JP6869060B2 - Manipulator controls, control methods and programs, and work systems - Google Patents

Description

The present invention relates to manipulator controls, control methods and programs, and work systems.

Patent Document 1 discloses a technique of detecting anthropomorphic movement by an operator and converting it into a plurality of signals to drive a robot device. Patent Document 2 discloses a technique for automatically controlling a picker so as to pick up a product detected by a sensor.

Japanese Unexamined Patent Publication No. 2015-168506 Japanese Patent No. 5940682

When a manipulator such as a robot device or an automatic picker is manually operated, the accuracy of the manipulator work differs for each operator, which makes it difficult for an inexperienced operator to operate the manipulator. On the other hand, when the manipulator is automatically controlled, it is necessary to make the control different depending on the object to be worked on, but it is not realistic to store the control information in advance for all kinds of objects. Further, even in the case of automatic control using machine learning, the accuracy of the work may decrease if the learning is insufficient.
An object of the present invention is to provide a manipulator control device, a control method and a program, and a working system that solve the above-mentioned problems.

According to the first aspect of the present invention, the control device is a control device of a manipulator that outputs an operation signal to the manipulator based on the operation of the input device, and the first of the manipulators is based on the history of the operation of the manipulator. A signal generation unit that generates the operation signal of 1, a score calculation unit that calculates a score indicating the validity of the first operation signal, and a second operation according to the operation of the input device based on the score. A signal output unit for determining whether to output a signal or to output the first operation signal related to the score is provided.

According to the second aspect of the present invention, the control device according to the first aspect includes a recognition unit that recognizes an object to be worked by the manipulator, an object recognized by the recognition unit, and the object. A learning unit that updates a model for obtaining the first operation signal from the object and the position of the manipulator based on the operation history of the input device when the manipulator works on the object. The signal generation unit may generate the first operation signal based on the model, and the score calculation unit may calculate the score based on the model.

According to the third aspect of the present invention, in the control device according to the first or second aspect, the signal output unit has the threshold value of the score related to the first operation signal generated at regular intervals. The first operation signal may be output until the score becomes less than the threshold value, and the second operation signal may be output after the score becomes less than the threshold value.

According to a fourth aspect of the present invention, in the control device according to any one of the first to third aspects, the manipulator includes a plurality of joints, and the signal generation unit operates each of the plurality of joints. The first operation signal may be generated, and the signal output unit may output the first operation signal to the joint having the score equal to or higher than the threshold value among the plurality of joints.

According to the fifth aspect of the present invention, the control device according to the fourth aspect includes a joint specifying portion that identifies a reference joint that is provided on the most proximal side of the joints having a score less than the threshold value. The signal output unit outputs the first operation signal to the joint provided on the proximal end side of the reference joint among the plurality of joints, and is provided on the reference joint and the distal end side of the reference joint. The second operation signal may be output to the joint.

According to the sixth aspect of the present invention, the working system includes a manipulator driven based on an operation signal, an input device for receiving an input of an operation by a user, and a control device according to any one of the first to fifth aspects. And.

According to the seventh aspect of the present invention, the control method is a control method of the manipulator, the step of generating the first operation signal of the manipulator based on the operation history of the manipulator, and the first operation signal. A step of calculating a score indicating the validity of the operation signal and, based on the score, output a second operation signal according to the operation of the input device that accepts the input of the operation by the user, or output the second operation signal related to the score . It has a step of determining whether to output the operation signal of 1.

According to an eighth aspect of the present invention, the program causes a computer controlling the manipulator to generate a first operation signal of the manipulator based on the operation history of the manipulator, and the first operation signal. A step of calculating a score indicating the validity of the above, and based on the score, a second operation signal according to the operation of the input device that accepts the input of the operation by the user is output, or the first operation signal related to the score is output. To execute the step of determining whether to output the operation signal.

According to at least one of the above aspects, the control device comprises an operation signal based on the operation of the input device based on the score of the generated operation signal and an operation signal generated based on the history of the operation. Determine the operation signal to be output to the manipulator. As a result, the control device suppresses the variation in the operation for each operator by the operation signal generated from the operation history, and operates the manipulator by the operation by the operator for the work with insufficient learning, so that the accuracy of the work is improved. Can be kept.

It is the schematic which shows the structure of the work system which concerns on 1st Embodiment. It is a schematic block diagram which shows the structure of the controller which concerns on 1st Embodiment. It is a 1st flowchart which shows the operation of the master controller which concerns on 1st Embodiment. It is a 2nd flowchart which shows the operation of the master controller which concerns on 1st Embodiment. It is a schematic block diagram which shows the structure of the master controller which concerns on 3rd Embodiment. It is a schematic block diagram which shows the structure of the computer which concerns on at least one Embodiment.

<< First Embodiment >>
Hereinafter, embodiments will be described in detail with reference to the drawings.
FIG. 1 is a schematic view showing a configuration of a work system according to the first embodiment.
The work system 1 includes an input / output glove 10, a head-mounted display 20, a master controller 30, a slave controller 40, and a work robot 50. The input / output glove 10 and the head-mounted display 20 are attached to the operator O, and the work robot 50 is installed remotely from the operator O. The master controller 30 is electrically connected to the input / output glove 10 and the head-mounted display 20. The slave controller 40 is electrically connected to the work robot 50. The master controller 30 and the slave controller 40 are configured to be communicable via the network N.

The work system 1 according to the first embodiment is applied to a picking system for transporting goods from a warehouse. The picking system is a system in which a bin for accommodating an article is transported to a work space in which a work robot 50 is installed by a conveyor or a transport robot. The operator O remotely operates the work robot 50 to move the target article contained in the bottle to another position such as a shipping conveyor or a sorting box. In another embodiment, the work system 1 may be applied to a system other than the picking system. For example, the work system 1 can be used for other remote work such as beating, sorting, unpacking and packing, inspection, and assembly (including remote work not only in a warehouse but also in offices, supermarkets, hospitals, libraries, laboratories, etc.). It may be used.

The input / output glove 10 is a glove-shaped input / output device attached to the hand of the operator O. The input / output glove 10 includes a posture sensor that detects the posture of the operator O and a feedback device that feeds back the movement of the work robot 50. The input / output glove 10 outputs a signal generated by the posture sensor to the master controller 30 as an operation signal. The posture sensor is configured to be able to calculate at least the angle of the joint of the operator O. The posture sensor may detect the movement of the operator O by motion capture. The feedback device is an element (actuator, electrode, etc.) capable of reproducing the tactile sensation of an object touched by the manipulator 51 of the work robot 50. The feedback device operates according to the feedback signal input from the master controller 30.

The head-mounted display 20 is a device that presents an image to the operator O by being attached to the head of the operator O. Examples of the image presentation method include a method of displaying an image on a display facing the operator's eyes and a method of projecting the image on the operator's eyes with a projector. The head-mounted display 20 presents an image according to an image signal input from the master controller 30. The head-mounted display 20 includes a posture sensor (for example, an acceleration sensor, a gyroscope, etc.) that detects its own posture. The head-mounted display 20 outputs a posture signal indicating the detection result of the posture sensor to the master controller 30.

The working robot 50 includes a manipulator 51 and a camera 52.
In the manipulator 51, a plurality of links are connected to each other via a plurality of joints. The manipulator 51 adjusts the angle of each joint by driving an actuator provided for each joint according to a control signal input from the slave controller 40. The joint of the manipulator 51 and the joint of the operator O do not necessarily have a one-to-one correspondence. For example, the manipulator 51 may include less than five fingers (a combination of a link corresponding to a finger and a joint). Further, for example, the manipulator 51 may include two or more elbows (joints corresponding to elbows). The manipulator 51 is provided with a tactile sensor and a posture sensor. The tactile sensor is provided on the surface of the manipulator 51 (particularly, the tip of the link corresponding to the finger), and detects the tactile sensation of the contacted object. The posture sensor is provided for each joint of the manipulator 51, and detects the angle and the angular velocity of each joint. Examples of the posture sensor include a sensor (rotation speed sensor and stroke sensor) that measures the momentum of the actuator.
The camera 52 is connected to the manipulator 51 via a joint. The camera 52 outputs video information representing the captured image to the slave controller 40. The posture of the camera 52 is adjusted according to the control signal input from the slave controller 40. That is, the posture of the camera 52 is adjusted by driving the actuator connected to the camera 52 and the manipulator 51 according to the control signal.

The master controller 30 generates a control signal for the manipulator 51 of the work robot 50 based on an operation signal input from the input / output glove 10. Further, the master controller 30 generates a feedback signal for reproducing the tactile sensation in the feedback device of the input / output glove 10 based on the tactile sensation signal indicating the tactile sensation detected by the manipulator 51 from the working robot 50. Further, the master controller 30 receives a video signal from the slave controller 40 and outputs the video signal to the head-mounted display 20. Further, the master controller 30 generates a control signal for the camera 52 of the work robot 50 based on the posture signal input from the head-mounted display 20, and transmits the control signal to the slave controller 40.

The slave controller 40 receives a control signal from the master controller 30 and drives the manipulator 51 accordingly. Further, the slave controller 40 acquires signals from the tactile sensor, the posture sensor, and the camera 52, and transmits the signals to the master controller 30.

FIG. 2 is a schematic block diagram showing a configuration of the controller according to the first embodiment.
The master controller 30 includes a signal receiving unit 301, a video signal output unit 302, a tactile signal conversion unit 303, a feedback signal output unit 304, an attitude storage unit 305, an attitude update unit 306, an instruction input unit 307, a recognition unit 308, and a work model storage. A unit 309, a control signal calculation unit 310, an operation signal input unit 311, an operation signal conversion unit 312, a control signal transmission unit 313, a work determination unit 314, and a learning unit 315 are provided.

The signal receiving unit 301 receives a video signal, a tactile signal, and an attitude signal from the working robot 50 via the slave controller 40.
The video signal output unit 302 outputs the received video signal to the head-mounted display 20. At this time, the video signal output unit 302 may superimpose the image of the target article I included in the work instruction and the recognition result by the recognition unit 308 on the video signal.
The tactile signal conversion unit 303 converts the received tactile signal into a feedback signal. That is, the tactile signal conversion unit 303 generates a feedback signal for reproducing the tactile sensation of the object touched by the manipulator 51 of the work robot 50 on the feedback device. The conversion from the tactile signal to the feedback signal can be realized, for example, by inputting the tactile signal into a function obtained in advance.
The feedback signal output unit 304 outputs the feedback signal to the input / output glove 10.

The posture storage unit 305 stores the posture of the work robot 50. The posture of the working robot 50 includes the position, angle, and angular velocity of each joint.
The posture updating unit 306 updates the information stored in the posture storage unit 305 based on the received posture signal.

The instruction input unit 307 receives input of work instructions from a picking system or the like. The work instruction includes information that can identify the shape of the target article I to be worked on. Examples of information that can specify the shape include three-dimensional shape data indicating a three-dimensional shape, two-dimensional image data taken from multiple viewpoints, three-dimensional shape data, and feature quantity information extracted from the two-dimensional image data. Can be mentioned.

The recognition unit 308 recognizes the position and orientation of the target article I captured in the video signal based on the work instruction. The recognition unit 308 recognizes the target article I by, for example, a pattern matching method.

The work model storage unit 309 stores a work model for identifying the operation signal of the manipulator 51 from the type, position and posture of the target article I, and the posture of the manipulator 51. The working model is updated by machine learning by the learning unit 315. Examples of working models include neural network models and Bayesian networks.

The control signal calculation unit 310 calculates a control signal (first control signal) by inputting the type, position and posture of the target article I, and the posture of the manipulator 51 into the work model stored in the work model storage unit 309. To do. At this time, the control signal calculation unit 310 calculates a score indicating the validity of the control signal. An example of a score is the likelihood of a control signal calculated in the process of deriving a working model. The larger the score, the higher the validity of the score according to this embodiment. That is, the control signal calculation unit 310 is an example of the signal generation unit and the score calculation unit.

The operation signal input unit 311 receives an input of an operation signal (second operation signal) from the input / output glove 10. Further, the operation signal input unit 311 receives the input of the attitude signal from the head-mounted display 20.
The operation signal conversion unit 312 converts the operation signal and the attitude signal into control signals. That is, the operation signal conversion unit 312 generates a control signal for causing the work robot 50 to perform the same operation as the operator O. The conversion of the operation signal and the attitude signal into the control signal can be realized, for example, by inputting the operation signal and the attitude signal into a function obtained in advance. The operation signal of the input / output glove 10 is converted into a control signal of the manipulator 51, and the posture signal of the head-mounted display 20 is converted into a control signal of the camera 52.

The control signal transmission unit 313 determines a control signal to be used for controlling the work robot 50 based on the score of the control signal generated by the control signal calculation unit 310. Specifically, the control signal transmission unit 313 transmits the control signal of the manipulator 51 generated by the control signal calculation unit 310 to the slave controller 40 when the score is equal to or higher than the threshold value, and the score is lower than the threshold value. , The control signal of the manipulator 51 converted by the operation signal conversion unit 312 is transmitted to the slave controller 40. Further, the control signal transmission unit 313 transmits the control signal of the camera 52 generated by the operation signal conversion unit 312 to the slave controller 40 regardless of the score.

The work determination unit 314 determines whether or not the work by the work robot 50 is successful based on the video signal received by the signal reception unit 301. For example, the work determination unit 314 determines that the work is successful when the target article I is in the target position and the target article I is not gripped by the manipulator 51. On the other hand, the work determination unit 314 determines that the work has failed when the target article I is not at the target position and the target article I is not gripped by the manipulator 51.
The learning unit 315 updates the work model stored in the work model storage unit 309 using the recognition result by the recognition unit 308, the determination result by the work determination unit 314, and the control signal output from the start of the work to the determination. ..

FIG. 3 is a first flowchart showing the operation of the master controller according to the first embodiment.
When the picking system transports the object to the work space, the picking system outputs a work instruction to the master controller 30.
The instruction input unit 307 of the master controller 30 receives an input of a work instruction from the picking system (step S1). Next, the signal receiving unit 301 receives the video signal captured by the camera 52, the tactile signal detected by the tactile sensor, and the posture signal detected by the posture sensor from the work robot 50 via the slave controller 40 (step S2). ).

The video signal output unit 302 outputs the video signal received by the signal receiving unit 301 to the head-mounted display 20 (step S3). When a video signal is input, the head-mounted display 20 presents an image to the operator O based on the video signal. As a result, the operator O can confirm the positional relationship between the manipulator 51 of the work robot 50 and the target article I.

The posture update unit 306 updates the information stored in the posture storage unit 305 based on the received posture signal (step S4). Further, the tactile signal conversion unit 303 converts the received tactile signal into a feedback signal (step S5), and the feedback signal output unit 304 outputs the feedback signal to the input / output glove 10 (step S6). As a result, the operator O can obtain the tactile sensation of what the manipulator 51 touches.

Next, the recognition unit 308 recognizes the position and posture of the target article I captured in the video signal based on the information of the target article I included in the work instruction (step S7). The control signal calculation unit 310 inputs the type, position and posture of the target article I, and the posture of the manipulator 51 into the work model stored in the work model storage unit 309, thereby inputting the control signal of the manipulator 51 and the control signal. A score indicating the validity of the above is calculated (step S8). The type of target article I is included in the work instruction. The position and orientation of the target article I are recognized by the recognition unit 308. The posture of the manipulator 51 is stored in the posture storage unit 305. The control signal is a signal for operating the manipulator 51 for a unit time.

The control signal transmission unit 313 determines whether or not the score of the control signal generated by the control signal calculation unit 310 is equal to or higher than the threshold value (step S9). When the score is equal to or higher than the threshold value (step S9: YES), the control signal transmission unit 313 transmits the control signal of the manipulator 51 calculated in step S8 to the slave controller 40 (step S10). As a result, the slave controller 40 operates the manipulator 51 according to the control signal generated based on the working model.

On the other hand, when the score is less than the threshold value (step S9: NO), the control signal transmission unit 313 determines to transmit the control signal based on the operation by the operator O to the slave controller 40. At this time, the master controller 30 may display the operation instruction of the input / output glove 10 on the head-mounted display 20. When the input / output glove 10 is operated by the operator O, the operation signal input unit 311 receives the input of the operation signal from the input / output glove 10 (step S11). The operation signal conversion unit 312 converts the operation signal into the control signal of the manipulator 51 (step S12). Then, the control signal transmission unit 313 transmits the control signal of the manipulator 51 converted in step S12 to the slave controller 40 (step S13). As a result, the slave controller 40 operates the manipulator 51 according to the control signal generated based on the operation of the operator O.

When the control signal of the manipulator 51 is transmitted, the operation signal input unit 311 receives the input of the attitude signal from the head-mounted display 20 (step S14). The operation signal conversion unit 312 converts the attitude signal into the control signal of the camera 52 (step S15). Then, the control signal transmission unit 313 transmits the control signal of the camera 52 generated by the operation signal conversion unit 312 to the work robot 50 regardless of the score (step S16). As a result, the slave controller 40 controls the posture of the camera 52 so that the movement of the line of sight of the operator O and the movement of the line of sight of the camera 52 match.

FIG. 4 is a second flowchart showing the operation of the master controller according to the first embodiment.
The work determination unit 314 determines whether or not the target article I is gripped by the manipulator 51 based on the video signal received by the signal reception unit 301 (step S17). When the target article I is gripped by the manipulator 51 (step S17: YES), the work determination unit 314 determines that the work is in progress, and returns the process to step S2. On the other hand, when the target article I is not gripped by the manipulator 51 (step S17: NO), the work determination unit 314 determines whether or not the target article I is in the target position based on the video signal received by the signal receiving unit 301. (Step S18). When the target article I is in the target position (step S18: YES), the work determination unit 314 determines that the work was successful (step S19). On the other hand, when the target article I is not at the target position (step S18: NO), the work determination unit 314 determines that the work has failed (step S20).

Then, the learning unit 315 stores the work model stored in the work model storage unit 309 using the recognition result by the recognition unit 308, the determination result by the work determination unit 314, and the control signal output from the start of the work to the determination. Update (step S21).

As described above, according to the first embodiment, the master controller 30 calculates the operation signal of the manipulator 51 and the score indicating its validity based on the operation history of the manipulator 51, and inputs based on the score. It is determined whether to output the operation signal according to the operation of the output glove 10 or to output the calculated operation signal. As a result, the master controller 30 suppresses the variation in the operation for each operator O by the operation signal generated from the operation history, and operates the manipulator 51 by the operation by the operator O for the work for which the learning is insufficient. , Work accuracy can be maintained.

<< Second Embodiment >>
The work system 1 according to the first embodiment determines whether to adopt the control signal calculated from the work model or the control signal based on the operation of the input / output glove 10 for each unit control time of the work robot 50. To do. On the other hand, the work system 1 according to the second embodiment adopts the control signal calculated from the work model until the score becomes less than the threshold value, and after the score becomes less than the threshold value, the input / output glove 10 The control signal based on the operation of is adopted.

Specifically, the control signal transmission unit 313 according to the first embodiment determines in step S9 whether or not the score calculated in step S8 is equal to or greater than the threshold value, but the control according to the second embodiment. The signal transmission unit 313 determines whether or not all the previously calculated scores are equal to or higher than the threshold value. As a result, the control signal transmission unit 313 adopts the control signal calculated from the work model until the score becomes less than the threshold value, and after the score becomes less than the threshold value, the control signal based on the operation of the input / output glove 10. Can be adopted. As a result, the work system 1 according to the second embodiment can realize a rough process of the work by automatic control, and can adjust only the final process having low validity based on the operation of the operator O.

<< Third Embodiment >>
The work system 1 according to the first and second embodiments determines whether all the joints of the manipulator 51 are controlled by the control signal calculated from the work model or by the control signal based on the operation of the input / output glove 10. decide. On the other hand, the work system 1 according to the third embodiment has a joint controlled by a control signal calculated from a work model from a plurality of joints of the manipulator 51, and a control signal based on the operation of the input / output glove 10. Determine which joints are controlled by.

FIG. 5 is a schematic block diagram showing a configuration of a master controller according to a third embodiment.
The master controller 30 according to the third embodiment further includes a joint identification unit 316 in addition to the configuration of the first embodiment. The joint identification unit 316 identifies as a reference joint a plurality of joints included in the manipulator 51 that have a control signal score less than a threshold value and are provided on the most proximal side. For example, when the control signal calculation unit 310 generates a control signal for each joint, the score of the joint corresponding to the shoulder is 0.8, the score of the joint corresponding to the elbow is 0.7, and the score of the joint corresponding to the wrist is 0.7. The score is 0.6, the score of the joint corresponding to the third joint of the finger is 0.4, the score of the joint corresponding to the second joint of the finger is 0.3, and the score of the joint corresponding to the first joint of the finger is When it is 0.1 and the threshold value is 0.5, the joint identification portion 316 uses the joint corresponding to the third joint of the finger as a reference joint.

Control signal transmitting unit 313 according to the third embodiment, the joint provided on the proximal side of the reference joints, and outputs an operation signal control signal calculator 310 has calculated, the reference joint and the reference joint than to the distal end side The operation signal converted by the operation signal conversion unit 312 is output to the provided joint. Following the above example, the control signal transmission unit 313 outputs the operation signal calculated by the control signal calculation unit 310 to the joint corresponding to the shoulder, the joint corresponding to the elbow, and the joint corresponding to the wrist. Further, the control signal transmission unit 313 transmits the operation signal converted by the operation signal conversion unit 312 to the joint corresponding to the third joint of the finger, the joint corresponding to the second joint of the finger, and the joint corresponding to the first joint of the finger. Output.

As described above, the work system 1 according to the third embodiment automatically controls the operation of the base end side of the manipulator 51, and operates the manipulator 51 by the operation of the operator O for the tip portion where learning is insufficient. As a result, the work system 1 can maintain the accuracy of the work while suppressing the variation in the operation for each operator O.

Although one embodiment has been described in detail with reference to the drawings, the specific configuration is not limited to the above, and various design changes and the like can be made.
For example, in the above-described embodiment, the threshold value for determining whether to perform automatic control or manual control is a fixed value, but the present invention is not limited to this. For example, in other embodiments, the threshold value may differ depending on the proficiency level of the operator O. For example, the more proficient the operator O is in the work, the higher the threshold value is, so that the ratio of manual control of the operator O having a high proficiency level can be increased. As a result, the operation of the operator O, who has a high degree of proficiency, can be appropriately learned by the working model. Further, in another embodiment, the operator O may freely change the threshold value. Further, in other embodiments, the threshold value may be different depending on the type of the target article I.

Further, in the above-described embodiment, the master controller 30 is provided in the vicinity of the operator O, but the present invention is not limited to this. For example, in another embodiment, the above-mentioned control may be performed in the server device on the network N, or the positional relationship between the master controller 30 and the slave controller 40 may be exchanged. That is, in another embodiment, the slave controller 40 provided in the vicinity of the operator O may only transfer the signal, and the master controller 30 provided in the vicinity of the work robot 50 may perform the above processing. ..

Further, in the third embodiment, the master controller 30 automatically controls the joint on the proximal end side of the reference joint among the plurality of joints based on the score, and manually controls the reference joint and the joint on the distal end side thereof. Not limited to this. For example, in another embodiment, the master controller 30 may automatically control a joint having a score equal to or higher than a threshold value and manually control a joint having a score lower than the threshold value among the plurality of joints.

FIG. 6 is a schematic block diagram showing a configuration of a computer according to at least one embodiment.
The computer 90 includes a CPU 91, a main memory 92, a storage 93, and an interface 94.
The master controller 30 described above is mounted on the computer 90. The operation of each processing unit described above is stored in the storage 93 in the form of a program. The CPU 91 reads a program from the storage 93, expands it into the main memory 92, and executes the above processing according to the program. Further, the CPU 91 secures a storage area corresponding to each of the above-mentioned storage units in the main memory 92 according to the program.

Examples of the storage 93 include HDD (Hard Disk Drive), SSD (Solid State Drive), magnetic disk, optical magnetic disk, CD-ROM (Compact Disc Read Only Memory), DVD-ROM (Digital Versatile Disc Read Only Memory). , Semiconductor memory and the like. The storage 93 may be internal media directly connected to the bus of the computer 90, or external media connected to the computer 90 via the interface 94 or a communication line. When this program is distributed to the computer 90 via a communication line, the distributed computer 90 may expand the program in the main memory 92 and execute the above process. In at least one embodiment, the storage 93 is a non-temporary tangible storage medium.

Further, the program may be for realizing a part of the above-mentioned functions. Further, the program may be a so-called difference file (difference program) that realizes the above-mentioned function in combination with another program already stored in the storage 93.

1 Work system 10 Input / output glove 20 Head mount display 30 Master controller 40 Slave controller 50 Work robot 51 Manipulator 52 Camera 301 Signal reception unit 302 Video signal output unit 303 Tactile signal conversion unit 304 Feedback signal output unit 305 Attitude storage unit 306 Attitude update Unit 307 Instruction input unit 308 Recognition unit 309 Work model storage unit 310 Control signal calculation unit 311 Operation signal input unit 312 Operation signal conversion unit 313 Control signal transmission unit 314 Work judgment unit 315 Learning unit 316 Joint identification unit

Claims (8)

A manipulator control device that outputs an operation signal to the manipulator based on the operation of the input device.
A signal generation unit that generates a first operation signal of the manipulator based on the operation history of the manipulator, and a signal generation unit.
A score calculation unit that calculates a score indicating the validity of the first operation signal, and
A control device including a signal output unit that determines whether to output a second operation signal according to the operation of the input device or to output the first operation signal related to the score based on the score. A recognition unit that recognizes an object to be worked on by the manipulator,
Based on the object recognized by the recognition unit and the history of the operation of the input device when the manipulator works on the object, the first position of the object and the manipulator is determined. It also has a learning unit that updates the model for obtaining operation signals.
The signal generation unit generates the first operation signal based on the model, and generates the first operation signal.
The control device according to claim 1, wherein the score calculation unit calculates the score based on the model. The signal output unit outputs the first operation signal until the score related to the first operation signal generated at regular intervals becomes less than the threshold value, and after the score becomes less than the threshold value. The control device according to claim 1 or 2, which outputs the second operation signal. The manipulator has multiple joints and
The signal generation unit generates a first operation signal for operating each of the plurality of joints, and generates a first operation signal.
The signal output unit outputs the first operation signal to the joint having the score equal to or higher than the threshold value among the plurality of joints.
The control device according to claim 3. A joint identification part that identifies a reference joint, which is provided on the most proximal side of the joints whose score is less than the threshold value, and
The signal output unit outputs the first operation signal to the joint provided on the proximal end side of the reference joint among the plurality of joints, and is provided on the reference joint and the tip side of the reference joint. The control device according to claim 4, wherein the second operation signal is output to the joint. A manipulator that drives based on operation signals and
An input device that accepts user input for operations and
A work system including the control device according to any one of claims 1 to 5. It ’s a manipulator control method.
A step of generating a first operation signal of the manipulator based on the operation history of the manipulator, and
A step of calculating a score indicating the validity of the first operation signal, and
Based on the score, a step of determining whether to output the second operation signal according to the operation of the input device that receives the input of the operation by the user or to output the first operation signal related to the score. Control method to have. To the computer that controls the manipulator
A step of generating a first operation signal of the manipulator based on the operation history of the manipulator, and
A step of calculating a score indicating the validity of the first operation signal, and
Based on the score, a step of determining whether to output the second operation signal according to the operation of the input device that receives the input of the operation by the user or to output the first operation signal related to the score. A program to run.

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