory. The storage memory 33 includes a hard disk, flash memory, or a combination thereof. The storage memory 33 downloads map data of the activity area of ​​the first transport robot 11 from the server 13 and stores the map data. The storage memory 33 stores program P1. An example of a processing circuit 34 is a configuration in which the processor 31 executes program P1 read from the storage memory 33 to the system memory 32. 【0023】 The first transport robot 11 includes a first actuator 35, a second actuator 36, a distance measuring sensor 37, a camera 38, a load sensor 39, an IMU 40, a microphone 41, a touch panel display 42, a speaker 43, a light source device 44, a battery connection unit 45, a first wireless communication device 46, and a second wireless communication device 47. 【0024】 The first actuator 35 drives the wheels 21. The first actuator 35 includes, for example, a plurality of electric motors coupled to each wheel 21. For example, the wheels 21 are Mecanum wheels, and the electric motors drive the corresponding wheels 21, thereby changing the direction of travel of the first transport robot 11. The second actuator 36 drives the body 23 so that it rotates around a vertical axis relative to the base frame 22. The second actuator 36 is, for example, an electric motor that rotationally drives the shaft that rotatably connects the body 23 to the base frame 22. When the second actuator 36 is driven, the horizontal orientation of the pressing structure 24 can be changed even when the first transport robot 11 is traveling in a straight line. 【0025】The distance measuring sensor 37 detects the shape of objects around the first transport robot 11 as environmental information by measuring the distance of objects around the first transport robot 11 in three dimensions. The distance measuring sensor 37 detects the position data of the outer surface of objects within the activity area by receiving reflected waves from objects such as walls around the first transport robot 11. The distance measuring sensor 37 may, for example, detect the distance to obstacles such as walls by measuring the time from when a laser beam is irradiated until the reflected wave is received. The distance measuring sensor 37 may be a LiDAR (Light Detection and Ranging) sensor. The distance measuring sensor 37 may be an infrared distance measuring sensor, a millimeter-wave radar, or a depth sensing camera. 【0026】 The processor 31 determines the position of the first transport robot 11 on the map data by matching the surrounding shape detected by the distance measuring sensor 37 with the shape of the map data stored in the storage memory 33. In other words, a positioning sensor is realized by combining the distance measuring sensor 37 with software that matches the shape detected by the distance measuring sensor 37 with the map data. Note that other means may be used as the positioning sensor for the first transport robot 11, for example, Wi-Fi® positioning, beacon (BLE) positioning, RFID positioning, or sensors for satellite positioning may be used. 【0027】 Camera 38 is a digital camera that captures the environment surrounding the first transport robot 11 and outputs image data showing the environment as environmental information. The shooting range of camera 38 includes the area in front of the first transport robot 11 in the direction of travel. Since the first transport robot 11 can move both forward and backward, camera 38 may be mounted so that its orientation can be changed by an actuator. Camera 38 may also be a 360-degree camera. 【0028】The load sensor 39 detects the reaction force that the pressing member 24a of the pressing structure 24 receives from the transport carrier 14 when the pressing member 24a presses against the transport carrier 14. The load sensor 39 may be attached to the pressing member 24a or placed on the path through which the load is transmitted from the pressing member 24a to the body 23. The load sensor 39 may be implemented by a combination of a sensor that detects a length correlated with the length of the elastic structure 24b in the expansion and contraction direction, and software that converts the detected length into a load applied to the pressing member 24a. 【0029】 The IMU 40 is an inertial measurement device that includes a three-axis gyro sensor and three-directional accelerometers. The IMU 40 can function as a sensor to detect the attitude of the first transport robot 11 with respect to gravity. The IMU 40 can function as a sensor to detect the acceleration generated when an external force is applied to the first transport robot 11. Instead of the IMU 40, a simple accelerometer may be used, or a tilt sensor that detects the inclination of the first transport robot 11 with respect to gravity may be used. 【0030】 The microphone 41 collects sounds from the surroundings of the first transport robot 11 and outputs sound data indicating the collected sounds. In other words, the microphone 41 can also be described as a sensor that detects sound data indicating the sounds of the environment surrounding the first transport robot 11 as environmental information. The microphone 41 functions as an interface into which sound is input from outside the first transport robot 11. 【0031】 The touch panel display 42 is an example of a user interface. The touch panel display 42 functions as both a user input interface and a user output interface. The touch panel display 42 can also function as an interface that outputs the display as notification information to the outside of the first transport robot 11. The user input interface may be a keyboard or mouse, or a smartphone or tablet terminal that can communicate with the controller 30. The user output interface may be a non-touch panel display. 【0032】The speaker 43 outputs sound. The speaker 43 also functions as an interface to output sound as notification information to the outside of the first transport robot 11. 【0033】 The light source device 44 includes a warning lamp, an LED, or a projection mapping device. The warning lamp and LED output notification information by lighting up or flashing. The projection mapping device outputs light that projects notification information, including shapes or pictograms, onto the ground. The light source device 44 functions as an interface that outputs light as notification information to the outside of the first transport robot 11. 【0034】 The battery connection section 45 has terminals to which the terminals of the battery 25 are connected. The battery connection section 45 supplies power from the battery 25 to various electrical components of the first transport robot 11 and also charges the battery 25 with power from the charger. 【0035】 The first wireless communication device 46 wirelessly connects to the communication network N to which the server 13 is connected using wireless communication according to the first wireless communication standard. For example, the first wireless communication standard includes mobile communication or Wi-Fi® communication standards. Mobile communication includes, for example, LTE communication or local 5G communication. 【0036】 The second wireless communication device 47 communicates with the second transport robot 12 using local wireless communication based on a second wireless communication standard different from the first wireless communication standard. The second wireless communication standard includes a standard for direct wireless communication. In direct wireless communication, transport robots communicate directly with each other without going through a relay base station. For example, direct wireless communication includes low-power wireless communication (920MHz band wireless communication), Bluetooth® communication, or infrared communication. If the first wireless communication standard is a mobile communication standard, the second wireless communication standard may be a Wi-Fi® communication standard. 【0037】Figure 3 is a block diagram of the second transport robot 12 shown in Figure 1. As shown in Figure 3, the second transport robot 12 has the same configuration as the first transport robot 11, so the same reference numerals are used for components common to both the first transport robot 11 and detailed explanations are omitted. From the perspective of the first transport robot 11, the second transport robot 12 is a transport agent that transports the transport carrier 14 in cooperation with the first transport robot 11. Conversely, from the perspective of the second transport robot 12, the first transport robot 11 is a transport agent that transports the transport carrier 14 in cooperation with the second transport robot 12. When the processing circuit 34 of the first transport robot 11 is referred to as the first processing circuit, the processing circuit 34 of the second transport robot 12 may be referred to as the second processing circuit. When each interface of the first transport robot 11 is referred to as the first interface, each interface of the second transport robot 12 may be referred to as the second interface. 【0038】 Figure 4 is a block diagram of the server 13 in Figure 1. As shown in Figure 4, the server 13 includes a processor 51, system memory 52, storage memory 53, and a communication interface 55. The communication interface 55 includes a communication device that connects to the communication network N by wire or wireless. The processor 51 may include a CPU (Central Processing Unit). The system memory 52 may include volatile memory. The storage memory 53 may include non-volatile memory. The storage memory 53 may include a hard disk, flash memory, or a combination thereof. The storage memory 53 stores program P2. An example of a processing circuit 54 is a configuration in which the processor 51 executes program P2 read from the storage memory 53 to the system memory 52. 【0039】 The storage memory 53 stores map information showing the activity areas of the first transport robot 11 and the second transport robot 12. The map information identifies the shape of the area in the activity area where the first transport robot 11 and the second transport robot 12 can travel. For example, the map information identifies the outline of the travelable area by identifying the outlines of obstacles such as walls on the floor of the facility. 【0040】Figure 5 is a timing chart showing an example of the processing of the transport system 1 in Figure 1. Figures 6A and 6B are plan views showing an example in which the first transport robot 11 and the second transport robot 12 work together to carry the transport carrier 14 while turning corner C. The processing of the transport system 1 will be explained below following the flow shown in Figure 5, with reference to Figures 1 to 4, Figures 6A and 6B as appropriate. The processing of the first transport robot 11 is performed by the processing circuit 34 of the first transport robot 11, the processing of the second transport robot 12 is performed by the processing circuit 34 of the second transport robot 12, and the processing of the server 13 is performed by the processing circuit 54. In the following explanation, acquiring data or information may mean receiving data or information, or it may mean calculating data or information. 【0041】 When a task to transport the transport carrier 14 arises, the server 13 selects a first transport robot 11 and a second transport robot 12 from among multiple transport robots to perform the task. The server 13 generates a movement plan for the first transport robot 11 and the second transport robot 12 and transmits the movement plan to the first transport robot 11 and the second transport robot 12. The movement plan includes information indicating the destination on map data. The movement plan may also include a planned movement route from the current location to the destination. The planned movement route may be calculated, for example, according to Dijkstra's algorithm. The planned movement route from the current location to the destination may be calculated by the first transport robot 11 or the second transport robot 12 upon receiving the destination. 【0042】 The first transport robot 11 and the second transport robot 12 transmit remaining battery charge information to the server 13. Based on the received remaining battery charge information, the server 13 generates a movement plan for the first transport robot 11 and the second transport robot 12, and transmits the generated movement plan to the first transport robot 11 and the second transport robot 12. For example, the server 13 predicts the power consumption required for each transport robot 11 and 12 to move from their current location to their starting point and from their starting point to their destination, and creates a movement plan such that the predicted power consumption does not exceed the remaining battery charge of the 25. 【0043】Server 13 commands the first transfer robot 11 and the second transfer robot 12 to move to the departure point where the transfer carrier 14 is placed and sandwich the transfer carrier 14 from the front and rear directions. In accordance with this command, the first transfer robot 11 and the second transfer robot 12 move toward the departure point. The first transfer robot 11 and the second transfer robot 12 that have approached the departure point recognize the transfer carrier 14 based on the detection signal of at least one of the distance measuring sensor 37 and the camera 38, and sandwich the transfer carrier 14 in the front and rear directions using the pressing structure 24. 【0044】 As shown in FIGS. 5 and 6A, while maintaining the state in which the first transfer robot 11 and the second transfer robot 12 sandwich the transfer carrier 14 so that the load detected by the load sensor 39 is within a predetermined range, they autonomously travel toward the destination to transfer the transfer carrier 14. 【0045】 During the execution of the task, the first transfer robot 11 transmits the environmental information acquired by at least one of the distance measuring sensor 37 and the camera 38 from the first wireless communication device 46 to the server 13. Based on the received environmental information, the server 13 generates a command regarding the movement of the first transfer robot 11 and transmits the command to the first transfer robot 11 via the communication network N. For example, when the server 13 determines based on the data from the distance measuring sensor 37 or the camera 38 that there is an object blocking the path in front of the first transfer robot 11, it calculates a planned modified movement path to reach the destination by bypassing the blocked area, and transmits a modified movement plan including the planned modified movement path to the first transfer robot 11. 【0046】When the position of the first transport robot 11 on the map data detected by the distance measuring sensor 37 approaches corner C, the first transport robot 11 generates a steering command to turn corner C. The steering command is an example of first information that affects the movement of the first transport robot 11. In response to the steering command, the first transport robot 11 transmits an instruction to the second transport robot 12 to follow the steering of the first transport robot 11 using local wireless communication via the second wireless communication device 47. The steering follow instruction that the second transport robot 12 receives from the first transport robot 11 is an example of second information related to transport, and in particular corresponds to an instruction on the role during cornering. That is, when the transport carrier 14 is cornered, the role of the first transport robot 11, which is in front of the transport carrier 14, and the role of the second transport robot 12, which is behind the transport carrier 14, are different from each other. 【0047】 As shown in Figure 6B, the first transport robot 11 steers and moves along corner C in response to a steering command, referring to its position on the map data detected by the distance sensor 37. The first transport robot 11 focuses on steering. The second transport robot 12, having received a steering follow command, moves in accordance with the steering of the first transport robot 11 and the transport carrier 14, referring to its position on the map data detected by the distance sensor 37. For example, the second transport robot 12 pushes the transport carrier 14 toward the first transport robot 11 while moving laterally outward in the turning radius direction so that the transport carrier 14 does not hit corner C. The second transport robot 12 focuses on following the steering of the first transport robot 11. 【0048】When the first transfer robot 11 is arranged in front of the transfer carrier 14 in the transfer direction, the first transfer robot 11 steers for changing the moving direction of the transfer carrier 14, and the second transfer robot 12 arranged behind the transfer carrier 14 in the transfer direction propels the transfer carrier 14. When the second transfer robot 12 is arranged in front of the transfer carrier 14 in the transfer direction, the second transfer robot 12 steers for changing the moving direction of the transfer carrier 14, and the first transfer robot 11 arranged behind the transfer carrier 14 in the transfer direction propels the transfer carrier 14. 【0049】 When the transfer carrier 14 turns at the corner C, the rear surface of the transfer carrier 14 inclines with respect to the traveling direction in plan view. Therefore, the second transfer robot 12 drives the second actuator 36 to rotate the body 23 around the vertical axis, and changes the orientation of the pressing structure 24 so that the front surface of the pressing structure 24 matches the rear surface of the transfer carrier 14. The second transfer robot 12 may calculate the orientation of the transfer carrier 14 by analyzing an image photographed by the camera 38. When the load detected by the load sensor 39 exceeds the upper limit of the predetermined range, the second transfer robot 12 decreases the traveling speed, and when the load detected by the load sensor 39 is below the lower limit of the predetermined range, the second transfer robot 12 increases the traveling speed. Thereby, the state in which the transfer carrier 14 is sandwiched between the first transfer robot 11 and the second transfer robot 12 is appropriately maintained. 【0050】Furthermore, upon receiving instructions to follow the steering, the second transport robot 12 outputs notification information by sound, display, or light. For example, the second transport robot 12 may output the voice message "Turning right" to the speaker 43 as notification information. The second transport robot 12 may also output the message "Turning right" to the touch panel display 42 as notification information. The second transport robot 12 may output light from the light source device 44 to indicate that it is turning right, similar to a car's turn signal, or it may output light from the light source device 44 to project a figure or pictogram indicating that it is turning right onto the ground as notification information. Such notifications can inform a person who is closer to the second transport robot 12 than to the first transport robot 11 that the second transport robot 12 is turning along corner C. 【0051】 Next, when the distance sensor 37 or camera 38 of the first transport robot 11 detects an obstacle 15 in the direction of travel, the first transport robot 11 generates a command to stop moving. The stop command is an example of first information that affects the movement of the first transport robot 11. In response to the stop command, the first transport robot 11 also transmits a stop instruction to the second transport robot 12 using local wireless communication via the second wireless communication device 47. The stop instruction that the second transport robot 12 receives from the first transport robot 11 is an example of second information related to transport. 【0052】 The first transport robot 11 stops moving in response to a stop command. The second transport robot 12, having received a stop command from the first transport robot 11, also stops moving in the same manner. In this case, the second transport robot 12 does not stop in response to the increase in load detected by the load sensor 39 due to the actual stopping action of the first transport robot 11, but rather grasps the stop command from the first transport robot 11 before the first transport robot 11 has completed stopping and stops quickly, thereby reducing the delay between the stopping action of the first transport robot 11 and the stopping action of the second transport robot 12. 【0053】Furthermore, upon receiving a stop command, the second transport robot 12 outputs notification information by sound, display, or light. For example, the second transport robot 12 may output the voice message "Stopping" to the speaker 43 as notification information. The second transport robot 12 may also output the message "Stopping" to the touch panel display 42 as notification information. The second transport robot 12 may also output light indicating a stop to the light source device 44 as notification information. Such notifications can inform people who are closer to the second transport robot 12 than to the first transport robot 11 that the second transport robot 12 will suddenly stop. 【0054】 Next, when the distance sensor 37 or camera 38 of the first transport robot 11 no longer detects an obstacle 15 in the direction of travel, the first transport robot 11 generates a command to resume travel. The resume command is an example of first information that affects the movement of the first transport robot 11. In response to the resume command, the first transport robot 11 transmits a resume instruction to the second transport robot 12, which also resumes travel, using local wireless communication via the second wireless communication device 47. The resume instruction that the second transport robot 12 receives from the first transport robot 11 is an example of second information related to transport. 【0055】 The first transport robot 11 resumes moving in response to a restart command. The second transport robot 12, having received the restart command, also resumes moving in the same manner. The second transport robot 12, having received the restart command, also outputs notification information by sound, display, or light. For example, the second transport robot 12 may output the voice message "I'm moving" to the speaker 43 as notification information. The second transport robot 12 may also output the message "I'm moving" to the touch panel display 42 as notification information. The second transport robot 12 may also output light from the light source device 44 as notification information indicating that it has resumed moving. Through such notifications, a person who is closer to the second transport robot 12 than to the first transport robot 11 can be notified that the second transport robot 12 has started moving. 【0056】The first transport robot 11 acquires battery information indicating the status of the battery 25 connected to the battery connection section 45 of the first transport robot 11. The status of the battery 25 includes the remaining charge of the battery 25 or a failure of the battery 25. The remaining charge of the battery 25 is estimated from the voltage of the battery 25. Information indicating a failure of the battery 25 is acquired from the BMS (Battery Management System) installed in the battery 25. 【0057】 For example, when the first transport robot 11 determines that the remaining charge of its battery 25 has fallen below a threshold, it generates a weak torque command that corrects the torque of the first actuator 35 for travel to a value lower than a predetermined normal value. The weak torque command is an example of first information that affects the movement of the first transport robot 11. In response to the weak torque command, the first transport robot 11 transmits a strong torque instruction to the second transport robot 12 using local wireless communication via the second wireless communication device 47. The strong torque instruction that the second transport robot 12 receives from the first transport robot 11 is an example of second information related to transport, and in particular corresponds to an instruction on the role according to the battery state. That is, when the remaining charge of either the first transport robot 11 or the second transport robot 12b decreases, the power consumption of the transport robot with the lower battery level is reduced, and to compensate for this, the power consumption of the transport robot with the higher battery level is increased. 【0058】 The first transport robot 11 reduces the current supplied to its first actuator 35 in response to a weak torque command. The second transport robot 12, upon receiving a strong torque command, increases the current supplied to its first actuator 35 so as to push the first transport robot 11 forward in the direction of travel via the transport carrier 14. 【0059】If the first transport robot 11 determines that its battery 25 has failed, it may generate a zero-torque command to stop supplying power to the first actuator 35 for travel. The zero-torque command is an example of first information that affects the movement of the first transport robot 11. In response to the zero-torque command, the first transport robot 11 may transmit a high-torque instruction to the second transport robot 12 using local wireless communication via the second wireless communication device 47. The high-torque instruction received by the second transport robot 12 from the first transport robot 11 is an example of second information related to transport, and in particular corresponds to an instruction for a role according to the battery status. 【0060】 When the first transport robot 11 determines, based on the detection signal from the IMU 40, that the ground is uphill, it may generate a weak torque command as first information to correct the torque of the first actuator 35 for travel to a value lower than a predetermined normal value. In response to the weak torque command, the first transport robot 11 may transmit a strong torque instruction to the second transport robot 12 as second information via the second wireless communication device 47. That is, when climbing a slope, the first transport robot 11 may instruct the second transport robot 12 to increase the force with which the second transport robot 12 pushes the transport carrier 14 from behind to move forward. This instruction corresponds to an instruction on the role when climbing a slope. 【0061】 According to the configuration described above, the first transport robot 11 determines second information related to transport based on first information that affects the movement of the first transport robot 11, and transmits this second information to the second transport robot 12. The second transport robot 12 can then perform transport operations by referring to the received second information. The second information transmitted from the first transport robot 11 to the second transport robot 12 may be the same as the first information acquired by the first transport robot 11. The second information may include environmental information detected by the sensors 37 and 38 of the first transport robot 11, or command information for the first transport robot 11 generated by the processing circuit 34 of the first transport robot 11. 【0062】Figure 7 is a schematic diagram of the transport system 1 of Figure 1, where the transport agent is a worker 16. As shown in Figure 7, the worker 16 is carrying a mobile terminal 17 such as a smartphone or tablet. When a task to transport the transport carrier 14 arises, the server 13 may select a transport robot 11 and worker 16 from among multiple transport robots and workers to perform the task. The server 13 sends commands to the transport robot 11 and the mobile terminal 17 held by the worker 16 to move toward the departure point of the transport carrier 14 and to sandwich the transport carrier 14 from the front and rear directions. The server 13 generates a movement plan for the transport robot 11 and the worker 16 and transmits the movement plan to the transport robot 11 and the mobile terminal 17. 【0063】 The transport robot 11 and the worker 16 move to the starting point according to commands from the server 13 and sandwich the transport carrier 14 from the front and rear. The transport robot 11 is positioned in front of the transport carrier 14 in the transport direction, and the worker 16 is positioned behind the transport carrier 14 in the transport direction. In this state, the transport robot 11 and the worker 16 cooperate with each other to transport the transport carrier 14. 【0064】 Figure 8 is a block diagram of the portable terminal 17 held by worker 16 in Figure 7. As shown in Figure 8, the portable terminal 17 includes a processor 71, system memory 72, storage memory 73, touch panel display 75, speaker 76, microphone 77, first wireless communication device 78, and second wireless communication device 79. The processor 71 may include a CPU (Central Processing Unit). The system memory 72 may include volatile memory. The storage memory 73 may include non-volatile memory. The storage memory 73 includes a hard disk, flash memory, or a combination thereof. The storage memory 73 stores program P3. An example of a processing circuit 74 is a configuration in which the processor 71 executes program P3 read from the storage memory 73 into the system memory 72. 【0065】The touch panel display 75 is an example of a user interface. The touch panel display 75 functions as both a user input interface and a user output interface. The user input interface may be buttons or a keyboard, and the user output interface may be a non-touch panel display. 【0066】 The speaker 76 outputs sound. The microphone 77 collects sound to be input to the mobile terminal 17. The first wireless communication device 78 wirelessly connects to the communication network N to which the server 13 is connected using wireless communication according to the first wireless communication standard described above. The second wireless communication device 79 communicates with the transport robot 11 using local wireless communication according to the second wireless communication standard described above. 【0067】 When the mobile terminal 17 receives a task command from the server 13, it outputs a notification sound to the speaker 76 and displays a message on the touch panel display 75 prompting the worker 16 to head to the starting point where the transport carrier 14 is located. The mobile terminal 17 also displays the destination indicated by the travel plan received from the server 13 on the touch panel display 75. 【0068】 Figure 9 is a timing chart showing an example of the processing of the transport system 1 in Figure 7. The processing of the transport system 1 will be explained below following the flow shown in Figure 9, with reference to Figures 1 to 4 and Figure 7 as appropriate. Note that the processing of the transport robot 11 is performed by the processing circuit 34. 【0069】 The transport robot 11 and the worker 16 move toward the destination while maintaining a position where they are gripping the transport carrier 14 in the front-to-back direction, thereby transporting the transport carrier 14. Even if the worker 16 does not remember the planned movement route, they can move appropriately by following the transport robot 11 while watching it. When the transport robot 11 approaches a corner C, it generates a steering command. In response to this steering command, the transport robot 11 outputs an audio message from the speaker 43 to the worker 16 indicating that it will steer. This audio message is an example of second information related to transport, and could be an audio message indicating, for example, "Turn right." 【0070】Upon hearing this suggestion, worker 16 pushes the transport carrier 14 in accordance with the steering of the transport robot 11. For example, worker 16 pushes the transport carrier 14 toward the transport robot 11 while moving laterally outward in the turning radius direction so that the transport carrier 14 does not hit corner C. In other words, worker 16 performs a follow-up motion in accordance with the steering of the transport robot 11. The voice output from the transport robot 11 toward worker 16 may be an instruction such as, "We are going to the right, so push." 【0071】 Next, when the transport robot 11 detects an obstacle 15 using its distance sensor 37 or camera 38, the transport robot 11 generates a command to stop moving as first information. The transport robot 11 stops moving in response to the stop command. In response to the stop command, the transport robot 11 outputs a voice message from its speaker 43 to the worker 16 as second information, indicating that the worker 16 should also stop. The worker 16, having received the stop command, also stops moving. 【0072】 Furthermore, if the transport robot 11 does not stop immediately because the distance from the transport robot 11 to the obstacle 15 is not short, the transport robot 11 may output a voice message to the speaker 43 indicating "There is a person ahead" or "There is an obstacle ahead." This allows the worker 16 to understand the situation in the area hidden by the transport carrier 14 and the transport robot 11 through the sensor information of the transport robot 11, even if it is difficult to grasp the situation in that hidden area, and the worker 16 can use the hints from the transport robot 11 to guide their future movements. 【0073】 Next, when the distance sensor 37 or camera 38 of the transport robot 11 no longer detects the obstacle 15, the transport robot 11 generates a command to resume movement as first information. In response to the resume command, the transport robot 11 outputs an audio message to the speaker 43 as second information, instructing the worker 16 to resume movement. The transport robot 11 resumes movement in response to the resume command. The worker 16, having heard the audio message from the transport robot 11 instructing them to resume movement, also resumes movement. 【0074】Next, the transport robot 11 acquires battery information indicating the status of the battery 25 connected to the battery connection section 45. For example, if the transport robot 11 determines that the remaining charge of the battery 25 has fallen below a threshold, it generates a weak torque command as first information, which corrects the torque of the first actuator 35 for driving to a value lower than the normal value. In response to the weak torque command, the transport robot 11 outputs an audio message to the speaker 43 as second information, indicating an instruction for the worker 16 to increase the force with which they push the transport carrier 14. In addition, the transport robot 11 may also instruct the worker 16 to increase the force with which they push the transport carrier 14 forward, for example, if the ground is uphill. 【0075】 The operator 16 may give voice instructions to the transport robot 11. The transport robot 11's program P1 has a function to control the first actuator 35 or the second actuator 36 according to the voice instructions. Program P1 includes a trained model that takes instruction information indicating a textualized instruction as input and outputs control information indicating the control of the transport robot 11 corresponding to that instruction information. When voice instructions from the operator 16 are input to the transport robot 11's microphone 41, the transport robot 11 converts the input voice into text using known voice recognition technology. The textualized instructions are input to the aforementioned trained model, and the first actuator 35 or the second actuator 36 is controlled according to the control command output by the model. 【0076】 For example, when worker 16 inputs a voice command such as "stop" into the microphone 41 of the transport robot 11, the trained model outputs a control command indicating stop, and the transport robot 11 stops the first actuator 35 and the second actuator 36. Because worker 16 can give voice commands to the transport robot 11, worker 16 can smoothly perform transport operations in cooperation with the transport robot 11. 【0077】According to the configuration described above, the transport robot determines second information related to transport based on first information that affects the movement of the transport robot, and outputs this second information to the transport agent, so that the transport agent can perform transport operations by referring to the second information. The second information output by voice from the transport robot 11 to the worker 16 may be the same as the first information acquired by the transport robot 11. The second information may include environmental information detected by the sensors 37 and 38 of the transport robot 11, or command information for the transport robot 11 generated by the processing circuit 34 of the transport robot 11. 【0078】 As described above, the embodiments have been explained as examples of the technology disclosed in this application. However, the technology in this disclosure is not limited to the embodiments described above and can be applied to embodiments that have been modified, replaced, added, or omitted as appropriate. Furthermore, it is possible to combine the components described in the embodiments to create new embodiments. For example, some components or methods in one embodiment may be applied to other embodiments, and some components in an embodiment can be separated from other components in that embodiment and extracted as appropriate. In addition, the components described in the attached drawings and detailed description include not only components that are essential for solving the problem, but also components that are not essential for solving the problem, in order to illustrate the technology. 【0079】The functions of the elements disclosed herein can be performed using circuits or processing circuits, including general-purpose processors, dedicated processors, integrated circuits, ASICs (Application Specific Integrated Circuits), FPGAs (Field Programmable Gate Arrays), conventional circuits, and / or combinations thereof, configured or programmed to perform the disclosed functions. A processor is considered a processing circuit or circuit because it includes transistors and other circuits. In this disclosure, a circuit, unit, or means is hardware that performs the enumerated functions, or hardware programmed to perform the enumerated functions. The hardware may be hardware disclosed herein, or other known hardware that is programmed or configured to perform the enumerated functions. If the hardware is a processor, which is considered a type of circuit, then the circuit, means, or unit is a combination of hardware and software, and the software is used to configure the hardware and / or the processor. 【0080】 [Embodiment] The embodiments described above are specific examples of the following embodiments. 【0081】 (Aspect 1) A transport robot that transports an object in cooperation with a transport agent including a robot or a worker, comprising: an interface and a processing circuit connected to the interface, wherein the processing circuit acquires first information that affects the movement of the transport robot, determines second information relating to transport based on the first information, and outputs the second information to the transport agent via the interface. 【0082】 According to Embodiment 1, the transport robot determines second information related to transport based on first information that affects the movement of the transport robot, and outputs the second information to the transport agent, so that the transport agent can perform transport operations by referring to the second information. 【0083】(Aspect 2) The transport robot according to aspect 1, wherein the second information includes instructions to the transport agent or suggestions to the transport agent. 【0084】 According to embodiment 2, the transport agent can predict the movement of the transport robot and move accordingly. 【0085】 (Aspect 3) The transport robot according to aspect 2, wherein the instructions include instructions for roles according to the situation. 【0086】 According to embodiment 3, the transport agent can recognize the role required by the transport robot according to the situation and smoothly transport objects through an appropriate division of roles with the transport robot. 【0087】 (Aspect 4) A transport robot according to any one of aspects 1 to 3, further comprising a battery connection section to which a battery is connected, wherein the first information includes battery information representing the state of the battery via the battery connection section. 【0088】 According to embodiment 4, the second information output to the transport agent is determined based on the battery information of the transport robot, so that the transport agent can perform actions according to the battery status. 【0089】 (Aspect 5) A transport robot according to any one of aspects 1 to 4, further comprising a sensor, wherein the first information includes environmental information indicating the environment around the transport robot, and the environmental information is obtained from the sensor. 【0090】 According to Embodiment 5, even if it is difficult for the transport agent to grasp the situation of a place hidden by an object and a transport robot, the transport agent can grasp the situation of that hidden place using the transport robot's sensor information and use it to guide the transport agent's future movements. 【0091】 (Aspect 6) The transport robot according to any one of aspects 1 to 5, wherein the first information includes command information indicating a command relating to the movement of the transport robot. 【0092】According to embodiment 6, the transport agent can grasp the commands before the position and speed of the transport robot actually change, thus reducing the delay in the transport agent's movement relative to the movement of the transport robot. 【0093】 (Aspect 7) The transport robot according to any one of aspects 1 to 6, wherein the interface includes a speaker, a display, or a light source device. 【0094】 According to embodiment 7, when the transport agent is a human worker, the worker can perform transport by referring to second information from the transport robot. Furthermore, even when the transport agent is a robot, people around the object and the transport robot can grasp the second information from the transport robot, reducing the possibility that such people may be confused by the unexpected movements of the object and the transport robot. 【0095】 (Aspect 8) The transport robot according to any one of aspects 1 to 7, wherein the interface includes a microphone, the processing circuit receives voice instructions from the transport agent via the microphone, and generates commands for the movement of the transport robot based on the voice instructions. 【0096】 According to embodiment 8, a transport agent that transports an object in cooperation with a transport robot can give voice instructions to the transport robot, thereby enabling smooth transport operations in cooperation with the transport robot. 【0097】 (Aspect 9) A transport system comprising: the transport robot described in Aspect 5; a server including a processing circuit and a communication interface connected to the transport robot via a communication network, wherein the processing circuit of the server receives the environmental information from the transport robot via the communication network, generates a command for the movement of the transport robot based on the environmental information, and transmits the generated command to the transport robot via the communication interface. 【0098】According to embodiment 9, in calculations performed on the server related to the movement of the transport robot, environmental information detected by the transport robot's sensors is referenced, so the server can generate commands that take into account detailed information about the site. 【0099】 (Aspect 10) A transport system comprising: a first transport robot which is the transport robot described in any of aspects 1 to 8; and a second transport robot which transports the object in cooperation with the first transport robot, wherein the second transport robot includes an actuator; a second interface; and a second processing circuit which receives the second information via the second interface and controls the actuator based on the second information. 【0100】 According to embodiment 10, the second transport robot can perform transport operations by referring to the second information from the first transport robot. 【0101】 (Aspect 11) The transport system according to aspect 10, wherein the object is placed between the first transport robot and the second transport robot, and when the first transport robot is positioned in front in the transport direction, the first transport robot steers to change the direction of movement of the object and the second transport robot propels the object, and when the second transport robot is positioned in front in the transport direction, the second transport robot steers to change the direction of movement of the object and the first transport robot propels the object. 【0102】 According to embodiment 11, the roles of the first transport robot and the second transport robot can be suitably divided in order to smoothly transport the object. 【0103】 (Aspect 12) The transport system according to aspect 10 or 11, wherein the second interface includes a speaker, a display, or a light source device, and the second processing circuit causes the second interface to output notification information based on the second information. 【0104】According to embodiment 12, the second transport robot outputs notification information via sound, display, or light to a person who is closer to the second transport robot than to the first transport robot, based on information that affects the movement of the first transport robot. Therefore, even if the person is far away from the first transport robot, they can easily grasp information that affects the movement of the first transport robot. 【0105】 (Aspect 13) A transport robot according to any one of aspects 1 to 8, comprising: a transport robot including a battery; a server including a processing circuit and a communication interface connected to the transport robot via a communication network, wherein the processing circuit of the transport robot acquires remaining charge information indicating the remaining charge of the battery, transmits the remaining charge information to the server via the communication network, the processing circuit of the server receives the remaining charge information via the communication network, generates a command for the movement of the transport robot based on the remaining charge information, and transmits the generated command to the transport robot via the communication interface. 【0106】 According to embodiment 13, in the calculations performed on the server related to the movement of the transport robot, the remaining battery level of the transport robot is referenced, so that the server can generate commands for the movement of the transport robot while preventing the transport robot from running out of battery. 【0107】 (Aspect 14) A control method for a transport robot that transports an object in cooperation with a transport agent including a robot or a worker, comprising: acquiring first information that affects the movement of the transport robot; and causing the transport robot to output second information related to transport to the transport agent based on the first information. 【0108】 According to embodiment 14, the transport robot outputs second information related to transport based on first information that affects the movement of the transport robot, so the transport agent can perform transport operations by referring to the second information. 【0109】(Aspect 15) A control program that causes at least one processor to execute the control method. 【0110】 1 Transport System 11 First Transport Robot 12 Second Transport Robot, Transport Agent 13 Server 14 Transport Carrier, Object 16 Worker, Transport Agent 25 Battery 31 Processor 34 Processing Circuit 35 First Actuator 37 Distance Sensor 38 Camera, Sensor 41 Microphone, Interface 42 Touch Panel Display, Interface 43 Speaker, Interface 44 Light Source Device, Interface 45 Battery Connection Unit 47 Second Wireless Communication Device, Interface 54 Processing Circuit 55 Communication Interface P1 Program

Claims

1. A transport robot that transports an object in cooperation with a transport agent including a robot or worker, comprising: an interface; and a processing circuit connected to the interface, wherein the processing circuit acquires first information that affects the movement of the transport robot, determines second information related to transport based on the first information, and outputs the second information to the transport agent via the interface.

2. The transport robot according to claim 1, wherein the second information includes instructions to the transport agent or suggestions to the transport agent.

3. The transport robot according to claim 2, wherein the instructions include instructions for roles according to the situation.

4. The transport robot according to claim 1, further comprising a battery connection section to which a battery is connected, wherein the first information includes battery information representing the state of the battery via the battery connection section.

5. The transport robot according to claim 1, further comprising a sensor, wherein the first information includes environmental information indicating the environment around the transport robot, and the environmental information is obtained from the sensor.

6. The transport robot according to claim 1, wherein the first information includes command information indicating a command relating to the movement of the transport robot.

7. The transport robot according to claim 1, wherein the interface includes a speaker, a display, or a light source device.

8. The transport robot according to claim 1, wherein the interface includes a microphone, and the processing circuit receives voice instructions from the transport agent via the microphone and generates commands for the movement of the transport robot based on the voice instructions.

9. A transport system comprising: the transport robot according to claim 5; a server including a processing circuit and a communication interface connected to the transport robot via a communication network, wherein the processing circuit of the server receives the environmental information from the transport robot via the communication network, generates a command for the movement of the transport robot based on the environmental information, and transmits the generated command to the transport robot via the communication interface.

10. A transport system comprising: a first transport robot which is the transport robot described in claim 1; and a second transport robot which transports the object in cooperation with the first transport robot, wherein the second transport robot includes: an actuator; a second interface; and a second processing circuit which receives the second information via the second interface and controls the actuator based on the second information.

11. The transport system according to claim 10, wherein the object is placed between the first transport robot and the second transport robot, and when the first transport robot is positioned in front in the transport direction, the first transport robot steers to change the direction of movement of the object and the second transport robot propels the object, and when the second transport robot is positioned in front in the transport direction, the second transport robot steers to change the direction of movement of the object and the first transport robot propels the object.

12. The transport system according to claim 10, wherein the second interface includes a speaker, a display, or a light source device, and the second processing circuit causes the second interface to output notification information based on the second information.

13. A transport robot according to claim 1, comprising: a transport robot including a battery; a server including a processing circuit and a communication interface connected to the transport robot via a communication network, wherein the processing circuit of the transport robot acquires remaining charge information indicating the remaining charge of the battery, transmits the remaining charge information to the server via the communication network, the processing circuit of the server receives the remaining charge information via the communication network, generates a command for the movement of the transport robot based on the remaining charge information, and transmits the generated command to the transport robot via the communication interface.

14. A control method for a transport robot that transports an object in cooperation with a transport agent including a robot or a worker, comprising: acquiring first information that affects the movement of the transport robot; and causing the transport robot to output second information related to transport to the transport agent based on the first information.

15. A control program that causes at least one processor to execute the control method described in claim 14.

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