JP5343641B2 - Robot apparatus control device and robot apparatus control method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To completely prevent interference and contact between a manipulator and a person, and deterioration of operation efficiency by reducing downtime of a device in a control device of a robot device provided with the manipulator. <P>SOLUTION: The robot device includes an intrusion detection means 6 monitoring intrusion of an intrusion object 101 to a warning area B that includes a movable range of the manipulator 1 and is larger than the movable range, and to which the intrusion object 101 can intrude, and control means 3, 7 specifying the operation state of the manipulator 1 and controlling the operation of the manipulator 1. The control means 3, 7 decelerate the operation of the manipulator 1 when intrusion of the intrusion object 101 into the warning range B is detected by the detection means 6, and stop the operation of the manipulator 1 when intrusion of the intrusion object 101 to the movable range A of the manipulator 1 is detected and distance between the manipulator 1 and the intrusion object 101 becomes the predetermined distance or less. <P>COPYRIGHT: (C)2010,JPO&amp;INPIT

Description

  The present invention relates to a control device for a robot apparatus and a control method for the robot apparatus, and relates to a control apparatus for the robot apparatus and a control for the robot apparatus that improve safety and safety when a person or the like enters a movable region of a manipulator of the robot apparatus. Regarding the method.

  Conventionally, a robot apparatus provided with a manipulator has been proposed. In such a robot apparatus, a person or the like may enter the movable region of the manipulator. In order to ensure safety and safety in such a case, in a conventional robot apparatus, a safety fence or the like having an entrance door is installed outside the movable region of the manipulator. A switch for detecting the open / closed state is provided at the entrance / exit of the safety fence, or the entrance of a person into the safety fence is detected by a light curtain or the like, that is, by entrance / exit management. When the intrusion of a person or the like into the safety fence is detected, the control device of the robot device cuts off the supply of drive power to the robot device and makes the robot device stop emergency.

  Further, in Patent Document 1, an area where humans and manipulators are likely to be contacted is limited, and this area is monitored by a camera, and the operation of the manipulator is decelerated depending on the situation, or A robotic device that is to be brought to an emergency stop is described.

  Patent Document 2 describes a robot apparatus that monitors with a camera or the like and issues a warning when an intruder is detected.

  In Patent Document 3, when an intruder is detected by monitoring with a camera or the like, the position and speed of the intruder are analyzed, and the position and speed with an area where contact with the manipulator is possible. Therefore, a robot apparatus is described in which the operation of the manipulator is decelerated or emergency stopped.

  Further, Patent Document 4 describes a robot apparatus in which a manipulator is modeled using an approximate solid and interference and contact with a person or the like are confirmed.

JP 2007-283450 A Japanese Patent No. 3704706 JP-T-2006-501487 Japanese Patent No. 2678005

  By the way, in the conventional robot apparatus, when the intruder is detected by detecting the open / closed state of the entrance / exit door, the entrance / exit is performed with the worker remaining in the safety fence due to the operator's negligence. If is closed, the emergency stop state of the manipulator is released, and there is a possibility that the operator and the manipulator come into contact with each other.

  Further, in such a robot apparatus, not all the area inside the safety fence is a movable area of the manipulator, so the installation of the safety fence occupies an area larger than the area occupied by the robot apparatus itself. As a result, the space efficiency is reduced.

  Furthermore, in this robotic device, when the entrance / exit door is released, even if there is no possibility of contact between the manipulator and the person, or even if the possibility of contact does not occur immediately, The robot apparatus is stopped in an emergency, resulting in a decrease in operating efficiency. For example, in a situation where the manipulator is working on the side opposite to the entrance / exit door of the safety fence, it is found that the position of the workpiece to be gripped next by the manipulator is shifted. If gripping is attempted in this state, the manipulator fails to grip and stops. In such a situation, there is enough time for the manipulator to move near the entrance / exit door, and during that time the operator can correct the position of the workpiece, but the entrance / exit is released. In this case, the manipulator is brought to an emergency stop, resulting in wasted time.

  In such a situation, it is conceivable that the worker dislikes the emergency stop function because he / she dislikes wasted time. That is, it is conceivable that the manipulator enters the safety fence as a state in which the manipulator does not come to an emergency stop even if the entrance / exit door is released. In this case, due to misunderstandings, misunderstandings of the workers, lack of understanding of the robot apparatus, and the like, the manipulator returns unexpectedly, and there is a possibility that the manipulator and the workers come into contact with each other.

  In general, once the robot power supply is interrupted or the program is reset due to an emergency stop, the robotic device confirms and cancels the emergency stop state, and then returns the manipulator to the initial state (origin position, etc.). It is also necessary to restore the program after restarting the program after returning the workpiece to the original position. Therefore, downtime of many apparatuses occurs, and workers for performing these operations are also required, resulting in a significant reduction in production efficiency.

  Therefore, in the robot apparatus, it is expected that the downtime of the apparatus will be reduced and the operation efficiency will not be lowered, while ensuring safety.

  The robot apparatus described in Patent Document 1 is effective when an area where the manipulator and the person are likely to contact can be limited. However, when the movable area of the manipulator is increased, there are many places where a person can enter and where it is necessary to enter the movable area, and almost the entire movable area of the manipulator must be monitored. Therefore, in order to ensure safety, emergency stops due to intrusion frequently occur, resulting in a decrease in operating efficiency.

  For this reason, in this robotic device, it is necessary to consolidate the areas where humans can enter, so the degree of freedom in cell design is low, and it can be used for specific small cells and divided work areas where the robot does not move relatively. Can only be applied.

  In the robot apparatus described in Patent Document 2, only the entry of a person into the movable region of the manipulator is monitored, and the operation of the manipulator is not monitored. In the robot apparatus described in Patent Document 3, only human behavior is monitored, and the operation and behavior of the manipulator are not monitored. As described above, in the robot devices described in Patent Document 2 and Patent Document 3, only the behavior of the person is monitored by the monitoring device, so that the safety of the worker is ensured, but the human intrusion area is the manipulator. It does not change depending on the operation. For example, even if a sufficient safety distance is ensured between the manipulator and the worker, since a person enters the movable region of the manipulator and the manipulator stops in an emergency, a reduction in operating efficiency is inevitable.

  The robot apparatus described in Patent Document 4 is a method for confirming interference or contact between a plurality of manipulators or between a movable region of the manipulator and an article, and does not target interference or contact between a person and a manipulator.

  Therefore, the present invention has been made in view of the above circumstances, and its purpose is to prevent interference and contact between a manipulator and a person, increase safety, reduce apparatus downtime, and improve operating efficiency. It is an object of the present invention to provide a control device for a robot apparatus and a control method for the robot apparatus that are designed not to decrease.

  In order to solve the above-described problems and achieve the above object, a control device for a robot apparatus according to the present invention has the following configuration.

[Configuration 1 ]
A control device for a robot apparatus for controlling the operation of a robot apparatus having a manipulator, which covers a moving area of the manipulator and covers a warning area that is wider than the moving area and allows an intruding object to enter. An intrusion detection means for monitoring the intrusion of an intruding object and a control means for specifying the operation state of the manipulator and controlling the operation of the manipulator, the intrusion detection means being a two-dimensional recognition sensor or a three-dimensional recognition sensor The control means sets a first approximate figure that envelops the figure projected onto the horizontal plane of the intruding object based on the detection result by the intrusion detection means, and based on the structure of the manipulator and the control information for the manipulator Identify the operating state of the manipulator and envelop the projected figure on the horizontal plane of this manipulator Set the approximate figure, by determining the presence or absence of interference between the first and second approximate figure, when the entry of intruder into warning area is detected, slow down the operation of the manipulator The operation of the manipulator is stopped when the intrusion of the intruding object into the movable region of the manipulator is detected and it is determined that the distance between the manipulator and the intruding object is equal to or less than a predetermined distance. To do.

  These approximate figures may be any shape such as a circle or a polygon, but a shape that can envelop a projected figure of a person assumed as an intruding object and a projected figure of a manipulator without waste, and When the approximate figures interfere with each other, it is preferable to have such a size that a sufficient safe distance as defined in ISO 13855 is secured between the actual objects. The approximate figure may be a combination of a plurality of figures.

[Configuration 2 ]
A control device for a robot apparatus for controlling the operation of a robot apparatus having a manipulator, which covers a moving area of the manipulator and covers a warning area that is wider than the moving area and allows an intruding object to enter. Intrusion detection means for monitoring the intrusion of an intruding object and control means for specifying the operation state of the manipulator and controlling the operation of the manipulator. The intrusion detection means is a three-dimensional recognition sensor, and the control means includes The center point of the intruding object is set based on the detection result by the intrusion detecting means, the operation state of the manipulator is specified based on the structure of the manipulator and the control information for the manipulator, and a plurality of representative points of the manipulator are set. , by determining the distance between the center points and the representative points, invasion into warning area If the object entry is detected, slow down the operation of the manipulator, with penetration of the intruding object on the movable region of the manipulator is sensed, the distance between the manipulator and the intruding object is equal to or less than a predetermined distance When it is determined , the operation of the manipulator is stopped .

[Configuration 3 ]
A control device for a robot apparatus for controlling the operation of a robot apparatus provided with a manipulator, which covers a movable area of the manipulator, is an area wider than the movable area, and allows an intruding object to enter. Intrusion detection means for monitoring the intrusion of an intruding object against
Control means for specifying the operation state of the manipulator and controlling the operation of the manipulator, the intrusion detection means is a two-dimensional recognition sensor or a three-dimensional recognition sensor, and the control means is based on the intrusion detection means. Based on the detection results, the center point of the projected figure of the intruding object on the horizontal plane and the approximate figure that envelops a point at a certain distance from the center point on the horizontal plane are set, and the manipulator operating state is specified by the intrusion detection means. If the intrusion of an intruding object into the alert area is detected by determining the presence or absence of interference between the approximate figure and the projected figure , the operation of the manipulator is decelerated. with penetration of the intruding object on the movable region of the manipulator is sensed, the distance between the manipulator and the intruding object Tokoro When it is determined that a distance below, is characterized in that stops the operation of the manipulator.

  The approximate figure may be any shape, such as a circle or polygon, but when the projected figure of a person assumed to be an intruding object can be enveloped without waste and the approximate figures interfere with each other In addition, it is preferable to have such a size that a sufficient safe distance is secured between actual objects, for example, as defined in ISO 13855. The approximate figure may be a combination of a plurality of figures.

[Configuration 4 ]
In the control apparatus for a robot device having a structure 1, when the manipulator gripping the workpiece, depending on the size of the workpiece being gripped, warning area, was or, characterized in that to enlarge the approximate figure It is what.

[Configuration 5 ]
Configuration 1, were or, in the control apparatus for a robot device having a structure 3, to set the warning area encompassing the intruding object, for at least one of the warning area encompassing the movable area of the warning area and the manipulator, these warning area If a dangerous area that is multiplexed to one or more than two is set and multiplexed, and the warning area of the intruding object area and the manipulator overlap, the first stage of deceleration is performed, When the dangerous area overlaps with the other warning area, the speed is gradually reduced in multiple stages in accordance with the approach of the intruding object area and the manipulator.

The robot apparatus control method according to the present invention has the following configuration.
[Configuration 6 ]
A method for controlling a robot apparatus for controlling the operation of a robot apparatus having a manipulator, which covers a moving area of the manipulator and covers a warning area that is wider than the moving area and allows an intruding object to enter. The intrusion of the intruding object is monitored, and based on the monitoring result of the intruding object, a first approximate figure that envelops the projected figure of the intruding object on the horizontal plane is set, and the manipulator structure and the control information for the manipulator By specifying the operating state of the manipulator, setting a second approximate figure that envelops the projected figure on the horizontal plane of the manipulator, and determining whether or not there is interference between the first and second approximate figures, the warning area If intrusion of an intruding object is detected, the operation of the manipulator is decelerated and the manipulator moves within the movable area. With penetration of the intruding object is detected, when the distance between the manipulator and the intruding object is judged that equal to or less than the predetermined distance, is characterized in that stops the operation of the manipulator.

  These approximate figures may be any shape such as a regular polygon including a circle and a square, but can envelop a projected figure of a person assumed as an intruding object and a projected figure of a manipulator without waste. It is preferable that the shape has such a size that a sufficient safe distance as defined in, for example, ISO 13855 is secured between the actual objects when the approximate figures interfere with each other. The approximate figure may be a combination of a plurality of figures.

[Configuration 7 ]
A method for controlling a robot apparatus for controlling the operation of a robot apparatus having a manipulator, which covers a moving area of the manipulator and covers a warning area that is wider than the moving area and allows an intruding object to enter. The intrusion of the intruding object is monitored, the center point of the intruding object is set based on the monitoring result of the intruding object, the operation state of the manipulator is specified based on the structure of the manipulator and the control information for the manipulator, and the manipulator By setting a plurality of representative points and determining the distance between these central points and each representative point , when the intrusion of an intruding object into the alert area is detected, the operation of the manipulator is decelerated and the manipulator with penetration of the intruding object on the movable area is detected, the distance between the manipulator and the intruding object is given When it became a distance less is determined, it is characterized in that stops the operation of the manipulator.

[Configuration 8 ]
A method for controlling a robot apparatus for controlling the operation of a robot apparatus having a manipulator, which covers a moving area of the manipulator and covers a warning area that is wider than the moving area and allows an intruding object to enter. The intrusion of the intruding object is monitored, and based on the intruding object monitoring result, the center point of the projected figure of the intruding object on the horizontal plane and the approximate figure that envelops the point at a certain distance from the center point on the horizontal plane are set, and the manipulator Detecting the intrusion of an intruding object into the alert area by identifying the operating state of the manipulator by monitoring the image, setting the projected figure on the horizontal plane of the manipulator, and determining the presence or absence of interference between these approximate figure and projected figure If this happens, the operation of the manipulator is decelerated, and the intrusion of an intruding object into the manipulator's movable area is detected. Together they are, when the distance between the manipulator and the intruding object is judged that equal to or less than the predetermined distance, is characterized in that stops the operation of the manipulator.

  The approximate figure may be any shape, such as a circle or polygon, but when the projected figure of a person assumed to be an intruding object can be enveloped without waste and the approximate figures interfere with each other In addition, it is preferable to have such a size that a sufficient safe distance is secured between actual objects, for example, as defined in ISO 13855. The approximate figure may be a combination of a plurality of figures.

[Configuration 9 ]
Configuration 6, or method of controlling a robot apparatus having the structure 8, when the manipulator gripping the workpiece, depending on the size of the workpiece being gripped, warning area, were or the approximate figure It is characterized by enlarging.

[Configuration 1 0 ]
In the control method of the robot apparatus having the configuration 6 or the configuration 8 , a warning area including the intruding object is set, and at least one of the warning area and the warning area including the movable area of the manipulator is set to be higher than these warning areas. If a dangerous area that is multiplexed into one or more narrow areas is set and multiplexed, and the warning areas of the intruding object area and the manipulator overlap, the first stage of deceleration is performed, and one of the dangerous areas When the other warning area overlaps, the vehicle is decelerated sequentially in multiple stages according to the approach between the intruding object area and the manipulator.

In the control device of the robot apparatus according to the present invention having the configuration 1 , the control means sets the center point of the intruding object based on the detection result by the intrusion detecting means, and based on the structure of the manipulator and the control information for the manipulator. The operation state of the manipulator is specified, a plurality of representative points of this manipulator are set, and the distance between the central point and each representative point is determined, so that the approach between the manipulator and the intruding object can be easily determined. When the intrusion of the intruding object into the alert area is detected, the operation of the manipulator is decelerated, the intrusion of the intruding object into the movable area of the manipulator is detected, and the distance between the manipulator and the intruding object is When it is determined that the distance is equal to or less than the predetermined distance , the operation of the manipulator is stopped.

In the control device of the robot apparatus according to the present invention having the configuration 2 , the control means sets the center point of the intruding object based on the detection result by the intrusion detecting means, and based on the structure of the manipulator and the control information for the manipulator. The operation state of the manipulator is specified, a plurality of representative points of this manipulator are set, and the distance between the central point and each representative point is determined, so that the approach between the manipulator and the intruding object can be easily determined. When the intrusion of the intruding object into the alert area is detected, the operation of the manipulator is decelerated, the intrusion of the intruding object into the movable area of the manipulator is detected, and the distance between the manipulator and the intruding object is When it is determined that the distance is equal to or less than the predetermined distance , the operation of the manipulator is stopped.

In the control device of the robot apparatus according to the present invention having the configuration 3 , the control means includes a center point of the projected figure of the intruding object on the horizontal plane based on the detection result by the intrusion detection means and a fixed distance from the center point on the horizontal plane. In addition to setting the approximate figure that encloses the points, the intrusion detection means identifies the operating state of the manipulator, sets the projected figure on the horizontal plane of the manipulator, and determines the presence or absence of interference between the approximate figure and the projected figure. The approach of the intruding object can be easily discriminated. If an intruding object is detected in the alert area, the manipulator is decelerated and the intruding object enters the movable area of the manipulator. together but is detected, when the distance between the manipulator and the intruding object is judged that equal to or less than the predetermined distance, Ma It stops the operation of the Pyureta.
Therefore, in the control device of this robot apparatus, even if an intruding object approaches the manipulator and enters the alert area, the manipulator is first decelerated without suddenly stopping the manipulator. At this time, if the intruding object can be moved away from the manipulator, the manipulator will not be stopped. Therefore, contact between the intruding object and the manipulator can be avoided and safety can be ensured while minimizing downtime. .
When the intruding object enters the movable area of the manipulator and the distance between the manipulator and the intruding object is equal to or less than the predetermined distance, the operation of the manipulator is stopped. While restraining, contact between the intruding object and the manipulator can be avoided, and safety can be ensured. At this time, since the manipulator is decelerated, it is easy to accurately specify the operating state of the manipulator.

In the control device of the robot apparatus according to the present invention having the configuration 4 , when the manipulator is holding a workpiece, a warning area, an approximate solid, or an approximate figure is selected depending on the size of the gripped workpiece. Therefore, even when the manipulator is gripping the workpiece, it is possible to easily determine the approach between the manipulator and the intruding object, and minimize the stoppage of the manipulator while minimizing the stoppage of the manipulator. Contact can be avoided and safety can be ensured.

In the control device of the robot apparatus according to the present invention having the configuration 5 , a warning area including the intruding object is set, and at least one of the warning area and the warning area including the movable area of the manipulator is set to be higher than these warning areas. When a narrow danger area is set and multiplexed and the warning area of the intruding object area and the manipulator overlap, the first stage of deceleration is performed, and when one danger area and the other warning area overlap Since the second stage of deceleration is further reduced, it is possible to avoid contact between the intruding object and the manipulator while minimizing the stoppage of the manipulator. At this time, the manipulator is decelerated. It becomes easy to accurately specify the operating state of the manipulator.

In the control method of the robot apparatus according to the present invention having the configuration 6 , the first approximate figure that envelops the projected figure of the intruding object on the horizontal plane is set based on the monitoring result of the intruding object, and the structure of the manipulator and the Based on the control information for the manipulator, the operation state of the manipulator is specified, a second approximate figure that envelops the projected figure on the horizontal plane of the manipulator is set, and the presence or absence of interference between the first and second approximate figures is determined. Therefore, the approach between the manipulator and the intruding object can be easily discriminated , and when the intruding object has entered the warning area, the operation of the manipulator is decelerated and the manipulator moves into the movable area. with penetration of the intruding object is detected, it is determined at which the distance between the manipulator and the intruding object is equal to or less than a predetermined distance When the stops the operation of the manipulator.

In the control method of the robot apparatus according to the present invention having the configuration 7 , the center point of the intruding object is set based on the monitoring result of the intruding object, and the manipulator operation based on the structure of the manipulator and the control information for the manipulator identify state, it sets a plurality of representative points of the manipulator, so determining the distance between the center points and the representative points, Ki de easily be determined proximity of the manipulator and the intruding object, warning area When intrusion of an intruding object is detected, the operation of the manipulator is decelerated, the intrusion of the intruding object into the manipulator movable area is detected, and the distance between the manipulator and the intruding object is a predetermined distance. When it is determined that the following has occurred , the operation of the manipulator is stopped.

In the control method of the robot apparatus according to the present invention having configuration 8 , the center point of the projected figure of the intruding object on the horizontal plane and the point at a certain distance from the center point on the horizontal plane are enveloped based on the monitoring result of the intruding object. Set the approximate figure and monitor the manipulator to identify the operating state of the manipulator, set the projected figure on the horizontal plane of the manipulator, and determine the presence or absence of interference between the approximate figure and the projected figure. The approach of the manipulator is decelerated and the intrusion of the intruding object into the movable area of the manipulator is detected when intrusion of the intruding object into the alert area is detected. Rutotomoni, when the distance between the manipulator and the intruding object is judged that equal to or less than the predetermined distance, Manipi The operation of the regulator is stopped.
Therefore, in this robot apparatus control method, even if an intruding object approaches the manipulator and enters the alert area, the manipulator is first decelerated without suddenly stopping the manipulator. At this time, if the intruding object can be moved away from the manipulator, the manipulator will not be stopped. Therefore, contact between the intruding object and the manipulator can be avoided and safety can be ensured while minimizing downtime. .
When the intruding object enters the movable area of the manipulator and the distance between the manipulator and the intruding object is equal to or less than the predetermined distance, the operation of the manipulator is stopped. While restraining, contact between the intruding object and the manipulator can be avoided, and safety can be ensured. At this time, since the manipulator is decelerated, it is easy to accurately specify the operating state of the manipulator.

In the control method of the robot apparatus according to the present invention having the configuration 9 , when the manipulator is holding a workpiece, the warning area, the approximate solid, or the approximate figure is selected depending on the size of the gripped workpiece. Therefore, even when the manipulator is gripping the workpiece, it is possible to easily determine the approach between the manipulator and the intruding object, and minimize the stoppage of the manipulator while minimizing the stoppage of the manipulator. Contact can be avoided and safety can be ensured.

  That is, the present invention provides a control device and a robot for a robot apparatus in which interference and contact between a manipulator and a person are reliably prevented, safety is ensured, apparatus down time is reduced, and operation efficiency is not reduced. An apparatus control method can be provided.

In the control method for a robot apparatus according to the present invention having the structure 1 0, it sets the warning area encompassing the intruding object, for at least one of the warning area encompassing the movable area of the warning area and the manipulator, from these warning area If the warning area of the intruding object area and the manipulator overlaps with each other, the first stage of deceleration is performed and one danger area and the other warning area overlap. Since the second stage of deceleration is further reduced, contact between the intruding object and the manipulator can be avoided while minimizing the stoppage of the manipulator. At this time, the manipulator is decelerated. Therefore, it becomes easy to accurately specify the operating state of the manipulator.

It is a typical side view which shows the structure of the control apparatus of the robot apparatus which concerns on this invention. It is a flowchart which shows the procedure of the control method of the robot apparatus which concerns on this invention implemented in the control apparatus of the robot apparatus which concerns on this invention. It is a typical side view showing composition of a control device of a robotic device concerning the present invention in a state where a manipulator has grasped a work. It is a typical side view which shows the structure in 2nd Embodiment of the control apparatus of the robot apparatus which concerns on this invention. It is a typical side view which shows the structure in 3rd Embodiment of the control apparatus of the robot apparatus which concerns on this invention. It is a side view which shows 5th Embodiment which multiplexed the intruding object area | region. It is the typical side view and top view which show the structure in 6th Embodiment of the control apparatus of the robot apparatus which concerns on this invention. It is a typical top view showing other composition in a 6th embodiment of a control device of a robotic device concerning the present invention. It is the typical side view and top view which show the structure in 7th Embodiment of the control apparatus of the robot apparatus which concerns on this invention. It is the typical side view and top view which show the structure in 8th Embodiment of the control apparatus of the robot apparatus which concerns on this invention.

  Hereinafter, embodiments for carrying out the present invention will be described with reference to the drawings.

[Configuration of Robot Device Control Device (First Embodiment)]
FIG. 1 is a schematic side view showing a configuration of a control apparatus for a robot apparatus according to the present invention.

  The robot apparatus controlled by the control apparatus of the robot apparatus according to the present invention performs processing, assembly, work handling, welding, painting, and the like. As shown in FIG. 1, the robot apparatus includes a robot base unit 4 and a manipulator 1 installed on the robot base unit 4, and the manipulator 1 holds a work target (work). Operations such as transportation, processing, and assembly to other members are possible. In this robot apparatus, it is assumed that a person enters the movable area of the manipulator 1 for work.

  The manipulator 1 includes a plurality of actuators (drive devices) and links (rigid bodies). That is, the links are connected via joints 2a, 2b, 2c, 2d, 2e, and 2f that can be rotated (bent) or turned, and are relatively driven by actuators. . Each actuator is controlled by a robot control device 3 constituting a control means.

  In the manipulator 1, a first link (base end link) 1a is connected to the robot base 4 via a first joint 2a. The first joint 2a is a joint that can turn around a vertical axis (z-axis). The proximal end side of the second link 1b is connected to the distal end side of the first link 1a via the second joint 2b. The second joint 2b is a joint that allows the second link 1b to rotate around a horizontal axis. The proximal end side of the third link 1c is connected to the distal end side of the second link 1b via the third joint 2c. The third joint 2c is a joint that allows the third link 1c to rotate around a horizontal axis.

  And the base end side of the 4th link 1d is connected to the front end side of the 3rd link 1c via the 4th joint 2d. The fourth joint 2d is a joint that allows the fourth link 1d to rotate about the axis of the third link 1c. The proximal end side of the fifth link 1e is connected to the distal end side of the fourth link 1d via the fifth joint 2e. The fifth joint 2e is a joint that allows the fifth link 1e to rotate around a horizontal axis. On the distal end side (hand end) of the fifth link 1e, a distal end tool mechanism 5 that grips or processes a work target is provided via a sixth joint 2f. The tip tool mechanism 5 is controlled by the robot control device 3.

  The robot control device 3 controls the operating state of the manipulator 1, that is, the moving speed and moving direction of each actuator of the manipulator 1, and controls the operating mode of the manipulator 1 such as deceleration, temporary stop, and emergency stop. Further, the robot control device 3 determines the joints 2a, 2b based on the control information for the manipulator 1, that is, the operation command information for the actuators of the joints 2a, 2b, 2c, 2d, 2e and the operation command information for the tool mechanism 5. , 2c, 2d, 2e, the grip information of the tool mechanism 5, and the like, and the operation state of the manipulator 1 and the tool mechanism 5 can be specified. Note that the manipulator 1 is not limited to a vertical articulated type, and various forms such as a cylindrical coordinate type, a polar coordinate type, an orthogonal coordinate type, and a horizontal articulated type are conceivable.

  Also, as a host control device for the robot control device 3 that controls the robot device, a PLC or the like is often used as an overall control device to give commands or sequences to the robot control device or the tool mechanism. 1 and the operating state of the tool mechanism 5 can be acquired.

  And in the control apparatus of the robot apparatus which concerns on this invention, it is the warning area which is the area | region which covers the movable area A of the manipulator 1, and is wider than the movable area A, and the intruding object (for example, operator) 101 can enter. B is set.

  The control device of this robot apparatus includes a three-dimensional sensor 6 that serves as an intrusion detection unit that monitors the intrusion of the intruding object 101 into the alert area B. For example, a laser radar or a stereo camera can be used as the three-dimensional sensor 6. The three-dimensional sensor 6 is preferably installed above the manipulator 1. The three-dimensional sensor 6 can measure a distance to an object in the measurement area C wider than the alert area B, and can measure an object in the alert area B three-dimensionally based on the measurement result. .

  The measurement data indicating the measurement result by the three-dimensional sensor 6 is sent to the safety monitoring device 7 constituting the control means. This safety monitoring device is based on measurement data sent from the three-dimensional sensor 6 and control information (joint angle information, grip information, etc.) for the manipulator 1 sent from the robot control device 3 and the intruding object 101 and the manipulator 1. The distance between is calculated. Then, when the distance between the intruding object 101 and the manipulator 1 is equal to or less than the predetermined distance, the safety monitoring device sends an operation command for instructing deceleration or emergency stop to the robot control device 3. When an operation command is sent from the safety monitoring device 7, the robot control device 3 decelerates or stops the operation of the manipulator 1 according to the operation command.

[Robot Device Control Method (First Embodiment)]
The robot apparatus control method according to the present invention is implemented by operating the robot apparatus control apparatus according to the present invention. This robot apparatus control method can be implemented not only during normal operation of the robot apparatus, but also during various operations including adjustment, testing, maintenance, teaching, inspection, and the like.

  In the control device of the robot apparatus, the safety monitoring device 7 and the robot control device 3 decelerate the operation of the manipulator 1 when the three-dimensional sensor 6 detects the intrusion of the intruding object 101 into the alert area B. When the intrusion of the intruding object 101 into the movable area A of the manipulator 1 is detected and the distance between the manipulator 1 and the intruding object 101 is equal to or less than a predetermined distance, the operation of the manipulator 1 is stopped.

  FIG. 2 is a flowchart showing the procedure of the robot apparatus control method according to the present invention, which is performed in the robot apparatus control apparatus according to the present invention.

  That is, in the control device of the robot apparatus, the safety monitoring device 7 and the robot control apparatus 3 execute predetermined processing for each cycle or sequentially as shown in FIG. Note that at the start of this process, it is assumed that the intruding object 101 has not entered into the alert area B and the movable area A in addition to the fixed object 102 such as a peripheral device as shown in FIG.

  When the process is started in step st1 of FIG. 2, the process proceeds to step st2, and the data of the fixed object 102 and the manipulator 1 in the measurement region C are deleted from the measurement data from the three-dimensional sensor 6. Here, it is assumed that the positional relationship between the three-dimensional sensor 6 and the manipulator 1 is calibrated in advance, and the safety monitoring device 7 controls the robot at a timing (same time) synchronized with the measurement data from the three-dimensional sensor 6. Control information such as joint angle information of the manipulator 1 is acquired from the device 3. Even if the measurement data and the control information are not actually acquired at the same time, if the time stamp information is added to each of the measurement data and the control information, they can be processed as synchronized data by the time stamp information. In addition, when data is acquired at a timing at which they do not synchronize, it is conceivable that they are reflected in a safety distance to be set later in consideration of the mutual movement amount considered for the maximum synchronization shift time.

  Next, proceeding to step st3, the presence / absence of the intruding object 101 in the measurement region C is determined. When the intruding object 101 is detected, the process proceeds to step st4, and when the intruding object 101 is not detected, the process returns to step st2.

  Here, since the manipulator 1 operates, the manipulator 1 and the intruding object 101 are the same moving body in the measurement data, and therefore it is necessary to discriminate them. Therefore, since the structure of the manipulator 1 is known in advance, an area (hereinafter referred to as “manipulator area”) in which the manipulator 1 is enveloped by a second approximate solid such as a plurality of spheres in consideration of the arrangement of joints and the like. Set. By giving control information such as a joint angle to the information of this region, the manipulator region at the time of measurement data acquisition can be obtained. Since the measurement data and the control information of the manipulator 1 can be processed as synchronized data, the operation of the manipulator 1 can be separated from the measurement data and deleted by processing the measurement data and the manipulator area together. .

  Similarly, using the envelope region data of the fixed object 102 that is acquired or set in advance in the measurement region C, or regarding the portion that has not changed from the previous measurement as the fixed object 102, By deleting from the measurement data, the fixed object 102 can be separated and deleted from the measurement data.

  In this way, the intruding object 101 existing in the measurement area C can be extracted. At this time, for example, if the data obtained from the robot control device 3 is abnormal and does not match the actual operation of the manipulator 1, the operation of the manipulator 1 cannot be separated by matching the data. It is determined that the intruder object 101 suddenly appears in the area near the manipulator 1. In such a case, it may be determined that the data from the robot control device 3 is abnormal, and the manipulator 1 may be brought to an emergency stop.

  In step st4, it is determined whether or not the intruding object 101 has entered the warning area B. If it has entered the warning area B, the process proceeds to step st5, and if it has not entered the warning area B, the process returns to step st2. .

  In the measurement area C, the warning area B is set as described above. The alert area B includes the movable area A of the manipulator 1 and is wider than the movable area A, and is an area where the intruding object 101 can enter. Even in the movable area A, the area where the intruding object 101 cannot enter does not need to be included in the alert area B and does not need to be included in the measurement area C. In FIG. 1, the alert area B is set radially from the three-dimensional sensor 6, and a portion near the floor that is enveloped larger than the movable area A is cut.

  In step st5, the safety monitoring device 7 sets an area including the intruding object 101 (hereinafter referred to as “intruding object area”) from the extracted data of the intruding object 101. That is, the intruding object area is set by enveloping the area from the intruding object 101 to a position at a safe distance with a first approximate solid such as a sphere, cylinder, or regular polyhedron including a cube. Alternatively, assuming that the intruding object 101 is a person and enveloping an area in which a safe distance is added to a range that can be reached when a person stretches a limb from a position considered to be the center of the intruding object 101, an intruding object Set the area. As a specific setting of the intruding object area, a vertical line is dropped from the uppermost point (vertex) to the floor surface of the data of the intruding object 101, and the midpoint of this perpendicular is set as the center of the intruding object 101. It is possible to set a sphere with a radius that will prevent people from jumping out.

  These approximate solids may have any shape such as a sphere, cylinder, polyhedron, etc., but the shape that can envelop a person assumed as an intruding object and a manipulator without waste, and the approximate solids are It is preferable that a sufficient safety distance as defined in, for example, ISO 13855 is secured between actual objects when interference occurs. The approximate solid may be a combination of a plurality of solids.

  In the next step st6, as described above, the manipulator region is set, and the process proceeds to step st7.

  In step st7, it is determined whether or not there is interference between the manipulator region and the intruding object region. If there is interference in each region, the process proceeds to step st9, and if there is no interference in each region, the process proceeds to step st8.

  In step st8, the safety monitoring device 7 sends a deceleration command for reducing the operating speed of the manipulator 1 to a safe speed to the robot controller 3, decelerates the manipulator 1, and returns to step st2. At this time, the manipulator 1 does not stop and the work by the manipulator 1 does not stop. The safe speed is, for example, a speed within 250 mm / sec, which is the upper limit of the speed at which an industrial robot and a person can coexist, as defined in ISO10218-1, and is determined by prior risk assessment. The

  In step st9, the safety monitoring device 7 sends an emergency stop command to the robot control device 3, stops the manipulator 1, and proceeds to step st10 to end the process.

  In such a control method of the robot apparatus, the maximum cycle time, the maximum movement speed of the manipulator, the margin between each area such as the alert area B, the manipulator area, and the intruding object area are the contact between the intruding object 101 and the manipulator 1. The decision is made with sufficient consideration and consideration of the situation. For example, when it is desired to set the moving speed of the manipulator 1 faster, it is desirable to shorten the cycle time and increase the margin between the regions. It is also preferable to consider the travel distance (safety distance) from when the emergency stop command is transmitted until the manipulator 1 actually stops.

  FIG. 3 is a schematic side view showing the configuration of the control device of the robot apparatus according to the present invention in a state where the manipulator grips the workpiece.

  As shown in FIG. 3, when the manipulator 1 grips the workpiece 103, if the workpiece 103 is large, the movable region A ′ of the manipulator 1 that grips the workpiece 103 is the movable region A of only the manipulator 1 that is not gripped. Compared to In this case, the safety monitoring device 7 acquires information on whether or not the manipulator 1 is gripping the workpiece 103 from the robot control device 3, and expands the warning area B based on this information to create a new warning area B ′. By expanding the manipulator area, the contact between the manipulator 1 and the work 103 and the intruding object 101 can be prevented, and the downtime can be reduced.

  As described above, in the robot apparatus control device and the robot apparatus control method according to the present invention, the intrusion of the intruding object 101 into the movable area A of the manipulator 1 is constantly monitored. Compared to the robot device controlled by opening and closing the door, it is a foolproof measure. Further, when there is a possibility of contact or interference due to the positional relationship between the manipulator 1 and the intruding object 101, the manipulator 1 Is decelerated to a safe speed, and an emergency stop is made only when necessary.

  In the present invention, the approach of the intruding object 101 to the manipulator 1 does not cause an emergency stop, but the manipulator 1 is first decelerated. At this time, the operation itself is continued. Therefore, it is possible to secure time for the worker (intruding object 101) to avoid contact with the manipulator 1, and to avoid emergency stop if the contact is avoided, so that the downtime of the apparatus can be reduced.

  That is, in the present invention, control information for the manipulator 1 is acquired from the robot control device 3 or the position and behavior of the manipulator 1 and the position and behavior of the intruding object 101 are separated from the measurement result by the three-dimensional sensor 6. In order to discriminate and monitor the possibility of contact, for example, when there is a sufficient safety distance between the manipulator 1 and the operator, a case where the user accidentally steps into the movable region A, a position shift of the workpiece, etc. Even if the user enters the movable area A for the purpose of a short-time operation such as repairing, the emergency stop does not occur and the manipulator 1 continues to operate, so that the occurrence of downtime can be minimized. In such a situation, the manipulator 1 can work even if there is a risk of contact with the manipulator 1 due to misunderstanding of the worker, expectation of work time, lack of understanding of the robot device by the worker, etc. Emergency stop before contacting the person.

  As described above, in the present invention, the emergency stop does not occur only because the intruding object 101 has entered the movable area A of the manipulator 1, so that the operating efficiency reduction factors such as downtime due to the emergency stop are eliminated as much as possible. Can be operated with high efficiency.

  Further, when the manipulator 1 is decelerated, information processing such as operation of the manipulator 1 and separation processing of the intruding object 101 is facilitated, and recognition processing of the intruding object 101 in the movable area A of the manipulator 1 performed thereafter is easy. Become. For example, when a laser range finder or the like is used as the three-dimensional sensor 6, the measurement is performed by scanning. Therefore, when the measurement target moves at high speed, it is recorded as data accompanying movement. Therefore, when the measurement target moves at a high speed, it becomes difficult to accurately identify the position of the intruding object 101 and accurately separate the manipulator 1 and the intruding object 101. Since the manipulator 1 is decelerated, the position of the intruding object 101 can be accurately identified, and the manipulator 1 and the intruding object 101 can be accurately separated.

  Furthermore, in the present invention, unless the manipulator 1 performs an operation such as flipping off an article, safety can be sufficiently ensured without installing a safety fence around the manipulator 1. If it is not necessary to install a safety fence, the site can be used effectively, the restrictions on using the robotic device are reduced, and cost reduction can be expected.

[Second Embodiment]
FIG. 4 is a schematic side view showing the configuration in the second embodiment of the controller of the robot apparatus according to the present invention.

  In the above-described embodiment, one three-dimensional sensor 6 is used as intrusion detection means. However, as shown in FIG. 4A, depending on the position of a fixed object 102 such as a peripheral device. A blind spot may occur in the three-dimensional sensor 6. In order to eliminate such blind spots and make the measurement region C wider, a plurality of three-dimensional sensors 6 may be integrated and used as shown in FIG.

  That is, in the control device of this robot apparatus, two three-dimensional sensors 6a and 6b are used as intrusion detection means. In this control device, measurement areas C1 and C2 are set for each of the first and second three-dimensional sensors 6a and 6b, and an intruding object 101 that has entered one of these measurement areas C1 and C2 is detected. It is measured. Further, alert areas B1 and B2 are set for the measurement areas C1 and C2, respectively. The area belonging to any one of these warning areas B1 and B2 is the warning area B.

  In the control device of this robot apparatus, when one three-dimensional sensor 6 is used, the intruding object 101b that has entered the blind spot of the fixed object 102 is measured by one of the three-dimensional sensors 6b. It is detected that the vehicle is approaching the region B.

[Third Embodiment]
FIG. 5 is a schematic side view showing the configuration of the third embodiment of the control apparatus for the robot apparatus according to the present invention.

  In the embodiment described above, a robot apparatus having one manipulator 1 is a control target. However, as shown in FIG. 5, a robot apparatus having a plurality of manipulators 1 and 1 or a plurality of robot apparatuses is a control target. It is good.

  That is, there are cases where a plurality of robot devices are simultaneously operated in the same cell (same area). In such a case, the safety monitoring device 7 obtains data from the plurality of robot control devices 3 and 3 or a control device that manages them collectively, and in the same manner as in the above-described embodiment, A deceleration command or an emergency stop command may be issued to the manipulators 1 and 1.

  In addition, when a peripheral device or the like existing in the movable area A is provided with a movable part that may cause harm to a person, this is considered as the second and third robots and is similar to the robot device. Can be controlled. In this case, the safety monitoring device 7 obtains data from the control device of the peripheral device or the control device that manages the plurality of control devices in an integrated manner, and in the same manner as in the above-described embodiment, Issue a deceleration command or emergency stop command to the peripheral device.

  Furthermore, when the robot apparatus operates in conjunction with other devices that do not exist in the same cell, the safety monitoring device 7 issues a deceleration command and an emergency stop command to these other devices. Good. In this case, the work linked with the robot apparatus and other devices can be smoothly continued.

  Similarly, in the process of performing automatic work such as welding and painting, if only the robot operation is decelerated and paused, it may cause fatal damage to the quality of welding or painting. It is preferable that a speed adjustment and a temporary stop command are also given to the control device of the device and the control device of the coating gun. In this case, the safety monitoring device 7 acquires data from the welding device control device, the paint gun control device, or the control device that manages these control devices in the same manner as in the previous embodiment. Then, a deceleration command and an emergency stop command are issued to the manipulator 1 and the welding apparatus or the coating gun.

  In consideration of actual operation, the three-dimensional sensor 6 and the safety monitoring device 7 used in the present invention may have necessary safety measures such as duplexing and self-diagnosis. is necessary. In addition, it is desirable that the manipulator 1 is also provided with the same measures for portions relating to deceleration and emergency stop. For example, a peripheral portion of the internal position sensor of the robot apparatus, a receiving unit for receiving a deceleration and emergency stop command, and the like. In addition, the safety monitoring device 7 and the three-dimensional sensor 6 continue to issue an emergency stop command to the robot control device 3 for fail-safe in a state where the safety monitoring device 7 and the three-dimensional sensor 6 are not normally activated such as when the power is turned off. It is necessary to be in a state.

[Fourth Embodiment]
In the above-described embodiment, a laser radar (laser range finder) is exemplified as the three-dimensional sensor 6 serving as an intrusion detection unit. However, a stereo camera or the like can be used as the three-dimensional sensor 6.

  In order to precisely set the warning area B, the three-dimensional sensor is effective. However, for monitoring the interference between the intruding object area and the manipulator area, use of another sensor is also conceivable. For example, a configuration in which three-dimensional information is acquired by a combination of two-dimensional sensors, a method of handling as three-dimensional information by a combination of a two-dimensional sensor and known information, and the like can be considered. When it is assumed that the intruding object 101 is a worker, the head of the worker is recognized by image processing using a normal camera, and the intruding object 101 ( The center position of the worker) can be specified.

  Furthermore, as a sensor serving as an intrusion detection means, an infrared time-of-flight measurement type three-dimensional distance measuring device, a microwave sensor, an ultrasonic sensor, or the like can be used. In addition, a stereoscopic image acquisition method (view volume intersection method) by arranging a plurality of cameras around the work environment can also be used. Furthermore, these various sensors and techniques can be used in combination.

[Fifth Embodiment]
FIG. 6 is a side view showing a fifth embodiment in which an intruding object region is multiplexed.

  Further, in the present invention, as shown in FIG. 6, the intruding object area including the intruding object 101 may be multiplexed with the warning area and the dangerous area multiplexed with one or more. Similarly, the manipulator region may be multiplexed. In this case, the approaching state between the intruding object 101 and the manipulator 1 can be recognized in multiple stages, and the speed of the manipulator 1 can be sequentially reduced in multiple stages in accordance with these approaches. That is, when the warning areas of the intruding object area and the manipulator area overlap, the first stage of deceleration is performed, and when the danger area of one area and the warning area of the other area overlap, After deceleration, the second stage of deceleration is performed, and after the dangerous areas in each area overlap each other, the control of the third stage and subsequent principles is sequentially performed, and finally an emergency stop is performed. In this case, the occurrence of downtime can be minimized by performing appropriate settings.

[Sixth Embodiment]
FIG. 7 is a schematic side view and plan view showing the configuration of the control apparatus for a robot apparatus according to the sixth embodiment of the present invention.

  In the control device of the robot apparatus according to the present invention, when the distance between the manipulator 1 and the intruding object 101 is equal to or less than a predetermined distance, the positional relationship between the manipulator 1 and the intruding object 101 is determined in FIG. As shown in (b), it may be performed by setting approximate figures that envelop the projected figures of the manipulator 1 and the intruding object 101 onto the horizontal plane.

  In this case, the safety monitoring device 7 sets a first approximate figure that envelops the projected figure of the intruding object 101 on the horizontal plane based on the detection result by the intrusion detection means, and also controls the structure of the manipulator 1 and the manipulator 1. Based on the information, the operating state of the manipulator 1 is specified, and a second approximate figure that envelops the figure projected on the horizontal plane of the manipulator 1 is set. Then, by determining the presence or absence of interference between the first and second approximate figures, it is determined that the distance between the manipulator 1 and the intruding object 101 is equal to or less than a predetermined distance. Here, the intrusion detection means may be a three-dimensional sensor or a two-dimensional sensor, as shown in FIG.

  That is, first, the safety monitoring device 7 specifies a shape obtained by projecting an area determined to be the intruding object 101 onto a horizontal plane (floor surface), and a central point (such as a centroid) of this shape is used as a representative point. As a region that envelops the projected figure of the area that is determined to be the intruding object 101 with the representative point as the center, for example, a first approximate figure is set as an area that includes a safety distance in the reach of human reach, Let it be an intruding object area. The first approximate figure may be, for example, a circle or a rectangle.

  Next, the safety monitoring device 7 sets each representative point positioned in the space from the representative point preset based on the structure of the manipulator 1 and the arrangement of the joints and the control information acquired from the robot control device 3 in the horizontal plane. A second approximate figure is set as an area surrounding the projected figure of the area determined to be the manipulator 1 with the point projected on the (floor surface) as the center, and is set as the manipulator area. This second approximate figure may be composed of, for example, a plurality of circles.

  Then, the safety monitoring device 7 determines whether or not the manipulator region and the intruding object region interfere with each other at the time of data acquisition, and if there is an interference, issues an emergency stop command to the robot control device 3. Then, the manipulator 1 is emergency stopped.

  The approximate figure may be any shape such as a circle or a polygon including a square, but the projected figure of the person assumed as the intruding object 101 and the projected figure of the manipulator 1 can be used without waste. It has a shape that can be enveloped and has a size that ensures a sufficient safety distance as defined in ISO 13855, for example, between actual objects when approximate solids interfere with each other. preferable. The second approximate figure that envelopes the projected figure of the manipulator 1 may be a combination of a plurality of figures. If the approximate figure is a circle, the presence or absence of interference can be easily determined due to the property of the circle being a set of points equidistant from the center.

  FIG. 8 is a schematic plan view showing another configuration in the sixth embodiment of the controller of the robot apparatus according to the present invention.

  In this robot apparatus control device, when the intrusion detection means is a two-dimensional sensor, the two-dimensional sensor 6c is installed above the manipulator 1 as shown in (a) and (b) of FIG. It is not necessary to perform this, and a sensor that is installed around the robot base 4 and detects the presence or absence of an object around the robot base 4 may be used. These two-dimensional sensors 6c detect the lower part of the intruding object 101, that is, the ankle portion if the intruding object 101 is a person, as shown in FIG. 8C. When the lower part of the intruding object 101 is detected in this way, the safety monitoring device 7 assumes that this is a person, and sets a predetermined height (for example, a person) around the detected position. Is determined to be present. If the presence of the intruding object 101 is determined, an approximate solid or an approximate figure is set based on the intruding object 101, and the approach between the intruding object 101 and the manipulator 1 is performed in the same manner as in the above-described embodiment. Interference can be determined.

[Seventh Embodiment]
FIG. 9 is a schematic side view and plan view showing the configuration of the control device of the robot apparatus according to the seventh embodiment of the present invention.

  In the control apparatus of the robot apparatus according to the present invention, when the distance between the manipulator 1 and the intruding object 101 is equal to or less than a predetermined distance, the positional relationship between the manipulator 1 and the intruding object 101 is determined in ( As shown in a) and (b), the center point of the intruding object 101 is set based on the detection result by the three-dimensional sensor 6, and the operation state of the manipulator 1 is determined based on the structure of the manipulator 1 and the control information for the manipulator 1. It may be performed by specifying a plurality of representative points of the manipulator 1 and determining the distance between the central point and each representative point.

  That is, the safety monitoring device 7 first sets the center point of the area determined as the intruding object 101. When the intruding object 101 is assumed to be a person, the center point is set by dropping a perpendicular line from the center of the head of the intruding object 101, that is, the center of the person's head to the floor, and setting the midpoint of this perpendicular as the center point. can do.

  Next, the safety monitoring device 7 sets each representative point positioned in the space from the representative points preset based on the structure of the manipulator 1 and the arrangement of joints and the control information acquired from the robot control device 3. To do.

  The safety monitoring device 7 determines the distance between the central point of the intruding object 101 and each representative point of the manipulator 1 at the time of data acquisition, and this distance becomes a predetermined distance, for example, a safety distance or less. In that case, an emergency stop command is transmitted to the robot control device 3 to cause the manipulator 1 to stop emergency. Here, the safety distance may be set as a variable using the moving speed of the manipulator 1 as a parameter. For example, when the movement speed of the manipulator 1 is high, the safety distance is lengthened, and when the movement speed of the manipulator 1 is slow, the safety distance is set to be short, thereby generating downtime and work of the apparatus. A decrease in efficiency can be prevented.

  The distance between the center point of the intruding object 101 and each representative point of the manipulator 1 is determined by setting projection points obtained by projecting the center point and each representative point onto the horizontal plane (floor surface). You may make it discriminate | determine the distance on a horizontal surface.

  Further, in determining the distance between the central point of the intruding object 101 and each representative point of the manipulator 1, a higher weight is set for each representative point of the manipulator 1 toward the distal end side to enhance the influence of the distal end portion. You may make it discriminate | determine. This is because although the manipulator 1 depends on the form, it generally moves at a higher speed at the tip and in many directions that cannot be predicted, and contact with a person is likely to occur at the tip of the manipulator 1.

[Eighth Embodiment]
FIG. 10 is a schematic side view and plan view showing the configuration of the control device for the robot apparatus according to the eighth embodiment of the present invention.

  In the control device of the robot apparatus according to the present invention, as a method for determining the positional relationship between the manipulator 1 and the intruding object 101 when the distance between the manipulator 1 and the intruding object 101 is equal to or less than a predetermined distance, FIG. As shown in (b) of FIG. 10, it may be performed by setting an approximate figure that envelops a projected figure of the intruding object 101 on the horizontal plane and a projected figure of the manipulator 1 on the horizontal plane.

  In this case, the safety monitoring device 7 sets a first approximate figure that envelops the projected figure of the intruding object 101 on the horizontal plane based on the detection result by the intrusion detection means. Moreover, the safety monitoring device 7 sets a projection figure on the horizontal plane of the manipulator 1 based on the detection result by the intrusion detection means. Then, it is determined that the distance between the manipulator 1 and the intruding object 101 is equal to or less than a predetermined distance by determining the presence or absence of interference between the approximate graphic and the projected graphic. Here, the intrusion detection means may be a three-dimensional sensor or a two-dimensional sensor, as shown in FIG.

  That is, first, the safety monitoring device 7 specifies a shape obtained by projecting an area determined to be the intruding object 101 onto a horizontal plane (floor surface), and a central point (such as a centroid) of the shape is used as a representative point. As an area that envelops the projected figure of the area that is determined to be the intruding object 101 with the point at the center, for example, an approximate figure is set by adding a safe distance to the reach of human reach, and the intruding object area To do.

  The approximate figure may be any shape such as a circle or a polygon including a square, but the projected figure of the person assumed as the intruding object 101 and the projected figure of the manipulator 1 are enveloped without waste. When the approximate solids interfere with each other, they may have a size that ensures a sufficient safe distance between actual objects, for example, as defined in ISO 13855. preferable. The second approximate figure enveloping the projected figure of the manipulator 1 may be a combination of a plurality of figures. If the approximate figure is a circle, the presence or absence of interference can be easily determined due to the property of the circle being a set of points equidistant from the center.

  Next, the safety monitoring device 7 sets a projection figure obtained by projecting an area determined to be the manipulator 1 by the intrusion detection unit onto the horizontal plane (floor surface).

  Then, the safety monitoring device 7 determines the presence or absence of interference between the intruding object region and the projection figure of the manipulator 1 at the time of data acquisition, and if there is interference, the safety monitoring device 7 instructs the robot control device 3 to perform an emergency stop command. Is transmitted, and the manipulator 1 is brought to an emergency stop.

  In this case, the safety monitoring device 7 does not need to acquire control information for the manipulator 1 from the robot control device 3.

  INDUSTRIAL APPLICABILITY The present invention is applied to a robot apparatus control device and a robot apparatus control method, and can improve safety and safety when a person or the like enters a movable region of a manipulator of the robot apparatus.

DESCRIPTION OF SYMBOLS 1 Manipulator 3 Robot controller 4 Robot base part 5 Tip tool mechanism 6 Three-dimensional sensor 7 Safety monitoring device 101 Intruding object

Claims (10)

A control device for a robot device for controlling the operation of the robot device provided with a manipulator,
Intrusion detection means for monitoring the intrusion of the intruding object into a warning area that includes the movable area of the manipulator and is wider than the movable area, and allows an intruding object to enter.
Control means for specifying the operation state of the manipulator and controlling the operation of the manipulator;
With
The intrusion detection means is a two-dimensional recognition sensor or a three-dimensional recognition sensor,
The control means sets a first approximate figure that envelops the figure projected onto the horizontal plane of the intruding object based on the detection result by the intrusion detection means, and based on the structure of the manipulator and the control information for the manipulator identifying an operating state of the manipulator, by a projected figure of the horizontal plane of the manipulator sets the second approximate figure enveloping, to determine the presence or absence of interference between the first and second approximate figure, the When intrusion of the intruding object into the alert area is detected, the operation of the manipulator is decelerated, and the intrusion of the intruding object into the movable area of the manipulator is detected, and the manipulator and the intrusion are detected. when the distance between the object is equal to or less than a predetermined distance is determined, stops the operation of the manipulator Controller features and to Carlo bot device to cause. A control device for a robot device for controlling the operation of the robot device provided with a manipulator,
Intrusion detection means for monitoring the intrusion of the intruding object into a warning area that includes the movable area of the manipulator and is wider than the movable area, and allows an intruding object to enter.
Control means for specifying the operation state of the manipulator and controlling the operation of the manipulator;
With
The intrusion detection means is a three-dimensional recognition sensor,
The control means sets the center point of the intruding object based on the detection result by the intrusion detection means, specifies the operating state of the manipulator based on the structure of the manipulator and the control information for the manipulator, and the manipulator When the intrusion of the intruding object into the alert area is detected, the operation of the manipulator is decelerated by setting a plurality of representative points and determining the distance between the central point and each representative point. When the intrusion of the intruding object into the movable region of the manipulator is detected and it is determined that the distance between the manipulator and the intruding object is equal to or less than a predetermined distance , the operation of the manipulator is controller features and to Carlo bot apparatus be stopped. A control device for a robot device for controlling the operation of the robot device provided with a manipulator,
Intrusion detection means for monitoring the intrusion of the intruding object into a warning area that includes the movable area of the manipulator and is wider than the movable area, and allows an intruding object to enter.
Control means for specifying the operation state of the manipulator and controlling the operation of the manipulator;
With
The intrusion detection means is a two-dimensional recognition sensor or a three-dimensional recognition sensor,
The control means sets an approximate figure enveloping a center point of a projected figure on the horizontal plane of the intruding object and a point at a certain distance from the center point on the horizontal plane based on a detection result by the intrusion detection means, The operating state of the manipulator is specified by the intrusion detection means, a projected figure on the horizontal plane of the manipulator is set, and the presence or absence of interference between the approximate figure and the projected figure is determined , whereby the intruding object into the warning area is determined. When the intrusion of the manipulator is detected, the operation of the manipulator is decelerated, the intrusion of the intruding object into the movable region of the manipulator is detected, and the distance between the manipulator and the intruding object is a predetermined distance. by the time it became less is determined, characterized and to Carlo bot that stops the operation of the manipulator Location of the control device. When the manipulator gripping the workpiece, depending on the size of the workpiece being gripped, the warning area, was or, No placement claim 1 Symbol characterized by enlarging the approximate figure Control device for robotic devices. A warning area that includes the intruding object is set, and at least one of the warning area and the warning area that includes the movable area of the manipulator is a risk that is multiplexed to one or two or more narrower than these warning areas. Set the area and multiplex,
When warning areas of the intruding object area and the manipulator overlap each other, the first stage of deceleration is performed, and when one dangerous area and the other warning area overlap, the intruding object area and the manipulator claim 1, characterized in that sequential multistage decelerated in accordance with the approach of the manipulator, was or control apparatus for a robot apparatus according to claim 3, wherein. A control method of a robot apparatus for controlling the operation of a robot apparatus provided with a manipulator,
Monitoring the intrusion of the intruding object into a warning area that includes the movable area of the manipulator and is wider than the movable area, and allows an intruding object to enter;
Based on the monitoring result of the intruding object, a first approximate figure that envelops the figure projected on the horizontal plane of the intruding object is set, and the operation state of the manipulator based on the structure of the manipulator and the control information for the manipulator By specifying the second approximate figure that envelops the projected figure on the horizontal plane of this manipulator, and determining the presence or absence of interference between these first and second approximate figures , When the intrusion of the intruding object is detected, the operation of the manipulator is decelerated, the intrusion of the intruding object into the movable region of the manipulator is detected, and the distance between the manipulator and the intruding object is when it reaches a predetermined distance or less is determined, characterized in that stops the operation of the manipulator Method of controlling the bot apparatus. A control method of a robot apparatus for controlling the operation of a robot apparatus provided with a manipulator,
Monitoring the intrusion of the intruding object into a warning area that includes the movable area of the manipulator and is wider than the movable area, and allows an intruding object to enter;
Based on the monitoring result of the intruding object, the center point of the intruding object is set, the operation state of the manipulator is specified based on the structure of the manipulator and control information for the manipulator, and a plurality of representative points of the manipulator When the intrusion of the intruding object into the alert area is detected by determining the distance between the center point and each representative point , the operation of the manipulator is decelerated, and the manipulator The intrusion of the intruding object into the movable region is detected, and when it is determined that the distance between the manipulator and the intruding object is equal to or less than a predetermined distance , the operation of the manipulator is stopped. the method of Carlo bots device to a. A control method of a robot apparatus for controlling the operation of a robot apparatus provided with a manipulator,
Monitoring the intrusion of the intruding object into a warning area that includes the movable area of the manipulator and is wider than the movable area, and allows an intruding object to enter;
Based on the monitoring result of the intruding object, a central point of the projected figure of the intruding object on the horizontal plane and an approximate graphic enclosing a point at a certain distance from the central point on the horizontal plane are set, and the manipulator is monitored Thus, the operating state of the manipulator is specified, the projected figure on the horizontal plane of the manipulator is set, and the presence or absence of interference between the approximate figure and the projected figure is determined, so that the intruding object enters the warning area. If detected, the operation of the manipulator is decelerated, the intrusion of the intruding object into the movable region of the manipulator is detected, and the distance between the manipulator and the intruding object is equal to or less than a predetermined distance. when it is determined the the features and to Carlo bot device that stops the operation of the manipulator Your way. The manipulator when the gripping the workpiece, depending on the size of the workpiece being gripped, the warning area, was or, 請 Motomeko 6 you characterized by enlarging the approximate figure, Or the control method of the robot apparatus of Claim 8 . A warning area that includes the intruding object is set, and at least one of the warning area and the warning area that includes the movable area of the manipulator is a risk that is multiplexed to one or two or more narrower than these warning areas. Set the area and multiplex,
When warning areas of the intruding object area and the manipulator overlap each other, the first stage of deceleration is performed, and when one dangerous area and the other warning area overlap, the intruding object area and the manipulator the method of claim 6 or a robotic device according to claim 8, characterized in that sequential multistage decelerated in accordance with the approach of the manipulator.

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