WO2017085932A1 - Robot system and robot system control method - Google Patents

Robot system and robot system control method Download PDF

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Publication number
WO2017085932A1
WO2017085932A1 PCT/JP2016/004904 JP2016004904W WO2017085932A1 WO 2017085932 A1 WO2017085932 A1 WO 2017085932A1 JP 2016004904 W JP2016004904 W JP 2016004904W WO 2017085932 A1 WO2017085932 A1 WO 2017085932A1
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WO
WIPO (PCT)
Prior art keywords
unit
robot
character
robot arm
character string
Prior art date
Application number
PCT/JP2016/004904
Other languages
French (fr)
Japanese (ja)
Inventor
康彦 橋本
修平 倉岡
省吾 長谷川
聡 日比野
山根　秀士
裕之 水本
賢二 坂東
大地 姫川
淳一 松岡
達博 宇都
弘樹 国師
聡一 玉田
明博 羽田
友希男 岩▲崎▼
Original Assignee
川崎重工業株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 川崎重工業株式会社 filed Critical 川崎重工業株式会社
Priority to US15/776,644 priority Critical patent/US10926415B2/en
Priority to EP16865936.5A priority patent/EP3378607A4/en
Priority to KR1020187016745A priority patent/KR102091817B1/en
Priority to CN201680066703.1A priority patent/CN108349091B/en
Priority to JP2017551535A priority patent/JP6895386B2/en
Publication of WO2017085932A1 publication Critical patent/WO2017085932A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means

Definitions

  • a robot system includes a plurality of operation units that are located at a predetermined position and for inputting an input command of predetermined character information, and the input predetermined character
  • a robot system that performs an input operation of character information described in a paper document by operating a character input device that transmits an information input command to an information processing device, and operates each operation unit of the character input device
  • An operation unit that can hold the operation unit, a robot including a robot arm unit that moves the operation unit that holds the operation unit, a photographing device, and a photographing that controls the photographing device to photograph the paper document
  • An apparatus control unit a character string determination unit that determines a character string to be input of the paper document included in the shooting data captured by the imaging device, and the character string determination unit
  • An operation unit position determination unit that determines the position of the operation unit corresponding to each character of the written string, and a position of the operation unit corresponding to each character of the character string determined by the operation unit position determination unit
  • a robot control unit that performs an input operation of character information
  • the keyboard (character input device) 111 is a device for inputting an input command of character information by an operator touching and operating a key (operation unit) 111a.
  • the keyboard 111 is positioned at a predetermined position on the desk 105.
  • the information processing apparatus 110 includes a display device 112 having a display screen 112a that displays character information input via the keyboard 111, and a control device (not shown). Then, the robot system 100 operates the keyboard 111 with respect to the information processing apparatus 110 to input character information described in the paper document.
  • the keyboard 111 is, for example, a keyboard having a QWERTY keyboard layout.
  • the robot system 100 includes a robot 1, an operator unit 4, a suction unit 5, a photographing device 6, and a control device 7.
  • the robot 1 is, for example, a horizontal articulated double-arm robot including a robot arm unit 13 having a pair of robot arms (a first robot arm 13A and a second robot arm 13B).
  • the present invention is not limited to this, and the robot arm may be a vertical articulated robot arm.
  • the robot 1 includes a carriage 12 and a robot arm unit 13 supported by the carriage 12. That is, the first robot arm 13A and the second robot arm 13B are supported by the carriage 12.
  • the first robot arm 13A is configured to hold the first operating element 41 of the operating unit 4 and to move the held first operating element 41 within a predetermined operating range.
  • the first robot arm 13A is configured to hold the first suction unit 51 of the suction unit 5 and move the held first suction unit 51 within a predetermined operation range.
  • the first robot arm 13A is a horizontal articulated robot arm as described above, and includes an arm unit 21, a wrist unit 22, a hand 23, and a robot arm drive unit 24.
  • the arm unit 21 positions the wrist unit 22 and the hand 23 at arbitrary positions within the operation range.
  • the arm portion 21 includes a first link 21a and a second link 21b extending in the horizontal direction.
  • the base end of the first link 21 a is connected to the base shaft 16 of the carriage 12 by the rotary joint J ⁇ b> 1, and can rotate around the rotation axis L ⁇ b> 1 passing through the axis of the base shaft 16.
  • the second link 21b is connected to the distal end portion of the first link 21a by the rotary joint J2, and is rotatable around the rotation axis L2 defined at the distal end portion of the first link 21a.
  • the list unit 22 changes the height position of the hand 23 connected to the tip and changes to an arbitrary posture around the rotation axis L3.
  • the wrist part 22 includes an elevating part 22a and a rotating part 22b.
  • the elevating part 22a is connected to the distal end part of the second link 21b by a linear motion joint J3 and is movable up and down with respect to the second link 21b.
  • the rotating part 22b is connected to the lower end part of the elevating part 22a by the rotary joint J4, and can be rotated around the rotation axis L3 defined at the lower end of the elevating part 22a.
  • the rotation axes L1 to L3 are parallel to each other and extend, for example, in the vertical direction. Further, the extending direction of the rotation axes L1 to L3 and the moving direction of the lifting unit 22a are parallel to each other.
  • the hand 23 is a mechanism that is attached to the wrist unit 22 and holds various tools.
  • the hand 23 holds the operator unit 4 and the suction unit 5.
  • the hand 23 includes a base portion 23a having a base end portion attached to the wrist portion 22, a pair of holding bodies 23b (see FIG. 1) extending in the horizontal direction from the distal end portion of the base portion 23a, and a pair of holding bodies 23b in the horizontal direction. And an opening / closing drive mechanism (not shown) that moves in the (opening / closing direction).
  • the pair of holding bodies 23b are arranged to face each other in the opening / closing direction.
  • the pair of holding bodies 23b are each formed with a recess on the opposing surface facing the other holding body 23b.
  • the second robot arm 13B is configured to hold the second operating element 42 of the operating element unit 4 and to move the held second operating element 42 within a predetermined operation range.
  • the second robot arm 13 ⁇ / b> B is configured to hold the second suction part 52 of the suction unit 5 and move the second suction part 52 that is held.
  • the other configurations of the second robot arm 13B are the same as the configurations of the first robot arm 13A, and thus detailed description thereof is omitted.
  • the operator unit 4 is configured to be able to operate the keys 111a of the keyboard 111. That is, the key pressing unit 4 is configured to be able to press the key 111a of the keyboard 111.
  • the operator unit 4 includes a first operator 41 and a second operator 42.
  • the first operator 41 is held by the hand 23 of the first robot arm 13A as described above, and is configured to be able to press the key 111a of the keyboard 111.
  • the first operation element 41 includes a holding portion 43, a base portion 44, and a contact portion 45.
  • the holding portion 43 is configured to engage with the concave portions of the pair of holding bodies 23b by closing the pair of holding bodies 23b of the hand 23.
  • the holding portion 43 is formed in a columnar shape, and a flange portion protruding in the radial direction is formed at the upper end portion and the intermediate portion.
  • the recessed part between both collar parts is comprised so that the recessed part of a pair of holding body 23b of the hand 23 may be fitted.
  • the abutting portion 45 is a columnar body extending downward from the distal end portion of the base portion 44.
  • the surface of the front end portion of the contact portion 45 is formed to be smaller than the size of the upper surface of the key 111a of the keyboard 111, and is configured so that the key 111a of the arbitrary keyboard 111 can be pushed down.
  • the contact portion 45 is made of, for example, an elastic material, and can reduce an impact when the key 111a is touched when the key 111a is pressed down.
  • the second operator 42 is held by the hand 23 of the second robot arm 13B.
  • the other configurations of the second operator 42 are the same as the configurations of the first operator 41, and thus detailed description thereof is omitted.
  • Each suction cup 57 has a support column extending downward from the lower surface of the base portion 56 and a suction cup provided at the lower end portion of the support column.
  • the suction cup is formed in a tapered shape that expands in the radial direction of the support as it goes downward, and is made of an elastic material such as resin.
  • the vacuum device is, for example, a vacuum pump or CONVUM (registered trademark), and is disposed in the vicinity of the robot 1, for example.
  • CONVUM registered trademark
  • the present invention is not limited to this, and instead of this, for example, it may be provided inside the base portion 56 or inside the carriage 12 of the robot 1.
  • the on-off valve of the vacuum device and the pipe 58 is connected to the control device 7 so as to be electrically connected or communicable, and is configured such that the control device 7 operates under control.
  • the first operating element 41 and the first suction portion 51 are installed on the side of the first robot arm 13A in the initial state.
  • One tool stand 120A is placed.
  • the hand 23 of the first robot arm 13A picks up the tool (the first operation element 41 or the first suction portion 51) according to the work purpose from the first tool base 120A and performs the work.
  • suction part 52 are set
  • the hand 23 of the second robot arm 13B picks up the tool (the second operation element 42 or the second suction portion 52) according to the work purpose from the second tool base 120B and performs the work.
  • the position of each tool base is not limited to the above position, and may be any position within the operation range of the robot arm corresponding to the tool.
  • the photographing apparatus 6 is a camera having an image sensor, for example, and is an apparatus capable of photographing an image of a target space facing the image sensor.
  • the imaging device 6 is electrically connected or communicably connected to the control device 7 and transmits information related to the captured image to the control device 7 (see FIG. 2).
  • the camera for photographing the paper surface of the paper document placed on the desk 105 and the camera for photographing the display screen 112a of the display device 112 are configured as separate cameras, character input is possible. It is possible to quickly perform a series of operations related to.
  • FIG. 5 is a block diagram schematically showing a configuration example of the control system of the robot system 100.
  • the control unit 65 is composed of a computing unit such as a microcontroller, a CPU, an MPU, a logic circuit, and a PLC, for example.
  • the control unit 65 includes an imaging device control unit 70, a character string determination unit 72, a key position determination unit (operation unit position determination unit) 73, a route calculation unit 74, a robot control unit 75, and a suction unit control unit 76. And an input error determination unit 77.
  • the imaging device control unit 70, character string determination unit 72, key position determination unit 73, path calculation unit 74, robot control unit 75, suction unit control unit 76, and input error determination unit 77 are predetermined ones stored in the storage unit 66. This is a functional block realized by the control unit 65 executing the control program.
  • the photographing device control unit 70 is configured to control the first camera 61 of the photographing device 6 to photograph a paper document and acquire the image data (photographing data). Further, the photographing device control unit 70 is configured to control the second camera 62 of the photographing device 6 to photograph the display screen 112a of the display device 112 and acquire the image data.
  • the key position determination unit 73 determines the position of the key (operation unit) 111a corresponding to each character of the input target character string determined by the character string determination unit 72. That is, the key position determination unit 73 is a key corresponding to each character of the character string determined by the character string determination unit 72 based on the position information of each key 111 a of the keyboard 111 that is set in advance and stored in the storage unit 66. The position of 111a is determined.
  • the path calculation unit 74 uses the operator unit 4 held by the robot arm unit 13 as each character of the character string.
  • An operation path for operating the robot arm unit 13 is calculated so as to move by depressing the key 111a determined by the character string determination unit 72 in the order in which they are arranged.
  • the first movement path is the first with respect to the base axis 16 out of two areas K1 and K2 obtained by virtually dividing the area where the key 111a of the keyboard 111 is divided into left and right.
  • This is a path for operating the first robot arm 13A so that the first operating element 41 moves down the key 111a included in the region K1 on the side where the robot arm 13A is located.
  • the second operator 42 depresses and moves the key 111a included in the region K2 on the side where the second robot arm 13B is located with respect to the base shaft 16 among the two regions described above. Is a path for operating the second robot arm 13B.
  • the suction unit controller 76 controls the suction and release operation of the paper document of the suction unit 5. That is, the suction unit control unit 76 controls the suction and release operation of the paper document by controlling the operation of the vacuum device and the opening / closing of the opening / closing valve of the pipe 58.
  • the input error determination unit 77 is a character string to be input included in image data obtained by photographing a paper document and an input character included in image data obtained by photographing the display screen 112a corresponding to the character string input via the keyboard 111. It is determined whether or not the column matches.
  • the storage unit 66 has a memory such as a ROM or a RAM.
  • a predetermined program is stored in the storage unit storage unit 66, and various processes are performed by the control unit 65 reading and executing these programs. Further, the storage unit 66 stores the position information of each key 111a of the keyboard 111, the information related to the areas K1 and K2 of the keyboard 111, and the processing waiting document storage area P1, the processing document storage area P2, and the processed document storage area P3 described later. Location information is stored.
  • FIG. 6A, 6B, 6C, and 6D are flowcharts showing an example of the operation of the robot system 100.
  • FIG. FIG. 7 is a plan view showing an example of the configuration on the desk 105 that performs the character information input operation.
  • the desk 105 is, for example, a well-known office desk.
  • an operator places a chair in front of the desk 105 (a position below the desk 105 in FIG. 7) and faces the display device 112 of the information processing apparatus 110. Can be operated.
  • a display device 112 is installed on the back side of the desk 105 (the upper position of the desk 105 in FIG. 7), and a keyboard 111 is installed in front of the display device 112.
  • the robot system 100 performs the character information input work described in the invoice (see FIG. 9). As shown in FIGS. 1 and 7, the unprocessed invoices are stacked in a process waiting document place P ⁇ b> 1 defined on the desk 105. Then, the input work is performed by moving the invoice located at the top of the invoices stacked in the waiting document storage P1 to the processing document storage P2.
  • the robot system 100 includes the character information described in the “Parts Number” item column described in the invoice, the character information described in each “Quantity” item column, and the characters described in the “Unit Price” item column. Information and character information described in the Amount item column are input targets, but the present invention is not limited to this.
  • the waiting document storage place P1 is defined in the vicinity of one side edge of the desk 105, for example.
  • the processed document storage area P3 is defined in the vicinity of one side edge of the desk 105, for example.
  • the in-process document place P2 is defined between the pending document place P1 and the processed document place P3.
  • the pending document location P1, the in-process document location P2, and the processed document location P3 are not limited to the above positions.
  • this operator employs the waiting document storage place P1, the processing document storage place P2, and the processed document storage place P3. May be defined according to the layout.
  • FIGS. 8A and 8B are front views showing an operation example of the suction operation of the stacked invoices.
  • control unit 65 performs the suction operation of the invoice D1 located at the top of the invoices accumulated in the processing-waiting document place P1 (step S20).
  • the robot control unit 75 controls the first robot arm 13A, and the suction plate 57 of the first suction unit 51 has a pair of side edges (long sides) facing the invoice D1.
  • suction part 51 is located in 1st position B1 contact
  • the suction unit control unit 76 controls the suction unit 5 and sucks the invoice D1 by the first suction unit 51 (step S22).
  • the robot controller 75 controls the second robot arm 13B, and the suction plate 57 of the second suction unit 52 is the other of the pair of side edges facing the invoice D1.
  • suction part 52 is located in 2nd position B2 contact
  • the suction unit controller 76 controls the suction unit 5 and sucks the invoice D1 by the second suction unit 52 (step S24).
  • the robot controller 75 controls the second robot arm 13B to move the second suction unit 52 to the third position B3 above the second position B2 ( Step S25).
  • the robot controller 75 controls the second robot arm 13B to move the second suction unit 52 to the fourth position B4 between the second position B2 and the third position B3.
  • the reciprocating motion is performed with respect to the third position B3 (step S26).
  • the invoice suction operation is terminated.
  • the second suction part 52 is positioned relatively above the first suction part 51 in the normal direction of the extending surface of the invoice D1 placed in the processing-waiting document place P1. Position.
  • the robot control unit 75 controls the first robot arm 13 ⁇ / b> A and the second robot arm 13 ⁇ / b> B to move the first suction unit 51 and the second suction unit 52.
  • the invoice D1 adsorbed by these adsorbing units is moved from the waiting document storage location P1 to the in-processing document storage location P2 (step S30).
  • the invoice D1 moves in a direction intersecting the normal direction of the upper surface of the invoice D1, that is, moves sideways.
  • the suction unit control unit 76 controls the suction unit 5 to separate the invoice D1 from the first suction unit 51 and the second suction unit 52.
  • the robot system 100 picks up the invoice D1 positioned at the top of the stacked invoices and moves the invoice D1 from the pending document storage area P1 toward the in-process document storage area P2, Since one suction part (first suction part 51) located at the first position B1 is moved to a position (third position B3) above the other suction part (second suction part 52), the invoice D1 and It is possible to prevent the invoice D2 positioned below from being stuck and lifted simultaneously due to the influence of static electricity or the like. In addition, since the robot system 100 moves one suction portion to a position above the other suction portion (third position B3) and then reciprocates between the third position B3 and the fourth position B4. The sticking between the invoice D1 and the invoice D2 can be more effectively prevented.
  • control unit 65 performs a process for determining a character string to be input to the invoice D1 as follows (step S40).
  • the control unit 65 captures the paper surface of the invoice D1 with the first camera 61, and acquires the image data of the paper surface of the invoice D1 (step S41). ). That is, the robot controller 75 controls the first robot arm 13A to position the first camera 61 attached to the first robot arm 13A above the document processing place P2 being processed, and subsequently, the photographing device. The control unit 70 captures the invoice D1 located at the document place P2 being processed and acquires image data of the paper surface of the invoice D1.
  • FIG. 9 is a diagram illustrating an example of an invoice D1 (paper document) image captured by the first camera 61 of the image capturing device 6.
  • the character string “1” displayed below the position where the character string “Quantity” is displayed is determined as the character string described in the Quantity item column A2, and the character string “Unit Price” is displayed.
  • the character string “3.00” displayed below the displayed position is determined to be the character string described in the Unit Price item field A3, and the character string displayed below the position where the character string “Amount” is represented. 3.00 "is determined as the character string described in the Amount item column A4.
  • the key position determination unit 73 applies each character of the character string “APL-02” described in the Items column A1 of Parts Number. Determine the position of the corresponding key. That is, the key position determination unit 73 is based on the position information of each key 111 a of the keyboard 111 stored in the storage unit 66, the “A” key position, the “P” key position, and the “L” key. Position, "-" key position, "0" key position, and "2" key position. Similarly, the key position corresponding to each character of the character string described in each column of Quantity, Unit ⁇ Price, and Amount is determined (step S61).
  • the path calculation unit 74 performs “Parts Number” items such as “A” key, “P” key, “L” key, “-” key, “0” key, and “ The operation unit 4 moves by pressing the 2 "key in this order, and the robot arm unit 13 is operated so that the keys related to the items of Quantity, Unit Price, and Amount are also moved by pressing each key in the same manner.
  • a route is calculated (step S62). The route calculation unit 74 adds and deletes a key to be pressed according to the operation method of the information processing apparatus 110.
  • the controller unit 4 depresses the Tab key to switch the active input item from the Parts-Number item to the Quantity item.
  • the operation path of the robot arm unit 13 is calculated.
  • the path calculation unit 74 is configured to move the second operator 42 held by the second robot arm 13B toward the left side of the keyboard 111 for the item “PartsPartNumber”.
  • the "A" key located at is pressed down, and then the first operating element 41 held by the first robot arm 13A is located at the right region K1 (see FIG. 7) of the keyboard 111.
  • the robot control unit 75 controls the first robot arm 13A based on the first movement path calculated by the path calculation unit 74, and controls the second robot arm 13B based on the second movement path (step S63). ).
  • a character string to be input by the invoice D1 is input to the information processing apparatus 110 via the keyboard 111.
  • the key of the keyboard 111 may be pushed down by the operation of the linear joint J3.
  • the operation related to the depression of the key 111a of the keyboard 111 can be performed with a simple configuration, and the operation speed of the depression of the key 111a of the keyboard 111 can be improved.
  • control unit 65 captures the display screen 112a of the display device 112 with the second camera 62 and acquires the image data of the display screen 112a (step S64). That is, the robot control unit 75 controls the second robot arm 13B to position the second camera 62 attached to the second robot arm 13B toward the display screen 112a, and subsequently, the imaging device control unit. 70 images the display screen 112a and acquires image data of the display screen 112a.
  • FIG. 10 is a diagram illustrating an example of an image on the display screen 112a of the display device 112 photographed by the second camera 62 of the photographing device 6.
  • the character string determination unit 72 describes the input character string corresponding to the character string input via the keyboard 111 included in the image data of the display screen 112a, that is, the Parts Number item field A10 of the display screen 112a.
  • the character string described, the character string described in the Quantity item column A20, the character string described in the Unit Price item column A30, and the character string described in the Amount item column A40 are determined (step S65).
  • the character string determination unit 72 recognizes the character string “Parts Number” included in the image of the display screen 112a and its position, and is displayed below the position where the character string “Parts Number” is represented.
  • the character string “APL-02” is determined to be the character string described in the item column of Parts Number.
  • the character string “1” displayed below the position where the character string “Quantity” is displayed is determined to be the character string described in the Quantity field, and the character string “Unit Price” is displayed.
  • the character string “3.00” displayed below the position is determined to be the character string described in the Unit Price item field, and the character string “3.00” displayed below the position where the character string "Amount” is represented Is determined to be a character string described in the Amount item column.
  • the input error determination unit 77 captures the input target character strings described in the “Parts Number”, “Quantity”, “Unit Price”, and “Amount” item fields included in the image data obtained by capturing the invoice D1, and the display screen 112a.
  • the presence / absence of an erroneous input is determined by determining whether or not the confirmation target character strings described in the “Parts Number”, “Quantity”, “Unit Price”, and “Amount” items included in the image data match.
  • the control unit 65 uses the operation method of the information processing apparatus 110. In response, the operation related to the correction of the character string related to the item column related to the erroneous input is executed. For example, the control unit 65 operates the keyboard to operate the robot arm unit 13 so as to erase the character string related to the item column related to the erroneous input, and further inputs the character string related to the item column related to the erroneous input again. Operate the keyboard. And the process after step S64 is performed again. In addition, you may comprise so that the supervisor who concerns on input work may alert
  • the input error determination unit 77 determines that the input target character string matches the confirmation target character string and that there is no erroneous input (No in step S66), the character string input operation is terminated.
  • the robot controller 75 replaces the tool held by the robot 1 from the operator unit 4 to the suction unit 5 (step S70).
  • This operation is the same as the operation in step S50 except that the types of tools to be attached and detached are different.
  • the robot control unit 75 controls the robot arm unit 13 to move the invoice D1 from the in-process document place P2 to the processed document place P3 (step S80). That is, the robot control unit 75 brings the suction unit 5 into contact with the invoice D1 located in the document storage area P2 being processed, and the suction unit control unit 76 controls the suction unit 5 to suck the invoice D1. Then, the robot controller 75 controls the robot arm unit 13 to move the invoice D1 to the processed document place P3. Then, the suction unit controller 76 controls the suction unit 5 to release the sucked invoice D1.
  • control unit 65 determines whether or not all input processes of the invoices accumulated in the waiting document storage place P1 have been completed (step S90). For example, the control unit 65 determines whether or not an invoice remains in the processing waiting document place P1 based on an image obtained by photographing the processing waiting document place P1 by the first camera 61.
  • step S90 If the control unit 65 determines that the invoice remains in the waiting document storage area P1 and all the input processes are not completed (No in step S90), the operation from step S20 is executed again. That is, after performing the input operation of the invoice D1, the operation shifts to the input operation of the invoice D2.
  • control unit 65 determines that all input processes have been completed (Yes in step S90), the series of invoice input processes is terminated.
  • the robot system 100 operates the keyboard 111 on the information processing apparatus 110 including the keyboard 111 to perform the character information input operation described in the invoice (paper document). 100 can be used appropriately. Therefore, the operation performed by the operator of the office equipment that operates the keyboard 111 and inputs character information to the information processing apparatus 110 based on the character example described in the invoice can be replaced by the robot.
  • the information processing apparatus 110 can execute predetermined information processing based on information input by the robot system 100. In addition, it is not necessary to change the configuration of the information processing apparatus 110 when performing character information input work using the robot system 100 on behalf of an office equipment operator, and the robot system 100 can be introduced smoothly and quickly. it can.
  • FIG. 11 is a side view showing a configuration example of the first operating element 141 and the second operating element 142 according to the present embodiment.
  • the lower surface 145a of the contact portion 145 of the first operating element 141 and the second operating element 142 may be formed in a downwardly convex curved surface. Thereby, the contact portion with the key 111a can be limited, and erroneous input can be prevented.
  • FIG. 12 is a side view showing a configuration example of the keyboard 111.
  • the key 111a of the keyboard 111 is biased by a spring provided inside the key 111a and is positioned at the upper limit position, and can be pushed down to the lower limit position indicated by a one-dot chain line in FIG. Has been.
  • the keyboard 111 increases in height from the front key row R1 to the rear key row R2 among the plurality of key rows. It is configured.
  • the contact portions 45 of the first operating element 41 and the second operating element 42 are columnar bodies that are made of an elastic material and extend downward from the distal end portion of the base portion 44.
  • the contact portions 245 of the first operating element 241 and the second operating element 242 are provided with an elevating member 261, a supporting member 262, and an elastic member 263 as shown in FIGS. 13A and 13B.
  • the float mechanism 260 is included.
  • the elevating member 261 is a member that contacts the key 111a, and is configured to have higher rigidity than the elastic member 263.
  • the tip member 261 is made of, for example, resin, but is not limited thereto, and may be made of metal or wood.
  • the support member 262 guides and supports the elevating member 261 so as to be movable between a lower limit position H1 shown in FIG. 13A and an upper limit position H2 above the lower limit position H1 shown in FIG. 13B.
  • the support member 262 is a cylindrical member whose upper end is closed and whose lower end is open, for example. That is, the support member 262 includes a cylindrical peripheral wall 262a, an upper wall 262b, and an opening 262c, and the upper end portion of the elevating member 261 and the elastic member 263 are located in the internal space.
  • the lower limit position H1 of the elevating / lowering member 261 is defined such that the lower surface 261a of the elevating / lowering member 261 is positioned so as to protrude below the opening 262c of the elevating / lowering member 261.
  • the elastic member 263 extends in the vertical direction, and has an upper end that is in contact with the upper wall 262 b of the support member 262 and a lower end that is in contact with the upper end of the elevating member 261. That is, the elastic member 263 is interposed between the elevating member 261 and the support member 262.
  • the elastic member 263 is a compression spring, for example, and is compressed in the vertical direction, that is, in the axial direction when the elevating member 261 located at the lower limit position H1 moves toward the upper limit position H2, and from the upper limit position H2 to the lower limit position H1.
  • the lifting member 261 is urged toward.
  • the elastic member 263 is configured to generate an urging force (elastic repulsive force) that urges the elevating member 261 in a direction from the upper limit position H2 toward the lower limit position H1, and the urging force is the key 111a of the keyboard 111. It is specified to be larger than the spring pressure (elastic repulsive force). Therefore, when the keyboard 111 is pushed by the float mechanism 260, the urging force of the elastic member 263 can be pushed down against the urging force of the spring provided inside the key 111a.
  • the elevating member 261 of the float mechanism 260 is configured to move up and down between the lower limit position H1 and the upper limit position H2 while being urged from the upper limit position H2 toward the lower limit position H1. Even if the distance between the lower limit position H1 and the upper limit position H2, that is, the stroke of the elevating member 261 is defined to be larger than the difference in height between the key row R1 on the front side of the keyboard 111 and the key row R2 on the back side, for example. Good (see FIG. 14).
  • the character string determination unit 72 determines characters of the input target character string one by one, and the robot control unit 75 pushes down the key 111a corresponding to the character based on the determined character. 13 may be controlled. And the control part 65 may be comprised so that the said process may be repeatedly performed until the input of all the character strings of input object is completed.

Abstract

This robot system performs character information input operations described in a paper document by operating a character input device, which is positioned in a prescribed position, has multiple operating units for inputting text information input commands, and sends the inputted text information input commands to an information processing device. The robot system is provided with: a robot having an operator unit which can operate the operating units of the character input device and a robot arm unit which moves the held operator unit; an imaging device; an imaging device control unit which images a paper document; a character string determination unit which determines a character string to be inputted on the paper document included in the imaging data; a control device which includes an operating unit position determination unit which determines the positions of the operating units corresponding to the characters determined by the character string determination unit, and a robot control unit which, on the basis of the positions of the operating units corresponding to the characters determined by the operating unit position determination unit, controls the robot arm unit such that the operator unit held by the robot arm unit operates the operating units determined by the character string determination unit in the order of the characters and moves.

Description

ロボットシステム及びロボットシステムの制御方法Robot system and control method of robot system
　本発明は、ロボットシステム及びロボットシステムの制御方法に関する。 The present invention relates to a robot system and a control method of the robot system.
　従来から撮像部が撮影した画像に基づいて所定の処理を行うロボットを含む情報処理装置が知られている（例えば特許文献１参照）。 2. Description of the Related Art Conventionally, an information processing apparatus including a robot that performs predetermined processing based on an image captured by an imaging unit is known (see, for example, Patent Document 1).
　この情報処理装置は、ロボットと、ロボット周辺の画像を撮像する撮像部と、画像に含まれた文字を認識する認識手段と、認識手段で認識された文字の中から所定の報知対象文字を検出する検出手段と、ロボットの動作により報知対象文字が検出されたことを知する報知手段と、を備えている。これによって、報知対象文字に応じた情報を利用者に報知する。 The information processing apparatus detects a predetermined notification target character from among a robot, an imaging unit that captures an image around the robot, a recognition unit that recognizes characters included in the image, and characters recognized by the recognition unit And detecting means for notifying that a notification target character has been detected by the operation of the robot. Thus, information corresponding to the notification target character is notified to the user.
特開２０１３－１５１０４５号公報JP 2013-151045 A
　ところで、紙文書に記載された文字情報の入力作業においてロボットシステムを利用する場合、例えば、特許文献１に記載の情報処理装置は、文字を認識し、認識した文字に応じた情報を作業者に報知するにとどまり、紙文書に記載された文字例の認識及び文字列の入力作業を含む作業者の一連の作業を代替するものではなかった。 By the way, when a robot system is used in an input operation of character information described in a paper document, for example, the information processing apparatus described in Patent Document 1 recognizes characters and provides information to the worker according to the recognized characters. It was not a substitute for the operator's series of work including recognition of character examples described in paper documents and input of character strings.
　上記課題を解決するため、本発明のある態様に係るロボットシステムは、所定位置に位置し、所定の文字情報の入力指令を入力するための操作部を複数有し、入力された前記所定の文字情報の入力指令を情報処理装置に対して送信する文字入力装置を操作して紙文書に記載された文字情報の入力作業を行うロボットシステムであって、前記文字入力装置の各前記操作部を操作可能な操作子ユニットと、前記操作子ユニットを保持可能且つ保持した前記操作子ユニットを移動させるロボットアームユニットを含むロボットと、撮影装置と、前記撮影装置を制御して前記紙文書を撮影する撮影装置制御部と、前記撮影装置が撮影した撮影データに含まれる前記紙文書の入力対象の文字列を判定する文字列判定部と、前記文字列判定部が判定した前記文字列の各文字に対応する前記操作部の位置を判定する操作部位置判定部と、前記操作部位置判定部が判定した前記文字列の各文字に対応する前記操作部の位置に基づいて前記ロボットアームユニットが保持する前記操作子ユニットが前記文字列の各文字の並び順に前記文字列判定部が判定した前記操作部を操作して移動するように前記ロボットアームユニットを制御するロボット制御部と、を含む制御装置と、備える。 In order to solve the above-described problem, a robot system according to an aspect of the present invention includes a plurality of operation units that are located at a predetermined position and for inputting an input command of predetermined character information, and the input predetermined character A robot system that performs an input operation of character information described in a paper document by operating a character input device that transmits an information input command to an information processing device, and operates each operation unit of the character input device An operation unit that can hold the operation unit, a robot including a robot arm unit that moves the operation unit that holds the operation unit, a photographing device, and a photographing that controls the photographing device to photograph the paper document An apparatus control unit, a character string determination unit that determines a character string to be input of the paper document included in the shooting data captured by the imaging device, and the character string determination unit An operation unit position determination unit that determines the position of the operation unit corresponding to each character of the written string, and a position of the operation unit corresponding to each character of the character string determined by the operation unit position determination unit A robot control unit that controls the robot arm unit so that the operator unit held by the robot arm unit operates and moves the operation unit determined by the character string determination unit in the order in which the characters of the character string are arranged And a control device including.
　この構成によれば、文字入力装置を操作して紙文書に記載された文字情報の情報処理装置に対する入力作業をロボットシステムを用いて適切に行うことができる。したがって、紙文書に記載された文字列に基づき文字入力装置を操作して情報処理装置に対して文字情報を入力するという、事務機器のオペレータが行う作業をロボットによって代替することができる。また、作業をロボットで代替するにあたり、情報処理装置の構成を変更する必要がなく、ロボットシステムの導入を円滑且つ迅速に行うことができる。 According to this configuration, it is possible to appropriately perform an input operation on the information processing apparatus for character information described in a paper document by operating the character input apparatus using the robot system. Therefore, the operation performed by the operator of the office equipment, which operates the character input device based on the character string described in the paper document and inputs the character information to the information processing device, can be replaced by the robot. In addition, when replacing the work with a robot, it is not necessary to change the configuration of the information processing apparatus, and the robot system can be introduced smoothly and quickly.
　前記制御装置は、前記操作部位置判定部が判定した前記文字列の各文字に対応する前記操作部の位置に基づいて前記ロボットアームユニットが保持する前記操作子ユニットが前記文字列の各文字の並び順に前記文字列判定部が判定した前記操作部を操作して移動するように前記ロボットアームユニットを動作させる動作経路を算出する経路算出部を更に備え、前記ロボット制御部は、前記動作経路に基づいて前記ロボットアームユニットを制御してもよい。 The controller is configured such that the operation unit held by the robot arm unit is based on the position of the operation unit corresponding to each character of the character string determined by the operation unit position determination unit. The robot controller further includes a path calculator that calculates an operation path for operating the robot arm unit so as to move by operating the operation unit determined by the character string determination unit in the arrangement order. The robot arm unit may be controlled based on this.
　この構成によれば、文字情報の入力作業をロボットシステムを用いて更に適切に行うことができる。 According to this configuration, the character information input operation can be performed more appropriately using the robot system.
　前記操作子ユニットは、第１操作子及び第２操作子を含み、前記ロボットアームユニットは、前記第１操作子を保持可能且つ保持した前記第１操作子を移動させる第１ロボットアーム及び前記第２操作子を保持可能且つ保持した前記第２操作子を移動させる第２ロボットアームを含み、前記経路算出部は、前記第１ロボットアームが保持する前記第１操作子及び前記第２ロボットアームが保持する前記第２操作子が前記文字列の各文字の並び順に前記文字列判定部が判定した前記操作部を操作して移動するように前記第１ロボットアームを動作させる第１動作経路及び前記第２ロボットアームを動作させる第２動作経路を算出してもよい。 The operating unit includes a first operating unit and a second operating unit, and the robot arm unit is capable of holding the first operating unit and moving the first operating unit holding the first operating unit and the first operating unit. A second robot arm that can hold the two operating elements and move the second operating element that is held; and the path calculating unit includes the first operating element and the second robot arm that are held by the first robot arm. A first movement path for operating the first robot arm so that the second operator to be held moves by operating the operation unit determined by the character string determination unit in the order of arrangement of the characters of the character string; and A second movement path for operating the second robot arm may be calculated.
　この構成によれば、文字情報の入力作業を迅速に行うことができる。 According to this configuration, the character information input operation can be performed quickly.
　それぞれ前記紙文書の上面を吸着する第１吸着部及び第２吸着部を有する吸着ユニットを更に備え、前記制御装置は、前記吸着ユニットの前記紙文書の吸着及び解放動作を制御する吸着ユニット制御部を更に備え、前記第１ロボットアームは、前記第１吸着部を保持可能且つ保持した前記第１吸着部を移動させるよう構成され、前記第２ロボットアームは、前記第２吸着部を保持可能且つ保持した前記第２吸着部を移動させるよう構成されていてもよい。 Each of the suction units further includes a suction unit having a first suction unit and a second suction unit for sucking the upper surface of the paper document, and the control device controls the suction and release operations of the paper document of the suction unit. The first robot arm is configured to hold the first suction unit and move the first suction unit, and the second robot arm can hold the second suction unit; You may be comprised so that the said 2nd adsorption | suction part hold | maintained may be moved.
　この構成によれば、文字情報の入力作業に伴う紙文書の移動を適切に行うことができる。 According to this configuration, it is possible to appropriately move the paper document accompanying the character information input operation.
　前記ロボット制御部が前記第１ロボットアームを制御して前記第１吸着部が前記紙文書の対向する一対の側縁のうち一方の側縁の近傍の上面と当接する第１位置に前記第１吸着部を位置させ、前記吸着ユニット制御部が前記吸着ユニットを制御して前記第１吸着部によって前記紙文書を吸着し、前記ロボット制御部が前記第２ロボットアームを制御して前記第２吸着部が前記紙文書の対向する一対の側縁のうち他方の側縁の近傍の上面と当接する第２位置に前記第２吸着部を位置させ、前記吸着ユニット制御部が前記吸着ユニットを制御して前記第２吸着部によって前記紙文書を吸着し、前記ロボット制御部が前記第２ロボットアームを制御して前記第２吸着部を前記紙文書の延在面の法線方向において前記第１吸着部に対して相対的に上方に位置する第３位置に移動させた後、前記第２吸着部を前記第２位置及び前記第３位置の間の第４位置と前記第３位置との間で往復動させ、前記ロボット制御部が前記第１ロボットアーム及び前記第２ロボットアームを制御して前記第１吸着部及び前記第２吸着部を前記紙文書の上面の法線方向と交差する方向に移動させてもよい。 The robot control unit controls the first robot arm, and the first suction unit is positioned at a first position where the first suction unit comes into contact with an upper surface in the vicinity of one side edge of the pair of side edges facing the paper document. The suction unit is positioned, the suction unit control unit controls the suction unit, and the first suction unit sucks the paper document, and the robot control unit controls the second robot arm to perform the second suction. The second suction part is positioned at a second position where the part comes into contact with the upper surface in the vicinity of the other side edge of the pair of opposite side edges of the paper document, and the suction unit controller controls the suction unit. The second suction unit sucks the paper document, and the robot control unit controls the second robot arm to move the second suction unit in the normal direction of the extending surface of the paper document. Relative to the part The second suction unit is moved back and forth between the second position and the fourth position between the second position and the third position, and the robot control unit However, the first robot arm and the second robot arm may be controlled to move the first suction unit and the second suction unit in a direction intersecting the normal direction of the upper surface of the paper document.
　この構成によれば、積み重ねた紙文書のうち、静電気等の影響により張り付いた最上段に位置する紙文書とその下段に位置する紙文書とを分離させることができる。 According to this configuration, among the stacked paper documents, it is possible to separate the paper document positioned at the uppermost level attached due to the influence of static electricity or the like and the paper document positioned at the lower level.
　前記情報処理装置は、前記文字入力装置を介して入力された文字情報を表示する表示画面を有する表示装置を備え、前記撮影装置制御部は、更に前記撮影装置を制御して前記表示画面を撮影し、前記文字列判定部は、更に前記撮影装置が撮影した前記表示画面の撮影データに含まれる前記文字入力装置を介して入力された前記文字列に対応する入力済文字列を判定し、前記制御装置は、前記紙文書を撮影した前記画像データに含まれる入力対象の前記文字列と前記表示画面を撮影した前記画像データに含まれる前記文字入力装置を介して入力された文字列に対応する前記入力済文字列とが一致しているか否かを判定する入力誤り判定部を更に含んでいてもよい。 The information processing apparatus includes a display device having a display screen for displaying character information input via the character input device, and the photographing device control unit further controls the photographing device to photograph the display screen. The character string determination unit further determines an input character string corresponding to the character string input via the character input device included in the shooting data of the display screen shot by the shooting device, The control device corresponds to the character string to be input included in the image data obtained by photographing the paper document and the character string input via the character input device included in the image data obtained by photographing the display screen. An input error determination unit for determining whether or not the input character string matches may be further included.
　この構成によれば、誤入力を検知することができる。 According to this configuration, an erroneous input can be detected.
　前記文字入力装置は、ハードウェアキーボードであり、前記操作部は前記ハードウェアキーボードのキーであり、前記ロボット制御部は、前記操作子ユニットが前記キーを押し下げて移動するように前記ロボットアームユニットを制御してもよい。 The character input device is a hardware keyboard, the operation unit is a key of the hardware keyboard, and the robot control unit moves the robot arm unit so that the operator unit moves by depressing the key. You may control.
　この構成によれば、ハードウェアキーボードを操作して、紙文書に記載された文字情報の情報処理装置に対する入力作業をロボットシステムを用いて適切に行うことができる。 According to this configuration, by operating the hardware keyboard, it is possible to appropriately perform an input operation on the information processing apparatus for character information described in the paper document using the robot system.
　前記操作子ユニットの下面は、下方に凸の曲面に形成され、前記キーに当接する当接部を構成してもよい。 The lower surface of the operation unit may be formed as a downwardly convex curved surface and constitute a contact portion that contacts the key.
　この構成によれば、キーとの接触部分を限定することができ、誤入力を防止することができる。 According to this configuration, the contact portion with the key can be limited, and erroneous input can be prevented.
　前記操作子ユニットは、下限位置と上限位置との間で昇降可能であり、下面が前記キーと当接する昇降部材を含むフロート機構を有していてもよい。 The operating element unit may have a float mechanism including an elevating member that is movable up and down between a lower limit position and an upper limit position and whose lower surface is in contact with the key.
　この構成によれば、押し下げ動作に係る位置誤差をフロート機構に吸収させることができ、ロボットシステムの構成を簡素化することができる。 According to this configuration, the position error related to the push-down operation can be absorbed by the float mechanism, and the configuration of the robot system can be simplified.
　前記フロート機構は、前記昇降部材を上限位置から下限位置に向かう方向に付勢する弾性部材を有していてもよい。 The float mechanism may include an elastic member that urges the elevating member in a direction from the upper limit position toward the lower limit position.
　この構成によれば、キーボードのキーをより確実に押し下げることができる。 This configuration makes it possible to press down the keyboard keys more reliably.
　前記文字入力装置は、複数のキーの画像を含むソフトウェアキーボードを表示する表示画面を有する電磁誘導方式のタッチパネル式表示入力装置であり、前記操作部は、各前記キーの画像が表示された領域であり、前記操作子ユニットは、前記文字入力装置によって前記操作子ユニットが前記表示画面に接触した位置の特定に用いられる磁界を発生させる磁界発生部を有していてもよい。 The character input device is an electromagnetic induction type touch panel display input device having a display screen for displaying a software keyboard including images of a plurality of keys, and the operation unit is an area where an image of each key is displayed. In addition, the operation unit may include a magnetic field generation unit that generates a magnetic field used for specifying a position where the operation unit unit contacts the display screen by the character input device.
　この構成によれば、電磁誘導方式のタッチパネル式表示入力装置の表示画面に表示されたソフトウェアキーボードを操作して、紙文書に記載された文字情報の情報処理装置に対する入力作業をロボットシステムを用いて適切に行うことができる。 According to this configuration, the operation of the software keyboard displayed on the display screen of the electromagnetic induction type touch panel display input device is used to input the character information described in the paper document to the information processing device using the robot system. Can be done appropriately.
　前記文字入力装置は、複数のキーを含むソフトウェアキーボードを表示する表示画面を有する静電容量方式のタッチパネル式表示入力装置であり、前記操作部は、各前記キーの画像が表示された領域であり、前記操作子ユニットは、前記文字入力装置によって前記操作子ユニットが前記表示画面に接触した位置の特定に用いられる静電気を帯電させる帯電部を有していてもよい。 The character input device is a capacitive touch panel display input device having a display screen for displaying a software keyboard including a plurality of keys, and the operation unit is an area where an image of each key is displayed. The operation unit may include a charging unit that charges the static electricity used for specifying the position where the operation unit unit contacts the display screen by the character input device.
　この構成によれば、静電容量方式のタッチパネル式表示入力装置の表示画面に表示されたソフトウェアキーボードを操作して、紙文書に記載された文字情報の情報処理装置に対する入力作業をロボットシステムを用いて適切に行うことができる。 According to this configuration, the robot keyboard is used to input the character information described in the paper document to the information processing device by operating the software keyboard displayed on the display screen of the capacitive touch panel display input device. Can be done appropriately.
　前記操作子ユニットが前記操作部を操作した累積作業回数が該累積作業回数の上限値として許容する上限作業回数を超過したことを報知する報知部を更に備え、
　前記制御装置は、前記累積作業回数が前記上限作業回数を超過したか否かを判定し、前記累積作業回数が前記上限作業回数を超過した場合は、前記報知部を制御して前記累積作業回数が前記上限作業回数を超過したことを報知する報知部制御部を更に備えていてもよい。 A notifying unit for notifying that the cumulative number of times that the operator unit has operated the operation unit has exceeded an upper limit number of times allowed as an upper limit value of the cumulative number of times;
The control device determines whether or not the cumulative work number exceeds the upper limit work number. If the cumulative work number exceeds the upper limit work number, the control unit controls the notification unit to control the cumulative work number. May further include a notifying unit control unit for notifying that the upper limit work number has been exceeded.
　この構成によれば、消耗品の交換時期が到来したことをオペレーターに報知することができる。 According to this configuration, it is possible to notify the operator that it is time to replace consumables.
　上記課題を解決するため、本発明のある態様に係るロボットシステムの制御方法は、所定位置に位置し、所定の文字情報の入力指令を入力するための操作部を複数有し、入力された前記所定の文字情報の入力指令を情報処理装置に対して送信する文字入力装置を操作して紙文書に記載された文字情報の入力作業を行うロボットシステムの制御方法であって、前記ロボットシステムは、前記文字入力装置の各前記操作部を操作可能な操作子ユニットと、前記操作子ユニットを保持可能且つ保持した前記操作子ユニットを移動させるロボットアームユニットを含むロボットと、撮影装置と、前記ロボットアームユニット及び前記撮影装置を制御する制御装置と、を含み、前記制御装置が前記撮影装置を制御して前記紙文書を撮影するステップと、前記制御装置が前記撮影装置が撮影した撮影データに含まれる前記紙文書の入力対象の文字列を判定するステップと、前記制御装置が前記文字列判定部が判定した前記文字列の各文字に対応する前記操作部の位置を判定するステップと、前記制御装置が前記操作部位置判定部が判定した前記文字列の各文字に対応する前記操作部の位置に基づいて前記ロボットアームユニットが保持する前記操作子ユニットが前記文字列の各文字の並び順に前記文字列判定部が判定した前記操作部を操作して移動するように前記ロボットアームユニットを制御するステップと、を含む。 In order to solve the above-described problem, a control method for a robot system according to an aspect of the present invention includes a plurality of operation units that are located at a predetermined position and for inputting an input command for predetermined character information. A control method of a robot system that performs an input operation of character information described in a paper document by operating a character input device that transmits an input command of predetermined character information to an information processing device, the robot system comprising: An operation unit that can operate each operation unit of the character input device, a robot that can hold the operation unit and includes a robot arm unit that moves the operation unit, an imaging device, and the robot arm A control unit that controls a unit and the photographing device, wherein the control device controls the photographing device to photograph the paper document; The control device determines a character string to be input of the paper document included in shooting data shot by the shooting device, and the control device corresponds to each character of the character string determined by the character string determination unit Determining the position of the operation unit, and the control unit holds the robot arm unit based on the position of the operation unit corresponding to each character of the character string determined by the operation unit position determination unit Controlling the robot arm unit so that the operator unit moves by operating the operation unit determined by the character string determination unit in the order in which the characters of the character string are arranged.
　この構成によれば、文字入力装置を操作して紙文書に記載された文字情報の情報処理装置に対する入力作業をロボットシステムを用いて適切に行うことができる。したがって、紙文書に記載された文字列に基づき文字入力装置を操作して情報処理装置に対して文字情報を入力するという、事務機器のオペレータが行う作業をロボットによって代替することができる。また、作業をロボットで代替するにあたり、情報処理装置の構成を変更する必要がなく、ロボットシステムの導入を円滑且つ迅速に行うことができる。 According to this configuration, it is possible to appropriately perform an input operation on the information processing apparatus for character information described in a paper document by operating the character input apparatus using the robot system. Therefore, the operation performed by the operator of the office equipment, which operates the character input device based on the character string described in the paper document and inputs the character information to the information processing device, can be replaced by the robot. In addition, when replacing the work with a robot, it is not necessary to change the configuration of the information processing apparatus, and the robot system can be introduced smoothly and quickly.
　本発明は、キーボードを含む情報処理装置に対してキーボードを操作して紙文書に記載された文字情報の入力作業をロボットが適切に行うことができるという効果を奏する。 The present invention has an effect that the robot can appropriately perform the input operation of the character information described in the paper document by operating the keyboard with respect to the information processing apparatus including the keyboard.
本発明の実施の形態１に係るロボットシステムの構成例を示す斜視図である。It is a perspective view which shows the structural example of the robot system which concerns on Embodiment 1 of this invention. 図１のロボットシステムのロボットの構成例を示す正面図である。It is a front view which shows the structural example of the robot of the robot system of FIG. 図１のロボットシステムの操作子ユニットの第１操作子及び第２操作子の構成例を示す斜視図である。It is a perspective view which shows the structural example of the 1st operation element of the operation element unit of the robot system of FIG. 1, and a 2nd operation element. 図１のロボットシステムの吸着ユニットの第１吸着部及び第２吸着部の構成例を示す斜視図である。It is a perspective view which shows the structural example of the 1st adsorption | suction part of the adsorption | suction unit of the robot system of FIG. 1, and a 2nd adsorption | suction part. 図１のロボットシステムの制御系統の構成例を示すブロック図である。It is a block diagram which shows the structural example of the control system of the robot system of FIG. 図１のロボットシステムの動作例を示すフローチャートである。It is a flowchart which shows the operation example of the robot system of FIG. 図１のロボットシステムの動作例を示すフローチャートである。It is a flowchart which shows the operation example of the robot system of FIG. 図１のロボットシステムの動作例を示すフローチャートである。It is a flowchart which shows the operation example of the robot system of FIG. 図１のロボットシステムの動作例を示すフローチャートである。It is a flowchart which shows the operation example of the robot system of FIG. 図１のロボットシステムが文字情報の入力作業を行う机上の構成の一例を示す平面図である。It is a top view which shows an example of the structure on the desk in which the robot system of FIG. 1 inputs character information. 図１のロボットシステムの動作例を示す正面図であり、積み上げられている紙文書の取上動作の動作例を示す図である。It is a front view which shows the operation example of the robot system of FIG. 1, and is a figure which shows the operation example of the picking-up operation | movement of the stacked paper document. 図１のロボットシステムの動作例を示す正面図であり、積み上げられている紙文書の取上動作の動作例を示す図である。It is a front view which shows the operation example of the robot system of FIG. 1, and is a figure which shows the operation example of the picking-up operation | movement of the stacked paper document. 図１のロボットシステムの撮影装置が撮影した紙文書の画像の一例を示す図である。It is a figure which shows an example of the image of the paper document image | photographed with the imaging device of the robot system of FIG. 図１のロボットシステムの撮影装置が撮影した表示装置の表示画面の画像の一例を示す図である。It is a figure which shows an example of the image of the display screen of the display apparatus image | photographed by the imaging device of the robot system of FIG. 本発明の実施の形態２に係るロボットシステムの操作子ユニットの構成例を示す側面図である。It is a side view which shows the structural example of the operation element unit of the robot system which concerns on Embodiment 2 of this invention. 本発明の実施の形態３に係るロボットシステムの操作子ユニットによって操作されるハードウェアキーボードの構成例を示す側面図である。It is a side view which shows the structural example of the hardware keyboard operated by the operation element unit of the robot system which concerns on Embodiment 3 of this invention. 本発明の実施の形態３に係るロボットシステムの操作子ユニットの構成例を示す断面図であり、昇降部材が下限位置に位置する状態を示す図である。It is sectional drawing which shows the structural example of the operation element unit of the robot system which concerns on Embodiment 3 of this invention, and is a figure which shows the state in which an raising / lowering member is located in a lower limit position. 図１３Ａの昇降部材が下限位置に位置する状態を示す図である。It is a figure which shows the state which the raising / lowering member of FIG. 13A is located in a lower limit position. 本発明の実施の形態３に係るロボットシステムの動作例を示す図である。It is a figure which shows the operation example of the robot system which concerns on Embodiment 3 of this invention. 本発明の実施の形態４に係るロボットシステムの操作子ユニットの構成例を示す断面図である。It is sectional drawing which shows the structural example of the operation element unit of the robot system which concerns on Embodiment 4 of this invention. 本発明の実施の形態５に係るロボットシステムの操作子ユニットの構成例を示す断面図である。It is sectional drawing which shows the structural example of the operation element unit of the robot system which concerns on Embodiment 5 of this invention. 本発明の実施の形態６に係るロボットシステムの制御系統の構成例を示すブロック図である。It is a block diagram which shows the structural example of the control system of the robot system which concerns on Embodiment 6 of this invention.
　以下、本発明の実施の形態について、図面を参照しながら説明する。なお、本実施の形態によって本発明が限定されるものではない。また、以下では、全ての図を通じて、同一又は相当する要素には同一の参照符号を付して、その重複する説明を省略する。 Hereinafter, embodiments of the present invention will be described with reference to the drawings. Note that the present invention is not limited to the present embodiment. In the following description, the same or corresponding elements are denoted by the same reference symbols throughout the drawings, and redundant description thereof is omitted.
　（実施の形態１）
　図１は、本発明の実施の形態１に係るロボットシステム１００の構成例を示す斜視図である。図１に示すように、ロボットシステム１００は、情報処理装置１１０の文字入力装置の操作部を操作して紙文書に記載された文字情報の入力作業を行うシステムである。本実施の形態において、文字入力装置は、ハードウェアキーボード１１１であり、所定の文字情報の入力指令を入力するためのキー（操作部）１１１ａを複数有する。そして、キーボード１１１は、何れかのキー１１１ａが押し下げられたことを検知すると、押し下げられたキー１１１ａに対応する文字情報の入力指令を情報処理装置１１０に対して送信する。すなわち、キーボード（文字入力装置）１１１は、オペレータがキー（操作部）１１１ａに触れて操作することにより文字情報の入力指令を入力する装置である。キーボード１１１は、机１０５の所定位置に位置決めされている。また、情報処理装置１１０は、キーボード１１１の他にキーボード１１１を介して入力された文字情報を表示する表示画面１１２ａを有する表示装置１１２、及び図示しない制御装置を含む。そして、ロボットシステム１００は、情報処理装置１１０に対してキーボード１１１を操作して紙文書に記載された文字情報の入力作業を行う。キーボード１１１は、例えばキー配列がＱＷＥＲＴＹ配列のキーボードである。 (Embodiment 1)
FIG. 1 is a perspective view showing a configuration example of a robot system 100 according to Embodiment 1 of the present invention. As shown in FIG. 1, the robot system 100 is a system that performs an operation of inputting character information described in a paper document by operating an operation unit of a character input device of the information processing device 110. In the present embodiment, the character input device is a hardware keyboard 111, and includes a plurality of keys (operation units) 111a for inputting an input command for predetermined character information. When the keyboard 111 detects that any one of the keys 111 a is pressed, the keyboard 111 transmits an input command for character information corresponding to the pressed key 111 a to the information processing apparatus 110. That is, the keyboard (character input device) 111 is a device for inputting an input command of character information by an operator touching and operating a key (operation unit) 111a. The keyboard 111 is positioned at a predetermined position on the desk 105. In addition to the keyboard 111, the information processing apparatus 110 includes a display device 112 having a display screen 112a that displays character information input via the keyboard 111, and a control device (not shown). Then, the robot system 100 operates the keyboard 111 with respect to the information processing apparatus 110 to input character information described in the paper document. The keyboard 111 is, for example, a keyboard having a QWERTY keyboard layout.
　図２は、ロボット１の構成例を示す正面図である。図２においては、ロボット１がロボットアームユニット１３を側方に伸ばした状態を示している。 FIG. 2 is a front view showing a configuration example of the robot 1. FIG. 2 shows a state in which the robot 1 extends the robot arm unit 13 to the side.
　図１及び図２に示すように、ロボットシステム１００は、ロボット１と、操作子ユニット４と、吸着ユニット５と、撮影装置６と、制御装置７とを備える。 As shown in FIGS. 1 and 2, the robot system 100 includes a robot 1, an operator unit 4, a suction unit 5, a photographing device 6, and a control device 7.
　ロボット１は、例えば、一対のロボットアーム（第１ロボットアーム１３Ａ及び第２ロボットアーム１３Ｂ）を有するロボットアームユニット１３を備える水平多関節型の双腕ロボットである。但し、これに限られるものではなく、ロボットアームは、垂直多関節型のロボットアームであってもよい。 The robot 1 is, for example, a horizontal articulated double-arm robot including a robot arm unit 13 having a pair of robot arms (a first robot arm 13A and a second robot arm 13B). However, the present invention is not limited to this, and the robot arm may be a vertical articulated robot arm.
　ロボット１は、台車１２と、台車１２に支持されたロボットアームユニット１３とを含む。すなわち、第１ロボットアーム１３Ａ及び第２ロボットアーム１３Ｂは、台車１２に支持されている。 The robot 1 includes a carriage 12 and a robot arm unit 13 supported by the carriage 12. That is, the first robot arm 13A and the second robot arm 13B are supported by the carriage 12.
　台車１２は、車輪１２ａを有し、移動可能に構成されている。そして、台車１２は、基軸１６を含み、基軸１６は、台車１２の上面に固定されている。また、制御装置７は、台車１２内に収容されている。従って、ロボット１の移動を容易に行うことができる。 The carriage 12 has wheels 12a and is configured to be movable. The carriage 12 includes a base shaft 16, and the base shaft 16 is fixed to the upper surface of the carriage 12. Further, the control device 7 is accommodated in the carriage 12. Accordingly, the robot 1 can be easily moved.
　ロボットアームユニット１３は、操作子ユニット４を保持可能且つ保持した操作子ユニット４を所定の動作範囲内で移動させるよう構成されている。また、ロボットアームユニット１３は、吸着ユニット５を保持可能且つ保持した吸着ユニット５を所定の動作範囲内で移動させるよう構成されている。 The robot arm unit 13 is configured to be able to hold the operating element unit 4 and to move the holding operating element unit 4 within a predetermined operation range. The robot arm unit 13 is configured to hold the suction unit 5 and move the held suction unit 5 within a predetermined operation range.
　ロボットアームユニット１３は、第１ロボットアーム１３Ａと、第２ロボットアーム１３Ｂとを含む。 The robot arm unit 13 includes a first robot arm 13A and a second robot arm 13B.
　第１ロボットアーム１３Ａは、操作子ユニット４の第１操作子４１を保持可能且つ保持した第１操作子４１を所定の動作範囲内で移動させるよう構成されている。また、第１ロボットアーム１３Ａは、吸着ユニット５の第１吸着部５１を保持可能且つ保持した第１吸着部５１を所定の動作範囲内で移動させるよう構成されている。 The first robot arm 13A is configured to hold the first operating element 41 of the operating unit 4 and to move the held first operating element 41 within a predetermined operating range. The first robot arm 13A is configured to hold the first suction unit 51 of the suction unit 5 and move the held first suction unit 51 within a predetermined operation range.
　第１ロボットアーム１３Ａは、上述の通り水平多関節型ロボットアームであり、アーム部２１と、リスト部２２と、ハンド２３と、ロボットアーム駆動部２４とを含む。 The first robot arm 13A is a horizontal articulated robot arm as described above, and includes an arm unit 21, a wrist unit 22, a hand 23, and a robot arm drive unit 24.
　アーム部２１は、リスト部２２及びハンド２３を動作範囲内の任意の位置に位置決めする。アーム部２１は、水平方向に延在する第１リンク２１ａ及び第２リンク２１ｂを含む。第１リンク２１ａは、基端部が台車１２の基軸１６と回転関節Ｊ１により連結され、基軸１６の軸心を通る回転軸線Ｌ１まわりに回動可能である。第２リンク２１ｂは、第１リンク２１ａの先端部と回転関節Ｊ２により連結され、第１リンク２１ａの先端部に規定された回転軸線Ｌ２まわりに回動可能である。 The arm unit 21 positions the wrist unit 22 and the hand 23 at arbitrary positions within the operation range. The arm portion 21 includes a first link 21a and a second link 21b extending in the horizontal direction. The base end of the first link 21 a is connected to the base shaft 16 of the carriage 12 by the rotary joint J <b> 1, and can rotate around the rotation axis L <b> 1 passing through the axis of the base shaft 16. The second link 21b is connected to the distal end portion of the first link 21a by the rotary joint J2, and is rotatable around the rotation axis L2 defined at the distal end portion of the first link 21a.
　リスト部２２は、その先に連なるハンド２３の高さ位置の変更及び回転軸線Ｌ３回りの任意の姿勢に変更する。リスト部２２は、昇降部２２ａと、回動部２２ｂとを含む。 The list unit 22 changes the height position of the hand 23 connected to the tip and changes to an arbitrary posture around the rotation axis L3. The wrist part 22 includes an elevating part 22a and a rotating part 22b.
　昇降部２２ａは、第２リンク２１ｂの先端部と直動関節Ｊ３により連結され、第２リンク２１ｂに対し昇降移動可能である。回動部２２ｂは、昇降部２２ａの下端部と回転関節Ｊ４により連結され、昇降部２２ａの下端に規定された回転軸線Ｌ３まわりに回動可能である。このように、ロボット１は昇降部２２ａを備えるので後述するキーボード１１１のキー１１１ａの押下げを昇降部２２ａを動作させることにより行うことができる。 The elevating part 22a is connected to the distal end part of the second link 21b by a linear motion joint J3 and is movable up and down with respect to the second link 21b. The rotating part 22b is connected to the lower end part of the elevating part 22a by the rotary joint J4, and can be rotated around the rotation axis L3 defined at the lower end of the elevating part 22a. Thus, since the robot 1 is provided with the raising / lowering part 22a, the key 111a of the keyboard 111 mentioned later can be pushed down by operating the raising / lowering part 22a.
　本実施の形態において、回転軸線Ｌ１～Ｌ３は、互いに平行であり、例えば鉛直方向に延在する。また、回転軸線Ｌ１～Ｌ３の延在方向と、昇降部２２ａの昇降移動方向とは、互いに平行である。 In the present embodiment, the rotation axes L1 to L3 are parallel to each other and extend, for example, in the vertical direction. Further, the extending direction of the rotation axes L1 to L3 and the moving direction of the lifting unit 22a are parallel to each other.
　ロボットアーム駆動部２４は、各関節Ｊ１～Ｊ４に対応付けられるように設けられている駆動用のサーボモータ（図示せず）、及びそのサーボモータの回転角を検出するエンコーダ（図示せず）を含む。また、第１ロボットアーム１３Ａの回転軸線Ｌ１と第２ロボットアーム１３Ｂの回転軸線Ｌ１は同一直線上にあり、第１ロボットアーム１３Ａの第１リンク２１ａと、第２ロボットアーム１３Ｂの第１リンク２１ａとは上下に高低差を設けて配置されている。これによって、双腕のロボットアームユニット１３をコンパクトに構成することができる。また、双腕のロボットアームユニット１３の構成を簡素化することができる。 The robot arm drive unit 24 includes a drive servo motor (not shown) provided to be associated with each of the joints J1 to J4, and an encoder (not shown) for detecting the rotation angle of the servo motor. Including. The rotation axis L1 of the first robot arm 13A and the rotation axis L1 of the second robot arm 13B are on the same straight line, and the first link 21a of the first robot arm 13A and the first link 21a of the second robot arm 13B. Are arranged with a difference in height above and below. Thereby, the double-arm robot arm unit 13 can be configured compactly. Further, the configuration of the double-arm robot arm unit 13 can be simplified.
　ハンド２３は、リスト部２２に取り付けられ、各種ツールを保持する機構である。本実施の形態において、ハンド２３は、操作子ユニット４及び吸着ユニット５を保持する。ハンド２３は、基端部がリスト部２２に取り付けられた基部２３ａと、基部２３ａの先端部から水平方向に伸延する一対の保持体２３ｂ（図１参照）と、一対の保持体２３ｂを水平方向（開閉方向）に移動させる図示しない開閉駆動機構とを含む。 The hand 23 is a mechanism that is attached to the wrist unit 22 and holds various tools. In the present embodiment, the hand 23 holds the operator unit 4 and the suction unit 5. The hand 23 includes a base portion 23a having a base end portion attached to the wrist portion 22, a pair of holding bodies 23b (see FIG. 1) extending in the horizontal direction from the distal end portion of the base portion 23a, and a pair of holding bodies 23b in the horizontal direction. And an opening / closing drive mechanism (not shown) that moves in the (opening / closing direction).
　図１に示すように、一対の保持体２３ｂは、開閉方向に対向して配設されている。一対の保持体２３ｂは、それぞれ他方の保持体２３ｂと対向する対向面に凹部が形成され、一対の保持体２３ｂを閉じることによって、操作子ユニット４の後述する保持部４３（図３参照）及び吸着ユニット５の保持部５５（図４参照）を保持し、一対の保持体２３ｂを開くことによって保持したこれらの保持部を開放するように構成されている。したがって、ハンド２３に保持された操作子ユニット４及び吸着ユニット５は、ロボットアームユニット１３の先端に連なるように位置する。 As shown in FIG. 1, the pair of holding bodies 23b are arranged to face each other in the opening / closing direction. The pair of holding bodies 23b are each formed with a recess on the opposing surface facing the other holding body 23b. By closing the pair of holding bodies 23b, a holding section 43 (see FIG. 3) described later of the operator unit 4 and The holding unit 55 (see FIG. 4) of the suction unit 5 is held, and the holding units held by opening the pair of holding bodies 23b are opened. Therefore, the operator unit 4 and the suction unit 5 held by the hand 23 are positioned so as to be connected to the tip of the robot arm unit 13.
　第２ロボットアーム１３Ｂは、操作子ユニット４の第２操作子４２を保持可能且つ保持した第２操作子４２を所定の動作範囲内で移動させるよう構成されている。また、第２ロボットアーム１３Ｂは、吸着ユニット５の第２吸着部５２を保持可能且つ保持した第２吸着部５２を移動させるよう構成されている。その他の第２ロボットアーム１３Ｂの構成は、第１ロボットアーム１３Ａの構成と同様であるので、その詳細な説明を省略する。 The second robot arm 13B is configured to hold the second operating element 42 of the operating element unit 4 and to move the held second operating element 42 within a predetermined operation range. The second robot arm 13 </ b> B is configured to hold the second suction part 52 of the suction unit 5 and move the second suction part 52 that is held. The other configurations of the second robot arm 13B are the same as the configurations of the first robot arm 13A, and thus detailed description thereof is omitted.
　このように、第１ロボットアーム１３Ａ及び第２ロボットアーム１３Ｂの駆動部は、互いに独立して設けられ、第１ロボットアーム１３Ａ及び第２ロボットアーム１３Ｂは、互いに独立して動作したり、互いに関連して動作したりすることができる。 As described above, the driving units of the first robot arm 13A and the second robot arm 13B are provided independently of each other, and the first robot arm 13A and the second robot arm 13B operate independently of each other or are related to each other. And can work.
　図３は、操作子ユニット４の第１操作子４１及び第２操作子４２の構成例を示す斜視図である。 FIG. 3 is a perspective view showing a configuration example of the first operating element 41 and the second operating element 42 of the operating element unit 4.
　操作子ユニット４は、キーボード１１１のキー１１１ａを操作可能に構成されている。すなわち、キー押下げユニット４は、キーボード１１１のキー１１１ａを押下可能に構成されている。 The operator unit 4 is configured to be able to operate the keys 111a of the keyboard 111. That is, the key pressing unit 4 is configured to be able to press the key 111a of the keyboard 111.
　操作子ユニット４は、第１操作子４１と、第２操作子４２とを含む。 The operator unit 4 includes a first operator 41 and a second operator 42.
　図３に示すように、第１操作子４１は、上述の通り第１ロボットアーム１３Ａのハンド２３に保持され、キーボード１１１のキー１１１ａを押下可能に構成されている。第１操作子４１は、保持部４３と、基部４４と、当接部４５とを含む。 As shown in FIG. 3, the first operator 41 is held by the hand 23 of the first robot arm 13A as described above, and is configured to be able to press the key 111a of the keyboard 111. The first operation element 41 includes a holding portion 43, a base portion 44, and a contact portion 45.
　保持部４３は、ハンド２３の一対の保持体２３ｂを閉じることによって一対の保持体２３ｂの凹部と係合するように構成されている。例えば、保持部４３は、円柱状に形成され、上端部と中間部に径方向に突出する鍔部が形成されている。そして、両鍔部の間の窪んだ部分が、ハンド２３の一対の保持体２３ｂの凹部と嵌合するように構成されている。 The holding portion 43 is configured to engage with the concave portions of the pair of holding bodies 23b by closing the pair of holding bodies 23b of the hand 23. For example, the holding portion 43 is formed in a columnar shape, and a flange portion protruding in the radial direction is formed at the upper end portion and the intermediate portion. And the recessed part between both collar parts is comprised so that the recessed part of a pair of holding body 23b of the hand 23 may be fitted.
　基部４４は、第１操作子４１がハンド２３によって保持された状態において、昇降部２２ａの回転軸線Ｌ３と交差する方向に延在する板状体であり、例えば水平方向に延在している。そして、基部４４の基端部は、保持部４３の下端部に取り付けられている。 The base 44 is a plate-like body that extends in a direction intersecting the rotation axis L3 of the elevating part 22a in a state where the first operating element 41 is held by the hand 23, and extends in the horizontal direction, for example. The base end portion of the base portion 44 is attached to the lower end portion of the holding portion 43.
　当接部４５は、基部４４の先端部から下方に伸延する柱状体である。当接部４５の先端部の面は、キーボード１１１のキー１１１ａの上面の大きさよりも小さく形成され、任意のキーボード１１１のキー１１１ａを押し下げることができるように構成されている。当接部４５は、例えば弾性を有する材質であり、キー１１１ａを押し下げる際にキー１１１ａを接触したときの衝撃を和らげることができる。 The abutting portion 45 is a columnar body extending downward from the distal end portion of the base portion 44. The surface of the front end portion of the contact portion 45 is formed to be smaller than the size of the upper surface of the key 111a of the keyboard 111, and is configured so that the key 111a of the arbitrary keyboard 111 can be pushed down. The contact portion 45 is made of, for example, an elastic material, and can reduce an impact when the key 111a is touched when the key 111a is pressed down.
　第２操作子４２は、上述の通り、第２ロボットアーム１３Ｂのハンド２３に保持される。その他の第２操作子４２の構成は、第１操作子４１の構成と同様であるので、その詳細な説明を省略する。 As described above, the second operator 42 is held by the hand 23 of the second robot arm 13B. The other configurations of the second operator 42 are the same as the configurations of the first operator 41, and thus detailed description thereof is omitted.
　図４は、吸着ユニット５の第１吸着部５１及び第２吸着部５２の構成例を示す斜視図である。 FIG. 4 is a perspective view illustrating a configuration example of the first suction unit 51 and the second suction unit 52 of the suction unit 5.
　吸着ユニット５は、紙文書を吸着可能に構成されている。吸着ユニット５は、第１吸着部５１と、第２吸着部５２と、図示しない真空装置とを含む。 The suction unit 5 is configured to be able to suck paper documents. The adsorption unit 5 includes a first adsorption unit 51, a second adsorption unit 52, and a vacuum device (not shown).
　図４に示すように、第１吸着部５１は、上述の通り第１ロボットアーム１３Ａのハンド２３に保持され、紙文書の上面（紙面）を吸着可能に構成されている。第１吸着部５１は、保持部５５と、基部５６と、１以上の吸着盤５７と、配管５８とを含む。 As shown in FIG. 4, the first suction unit 51 is held by the hand 23 of the first robot arm 13A as described above, and is configured to suck the upper surface (paper surface) of a paper document. The first suction part 51 includes a holding part 55, a base part 56, one or more suction disks 57, and a pipe 58.
　保持部５５は、第１操作子４１の保持部４３と同様に構成されている。このように、操作子ユニット４の保持部４３及び吸着ユニット５の保持部５５は共通化されているので、ハンド２３は、各種のツールを保持し、装着することができるように構成されている。 The holding unit 55 is configured in the same manner as the holding unit 43 of the first operating element 41. As described above, since the holding portion 43 of the operator unit 4 and the holding portion 55 of the suction unit 5 are made common, the hand 23 is configured to hold and attach various tools. .
　基部５６は、第１吸着部５１がハンド２３によって保持された状態において、昇降部２２ａの回転軸線Ｌ３と交差する方向に延在する板状体であり、例えば水平方向に延在している。そして、基部５６の基端部は、保持部５５の下端部に取り付けられている。 The base 56 is a plate-like body that extends in a direction intersecting with the rotation axis L3 of the elevating part 22a in a state where the first suction part 51 is held by the hand 23, and extends, for example, in the horizontal direction. The base end portion of the base portion 56 is attached to the lower end portion of the holding portion 55.
　吸着盤５７は、例えば３つ設けられ、基部５６の伸延方向に一列に並ぶように位置している。各吸着盤５７は、基部５６の下面から下方に伸延する支柱と、支柱の下端部に設けられた吸盤とを有する。吸盤は、下方に向かうに従って支柱の径方向に拡がるテーパー状に形成され、樹脂等の弾性を有する材質で構成されている。 For example, three suction disks 57 are provided and are arranged in a line in the extending direction of the base 56. Each suction cup 57 has a support column extending downward from the lower surface of the base portion 56 and a suction cup provided at the lower end portion of the support column. The suction cup is formed in a tapered shape that expands in the radial direction of the support as it goes downward, and is made of an elastic material such as resin.
　そして、配管５８は、各吸着盤５７の吸盤の下端縁を紙文書の紙面にあてがった際に吸着盤５７の吸盤と紙面との間に形成される内部空間と真空装置とを接続するように配設されている。配管５８には、例えば、図示しない開閉弁が設けられており、開閉弁により配管５８が開放及び閉塞される。 The pipe 58 connects the internal space formed between the suction plate of the suction plate 57 and the paper surface and the vacuum device when the lower end edge of the suction plate of each suction plate 57 is applied to the paper surface of the paper document. It is arranged. For example, an open / close valve (not shown) is provided in the pipe 58, and the pipe 58 is opened and closed by the open / close valve.
　第２吸着部５２は、上述の通り第２ロボットアーム１３Ｂのハンド２３に保持され、紙文書の上面を吸着可能に構成されている。その他の第２吸着部５２の構成は、第１吸着部５１の構成と同様であるので、その詳細な説明を省略する。 The second suction unit 52 is held by the hand 23 of the second robot arm 13B as described above, and is configured to be able to suck the upper surface of a paper document. The other configuration of the second suction unit 52 is the same as the configuration of the first suction unit 51, and thus detailed description thereof is omitted.
　真空装置は、たとえば、真空ポンプやＣＯＮＶＵＭ（登録商標）などであり、例えば、ロボット１の近傍に配設されている。しかし、これに限られるものではなく、これに代えて例えば、基部５６の内部、ロボット１の台車１２の内部に設けられていてもよい。真空装置及び配管５８の開閉弁は、制御装置７と電気的に接続又は通信可能に接続され、制御装置７が制御して動作するように構成されている。 The vacuum device is, for example, a vacuum pump or CONVUM (registered trademark), and is disposed in the vicinity of the robot 1, for example. However, the present invention is not limited to this, and instead of this, for example, it may be provided inside the base portion 56 or inside the carriage 12 of the robot 1. The on-off valve of the vacuum device and the pipe 58 is connected to the control device 7 so as to be electrically connected or communicable, and is configured such that the control device 7 operates under control.
　なお、本実施の形態において例示するところによると、図１に示すように、第１操作子４１及び第１吸着部５１は、初期状態において、第１ロボットアーム１３Ａの側方に設置された第１ツール台１２０Ａに置かれている。そして、作業目的に応じたツール（第１操作子４１又は第１吸着部５１）を第１ロボットアーム１３Ａのハンド２３が第１ツール台１２０Ａから取り上げて作業を実施するように構成されている。また、第２操作子４２及び第２吸着部５２は、初期状態において、第２ロボットアーム１３Ｂの側方に設置された第２ツール台１２０Ｂに置かれている。そして、作業目的に応じたツール（第２操作子４２又は第２吸着部５２）を第２ロボットアーム１３Ｂのハンド２３が第２ツール台１２０Ｂから取り上げて作業を実施するように構成されている。なお、各ツール台の位置は上記の位置に限られるものではなく、ツールに対応するロボットアームの動作範囲内の任意の位置とすることができる。 As illustrated in the present embodiment, as shown in FIG. 1, the first operating element 41 and the first suction portion 51 are installed on the side of the first robot arm 13A in the initial state. One tool stand 120A is placed. Then, the hand 23 of the first robot arm 13A picks up the tool (the first operation element 41 or the first suction portion 51) according to the work purpose from the first tool base 120A and performs the work. Moreover, the 2nd operation element 42 and the 2nd adsorption | suction part 52 are set | placed on the 2nd tool stand 120B installed in the side of the 2nd robot arm 13B in the initial state. Then, the hand 23 of the second robot arm 13B picks up the tool (the second operation element 42 or the second suction portion 52) according to the work purpose from the second tool base 120B and performs the work. Note that the position of each tool base is not limited to the above position, and may be any position within the operation range of the robot arm corresponding to the tool.
　撮影装置６は、例えばイメージセンサを有するカメラであり、イメージセンサを向けた対象空間の画像を撮影することができる装置である。また、撮影装置６は、制御装置７と電気的に接続又は通信可能に接続され、撮影した画像に係る情報を制御装置７（図２参照）に対して送信する。 The photographing apparatus 6 is a camera having an image sensor, for example, and is an apparatus capable of photographing an image of a target space facing the image sensor. The imaging device 6 is electrically connected or communicably connected to the control device 7 and transmits information related to the captured image to the control device 7 (see FIG. 2).
　撮影装置６は、第１カメラ６１と、第２カメラ６２とを含む。第１カメラ６１は、第１ロボットアーム１３Ａに取り付けられ、下方に向けられている。本実施の形態において、第１カメラ６１は、机１０５の上に載置された紙文書の紙面を撮影するためのカメラである。第２カメラ６２は、第２ロボットアーム１３Ｂに取り付けられ、側方に向けられている。本実施の形態において、第２カメラ６２は、机１０５の上に設置された表示装置１１２の表示画面１１２ａを撮影するためのカメラである。このように、第１ロボットアーム１３Ａ及び第２ロボットアーム１３Ｂを動作させることによって、第１カメラ６１及び第２カメラ６２を互いに独立して移動させることができるように構成されている。また、机１０５の上に載置された紙文書の紙面を撮影するためのカメラと表示装置１１２の表示画面１１２ａを撮影するためのカメラとを別体のカメラで構成しているので、文字入力に係る一連の作業を迅速に行うことができる。 The photographing device 6 includes a first camera 61 and a second camera 62. The first camera 61 is attached to the first robot arm 13A and is directed downward. In the present embodiment, the first camera 61 is a camera for photographing the paper surface of a paper document placed on the desk 105. The second camera 62 is attached to the second robot arm 13B and is directed to the side. In the present embodiment, the second camera 62 is a camera for photographing the display screen 112 a of the display device 112 installed on the desk 105. As described above, the first camera 61 and the second camera 62 can be moved independently of each other by operating the first robot arm 13A and the second robot arm 13B. Further, since the camera for photographing the paper surface of the paper document placed on the desk 105 and the camera for photographing the display screen 112a of the display device 112 are configured as separate cameras, character input is possible. It is possible to quickly perform a series of operations related to.
　なお、本実施の形態においては撮影装置６を２台のカメラで構成したがこれに限られるものではなく、１台のカメラで構成してもよい。また、撮影装置６の第１カメラ６１及び第２カメラ６２のカメラの位置も上記の構成に限られるものではなく、机１０５の上の紙文書及び表示装置１１２の表示画面１１２ａを撮影可能な任意の位置に固定されていてもよい。 In the present embodiment, the photographing apparatus 6 is configured with two cameras, but is not limited thereto, and may be configured with one camera. Further, the positions of the cameras of the first camera 61 and the second camera 62 of the photographing device 6 are not limited to the above-described configuration, and an arbitrary one capable of photographing the paper document on the desk 105 and the display screen 112a of the display device 112. It may be fixed at the position.
　［制御装置の構成例］
　図５は、ロボットシステム１００の制御系統の構成例を概略的に示すブロック図である。 [Configuration example of control device]
FIG. 5 is a block diagram schematically showing a configuration example of the control system of the robot system 100.
　図５に示すように、制御装置７は、制御部６５及び記憶部６６を含む。制御装置７は、集中制御を行う単独の制御器で構成してもよく、分散制御を行う複数の制御器で構成してもよい。 As shown in FIG. 5, the control device 7 includes a control unit 65 and a storage unit 66. The control device 7 may be composed of a single controller that performs centralized control, or may be composed of a plurality of controllers that perform distributed control.
　制御部６５は、例えばマイクロコントローラ、ＣＰＵ、ＭＰＵ、論理回路、ＰＬＣ等の演算器で構成される。制御部６５は、撮影装置制御部７０と、文字列判定部７２と、キー位置判定部（操作部位置判定部）７３と、経路算出部７４と、ロボット制御部７５と、吸着ユニット制御部７６と、入力誤り判定部７７とを含む。撮影装置制御部７０、文字列判定部７２、キー位置判定部７３、経路算出部７４、ロボット制御部７５、吸着ユニット制御部７６、及び入力誤り判定部７７は、記憶部６６に格納された所定の制御プログラムを制御部６５が実行することにより実現される機能ブロックである。 The control unit 65 is composed of a computing unit such as a microcontroller, a CPU, an MPU, a logic circuit, and a PLC, for example. The control unit 65 includes an imaging device control unit 70, a character string determination unit 72, a key position determination unit (operation unit position determination unit) 73, a route calculation unit 74, a robot control unit 75, and a suction unit control unit 76. And an input error determination unit 77. The imaging device control unit 70, character string determination unit 72, key position determination unit 73, path calculation unit 74, robot control unit 75, suction unit control unit 76, and input error determination unit 77 are predetermined ones stored in the storage unit 66. This is a functional block realized by the control unit 65 executing the control program.
　撮影装置制御部７０は、撮影装置６の第１カメラ６１を制御して紙文書を撮影し、その画像データ（撮影データ）を取得するよう構成されている。また、撮影装置制御部７０は、撮影装置６の第２カメラ６２を制御して表示装置１１２の表示画面１１２ａを撮影し、その画像データを取得するよう構成されている。 The photographing device control unit 70 is configured to control the first camera 61 of the photographing device 6 to photograph a paper document and acquire the image data (photographing data). Further, the photographing device control unit 70 is configured to control the second camera 62 of the photographing device 6 to photograph the display screen 112a of the display device 112 and acquire the image data.
　文字列判定部７２は、撮影装置６の第１カメラ６１が撮影した画像データに含まれる紙文書の入力対象の文字列を判定する。また、文字列判定部７２は、撮影装置６の第２カメラ６２が撮影した表示装置１１２の表示画面１１２ａの画像データに含まれる、キーボード１１１を介して情報処理装置１１０に入力された文字列を判定する。 The character string determination unit 72 determines a character string that is an input target of a paper document included in image data captured by the first camera 61 of the imaging device 6. In addition, the character string determination unit 72 receives the character string input to the information processing apparatus 110 via the keyboard 111, which is included in the image data of the display screen 112a of the display apparatus 112 photographed by the second camera 62 of the photographing apparatus 6. judge.
　キー位置判定部７３は、文字列判定部７２が判定した入力対象の文字列の各文字に対応するキー（操作部）１１１ａの位置を判定する。すなわち、キー位置判定部７３は、予め設定され、記憶部６６に記憶されているキーボード１１１の各キー１１１ａの位置情報に基づき、文字列判定部７２が判定した文字列の各文字に対応するキー１１１ａの位置を判定する。 The key position determination unit 73 determines the position of the key (operation unit) 111a corresponding to each character of the input target character string determined by the character string determination unit 72. That is, the key position determination unit 73 is a key corresponding to each character of the character string determined by the character string determination unit 72 based on the position information of each key 111 a of the keyboard 111 that is set in advance and stored in the storage unit 66. The position of 111a is determined.
　経路算出部７４は、キー位置判定部７３が判定した入力対象の文字列の各文字に対応するキー１１１ａの位置に基づいて、ロボットアームユニット１３が保持する操作子ユニット４が文字列の各文字の並び順に文字列判定部７２が判定したキー１１１ａを押し下げて移動するようにロボットアームユニット１３を動作させる動作経路を算出する。 Based on the position of the key 111a corresponding to each character of the character string to be input determined by the key position determining unit 73, the path calculation unit 74 uses the operator unit 4 held by the robot arm unit 13 as each character of the character string. An operation path for operating the robot arm unit 13 is calculated so as to move by depressing the key 111a determined by the character string determination unit 72 in the order in which they are arranged.
　ロボット１を双腕ロボットで構成した本実施の形態において、経路算出部７４は第１ロボットアーム１３Ａが保持する第１操作子４１及び第２ロボットアーム１３Ｂが保持する第２操作子４２が文字列の各文字の並び順に文字列判定部７２が判定したキー１１１ａを押し下げて移動するように第１ロボットアーム１３Ａを動作させる第１動作経路及び第２ロボットアーム１３Ｂを動作させる第２動作経路を算出する。 In the present embodiment in which the robot 1 is composed of a double-arm robot, the path calculation unit 74 includes a first operator 41 held by the first robot arm 13A and a second operator 42 held by the second robot arm 13B. The first motion path for operating the first robot arm 13A and the second motion path for operating the second robot arm 13B are calculated so as to move by pressing down the key 111a determined by the character string determination unit 72 in the order of the characters. To do.
　例えば、第１動作経路は、図７に示すようにキーボード１１１のキー１１１ａが設けられている領域を仮想的に左右に２分割した２つの領域Ｋ１及びＫ２のうち、基軸１６に対して第１ロボットアーム１３Ａが位置する側の領域Ｋ１に含まれるキー１１１ａを第１操作子４１が押し下げて移動するように第１ロボットアーム１３Ａを動作させる経路である。また、第２動作経路は、上述の２つの領域のうち、基軸１６に対して第２ロボットアーム１３Ｂが位置する側の領域Ｋ２に含まれるキー１１１ａを第２操作子４２が押し下げて移動するように第２ロボットアーム１３Ｂを動作させる経路である。 For example, as shown in FIG. 7, the first movement path is the first with respect to the base axis 16 out of two areas K1 and K2 obtained by virtually dividing the area where the key 111a of the keyboard 111 is divided into left and right. This is a path for operating the first robot arm 13A so that the first operating element 41 moves down the key 111a included in the region K1 on the side where the robot arm 13A is located. In the second movement path, the second operator 42 depresses and moves the key 111a included in the region K2 on the side where the second robot arm 13B is located with respect to the base shaft 16 among the two regions described above. Is a path for operating the second robot arm 13B.
　ロボット制御部７５は、キー位置判定部７３が判定した文字列の各文字に対応するキー１１１ａの位置に基づいてロボットアームユニット１３が保持する操作子ユニット４が文字列の各文字の並び順に文字列判定部７２が判定したキー１１１ａを押し下げて移動するようにロボットアームユニット１３を制御する。すなわち、ロボット制御部７５は、経路算出部７４が算出した第１動作経路に基づいて第１ロボットアーム１３Ａを制御し、第２動作経路に基づいて第２ロボットアーム１３Ｂを制御する。ロボット制御部７５は、例えば各ロボットアームの各関節Ｊ１～Ｊ４に対応付けられるように設けられている駆動用のサーボモータを制御する図示しないサーボアンプを介してロボット１を制御する。 Based on the position of the key 111a corresponding to each character of the character string determined by the key position determining unit 73, the robot control unit 75 causes the operator unit 4 held by the robot arm unit 13 to display characters in the order of the characters in the character string. The robot arm unit 13 is controlled to move by depressing the key 111a determined by the column determination unit 72. That is, the robot control unit 75 controls the first robot arm 13A based on the first movement path calculated by the path calculation unit 74, and controls the second robot arm 13B based on the second movement path. The robot control unit 75 controls the robot 1 via, for example, a servo amplifier (not shown) that controls a driving servo motor provided to be associated with each joint J1 to J4 of each robot arm.
　吸着ユニット制御部７６は、吸着ユニット５の紙文書の吸着及び解放動作を制御する。すなわち、吸着ユニット制御部７６は、真空装置の動作および配管５８の開閉弁の開閉を制御することによって、紙文書の吸着及び解放動作を制御する。 The suction unit controller 76 controls the suction and release operation of the paper document of the suction unit 5. That is, the suction unit control unit 76 controls the suction and release operation of the paper document by controlling the operation of the vacuum device and the opening / closing of the opening / closing valve of the pipe 58.
　入力誤り判定部７７は、紙文書を撮影した画像データに含まれる入力対象の文字列とキーボード１１１を介して入力された文字列に対応する表示画面１１２ａを撮影した画像データに含まれる入力済文字列とが一致しているか否かを判定する。 The input error determination unit 77 is a character string to be input included in image data obtained by photographing a paper document and an input character included in image data obtained by photographing the display screen 112a corresponding to the character string input via the keyboard 111. It is determined whether or not the column matches.
　記憶部６６は、ＲＯＭ、ＲＡＭ等のメモリを有する。記憶部記憶部６６には、所定のプログラムが記憶されていて、制御部６５がこれらのプログラムを読み出して実行することにより、各種の処理が行われる。また、記憶部６６には、キーボード１１１の各キー１１１ａの位置情報、キーボード１１１の領域Ｋ１及びＫ２に係る情報、並びに後述する処理待ち文書置場Ｐ１、処理中文書置場Ｐ２及び処理済文書置場Ｐ３の位置情報が格納されている。 The storage unit 66 has a memory such as a ROM or a RAM. A predetermined program is stored in the storage unit storage unit 66, and various processes are performed by the control unit 65 reading and executing these programs. Further, the storage unit 66 stores the position information of each key 111a of the keyboard 111, the information related to the areas K1 and K2 of the keyboard 111, and the processing waiting document storage area P1, the processing document storage area P2, and the processed document storage area P3 described later. Location information is stored.
　［動作例］
　次に、ロボットシステム１００の動作例を説明する。 [Operation example]
Next, an operation example of the robot system 100 will be described.
　図６Ａ，図６Ｂ、図６Ｃ及び図６Ｄは、ロボットシステム１００の動作例を示すフローチャートである。図７は、文字情報の入力作業を行う机１０５の上の構成の一例を示す平面図である。 6A, 6B, 6C, and 6D are flowcharts showing an example of the operation of the robot system 100. FIG. FIG. 7 is a plan view showing an example of the configuration on the desk 105 that performs the character information input operation.
　机１０５は、例えば周知の事務机であり、例えば、作業者がその前（図７において机１０５の下方位置）に椅子を置いて、情報処理装置１１０の表示装置１１２と向き合い、情報処理装置１１０の操作を行うことができるものである。机１０５の机上の奥側（図７に置いて机１０５の上部位置）には表示装置１１２が設置され、表示装置１１２の前にはキーボード１１１が設置されている。 The desk 105 is, for example, a well-known office desk. For example, an operator places a chair in front of the desk 105 (a position below the desk 105 in FIG. 7) and faces the display device 112 of the information processing apparatus 110. Can be operated. A display device 112 is installed on the back side of the desk 105 (the upper position of the desk 105 in FIG. 7), and a keyboard 111 is installed in front of the display device 112.
　本動作例において、ロボットシステム１００は、インボイス（図９参照）に記載された文字情報の入力作業を行う。未処理のインボイスは、図１及び図７に示すように、机１０５上に規定される処理待ち文書置場Ｐ１に積み上げられている。そして、入力作業は、処理待ち文書置場Ｐ１の積み上げられているインボイスのうち最上段に位置するインボイスを処理中文書置場Ｐ２に移動させて行う。本動作例において、ロボットシステム１００は、インボイスに記載されたParts Numberの項目欄に記載された文字情報、Quantityの各項目欄に記載された文字情報、Unit Priceの項目欄に記載された文字情報、及びAmountの項目欄に記載された文字情報を入力対象としているがこれに限定されるものではない。そして、入力作業が完了した文書は、処理済文書置場Ｐ３に移動させて、積み上げる。処理待ち文書置場Ｐ１は、例えば机１０５の一方の側縁の近傍に規定されている。処理済文書置場Ｐ３は、例えば机１０５の一方の側縁の近傍に規定されている。処理中文書置場Ｐ２は、処理待ち文書置場Ｐ１と処理済文書置場Ｐ３との間に規定されている。なお、処理待ち文書置場Ｐ１、処理中文書置場Ｐ２、及び処理済文書置場Ｐ３は、上記の位置に限られるものではない。例えば、机１０５において作業を行う事務機器のオペレータに代わってロボットシステム１００が作業を実施する場合は、処理待ち文書置場Ｐ１、処理中文書置場Ｐ２、及び処理済文書置場Ｐ３は、このオペレータが採用しているレイアウト通りに規定されてもよい。 In this operation example, the robot system 100 performs the character information input work described in the invoice (see FIG. 9). As shown in FIGS. 1 and 7, the unprocessed invoices are stacked in a process waiting document place P <b> 1 defined on the desk 105. Then, the input work is performed by moving the invoice located at the top of the invoices stacked in the waiting document storage P1 to the processing document storage P2. In this operation example, the robot system 100 includes the character information described in the “Parts Number” item column described in the invoice, the character information described in each “Quantity” item column, and the characters described in the “Unit Price” item column. Information and character information described in the Amount item column are input targets, but the present invention is not limited to this. Then, the documents for which the input work has been completed are moved to the processed document place P3 and stacked. The waiting document storage place P1 is defined in the vicinity of one side edge of the desk 105, for example. The processed document storage area P3 is defined in the vicinity of one side edge of the desk 105, for example. The in-process document place P2 is defined between the pending document place P1 and the processed document place P3. Note that the pending document location P1, the in-process document location P2, and the processed document location P3 are not limited to the above positions. For example, when the robot system 100 carries out work on behalf of an operator of office equipment working at the desk 105, this operator employs the waiting document storage place P1, the processing document storage place P2, and the processed document storage place P3. May be defined according to the layout.
　まず、図６Ａに示すように、ロボット制御部７５は、第１ツール台１２０Ａに置かれている第１吸着部５１を第１ロボットアーム１３Ａのハンド２３で保持し、第１吸着部５１を第１ロボットアーム１３Ａに装着する。また、ロボット制御部７５は、第２ツール台１２０Ｂに置かれている第２吸着部５２を第２ロボットアーム１３Ｂのハンド２３で保持し、第２吸着部５２第２ロボットアーム１３Ｂに装着する（ステップＳ１０）。 First, as shown in FIG. 6A, the robot controller 75 holds the first suction unit 51 placed on the first tool base 120A with the hand 23 of the first robot arm 13A, and holds the first suction unit 51 in the first position. 1 Attached to the robot arm 13A. The robot control unit 75 holds the second suction unit 52 placed on the second tool base 120B with the hand 23 of the second robot arm 13B, and attaches the second suction unit 52 to the second robot arm 13B ( Step S10).
　図８Ａ及び図８Ｂは、積み上げられたインボイスの吸着動作の動作例を示す正面図である。 8A and 8B are front views showing an operation example of the suction operation of the stacked invoices.
　次に、制御部６５は、処理待ち文書置場Ｐ１に積み上げられているインボイスのうち、最上段に位置するインボイスＤ１の吸着動作を行う（ステップＳ２０）。 Next, the control unit 65 performs the suction operation of the invoice D1 located at the top of the invoices accumulated in the processing-waiting document place P1 (step S20).
　すなわち、図６Ｂ及び図８Ａに示すように、ロボット制御部７５が第１ロボットアーム１３Ａを制御して第１吸着部５１の吸着盤５７がインボイスＤ１の対向する一対の側縁（長辺）のうち一方の側縁の近傍の上面と当接する第１位置Ｂ１に第１吸着部５１を位置させる（ステップＳ２１）。次に、吸着ユニット制御部７６が吸着ユニット５を制御して第１吸着部５１によってインボイスＤ１を吸着する（ステップＳ２２）。また、ステップＳ２１及びステップＳ２２と並行して、ロボット制御部７５が第２ロボットアーム１３Ｂを制御して第２吸着部５２の吸着盤５７がインボイスＤ１の対向する一対の側縁のうち他方の側縁の近傍の上面と当接する第２位置Ｂ２に第２吸着部５２を位置させる（ステップＳ２３）。次に、吸着ユニット制御部７６が吸着ユニット５を制御して第２吸着部５２によってインボイスＤ１を吸着する（ステップＳ２４）。ステップＳ２２及びステップＳ２４に係る動作が完了すると、次に、ロボット制御部７５が第２ロボットアーム１３Ｂを制御して第２吸着部５２を第２位置Ｂ２の上方の第３位置Ｂ３に移動させる（ステップＳ２５）。次に、図６Ｂ及び図８Ｂに示すように、ロボット制御部７５が第２ロボットアーム１３Ｂを制御して第２吸着部５２を第２位置Ｂ２及び第３位置Ｂ３の間の第４位置Ｂ４と第３位置Ｂ３との間で往復動させる（ステップＳ２６）。そして、インボイスの吸着動作を終了する。上記第３位置Ｂ３は、処理待ち文書置場Ｐ１に置かれたインボイスＤ１の延在面の法線方向において、第２吸着部５２が第１吸着部５１に対して相対的に上方に位置する位置である。 That is, as shown in FIGS. 6B and 8A, the robot control unit 75 controls the first robot arm 13A, and the suction plate 57 of the first suction unit 51 has a pair of side edges (long sides) facing the invoice D1. Among these, the 1st adsorption | suction part 51 is located in 1st position B1 contact | abutted with the upper surface of the vicinity of one side edge (step S21). Next, the suction unit control unit 76 controls the suction unit 5 and sucks the invoice D1 by the first suction unit 51 (step S22). In parallel with step S21 and step S22, the robot controller 75 controls the second robot arm 13B, and the suction plate 57 of the second suction unit 52 is the other of the pair of side edges facing the invoice D1. The 2nd adsorption | suction part 52 is located in 2nd position B2 contact | abutted with the upper surface of the vicinity of a side edge (step S23). Next, the suction unit controller 76 controls the suction unit 5 and sucks the invoice D1 by the second suction unit 52 (step S24). When the operations related to step S22 and step S24 are completed, the robot controller 75 then controls the second robot arm 13B to move the second suction unit 52 to the third position B3 above the second position B2 ( Step S25). Next, as shown in FIG. 6B and FIG. 8B, the robot controller 75 controls the second robot arm 13B to move the second suction unit 52 to the fourth position B4 between the second position B2 and the third position B3. The reciprocating motion is performed with respect to the third position B3 (step S26). Then, the invoice suction operation is terminated. In the third position B3, the second suction part 52 is positioned relatively above the first suction part 51 in the normal direction of the extending surface of the invoice D1 placed in the processing-waiting document place P1. Position.
　次に、図６Ａ、図１及び図７に示すように、ロボット制御部７５は、第１ロボットアーム１３Ａ及び第２ロボットアーム１３Ｂを制御して第１吸着部５１及び第２吸着部５２を移動させ、これらの吸着部によって吸着したインボイスＤ１を処理待ち文書置場Ｐ１から処理中文書置場Ｐ２に移動させる（ステップＳ３０）。このとき、インボイスＤ１は、インボイスＤ１の上面の法線方向と交差する方向に移動、すなわち側方に移動する。そして、インボイスＤ１が処理中文書置場Ｐ２に位置すると、吸着ユニット制御部７６が吸着ユニット５を制御して、インボイスＤ１を第１吸着部５１及び第２吸着部５２から離脱させる。 Next, as shown in FIGS. 6A, 1, and 7, the robot control unit 75 controls the first robot arm 13 </ b> A and the second robot arm 13 </ b> B to move the first suction unit 51 and the second suction unit 52. The invoice D1 adsorbed by these adsorbing units is moved from the waiting document storage location P1 to the in-processing document storage location P2 (step S30). At this time, the invoice D1 moves in a direction intersecting the normal direction of the upper surface of the invoice D1, that is, moves sideways. When the invoice D1 is positioned at the document storage place P2 being processed, the suction unit control unit 76 controls the suction unit 5 to separate the invoice D1 from the first suction unit 51 and the second suction unit 52.
　このように、ロボットシステム１００は、積み上げられたインボイスのうち最上段に位置するインボイスＤ１を取り上げて、インボイスＤ１を処理待ち文書置場Ｐ１から処理中文書置場Ｐ２に向かって移動させるとき、第１位置Ｂ１に位置する一方の吸着部（第１吸着部５１）を他方の吸着部（第２吸着部５２）よりも上方の位置（第３位置Ｂ３）に移動させるので、インボイスＤ１とその下方に位置するインボイスＤ２とが静電気等の影響によって張り付いて同時に持ち上げられることを防止することができる。また、ロボットシステム１００は、一方の吸着部を他方の吸着部よりも上方の位置（第３位置Ｂ３）に位置させた後、第３位置Ｂ３と第４位置Ｂ４との間で往復動させるので、インボイスＤ１とインボイスＤ２との張り付きをより効果的に防止することができる。 As described above, when the robot system 100 picks up the invoice D1 positioned at the top of the stacked invoices and moves the invoice D1 from the pending document storage area P1 toward the in-process document storage area P2, Since one suction part (first suction part 51) located at the first position B1 is moved to a position (third position B3) above the other suction part (second suction part 52), the invoice D1 and It is possible to prevent the invoice D2 positioned below from being stuck and lifted simultaneously due to the influence of static electricity or the like. In addition, since the robot system 100 moves one suction portion to a position above the other suction portion (third position B3) and then reciprocates between the third position B3 and the fourth position B4. The sticking between the invoice D1 and the invoice D2 can be more effectively prevented.
　次に、制御部６５は、インボイスＤ１の入力対象となる文字列の判定処理を以下の通り行う（ステップＳ４０）。 Next, the control unit 65 performs a process for determining a character string to be input to the invoice D1 as follows (step S40).
　すなわち、図６Ｃに示すように、上記判定処理においては、まず、制御部６５は、インボイスＤ１の紙面を第１カメラ６１で撮影し、インボイスＤ１の紙面の画像データを取得する（ステップＳ４１）。すなわち、ロボット制御部７５は、第１ロボットアーム１３Ａを制御して第１ロボットアーム１３Ａに取り付けられている第１カメラ６１を処理中文書置場Ｐ２の上方に位置させ、これに続けて、撮影装置制御部７０は、処理中文書置場Ｐ２に位置するインボイスＤ１を撮影してインボイスＤ１の紙面の画像データを取得する。 That is, as shown in FIG. 6C, in the determination process, first, the control unit 65 captures the paper surface of the invoice D1 with the first camera 61, and acquires the image data of the paper surface of the invoice D1 (step S41). ). That is, the robot controller 75 controls the first robot arm 13A to position the first camera 61 attached to the first robot arm 13A above the document processing place P2 being processed, and subsequently, the photographing device. The control unit 70 captures the invoice D1 located at the document place P2 being processed and acquires image data of the paper surface of the invoice D1.
　図９は、撮影装置６の第１カメラ６１が撮影したインボイスＤ１（紙文書）の画像の一例を示す図である。 FIG. 9 is a diagram illustrating an example of an invoice D1 (paper document) image captured by the first camera 61 of the image capturing device 6.
　次に、図９に示すように、文字列判定部７２は、インボイスＤ１の入力対象の文字列、すなわちインボイスＤ１のParts Numberの項目欄Ａ１に記載された文字列、Quantityの項目欄Ａ２に記載された文字列、Unit Priceの項目欄Ａ３に記載された文字列、及びAmountの項目欄Ａ４に記載された文字列を判定する（ステップＳ４２）。例えば、文字列判定部７２は、インボイスＤ１の紙面の画像に含まれる"Parts Number"又はこれに類する"Part No."の文字列及びその位置を認識し、この"Parts Number"又は"Part No."の文字列が表された位置の下方に表された文字列「APL-02」をParts Numberの項目欄Ａ１に記載された文字列と判定する。同様に"Quantity"の文字列が表された位置の下方に表された文字列"1"をQuantityの項目欄Ａ２に記載された文字列と判定し、"Unit Price"の文字列が表された位置の下方に表された文字列"3.00"をUnit Priceの項目欄Ａ３に記載された文字列と判定し、"Amount"の文字列が表された位置の下方に表された文字列"3.00"をAmountの項目欄Ａ４に記載された文字列と判定する。そして、入力対象となる文字列の判定処理を終了する。 Next, as shown in FIG. 9, the character string determination unit 72 inputs the character string to be input to the invoice D1, that is, the character string described in the Parts 項目 Number item column A1 of the invoice D1, and the Quantity item column A2. The character string described in the item column, the character string described in the Unit Price item column A3, and the character string described in the Amount item column A4 are determined (step S42). For example, the character string determination unit 72 recognizes the character string “Parts No.” included in the image of the invoice D1 or the similar “Part No.” and its position, and the “Parts No.” or “Part” The character string “APL-02” displayed below the position where the character string “No.” is displayed is determined as the character string described in the Items column A1 of “Parts Number”. Similarly, the character string “1” displayed below the position where the character string “Quantity” is displayed is determined as the character string described in the Quantity item column A2, and the character string “Unit Price” is displayed. The character string “3.00” displayed below the displayed position is determined to be the character string described in the Unit Price item field A3, and the character string displayed below the position where the character string “Amount” is represented. 3.00 "is determined as the character string described in the Amount item column A4. And the determination process of the character string used as an input object is complete | finished.
　次に、ロボット制御部７５は、第１ロボットアーム１３Ａのハンド２３で保持している第１吸着部５１を第１ツール台１２０Ａに置く。そして、第１ツール台１２０Ａに置かれている第１操作子４１を第１ロボットアーム１３Ａのハンド２３で保持し、第１操作子４１を第１ロボットアーム１３Ａに装着する。また、ロボット制御部７５は、第２ロボットアーム１３Ｂのハンド２３で保持している第２吸着部５２を第２ツール台１２０Ｂに置く。そして、第２ツール台１２０Ｂに置かれている第２操作子４２を第２ロボットアーム１３Ｂのハンド２３で保持し、第２操作子４２を第２ロボットアーム１３Ｂに装着する。このようにして、ロボット１が保持するツールを吸着ユニット５から操作子ユニット４に交換する（ステップＳ５０）。 Next, the robot controller 75 places the first suction part 51 held by the hand 23 of the first robot arm 13A on the first tool base 120A. Then, the first operating element 41 placed on the first tool base 120A is held by the hand 23 of the first robot arm 13A, and the first operating element 41 is attached to the first robot arm 13A. In addition, the robot control unit 75 places the second suction unit 52 held by the hand 23 of the second robot arm 13B on the second tool base 120B. Then, the second operation element 42 placed on the second tool base 120B is held by the hand 23 of the second robot arm 13B, and the second operation element 42 is attached to the second robot arm 13B. In this way, the tool held by the robot 1 is exchanged from the suction unit 5 to the operator unit 4 (step S50).
　次に、制御部６５は、文字列の入力動作を以下の通り行う（ステップＳ６０）。 Next, the control unit 65 performs a character string input operation as follows (step S60).
　すなわち、図６Ｄ及び図９に示すように、文字列の入力動作において、まず、キー位置判定部７３は、Parts Numberの項目欄Ａ１に記載された"APL-02"の文字列の各文字に対応するキーの位置を判定する。すなわち、キー位置判定部７３は、記憶部６６に記憶されているキーボード１１１の各キー１１１ａの位置情報に基づき、"A"のキーの位置、"P"のキーの位置、"L"のキーの位置、"-"のキーの位置、"0"のキーの位置、"2"のキーの位置をそれぞれ判定する。同様に、Quantity、Unit Price、Amountの各項目欄に記載された文字列の各文字に対応するキーの位置を判定する（ステップＳ６１）。 That is, as shown in FIG. 6D and FIG. 9, in the character string input operation, first, the key position determination unit 73 applies each character of the character string “APL-02” described in the Items column A1 of Parts Number. Determine the position of the corresponding key. That is, the key position determination unit 73 is based on the position information of each key 111 a of the keyboard 111 stored in the storage unit 66, the “A” key position, the “P” key position, and the “L” key. Position, "-" key position, "0" key position, and "2" key position. Similarly, the key position corresponding to each character of the character string described in each column of Quantity, Unit 、 Price, and Amount is determined (step S61).
　次に、経路算出部７４は、Parts Numberの項目について、キーボード１１１の"A"のキー、"P"のキー、"L"のキー、"-"のキー、"0"のキー、及び"2"のキーを操作子ユニット４がこの順に押し下げて移動し、更にQuantity、Unit Price、Amountの項目に係るキーについても同様に各キーを押し下げて移動するようにロボットアームユニット１３を動作させる動作経路を算出する（ステップＳ６２）。なお、経路算出部７４は、情報処理装置１１０の操作方法に応じて、押し下げるキーの追加及び削除を行う。例えば、情報処理装置１１０において、アクティブな入力対象項目を切り替える指示に対応する操作がTabキーを押し下げる操作である場合、Parts Numberの項目に係る文字列の押し下げ動作が完了した後、すなわち、"2"のキーを押し下げた後、Quantityの項目に係る"1"のキーを押し下げる前に操作子ユニット４がTabキーを押し下げてアクティブな入力対象項目をParts Numberの項目からQuantityの項目に切り替えるようにロボットアームユニット１３の動作経路を算出する。 Next, the path calculation unit 74 performs “Parts Number” items such as “A” key, “P” key, “L” key, “-” key, “0” key, and “ The operation unit 4 moves by pressing the 2 "key in this order, and the robot arm unit 13 is operated so that the keys related to the items of Quantity, Unit Price, and Amount are also moved by pressing each key in the same manner. A route is calculated (step S62). The route calculation unit 74 adds and deletes a key to be pressed according to the operation method of the information processing apparatus 110. For example, in the information processing apparatus 110, when the operation corresponding to the instruction to switch the active input target item is an operation of depressing the Tab key, after the depressing operation of the character string relating to the Items Number item is completed, that is, “2 After depressing the key "", before depressing the "1" key related to the Quantity item, the controller unit 4 depresses the Tab key to switch the active input item from the Parts-Number item to the Quantity item. The operation path of the robot arm unit 13 is calculated.
　また、ロボット１を双腕ロボットで構成した本実施の形態において、経路算出部７４は、Parts Numberの項目について、第２ロボットアーム１３Ｂが保持する第２操作子４２がキーボード１１１の左寄りの領域Ｋ２（図７参照）に位置する"A"のキーを押し下げ、次に第１ロボットアーム１３Ａが保持する第１操作子４１がキーボード１１１の右寄りの領域Ｋ１（図７参照）に位置する"P"のキー、"L"のキー、"-"のキー、"0"のキーをこの順に押し下げ、次に、第２ロボットアーム１３Ｂが保持する第２操作子４２がキーボード１１１の左寄りの領域Ｋ２（図７参照）に位置する"2"のキーを押し下げて移動するように第１ロボットアーム１３Ａ及び第２ロボットアーム１３Ｂが協調して動作する第１ロボットアーム１３Ａの第１動作経路及び第２ロボットアーム１３Ｂの第２動作経路を算出する。これによって、第１操作子４１及び第２操作子４２のそれぞれの移動距離を少なくすることができ、キーボード１１１を介した情報の入力を迅速に行うことができる。 In the present embodiment in which the robot 1 is composed of a double-arm robot, the path calculation unit 74 is configured to move the second operator 42 held by the second robot arm 13B toward the left side of the keyboard 111 for the item “PartsPartNumber”. The "A" key located at (see FIG. 7) is pressed down, and then the first operating element 41 held by the first robot arm 13A is located at the right region K1 (see FIG. 7) of the keyboard 111. Key, "L" key, "-" key, and "0" key are pressed down in this order, and then the second operator 42 held by the second robot arm 13B is moved to the left area K2 ( The first robot arm 13A and the second robot arm 13A in which the first robot arm 13A and the second robot arm 13B operate in a coordinated manner so as to move by depressing the “2” key located in FIG. A second movement path of the arm 13B is calculated. As a result, the movement distances of the first operating element 41 and the second operating element 42 can be reduced, and information can be input quickly via the keyboard 111.
　次に、ロボット制御部７５は、経路算出部７４が算出した第１動作経路に基づいて第１ロボットアーム１３Ａを制御し、第２動作経路に基づいて第２ロボットアーム１３Ｂを制御する（ステップＳ６３）。これによって、キーボード１１１を介してインボイスＤ１の入力対象となる文字列が情報処理装置１１０に入力される。なお、キーボード１１１のキーの押し下げは、直動関節Ｊ３の動作により行ってもよい。これにより、キーボード１１１のキー１１１ａの押し下げに係る動作を簡易な構成で行うことができ、また、キーボード１１１のキー１１１ａの押し下げ動作速度を向上させることができる。 Next, the robot control unit 75 controls the first robot arm 13A based on the first movement path calculated by the path calculation unit 74, and controls the second robot arm 13B based on the second movement path (step S63). ). As a result, a character string to be input by the invoice D1 is input to the information processing apparatus 110 via the keyboard 111. Note that the key of the keyboard 111 may be pushed down by the operation of the linear joint J3. Thereby, the operation related to the depression of the key 111a of the keyboard 111 can be performed with a simple configuration, and the operation speed of the depression of the key 111a of the keyboard 111 can be improved.
　次に、制御部６５は、表示装置１１２の表示画面１１２ａを第２カメラ６２で撮影し、表示画面１１２ａの画像データを取得する（ステップＳ６４）。すなわち、ロボット制御部７５は、第２ロボットアーム１３Ｂを制御して第２ロボットアーム１３Ｂに取り付けられている第２カメラ６２を表示画面１１２ａに向けて位置させ、これに続けて、撮影装置制御部７０は、表示画面１１２ａを撮影して表示画面１１２ａの画像データを取得する。 Next, the control unit 65 captures the display screen 112a of the display device 112 with the second camera 62 and acquires the image data of the display screen 112a (step S64). That is, the robot control unit 75 controls the second robot arm 13B to position the second camera 62 attached to the second robot arm 13B toward the display screen 112a, and subsequently, the imaging device control unit. 70 images the display screen 112a and acquires image data of the display screen 112a.
　図１０は、撮影装置６の第２カメラ６２が撮影した表示装置１１２の表示画面１１２ａの画像の一例を示す図である。 FIG. 10 is a diagram illustrating an example of an image on the display screen 112a of the display device 112 photographed by the second camera 62 of the photographing device 6.
　次に、文字列判定部７２は、表示画面１１２ａの画像データに含まれるキーボード１１１を介して入力された文字列に対応する入力済文字列、すなわち表示画面１１２ａのParts Numberの項目欄Ａ１０に記載された文字列、Quantityの項目欄Ａ２０に記載された文字列、Unit Priceの項目欄Ａ３０に記載された文字列、及びAmountの項目欄Ａ４０に記載された文字列を判定する（ステップＳ６５）。例えば、文字列判定部７２は、表示画面１１２ａの画像に含まれる"Parts Number"の文字列及びその位置を認識し、この"Parts Number"の文字列が表された位置の下方に表された文字列「APL-02」をParts Numberの項目欄に記載された文字列と判定する。同様に"Quantity"の文字列が表された位置の下方に表された文字列"1"をQuantityの項目欄に記載された文字列と判定し、"Unit Price"の文字列が表された位置の下方に表された文字列"3.00"をUnit Priceの項目欄に記載された文字列と判定し、"Amount"の文字列が表された位置の下方に表された文字列"3.00"をAmountの項目欄に記載された文字列と判定する。 Next, the character string determination unit 72 describes the input character string corresponding to the character string input via the keyboard 111 included in the image data of the display screen 112a, that is, the Parts Number item field A10 of the display screen 112a. The character string described, the character string described in the Quantity item column A20, the character string described in the Unit Price item column A30, and the character string described in the Amount item column A40 are determined (step S65). For example, the character string determination unit 72 recognizes the character string “Parts Number” included in the image of the display screen 112a and its position, and is displayed below the position where the character string “Parts Number” is represented. The character string “APL-02” is determined to be the character string described in the item column of Parts Number. Similarly, the character string “1” displayed below the position where the character string “Quantity” is displayed is determined to be the character string described in the Quantity field, and the character string “Unit Price” is displayed. The character string "3.00" displayed below the position is determined to be the character string described in the Unit Price item field, and the character string "3.00" displayed below the position where the character string "Amount" is represented Is determined to be a character string described in the Amount item column.
　次に、入力誤り判定部７７は、インボイスＤ１を撮影した画像データに含まれるParts Number、Quantity、Unit Price、及びAmountの各項目欄に記載された入力対象文字列と、表示画面１１２ａを撮影した画像データに含まれるParts Number、Quantity、Unit Price、及びAmountの各項目欄に記載された確認対象文字列とが一致しているか否かを判定することにより、誤入力の有無を判定する。 Next, the input error determination unit 77 captures the input target character strings described in the “Parts Number”, “Quantity”, “Unit Price”, and “Amount” item fields included in the image data obtained by capturing the invoice D1, and the display screen 112a. The presence / absence of an erroneous input is determined by determining whether or not the confirmation target character strings described in the “Parts Number”, “Quantity”, “Unit Price”, and “Amount” items included in the image data match.
　次に、入力誤り判定部７７が入力対象文字列と確認対象文字列とが一致せず誤入力有りと判定した場合（ステップＳ６６においてＹｅｓ）、制御部６５は、情報処理装置１１０の操作方法に応じて、誤入力に係る項目欄に係る文字列の修正に係る動作を実行する。例えば、制御部６５は、ロボットアームユニット１３を動作させ誤入力に係る項目欄に係る文字列を消去するようにキーボードを操作し、更に誤入力に係る項目欄に係る文字列を再度入力するようにキーボードを操作する。そして、ステップＳ６４以下の処理を再度実行する。なお、入力対象文字列と確認対象文字列とが一致しないことを入力作業に係る監督者に報知するように構成してもよい。 Next, when the input error determination unit 77 determines that the input target character string does not match the confirmation target character string and there is an erroneous input (Yes in step S66), the control unit 65 uses the operation method of the information processing apparatus 110. In response, the operation related to the correction of the character string related to the item column related to the erroneous input is executed. For example, the control unit 65 operates the keyboard to operate the robot arm unit 13 so as to erase the character string related to the item column related to the erroneous input, and further inputs the character string related to the item column related to the erroneous input again. Operate the keyboard. And the process after step S64 is performed again. In addition, you may comprise so that the supervisor who concerns on input work may alert | report that an input object character string and a confirmation object character string do not correspond.
　一方、入力誤り判定部７７が入力対象文字列と確認対象文字列とが一致しており誤入力無しと判定した場合（ステップＳ６６においてＮｏ）、文字列の入力動作を終了する。 On the other hand, when the input error determination unit 77 determines that the input target character string matches the confirmation target character string and that there is no erroneous input (No in step S66), the character string input operation is terminated.
　次に、図６Ａに示すように、ロボット制御部７５は、ロボット１が保持するツールを操作子ユニット４から吸着ユニット５に交換する（ステップＳ７０）。この動作は、脱着するツールの種類が異なることを除き上記ステップＳ５０の動作と同様である。 Next, as shown in FIG. 6A, the robot controller 75 replaces the tool held by the robot 1 from the operator unit 4 to the suction unit 5 (step S70). This operation is the same as the operation in step S50 except that the types of tools to be attached and detached are different.
　次に、ロボット制御部７５は、ロボットアームユニット１３を制御してインボイスＤ１を処理中文書置場Ｐ２から処理済文書置場Ｐ３に移動させる（ステップＳ８０）。すなわち、ロボット制御部７５が吸着ユニット５を処理中文書置場Ｐ２に位置するインボイスＤ１に当接させ、吸着ユニット制御部７６が吸着ユニット５を制御してインボイスＤ１を吸着する。そして、ロボット制御部７５がロボットアームユニット１３を制御してインボイスＤ１を処理済文書置場Ｐ３に移動させる。そして、吸着ユニット制御部７６が吸着ユニット５を制御して吸着したインボイスＤ１を解放する。 Next, the robot control unit 75 controls the robot arm unit 13 to move the invoice D1 from the in-process document place P2 to the processed document place P3 (step S80). That is, the robot control unit 75 brings the suction unit 5 into contact with the invoice D1 located in the document storage area P2 being processed, and the suction unit control unit 76 controls the suction unit 5 to suck the invoice D1. Then, the robot controller 75 controls the robot arm unit 13 to move the invoice D1 to the processed document place P3. Then, the suction unit controller 76 controls the suction unit 5 to release the sucked invoice D1.
　次に、制御部６５は、処理待ち文書置場Ｐ１に積み上げられたインボイスの全ての入力処理が完了したかを判定する（ステップＳ９０）。例えば、第１カメラ６１によって処理待ち文書置場Ｐ１を撮影した画像に基づいて、制御部６５が処理待ち文書置場Ｐ１にインボイスが残留しているか否かを判定することにより行う。 Next, the control unit 65 determines whether or not all input processes of the invoices accumulated in the waiting document storage place P1 have been completed (step S90). For example, the control unit 65 determines whether or not an invoice remains in the processing waiting document place P1 based on an image obtained by photographing the processing waiting document place P1 by the first camera 61.
　そして、制御部６５が処理待ち文書置場Ｐ１にインボイスが残留しており、全ての入力処理が完了していないと判定すると（ステップＳ９０においてＮｏ）、再度ステップＳ２０以下の動作を実行する。すなわち、インボイスＤ１の入力作業を行った後においては、インボイスＤ２の入力作業に移行する。 If the control unit 65 determines that the invoice remains in the waiting document storage area P1 and all the input processes are not completed (No in step S90), the operation from step S20 is executed again. That is, after performing the input operation of the invoice D1, the operation shifts to the input operation of the invoice D2.
　一方、制御部６５が全ての入力処理が完了したと判定すると（ステップＳ９０においてＹｅｓ）、一連のインボイスの入力処理を終了する。 On the other hand, when the control unit 65 determines that all input processes have been completed (Yes in step S90), the series of invoice input processes is terminated.
　以上に説明したように、本発明のロボットシステム１００は、キーボード１１１を含む情報処理装置１１０に対してキーボード１１１を操作してインボイス（紙文書）に記載された文字情報の入力作業をロボットシステム１００を用いて適切に行うことができる。したがって、インボイスに記載された文字例に基づきキーボード１１１を操作して情報処理装置１１０に対して文字情報を入力するという、事務機器のオペレータが行う作業をロボットによって代替することができる。そして、情報処理装置１１０は、ロボットシステム１００が入力した情報に基づいて所定の情報処理を実行することができる。また、事務機器のオペレータに代わってロボットシステム１００を用いて文字情報の入力作業を行うにあたり、情報処理装置１１０の構成を変更する必要がなく、ロボットシステム１００の導入を円滑且つ迅速に行うことができる。 As described above, the robot system 100 according to the present invention operates the keyboard 111 on the information processing apparatus 110 including the keyboard 111 to perform the character information input operation described in the invoice (paper document). 100 can be used appropriately. Therefore, the operation performed by the operator of the office equipment that operates the keyboard 111 and inputs character information to the information processing apparatus 110 based on the character example described in the invoice can be replaced by the robot. The information processing apparatus 110 can execute predetermined information processing based on information input by the robot system 100. In addition, it is not necessary to change the configuration of the information processing apparatus 110 when performing character information input work using the robot system 100 on behalf of an office equipment operator, and the robot system 100 can be introduced smoothly and quickly. it can.
　（実施の形態２）
　図１１は、本実施の形態に係る第１操作子１４１及び第２操作子１４２の構成例を示す側面図である。 (Embodiment 2)
FIG. 11 is a side view showing a configuration example of the first operating element 141 and the second operating element 142 according to the present embodiment.
　図１１に示すように、第１操作子１４１及び第２操作子１４２の当接部１４５の下面１４５ａを下方に凸の曲面に形成してもよい。これによって、キー１１１ａとの接触部分を限定することができ、誤入力を防止することができる。 As shown in FIG. 11, the lower surface 145a of the contact portion 145 of the first operating element 141 and the second operating element 142 may be formed in a downwardly convex curved surface. Thereby, the contact portion with the key 111a can be limited, and erroneous input can be prevented.
　（実施の形態３）
　以下では実施の形態３の構成、動作について、実施の形態１との相違点を中心に述べる。 (Embodiment 3)
In the following, the configuration and operation of the third embodiment will be described focusing on the differences from the first embodiment.
　図１２は、キーボード１１１の構成例を示す側面図である。 FIG. 12 is a side view showing a configuration example of the keyboard 111.
　図１２に示すように、キーボード１１１のキー１１１ａは、キー１１１ａの内部に設けられているばねによって付勢され上限位置に位置しており、図１２において一点鎖線で示す下限位置まで押し込み可能に構成されている。そして、ロボット１が位置する側から見て、キーボード１１１は、複数列設けられているキー列のうち、手前側のキー列Ｒ１から奥側のキー列Ｒ２に向かうに従って、高さが高くなるように構成されている。 As shown in FIG. 12, the key 111a of the keyboard 111 is biased by a spring provided inside the key 111a and is positioned at the upper limit position, and can be pushed down to the lower limit position indicated by a one-dot chain line in FIG. Has been. When viewed from the side where the robot 1 is located, the keyboard 111 increases in height from the front key row R1 to the rear key row R2 among the plurality of key rows. It is configured.
　図１３Ａは、第１操作子２４１及び第２操作子２４２の構成例を示す断面図であり、昇降部材２６１が下限位置Ｈ１に位置する状態を示す図である。図１３Ｂは、第１操作子２４１及び第２操作子２４２の構成例を示す断面図であり、昇降部材２６１が上限位置Ｈ２に位置する状態を示す図である。 FIG. 13A is a cross-sectional view illustrating a configuration example of the first operating element 241 and the second operating element 242, and is a diagram illustrating a state in which the elevating member 261 is located at the lower limit position H1. FIG. 13B is a cross-sectional view showing a configuration example of the first operating element 241 and the second operating element 242, and shows a state where the elevating member 261 is located at the upper limit position H2.
　上記実施の形態１において、第１操作子４１及び第２操作子４２の当接部４５は、弾性を有する材質で構成した、基部４４の先端部から下方に伸延する柱状体である。 In the first embodiment, the contact portions 45 of the first operating element 41 and the second operating element 42 are columnar bodies that are made of an elastic material and extend downward from the distal end portion of the base portion 44.
　これに対し、本実施の形態において、第１操作子２４１及び第２操作子２４２の当接部２４５は、図１３Ａ及び図１３Ｂに示すように昇降部材２６１と、支持部材２６２と、弾性部材２６３とを含むフロート機構２６０を有する。 On the other hand, in the present embodiment, the contact portions 245 of the first operating element 241 and the second operating element 242 are provided with an elevating member 261, a supporting member 262, and an elastic member 263 as shown in FIGS. 13A and 13B. The float mechanism 260 is included.
　昇降部材２６１は、キー１１１ａと接触する部材であり、弾性部材２６３よりも剛性が高くなるように構成されている。先端部材２６１は、例えば樹脂製であるが、これに限られるものではなく、金属製や木製であってもよい。 The elevating member 261 is a member that contacts the key 111a, and is configured to have higher rigidity than the elastic member 263. The tip member 261 is made of, for example, resin, but is not limited thereto, and may be made of metal or wood.
　支持部材２６２は、昇降部材２６１を図１３Ａに示す下限位置Ｈ１と、図１３Ｂに示す下限位置Ｈ１の上方の上限位置Ｈ２との間で移動可能に昇降部材を案内して支持する。支持部材２６２は、例えば上端が閉塞され、下端が開口している筒状部材である。すなわち、支持部材２６２は、筒状の周壁２６２ａと、上壁２６２ｂと、開口２６２ｃとを含み、その内部空間に昇降部材２６１の上端部及び弾性部材２６３が位置している。昇降部材２６１の下限位置Ｈ１は、昇降部材２６１の下面２６１ａが昇降部材２６１の開口２６２ｃよりも下方に突出して位置するように規定される。 The support member 262 guides and supports the elevating member 261 so as to be movable between a lower limit position H1 shown in FIG. 13A and an upper limit position H2 above the lower limit position H1 shown in FIG. 13B. The support member 262 is a cylindrical member whose upper end is closed and whose lower end is open, for example. That is, the support member 262 includes a cylindrical peripheral wall 262a, an upper wall 262b, and an opening 262c, and the upper end portion of the elevating member 261 and the elastic member 263 are located in the internal space. The lower limit position H1 of the elevating / lowering member 261 is defined such that the lower surface 261a of the elevating / lowering member 261 is positioned so as to protrude below the opening 262c of the elevating / lowering member 261.
　弾性部材２６３は、上下方向に延在し、上端部が支持部材２６２の上壁２６２ｂに当接し、下端部が昇降部材２６１の上端に当接している。すなわち、弾性部材２６３は、昇降部材２６１と支持部材２６２との間に介在している。そして、弾性部材２６３は、例えば圧縮ばねであり、下限位置Ｈ１に位置する昇降部材２６１が上限位置Ｈ２に向かって移動することによって上下方向、すなわち軸線方向に圧縮され、上限位置Ｈ２から下限位置Ｈ１に向かって昇降部材２６１を付勢する。すなわち、弾性部材２６３は、上限位置Ｈ２から下限位置Ｈ１に向かう方向に昇降部材２６１を付勢する付勢力（弾性反発力）を発生するように構成され、当該付勢力は、キーボード１１１のキー１１１ａのばね圧（弾性反発力）よりも大きくなるよう規定されている。したがって、フロート機構２６０によってキーボード１１１を押すと、弾性部材２６３の付勢力がキー１１１ａの内部に設けられているばねの付勢力に抗して、キー１１１ａを押し下げることができる。 The elastic member 263 extends in the vertical direction, and has an upper end that is in contact with the upper wall 262 b of the support member 262 and a lower end that is in contact with the upper end of the elevating member 261. That is, the elastic member 263 is interposed between the elevating member 261 and the support member 262. The elastic member 263 is a compression spring, for example, and is compressed in the vertical direction, that is, in the axial direction when the elevating member 261 located at the lower limit position H1 moves toward the upper limit position H2, and from the upper limit position H2 to the lower limit position H1. The lifting member 261 is urged toward. That is, the elastic member 263 is configured to generate an urging force (elastic repulsive force) that urges the elevating member 261 in a direction from the upper limit position H2 toward the lower limit position H1, and the urging force is the key 111a of the keyboard 111. It is specified to be larger than the spring pressure (elastic repulsive force). Therefore, when the keyboard 111 is pushed by the float mechanism 260, the urging force of the elastic member 263 can be pushed down against the urging force of the spring provided inside the key 111a.
　このように、フロート機構２６０の昇降部材２６１は、上限位置Ｈ２から下限位置Ｈ１に向かって付勢された状態で、下限位置Ｈ１と上限位置Ｈ２との間で昇降するように構成されている。下限位置Ｈ１と上限位置Ｈ２との距離、すなわち昇降部材２６１のストロークは、例えばキーボード１１１の手前側のキー列Ｒ１と奥側のキー列Ｒ２との高さの差よりも大きく規定されていてもよい（図１４参照）。 Thus, the elevating member 261 of the float mechanism 260 is configured to move up and down between the lower limit position H1 and the upper limit position H2 while being urged from the upper limit position H2 toward the lower limit position H1. Even if the distance between the lower limit position H1 and the upper limit position H2, that is, the stroke of the elevating member 261 is defined to be larger than the difference in height between the key row R1 on the front side of the keyboard 111 and the key row R2 on the back side, for example. Good (see FIG. 14).
　記憶部６６（図５参照）は、更に押下終了高さ位置Ｈｄに係る位置情報を格納している。押下終了高さ位置Ｈｄ（図１４参照）は、第１操作子２４１及び第２操作子２４２によるキーボード１１１のキー１１１ａの押し下げ動作を終了する位置であり、第１操作子２４１及び第２操作子２４２の上昇を開始する位置である。 The storage unit 66 (see FIG. 5) further stores position information related to the pressing end height position Hd. The pressing end height position Hd (see FIG. 14) is a position where the pressing operation of the key 111a of the keyboard 111 by the first operating element 241 and the second operating element 242 ends, and the first operating element 241 and the second operating element. This is the position where 242 starts to rise.
　その他の構成は、上記実施の形態１と同様であるのでその詳細な説明を省略する。 Other configurations are the same as those in the first embodiment, and thus detailed description thereof is omitted.
　［動作例］
　図１４は、ロボットシステムの動作例を示す図である。 [Operation example]
FIG. 14 is a diagram illustrating an operation example of the robot system.
　図６Ｄに示すように、ステップＳ６３において、ロボット制御部７５は、第１ロボットアーム１３Ａ及び第２ロボットアーム１３Ｂを制御することにより、押し下げ対象のキー１１１ａの上方に第１操作子２４１又は第２操作子２４２を位置させる。そして、第１操作子２４１又は第２操作子２４２を予め規定された押下終了高さ位置Ｈｄに向かって下降させる。これによって、昇降部材２６１の下面２６１ａがキーボード１１１のキー１１１ａと接触し、昇降部材２６１がキー１１１ａを押し下げる。このとき、弾性部材２６３の付勢力がキー１１１ａの内部に設けられているばねの付勢力に抗して、キー１１１ａは押し下げられる。そして、キー１１１ａが押し込まれて下限位置に達すると、次に、昇降部材２６１が下限位置Ｈ１から上限位置Ｈ２に向かって支持部材２６２に対し相対的に移動する。そして、ロボット制御部７５は、第１操作子２４１又は第２操作子２４２が高さ位置Ｈｄに位置すると、直ちに第１操作子２４１又は第２操作子２４２を上昇させ、元の位置に第１操作子２４１又は第２操作子２４２を位置させる。 As shown in FIG. 6D, in step S63, the robot control unit 75 controls the first robot arm 13A and the second robot arm 13B, so that the first operator 241 or the second operator 241 is placed above the key 111a to be pushed down. The operator 242 is positioned. Then, the first operating element 241 or the second operating element 242 is lowered toward the predetermined pressing end height position Hd. As a result, the lower surface 261a of the elevating member 261 contacts the key 111a of the keyboard 111, and the elevating member 261 depresses the key 111a. At this time, the urging force of the elastic member 263 is pushed down against the urging force of the spring provided inside the key 111a. When the key 111a is pushed in and reaches the lower limit position, the elevating member 261 moves relative to the support member 262 from the lower limit position H1 toward the upper limit position H2. Then, when the first operating element 241 or the second operating element 242 is positioned at the height position Hd, the robot control unit 75 immediately raises the first operating element 241 or the second operating element 242 to return the first operating element 241 or the second operating element 242 to the original position. The operator 241 or the second operator 242 is positioned.
　このように、フロート機構２６０の昇降部材２６１は、上限位置Ｈ２から下限位置Ｈ１に向かって付勢された状態で、下限位置Ｈ１と上限位置Ｈ２との間で昇降するので、押下終了高さ位置Ｈｄを下限位置Ｈ１と上限位置Ｈ２との間の任意の位置に設定することにより、キー１１１ａを押し下げることができる。これによって、キーボード１１１のキー１１１ａに強い負荷がかかることを防止することができる。例えば、押下終了高さ位置Ｈｄを、下限位置Ｈ１と上限位置Ｈ２との中央に位置する昇降部材２６１の下面２６１ａがキーボード１１１のキー１１１ａの下限位置に位置するように規定することにより、押下終了高さ位置Ｈｄの位置誤差をフロート機構２６０に吸収させることができ、ロボットシステム１００の構成を簡素化することができる。 As described above, the lifting member 261 of the float mechanism 260 moves up and down between the lower limit position H1 and the upper limit position H2 while being urged from the upper limit position H2 toward the lower limit position H1, so that the pressing end height position By setting Hd to an arbitrary position between the lower limit position H1 and the upper limit position H2, the key 111a can be depressed. Thereby, it is possible to prevent a heavy load from being applied to the key 111a of the keyboard 111. For example, the pressing end is defined by defining the bottom end height position Hd so that the lower surface 261a of the elevating member 261 located at the center between the lower limit position H1 and the upper limit position H2 is positioned at the lower limit position of the key 111a of the keyboard 111. The position error of the height position Hd can be absorbed by the float mechanism 260, and the configuration of the robot system 100 can be simplified.
　また、例えば、図１４に示すように、押下終了高さ位置Ｈｄを手前側のキー列Ｒ１のキー１１１ａの下限位置（又はその近傍）に相当する位置に規定してもよい。これによって、手前側のキー列Ｒ１のキー１１１ａを押し下げ、第１操作子２４１又は第２操作子２４２を押下終了高さ位置Ｈｄに位置させた状態においては、昇降部材２６１は下限位置Ｈ１（又はその近傍）に位置する。また、奥側のキー列Ｒ２のキー１１１ａを押し下げ、第１操作子２４１又は第２操作子２４２を押下終了高さ位置Ｈｄに位置させた状態においては、昇降部材２６１は下限位置Ｈ１よりも上限位置Ｈ２側の位置に位置する。したがって、手前側のキー列Ｒ１のキー１１１ａを押し下げる場合と奥側のキー列Ｒ２のキー１１１ａを押し下げる場合とで押下終了高さ位置Ｈｄを個別に設定する必要がなく、ロボットシステム１００の構成を簡素化することができる。 Further, for example, as shown in FIG. 14, the pressing end height position Hd may be defined as a position corresponding to the lower limit position (or the vicinity thereof) of the key 111a of the front key row R1. Thus, in the state where the key 111a of the key row R1 on the near side is pressed down and the first operating element 241 or the second operating element 242 is positioned at the pressing end height position Hd, the elevating member 261 is moved to the lower limit position H1 (or It is located in the vicinity. Further, in the state where the key 111a of the back side key row R2 is depressed and the first operating element 241 or the second operating element 242 is positioned at the pressing end height position Hd, the elevating member 261 is higher than the lower limit position H1. It is located at a position on the position H2 side. Therefore, it is not necessary to individually set the pressing end height position Hd when the key 111a of the front key row R1 is pressed down and when the key 111a of the back key row R2 is pressed down, and the configuration of the robot system 100 is configured. It can be simplified.
　（実施の形態４）
　以下では実施の形態４の構成、動作について、実施の形態１との相違点を中心に述べる。 (Embodiment 4)
Hereinafter, the configuration and operation of the fourth embodiment will be described focusing on the differences from the first embodiment.
　図１５は、本実施の形態に係る第１操作子３４１及び第２操作子３４２の構成例を示す断面図である。 FIG. 15 is a cross-sectional view showing a configuration example of the first operating element 341 and the second operating element 342 according to the present embodiment.
　上記実施の形態１においては、文字入力装置はハードウェアキーボード１１１とした。これに対し、本実施の形態において、文字入力装置は、電磁誘導方式のタッチパネル式表示入力装置である。そして、タッチパネル式表示入力装置の表示画面に表示されるソフトウェアキーボードの各キーの画像に係る領域が操作部を構成している。 In the first embodiment, the character input device is the hardware keyboard 111. On the other hand, in the present embodiment, the character input device is an electromagnetic induction touch panel display input device. And the area | region which concerns on the image of each key of the software keyboard displayed on the display screen of a touchscreen type | mold display input device comprises the operation part.
　また、上記実施の形態１において、第１操作子４１及び第２操作子４２の当接部４５は、弾性を有する材質で構成した、基部４４の先端部から下方に伸延する柱状体である。これに対し、本実施の形態において、第１操作子３４１及び第２操作子３４２の当接部３４５は、図１５に示すように、基部４４の先端部から下方に伸延する柱状体であり、磁界を発生させる磁界発生部３６０が内蔵されている。文字入力装置は磁界発生部３６０が発生した磁界を検知し、第１操作子３４１及び第２操作子３４２が表示画面に接触した位置を特定するように構成されている。 Further, in the first embodiment, the contact portions 45 of the first operating element 41 and the second operating element 42 are columnar bodies extending downward from the distal end portion of the base portion 44 made of an elastic material. On the other hand, in the present embodiment, the contact portions 345 of the first operating element 341 and the second operating element 342 are columnar bodies extending downward from the distal end portion of the base portion 44, as shown in FIG. A magnetic field generator 360 for generating a magnetic field is incorporated. The character input device is configured to detect a magnetic field generated by the magnetic field generation unit 360 and specify a position where the first operating element 341 and the second operating element 342 contact the display screen.
　このように、文字入力装置が電磁誘導方式のタッチパネル式表示入力装置である場合においても、文字入力装置の操作部を操作して、紙文書に記載された文字情報の入力作業を行うことができる。 As described above, even when the character input device is an electromagnetic induction type touch panel display input device, it is possible to input the character information described in the paper document by operating the operation unit of the character input device. .
　（実施の形態５）
　以下では実施の形態５の構成、動作について、実施の形態１との相違点を中心に述べる。 (Embodiment 5)
Hereinafter, the configuration and operation of the fifth embodiment will be described focusing on the differences from the first embodiment.
　図１６は、本実施の形態に係る第１操作子４４１及び第２操作子４４２の構成例を示す断面図である。 FIG. 16 is a cross-sectional view showing a configuration example of the first operating element 441 and the second operating element 442 according to the present embodiment.
　上記実施の形態１においては、文字入力装置はハードウェアキーボード１１１とした。これに対し、本実施の形態において、文字入力装置は、静電容量方式のタッチパネル式表示入力装置であり、表示画面の表面に電界が形成されている。そして、タッチパネル式表示入力装置の表示画面に表示されるソフトウェアキーボードの各キーの画像に係る領域が操作部を構成している。 In the first embodiment, the character input device is the hardware keyboard 111. In contrast, in the present embodiment, the character input device is a capacitive touch panel display input device, and an electric field is formed on the surface of the display screen. And the area | region which concerns on the image of each key of the software keyboard displayed on the display screen of a touchscreen type | mold display input device comprises the operation part.
　また、上記実施の形態１において、第１操作子４１及び第２操作子４２の当接部４５は、弾性を有する材質で構成した、基部４４の先端部から下方に伸延する柱状体である。これに対し、本実施の形態において、第１操作子４４１及び第２操作子４４２の当接部４４５は、図１６に示すように、基部４４の先端部から下方に伸延する柱状体であり、帯電部４６０が内蔵されている。帯電部４６０は、静電気を帯電させることができるように構成されている。そして、当接部４４５がタッチパネル式表示入力装置の表示画面の表面に接触することにより、帯電部４６０に帯電する静電気がタッチパネル式表示入力装置の表示画面の表面の電界を変化させる。そして、タッチパネル式表示入力装置は、当該電界の変化に基づいて、第１操作子３４１及び第２操作子３４２が触れた領域に対応するソフトウェアキーボードのキーを判定する。 Further, in the first embodiment, the contact portions 45 of the first operating element 41 and the second operating element 42 are columnar bodies extending downward from the distal end portion of the base portion 44 made of an elastic material. On the other hand, in the present embodiment, the contact portions 445 of the first operating element 441 and the second operating element 442 are columnar bodies extending downward from the distal end portion of the base portion 44, as shown in FIG. A charging unit 460 is incorporated. The charging unit 460 is configured to be able to charge static electricity. Then, when the contact portion 445 contacts the surface of the display screen of the touch panel display input device, static electricity charged in the charging portion 460 changes the electric field on the surface of the display screen of the touch panel display input device. Then, the touch panel display input device determines a key of the software keyboard corresponding to the area touched by the first operator 341 and the second operator 342 based on the change in the electric field.
　このように、文字入力装置が静電容量方式のタッチパネル式表示入力装置である場合においても、文字入力装置の操作部を操作して、紙文書に記載された文字情報の入力作業を行うことができる。 As described above, even when the character input device is a capacitive touch panel display input device, it is possible to operate the operation unit of the character input device to input the character information described in the paper document. it can.
　（実施の形態６）
　以下では実施の形態６の構成、動作について、実施の形態１との相違点を中心に述べる。 (Embodiment 6)
Hereinafter, the configuration and operation of the sixth embodiment will be described focusing on the differences from the first embodiment.
　図１７は、本実施の形態に係るロボットシステムの制御系統の構成例を示すブロック図である。 FIG. 17 is a block diagram illustrating a configuration example of a control system of the robot system according to the present embodiment.
　本実施の形態において、記憶部６６は、更に、累積作業回数及び上限作業回数を記憶する。累積作業回数は、キー押下げユニット４を用いてキーボード１１１のキー１１１ａの押し下げ操作を行った累積の作業回数である。上限作業回数は、累積作業回数の上限値として許容する回数であり、例えば押し下げ操作に伴って摩耗する当接部４５が交換を要する程度まで摩耗すると予想される作業回数に応じて設定される。累積作業回数及び上限作業回数は、第１操作子４１及び第２操作子４２について個別に記憶、設定されてもよい。 In the present embodiment, the storage unit 66 further stores the cumulative work number and the upper limit work number. The cumulative work count is the cumulative work count when the key push unit 4 is used to push the key 111a of the keyboard 111. The upper limit work number is the number of times allowed as the upper limit value of the cumulative work number, and is set according to the number of work times that the contact portion 45 that wears due to the push-down operation is expected to be worn to an extent that requires replacement. The cumulative work count and the upper limit work count may be stored and set individually for the first operating element 41 and the second operating element 42.
　また、図１７に示すように、ロボットシステム１００は、更に報知部６０８を含む。報知部６０８は、キー押下げユニット４を用いてキーボード１１１のキー１１１ａの押し下げ操作を行った累積作業回数が所定の作業回数を上回ったことを報知する。報知部６０８は、例えば信号灯であるがこれに限られるものではない。 Further, as shown in FIG. 17, the robot system 100 further includes a notification unit 608. The notification unit 608 notifies that the cumulative number of operations for performing the pressing operation of the key 111a of the keyboard 111 using the key pressing unit 4 has exceeded the predetermined number of operations. The notification unit 608 is a signal lamp, for example, but is not limited thereto.
　また、制御部６５は、報知部制御部６７０を更に含む。報知部制御部６７０は、記憶部６６に記憶された累積作業回数が上限作業回数を上回ったか否かを判定する。そして、報知部制御部６７０が記憶部６６に記憶された累積作業回数が所定の作業回数を上回ったと判定した場合は、報知部制御部６７０は、報知部６０８を制御し、キー押下げユニット４を用いてキーボード１１１のキー１１１ａの押し下げ操作を行った累積作業回数が所定の作業回数を上回ったことを報知する。よって、例えば当接部４５等が摩耗するなどし、消耗品の交換時期が到来したことをオペレーターに報知することができる。 The control unit 65 further includes a notification unit control unit 670. The notification unit control unit 670 determines whether or not the cumulative number of operations stored in the storage unit 66 has exceeded the upper limit number of operations. When the notification unit control unit 670 determines that the cumulative number of operations stored in the storage unit 66 exceeds the predetermined number of operations, the notification unit control unit 670 controls the notification unit 608 to control the key pressing unit 4. Is used to notify that the cumulative number of operations for depressing the key 111a of the keyboard 111 has exceeded a predetermined number of operations. Therefore, for example, the contact portion 45 or the like is worn, and it is possible to notify the operator that it is time to replace the consumables.
　＜変形例＞
　上記実施の形態１においては、キーボード１１１の各キー１１１ａの位置情報は、予め記憶部６６に格納されていたがこれに限られるものではない。これに代えて、撮影装置６がキーボード１１１が載置された机１０５の上面を撮影し、キーボード１１１の位置及びキーボード１１１の各キー１１１ａの位置を検知し、記憶部６６に格納してもよい。 <Modification>
In the first embodiment, the position information of each key 111a of the keyboard 111 is stored in the storage unit 66 in advance, but the present invention is not limited to this. Alternatively, the photographing device 6 may photograph the upper surface of the desk 105 on which the keyboard 111 is placed, detect the position of the keyboard 111 and the position of each key 111a of the keyboard 111, and store them in the storage unit 66. .
　また、上記実施の形態３及び４においては、文字入力装置は電磁誘導方式又は静電容量方式のタッチパネル式表示入力装置としたがこれに限られるものではなく、他の方式のタッチパネル式表示入力装置としてもよく、第１及び第２の操作子を当該方式に適合するように構成してもよい。 In the third and fourth embodiments, the character input device is an electromagnetic induction type or electrostatic capacitance type touch panel type display input device. However, the present invention is not limited to this, and other types of touch panel type display input devices. Alternatively, the first and second operators may be configured to be compatible with the method.
　更に、上記実施の形態１においては、文字列判定部７２は、入力対象の文字列、すなわちインボイスＤ１の項目欄Ａ１～Ａ４の文字列の全てを一括して判定し、判定した文字列に基づいてロボット制御部７５は、項目欄Ａ１～Ａ４の文字列に含まれる全ての文字に対応するキー１１１ａを文字の並び順に押し下げるようにロボットアームユニット１３を制御したがこれに限られるものではない。 Furthermore, in the first embodiment, the character string determination unit 72 determines all the character strings to be input, that is, the character strings in the item fields A1 to A4 of the invoice D1, and determines the determined character strings. Based on this, the robot control unit 75 controls the robot arm unit 13 so as to push down the keys 111a corresponding to all characters included in the character strings in the item columns A1 to A4, but the present invention is not limited to this. .
　これに代えて、例えば、文字列判定部７２は、複数の入力対象項目のうちある入力対象項目の項目欄に含まれる文字列を判定し、判定した文字列に基づいてロボット制御部７５は、当該文字列に含まれる文字に対応するキー１１１ａを文字の並び順に押し下げるようにロボットアームユニット１３を制御してもよい。そして、制御部６５は、全ての入力対象項目の文字列の入力が完了するまで上記処理を繰り返し実行するように構成してもよい。 Instead, for example, the character string determination unit 72 determines a character string included in the item field of a certain input target item among the plurality of input target items, and the robot control unit 75 based on the determined character string, The robot arm unit 13 may be controlled such that the keys 111a corresponding to the characters included in the character string are pushed down in the order of character arrangement. And you may comprise the control part 65 so that the said process may be repeatedly performed until the input of the character string of all the input object items is completed.
　また、例えば、文字列判定部７２は、入力対象の文字列の文字を一文字ずつ判定し、判定した文字に基づいてロボット制御部７５は、当該文字に対応するキー１１１ａを押し下げるようにロボットアームユニット１３を制御してもよい。そして、制御部６５は、全ての入力対象の文字列の入力が完了するまで上記処理を繰り返し実行するように構成してもよい。 Also, for example, the character string determination unit 72 determines characters of the input target character string one by one, and the robot control unit 75 pushes down the key 111a corresponding to the character based on the determined character. 13 may be controlled. And the control part 65 may be comprised so that the said process may be repeatedly performed until the input of all the character strings of input object is completed.
　上記説明から、当業者にとっては、本発明の多くの改良や他の実施形態が明らかである。従って、上記説明は、例示としてのみ解釈されるべきであり、本発明を実行する最良の態様を当業者に教示する目的で提供されたものである。本発明の精神を逸脱することなく、その構造及び／又は機能の詳細を実質的に変更できる。 From the above description, many modifications and other embodiments of the present invention are apparent to persons skilled in the art. Accordingly, the foregoing description should be construed as illustrative only and is provided for the purpose of teaching those skilled in the art the best mode of carrying out the invention. The details of the structure and / or function may be substantially changed without departing from the spirit of the invention.
　１　ロボット
　４　操作子ユニット
　６　撮影装置
　７　制御装置
　１３　ロボットアームユニット
　２４　ロボットアーム駆動部
　６５　制御部
　６６　記憶部
　７０　撮影装置制御部
　７２　文字列判定部
　７３　キー位置判定部
　７４　経路算出部
　７５　ロボット制御部
　１００　ロボットシステム
　１０５　机
　１１０　情報処理装置
　１１１　キーボード
　１１２　表示装置
　１１２ａ　表示画面 DESCRIPTION OF SYMBOLS 1 Robot 4 Control unit 6 Image pick-up device 7 Control device 13 Robot arm unit 24 Robot arm drive part 65 Control part 66 Memory | storage part 70 Imaging device control part 72 Character string determination part 73 Key position determination part 74 Path | route calculation part 75 Robot control part DESCRIPTION OF SYMBOLS 100 Robot system 105 Desk 110 Information processing apparatus 111 Keyboard 112 Display apparatus 112a Display screen

Claims (14)

  1. 　所定位置に位置し、所定の文字情報の入力指令を入力するための操作部を複数有し、入力された前記所定の文字情報の入力指令を情報処理装置に対して送信する文字入力装置を操作して紙文書に記載された文字情報の入力作業を行うロボットシステムであって、
    　前記文字入力装置の各前記操作部を操作可能な操作子ユニットと、
    　前記操作子ユニットを保持可能且つ保持した前記操作子ユニットを移動させるロボットアームユニットを含むロボットと、
    　撮影装置と、
    　前記撮影装置を制御して前記紙文書を撮影する撮影装置制御部と、前記撮影装置が撮影した撮影データに含まれる前記紙文書の入力対象の文字列を判定する文字列判定部と、前記文字列判定部が判定した前記文字列の各文字に対応する前記操作部の位置を判定する操作部位置判定部と、前記操作部位置判定部が判定した前記文字列の各文字に対応する前記操作部の位置に基づいて前記ロボットアームユニットが保持する前記操作子ユニットが前記文字列の各文字の並び順に前記文字列判定部が判定した前記操作部を操作して移動するように前記ロボットアームユニットを制御するロボット制御部と、を含む制御装置と、備えるロボットシステム。     Operate a character input device that is located at a predetermined position and has a plurality of operation units for inputting predetermined character information input commands, and that transmits the input predetermined character information input commands to the information processing device. A robot system for inputting character information described in a paper document,
    An operator unit capable of operating each operation unit of the character input device;
    A robot including a robot arm unit capable of holding the operator unit and moving the operator unit holding the operator unit;
    A photographing device;
    An imaging device control unit that controls the imaging device to capture the paper document, a character string determination unit that determines an input target character string of the paper document included in imaging data captured by the imaging device, and the character An operation unit position determination unit that determines a position of the operation unit corresponding to each character of the character string determined by the column determination unit, and the operation corresponding to each character of the character string determined by the operation unit position determination unit The robot arm unit so that the operator unit held by the robot arm unit moves based on the position of the part by operating the operation unit determined by the character string determination unit in the order in which the characters of the character string are arranged And a robot control unit that controls the robot system.
  2. 　前記制御装置は、前記操作部位置判定部が判定した前記文字列の各文字に対応する前記操作部の位置に基づいて前記ロボットアームユニットが保持する前記操作子ユニットが前記文字列の各文字の並び順に前記文字列判定部が判定した前記操作部を操作して移動するように前記ロボットアームユニットを動作させる動作経路を算出する経路算出部を更に備え、
    　前記ロボット制御部は、前記動作経路に基づいて前記ロボットアームユニットを制御する、請求項１に記載のロボットシステム。     The controller is configured such that the operation unit held by the robot arm unit is based on the position of the operation unit corresponding to each character of the character string determined by the operation unit position determination unit. A path calculation unit that calculates an operation path for operating the robot arm unit so as to move by operating the operation unit determined by the character string determination unit in the arrangement order;
    The robot system according to claim 1, wherein the robot control unit controls the robot arm unit based on the operation path.
  3. 　前記操作子ユニットは、第１操作子及び第２操作子を含み、
    　前記ロボットアームユニットは、前記第１操作子を保持可能且つ保持した前記第１操作子を移動させる第１ロボットアーム及び前記第２操作子を保持可能且つ保持した前記第２操作子を移動させる第２ロボットアームを含み、
    　前記経路算出部は、前記第１ロボットアームが保持する前記第１操作子及び前記第２ロボットアームが保持する前記第２操作子が前記文字列の各文字の並び順に前記文字列判定部が判定した前記操作部を操作して移動するように前記第１ロボットアームを動作させる第１動作経路及び前記第２ロボットアームを動作させる第２動作経路を算出する、請求項２に記載のロボットシステム。     The operation unit includes a first operation unit and a second operation unit,
    The robot arm unit can hold the first operating element and move the first operating element that holds the first operating element. The robot arm unit can move the second operating element that can hold and hold the second operating element. Including two robot arms,
    The path calculation unit is determined by the character string determination unit in the sequence of the characters in the first operation element held by the first robot arm and the second operation element held by the second robot arm. The robot system according to claim 2, wherein a first motion path for operating the first robot arm and a second motion path for operating the second robot arm so as to move by operating the operation unit are calculated.
  4. 　それぞれ前記紙文書の上面を吸着する第１吸着部及び第２吸着部を有する吸着ユニットを更に備え、
    　前記制御装置は、前記吸着ユニットの前記紙文書の吸着及び解放動作を制御する吸着ユニット制御部を更に備え、
    　前記第１ロボットアームは、前記第１吸着部を保持可能且つ保持した前記第１吸着部を移動させるよう構成され、
    　前記第２ロボットアームは、前記第２吸着部を保持可能且つ保持した前記第２吸着部を移動させるよう構成されている、請求項３に記載のロボットシステム。     Each further comprising a suction unit having a first suction part and a second suction part for sucking the upper surface of the paper document;
    The control device further includes a suction unit controller that controls suction and release operations of the paper document of the suction unit,
    The first robot arm is configured to hold the first suction unit and move the first suction unit that is held,
    4. The robot system according to claim 3, wherein the second robot arm is configured to hold the second suction unit and to move the second suction unit that holds the second suction unit. 5.
  5. 　前記ロボット制御部が前記第１ロボットアームを制御して前記第１吸着部が前記紙文書の対向する一対の側縁のうち一方の側縁の近傍の上面と当接する第１位置に前記第１吸着部を位置させ、前記吸着ユニット制御部が前記吸着ユニットを制御して前記第１吸着部によって前記紙文書を吸着し、前記ロボット制御部が前記第２ロボットアームを制御して前記第２吸着部が前記紙文書の対向する一対の側縁のうち他方の側縁の近傍の上面と当接する第２位置に前記第２吸着部を位置させ、前記吸着ユニット制御部が前記吸着ユニットを制御して前記第２吸着部によって前記紙文書を吸着し、前記ロボット制御部が前記第２ロボットアームを制御して前記第２吸着部を前記紙文書の延在面の法線方向において前記第１吸着部に対して相対的に上方に位置する第３位置に移動させた後、前記第２吸着部を前記第２位置及び前記第３位置の間の第４位置と前記第３位置との間で往復動させ、前記ロボット制御部が前記第１ロボットアーム及び前記第２ロボットアームを制御して前記第１吸着部及び前記第２吸着部を前記紙文書の上面の法線方向と交差する方向に移動させる、請求項４に記載のロボットシステム。 The robot control unit controls the first robot arm, and the first suction unit is positioned at a first position where the first suction unit comes into contact with an upper surface in the vicinity of one side edge of the pair of side edges facing the paper document. The suction unit is positioned, the suction unit control unit controls the suction unit, and the first suction unit sucks the paper document, and the robot control unit controls the second robot arm to perform the second suction. The second suction part is positioned at a second position where the part comes into contact with the upper surface in the vicinity of the other side edge of the pair of opposite side edges of the paper document, and the suction unit controller controls the suction unit. The second suction unit sucks the paper document, and the robot control unit controls the second robot arm to move the second suction unit in the normal direction of the extending surface of the paper document. Relative to the part The second suction unit is moved back and forth between the second position and the fourth position between the second position and the third position, and the robot control unit 5. The apparatus according to claim 4, wherein the first robot arm and the second robot arm are controlled to move the first suction unit and the second suction unit in a direction intersecting a normal direction of an upper surface of the paper document. Robot system.
  6. 　前記情報処理装置は、前記文字入力装置を介して入力された文字情報を表示する表示画面を有する表示装置を備え、
    　前記撮影装置制御部は、更に前記撮影装置を制御して前記表示画面を撮影し、
    　前記文字列判定部は、更に前記撮影装置が撮影した前記表示画面の撮影データに含まれる前記文字入力装置を介して入力された前記文字列に対応する入力済文字列を判定し、
    　前記制御装置は、前記紙文書を撮影した前記画像データに含まれる入力対象の前記文字列と前記表示画面を撮影した前記画像データに含まれる前記文字入力装置を介して入力された文字列に対応する前記入力済文字列とが一致しているか否かを判定する入力誤り判定部を更に含む、請求項１乃至５の何れかに記載のロボットシステム。     The information processing apparatus includes a display device having a display screen for displaying character information input via the character input device,
    The photographing device control unit further controls the photographing device to photograph the display screen,
    The character string determination unit further determines an input character string corresponding to the character string input via the character input device included in the shooting data of the display screen shot by the shooting device;
    The control device corresponds to the character string to be input included in the image data obtained by photographing the paper document and the character string input via the character input device included in the image data obtained by photographing the display screen. The robot system according to claim 1, further comprising an input error determination unit that determines whether or not the input character string to be matched.
  7. 　前記文字入力装置は、ハードウェアキーボードであり、
    　前記操作部は前記ハードウェアキーボードのキーであり、
    　前記ロボット制御部は、前記操作子ユニットが前記キーを押し下げて移動するように前記ロボットアームユニットを制御する、請求項１乃至６の何れかに記載のロボットシステム。     The character input device is a hardware keyboard;
    The operation unit is a key of the hardware keyboard,
    The robot system according to claim 1, wherein the robot control unit controls the robot arm unit so that the operator unit moves while pressing the key.
  8. 　前記操作子ユニットの下面は、下方に凸の曲面に形成され、前記キーに当接する当接部を構成している、請求項７に記載のロボットシステム。 The robot system according to claim 7, wherein a lower surface of the operator unit is formed as a downwardly convex curved surface and constitutes a contact portion that contacts the key.
  9. 　前記操作子ユニットは、下限位置と上限位置との間で昇降可能であり、下面が前記キーと当接する昇降部材を含むフロート機構を有する、請求項７又は８に記載のロボットシステム。 The robot system according to claim 7 or 8, wherein the operation unit has a float mechanism that includes an elevating member that can move up and down between a lower limit position and an upper limit position, and has a lower surface in contact with the key.
  10. 　前記フロート機構は、前記昇降部材を上限位置から下限位置に向かう方向に付勢する弾性部材を有する、請求項９に記載のロボットシステム。 The robot system according to claim 9, wherein the float mechanism includes an elastic member that biases the elevating member in a direction from the upper limit position toward the lower limit position.
  11. 　前記文字入力装置は、複数のキーの画像を含むソフトウェアキーボードを表示する表示画面を有する電磁誘導方式のタッチパネル式表示入力装置であり、
    　前記操作部は、各前記キーの画像が表示された領域であり、
    　前記操作子ユニットは、前記文字入力装置によって前記操作子ユニットが前記表示画面に接触した位置の特定に用いられる磁界を発生させる磁界発生部を有する、請求項１乃至６の何れかに記載のロボットシステム。     The character input device is an electromagnetic induction touch panel display input device having a display screen for displaying a software keyboard including images of a plurality of keys.
    The operation unit is an area where an image of each key is displayed,
    The robot according to claim 1, wherein the operator unit includes a magnetic field generation unit that generates a magnetic field used for specifying a position where the operator unit contacts the display screen by the character input device. system.
  12. 　前記文字入力装置は、複数のキーを含むソフトウェアキーボードを表示する表示画面を有する静電容量方式のタッチパネル式表示入力装置であり、
    　前記操作部は、各前記キーの画像が表示された領域であり、
    　前記操作子ユニットは、前記文字入力装置によって前記操作子ユニットが前記表示画面に接触した位置の特定に用いられる静電気を帯電させる帯電部を有する、請求項１乃至６の何れかに記載のロボットシステム。     The character input device is a capacitive touch panel display input device having a display screen for displaying a software keyboard including a plurality of keys.
    The operation unit is an area where an image of each key is displayed,
    The robot system according to claim 1, wherein the operation unit has a charging unit that charges static electricity used to specify a position where the operation unit unit contacts the display screen by the character input device. .
  13. 　前記操作子ユニットが前記操作部を操作した累積作業回数が該累積作業回数の上限値として許容する上限作業回数を超過したことを報知する報知部を更に備え、
    　前記制御装置は、前記累積作業回数が前記上限作業回数を超過したか否かを判定し、前記累積作業回数が前記上限作業回数を超過した場合は、前記報知部を制御して前記累積作業回数が前記上限作業回数を超過したことを報知する報知部制御部を更に備える、請求項１乃至１１の何れかに記載のロボットシステム。     A notifying unit for notifying that the cumulative number of times that the operator unit has operated the operation unit has exceeded an upper limit number of times allowed as an upper limit value of the cumulative number of times;
    The control device determines whether or not the cumulative work number exceeds the upper limit work number. If the cumulative work number exceeds the upper limit work number, the control unit controls the notification unit to control the cumulative work number. The robot system according to claim 1, further comprising a notification unit control unit that notifies that the upper limit work number has been exceeded.
  14. 　所定位置に位置し、所定の文字情報の入力指令を入力するための操作部を複数有し、入力された前記所定の文字情報の入力指令を情報処理装置に対して送信する文字入力装置を操作して紙文書に記載された文字情報の入力作業を行うロボットシステムの制御方法であって、
    　前記ロボットシステムは、前記文字入力装置の各前記操作部を操作可能な操作子ユニットと、前記操作子ユニットを保持可能且つ保持した前記操作子ユニットを移動させるロボットアームユニットを含むロボットと、撮影装置と、前記ロボットアームユニット及び前記撮影装置を制御する制御装置と、を含み、
    　前記制御装置が前記撮影装置を制御して前記紙文書を撮影するステップと、
    　前記制御装置が前記撮影装置が撮影した撮影データに含まれる前記紙文書の入力対象の文字列を判定するステップと、
    　前記制御装置が前記文字列判定部が判定した前記文字列の各文字に対応する前記操作部の位置を判定するステップと、
    　前記制御装置が前記操作部位置判定部が判定した前記文字列の各文字に対応する前記操作部の位置に基づいて前記ロボットアームユニットが保持する前記操作子ユニットが前記文字列の各文字の並び順に前記文字列判定部が判定した前記操作部を操作して移動するように前記ロボットアームユニットを制御するステップと、を含むロボットシステムの制御方法。     Operate a character input device that is located at a predetermined position and has a plurality of operation units for inputting predetermined character information input commands, and that transmits the input predetermined character information input commands to the information processing device. A control method of a robot system that performs input work of character information described in a paper document,
    The robot system includes an operation unit that can operate each operation unit of the character input device, a robot including a robot arm unit that can hold the operation unit and moves the operation unit. And a control device for controlling the robot arm unit and the imaging device,
    The control device controlling the photographing device to photograph the paper document;
    The control device determining a character string to be input of the paper document included in shooting data shot by the shooting device;
    Determining a position of the operation unit corresponding to each character of the character string determined by the character string determination unit by the control device;
    The controller unit held by the robot arm unit is arranged according to the position of the operation unit corresponding to each character of the character string determined by the operation unit position determination unit by the control device. Controlling the robot arm unit so as to move by operating the operation unit determined by the character string determination unit in order.
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