CN106457572B - 作业人员终端 - Google Patents

作业人员终端 Download PDF

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Publication number
CN106457572B
CN106457572B CN201580033031.XA CN201580033031A CN106457572B CN 106457572 B CN106457572 B CN 106457572B CN 201580033031 A CN201580033031 A CN 201580033031A CN 106457572 B CN106457572 B CN 106457572B
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CN
China
Prior art keywords
operator
head
manipulator
unit
sensor
Prior art date
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Active
Application number
CN201580033031.XA
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English (en)
Chinese (zh)
Other versions
CN106457572A (zh
Inventor
高市隆一郎
川岛靖史
阿部将佳
江田恭之
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Omron Corp
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Omron Corp
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Publication date
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Publication of CN106457572A publication Critical patent/CN106457572A/zh
Application granted granted Critical
Publication of CN106457572B publication Critical patent/CN106457572B/zh
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/06—Control stands, e.g. consoles, switchboards
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/04—Viewing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/06—Safety devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0096—Programme-controlled manipulators co-operating with a working support, e.g. work-table
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36435—Electromyographical, myoelectric control signal
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39014—Match virtual world with real world
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40202—Human robot coexistence
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40413—Robot has multisensors surrounding operator, to understand intention of operator

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • General Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Manipulator (AREA)
CN201580033031.XA 2014-06-20 2015-06-19 作业人员终端 Active CN106457572B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2014-127668 2014-06-20
JP2014127668A JP6344084B2 (ja) 2014-06-20 2014-06-20 ロボット操作用の作業者端末
PCT/JP2015/067702 WO2015194659A1 (ja) 2014-06-20 2015-06-19 ロボット操作用の作業者端末

Publications (2)

Publication Number Publication Date
CN106457572A CN106457572A (zh) 2017-02-22
CN106457572B true CN106457572B (zh) 2019-07-09

Family

ID=54935635

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201580033031.XA Active CN106457572B (zh) 2014-06-20 2015-06-19 作业人员终端

Country Status (5)

Country Link
US (1) US20170136627A1 (enExample)
EP (1) EP3159119B1 (enExample)
JP (1) JP6344084B2 (enExample)
CN (1) CN106457572B (enExample)
WO (1) WO2015194659A1 (enExample)

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JP6504073B2 (ja) * 2016-02-15 2019-04-24 オムロン株式会社 作業領域推定装置、制御装置、制御システム、作業領域推定方法およびプログラム
JP6763968B2 (ja) * 2016-12-02 2020-09-30 Cyberdyne株式会社 上肢動作支援装置及び上肢動作支援システム
JP6891741B2 (ja) * 2017-09-04 2021-06-18 トヨタ自動車株式会社 マスタスレーブロボットの動作終了方法
US20190139441A1 (en) * 2017-11-03 2019-05-09 Drishti Technologies, Inc. Contextual training systems and methods
FR3073765B1 (fr) * 2017-11-22 2021-05-14 Centre Techn Ind Mecanique Machine automatique asservie collaborative
CN108415560B (zh) * 2018-02-11 2020-12-04 Oppo广东移动通信有限公司 电子装置、操作控制方法及相关产品
JP6965785B2 (ja) * 2018-02-15 2021-11-10 オムロン株式会社 制御システム、スレーブ装置制御部、制御方法およびプログラム
JP7328031B2 (ja) 2018-07-31 2023-08-16 キヤノン株式会社 情報処理装置、情報処理システム、表示装置、表示制御方法、情報処理システム、情報処理システムの制御方法、物品の製造方法、プログラム及び記録媒体
US11703834B2 (en) * 2018-07-31 2023-07-18 Canon Kabushiki Kaisha Production system, and method of producing article
JP6916157B2 (ja) * 2018-10-23 2021-08-11 ファナック株式会社 人と協働作業を行うロボットシステム、及びロボット制御方法
JP7448327B2 (ja) * 2019-09-26 2024-03-12 ファナック株式会社 作業員の作業を補助するロボットシステム、制御方法、機械学習装置、及び機械学習方法
WO2021256355A1 (ja) * 2020-06-16 2021-12-23 ファナック株式会社 ロボット制御装置
CN112405539B (zh) * 2020-11-11 2022-03-04 东南大学 一种基于肌电信号和脑电错误电位的机器人自然控制方法
AT526852B1 (de) * 2023-06-22 2024-08-15 Trumpf Maschinen Austria Gmbh & Co Kg Vorrichtung zur Materialbearbeitung mit zumindest manueller Beschickung und/oder Bedienung, sowie Programmiersystem
US12280969B2 (en) * 2023-09-14 2025-04-22 Target Brands, Inc. Depalletization systems and methods

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WO2010110411A1 (ja) * 2009-03-26 2010-09-30 独立行政法人産業技術総合研究所 頭部運動による入力装置
CN103336582A (zh) * 2013-07-30 2013-10-02 黄通兵 一种运动信息控制人机交互方法

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US5577981A (en) * 1994-01-19 1996-11-26 Jarvik; Robert Virtual reality exercise machine and computer controlled video system
JPH0981309A (ja) * 1995-09-13 1997-03-28 Toshiba Corp 入力装置
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JP3487237B2 (ja) * 1999-08-27 2004-01-13 日本電気株式会社 ポインティング装置とそれを用いたコンピュータシステム
DE10103922A1 (de) * 2001-01-30 2002-08-01 Physoptics Opto Electronic Gmb Interaktives Datensicht- und Bediensystem
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CN103336582A (zh) * 2013-07-30 2013-10-02 黄通兵 一种运动信息控制人机交互方法

Also Published As

Publication number Publication date
CN106457572A (zh) 2017-02-22
EP3159119A4 (en) 2018-03-21
JP6344084B2 (ja) 2018-06-20
EP3159119B1 (en) 2020-11-18
JP2016007647A (ja) 2016-01-18
EP3159119A1 (en) 2017-04-26
WO2015194659A1 (ja) 2015-12-23
US20170136627A1 (en) 2017-05-18

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