JP2007050479A - Robot device with state indicating function - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a robot device which allows even a person having no expert knowledge or a hearing-impaired person easily recognizes the state of the device, and safely shares a work space with such a person. <P>SOLUTION: The robot device with a state indicating function is formed of a manipulator section arranged on a body section 1, for gripping an object, a sensor section 7, a sounding section 8 for notifying a human being of the state via a sound generated by sound data or sound synthesis stored therein beforehand, and a control section 4 for controlling operations of the respective sections, and carries out work while sharing the work space with the human being. The robot device is further formed of a device cover section 2 for covering surfaces of the body section and the manipulator section, and a temperature-dependent color changing member 5 arranged on a surface of the device cover section, and indicates the state of the device, based on color change of the temperature-dependent color changing member and sounding of the sounding section, based on information input from the sensor section. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to an apparatus for presenting and monitoring the internal temperature, stress, external factors, etc. of a robot apparatus sharing a work space with a human.

2. Description of the Related Art Conventionally, as an example of a device that shares a work space with a human, a transport device that moves an object using a device including a manipulator and various sensors has been proposed (see, for example, Patent Document 1).
This is controlled so as to follow the movement of the person by manipulating the manipulator that holds the object, and the object is conveyed with emphasis on the person. In order to control this apparatus, a combination of a position sensor, a force sensor, a speed sensor, a temperature sensor and other sensors is used.
Japanese Patent Laying-Open No. 2005-154101 (FIG. 1)

However, the conventional robot apparatus has a problem that a person with hearing impairment cannot recognize an abnormal state of the apparatus such as internal temperature or overload. In addition, it is difficult to visually determine internal temperature abnormalities from the measured internal temperature when attaching multiple sensors, reading the measured values with the sensors, and judging abnormalities. There is also a problem that it becomes an obstacle to downsizing the apparatus.
The present invention has been made in view of such problems, and by presenting the internal temperature, acting force, light, etc. with sound and color, even a person without expertise or a person with hearing impairment, An object of the present invention is to provide a robot apparatus that can easily recognize the state of the apparatus and can safely share a space.

In order to solve the above problems, the present invention is configured as follows.
According to the first aspect of the present invention, a torso, a manipulator that is provided on the torso and grips an object, a sensor, and a sound that notifies a person with sound by using sound data and sound synthesis stored in advance And a robot device that operates by sharing a work space with a human being, and includes a device cover portion that covers surfaces of the trunk portion and the manipulator portion, and A temperature discoloring member provided on the surface, and presents the state of the device by the discoloration of the temperature discoloring member and the utterance of the sound generation unit based on the input information of the sensor unit.
According to a second aspect of the present invention, the sensor section is a temperature sensor disposed in each section, and the temperature-changing member is discolored by a temperature rise of the body section and the manipulator section, and the sound generation section is overheated when an overheat temperature is detected. It makes information uttered.
According to a third aspect of the present invention, the sensor unit is an optical sensor, and a heating unit is disposed in the body unit or the manipulator unit, and the heating unit is heated by current according to input information from the optical sensor. The temperature discoloring member is discolored and luminosity information is uttered from the sound generation unit.
According to a fourth aspect of the present invention, the sensor unit is a stress sensor disposed in each unit, and a heating unit is disposed in the body unit or the manipulator unit, and the heating unit is operated when the stress sensor exceeds a set output. In addition, the temperature discoloration member is discolored by heating through current, and overload information is uttered from the sound generation unit.
According to a fifth aspect of the present invention, the sensor unit is a voice sensor arranged in each part, and a heating unit is arranged in the body unit or the manipulator unit, and the heating unit is provided according to input information from the voice sensor. Heating through an electric current changes the color of the temperature-changing member, and sounds a sound corresponding to the sound input from the sound generation unit.

According to the first and second aspects of the invention, the temperature inside the apparatus can be known by grasping the temperature of the apparatus surface without arranging a new sensor by using the surface as a temperature-changing member. In addition, the temperature of the apparatus can be visually judged even by a person with no specialized knowledge by the discoloration and sound of the apparatus cover. Furthermore, it is possible to have a change in the coloring of the device with a certain design, so that the human being watching is less tired. The state can be sensed not only by sound but also by visual sense, and a space can be safely shared with a person with hearing impairment even without arranging a new sensor.
According to the third, fourth, and fifth aspects of the invention, since the state is expressed by the color change of the surface, it can be presented so that it can be understood by a person who has no expertise in states other than temperature.

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

FIG. 1 is a perspective view of a robot device with a state presentation function, showing a first embodiment of the present invention.
In the figure, 1 is a body part, 2 is a device cover part, 4 is a control part, 5 is a temperature discoloring member, 7 is a temperature sensor, and 8 is a speaker.
The control unit 4 controls electric power supplied to a motor (not shown) that drives the robot apparatus, and the two arms of the robot apparatus are driven to perform work in the same space as a human. The device cover 2 constitutes the surface of the robot device, and the temperature discoloring member 5 is applied to the surface. The temperature-changing member 5 changes its color when the temperature changes, but members with various temperatures can be selected. Further, the temperature sensor 7 is disposed in each part inside the device cover portion 2. The device cover 2 may be the temperature discoloring member 5 itself.
Next, the operation of this embodiment will be described with reference to FIG.
FIG. 2 is a flowchart showing the processing procedure of the present invention.
Motors, sensors, substrates, etc. (not shown) inside the robot apparatus generate heat, and the internal temperature rises. If it does so, in step 1, the temperature discoloration member of the apparatus cover part 2 will react, and the color of the surface of a robot apparatus will change to the color according to internal temperature. If the internal temperature is determined to be abnormal, the color may be changed to a specific color.
In step 2, the surface temperature of the robot apparatus with the internal temperature rise measured by the temperature sensor 7 disposed on the surface of the robot apparatus is measured and input to the control unit 4. When the temperature exceeding the preset threshold is measured, the control unit 4 generates a sound corresponding to the temperature from the speaker 8 by sound data stored in the control unit 4 or sound synthesis and presents the state.
Thus, by providing the temperature discoloring member on the surface of the device cover portion 2, the temperature inside the device can be grasped by the change in the color of the device surface without arranging a new sensor. Further, even a person without specialized knowledge can judge the temperature of the apparatus by audiovisual sense based on the discoloration of the apparatus cover unit 2 and the sound from the speaker 8. Furthermore, it is possible to have a change in the coloring of the device with a certain design, so that the human being watching is less tired. The state can be sensed not only by sound but also by visual sense, and even if a person with hearing impairments can grasp the state of the robot apparatus without arranging a new sensor.
In the present embodiment, the dual-arm robot apparatus has been described. However, the present invention is not limited to this, and an apparatus that shares a work space with a human being, for example, a home service apparatus such as a medical / welfare apparatus, a vacuum cleaner, or a microwave oven. The same effect can be obtained with an apparatus including The temperature discoloring member may be, for example, application of reversible temperature indicating ink to a general metal.

FIG. 3 is a flowchart showing the second embodiment of the present invention.
In step 1, when the input information from the outside to the robot apparatus is temperature (air temperature etc.), the temperature discoloration member 5 of the apparatus cover part 2 reacts and changes color according to the temperature.
In step 3, when the input information from the outside is light, the light intensity is detected by a light intensity detection sensor (not shown) and input to the control unit 4. And the control part 4 changes the temperature discoloration member of the apparatus cover part 2 as an expression according to luminous intensity by adjusting the electric power sent to heat generating apparatuses, such as an electroconductive heat generating body of the heating means 6 shown in FIG.
Thus, the light intensity obtained by controlling the temperature at which the control unit 4 generates heat by adjusting the electric power flowing to the conductive heating element (not shown) according to the measured light intensity according to the input information from the outside. The temperature discoloring member of the apparatus cover 2 is discolored as an expression corresponding to the above. That is, in addition to the discoloration caused by the temperature rise that occurs passively, the surface can be actively discolored according to input information from the outside, and emotion can be expressed by the discoloration of the surface.

FIG. 4 is a perspective view of a robot apparatus with a state presentation function showing Embodiment 3 of the present invention.
In the figure, 6 is a heating means, 9 is a hand part, 10 is an arm part, 11 is a fingertip part force sensor, 12 is an arm part force sensor, and 13 is a torso pressure sensor. Other reference numerals are the same as those in the first embodiment.

Next, the operation of this embodiment will be described with reference to FIG.
FIG. 5 is a flowchart showing the processing procedure of the third embodiment of the present invention.
When the robot device of Step 4 includes the hand unit 9 and the fingertip of the hand unit 9 is provided with the fingertip unit force sensor 11, the fingertip unit sensor 11 indicates that the fingertip of the hand unit 9 is overloaded. When the control unit 4 determines based on the measured value, the operator speaks “excessive force is applied to the fingertip” and alerts the surrounding people. Simultaneously with the utterance, the control unit 4 adjusts the power supplied to the heating device such as the conductive heating element that is the heating means 6 to change the color of the temperature changing member of the device cover unit 2 as an expression according to the load on the fingertip. .
In this manner, as in the second embodiment, the control unit 4 adjusts the power flowing to the conductive heating element according to the input information from the outside according to the measured force, thereby controlling and acquiring the temperature at which the heat is generated. The temperature discoloring member of the device cover 2 is discolored according to the applied force.
When the robot apparatus in step 5 includes the arm unit 9 and the arm unit 9 includes the arm unit force sensor 12, if the arm unit 9 is in contact with an object, control is performed using the measurement value from the arm unit force sensor 12. When the part 4 determines, it speaks “I'm hitting my arm” and calls attention to the people around me. At the same time, the heating means is energized, and the surface is discolored according to the level of force to call attention.
When the robot apparatus of Step 6 includes the trunk portion 1 and the trunk portion 1 includes the trunk pressure sensor 13, if there is an object contact with the trunk portion 1, the measured value from the trunk pressure sensor 13 is obtained. When the control unit 4 determines, it utters "There is something hitting the torso" and alerts the surrounding people.
By adopting such a method, it is possible to present a state other than temperature so that it can be understood by a person who has no specialized knowledge. At the same time, the heating means is energized, and the surface is discolored according to the level of force to call attention.
In this embodiment, a force sensor and a pressure sensor are used as the stress sensor. However, the present invention is not limited to this, and various sensors such as a torque sensor and a tactile sensor for detecting torque may be used.

FIG. 6 is a flowchart showing the fourth embodiment of the present invention.
In step 1, when the input information from the outside to the robot apparatus is temperature (air temperature etc.), the temperature discoloration member 5 of the apparatus cover part 2 reacts and changes color according to the temperature.
In step 7, when the input information from the outside is sound, the sound is detected by an unillustrated voice sensor (for example, a microphone) and input to the control unit 4. And the control part 4 changes the temperature discoloration member of the apparatus cover part 2 as an expression according to a sound by adjusting the electric power sent to heat generating apparatuses, such as an electroconductive heat generating body of the heating means 6 shown in FIG.
In this way, the sound acquired by controlling the temperature at which heat is generated by adjusting the power that the control unit 4 sends to the conductive heating element (not shown) according to the input sound from the outside according to the measured sound. The temperature discoloring member of the apparatus cover 2 is discolored as an expression corresponding to the above. That is, in addition to the discoloration caused by the temperature rise that occurs passively, the surface can be actively discolored according to input information from the outside, and emotion can be expressed by the discoloration of the surface.

  Because it takes the procedure of monitoring the temperature change of the device by discoloration of the surface and presenting the status by sound, even a person without specialized knowledge can grasp the state of the device, and the safety and affinity of the device working together and cooperating with humans It can also be used for securing purposes. For example, medical / welfare equipment, devices including home service devices such as vacuum cleaners and microwave ovens.

It is a perspective view of the robot apparatus which shows Example 1 of this invention. It is a flowchart which shows the process sequence of Example 1 of this invention. It is a flowchart which shows the process sequence of Example 2 of this invention. It is a perspective view of the robot apparatus which shows Example 3 of this invention. It is a flowchart which shows the process sequence of Example 3 of this invention. It is a flowchart which shows the process sequence of Example 4 of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Body part 2 Apparatus cover part 4 Control part 5 Temperature discoloration member 6 Heating means 7 Temperature sensor 8 Speaker 9 Hand part 10 Arm part 11 Finger part force sensor 12 Arm part force sensor 13 Trunk pressure sensor

Claims (5)

The body part, the manipulator part provided on the body part for gripping the object, the sensor part, the sounding part for notifying the human state by sound based on previously stored sound data and sound synthesis, and controlling the operation of each part In a robot apparatus having a control unit that works and shares a work space with a human,
A device cover portion covering surfaces of the body portion and the manipulator portion; and a temperature discoloration member provided on the surface of the device cover portion, wherein the sound generation based on the discoloration of the temperature discoloration member and input information of the sensor portion A robot apparatus with a state presentation function, characterized by presenting the state of the apparatus by voice of a part.   The sensor unit is a temperature sensor disposed in each unit, and the temperature-changing member is discolored by a temperature rise of the body unit and the manipulator unit, and overheat information is uttered from the sound generation unit when an overheat temperature is detected. The robot apparatus with a state presentation function according to claim 1.   The sensor unit is an optical sensor, and a heating unit is disposed in the body unit or the manipulator unit, and the heating unit is heated through an electric current in accordance with input information from the optical sensor to change the color of the temperature-changing member. The robot apparatus with a state presentation function according to claim 1, wherein luminosity information is uttered from the sound generation unit.   The sensor unit is a stress sensor disposed in each unit, and a heating unit is disposed in the body unit or the manipulator unit, and when the stress sensor exceeds a set output, the heating unit is heated through current and the temperature discoloring member The robot apparatus with a state presentation function according to claim 1, wherein the robot is discolored and overload information is uttered from the sound generation unit.   The sensor unit is a voice sensor arranged in each part, and a heating unit is arranged in the body unit or the manipulator unit, and the heating unit is heated by current according to input information from the voice sensor, and the temperature discoloring member is arranged. 2. The robot apparatus with a state presentation function according to claim 1, wherein the robot apparatus changes the color and produces a sound corresponding to the sound input from the sound generation unit.

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