JP2006043792A - Robot with collision preventive function - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a robot for preventing collision with people and obstacles in the surroundings. <P>SOLUTION: This robot with a collision preventive function includes: an arm 7 provided on the body 1; an arm control part 5 for controlling the arm; a distance sensor 8 provided on the arm for detecting the distance to the people 10 or an object in the periphery; and a collision preventive function composed of a proximity check part 3 for checking the presence/absence of proximity of people or an object in the periphery according to a detection signal of the distance sensor and a proximity presenting part 2 for informing the people in the periphery according to the confirmation result of the proximity check part. The arm control part causes the robot to perform an instructed operation while keeping the distance between the arm and the peripheral people or structure to a fixed value or more when the proximity check part decides that the arm and the people or structure approach each other. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a robot with a collision prevention function for preventing a robot arm from colliding with surrounding humans and obstacles.

FIG. 7 shows the configuration of a robot arm with a collision prevention function in Conventional Example 1. In FIG. 7, 101 is a tactile sleeve, 101a and 101b are support units, 103a to 103g are stress sensors, 104 is an arm position control device, 104a is a collision detection unit, 104b is a collision prevention control unit, and 107 is a robot arm. . This robot arm with an anti-collision function includes a hollow cylindrical tactile sleeve 101 having side surfaces (bottom surfaces) facing each other as support portions 101a and 101b and elastically coupled to the outside of the robot arm 107 at its hollow portion, A plurality of stress sensors 103a to 103d and 103e to 103h respectively attached to the support portions 101a and 101b of the sleeve 101, and an arm position control device which is connected to the stress sensors 103a to 103h and controls the position of the robot arm 107 104 (for example, refer to Patent Document 1).
Among them, a plurality of stress sensors 103a to 103d, 103e to 103h are provided in pairs (103a and 103e, 103b and 103f, 103c and 103g, 103d and 103h) facing each other as shown in the figure. The elastic strain stress generated in the support portions 101a and 101b is detected and a stress signal is output. The arm position control device 104 controls the position of the robot arm 107 in the direction opposite to the direction of the stress generated in the support portions 101a and 101b according to the input stress signal. The arm position control device 104 further includes a horizontal direction H obtained by subtracting the sum of the stress signals of one pair configuration from the sum of the stress signals of one pair configuration placed on the horizontal plane among the stress sensors 103a to 103h. The difference value F _H [expressed as F _H = (103b + 103f) − (103d + 103h)], and the sum of the stress signals of one pair configuration placed on the vertical plane is changed to the sum of the stress signals of the other pair configuration. A collision detection unit 104a that detects a collision in the robot arm 107 based on the subtracted vertical V difference value F _V [expressed as F _V = (103a + 103e) − (103c + 103g)] and outputs a collision detection signal; A collision prevention control unit 104b that controls the position of the robot arm 107 based on a collision detection signal from the collision detection unit 104a.
That is, the collision detection unit 104a outputs a collision detection signal including the presence / absence of the collision and the collision direction at the time of the collision by performing coordinate conversion processing and threshold processing based on the stress signals from the stress sensors 103a to 103h. . In addition, the collision prevention control unit 104b moves the robot arm 107 from the collision occurrence direction when it is determined that a collision has actually occurred based on the results of both the presence / absence of the collision and the collision direction at the time of the collision. In order to move in the opposite direction, a position control signal L is output to an arm drive control unit (not shown) for the robot arm 107. Therefore, the arm drive control unit can be regarded as being included in the arm position control device 104.
In this robot arm with an anti-collision function, even if there is a collision with an obstacle during a moving operation, the robot arm 107 itself is provided with a tactile sleeve 101 having elasticity, and each arm is controlled by the arm position control device 104. After determining the stress generated in the tactile sleeve 101 based on the stress signals from 103a to 103h, the robot arm 107 is quickly positioned in the direction opposite to the direction of the stress. Before the robot arm 107 and the obstacle both suffer large mechanical damage, the position is moved and mechanical damage is avoided.
As described above, according to the robot arm with the collision preventing function of the conventional example 1, the tactile sensation sleeve is elastically supported by the robot arm, and the elastic strain stress generated when the robot arm collides with the obstacle is measured. The robot arm position is controlled in a direction that detects the direction and avoids this, so the impact force at the time of collision is absorbed and relaxed, and quasi-static stress caused by subsequent mechanical contact is also avoided. Therefore, mechanical damage due to collision between the robot arm and the obstacle can be minimized. As a result, it is possible to provide a robot arm with a collision prevention function that can surely prevent dangers such as a large collision between the robot arm and an obstacle and the accompanying occurrence of a contact accident.
FIG. 8 shows the configuration of the robot collision preventing apparatus in Conventional Example 2. This robot collision preventing apparatus is one that is attached to one or two or more predetermined parts of a robot having a possibility of collision with surrounding structures so that the distance between the predetermined part and the structure can be detected. Or two or more distance sensors, proximity check means for confirming whether the predetermined portion is close to the structure based on the detection signal of the distance sensor, and based on the confirmation result of the proximity check means Alarm means for notifying an operator that the predetermined portion is close to the structure (for example, see Patent Document 2).
In addition, this robot collision prevention device prevents collision of the robot arm 201, and includes a non-contact distance sensor 214a, 214b, 214c such as a proximity sensor type provided at the joint 206 of the arm 201, and a robot. A / D conversion unit 215a and proximity check unit 215b provided in the controller 215, and a display unit 216a and an alarm unit 216b as alarm means provided in the operation box 216.
The arm 201 is composed of one axis 203, two axes 205, three axes 207, four axes 209, five axes 211 and six axes 213, and joints 202, 204 for sequentially connecting these axes and driving these axes. 206, 208, 210, 212. As described above, the distance sensors 214a, 214b, and 214c are attached to the joint 206 of the three shafts 207 in the arm 201 configured as described above. Specifically, as shown in FIGS. 9A, 9B, and 9C, distance sensors 214b and 214c are attached to the left and right of the joint 206, respectively. Accordingly, the distance sensor 214a detects the distance from the structure occupied behind the distance 206, and the distance sensors 214b and 214c detect the distance from the structure occupied in the left-right direction of the joint 206, respectively.
The A / D conversion unit 215a inputs the detection signals a, b, and c of the distance sensors 214a, 214b, and 214c, A / D converts them, and outputs them to the proximity check unit 215b. The proximity check unit 215b determines whether or not the joint 206 has approached the surrounding structure based on the detection signals a, b, c of the distance sensors 214a, 214b, 214c input via the A / D conversion unit 215a. In addition to confirming, when it is confirmed that they are close to each other, a signal indicating the confirmation result is output to the display unit 216a and the alarm unit 216b.
In the display unit 216a and the alarm unit 216b, when a signal indicating the confirmation result is input from the proximity check unit 215a, an LED is emitted according to this signal and a sound is generated, and the joint 206 is connected to the surrounding structure to the operator. Inform them that they are close. In addition, 216c in FIG. 8 is an operation part which performs inching operation etc.
As described above, in the robot collision preventing apparatus according to the conventional example 2, when the predetermined part of the robot approaches the surrounding structure, the proximity check unit detects that the predetermined part becomes the structure based on the detection signal of the distance sensor at this time. Confirming the proximity, the alarm means informs the operator that the predetermined portion has approached the structure based on the confirmation result of the proximity check means at this time. In addition, by providing a display screen in the alarm means, the display of this display screen allows the operator to easily know which predetermined part of the robot is close to the surrounding structure in which direction. A device can be provided.
JP-A-6-278081 (page 4, FIG. 1) JP-A-8-99285 (page 4, FIGS. 1 and 2)

However, although the robot arm with a collision prevention function of Conventional Example 1 can minimize mechanical damage due to the collision between the robot arm and the obstacle, the obstacle is damaged because the robot arm and the obstacle come into contact with each other. There was a problem that there was a possibility.
Further, in the robot collision prevention apparatus of Conventional Example 2, when the predetermined part of the robot approaches the surrounding structure, the proximity check means approaches the structure based on the detection signal of the distance sensor at this time. The warning means informs the worker that the predetermined part has approached the structure based on the confirmation result of the proximity check means at this time, but the worker is careful about the operation of the robot. There was a problem that it was necessary to work.
The present invention has been made in view of such problems, and an object of the present invention is to provide a robot with a collision prevention function capable of preventing collision between a robot arm and a surrounding person or an obstacle.

In order to solve the above problems, the present invention is configured as follows.
According to the first aspect of the present invention, an arm provided on the main body, an arm control unit that controls the arm, a distance sensor that is provided on the arm and detects a distance from a person or an object in the vicinity, and detection of the distance sensor A collision prevention function comprising: a proximity check unit that checks the proximity of the surrounding person or object based on a signal; and a proximity presentation unit that notifies the surrounding person based on a confirmation result of the proximity check unit. In the anti-collision function robot, the arm control unit determines that the proximity check unit determines that the arm and the surrounding person or structure are close to each other, and the distance between the arm and the surrounding person or structure. The commanded operation is continued while maintaining the value above a certain value.
According to a second aspect of the present invention, the collision prevention function is provided with a proximity distance setting unit that sets a distance that is a determination criterion of the proximity check unit.
According to a third aspect of the present invention, the collision prevention function includes an information transmission unit including a transmission unit that transmits an output signal of the proximity check unit and a reception unit that receives the output signal.
According to a fourth aspect of the present invention, the transmitting unit of the information transmitting unit is provided on the main body side, and the receiving unit is provided on the human.
According to a fifth aspect of the present invention, the proximity presentation unit includes at least one of visual presentation means for presenting an image, auditory presentation means for presenting sound, and vibration presentation means for presenting vibration.

According to the first aspect of the present invention, since the distance between the robot arm and the surrounding person or structure is kept above a certain value, the collision between the robot arm and the surrounding person or structure can be prevented in advance. Can do.
According to the second aspect of the present invention, the robot arm can be adjusted at a close distance according to the proficiency level of the human robot in the vicinity by adjusting the approachable distance between the robot arm and the peripheral human or structure. The arm can be operated, and the robot arm can be prevented from colliding with surrounding humans and structures.
Furthermore, according to the third to fifth aspects of the present invention, it is possible to avoid a human being from the robot arm in advance by presenting the neighboring humans that the robot arm is close.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

FIG. 1 is a configuration diagram of a robot with a collision prevention function according to a first embodiment of the present invention. In this embodiment, the robot arm is prevented from colliding with surrounding humans or structures, and is provided in a non-contact sensor such as a proximity sensor type provided in the robot arm and a robot controller. An A / D conversion unit, a proximity check unit, a proximity presentation unit, and an arm control unit are included.
In the figure, 1 is a robot body, 2 is a proximity presentation unit, 3 is a proximity check unit, 4 is a sensor signal processing unit, 5 is an arm control unit, 6 is a controller, 7 is an arm, 8 is a distance sensor, and 9 is a robot. Wheels 10 for moving the main body 1 are human beings around the main body of the robot.
The proximity presentation unit 2 presents to the nearby human 10 that the arm 7 has approached the nearby human 10 or a structure. The proximity check unit 3 checks whether or not the arm 7 has approached a nearby person 10 or a structure based on a signal from the distance sensor 8. The sensor signal processing unit 4 inputs a signal from the distance sensor 8 and performs A / D conversion. The arm control unit 5 controls the arm 7 and the controller 6 sends a command to the robot arm.
The distance sensor 8 measures the distance between the arm 7 and the person 10 or the structure, and its detailed mounting position is shown in FIGS. In the figure, 8 _{X +} is a distance sensor for detecting the X axis positive direction, 8 _X− is a distance sensor for detecting the X axis negative direction, 8 _{Y +} is a distance sensor for detecting the Y axis positive direction, and 8 _Y− is a negative Y axis. It is a distance sensor for direction detection.
The present invention is different from Patent Document 1 and Patent Document 2 in that it includes an arm control unit, and the arm control unit is configured such that the proximity check unit is close to the robot arm and the surrounding person or structure. When detected, the operation is continued while the distance between the robot arm and the surrounding human or structure is kept at a certain value or more.

The arm 7 of the robot according to the present embodiment has a seven-axis configuration, and is configured to connect the respective axes in order and have joints that drive the respective axes. It is assumed that the distance sensor 8 is attached to the arm of the third axis in the robot having the above configuration. Specifically, as shown in FIGS. 2 and 3, distance sensors 8 are attached to the front, rear, left and right of the arm 7. Accordingly, the distance sensor 8 detects the distance to the person or structure existing in the front / rear / right / left direction of the third axis of the arm 7.
In the sensor signal processing unit 4, each detection signal of the distance sensor 8 is input, and these are A / D converted by the sensor signal processing unit 4 and output to the proximity check unit 3. The proximity check unit 3 checks whether or not the arm 7 has approached a nearby person 10 or a structure based on each detection signal of the distance sensor 8 input via the sensor signal processing unit 4 The confirmation signal is output to the proximity presentation unit 2 and the arm control unit 5.
In the proximity presentation unit 2, when a signal representing the confirmation result is input from the proximity check unit 3, for example, an LED is emitted and a sound is generated according to this signal, and the robot arm 7 is transmitted to the surrounding humans 10 and structures. Inform them that they are close.
The arm control unit 5 performs the following processing. FIG. 4 is a diagram illustrating an example of a flowchart of the arm control unit 5. The flow of the avoidance operation of the arm control unit 5 is as follows.
(1) Acquire data of 8 _{X +,} 8 _X−, 8 _{Y +,} 8 _Y− of the distance sensor 8.
(2) Determine whether 8 _{X +,} 8 _X-, 8 _{Y +, and} 8 _Y data are close to surrounding people or structures.
(3) Based on the result of (2), the operation mode of standby, operation in the X direction positive, operation in the X direction negative, operation in the Y direction positive, and operation in the Y direction negative is determined.
(4) Based on the operation mode of (3), a command is output to the controller to operate in the X direction and the Y direction.
(5) Repeat (1) to (4).
(6) End the avoidance action.
To simplify the explanation, it is assumed that the robot arm 7 moves in the X-axis positive direction on the XZ plane, and the target tip position of the robot arm 7 is in front of the X-axis. Further, it is assumed that the wheels are stopped.
(A) Before sensor detection The signals sent by the distance sensors 8 _{X +,} 8 _X−, 8 _{Y +,} 8 _Y attached in front of the robot arm 7 are input to the sensor signal processing unit 4. Based on the signal from the sensor signal processing unit 4, the proximity check unit determines that the robot arm 7 is not in proximity to a nearby person or structure. The arm control unit outputs a command to the controller so as to move the robot arm 7 forward.
(B) Sensor detection (X-axis positive direction detection distance sensor 8 _{X +} )
The signals sent by the distance sensors 8 _{X +,} 8 _X−, 8 _{Y +,} 8 _Y attached to the front of the robot arm 7 are input to the sensor signal processing unit 4. Based on the signal from the sensor signal processing unit 4, the proximity check unit determines that a human or a structure is approaching in the positive X-axis direction of the robot arm 7. The arm control unit outputs a command to the controller so as to move the arm 7 of the robot in the negative Y-axis direction.
The arm control unit continues to operate the robot arm 7 in the negative Y-axis direction until the X-axis positive direction detection distance sensor 8 _{X +} does not detect proximity (the proximity distance becomes equal to or greater than the set threshold value). Command to the controller.
(C) No sensor detection The arm control unit no longer detects proximity with the X-axis positive direction detection distance sensor 8 _{X +} (the proximity distance is equal to or greater than the set threshold value), so the arm 7 of the robot is moved to X A command is output to the controller so that the robot arm 7 continues to move in the positive direction and reaches the X-axis target position.
At the same time, the arm control unit also moves the robot arm 7 in the Y-axis positive direction to a position where the proximity sensor 8 _{Y +} does not detect proximity (the proximity distance becomes equal to or greater than the set threshold value). A command is output to the controller so that it continues to operate.
(D) Avoidance of humans and structures When humans and structures are avoided from around the robot arm 7, (A) the same state as before the sensor detection occurs, and the arm control unit moves the robot arm 7 to the target tip position. A command is output to the controller.
In the above embodiment, it is assumed that the robot arm 7 is moving in the X-axis positive direction on the XZ plane, but the same flow can be applied even if the robot arm 7 is moving in any direction. .
In the above embodiment, the distance sensor is provided on the third axis of the arm 7 of the robot. However, a plurality of distance sensors may be provided on the other axes, and if only proximity to humans is detected, A human body detection sensor may be used instead of the distance sensor.
As described above, an arm control unit is provided, and when the arm control unit detects that the robot arm 7 and the surrounding person or structure are close to each other, the robot arm 7 In addition, the robot arm 7 can be prevented from colliding with the surrounding human body or structure by keeping the distance from the surrounding human body or structure at a certain value or more and continuing the operation. .

  FIG. 5 is a system configuration diagram of a robot with a collision prevention function according to a second embodiment of the present invention. In the figure, 11 is a proximity distance setting switch. The other reference numerals are the same as those in the first embodiment, and thus the description thereof is omitted. If the proximity distance setting switch 11 is used to set the proximity distance according to the proficiency of a human robot in the vicinity before the switch of the main body 1 (not shown) is turned on, the proximity check unit changes the proximity distance, Similar to the first embodiment, the arm control unit 5 causes the arm 7 to perform an avoidance operation with the surrounding person 10 or the structure. When the proficiency level of the robot is low, the possibility of collision between the arm and the human can be reduced by increasing the approachable distance, and the collision can be prevented in advance.

FIG. 6 is a system configuration diagram of a robot with a collision prevention function according to a third embodiment of the present invention. In the figure, reference numeral 12 denotes an information transmission unit, which comprises an information transmission unit (transmission unit) 12a and an information transmission unit (reception unit) 12b. Reference numeral 13 denotes visual presentation means for presenting images, 14 is auditory presentation means for presenting sound, and 15 is vibration presentation means for presenting vibrations.
Similar to the first embodiment, the arm control unit 5 causes the arm 7 to perform an avoidance operation with the surrounding person 10 or the structure. When the arm 7 and a nearby person or structure are close to each other, the information transmission unit (transmission unit) 12a transmits a proximity confirmation signal to the information transmission unit (reception unit) 12b, and the information transmission unit (reception unit) ) 12b transmits a presentation signal to the proximity presentation unit 2, and the proximity presentation unit 2 is one of a visual presentation unit 13 that presents an image, an auditory presentation unit 14 that presents sound, and a vibration presentation unit 15 that presents vibration. Is selectively used to indicate that the arm 7 and the surrounding person or structure are close to each other. By presenting the proximity of the arm 7 to a nearby person, the person can avoid the robot arm in advance.

  In this way, the robot arm can continue to operate while maintaining the distance between the robot arm and the person or structure above a certain value, so the robot arm and the surrounding person or structure Collisions can be prevented beforehand.

  Since the robot arm can be prevented from colliding with a human or a structure, it can be applied to avoiding interference between the robot arms when a plurality of robot arms cooperate.

1 is a system configuration diagram of a robot with a collision prevention function according to a first embodiment of the present invention. It is a top view which shows the detailed attachment position of the distance sensor of FIG. It is a side view (figure seen from the elbow side) which shows the detailed attachment position of the distance sensor of FIG. It is a flowchart of the arm control part which shows 1st Example of this invention. It is a system block diagram of the robot with a collision prevention function which shows 2nd Example of this invention. It is a system block diagram of the robot with a collision prevention function which shows 3rd Example of this invention. It is a principal part block diagram of the robot arm with a collision prevention function which shows the prior art example 1. FIG. It is a block diagram of the collision prevention apparatus of the robot which shows the prior art example 2. It is a figure which shows the attachment position of the distance sensor of FIG. 8, Comprising: (a) is a top view, (b) is a front view, (c) is a side view (figure seen from back).

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Main body 2 Proximity presentation part 3, 215b Proximity check part 4 Sensor signal processing part 5 Arm control part 6 Controller 7 Arm 8 Distance sensor 8 _{X +} X-axis positive direction detection distance sensor 8 _X- X-axis negative direction detection distance sensor 8 _{Y +} Y-axis positive direction detection distance sensor 8 _Y- Y-axis negative direction detection distance sensor 9 Wheel 10 Human 11 Proximity setting switch 12 Information transmission unit 13 Visual presentation means 14 Auditory presentation means 15 Vibration presentation means 101 Tactile sense sleeve 101a , 101b Support section 103a to 103g Stress sensor 104 Arm position control device 104a Collision detection section 104b Collision prevention control section 107 Robot arm 201 Arm 202, 204, 206, 208, 210, 212 Joint 203 1 axis 205 2 axis 207 3 axis 209 4 axis 211 5 axis 213 6 axis 214a, 214b, 21 c Non-contact distance sensor 215 robot controller 215a A / D conversion unit 216 operation box 216a display portion 216b alarm section 216c operating unit a, b, c detection signal

Claims (5)

An arm provided on the main body, an arm control unit that controls the arm, a distance sensor that is provided on the arm and detects a distance between the person and an object in the vicinity, and based on a detection signal of the distance sensor, In a collision prevention function-equipped robot comprising a proximity check unit that checks the presence or absence of an object, and a collision prevention function that includes a proximity presentation unit that informs the surrounding human being based on the confirmation result of the proximity check unit,
The arm control unit, when the proximity check unit determines that the arm and the surrounding person or structure are close, while maintaining the distance between the arm and the surrounding person or structure at a certain value or more, A robot with a collision prevention function, characterized by continuing the commanded operation.   The robot with a collision prevention function according to claim 1, wherein the collision prevention function includes a proximity distance setting unit that sets a distance that is a determination criterion of the proximity check unit.   3. The collision according to claim 1, wherein the collision prevention function includes an information transmission unit including a transmission unit that transmits an output signal of the proximity check unit and a reception unit that receives the output signal. Robot with prevention function.   4. The robot with a collision preventing function according to claim 3, wherein the transmitting unit of the information transmitting unit is provided on the main body side and the receiving unit is provided on the person.   5. The proximity presentation unit includes at least one of visual presentation means for presenting images, auditory presentation means for presenting sounds, and vibration presentation means for presenting vibrations. A robot with an anti-collision function as described in the paragraph.

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