Transport system and transport robot
The present invention makes an instruction for causing a transport robot to carry out transport easier for a person to understand. A transport system ( 1 ) is such that an address indicating a transport destination or a transport source is represented by a tree structure including a node indicating loading locations and a node indicating equipment to which the loading locations are provided, and when the address of the transport destination indicates equipment, a transport robot ( 20 ) sequentially loads objects to be transported in accordance with a preset loading priority order in loading locations where no objects to be transported have been loaded, from among the loading locations belonging to that equipment.
1. A transport system for transporting, in an area where a plurality of pieces of equipment provided with a plurality of loading locations for loading an object to be transported is installed, the object to be transported between the loading locations across the plurality of pieces of equipment by a transport robot, the transport system comprising:
a control device having an instruction issuance unit that issues a transport instruction for the transport robot, and a database that holds inventory information of the loading location; and
the transport robot,
wherein an address used in the transport instruction to specify a transport destination or a transport source is represented by a tree structure that comprises a node indicating the locating location and a node indicating equipment provided with the locating location, and
when the address of the transport destination specified by the transport instruction indicates the equipment, the transport robot sequentially loads the object to be transported in accordance with a predetermined loading priority order in the loading location where the object to be transported has not been loaded, among the loading locations belonging to the equipment, based on the inventory information.
2. The transport system according to claim 1 , wherein when the address of the transport source specified by the transport instruction indicates the equipment, the transport robot unloads the object to be transported in accordance with the predetermined loading priority order from the loading location where the object to be transported has been loaded, among the loading locations belonging to the equipment, based on the inventory information.
3. The transport system according to claim 1 , wherein the transport robot comprises an articulated robot arm that grips the object to be transported.
4. The transport system according to claim 1 , wherein the transport robot holds a plurality of robot arm control programs for executing loading or unloading of the object to be transported to each of the plurality of loading locations of the equipment, and information of the loading priority order with respect to the plurality of loading locations of the equipment.
5. A transport robot for transporting, in an area where a plurality of pieces of equipment provided with a plurality of loading locations for loading an object to be transported is installed, the object to be transported between the loading locations across the plurality of pieces of equipment in accordance with a transport instruction from a control device, the transport robot comprising:
an articulated robot arm that grips the object to be transported;
an arm controller that controls an operation of the robot arm;
an instruction acceptance unit that receives the transport instruction from the control device;
a recording unit that holds a plurality of robot arm control programs for executing loading or unloading of the object to be transported to each of the plurality of loading locations of the equipment, and information of a loading priority order with respect to the plurality of loading locations of the equipment; and
a selection unit that selects one from the plurality of robot arm control programs with reference to the transport instruction,
wherein an address used in the transport instruction to specify a transport destination or a transport source is represented by a tree structure that comprises a node indicating the locating location and a node indicating equipment provided with the locating location,
when the address of the transport destination or the transport source specified by the transport instruction indicates the equipment,
the selection unit sequentially selects specific robot arm control programs based on inventory information of each of the loading locations belonging to the equipment and information of the loading priority order of each of the loading locations belonging to the equipment, and
the arm controller controls the robot arm in accordance with the robot arm control programs sequentially selected.
6. The transport system according to claim 2 , wherein the transport robot comprises an articulated robot arm that grips the object to be transported.
7. The transport system according to claim 2 , wherein the transport robot holds a plurality of robot arm control programs for executing loading or unloading of the object to be transported to each of the plurality of loading locations of the equipment, and information of the loading priority order with respect to the plurality of loading locations of the equipment.
8. The transport system according to claim 3 , wherein the transport robot holds a plurality of robot arm control programs for executing loading or unloading of the object to be transported to each of the plurality of loading locations of the equipment, and information of the loading priority order with respect to the plurality of loading locations of the equipment.