JP2017144490A - Control device, control system, control method and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a control device capable of improving versatility when a controlled object is allowed to work cooperatively with an operator.SOLUTION: A control device 1 includes an operator information acquisition part 21 for acquiring positional information and attitude information of an operator, an operation arithmetic part 24 for estimating operation of each portion of the operator based on the positional information, the attitude information, and a human body model of the operator, and a robot control part 27 for controlling a robot 50 based on the estimation result by the operation arithmetic part 24 and the state of the robot 50.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a control device, a control system, a control 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

  However, the above-described conventional work assistance system has a problem that the work that can be assisted by the industrial robot is limited, so that the versatility when the industrial robot is caused to cooperate with the worker is poor.

  The present invention has been made to solve the above-described problems, and an object of the present invention is to provide a control device and a control system capable of improving versatility when causing a worker to collaborate on a control target. It is to provide a control method and a program.

  A control device according to the present invention controls a control target, and includes an acquisition unit that acquires at least one of position information and posture information of an operator, at least one of position information and posture information, and an operator's position information. An estimation unit that estimates the motion of each part of the worker based on the human body model, and a control unit that controls the control target based on the estimation result of the estimation unit and the state of the control target.

  By configuring in this way, the motion of each part of the worker is estimated, and the control target is controlled according to the estimated motion, thereby improving the versatility when the control target is collaborated with the worker. Can be achieved. That is, even when the work contents of the cooperative work are different, the control target can be appropriately controlled according to the estimated motion by estimating the motion of each part of the worker.

  In the above control device, the estimation unit calculates the motion information of each part of the worker based on at least one of the position information and the posture information and the human body model, and calculates the future motion of the worker from the motion information. The control unit may be configured to estimate, and the control unit may be configured to control the control target based on a future operation of the worker and the state of the control target.

  In the control device, the estimation unit is configured to calculate motion information of each part of the worker based on at least one of position information and posture information and a human body model, and the control unit includes motion information and The control target may be configured to be controlled based on the state of the control target.

  In the above control device, the 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. It may be configured to calculate at least one of them.

  In this case, the acquisition unit includes a reliability determination unit that determines the reliability of the data acquired, and the acquisition unit uses the distance data when the reliability determination unit determines that the data is not reliable. Further, at least one of position information and posture information may be calculated. The distance data is, for example, the distance between the control target and the worker.

  In the control device including the reliability determination unit, the reliability determination unit determines that the data is not reliable when the data is interrupted and when the data is out of a preset range. It may be configured.

  The control device includes a determination unit that determines whether or not an operation for bringing the control target into a safe state for the worker is necessary based on the estimation result of the estimation unit and the state of the control target. Also good.

  In the control device including the determination unit, the determination unit is configured to determine whether the control target needs to be avoided based on the estimation result of the estimation unit and the state of the control target. May be configured to cause the control target to perform the avoidance operation when the determination unit determines that the avoidance operation is necessary.

  In this case, the determination unit is configured to determine whether or not the control target can be returned after the control target performs an avoidance operation, and the control unit is configured to be recoverable by the determination unit. When it is determined, the control target may be returned.

  In the control device including the determination unit, the determination unit is configured to determine whether the control target needs to be decelerated or stopped based on the estimation result of the estimation unit and the state of the control target. The control unit may be configured to cause the control target to perform a deceleration operation or a stop operation when the determination unit determines that a deceleration operation or a stop operation is necessary.

  The control apparatus may include a human body model recording unit in which a human body model is recorded.

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

  The control system according to the present invention includes the above-described control device and a detection device that is attached to each part of the worker and detects the operation of each part.

  In the control system, the 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 acquisition unit of the control device includes the detection device. The detection result may be acquired, and at least one of the position information and the posture information may be calculated using the acquired detection result.

  The control system includes a device for measuring a distance, the control device includes a reliability determination unit that determines the reliability of the detection result of the detection device, and the acquisition unit of the control device is detected by the reliability determination unit. When it is determined that the detection result of the device is not reliable, at least one of the position information and the posture information may be calculated using the detection result of the device. The distance is, for example, the distance between the control target and the worker.

  In this case, the device may include at least one of an image sensor, an ultrasonic sensor, and a laser scanner.

  The control method according to the present invention controls an object to be controlled, the step of obtaining at least one of position information and posture information of the worker, at least one of position information and posture information, and the human body of the worker A step of estimating the movement of each part of the worker based on the model, and a step of controlling the control target based on the estimation result and the state of the control target.

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

  According to the control device, the control system, the control method, and the program of the present invention, it is possible to improve the versatility when the control target is caused to collaborate by an operator.

It is a hardware block diagram showing the composition of the control system by a 1st 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 1st Embodiment. It is the functional block diagram which showed the control system by 2nd Embodiment of this invention. It is a flowchart for demonstrating acquisition operation | movement of the worker information in the control system of 2nd Embodiment.

  Embodiments of the present invention will be described below with reference to the drawings.

(First embodiment)
First, with reference to FIG. 1 and FIG. 2, the structure of the control system 100 by 1st 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 a detection device 2 that is attached to each part of the worker and detects the operation of each part. The robot 50 is, for example, a robot arm installed in a production line of a factory, and is an example of the “control target” in the present invention. The control system 100 is configured such that the worker and the robot 50 work in cooperation by controlling the robot 50 according to the operation of each part of the worker.

  The control device 1 is a so-called PLC (Programmable Logic Controller), and is configured to estimate the future motion of each part of the worker and control the robot 50 based on the estimation result. . Specifically, the control device 1 calculates the motion information of each part of the worker from the detection result of the detection device 2 and the human body model of the worker, estimates the motion of each part from the motion information, and performs the robot 50. Are supposed to work together. The worker's human body model is, for example, a database of dimensions for each part of the worker's body.

  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). .

  The detection device 2 includes an acceleration sensor 2a that detects acceleration data, an angular velocity sensor 2b that detects angular velocity data, and an output unit 2c that outputs detection results of the acceleration sensor 2a and the angular velocity sensor 2b 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 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. As an example of this control program, the robot 50 is caused to execute a predetermined work. The RAM 13 is a volatile memory, and has a function of temporarily storing a calculation result by the CPU 11 and a detection result of the detection device 2. A plurality of detection devices 2, a robot 50, a tool device 60 for changing settings of the control device 1, and the like are connected to the input / output unit 14.

  In addition, as shown in FIG. 2, the control device 1 includes a worker information acquisition unit 21, a human body model calculation unit 22, a human body model recording unit 23, a motion calculation unit 24, and a robot information acquisition unit 25. A calculation unit 26 and a robot control unit 27 are included. The worker information acquisition unit 21, the human body model calculation unit 22, the motion calculation unit 24, the robot information acquisition unit 25, the cooperative calculation unit 26, and the robot control unit 27 are realized by the CPU 11 executing the program 12a. The human body model recording unit 23 is configured by a part of the storage area of the ROM 12.

  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 “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. 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 first 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 calculates the motion information of each part of the worker by inputting the position information and posture information of each part to the human body model recorded in the human body model recording unit 23, and the work information is obtained from the motion information. It is comprised so that the future operation | movement about each part of a person may be estimated. That is, the operation of each part is calculated from the temporal change of the position and posture of each part of the worker, and the future action is estimated based on the calculation result. The motion calculation unit 24 is an example of the “estimation unit” in the present invention.

  Various information 50 a is input from the robot 50 to the robot information acquisition unit 25. The various information 50a is, for example, position information, speed information, route information, and the like regarding the robot 50, and is detected by a sensor (not shown) provided in the robot 50. For this reason, the robot information acquisition unit 25 can determine the operation state of the robot 50, and can estimate the future operation of the robot 50 when operating based on the control program. .

  The cooperative calculation unit 26 is provided to control the robot 50 based on the motion estimation result of each part of the worker by the motion calculation unit 24. That is, the cooperative calculation unit 26 is provided to control the robot 50 in accordance with the motion predicted by the worker. For example, the cooperative calculation unit 26 determines whether or not an operation for bringing the robot 50 into a safe state for the worker is necessary based on the estimation result of the worker's motion and the motion state of the robot 50. It is configured as follows. Here, an example of an operation for bringing the robot 50 into a safe state for the worker is an avoiding operation of the robot 50. And the cooperation calculating part 26 calculates a predetermined avoidance operation | movement, when it determines with an avoidance operation | movement being required. Further, the cooperative calculation unit 26 is configured to determine whether or not the robot 50 can be returned when the robot 50 performs an avoidance operation. The cooperative calculation unit 26 is an example of the “determination unit” in the present invention.

  The robot control unit 27 is provided for outputting an operation instruction to the robot 50. For example, the robot control unit 27 is configured to control the robot 50 so as to execute a predetermined operation based on the control program in the normal time. The robot control unit 27 is configured to cause the robot 50 to perform an avoidance operation when the cooperative calculation unit 26 determines that an avoidance operation is necessary. If the avoidance operation is performed during execution of the predetermined work based on the control program, the predetermined work is interrupted. Further, the robot control unit 27 is configured to return the robot 50 when it is determined by the cooperative calculation unit 26 that the return can be performed. Returning the robot 50 means restarting the interrupted predetermined work.

-Control system operation-
Next, the operation of the control system 100 of the first embodiment will be described with reference to FIG. This operation includes a method for controlling the robot 50 by the control device 1.

  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 is attached to each part of the worker.

  First, in step S1 of FIG. 3, it is determined whether or not the operation control of the robot 50 (see FIG. 2) has been started. If it is determined that the operation control of the robot 50 has been started, the process proceeds to step S2. On the other hand, if it is determined that the operation control of the robot 50 has not been started, step S1 is repeated. That is, the control device 1 stands by until the operation control of the robot 50 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) estimates the motion of each part of the worker. Specifically, by inputting the position information and posture information of each part to the human body model recorded in the human body model recording unit 23, the operation information of each part of the operator is calculated, and the movement information is included in the movement information. Based on this, the future motion of each part of the worker is estimated.

  Next, in step S4, various information 50a (see FIG. 2) of the robot 50 is acquired by the robot information acquisition unit 25 (see FIG. 2), and the operation state of the robot 50 is determined. When the robot 50 is operating, the operation of the robot 50 is estimated.

  Next, in step S5, it is determined by the cooperative calculation unit 26 (see FIG. 2) whether or not the robot 50 needs to be operated to avoid. The cooperative calculation unit 26 determines whether an avoidance operation is necessary based on the estimation result of the worker's motion obtained in step S3 and the motion state of the robot 50 obtained in step S4. . Here, the case where the avoidance operation is necessary is, for example, a case where it is predicted that the worker and the robot 50 will collide based on the motion prediction of the worker and the robot 50. If it is determined that the avoidance operation is not necessary, the process proceeds to step S6. On the other hand, if it is determined that the avoidance operation is necessary, the process proceeds to step S7.

  In step S6, the robot controller 27 (see FIG. 2) causes the robot 50 to normally operate. The normal operation is to operate the robot 50 so as to execute a predetermined work based on the control program. In step S6, for example, a part of predetermined work is performed, and the process proceeds to step S14. That is, by repeating this step S6, a part of the predetermined work is sequentially performed, whereby the predetermined work is performed as a series of work and the predetermined work is repeatedly performed. As will be described later, in this step S6 when the robot 50 is returned after the robot 50 is evaded and the operation based on the control program is interrupted, the operation is resumed from the point where the operation based on the control program is interrupted. Is done.

  In step S7, the robot information acquisition unit 25 acquires the work state of the robot 50 immediately before performing the avoidance operation, and stores the work state. This working state is, for example, position information and posture information of the robot 50. That is, the control device 1 stores position information and posture information of the robot 50 before causing the robot 50 to perform an avoidance operation. Note that the position information and posture information of the robot 50 are stored, for example, in the RAM 13 (see FIG. 1).

  Next, in step S8, the robot controller 27 causes the robot 50 to perform an avoidance operation. The avoiding operation is, for example, to prevent the robot 50 from being retracted from an area where the operator's motion is predicted or to prevent the robot 50 from entering the region where the operator's motion is predicted. This avoidance operation is calculated by the cooperative calculation unit 26 based on the estimation result of the operator's operation and the operation state of the robot 50. Then, after performing the avoidance operation, the robot 50 is stopped. That is, the predetermined work based on the control program is interrupted.

  Next, in step S9, the worker information acquisition unit 21 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 S10, the motion calculation unit 24 estimates the motion of each part of the worker. Specifically, by inputting the position information and posture information of each part to the human body model recorded in the human body model recording unit 23, the operation information of each part of the operator is calculated, and the movement information is included in the movement information. Based on this, the future motion of each part of the worker is estimated.

  Next, in step S11, the cooperative calculation unit 26 determines whether or not the robot 50 can be returned. For example, if it is determined that the robot 50 does not collide with the operator even if the robot 50 is returned from the current state to the work state stored in step S7, it is determined that the robot 50 can be returned. . If it is determined that the recovery is possible, the process proceeds to step S12. On the other hand, if it is determined that the return is not possible, the process proceeds to step S13.

  In step S12, the robot controller 27 causes the robot 50 to return. Specifically, the robot 50 is operated to return to the work state stored in step S7. Thereafter, the process proceeds to step S14.

  In step S <b> 13, the cooperative calculation unit 26 determines whether or not the robot 50 needs to be avoided. The cooperative calculation unit 26 determines whether an avoidance operation is necessary based on the estimation result of the worker's operation obtained in step S10 and the current state of the robot 50. If it is determined that the avoidance operation is not necessary, the process returns to step S9. On the other hand, if it is determined that an avoidance operation is necessary, the process returns to step S8.

  Next, in step S14, it is determined whether or not the operation control of the robot 50 has been completed. If it is determined that the operation control of the robot 50 has been completed, the process proceeds to the end. On the other hand, if it is determined that the operation control of the robot 50 has not been completed, the process returns to step S2.

-Effect-
In the first embodiment, as described above, the motion information of each part of the worker is calculated based on the position information and posture information of each part of the worker and the human body model of the worker, and the future is calculated from the motion information. And a robot control unit 27 for controlling the robot 50 based on the estimation result and the operation state of the robot 50 are provided. By configuring in this way, it is possible to improve versatility when the robot 50 causes the worker to perform cooperative work. That is, even if the work contents of the collaborative work (contents of the control program) are different, the robot 50 is appropriately controlled according to the estimated movement by estimating the movement of each part of the worker. Can do.

  In the first embodiment, the cooperative calculation unit 26 that determines whether or not the robot 50 needs to be avoided based on the motion estimation result of each part of the worker and the operation state of the robot 50 is provided. The robot control unit 27 is provided to avoid the robot 50 when necessary. By configuring in this way, it is possible to suppress the collision between each part of the operator and the robot 50, so that safety can be improved.

  In the first embodiment, the cooperative calculation unit 26 is configured to determine whether or not the robot 50 can be returned after the robot 50 performs the avoidance operation, and the robot control unit 27 is possible. In this case, the robot 50 is configured to return. With this configuration, the robot 50 automatically returns to work, so that it is possible to suppress a reduction in work efficiency while improving safety.

  In the first embodiment, the human body model of the worker can be easily obtained by providing the human body model calculation unit 22 that calculates the human body model from the position information and the posture information.

  In the first embodiment, the motion estimation accuracy is improved by estimating the motion of each part of the worker based on the position information and posture information of each part of the worker and the human body model of the worker. Can be achieved.

(Second Embodiment)
Next, the configuration of the control system 100a according to the second embodiment of the present invention will be described with reference to FIG.

  As shown in FIG. 4, the control system 100 a includes a control device 1 a that controls the robot 50, a detection device 2 that is attached to each part of the worker and detects the operation of each part, an ultrasonic sensor 3, An image sensor 4 and a laser scanner 5 are provided. The ultrasonic sensor 3, the image sensor 4, and the laser scanner 5 are examples of the “device” in the present invention.

  The ultrasonic sensor 3 is configured to measure the distance between the robot 50 and the worker and output the distance measurement data to the control device 1a. The image sensor 4 is configured to take an image of a work area where the robot 50 and the worker perform work, and output the image data to the control device 1a. The laser scanner 5 is configured to measure the distance between the robot 50 and the operator and output the distance measurement data to the control device 1a. And the control apparatus 1a is comprised so that the distance data between the robot 50 and an operator may be calculated using the detection result of the ultrasonic sensor 3, the image sensor 4, and the laser scanner 5. FIG.

  The control device 1a is configured to calculate position information and posture information of each part of the worker using the distance data when the detection result of the detection device 2 is not reliable. Specifically, the control device 1a includes an operator information acquisition unit 21a, a human body model calculation unit 22, a human body model recording unit 23, a motion calculation unit 24, a robot information acquisition unit 25, and a cooperation calculation unit 26. The robot control unit 27 and the reliability determination unit 28 are included.

  The reliability determination unit 28 is provided to determine the reliability of the detection results (acceleration data and angular velocity data) of the detection device 2. The reliability determination unit 28 detects when the detection result of the detection device 2 input to the control device 1a is interrupted (when the detection result is no longer input) and when the detection device 2 is input to the control device 1a. When the result is out of the predetermined range (when the detection result is over the range), it is determined that there is no reliability. The predetermined range is, for example, a range set in advance, and is a range in which a detection result at normal time is settled.

  The worker information acquisition unit 21 a is configured to receive detection results of the ultrasonic sensor 3, the image sensor 4, and the laser scanner 5 in addition to the detection results of each detection device 2. That is, the worker information acquisition unit 21a acquires acceleration data and angular velocity data of each part of the worker with time, and also acquires distance measurement data and image data with time. Note that distance data between the robot 50 and the worker is calculated using the distance measurement data and the image data. Then, when the detection result of the detection device 2 is reliable, the worker information acquisition unit 21a calculates position information and posture information from the acceleration data and the angular velocity data, and the detection result of the detection device 2 is not reliable. In this case, the position information and the posture information are calculated from the distance data. That is, the worker information acquisition unit 21a acquires position information and posture information for each part of the worker over time, and distance measurement data and image data are auxiliary for calculating position information and posture information. It is a lot of data. The worker information acquisition unit 21a is an example of the “acquisition unit” in the present invention.

  In addition, the other structure of the control apparatus 1a is the same as that of the above-described control apparatus 1.

-Control system operation-
Next, the operation of the control system 100a of the second embodiment will be described with reference to FIG. In the operation of the control system 100a in the second embodiment, only the acquisition of worker information (steps S2 and S9 in FIG. 3) is different from that in the first embodiment, and only this point will be described below.

  In acquisition of worker information according to the second embodiment, acceleration data and angular velocity data from the detection device 2 (see FIG. 4) are obtained by the control device 1a (see FIG. 4) in step S21 of FIG.

  In step S22, the distance measurement data from the ultrasonic sensor 3 (see FIG. 4) is acquired by the control device 1a, the image data from the image sensor 4 (see FIG. 4) is acquired by the control device 1a, and the laser scanner. Ranging data from 5 (see FIG. 4) is acquired by the control device 1a. Then, distance data between the robot 50 and the operator is calculated using detection results of the ultrasonic sensor 3, the image sensor 4, and the laser scanner 5.

  Next, in step S23, the reliability of the detection result (acceleration data and angular velocity data) of the detection device 2 is determined by the reliability determination unit 28 (see FIG. 4). For example, when the detection result of the detection device 2 is interrupted or when the detection result of the detection device 2 is out of a predetermined range, it is determined that there is no reliability. If there is reliability, the process proceeds to step S24, and if there is no reliability, the process proceeds to step S25.

  In step S24, the worker information acquisition unit 21a calculates position information and posture information of each part based on acceleration data and angular velocity data input from each detection device 2.

  In step S25, the worker information acquisition unit 21a calculates position information and posture information of each part based on the distance data.

-Effect-
In the second embodiment, as described above, based on the reliability determination unit 28 that determines the reliability of the detection result of the detection device 2 and the detection results of the ultrasonic sensor 3 and the image sensor 4 when there is no reliability. An operator information acquisition unit 21a that calculates position information and posture information is provided. With this configuration, the reliability of the control system 100a can be improved.

  In the second embodiment, the accuracy of the distance data can be improved by providing the ultrasonic sensor 3, the image sensor 4, and the laser scanner 5.

  The remaining effects of the second embodiment are similar to those of the first embodiment.

(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 first embodiment, an example in which the robot 50 is a robot arm has been described. That is, the control object is, for example, an industrial machine.

  In the first embodiment, an example in which the movement of the whole body of the worker is detected by the plurality of detection devices 2 has been described. However, the present invention is not limited thereto. It may be.

  In the first embodiment, when the CPU 11 executes the program 12a, the worker information acquisition unit 21, the human body model calculation unit 22, the motion calculation unit 24, the robot information acquisition unit 25, the cooperative calculation unit 26, and the robot control unit However, the present invention is not limited to this, and the worker information acquisition unit, the human body model calculation unit, the motion calculation unit, the robot information acquisition unit, the cooperative calculation unit, and the robot control unit are each configured by hardware. It may be.

  In the first 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 the velocity data, the angular acceleration data, the pressure data, the magnetic data, and the like are used. Based on this, position information and 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 the first embodiment, the worker information acquisition unit 21 acquires acceleration data and angular velocity data, and calculates position information and posture information using the acceleration data and angular velocity data. Not limited to, 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. It is sufficient to calculate at least one of these.

  In the first embodiment, the human body model calculation unit 22 calculates the worker's human body model based on the position information and the posture information. However, the present invention is not limited thereto, and the human body model calculation unit displays the position information or the posture. The human body model of the worker may be calculated based on the information.

  Moreover, in 1st Embodiment, while the human body model calculating part 22 was provided in the control apparatus 1, the example which comprised a human body model input from the tool apparatus 60 was shown, but it is not restricted to this, The human body model calculating part 22 If a human body model cannot be input from the tool device 60, or if a human body model can be input from the tool device 60, the human body model calculation unit 22 may not be provided.

  In the first 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 is not provided as long as the human body model of the worker can be obtained from the outside. May be.

  In the first embodiment, the motion calculation unit 24 calculates motion information from position information, posture information, and a human body model, and estimates a future motion from the motion information. However, the present invention is not limited thereto. Instead, the motion calculation unit may calculate the motion information from the position information or posture information and the human body model, and may estimate the future motion from the motion information. Further, the motion calculation unit may calculate the motion information from at least one of the position information and the posture information and the human body model so that the future motion of the worker is not estimated. In this case, the cooperative calculation unit may determine whether it is necessary to make the robot perform an avoidance operation based on the operation information (the estimation result of the operation so far) and the state of the robot. That is, the motion of the worker up to the future may be estimated, and the robot may be controlled based on the estimation result and the state of the robot, or the motion of the worker up to the present may be estimated, The robot may be controlled based on the state of the robot.

  In the first embodiment, an example in which various information 50a is input from the robot 50 to the robot information acquisition unit 25 is shown. However, the present invention is not limited to this, and if the control device grasps various information on the robot, the robot Various information may not be input from the robot to the information acquisition unit.

  Moreover, although the example which acquires robot information after acquiring operator information was shown in the flowchart of 1st Embodiment, it is not restricted to this, You may acquire operator information and robot information simultaneously, and a robot The worker information may be acquired after the information is acquired. That is, the flowchart of FIG. 3 is an example and is not limited to the procedure.

  Further, in the first embodiment, an example in which it is determined that an avoidance operation is necessary when the worker and the robot 50 are predicted to collide with each other is not limited to this, but the worker and the robot collide with each other. In such a case, when the impact at the time of the collision is large, it may be determined that an avoidance operation is necessary. That is, when the impact is small, the collision may be allowed without performing the avoiding operation.

  In the first embodiment, when it is determined that the robot 50 does not collide with the operator even if the robot 50 is returned from the current state to the work state stored in step S7, the robot 50 can be returned. However, the present invention is not limited to this, and the robot 50 is returned from the current state to the work state stored in step S7, and the subsequent work (work based on the control program and interrupted) If it is determined that the robot 50 does not collide with the worker even if the operation resumed from the above is performed, it may be determined that the robot 50 can be returned.

  Moreover, in 1st Embodiment, the cooperation calculating part 26 shows the example which determines whether it is necessary to make the robot 50 avoid operation based on the estimation result of an operator's operation | movement, and the operation state of the robot 50. However, the present invention is not limited to this, and the cooperative calculation unit (determination unit) determines whether or not the robot needs to be decelerated or stopped based on the estimation result of the operator's motion and the motion state of the robot. It may be configured to. In this case, the robot control unit may be configured to cause the robot to perform a deceleration operation or a stop operation when it is determined by the cooperative calculation unit that a deceleration operation or a stop operation is necessary. The deceleration operation and the stop operation are examples of operations that make the robot 50 safe for the worker. The deceleration operation is an operation that decreases the operation speed of the robot, and the stop operation is an operation that makes the operation speed of the robot zero. The case where the deceleration operation or the stop operation is required is, for example, a case where it is predicted that the worker and the robot will collide based on the motion prediction of the worker and the robot.

  Note that a modification of the first embodiment described above may be applied to the second embodiment.

  In the second embodiment, an example in which the ultrasonic sensor 3, the image sensor 4, and the laser scanner 5 are provided has been described. However, the present invention is not limited thereto, and at least one of the ultrasonic sensor, the image sensor, and the laser scanner is provided. It only has to be done.

  In the second embodiment, the position information and the posture information are calculated based on the distance data, and the motion information of each part is calculated using the position information and the posture information. The motion information of each part may be directly calculated from the distance data without calculating the position information and the posture information based on the distance data.

  In the second embodiment, the example in which the distance measurement data and the image data are acquired simultaneously has been described. However, the present invention is not limited to this, and the acquisition timing of the distance measurement data and the image data may be changed.

  Moreover, in 2nd Embodiment, although the example which determines that there is no reliability when the detection result of the detection apparatus 2 input into the control apparatus 1a interrupted was shown, it is not restricted to this, The state where the detection result interrupted May be determined to be unreliable when the operation continues for a predetermined period. Similarly, an example in which the detection result of the detection device 2 input to the control device 1a is determined to be unreliable when the detection result is out of the predetermined range has been shown. If the changed state continues for a predetermined period, it may be determined that there is no reliability.

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

1, 1a Control device (computer)
2 Detector 3 Ultrasonic sensor (equipment)
4 Image sensors (equipment)
5 Laser scanner (equipment)
12a program 21, 21a worker information acquisition unit (acquisition unit)
22 human body model calculation unit 23 human body model recording unit 24 motion calculation unit (estimation unit)
26 Cooperative operation unit (determination unit)
27 Robot control unit (control unit)
28 Reliability judgment unit 50 Robot (control target)
100, 100a control system

Claims (18)

A control device for controlling a control object,
An acquisition unit for acquiring at least one of position information and posture information of the worker;
Based on at least one of the position information and the posture information and the human body model of the worker, an estimation unit that estimates the movement of each part of the worker;
A control apparatus comprising: a control unit that controls the control target based on an estimation result of the estimation unit and a state of the control target. The control device according to claim 1,
The estimation unit calculates motion information of each part of the worker based on at least one of the position information and the posture information and the human body model, and calculates a future motion of the worker from the motion information. Configured to estimate,
The said control part is comprised so that the said control object may be controlled based on the future operation | movement of the said operator, and the state of the said control object, The control apparatus characterized by the above-mentioned. The control device according to claim 1,
The estimation unit is configured to calculate motion information of each part of an operator based on at least one of the position information and the posture information and the human body model,
The control device is configured to control the control target based on the operation information and a state of the control target. In the control device according to any one of claims 1 to 3,
The 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 one of the position information and the posture information. A control device configured to calculate one of them. The control device according to claim 4,
A reliability determination unit that determines the reliability of data acquired by the acquisition unit;
The acquisition unit is configured to calculate at least one of the position information and the posture information using distance data when the reliability determination unit determines that the data is not reliable. A control device characterized by that. The control device according to claim 5,
The reliability determination unit is configured to determine that the data is not reliable when the data is interrupted and when the data is out of a preset range. Control device. In the control device according to any one of claims 1 to 6,
And a determination unit that determines whether or not an operation for bringing the control target into a safe state for an operator is necessary based on the estimation result of the estimation unit and the state of the control target. Control device. The control device according to claim 7,
The determination unit is configured to determine whether or not the control target needs to be avoided based on the estimation result of the estimation unit and the state of the control target.
The control device is configured to cause the control target to perform an avoidance operation when the determination unit determines that an avoidance operation is necessary. The control device according to claim 8, wherein
The determination unit is configured to determine whether or not the control object can be returned after the control object performs an avoidance operation,
The control device is configured to return the control target when the determination unit determines that the return is possible. The control device according to claim 7,
The determination unit is configured to determine whether or not the control target needs to be decelerated or stopped based on the estimation result of the estimation unit and the state of the control target.
The control unit is configured to cause the control target to perform a deceleration operation or a stop operation when the determination unit determines that a deceleration operation or a stop operation is necessary. In the control device according to any one of claims 1 to 10,
A control apparatus comprising a human body model recording unit in which the human body model is recorded. The control device according to any one of claims 1 to 11,
A control 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. A control device according to any one of claims 1 to 12,
A control system comprising: a detection device that is attached to each part of an operator and detects an operation of each part. The control system according to claim 13.
The 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 acquisition unit of the control device is configured to acquire a detection result of the detection device, and calculate at least one of the position information and the posture information using the acquired detection result. And control system. The control system according to claim 13 or 14,
With equipment to measure distance,
The control device includes a reliability determination unit that determines the reliability of the detection result of the detection device,
The acquisition unit of the control device uses the detection result of the device to determine at least the position information and the posture information when the reliability determination unit determines that the detection result of the detection device is not reliable. A control system configured to calculate either one of them. The control system according to claim 15, wherein
The control apparatus includes at least one of an image sensor, an ultrasonic sensor, and a laser scanner. A control method for controlling a control object,
Acquiring at least one of position information and posture information of the worker;
Estimating the movement of each part of the worker based on at least one of the position information and the posture information and the human body model of the worker;
And a step of controlling the control object based on the estimation result and the state of the control object.   A program for causing a computer to execute the control method according to claim 17.

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