JP2017143896A - Determination device, control device, control system, determination method, and program - Google Patents

Determination device, control device, control system, determination method, and program Download PDF

Info

Publication number
JP2017143896A
JP2017143896A JP2016025966A JP2016025966A JP2017143896A JP 2017143896 A JP2017143896 A JP 2017143896A JP 2016025966 A JP2016025966 A JP 2016025966A JP 2016025966 A JP2016025966 A JP 2016025966A JP 2017143896 A JP2017143896 A JP 2017143896A
Authority
JP
Japan
Prior art keywords
operation
motion
worker
determination
information
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
JP2016025966A
Other languages
Japanese (ja)
Inventor
小也香 内藤
Sayaka NAITO
小也香 内藤
嘉一 森
Yoshikazu Mori
嘉一 森
一希 笠井
Kazuki KASAI
一希 笠井
Original Assignee
オムロン株式会社
Omron Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by オムロン株式会社, Omron Corp filed Critical オムロン株式会社
Priority to JP2016025966A priority Critical patent/JP2017143896A/en
Publication of JP2017143896A publication Critical patent/JP2017143896A/en
Application status is Pending legal-status Critical

Links

Images

Classifications

    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00Detecting, measuring or recording for diagnostic purposes; Identification of persons
    • A61B5/02Detecting, measuring or recording pulse, heart rate, blood pressure or blood flow; Combined pulse/heart-rate/blood pressure determination; Evaluating a cardiovascular condition not otherwise provided for, e.g. using combinations of techniques provided for in this group with electrocardiography or electroauscultation; Heart catheters for measuring blood pressure
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00Detecting, measuring or recording for diagnostic purposes; Identification of persons
    • A61B5/04Measuring bioelectric signals of the body or parts thereof
    • A61B5/0476Electroencephalography
    • A61B5/0484Electroencephalography using evoked response
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00Detecting, measuring or recording for diagnostic purposes; Identification of persons
    • A61B5/04Measuring bioelectric signals of the body or parts thereof
    • A61B5/0488Electromyography
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00Detecting, measuring or recording for diagnostic purposes; Identification of persons
    • A61B5/103Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
    • A61B5/11Measuring movement of the entire body or parts thereof, e.g. head or hand tremor, mobility of a limb
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00Manipulators not otherwise provided for

Abstract

There is provided a determination apparatus capable of determining whether or not an operator's operation is an unintentional operation.
A determination unit includes a motion calculation unit that obtains worker's motion information, a motion intention estimation unit that estimates a worker's motion intention based on a worker's myoelectric signal, and motion information. And an operation determination unit 27 for determining whether or not the operator's operation is an unintentional operation based on the operation intention.
[Selection] Figure 2

Description

  The present invention relates to a determination device, a control device, a control system, a determination method, and a program.

  Conventionally, an industrial robot installed in a production line of a factory is known. In recent years, a work assistance system in which an industrial robot assists an operator in a production line has been proposed (for example, see Patent Document 1).

  The work assistance system of Patent Document 1 is for assisting an industrial robot when a worker performs a component mounting operation. The worker holds one end side of the component and the other end side of the component for industrial use. The robot is held and the parts are moved to the mounting position. Specifically, the work assistance system includes a motion capture worn on a worker's hand and a data processing device that controls the industrial robot based on the detection result of the motion capture.

  The motion capture is configured to measure a work operation by a worker over time and transmit operation information as a measurement result to the data processing apparatus as three-dimensional coordinate data. The data processing apparatus is configured to cause the industrial robot to follow the operator's hand based on the three-dimensional coordinate data from the motion capture. Thereby, since conveyance of components can be made to assist an industrial robot, it is possible to perform component attachment work efficiently.

Japanese Unexamined Patent Publication No. 2011-156641 Japanese Patent Laid-Open No. 2005-23003

  Here, in a factory production line or the like, in a situation where industrial robots and workers work together, it is possible to determine whether the operation of the worker performing the work is an unintended operation. desired. For example, if it is possible to determine that the operator's motion is an unintentional motion, it is possible to improve safety and productivity by causing the industrial robot to perform a predetermined motion.

  Patent Document 2 discloses a driving source that applies assisting force to the wearer, a physical phenomenon detection unit that detects a joint angle (physical phenomenon) according to the movement of the wearer, and a muscular force generated by the wearer. A wearable motion assisting device including a biosignal detection means for detecting a myoelectric potential (biological signal) according to the above is described. In this operation assisting device, the drive source is controlled so that the intention of the wearer is reflected even when the wearer stops the operation during the operation and performs another operation. That is, the motion assisting device of Patent Document 2 is for generating an assist force as intended by the wearer, and does not determine whether or not the operator's motion is a motion contrary to the intention. .

  The present invention has been made to solve the above-described problems, and an object of the present invention is to determine whether or not an operator's operation is an unintended operation. An apparatus, a control system, a determination method, and a program are provided.

  The determination device according to the present invention is based on an operation acquisition unit that acquires the operation information of the worker, an operation intention estimation unit that estimates the operation intention of the worker based on the biological signal of the operator, the operation information, and the operation intention. And an operation determination unit that determines whether or not the operator's operation is an unintentional operation. Note that the movement of the worker is unintentional, for example, when the worker is moving against the movement intention (when the worker is forcibly moved without intention) And a case where the worker is not moving against the movement intention (when the worker is not moving as intended).

  With this configuration, it is possible to appropriately determine whether or not the worker's motion is a motion contrary to the intention based on the motion information and the motion intention.

  In the determination device, the biological signal may include at least one of an electroencephalogram signal, a cerebral blood flow signal, and a myoelectric signal.

  The determination apparatus includes a state acquisition unit that acquires at least one of the position information and posture information of the worker, and the movement acquisition unit calculates the movement information based on at least one of the position information and the posture information. It may be configured to.

  In the determination apparatus including the state acquisition unit, the state acquisition unit acquires at least one of acceleration data, angular velocity data, velocity data, angular acceleration data, pressure data, and magnetic data, and uses the acquired data. It may be configured to calculate at least one of position information and posture information.

  In the determination apparatus including the state acquisition unit, the operation acquisition unit may be configured to calculate the operation information based on at least one of the position information and the posture information and the human body model of the worker. .

  The determination apparatus that calculates motion information using the human body model may include a human body model recording unit in which the human body model is recorded.

  The determination apparatus that calculates motion information using the human body model may include a human body model calculation unit that calculates a human body model from at least one of position information and posture information.

  A control device according to the present invention includes the above-described determination device and a control unit that controls a control target, and the control unit is configured to operate the control target based on a determination result of the determination device.

  In the above control device, the control unit is configured to cause the control target to perform an avoidance operation, a stop operation, or a deceleration operation when the operation determination unit of the determination device determines that the operator's operation is an unintentional operation. May be.

  In the control device, the control unit is configured to complement the work of the worker with the control target when the operation determination unit of the determination device determines that the operation of the worker is an unintentional operation. May be.

  A control system according to the present invention includes the above-described control device, and a first detection device and a second detection device worn by an operator.

  In the control system, the first detection device is configured to detect at least one of acceleration data, angular velocity data, velocity data, angular acceleration data, pressure data, and magnetic data, and the determination device includes the first detection device. A state acquisition unit that acquires at least one of the position information and the posture information of the worker based on the detection result of the device, and the operation acquisition unit of the determination device is based on at least one of the position information and the posture information The operation information may be calculated.

  In the control system, the biological signal includes at least one of an electroencephalogram signal, a cerebral blood flow signal, and a myoelectric signal, and the second detection device includes at least one of the electroencephalogram signal, the cerebral blood flow signal, and the myoelectric signal. It is configured to detect one, and the motion intention estimation unit of the determination device may be configured to estimate the motion intention based on the detection result of the second detection device.

  The determination method according to the present invention includes a step of obtaining the worker's motion information, a step of estimating the worker's motion intention based on the worker's biological signal, and the worker's motion intention based on the motion information and the motion intention. Determining whether the operation is an unintentional operation.

  The program according to the present invention is for causing a computer to execute the above-described determination method.

  According to the determination device, the control device, the control system, the determination method, and the program of the present invention, it is possible to determine whether or not the operator's operation is an unintended operation.

It is a hardware block diagram showing the composition of the control system by one embodiment of the present invention. It is a functional block diagram of the control apparatus in the control system of FIG. It is a flowchart for demonstrating operation | movement of the control system of this embodiment.

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

  First, with reference to FIG. 1 and FIG. 2, the structure of the control system 100 by one Embodiment of this invention is demonstrated.

  As shown in FIG. 1, the control system 100 includes a control device 1 that controls the robot 50 and detection devices 2 and 3 that are worn by an operator. The control system 100 determines whether or not the operator's operation is an unintended operation in a factory production line, for example, and the robot 50 when the operator's operation is an unintended operation. Is configured to perform a predetermined operation. The robot 50 is a robot arm installed on a production line of a factory, for example, and is an example of the “control target” in the present invention.

  The detection device 2 is attached to each part of the worker, and each detection device 2 is provided to detect the operation of the attached part. Although two detection devices 2 are shown in FIG. 1, a larger number of detection devices 2 may be provided to detect the movement of the worker's whole body. Examples of attachment positions of the detection device 2 to the worker are the head, both shoulders, both arms (upper arm, forearm, hand), back, waist, and both legs (thigh, shin, foot). .

  Each detection device 2 includes an acceleration sensor 2 a that detects acceleration data, an angular velocity sensor 2 b that detects angular velocity data, and an output unit 2 c that outputs detection results of the acceleration sensor 2 a and the angular velocity sensor 2 b to the control device 1. Yes. The detection device 2 is connected to the control device 1 wirelessly, for example, but may be connected to the control device 1 by wire. The detection device 2 is an example of the “first detection device” in the present invention.

  The detection device 3 is attached so as to correspond to various muscles that are moved when the operator operates. The plurality of detection devices 3 are provided to detect an operation intention of each part of the worker. Although two detection devices 3 are shown in FIG. 1, a larger number of detection devices 3 may be provided to detect the motion intention of the worker as a whole.

  Each detection device 3 includes a myoelectric sensor 3 a that detects a myoelectric signal associated with the operation of the worker, and an output unit 3 b that outputs a detection result of the myoelectric sensor 3 a to the control device 1. The detection device 3 is connected to the control device 1 wirelessly, for example, but may be connected to the control device 1 by wire. The detection device 3 is an example of the “second detection device” in the present invention, and the myoelectric signal is an example of the “biological signal” in the present invention.

  Based on the detection results of the detection devices 2 and 3, the control device 1 determines whether or not the operator's motion is an unintentional motion. It is configured to make it. An operator's action is an action that is not intended, for example, when the worker is operating against the action intention (when the worker is forcibly moved without intention) This includes the case where the worker is not operating against the intention (when the worker is not moving as intended).

  The control device 1 includes a CPU 11, a ROM 12, a RAM 13, and an input / output unit 14. The CPU 11 is configured to execute arithmetic processing based on a program 12a or the like stored in the ROM 12. The ROM 12 is a non-volatile memory, and stores a program 12a and setting values used when the program 12a is executed. The program 12a includes a control program for the robot 50 and the like. The RAM 13 is a volatile memory, and has a function of temporarily storing the calculation result by the CPU 11 and the detection results of the detection devices 2 and 3. The input / output unit 14 is connected to a plurality of detection devices 2 and 3, a robot 50, a tool device 60 for changing settings of the control device 1, and the like.

  In addition, as shown in FIG. 2, the control device 1 includes an operator information acquisition unit 21, a human body model calculation unit 22, a human body model recording unit 23, a movement calculation unit 24, a myoelectric acquisition unit 25, An intention estimation unit 26, an operation determination unit 27, and a robot control unit 28 are included. The worker information acquisition unit 21, the human body model calculation unit 22, the movement calculation unit 24, the myoelectric acquisition unit 25, the movement intention estimation unit 26, the movement determination unit 27, and the robot control unit 28 are executed by the CPU 11 with the program 12a. Is realized. The human body model recording unit 23 is configured by a part of the storage area of the ROM 12.

  In addition, the worker information acquisition unit 21, human body model calculation unit 22, human body model recording unit 23, motion calculation unit 24, myoelectric acquisition unit 25, motion intention estimation unit 26, and motion determination unit 27, the operator's motion is intended. The determination part 40 which determines whether it is operation | movement contrary to is comprised. The determination unit 40 is an example of the “determination device” in the present invention.

  The worker information acquisition unit 21 is configured such that detection results of the respective detection devices 2 are input. That is, the worker information acquisition unit 21 acquires acceleration data and angular velocity data of each part of the worker over time. And the worker information acquisition part 21 is comprised so that position information and attitude | position information may be calculated using the acceleration data and angular velocity data. That is, the worker information acquisition unit 21 acquires position information and posture information for each part of the worker over time. The position information is, for example, coordinate values of three-dimensional coordinates, and the posture information is, for example, a rotation angle with respect to each coordinate axis. The worker information acquisition unit 21 is an example of the “state acquisition unit” in the present invention.

  The human body model calculation unit 22 is provided to calculate the human body model of the worker based on the position information and posture information acquired by the worker information acquisition unit 21. Here, the worker's human body model is, for example, a database of dimensions for each part of the worker's body. The human body model calculation unit 22 creates a human body model by calculating the size of each part from the temporal change of the position information and posture information of each part of the worker. Note that, when the human body model calculation unit 22 calculates the human body model, the operator may be prompted to perform a predetermined operation.

  The human body model recording unit 23 records the human body model of the worker. In the human body model recording unit 23, a human body model that is a calculation result of the human body model calculation unit 22 may be recorded, or a human body model input by an operator using the tool device 60 may be recorded. Good. That is, in the present embodiment, there are two human body model recording methods for the human body model recording unit 23, and the recording may be performed by any method.

  The motion calculation unit 24 is configured to calculate the motion information of each part of the worker by inputting position information and posture information of each part to the human body model recorded in the human body model recording unit 23. . That is, the actual physical operation of each part is calculated from the temporal change in the position and posture of each part of the operator. For this reason, the motion calculation unit 24 has a function of acquiring motion information. The motion calculation unit 24 is an example of the “motion acquisition unit” in the present invention.

  The myoelectric acquisition unit 25 is configured such that the detection result of each detection device 3 is input. That is, the myoelectric acquisition unit 25 acquires myoelectric signals for various muscles of the worker over time.

  The motion intention estimation unit 26 is provided for estimating the operator's motion intention based on the myoelectric signal acquired by the myoelectric acquisition unit 25. The motion intention estimation unit 26 is configured to estimate the motion intention of each part of the worker from changes in myoelectric signals of various muscles of the worker.

  The motion determination unit 27 is provided to determine whether or not the operator's motion is an unintentional motion. Based on the motion information calculated by the motion calculation unit 24 and the motion intention estimated by the motion intention estimation unit 26, the motion determination unit 27 determines whether or not the operator's motion is a motion contrary to the intention. Is configured to determine.

  As a specific example, the operation determination unit 27 is configured to determine that the operation is not contrary to the intention because the operation is performed as intended by the operator when the operation information and the operation intention are aligned. . Note that the movement information and the movement intention are aligned is, for example, a case where the movement information is within a predetermined range with respect to the movement intention. Then, when the motion information and the motion intention are not aligned, the motion determination unit 27 determines that the worker's motion is a motion contrary to the intention. Here, the unintentional movement includes the case where the worker is physically moving even though there is no movement intention, and the case where the worker is not physically moving although there is the movement intention. The operation determination unit 27 is configured to be able to determine them.

  The robot control unit 28 is provided for outputting an operation instruction to the robot 50. For example, the robot control unit 28 operates the robot 50 based on the control program when the operation determination unit 27 determines that the operator's operation is not an unintentional operation. It is configured to cause the robot 50 to perform the above operation. The robot control unit 28 is configured to cause the robot 50 to perform a predetermined operation when the operation determination unit 27 determines that the operator's operation is an unintentional operation. The robot control unit 28 is an example of the “control unit” in the present invention.

  Here, the predetermined operation of the present embodiment includes a stop operation for stopping the robot 50 and an operation for causing the robot 50 to supplement the operator's work. For example, when the worker is physically moving even though there is no intention of movement, the worker may be moved by the robot 50 or may collide with something and approach the robot 50. Stop operation. In addition, when the operator does not move physically even though there is an intention to operate, the operator may have made a mistake. Therefore, the robot 50 is made to complement the operator's work. .

-Control system operation-
Next, the operation of the control system 100 of the present embodiment will be described with reference to FIG.

  The following steps are performed by the CPU 11 (see FIG. 1) executing the program 12a (see FIG. 1). That is, the program 12a is for causing the control device 1 (see FIG. 1) to execute the following steps, and is stored in the ROM 12 (see FIG. 1) that is a recording medium readable by the control device 1. .

  The human body model recording unit 23 (see FIG. 2) records the human body model of the worker in advance. The human body model may be recorded by the human body model calculation unit 22 (see FIG. 2) or may be recorded using the tool device 60 (see FIG. 2). A detection device 2 (see FIG. 2) is attached to each part of the worker, and a detection device 3 (see FIG. 2) is attached to correspond to the various muscles of the worker.

  First, in step S1 of FIG. 3, it is determined whether or not the worker has started work. For example, when the worker operates a start button (not shown), it is determined that the work has started. If it is determined that the work has started, the process proceeds to step S2. On the other hand, if it is determined that the work has not started, step S1 is repeated. That is, the control device 1 stands by until work is started.

  Next, in step S2, the worker information acquisition unit 21 (see FIG. 2) acquires position information and posture information for each part of the worker. Specifically, based on acceleration data and angular velocity data input from each detection device 2, position information and posture information of each part are calculated.

  Next, in step S3, the motion calculation unit 24 (see FIG. 2) calculates the motion information of each part of the worker. Specifically, the position information and posture information of each part are input to the human body model recorded in the human body model recording unit 23, whereby the operation information of each part of the operator is calculated.

  In step S4, the myoelectric acquisition unit 25 (see FIG. 2) acquires myoelectric signals for the various muscles of the worker. This myoelectric signal is detected by the detection device 3, and the detection result is input to the myoelectric acquisition unit 25.

  Next, in step S5, the motion intention estimation unit 26 (see FIG. 2) estimates the motion intention of each part of the worker based on the myoelectric signal acquired by the myoelectric acquisition unit 25.

  Next, in step S6, the operation determination unit 27 (see FIG. 2) determines whether or not the operator's operation is an operation contrary to the operation intention. Specifically, based on the motion information calculated by the motion calculation unit 24 and the motion intention estimated by the motion intention estimation unit 26, it is determined whether or not the worker's motion is a motion contrary to the motion intention. Determined. If it is determined that the worker's motion is not a motion contrary to the motion intention, that is, if the worker's motion is the motion as intended, the process proceeds to step S7. On the other hand, when it is determined that the operation of the worker is an operation contrary to the operation intention, the process proceeds to step S8.

  In step S7, normal robot control is performed by the robot control unit 28 (see FIG. 2). For example, by operating the robot 50 based on the control program, the robot 50 performs a predetermined normal operation.

  In step S8, the robot control unit 28 performs predetermined robot control. For example, when the worker is physically moving even though there is no intention of movement, the worker may be moved by the robot 50 or may collide with something and approach the robot 50. Stop operation. In addition, if the worker is not physically moving even though there is an intention to operate, the worker may have made a mistake, and thus the robot 50 is complemented by the worker's work.

  Thereafter, in step S9, it is determined whether or not the worker has finished the work. For example, when the operator operates an end button (not shown), it is determined that the work is finished. If it is determined that the work has been completed, the process proceeds to the end. On the other hand, if it is determined that the work has not been completed, the process returns to step S2.

-Effect-
In the present embodiment, as described above, the motion calculation unit 24 that acquires the motion information of the worker, the motion intention estimation unit 26 that estimates the motion intention of the worker based on the myoelectric signal, the motion information and the motion intention And an operation determination unit 27 that determines whether or not the operator's operation is an unintentional operation. With this configuration, it is possible to appropriately determine whether or not the worker's motion is a motion contrary to the intention based on the motion information and the motion intention.

  In the present embodiment, a robot control unit 28 that controls the robot 50 is provided, and causes the robot 50 to perform a predetermined operation when the operator's operation is unintentional. For example, when the worker is physically moving even though there is no movement intention, there is a possibility that the worker is moved in contact with the robot 50 or is approaching the robot 50 by colliding with something. By stopping the robot 50, safety can be improved. In addition, if the worker is not physically moving even though there is an intention to operate, the worker may have made a mistake. Therefore, by making the robot 50 complement the worker's work, productivity can be improved. Can be improved. As a result, it is possible to improve safety and productivity in a situation where the robot 50 and the worker work in cooperation.

  In the present embodiment, by providing the worker information acquisition unit 21 that acquires the position information and posture information of the worker, the motion calculation unit 24 calculates the motion information using the position information and posture information. it can.

  Further, in this embodiment, the motion calculation unit 24 improves the accuracy of the motion information by calculating the worker's motion information based on the worker's position information and posture information and the worker's human body model. Can be made.

  Moreover, in this embodiment, the human body model of an operator can be easily obtained by providing the human body model calculation part 22 which calculates a human body model from position information and posture information.

-Other embodiments-
In addition, embodiment disclosed this time is an illustration in all the points, Comprising: It does not become a basis of limited interpretation. Therefore, the technical scope of the present invention is not interpreted only by the above-described embodiments, but is defined based on the description of the scope of claims. Further, the technical scope of the present invention includes all modifications within the meaning and scope equivalent to the scope of the claims.

  For example, in the present embodiment, an example in which the robot 50 is a robot arm has been described. However, the present invention is not limited to this, and the control target may be a transport device that transports components. That is, the control object is, for example, an industrial machine.

  Further, in the present embodiment, an example in which the movement of the worker's whole body is detected by the plurality of detection devices 2 has been described. May be.

  In the present embodiment, an example in which the motion intention of the worker's whole body is detected by the plurality of detection devices 3 is shown. However, the present invention is not limited to this, and only the motion intention of the worker's local area (for example, the upper body) is detected. You may do it. Moreover, although the example with which the some detection apparatus 3 was mounted | worn with an operator was shown, not only this but the detection apparatus with which an operator is mounted | worn may be single.

  Moreover, in this embodiment, when CPU11 runs the program 12a, the worker information acquisition part 21, the human body model calculating part 22, the action calculating part 24, the myoelectric acquisition part 25, the action intention estimation part 26, and the action determination part 27 and the robot control unit 28 are shown as examples. However, the present invention is not limited to this, and the worker information acquisition unit, the human body model calculation unit, the movement calculation unit, the myoelectric acquisition unit, the movement intention estimation unit, the movement determination unit, and Each robot control unit may be configured by hardware.

  In the present embodiment, the example in which the position information and the posture information are calculated based on the acceleration data and the angular velocity data is shown. However, the present invention is not limited to this, and based on the velocity data, angular acceleration data, pressure data, magnetic data, and the like. Thus, the position information and the posture information may be calculated. That is, although the example in which the detection device 2 detects acceleration data and angular velocity data has been shown, the detection device is not limited to this, and the detection device may include acceleration data, angular velocity data, velocity data, angular acceleration data, pressure data, and magnetic data. What is necessary is just to be comprised so that at least 1 may be detected.

  In this embodiment, an example in which the motion intention is estimated based on the myoelectric signal is shown. However, the present invention is not limited to this, and the motion intention is estimated based on other biological signals such as an electroencephalogram signal and a cerebral blood flow signal. You may do it. That is, although the example in which the detection device 3 detects the myoelectric signal has been shown, the present invention is not limited thereto, and the detection device is configured to detect at least one of the electroencephalogram signal, the cerebral blood flow signal, and the myoelectric signal. It only has to be done. That is, the motion intention may be estimated based on one type of biological signal, or the motion intention may be estimated based on a plurality of types of biological signals.

  In the present embodiment, the worker information acquisition unit 21 acquires the acceleration data and the angular velocity data, and calculates the position information and the posture information using the acceleration data and the angular velocity data. However, the present invention is not limited thereto. First, the worker information acquisition unit acquires at least one of acceleration data, angular velocity data, velocity data, angular acceleration data, pressure data, and magnetic data, and uses the acquired data for position information and posture information. At least one of them may be calculated.

  Moreover, in this embodiment, although the human body model calculating part 22 showed the example which calculates a human body model of an operator based on position information and attitude | position information, it is not restricted to this, A human body model calculating part has position information or attitude | position information. The human body model of the operator may be calculated based on the above.

  Moreover, in this embodiment, while the human body model calculating part 22 was provided in the control apparatus 1 and the human body model was input from the tool apparatus 60, the human body model calculating part 22 was not limited to this. The human body model may not be input from the tool device 60.

  In the present embodiment, an example in which the human body model recording unit 23 is provided has been described. However, the present invention is not limited thereto, and the human body model recording unit may not be provided.

  Moreover, in this embodiment, although the motion calculation part 24 showed the example which calculates motion information from position information and attitude | position information, and a human body model, it is not restricted to this, A motion calculation part has position information or attitude | position information. The motion information may be calculated from the human body model, or the motion information may be calculated based on at least one of the position information and the posture information regardless of the human body model.

  Further, in the present embodiment, an example in which the myoelectric acquisition unit 25 to which the myoelectric signal is input is provided, but the present invention is not limited thereto, and the work is performed based on other biological signals such as an electroencephalogram signal and a cerebral blood flow signal. When a person's motion intention is estimated, a biological signal acquisition unit to which the biological signal is input may be provided.

  In the present embodiment, the motion intention estimation unit 26 estimates the motion intention based on the myoelectric signal. However, the present invention is not limited to this, and the motion intention estimation unit includes an electroencephalogram signal, a cerebral blood flow signal, and the like. The operator's motion intention may be estimated based on other biological signals.

  Further, in the present embodiment, an example is shown in which the robot 50 is stopped when the worker's motion is against the motion intention and the worker is physically moving without the motion intention. However, the present invention is not limited to this, and when the operator's motion is against the motion intention and the worker is physically moving even though there is no motion intention, the robot may be operated to avoid or decelerate. Good. The avoidance operation is an operation for avoiding contact with the worker by retracting the robot from the current position. The deceleration operation is an operation that decreases the operation speed of the robot.

  In the present embodiment, an example is shown in which it is determined that the work has started when the start button is operated. However, the present invention is not limited thereto, and the work starts when the worker enters a predetermined work area. You may make it judge that it was carried out. Similarly, an example is shown in which it is determined that the work is finished when the end button is operated. However, the present invention is not limited thereto, and it is determined that the work is finished when the worker leaves the predetermined work area. You may do it.

  In the present embodiment, an example is shown in which the motion intention of the worker is estimated after the motion information of the worker is calculated. However, the present invention is not limited to this, and the calculation of motion information and the estimation of motion intention are performed simultaneously. Alternatively, the motion information may be calculated after estimating the motion intention. That is, the flowchart of this embodiment is an example and is not limited to the procedure.

  In the present embodiment, a robot information acquisition unit (not shown) that acquires various information (for example, position information, speed information, and route information) of the robot 50 is provided, and the robot 50 is controlled in consideration of the various information. You may make it do.

  In the present embodiment, the control device 1 is provided with an operator information acquisition unit 21 that acquires the position information and posture information of the worker, and an operation calculation unit 24 that calculates operation information from the position information and posture information. Although an example is shown, the present invention is not limited to this, and it is only necessary that an operation acquisition unit that acquires the operation information of the worker is provided in the control device. In other words, as long as the control device can acquire the operation information from the outside, the function unit for calculating the operation information may not be provided in the control device.

  The present invention is applicable to a determination device, a control device, a control system, a determination method, and a program.

1 Control device (computer)
2 Detection device (first detection device)
3 Detection device (second detection device)
12a program 21 worker information acquisition unit (status acquisition unit)
22 human body model calculation unit 23 human body model recording unit 24 motion calculation unit (motion acquisition unit)
26 motion intention estimation unit 27 motion determination unit 28 robot control unit (control unit)
40 determination unit (determination device)
50 Robot (control target)
100 Control system

Claims (15)

  1. An action acquisition unit for acquiring the action information of the worker;
    An operation intention estimation unit that estimates the operator's motion intention based on the worker's biological signal;
    A determination apparatus comprising: an operation determination unit configured to determine whether or not an operator's operation is an unintentional operation based on the operation information and the operation intention.
  2. The determination apparatus according to claim 1,
    The determination apparatus, wherein the biological signal includes at least one of an electroencephalogram signal, a cerebral blood flow signal, and a myoelectric signal.
  3. In the determination apparatus according to claim 1 or 2,
    A state acquisition unit that acquires at least one of the position information and the posture information of the worker;
    The determination device, wherein the motion acquisition unit is configured to calculate the motion information based on at least one of the position information and the posture information.
  4. The determination apparatus according to claim 3,
    The state acquisition unit acquires at least one of acceleration data, angular velocity data, velocity data, angular acceleration data, pressure data, and magnetic data, and uses the acquired data to at least the position information and the posture information. A determination apparatus configured to calculate one of the two.
  5. In the determination apparatus according to claim 3 or 4,
    The determination device, wherein the motion acquisition unit is configured to calculate the motion information based on at least one of the position information and the posture information and a human body model of an operator.
  6. The determination apparatus according to claim 5,
    A determination apparatus comprising a human body model recording unit in which the human body model is recorded.
  7. In the determination apparatus according to claim 5 or 6,
    A determination apparatus comprising: a human body model calculation unit that calculates the human body model from at least one of the position information and the posture information.
  8. A determination device according to any one of claims 1 to 7,
    A control unit for controlling the controlled object,
    The control device is configured to operate the control object based on a determination result of the determination device.
  9. The control device according to claim 8, wherein
    The control unit is configured to cause the control target to perform an avoidance operation, a stop operation, or a deceleration operation when the operation determination unit of the determination apparatus determines that the operator's operation is an unintentional operation. A control device.
  10. The control device according to claim 8 or 9,
    The control unit is configured to supplement an operator's work with the control target when the operation determination unit of the determination apparatus determines that the operation of the worker is an unintentional operation. A control device characterized by.
  11. A control device according to any one of claims 8 to 10,
    A control system comprising a first detection device and a second detection device to be worn by an operator.
  12. The control system according to claim 11,
    The first detection device is configured to detect at least one of acceleration data, angular velocity data, velocity data, angular acceleration data, pressure data, and magnetic data,
    The determination device includes a state acquisition unit that acquires at least one of position information and posture information of an operator based on a detection result of the first detection device,
    The operation acquisition unit of the determination apparatus is configured to calculate the operation information based on at least one of the position information and the posture information.
  13. The control system according to claim 11 or 12,
    The biological signal includes at least one of an electroencephalogram signal, a cerebral blood flow signal, and a myoelectric signal,
    The second detection device is configured to detect at least one of the electroencephalogram signal, the cerebral blood flow signal, and the myoelectric signal,
    The operation intention estimation unit of the determination device is configured to estimate the operation intention based on a detection result of the second detection device.
  14. Obtaining the operation information of the worker;
    Estimating the operator's motion intention based on the worker's biological signal;
    And a step of determining whether or not the operator's motion is a motion contrary to the intention based on the motion information and the motion intention.
  15.   A program for causing a computer to execute the determination method according to claim 14.
JP2016025966A 2016-02-15 2016-02-15 Determination device, control device, control system, determination method, and program Pending JP2017143896A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2016025966A JP2017143896A (en) 2016-02-15 2016-02-15 Determination device, control device, control system, determination method, and program

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2016025966A JP2017143896A (en) 2016-02-15 2016-02-15 Determination device, control device, control system, determination method, and program
PCT/JP2017/000587 WO2017141579A1 (en) 2016-02-15 2017-01-11 Determination device, control device, control system, determination method, and program

Publications (1)

Publication Number Publication Date
JP2017143896A true JP2017143896A (en) 2017-08-24

Family

ID=59625656

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2016025966A Pending JP2017143896A (en) 2016-02-15 2016-02-15 Determination device, control device, control system, determination method, and program

Country Status (2)

Country Link
JP (1) JP2017143896A (en)
WO (1) WO2017141579A1 (en)

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4178185B2 (en) * 2004-02-17 2008-11-12 国立大学法人 筑波大学 Wearable motion assist device, drive source control method and program in wearable motion assist device
JP2006075456A (en) * 2004-09-13 2006-03-23 Tohoku Univ Wearing type support system based on human body model
JP5229621B2 (en) * 2007-08-20 2013-07-03 国立大学法人 筑波大学 Wearable motion assist device, motion assist system, wearable motion assist device, and motion assist method of wearable motion assist device
JP5481932B2 (en) * 2009-05-22 2014-04-23 株式会社Ihi Robot control apparatus and control method thereof
JP2012101284A (en) * 2010-11-05 2012-05-31 Nagoya Univ Intention estimation device for action of person
JP5982767B2 (en) * 2011-09-26 2016-08-31 ソニー株式会社 Exercise assistance device, exercise assistance method, computer program, and program recording medium

Also Published As

Publication number Publication date
WO2017141579A1 (en) 2017-08-24

Similar Documents

Publication Publication Date Title
Kofman et al. Teleoperation of a robot manipulator using a vision-based human-robot interface
EP2859999A2 (en) Robot controller, robot system, robot, robot control method, and program
JP4715863B2 (en) Actuator control apparatus, actuator control method, actuator, robot apparatus, and computer program
JP5509226B2 (en) Kinematic and dynamic calibration method and system for a legged robot with force control joint and the robot
JP6293777B2 (en) Collision avoidance during controlled movement of image capture device and operable device movable arm
JP4550849B2 (en) Mobile robot with arm
CN104440913B (en) Method for manually adjusting the pose of a manipulator arm of an industrial robot and industrial robots
CN101432103B (en) Apparatus for controlling robot arm
JP2007030054A (en) Robot device
Vogel et al. EMG-based teleoperation and manipulation with the DLR LWR-III
DE102008041602B4 (en) Robot and method for controlling a robot
JP2005201824A (en) Measuring device
CN104428107B (en) The method that robot arranges and is used for controlling robot
DE102014108956B4 (en) Device for deburring with visual sensor and force sensor
JP2007144524A (en) Interference avoiding method of robot and robot
US9427873B2 (en) Robot controller, simple installation-type robot, and method of controlling simple installation-type robot
DE102006048163A1 (en) Camera-based monitoring of moving machines and / or moving machine elements for collision prevention
ES2639744T3 (en) Control procedure of a robot and control unit for a robot
EP2813203B1 (en) Action setting method
DE10216023B4 (en) Method and apparatus for controlled interaction between a self-propelled robot unit and a human
CN104972473B (en) With the people's coordination type industrial robot for introducing function
US9221170B2 (en) Method and apparatus for controlling a robotic device via wearable sensors
WO2003068464A1 (en) Drive control method and drive controller
JP2011110621A (en) Method of producing teaching data of robot and robot teaching system
JP5512048B2 (en) Robot arm control device and control method, robot, control program, and integrated electronic circuit