Robot

Abstract

A robot according to the embodiment of the present invention comprises a base, a stretching member, and a robot body. The base serves as a foundation of the robot. The stretching member can stretch from the base in a prescribed stretching direction. The robot body has a humanoid shape, is positioned on the side of the stretching member in the stretching direction, and performs work for constructing wiring or piping at a prescribed extended position.

Description

Robot

[0001] The present invention relates to a robot.

[0002] In a data center, it is common to install wiring and piping on the ceiling. Thereby, power supply and construction of a communication network are carried out. However, the ceiling of the data center is high, and the work of constructing wiring and piping becomes high-altitude work, which is a great burden for workers. In the conventional method, ladders or aerial work platforms are used for the work, but this takes time and labor, and the work efficiency may decrease.

[0003] Japanese Patent Application Laid-Open No. 2024-077607

[0004] In the conventional technology, the load of the work of constructing wiring and piping on the ceiling or the like is high, and efficient work is difficult.

[0005] The robot according to the embodiment aims to reduce the load of the work of constructing wiring and piping.

[0006] The robot according to the embodiment includes a base, a telescopic member that can be telescoped in a predetermined telescopic direction from the base, and a humanoid robot body located on the telescopic direction side of the telescopic member.

[0007] According to the robot according to the embodiment, the load of the work of constructing wiring and piping can be reduced.

[0008] FIG. 1 is a diagram schematically showing the configuration of a robot system including the robot according to the embodiment. FIG. 2 is a diagram schematically showing the configuration of the robot according to the embodiment. FIG. 3 is a diagram showing the work by the robot according to the embodiment. FIG. 4 is a diagram schematically showing the configuration of the base and the robot body. FIG. 5 is a diagram schematically showing the configuration of the base and the robot body. FIG. 6 is a functional block diagram showing an example of the configuration of the control device. FIG. 7 is a functional block diagram showing an example of the configuration of the management device. FIG. 8 is a diagram schematically showing the configuration of the robot according to another embodiment. FIG. 9 is a diagram schematically showing the configuration of the robot according to another embodiment. FIG. 10 is a diagram schematically showing an example of the configuration of computer hardware that functions as the control device or the management device.

[0009] The following describes in detail embodiments for implementing the robot according to the present invention. However, the robot according to the present invention is not limited by these embodiments.

[0010] (Embodiment) A robot system including a robot according to an embodiment will be described with reference to Figure 1. Figure 1 is a schematic diagram showing the configuration of a robot system including a robot according to an embodiment.

[0011] As shown in Figure 1, the robot system 1 is an AGV (Automatic Guided Vehicle) robot system and comprises a robot 2 and a control device 4. The robot 2 and the control device 4 are connected via a network N. For example, multiple robots 2 are provided.

[0012] Network N is, for example, a mobile communication network such as LTE (Long Term Evolution) or 5G.

[0013] The robot according to the embodiment will be described with reference to Figures 1, 2, and 3. Figure 2 is a schematic diagram showing the configuration of the robot according to the embodiment. Figure 3 is a diagram showing the work performed by the robot according to the embodiment.

[0014] Figures 2 and 3 show a three-dimensional Cartesian coordinate system including the Z-axis, with the vertically upward direction being the positive direction. For the sake of explanation, the positive direction of the X-axis is defined as "left," the negative direction of the X-axis as "right," the positive direction of the Y-axis as "forward," and the negative direction of the Y-axis as "backward." In addition, the X-axis direction may sometimes be referred to as the left-right direction, the Y-axis direction as the front-back direction, and the Z-axis direction as the up-down direction.

[0015] As shown in Figures 1 and 2, the robot 2 comprises a base 14, an extendable member 11, and a robot body 10. The base 14 serves as the foundation of the robot 2. The extendable member 11, which will be described later, is installed on the mounting surface (upper surface) of the base 14. In addition to the extendable member 11, a drive motor for driving the extendable member 11 may also be installed on the mounting surface (upper surface) of the base 14.

[0016] The base 14 may be fixed immovably to the floor surface 21 (see Figure 3) of a building such as a data center. Alternatively, it may be movable on the floor surface 21. If the base 14 is movable, it has wheels 14a (see Figure 4), which will be described later.

[0017] The telescopic member 11 is installed on the mounting surface (upper surface) of the base 14 and also installed below the robot body 10, which will be described later. The telescopic member 11 supports the robot body 10 from below on the base 14. The telescopic member 11 can extend and retract from the base 14 in a predetermined extension direction D. By extending and retracting from the base 14 in the predetermined extension direction D, the telescopic member 11 moves the robot body 10 in the extension direction D.

[0018] The expandable member 11 has an outer frame member 11a, an inner frame member 11b, and an installation surface 11c. The outer frame member 11a is installed on the installation surface (upper surface) of the base 14. The outer frame member 11a is formed, for example, in the shape of a rectangular box. The top surface of the outer frame member 11a is open. The inner frame member 11b is provided inside the outer frame member 11a. The inner frame member 11b is composed of a plurality of members (inner frame members 11b). The outermost member of the plurality of inner frame members 11b has the largest diameter, and the diameter decreases as you move inward. Each inner frame member 11b is formed, for example, in the shape of a rectangular box.

[0019] The mounting surface 11c is positioned on the upper surface of the innermost member of the inner frame member 11b. The robot body 10 is mounted on the mounting surface 11c. The mounting surface 11c also has a rotating part 11d, which allows the robot body 10 mounted on the rotating part 11d to rotate 360 ​​degrees within the plane of the mounting surface 11c.

[0020] As described above, the telescopic member 11 is extendable and retractable from the base 14 in a predetermined extension direction D. In this embodiment, the telescopic member 11 is extendable and retractable in the vertical direction. That is, the extension direction D1 (see Figure 3) of the telescopic member 11 in the extension direction D is the direction upward from the base 14. The telescopic member 11 extends and retracts in the vertical direction, which is the extension direction D, by the extension and retraction of the inner frame member 11b. The inner frame member 11b of the telescopic member 11 is driven to extend and retract by a drive motor or the like. The rotating part 11d of the installation surface 11c of the telescopic member 11 is rotated by a drive motor or the like.

[0021] The telescopic member 11 can be extended or retracted using, for example, a hydraulic cylinder or an electric actuator. A hydraulic cylinder has high output and precision and can lift heavy loads, making it suitable for working at high places on the ceiling 22. On the other hand, an electric actuator is electrically controlled, allowing for fine position and speed adjustments, making it suitable for precise work. The telescopic member 11 can be adjusted according to the height of the ceiling 22, for example, and extends or retracts as needed (to a predetermined extended position, i.e., towards the working position). This allows the robot 2 to work with ceilings 22 of various heights, enabling flexible work.

[0022] Furthermore, the telescopic member 11 is formed from a material that is lightweight yet strong. Specifically, aluminum alloy or carbon fiber reinforced plastic (CFRP) can be used. These materials are lightweight while possessing high strength and rigidity, thus reducing the overall weight of the robot 2. In addition, guide rails and bearings may be incorporated into the telescopic member 11 to ensure smooth extension and retraction. This minimizes friction and vibration.

[0023] The robot body 10 is a so-called humanoid robot that mimics a human being, having a head, torso, arms, legs, etc. As described above, the robot body 10 is installed on the mounting surface 11c of the telescopic member 11. That is, the robot body 10 is located on the side of the telescopic member 11 in the telescopic direction D (up and down direction).

[0024] As shown in Figure 3, the robot 2 has its base 14 installed on the floor 21 of the building (data center). The robot body 10 performs the task of constructing wiring and piping at a predetermined extension position in the extension direction D1. The robot body 10 performs the task of constructing wiring and piping on the ceiling 22 of the data center. In this case, as the telescopic member 11 extends, the robot body 10 reaches the ceiling 22, and the robot body 10 can use its arm 10c (see Figure 4) to perform the task of constructing wiring and piping on the ceiling 22. This reduces the workload of constructing wiring and piping on the ceiling 22 of the data center.

[0025] Referring to Figures 4 and 5, the robot according to the embodiment (particularly the base and the robot body) will be described in more detail. Figures 4 and 5 are schematic diagrams showing the configuration of the base and the robot body. Note that Figures 4 and 5 are explanatory diagrams mainly for explaining the base and the robot body. For this reason, the telescopic members are omitted in Figures 4 and 5.

[0026] As shown in Figure 4, the base 14 is the foundation of the robot 2 and provides stability. The base 14 is made of a durable material such as metal or reinforced plastic. Specifically, aluminum alloy or stainless steel can be used as the metal. These metals are relatively lightweight while possessing high strength and durability, making it easy to install or move the robot 2 as described later. Glass fiber reinforced plastic (GFRP) or carbon fiber reinforced plastic (CFRP) can be used as the reinforced plastic. These reinforced plastics have high rigidity and impact resistance. Furthermore, the base 14 incorporates wiring for power supply and data communication. This integrates the functions of the entire robot 2.

[0027] Furthermore, as described above, the robot 2 may be able to move on the floor surface 21, for example, in the forward and backward direction. In this case, the robot 2 may be able to travel autonomously. For this purpose, the base 14 may be a mobile body such as an automated guided vehicle. If the base 14 is a mobile body, the base 14 has one or more wheels 14a. In this embodiment, the base 14 has a pair of front wheels and a pair of rear wheels as the wheels 14a.

[0028] The wheels 14a can rotate relative to the base 14. For example, the wheels 14a rotate when rotational force generated by a drive motor is transmitted to them. Therefore, the robot body 10 can move by the rotation of the wheels 14a.

[0029] The base 14 may have casters that can move in all directions. In this case, the base 14 can freely change direction using the casters that can move in all directions. The base 14 may also have a separate motor for driving and controlling the wheels 14a. For example, the base 14 uses this motor to drive the wheels 14a and move the robot 2. This makes the robot 2 mobile.

[0030] The robot body 10 is a one-legged, columnar humanoid robot. The robot body 10 has a torso 10a and one leg 10b. The robot body 10 has at least a hip joint located at the base end of the leg 10b. For example, in the example shown in Figure 1, the robot 2 becomes an extendable member 11 from below the hip joint of the robot body 10 (from the middle of the leg 10b downwards). The robot body 10 may also have an ankle joint located at the tip of the leg 10b and a knee joint located between the hip and the ankle. In this case, the extendable member 11 is positioned below the ankle joint.

[0031] The robot body 10, for example, if the torso 10a is modeled after the upper body of a human, further includes arms 10c and a head 10d. The robot body 10 may also have joints above the waist joint, which is the third joint from the bottom. For example, the robot body 10 may further include a shoulder joint located at the base end of the arm 10c, a wrist joint located at the tip of the arm 10c, joints of the fingers 10e located beyond the wrist of the arm 10c, and a neck joint located at the base end of the head 10d. The fingers 10e may consist of, for example, five fingers. Each finger of the fingers 10e is flexible by a drive mechanism such as a drive motor.

[0032] The robot body 10 can freely change the position and orientation of its torso 10a, legs 10b, arms 10c, and head 10d by moving the joints in the forward / backward and left / right directions, or by rotating it relative to the mounting surface 11c (see Figure 1). As a result, the robot body 10 can move like a human, as shown in Figure 5. The robot body 10 is equipped with drive mechanisms such as drive motors that move each part, including the legs 10b, arms 10c, and head 10d.

[0033] The humanoid robot body 10 performs tasks such as constructing wiring and piping on the ceiling 22 (see Figure 3). As described above, the robot body 10 has arms 10c and fingers 10e, enabling it to perform fine motor work. Specifically, the arms 10c of the robot body 10 have a multi-joint structure and incorporate servo motors or actuators to achieve highly flexible movement. The fingers 11e are equipped with grippers or tools that allow for precise operation, enabling it to perform fine motor work such as installing wiring and connecting pipes.

[0034] Furthermore, the robot body 10 can be equipped with, for example, a camera or sensors to monitor the progress of the work. The camera captures images of the work area in real time and uses image processing technology to check the accuracy and progress of the work. Sensors such as distance sensors or pressure sensors can be used to accurately determine the position and force applied by the robot body 10. As a result, the robot body 10 can perform work efficiently and safely in high places such as the ceiling 22. In addition, the robot body 10 can optimize and automate work using AI (Artificial Intelligence). For example, the AI ​​learns past work data and generates optimal work procedures and motion patterns. The AI ​​can also detect environmental changes and obstacles in real time and perform appropriate avoidance actions. As a result, the robot body 10 can have high flexibility and adaptability even in complex work environments.

[0035] Furthermore, the robot body 10 may have tools for, for example, securing wiring to the ceiling 22. For example, the robot body 10 may use a drill or screwdriver to secure the wiring to the ceiling 22. The robot body 10 may also have equipment for installing piping. For example, the robot body 10 may use clamps to install and secure piping in place. In addition, the robot body 10 may monitor the wiring and piping installation work and make adjustments as needed. For example, the robot body 10 may use a camera or sensor to check the progress of the work and make corrections as needed. In this way, the robot body 10 can perform the work of constructing wiring and piping on the ceiling 22, thereby reducing the burden on humans.

[0036] Furthermore, at least one of the base 14 and the robot body 10 may have, for example, a positioning device. The positioning device may be, for example, a GNSS (Global Navigation Satellite System). In this case, the positioning device can determine position and time by receiving radio waves from navigation satellites orbiting overhead. The positioning device may also have a communication module that transmits its detected position information. In this case, the position information of the robot body 10 detected by the positioning device may be transmitted to the management device 4 and the control device 13 via the network N. This allows for confirmation of the robot 2's current position, etc.

[0037] Furthermore, a detection unit 12 is provided on the head 10d of the robot body 10. The detection unit 12 may also be provided on other parts of the robot body 10, such as the torso 10a. The detection unit 12 detects the surrounding conditions of the robot body 10. The detection unit 12 may include, for example, a high-sensitivity camera capable of 360-degree sensing, LiDAR (Light Detection and Ranging), a thermal camera, and radar. The detection unit 12 may also include sensors for vision recognition, minute sounds, ultrasound, vibration, infrared rays, ultraviolet rays, electromagnetic waves, etc. Multiple detection units 12 may be provided. Also, the detection unit 12 may consist of multiple types of sensors. In addition, a separate detection unit 12 may be provided on the base 14, and information regarding movement may be detected by the detection unit 12 of the base 14.

[0038] As shown in Figures 4 and 5, the robot body 10 has a control device 13. Now, with reference to Figure 6, the control device of the robot body will be described. Figure 6 is a functional block diagram showing an example of the configuration of the control device.

[0039] As shown in Figure 6, the control device 13 includes a communication unit 30, a storage unit 31, and a control unit 32. The communication unit 30 is wirelessly connected to the network N (see Figure 1). The communication unit 30 transmits and receives information to and from the management device 4, which will be described later, via the network N. The communication unit 30 transmits various information detected by the detection unit 12 (see Figure 4) to the management device 4. The communication unit 30 receives images taken by, for example, the camera of the robot body 10. The communication unit 30 also receives, for example, position information of work on the ceiling 22 from the positioning device of the robot body 10.

[0040] The storage unit 31 is implemented by, for example, semiconductor memory elements such as RAM (Random Access Memory) and flash memory, or by storage devices such as HDD (Hard Disk Drive), SSD (Solid State Drive), and optical discs. Various programs and various data are stored in the storage unit 31.

[0041] The control unit 32 is a controller and includes, for example, a microcomputer having a CPU (Central Processing Unit), ROM (Read Only Memory), RAM, input / output ports, and various circuits. Alternatively, the control unit 32 may be composed of hardware such as an integrated circuit like an ASIC (Application Specific Integrated Circuit) or FPGA (Field Programmable Gate Array). The control unit 32 includes a work target detection unit 33 and a robot control unit 34.

[0042] The work target detection unit 33 detects the work position, work content, and the like. The work target detection unit 33 detects the work position, work content, and the like based on various information detected by the detection unit 12. For example, the work target detection unit 33 executes predetermined image processing on an image captured by a high-sensitivity camera provided on the robot body 10 to detect the work position, work content, and the like. Note that the work target detection unit 33 may detect the work position, work content, and the like according to the detection result by an infrared sensor, for example. Further, the work target detection unit 33 may detect the work position, work content, and the like using a work target detection model in AI.

[0043] The robot control unit 34 sets the work operation of the robot body 10. The robot control unit 37 causes the robot body 10 to perform a work operation by controlling the driving of the arm portion 10c and the finger portion 10e of the robot body 10, for example. Further, when the base 14 is movable, the robot control unit 34 sets the traveling route of the robot 2. The traveling route includes, for example, a preset warning route. The robot control unit 34 causes the robot 2 to autonomously travel along this traveling route. The robot control unit 34 may cause the robot 2 to autonomously travel according to the situation detected by the detection unit 12.

[0044] Returning to FIG. 1, the management device 4 of the robot system 1 is, for example, a server device. The management device 4 may be a cloud server. Here, referring to FIG. 7, the management device of the robot system will be described. FIG. 7 is a functional block diagram showing an example of the configuration of the management device.

[0045] As shown in FIG. 7, the management device 4 includes a communication unit 40, a storage unit 41, and a control unit 42. The management device 4 collects various information detected by the detection unit 12 of the robot 2 from the robot 2 that has detected the work position, work content, and the like. Further, the management device 4 collects various information detected by the detection unit 12 from another robot 2 that is performing work. Further, the management device 4 may generate information regarding the work and traveling of the robot 2.

[0046] The communication unit 40 is connected to the network N (see FIG. 1) either wired or wirelessly. The communication unit 40 transmits and receives information to and from the control device 13 of the robot 2 via the network N. The communication unit 40 receives various types of information detected by the detection unit 12 from the control device 13 of the robot 2. The communication unit 40 receives position information from the positioning device. Further, the communication unit 40 receives, for example, an image captured by a camera or the like of the robot body 10.

[0047] The storage unit 41 is realized by, for example, a semiconductor memory element such as a RAM or a flash memory, or a storage device such as an HDD, an SSD, or an optical disk. Various programs and various data are stored in the storage unit 41. For example, various types of information detected by the detection unit 12 of each robot 2 are stored in the storage unit 41.

[0048] The control unit 42 is a controller and includes, for example, a microcomputer having a CPU, a ROM, a RAM, an input / output port, etc., and various circuits. Further, the control unit 42 may be composed of hardware such as an integrated circuit such as an ASIC or an FPGA.

[0049] The control unit 42 may generate information regarding the work and travel of the robot body 10. For example, the control unit 42 generates information regarding the work and travel of the robot body 10 by a text generation model (so-called AI chat engine). The text generation model may be interpreted as an algorithm and calculation for automatic dialogue processing by characters.

[0050] The control unit 42 may generate a question about the work target from various types of information detected by the detection unit 12 of the robot 2. In this case, the control unit 42 generates, for example, a question regarding work and travel by a language generation model. By generating information regarding the work and travel of the robot 2 by the document generation model, the robot 2 can accurately determine, for example, the work position and the work content. Thereby, the workability of the work of constructing wiring and piping by the robot 2 can be improved.

[0051] With the robot 2 described above, the extension member 11 can be adjusted to its extended position according to the height of the ceiling 22, thus accommodating ceilings of various heights. This reduces the workload involved in constructing wiring and piping on the ceiling 22. It also allows for more flexible work.

[0052] Furthermore, if the base 14 is configured to be movable, the base 14 can be moved to an optimal position relative to the work position on the ceiling 22, and the robot body 10 can be extended from this position toward the work position, allowing the robot body 10 to move toward the work position via the shortest distance. Also, if there are obstacles between the base 14 and the work position, the robot body can be extended while avoiding the obstacles.

[0053] (Other Embodiments) A robot according to another embodiment will be described with reference to Figures 8 and 9. Figure 8 is a schematic diagram showing the configuration of a robot according to another embodiment. As shown in Figure 8, in robot 2 according to the other embodiment, the base 14 is installed on the ceiling 22 of the building (data center). In robot 2 according to the other embodiment, the extension direction in the extension direction D of the telescopic member 11 installed on the base 14 is downward from the base 14 (vertically downward).

[0054] With this configuration, extension from the ceiling 22 towards the floor 21 (see Figure 3) becomes possible, allowing the robot body 10 to perform tasks such as constructing wiring and piping on the floor 21. This reduces the workload associated with constructing wiring and piping. Furthermore, since the robot body 10 can work at a predetermined extension position from the base 14, flexible work becomes possible.

[0055] Figure 9 is a schematic diagram showing the configuration of a robot according to another embodiment. As shown in Figure 9, in robot 2 according to the other embodiment, the base 14 is installed on a column 23 of a building (data center). In robot 2 according to the other embodiment, the extension direction D of the extendable member 11 installed on the base 14 is horizontal. Note that the example shown in Figure 9 is when the extension direction D is in the left-right direction (X-axis direction).

[0056] With this configuration, for example, the robot can extend from the column 23 on which the base 14 is installed toward another column 23 or the wall of a building (data center), enabling the robot body 10 to perform tasks such as constructing wiring and piping on the columns 23 or walls. This reduces the workload of the wiring and piping construction work. Furthermore, since the robot body 10 can work at a predetermined extension position from the base 14, flexible work becomes possible.

[0057] The extension direction D of the extendable member 11 may be oblique. For example, the extendable member 11 may extend obliquely upward from a base 14 placed on the floor surface 21, or obliquely upward from a base 14 placed on the ceiling 22. It may also extend obliquely upward or obliquely downward from a base 14 placed on a column 23. Furthermore, if the base 14 is installed on a column 23, it may extend obliquely in the left-right direction from the base 14. In addition, the extendable member 11 may be configured such that the extension direction changes while the inner frame member 11b (see Figure 1) is extending.

[0058] Alternatively, the robot body 10 may have a configuration in which the leg portion 10b (see Figure 4) is fixed to the base 14, and the leg portion 10b has an extendable member 11. In this case, the extendable member 11 is provided between the ankle joint and the knee joint of the robot body 10. The robot body 10 extends and retracts in a predetermined extension direction D between the ankle and knee.

[0059] With this configuration, the extension direction D (extension direction D1) of the extendable member 11 can be freely set by adjusting the bending angle of the legs 10b of the robot body 10. This reduces the workload of wiring and piping construction. Furthermore, since the robot body 10 can work at a predetermined extension position from the base 14, and the extension angle from the base 14 can also be freely changed, more flexible work becomes possible.

[0060] Figure 10 is a schematic diagram showing an example of the configuration of computer hardware that functions as a control device or management device. As shown in Figure 10, a program installed on the computer 1200 can cause the computer 1200 to function as one or more "parts" of the apparatus according to this embodiment, or to cause the computer 1200 to execute operations associated with the apparatus according to this embodiment or such one or more "parts", and / or to cause the computer 1200 to execute a process or a stage of such process according to this embodiment. Such a program may be executed by the CPU 1212 to cause the computer 1200 to execute specific operations associated with some or all of the blocks of the flowcharts and block diagrams described herein.

[0061] The computer 1200 according to this embodiment includes a CPU 1212, RAM 1214, and a graphics controller 1216, which are interconnected by a host controller 1210. The computer 1200 includes a communication interface 1222, a storage device 1224, and input / output units such as a DVD drive and an IC card drive, which are connected to the host controller 1210 via an input / output controller 1220. The DVD drive may be a DVD-ROM drive and a DVD-RAM drive, etc. The storage device 1224 may be a hard disk drive and a solid-state drive, etc. The computer 1200 also includes an input / output unit such as a ROM 1230 and a keyboard, which are connected to the input / output controller 1220 via an input / output chip 1240.

[0062] The CPU 1212 operates according to programs stored in the ROM 1230 and RAM 1214, thereby controlling each unit. The graphics controller 1216 acquires image data generated by the CPU 1212, either in a frame buffer provided in RAM 1214 or within itself, and displays the image data on the display device 1218.

[0063] The communication interface 1222 communicates with other electronic devices via a network. The storage device 1224 stores programs and data used by the CPU 1212 in the computer 1200. The DVD drive reads programs or data from a DVD-ROM or the like and provides them to the storage device 1224. The IC card drive reads programs and data from an IC card and / or writes programs and data to an IC card.

[0064] The ROM 1230 stores a boot program that is executed by the computer 1200 when activated, and / or programs that depend on the computer 1200's hardware. The input / output chip 1240 may connect various input / output units to the input / output controller 1220 via USB ports, parallel ports, serial ports, keyboard ports, mouse ports, etc.

[0065] The program is provided on a computer-readable storage medium such as a DVD-ROM or IC card. The program is read from the computer-readable storage medium and installed on a storage device 1224, RAM 1214, or ROM 1230, which are examples of computer-readable storage media, and executed by the CPU 1212. The information processing described within these programs is read by the computer 1200, resulting in coordination between the program and the various types of hardware resources described above. The apparatus or method may be configured to realize the operation or processing of information in accordance with the use of the computer 1200.

[0066] For example, when communication is performed between a computer 1200 and an external device, the CPU 1212 may execute a communication program loaded into the RAM 1214 and, based on the processing described in the communication program, instruct the communication interface 1222 to perform communication processing. Under the control of the CPU 1212, the communication interface 1222 reads transmission data stored in a transmission buffer area provided in the RAM 1214, storage device 1224, or a recording medium such as a DVD-ROM or IC card, transmits the read transmission data to the network, or writes received data received from the network to a reception buffer area provided on the recording medium.

[0067] Furthermore, the CPU 1212 may read all or necessary parts of a file or database stored on an external recording medium such as a storage device 1224, a DVD drive (DVD-ROM), or an IC card into the RAM 1214, and perform various types of processing on the data in the RAM 1214. The CPU 1212 may write the processed data back to the external recording medium.

[0068] Various types of information, such as various types of programs, data, tables, and databases, may be stored on the recording medium and subjected to information processing. The CPU 1212 may perform various types of processing on the data read from the RAM 1214, including various types of operations, information processing, conditional judgments, conditional branching, unconditional branching, information retrieval / replacement, etc., as described throughout this disclosure and specified by the program instruction sequence, and write the results back to the RAM 1214.

[0069] Furthermore, the CPU 1212 may search for information in files, databases, etc., within the recording medium. For example, if multiple entries are stored in the recording medium, each having an attribute value of a first attribute associated with the attribute value of a second attribute, the CPU 1212 may search among the multiple entries for an entry that matches the specified condition for the attribute value of the first attribute, read the attribute value of the second attribute stored in that entry, and thereby obtain the attribute value of the second attribute associated with the first attribute that satisfies predetermined conditions.

[0070] The above-mentioned program or software module may be stored on or near the computer 1200 in a computer-readable storage medium. Alternatively, a recording medium such as a hard disk or RAM provided within a server system connected to a dedicated communication network or the Internet can be used as a computer-readable storage medium, thereby providing the program to the computer 1200 via the network.

[0071] In the functional block diagram of this embodiment, each block may represent a stage in a process in which an operation is performed, or a "part" of a device that has the role of performing the operation. A particular stage and "part" may be implemented by a dedicated circuit, a programmable circuit supplied with computer-readable instructions stored on a computer-readable storage medium, and / or a processor supplied with computer-readable instructions stored on a computer-readable storage medium. The dedicated circuit may include digital and / or analog hardware circuits, and may include integrated circuits (ICs) and / or discrete circuits. The programmable circuit may include reconfigurable hardware circuits, such as field-programmable gate arrays (FPGAs) and programmable logic arrays (PLAs), which include logical AND, logical OR, exclusive OR, negated AND, negated OR and other logical operations, flip-flops, registers, and memory elements.

[0072] A computer-readable storage medium may include any tangible device capable of storing instructions that can be executed by a suitable device. As a result, a computer-readable storage medium having instructions stored therein will comprise a product that includes instructions that can be executed to create means for performing operations specified in a functional block diagram or the like. Examples of computer-readable storage media may include electronic storage media, magnetic storage media, optical storage media, electromagnetic storage media, semiconductor storage media, and the like. Specific examples of computer-readable storage media may include floppy disks, diskettes, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), electrically erasable programmable read-only memory (EEPROM), static random access memory (SRAM), compact disk read-only memory (CD-ROM), digital versatile disk (DVD), Blu-ray® disc, memory stick, integrated circuit card, and the like.

[0073] Computer-readable instructions may include assembler instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Smalltalk®, Java®, C++, and traditional procedural programming languages ​​such as the C programming language or similar programming languages.

[0074] Computer-readable instructions may be provided to a processor or programmable circuit of a general-purpose computer, a special-purpose computer, or other programmable data processing device, either locally or via a wide area network (WAN), such as a local area network (LAN) or the internet, in order for the processor or programmable circuit of a general-purpose computer, a special-purpose computer, or other programmable data processing device to execute the computer-readable instructions in order for the processor or programmable circuit of the special-purpose computer to execute the instructions in order for

[0075] An AGV robot system according to an embodiment of the present invention is a system for reducing the workload of constructing wiring and piping on the ceiling of a data center. This robot system has a base and wheels attached to the base, and is movable. The base is equipped with an extendable member that can extend and retract from the base toward the ceiling. Furthermore, a humanoid robot is mounted on the extendable member. As the extendable member extends, the humanoid robot can reach the ceiling and perform the work of constructing wiring and piping on the ceiling. This reduces the workload of constructing wiring and piping on the ceiling of a data center. For example, the robot system has a base and wheels attached to the base, and is movable. This allows the robot to move freely within the data center. For example, the robot can be moved to the location where wiring and piping are to be constructed. Next, the base is equipped with an extendable member that can extend and retract from the base toward the ceiling. The extendable member can extend and retract as needed. For example, by extending the extendable member according to the height of the ceiling, the humanoid robot can reach the ceiling. Furthermore, a humanoid robot is mounted on the extendable member. The humanoid robot can perform the work of constructing wiring and piping on the ceiling. For example, wiring can be fixed to the ceiling, and piping can be installed. This eliminates the need for people to work at heights, thereby reducing the workload. Thus, the robotic system of the present invention is an effective means of reducing the workload of constructing wiring and piping in the ceiling of a data center.

[0076] The robot system according to this embodiment comprises a base, an extendable member, and a humanoid robot. The base is the foundation of the robot and provides stability. The base is made of a durable material such as metal or reinforced plastic. The base is firmly installed on the floor surface of a data center, for example. The base also supports other parts of the robot. The extendable member is extendable from the base towards the ceiling. The extendable member can be extended and retracted using, for example, a hydraulic cylinder or an electric actuator. The extendable member is adjustable according to the ceiling height, for example, and extends or retracts as needed. The extendable member is made of, for example, a lightweight yet strong material. The humanoid robot is placed on the extendable member. The humanoid robot performs tasks such as constructing wiring and piping on the ceiling. The humanoid robot can perform fine motor tasks, for example, by having arms and hands. The humanoid robot can also be equipped with, for example, cameras and sensors to monitor the progress of the work. For example, the base is the foundation of the robot and provides stability. The base is made of a durable material, such as metal or reinforced plastic. The base is firmly installed on the floor of the data center, for example. The base also serves to support other parts of the robot. The telescopic member is extendable from the base towards the ceiling. The telescopic member can be extended or retracted using, for example, a hydraulic cylinder or an electric actuator. The telescopic member is adjustable according to the ceiling height, for example, and extends or retracts as needed. The telescopic member is made of a lightweight yet strong material, for example. The humanoid robot is placed on the telescopic member. The humanoid robot performs tasks such as constructing wiring and piping on the ceiling. The humanoid robot can perform fine motor tasks, for example, by having arms and hands. The humanoid robot can also be equipped with, for example, cameras and sensors to monitor the progress of the work. As a result, the robot system according to this embodiment can reduce the workload of constructing wiring and piping on the ceiling of the data center.

[0077] The base is the foundation of the robot and provides stability. The base is made of durable materials such as metal or reinforced plastic. Specifically, aluminum alloys and stainless steel are used as metals, as they are relatively lightweight while possessing high strength and durability, making it easy to move and install the robot. Glass fiber reinforced plastic (GFRP) and carbon fiber reinforced plastic (CFRP) are used as reinforced plastics, as they have high rigidity and impact resistance. Furthermore, the base has built-in wiring for power supply and data communication, which integrates the functions of the entire robot.

[0078] The telescopic member can extend and retract from the base towards the ceiling. The telescopic member can be extended and retracted using, for example, a hydraulic cylinder or an electric actuator. Hydraulic cylinders offer high power and precision, and can lift heavy loads, making them suitable for work in high-ceilinged areas. Electric actuators, on the other hand, are electrically controlled, allowing for fine position and speed adjustments, making them suitable for precise work. The telescopic member can be adjusted according to the ceiling height, extending and retracting as needed. This allows the robot to adapt to ceilings of various heights, enabling flexible work. The telescopic member is made from a material that is lightweight yet strong. Specifically, aluminum alloys and carbon fiber reinforced plastic (CFRP) are used; these materials offer high strength and rigidity while remaining lightweight, thus reducing the overall weight of the robot. Furthermore, the telescopic member incorporates guide rails and bearings to ensure smooth extension and retraction, minimizing friction and vibration.

[0079] The humanoid robot is positioned on a retractable structure. For example, the humanoid robot can perform tasks such as installing wiring and piping on ceilings. It can also perform detailed tasks using its arms and hands. Specifically, the robot's arms have a multi-joint structure and incorporate servo motors and actuators to achieve a high degree of freedom of movement. The hands are equipped with grippers and tools for precise operation, enabling detailed tasks such as wiring installation and pipe connection. Furthermore, the humanoid robot can be equipped with cameras and sensors to monitor the progress of the work. The cameras capture real-time video of the work area, and image processing technology is used to check the accuracy and progress of the work. Sensors, such as distance sensors and pressure sensors, can accurately determine the robot's position and force. This allows the humanoid robot to perform tasks efficiently and safely in high-ceiling locations. In addition, the humanoid robot can utilize AI to optimize and automate tasks. For example, the AI ​​learns from past work data to generate optimal work procedures and motion patterns. Furthermore, AI can detect environmental changes and obstacles in real time and perform appropriate avoidance maneuvers. This allows humanoid robots to have high flexibility and adaptability even in complex work environments.

[0080] Humanoid robots can perform tasks such as installing wiring and piping on ceilings. For example, a humanoid robot can carry tools to secure wiring to the ceiling. For instance, it can use a drill and screwdriver to fasten wiring to the ceiling. It can also carry equipment for installing piping. For example, a humanoid robot can use clamps to position and secure piping. Furthermore, humanoid robots can monitor the wiring and piping installation process and make adjustments as needed. For example, a humanoid robot can use cameras and sensors to check the progress of the work and make corrections as necessary. This reduces the burden on humans by allowing humanoid robots to perform tasks such as installing wiring and piping on ceilings.

[0081] The base can have wheels. For example, the base may have multiple wheels to enable the robot's movement. For example, the base may have front and rear wheels, allowing it to move in the forward and backward directions. The base may also have casters that allow it to move in all directions. For example, the base can freely change direction using casters that allow it to move in all directions. Furthermore, the base may have motors to control the drive of the wheels. For example, the base may use motors to drive the wheels and move the robot. Thus, the presence of wheels on the base makes the robot mobile.

[0082] The robot system according to the embodiment is not limited to the example described above, and various modifications are possible, for example, as follows.

[0083] The robot system can also be equipped with an environmental awareness unit. This unit can acquire environmental information such as temperature, humidity, and illuminance within the data center. For example, the environmental awareness unit can monitor the temperature within the data center in real time using a temperature sensor and detect abnormal temperature increases. It can also monitor the humidity within the data center using a humidity sensor and provide information to maintain an appropriate humidity range. Furthermore, it can monitor the illuminance within the data center using an illuminance sensor and acquire information to provide a suitable lighting environment for the work. This allows the robot system to grasp environmental information within the data center in real time and maintain an appropriate working environment.

[0084] The robot system can also be equipped with a communication unit. This unit can communicate with other equipment and systems within the data center. For example, it can exchange information in real time with the central control system within the data center using wireless communication. Furthermore, the communication unit can communicate with other robot systems and perform tasks collaboratively. Additionally, it can communicate with external cloud servers via the internet to perform data backup and analysis. This allows the robot system to work efficiently in conjunction with other equipment and systems within the data center.

[0085] The robot system can also be equipped with a self-diagnostic unit. This unit monitors the status of various parts of the robot system and can detect abnormalities. For example, it can monitor the wheel rotation speed and motor temperature to detect abnormal operation. It can also monitor the battery level and charge status to perform charging at the appropriate time. Furthermore, it can monitor the operation of expandable / contractable members to detect abnormal vibrations or movements. This allows the robot system to operate in optimal condition at all times using its self-diagnostic function.

[0086] The robot system can also be equipped with a voice recognition unit. The voice recognition unit can recognize the operator's voice commands and perform corresponding actions. For example, the voice recognition unit can operate a mobile unit according to the operator's voice commands and move to a designated location. It can also operate an extendable member according to the operator's voice commands and extend it to a designated height. Furthermore, the voice recognition unit can operate a humanoid robot according to the operator's voice commands to perform wiring and piping installation work. In this way, the robot system can use its voice recognition function to enhance cooperation with the operator and perform work efficiently.

[0087] The robot system can also be equipped with a predictive maintenance unit. This unit monitors the usage and deterioration status of each part of the robot system and can predict when maintenance is needed. For example, the unit can monitor the wear status of the wheels and predict when replacement is necessary. It can also monitor the motor's usage time and temperature changes to predict when maintenance is needed. Furthermore, it can monitor the battery's charge / discharge cycles and deterioration status to predict when replacement is necessary. This allows the robot system to perform planned maintenance using predictive maintenance functions, ensuring stable operation over a long period.

[0088] The robot system can also be equipped with an obstacle detection unit. The obstacle detection unit provides the function of detecting and avoiding obstacles present in the robot's movement path. For example, the obstacle detection unit can detect obstacles around the robot using ultrasonic sensors or laser sensors. Ultrasonic sensors measure the distance to obstacles by emitting sound waves and receiving the reflected waves. Laser sensors detect the position and shape of obstacles by emitting laser light and receiving the reflected light. This allows the robot to move safely while avoiding obstacles. Furthermore, the obstacle detection unit can automatically correct the robot's movement path based on the detected obstacle information. For example, the robot can change direction or stop to avoid obstacles. This allows the robot to work safely and efficiently even in the complex environment of a data center.

[0089] The robot system may also be equipped with a communication unit. This unit provides the functionality to send and receive data between the robot and external control systems or other robots. For example, the communication unit can use wireless communication technology to transmit the robot's location and work status to an external control system in real time. This allows the control system to monitor the robot's movements and issue instructions as needed. The communication unit can also share data with other robots. For example, when multiple robots work together, sharing information about work progress and obstacles via the communication unit can lead to more efficient work. Furthermore, the communication unit can control the robot remotely via the internet. This allows operators to monitor the robot's movements remotely and control it as needed.

[0090] The robot system can also be equipped with a battery management unit. This unit monitors the robot's battery status and provides functions for optimal charging. For example, it can monitor battery level and temperature in real time and perform appropriate charge and discharge control to prevent battery degradation. This ensures the robot receives a stable power supply even during long periods of operation. Furthermore, the battery management unit can predict when the battery needs replacing and replace it at the appropriate time. This extends battery life and improves the robot's operational efficiency.

[0091] The robot system can also be equipped with an environmental recognition unit. The environmental recognition unit recognizes the environment around the robot and provides functions to optimize the work. For example, the environmental recognition unit can grasp the situation around the robot in real time using cameras and sensors. Cameras capture images of the work area and use image processing technology to recognize objects and determine their positions. Sensors, such as temperature sensors and humidity sensors, can measure the temperature and humidity of the work environment. This allows the robot to perform optimal actions according to the work environment. Furthermore, the environmental recognition unit can automatically adjust the work procedure and movement pattern based on the recognized environmental information. For example, the robot can change its direction of travel to avoid obstacles in the work area or adjust its work speed according to the temperature and humidity of the work environment. This allows the robot to flexibly adapt to various work environments and perform work efficiently.

[0092] The robot system can also be equipped with a work support unit. The work support unit provides functions to assist the robot's work and improve work efficiency. For example, the work support unit can record the robot's work procedures and suggest the optimal work procedures. This allows the robot to perform work efficiently based on past work data. The work support unit can also detect problems that occur during the robot's work and suggest appropriate countermeasures. For example, if the robot encounters an obstacle while installing wiring or piping, the work support unit can suggest the optimal action to avoid the obstacle. Furthermore, the work support unit can monitor the robot's work status in real time and notify the operator of the progress of the work and any problems. This allows the operator to efficiently manage the robot's work and give appropriate instructions as needed.

[0093] (Note) The following notes (1 to 10) are further disclosed with respect to the above embodiments.

[0094] (1) A robot comprising: a base; an extendable member that can extend and retract from the base in a predetermined extension direction; and a humanoid robot body located on the end of the extension direction in the extension direction of the extendable member.

[0095] (2) The robot according to (1) above, characterized in that the robot body performs the work of constructing wiring or piping at a predetermined extended position in the extension direction.

[0096] (3) The robot according to (1) or (2) above, characterized in that the extension direction in the extension direction is a direction that goes upward from the base.

[0097] (4) The robot according to (3) above, characterized in that the base has wheels and is movable by the wheels.

[0098] (5) The robot according to (1) or (2) above, characterized in that the extension direction in the extension direction is a direction toward downward from the base.

[0099] (6) The robot according to (5) above, characterized in that the base is installed on the ceiling of a building.

[0100] (7) The robot according to (1) or (2) above, characterized in that the extension and retraction direction is horizontal.

[0101] (8) The robot according to (7) above, characterized in that the base is installed on a pillar of a building.

[0102] (9) The robot according to any one of (1) to (8) above, characterized in that the robot body has legs, the legs are fixed to the base, and the telescopic member is provided on the legs.

[0103] (10) The robot according to (9) above, wherein the leg portion has an ankle joint and a knee joint, and the extendable member is provided between the ankle joint and the knee joint.

[0104] Although embodiments of the present application have been described in detail above, these are illustrative examples, and the present invention can be implemented in various other forms based on the knowledge of those skilled in the art, including the embodiments described in the disclosure section of the invention.

[0105] 2 Robot 10 Robot body 10b Legs 11 Telescopic member 14 Base 14a Wheels 22 Ceiling 23 Column D Extension direction D1 Extension direction

Claims

1. A robot comprising: a base; an extendable member that can extend and retract from the base in a predetermined extension direction; and a humanoid robot body located on the end end side in the extension direction of the extendable member.

2. The robot according to claim 1, characterized in that the robot body performs the work of constructing wiring or piping at a predetermined extended position in the extension direction.

3. The robot according to claim 1, characterized in that the extension direction in the extension direction is the direction toward upward from the base.

4. The robot according to claim 3, characterized in that the base has wheels and is movable by the wheels.

5. The robot according to claim 1, characterized in that the extension direction in the extension direction is a direction toward downward from the base.

6. The robot according to claim 5, characterized in that the base is installed on the ceiling of a building.

7. The robot according to claim 1, characterized in that the extension and retraction direction is horizontal.

8. The robot according to claim 7, characterized in that the base is installed on a pillar of a building.

9. The robot according to claim 1, characterized in that the robot body has legs, the legs are fixed to the base, and the telescopic member is provided on the legs.

10. The robot according to claim 9, characterized in that the leg portion has an ankle joint and a knee joint, and the extendable member is provided between the ankle joint and the knee joint.

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