WO2017098713A1 - ロボットシステム及びその運転方法 - Google Patents
ロボットシステム及びその運転方法 Download PDFInfo
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- WO2017098713A1 WO2017098713A1 PCT/JP2016/005052 JP2016005052W WO2017098713A1 WO 2017098713 A1 WO2017098713 A1 WO 2017098713A1 JP 2016005052 W JP2016005052 W JP 2016005052W WO 2017098713 A1 WO2017098713 A1 WO 2017098713A1
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- Prior art keywords
- robot
- voice
- volume
- robot system
- sound
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/003—Controls for manipulators by means of an audio-responsive input
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
- B25J19/061—Safety devices with audible signals
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—Avoiding collision or forbidden zones
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
Definitions
- the present invention relates to a robot system and an operation method thereof.
- the reliability of determining that the input audio-acoustic signal is a scream is evaluated based on the acoustic characteristics of the scream, and the reliability is a predetermined evaluation.
- the robot operation is urgently stopped.
- the robot emergency stop system disclosed in Patent Document 1 may not be able to cope with the sound generated when the robot collides with an obstacle or the peripheral equipment rolls over.
- the present invention solves the above-described conventional problems, and can control the operation of the robot in response to a loud sound such as a human screaming voice such as an operator or a collision sound of the robot. It is an object to provide a system and a method for operating a robot system.
- a robot system controls a robot having a plurality of joints, a voice operation device that receives voice as an operation instruction from an operator, and controls the operation of the robot.
- a control device wherein the control device suppresses the operation of the robot when the voice operation device detects a volume higher than a predetermined first volume during the operation of the robot. It is configured.
- a driving method of a robot system is a driving method of a robot system including a robot having a plurality of joints, and a voice operation device that inputs an operation instruction from an operator by voice,
- the volume information detected by the voice operating device during the operation of the robot is a volume higher than a predetermined first volume set in advance, the operation of the robot is suppressed (A).
- the robot system and the operation method thereof of the present invention it is possible to suppress the operation of the robot in response to a loud sound such as a human scream of an operator or a collision sound of the robot.
- FIG. 1 is a block diagram showing a schematic configuration of the robot system according to the first embodiment.
- FIG. 2 is a schematic diagram showing a schematic configuration of the robot system according to the first embodiment.
- FIG. 3 is a schematic diagram illustrating a schematic configuration of the robot illustrated in FIGS. 1 and 2.
- FIG. 4 is a flowchart showing an example of the operation of the robot system according to the first embodiment.
- FIG. 5 is a block diagram showing a schematic configuration of the robot system according to the second embodiment.
- FIG. 6 is a flowchart showing an example of the operation of the robot system according to the second embodiment.
- FIG. 7 is a block diagram showing a schematic configuration of the robot system according to the third embodiment.
- FIG. 8 is a flowchart showing an example of the operation of the robot system according to the third embodiment.
- FIG. 9 is a flowchart showing an example of the operation of the robot system according to the fourth embodiment.
- the robot system includes a robot having a plurality of joints, a voice operation device that inputs an operation instruction from an operator by voice, and a control device that controls the operation of the robot.
- the apparatus is configured to suppress the operation of the robot when the voice operating device detects a volume higher than a predetermined first volume during the operation of the robot.
- the control device when the control device detects a sound of the first volume or higher during the operation of the robot, the speed of the robot is less than the first speed set in advance. You may be comprised so that it may operate
- the control device is configured to stop the operation of the robot when the voice operation device detects a sound of the first volume or higher during the operation of the robot. Good.
- FIG. 1 is a block diagram showing a schematic configuration of the robot system according to the first embodiment.
- FIG. 2 is a schematic diagram showing a schematic configuration of the robot system according to the first embodiment.
- the robot system 100 includes a robot 1, a voice operation device 2, an output device 3, a control device 4, and a storage device 5, and the control device 4. Is configured to suppress the operation of the robot 1 when the voice operating device 2 detects a volume higher than a predetermined first volume during the operation of the robot 1.
- a control mode in which the robot 1 operates according to a preset task program is referred to as an “automatic operation mode”.
- the robot 1 automatically performs a predetermined operation without the operator operating the voice operation device 2 or the teaching pendant.
- a control mode in which the robot 1 operates based on an operator's operation received by the voice operating device 2 or the teaching pendant is referred to as a “manual operation mode”.
- the control mode for correcting the robot 1 operating according to the preset task program by the operation of the operator received by the voice operating device 2 or the teaching pendant is referred to as “correction automatic operation mode”. Called.
- the robot 1 is a robot that is installed in a work space and performs a series of operations including a plurality of processes. Examples of a series of operations composed of a plurality of steps include operations such as assembly of parts to products and painting.
- the robot 1 is used in a production factory that manufactures products by assembling electric / electronic parts or the like in a line production system or a cell production system, and along a work table provided in the production factory. It is an articulated robot that can be arranged and can perform at least one of operations such as transfer, assembly or rearrangement of parts, and posture conversion on a work on a work table.
- the embodiment of the robot 1 is not limited to the above, and can be widely applied to an articulated robot regardless of a horizontal articulated type or a vertical articulated type.
- FIG. 3 is a schematic diagram showing a schematic configuration of the robot shown in FIGS. 1 and 2.
- the robot 1 includes a connecting body of a plurality of link members (here, the first link member 11a to the sixth link member 11f) and a plurality of joints (here, the first joints JT1 to JT6).
- This is an articulated robot robot having a joint JT6) and a base 15 for supporting them.
- the base 15 and the base end portion of the first link member 11a are coupled so as to be rotatable about an axis extending in the vertical direction.
- the distal end portion of the first link member 11a and the proximal end portion of the second link member 11b are coupled so as to be rotatable about an axis extending in the horizontal direction.
- the distal end portion of the second link member 11b and the proximal end portion of the third link member 11c are coupled so as to be rotatable about an axis extending in the horizontal direction.
- the distal end portion of the third link member 11c and the proximal end portion of the fourth link member 11d are coupled so as to be rotatable about an axis extending in the longitudinal direction of the fourth link member 11d.
- the distal end portion of the fourth link member 11d and the proximal end portion of the fifth link member 11e are coupled so as to be rotatable about an axis orthogonal to the longitudinal direction of the fourth link member 11d.
- the distal end portion of the fifth link member 11e and the proximal end portion of the sixth link member 11f are coupled so as to be able to rotate.
- the mechanical interface is provided in the front-end
- An end effector 12 corresponding to the work content is detachably attached to the mechanical interface.
- each of the first joint JT1 to the sixth joint JT6 is provided with a drive motor (not shown) as an example of an actuator for relatively rotating two members connected to each joint.
- the drive motor may be, for example, a servo motor that is servo-controlled by the control device 4.
- the first joint JT1 to the sixth joint JT6 each have a rotation sensor (not shown) for detecting the rotational position of the drive motor and a current sensor (not shown) for detecting a current for controlling the rotation of the drive motor. ) And are provided.
- the rotation sensor may be an encoder, for example.
- the voice operation device 2 is a device for inputting an operation instruction from the operator by voice. Specifically, when the operator operates the robot 1 in the manual operation mode or the corrected automatic operation mode, or when teaching the robot 1, the position information, posture information, movement direction, or movement speed of the robot 1 is determined. Are input to the voice operation device 2 by voice. Then, the voice operation device 2 outputs the input operation command value to the control device 4. Examples of the voice operation device 2 include a sound collection microphone arranged in a work space where the robot 1 is installed. As shown in FIG. 2, the voice operation device 2 may be a headset having a microphone and headphones that are worn by the operator on the head.
- Examples of the output device 3 include a display device such as a monitor and a speaker.
- a display device such as a monitor and a speaker.
- information transmitted from the control device 4 is displayed (output) as a video such as a character, a picture, an image, and a moving image.
- the output device 3 is configured by a speaker, the information transmitted from the control device 4 is output as audio information.
- the storage device 5 is a readable / writable recording medium, and stores a task program 51 and operation sequence information 52 of the robot system 100.
- the storage device 5 is provided separately from the control device 4, but may be provided integrally with the control device 4.
- the task program 51 is created, for example, by an operator teaching using the voice operation device 2 and stored in the storage device 5 in association with the identification information of the robot 1 and the task.
- the task program 51 may be created as an operation flow for each work.
- the task program 51 may be created by teaching using a teaching pendant.
- the operation sequence information 52 is information relating to an operation sequence that defines a series of work processes performed by the robot 1 in the work space.
- the operation order of the work process and the control mode of the robot 1 are associated with each other.
- a task program for causing the robot 1 to automatically execute the work is associated with each work process.
- the operation sequence information 52 may include a program for causing the robot 1 to automatically execute the work for each work process.
- the control device 4 controls the operation of the robot 1, and includes a receiving unit 40, an operation control unit 41, and an output control unit 42 as functional blocks.
- the control device 4 includes, for example, a calculation unit (not shown) including a microcontroller, MPU, PLC (Programmable Logic Controller), logic circuit, and the like, and a memory unit (not shown) including a ROM or RAM. can do.
- a calculation unit including a microcontroller, MPU, PLC (Programmable Logic Controller), logic circuit, and the like
- a memory unit not shown
- each functional block with which the control apparatus 4 is provided is realizable when the calculating part of the control apparatus 4 reads and executes the program stored in the memory part or the memory
- the control device 4 is not only configured as a single control device, but also configured as a control device group in which a plurality of control devices cooperate to execute control of the robot 1 (robot system 100). It does not matter.
- the receiving unit 40 receives an input signal transmitted from the outside of the control device 4 and transmits an output signal from the control device 4 to the robot 1 or the like, for example.
- an input signal received by the receiving unit 40 for example, a signal transmitted from the voice operation device 2, a signal transmitted from an operation instruction unit (not shown) other than the voice operation device 2, or a rotation sensor of the robot 1 is transmitted.
- a position signal (position information) of the robot 1 is exemplified.
- the operation control unit 41 determines an operation mode of a process performed by the robot 1 in a series of operations using the operation instruction as a trigger.
- the operation control unit 41 can determine the operation mode of the process performed by the robot 1 with reference to the operation sequence information 52 stored in the storage device 5.
- the operation control unit 41 controls the robot 1 to operate in the determined operation mode.
- the operation control unit 41 determines to operate the robot 1 in the automatic operation mode
- the operation control unit 41 reads the operation specified by the task program 51 or the operation sequence information 52, and uses the program included in the operation sequence information 52.
- the robot 1 is controlled so as to perform a prescribed operation.
- the operation control unit 41 controls the robot 1 so as to operate based on the operation instruction received by the receiving unit 40 from the voice operation device 2.
- the operation control unit 41 determines to operate the robot 1 in the modified automatic operation mode, the operation control unit 41 performs the operation specified by the task program 51 or reads the operation sequence information 52 and includes the operation sequence information 52 in the operation sequence information 52.
- the receiving unit 40 receives a correction instruction signal as an input signal from the voice operating device 2 while the robot 1 is operating in the automatic operation mode, the operation by the automatic operation of the robot 1 is voiced. The operation is corrected according to the correction instruction signal from the controller device 2.
- the operation control unit 41 stops the output of the correction instruction signal from the voice operation device 2 and the reception unit 40 stops receiving the correction instruction signal, or the automatic operation of the robot 1 from the voice operation device 2.
- the receiving unit 40 receives a signal instructing resumption, the automatic operation of the robot 1 is resumed.
- the output control unit 42 controls the output device 3 and outputs information notified to the operator or the like as video information, image information, audio information, or the like. Specifically, for example, the output control unit 42 controls the output device 3 so as to output motion suppression information indicating that the motion of the robot 1 output from the motion control unit 41 is suppressed.
- FIG. 4 is a flowchart showing an example of the operation of the robot system according to the first embodiment.
- the operation control unit 41 of the control device 4 determines whether or not the robot 1 is operating (step S100).
- step S100 When the operation control unit 41 of the control device 4 determines that the robot 1 is not operated (No in step S100), the program ends. Note that when the program is terminated, the control device 4 executes the program again after 50 msec, for example. On the other hand, when the operation control unit 41 of the control device 4 determines that the robot 1 is operating (Yes in step S100), the operation control unit 41 executes the process shown in step S101.
- step S ⁇ b> 101 the operation control unit 41 of the control device 4 determines whether or not the operator inputs a voice to the voice operation device 2. Specifically, the operation control unit 41 of the control device 4 determines whether or not voice information is input from the voice operation device 2 to the reception unit 40.
- Step S101 If the operation control unit 41 of the control device 4 determines that the operator does not input voice (No in step S101), the process returns to step S100, and step S100 and step until the operator inputs voice. The process of S101 is repeated. On the other hand, if the operation control unit 41 of the control device 4 determines that the operator has input a voice (Yes in Step S101), the operation control unit 41 executes the process shown in Step S102.
- step S102 the operation control unit 41 of the control device 4 determines whether or not the voice information input to the voice operation device 2 in step S101 is equal to or higher than a predetermined first volume.
- the first sound volume can be set in advance by experiments or the like, and is determined by noise in a space where an operator wearing the voice operation device 2 is present or in a work space where the voice operation device 2 is installed.
- the first volume may be 65 to 90 dB, for example.
- the first volume may be +5 dB with respect to the maximum noise level in a space where an operator wearing the voice operation device 2 is present, or in a work space where the voice operation device 2 is installed. .
- the operation control unit 41 of the control device 4 determines that the audio information input to the audio operation device 2 in step S101 is equal to or higher than the first volume (Yes in step S102), the operation control unit 41 changes the operation of the robot 1. (Step S103).
- the operation control unit 41 of the control device 4 causes the output device 3 to output the operation change information via the output control unit 42 (step S104), and ends this program.
- text information such as “Changing robot motion” may be output (displayed) on a monitor or the like, and the text information may be output as audio information from a speaker or the like. May be.
- the operation speed of the robot 1 may be decreased. Specifically, for example, the robot 1 may be operated at a speed lower than the first speed.
- the first speed may be, for example, 25 to 35% of the maximum speed (° / second) at each joint of the robot 1, and the movement speed of the robot 1 when the robot 1 moves the workpiece ( It may be 25 to 35% of the maximum speed (mm / second) of the end effector 12 or the moving speed of the workpiece.
- the first speed is, for example, the movement speed of the robot 1 (the movement speed of the end effector 12 or the workpiece) is 250 to 350 mm / second. Also good.
- the robot 1 may be stopped or the operation direction of the robot 1 may be set in the opposite direction.
- the operation direction of the robot 1 is changed to the opposite direction” is, for example, in a direction in which the robot 1 is operating before (immediately before) the voice information of the first volume or higher is input to the voice operation device 2.
- it means to operate in the opposite direction, and to operate so that the rotation direction of the drive motor provided in each joint constituting the robot 1 is opposite.
- the robot 1 end effector 12
- the robot 1 is moved toward the rear of the robot 1 when moving toward the front of the robot 1.
- the operation control unit 41 of the control device 4 performs feedback control of the robot 1, the gain of the drive motor (servo motor) of the robot 1 is reduced.
- the robot 1 may be controlled.
- the movement of the robot 1 may be changed so that only the robot 1 that is operated (operated) is changed by the voice operation device 2 and is installed in the work space. It may be configured such that the operations of all the robots 1 are suppressed.
- step S101 when the voice information input to the voice operation device 2 in step S101 is less than the first volume (No in step S102), the operation control unit 41 of the control device 4 performs the voice operation device in step S101. Based on the voice information input from No. 2, the operation of the robot 1 is corrected (step S105), and this program is terminated.
- the control device 4 detects the volume higher than the first volume during the operation of the robot 1, the operation of the robot 1 is detected. Is configured to change.
- control device 4 changes the operation of the robot 1 when the voice operation device 2 detects a sound of the first volume or higher while the robot 1 is operating.
- the output device 3 is configured to output the operation change information.
- the robot system according to the second embodiment is the same as the robot system according to the first embodiment.
- the voice operation device includes a switch that enables / disables voice operation instructions from the operator, Even when the operation instruction by voice to the voice operation device is invalidated by the switch, the device detects the voice of the robot when the voice operation device detects the voice of the first volume or higher during the operation of the robot. It is configured to change the behavior.
- FIG. 5 is a block diagram showing a schematic configuration of the robot system according to the second embodiment.
- the robot system 100 according to the second embodiment has the same basic configuration as the robot system 100 according to the first embodiment, but the voice operation device 2 receives voice input from the operator. The difference is that a switch 20 for enabling / disabling is provided. Note that the output device 3 may output information indicating a voice input valid / invalid state by the switcher 20.
- FIG. 6 is a flowchart showing an example of the operation of the robot system according to the second embodiment. The following operation is executed when the arithmetic unit of the control device 4 reads a program stored in the memory unit or the storage device 5 of the control device 4.
- the operation of the robot system 100 according to the second embodiment is the same as the operation of the robot system 100 according to the first embodiment, but executes the process of step S105.
- the difference is that the process of step S105A is executed before.
- the operation control unit 41 of the control device 4 uses the switcher 20 when the voice information input to the voice operation device 2 in step S101 is less than the first volume (No in step S102). Then, it is determined whether or not the voice operation device 2 is in a state where voice input from the operator is enabled (step S105A).
- step S101 the voice operation device 2 Based on the voice information input from, the operation of the robot 1 is corrected (step S105), and this program is terminated.
- step S105A if the operation control unit 41 of the control device 4 determines that the voice operation device 2 is not in a state where voice input from the operator is enabled (No in step S105A), the program is terminated as it is. To do.
- the robot system 100 according to the second embodiment configured as described above has the same effects as the robot system 100 according to the first embodiment.
- the voice operating device 2 when the voice operating device 2 detects a volume higher than the first volume during the operation of the robot 1, the voice operating device 2 receives voice input from the operator.
- the control device 4 is configured to change the operation of the robot 1 in any of the valid / invalid states.
- the voice operation device 2 is in a state where voice input from the operator is disabled, when a human being such as the operator screams loudly, or the robot 1 or other device When a loud sound such as a collision sound is generated, the operation of the robot 1 can be changed in response to the sound.
- the robot system according to the third embodiment further includes a voice output device in the robot system according to the first or second embodiment, and the control device causes the voice output device to output a voice of the first volume or higher, thereby generating a voice. It is configured to perform a volume detection test that is determined to be normal when the operation device detects a sound of the first volume or higher, and is determined to be abnormal when the sound operation device detects a sound of less than the first volume. Has been.
- FIG. 7 is a block diagram showing a schematic configuration of the robot system according to the third embodiment.
- the robot system 100 according to the third embodiment has the same basic configuration as the robot system 100 according to the first embodiment, but the output device 3 includes an audio output device 30. Different. Examples of the audio output device 30 include a speaker.
- FIG. 8 is a flowchart showing an example of the operation of the robot system according to the third embodiment. The following operation is executed when the arithmetic unit of the control device 4 reads a program stored in the memory unit or the storage device 5 of the control device 4.
- the operation control unit 41 of the control device 4 causes the audio output device 30 to output a sound of the first volume or higher via the output control unit 42 (step S201). Specifically, the operation control unit 41 of the control device 4 stores audio information such as a human scream in advance in the storage device 5, reads the audio information from the storage device 5, and sends it to the audio output device 30. Output.
- a volume higher than the first volume is set. You may adjust suitably so that it may be made to output from the output device 30, and the sound volume more than 1st volume may be input into the voice operating device 2.
- the operation control unit 41 of the control device 4 acquires the voice information input to the voice operation device 2 (step S202), and whether or not the voice information acquired in step S202 has a volume equal to or higher than the first volume. Is determined (step S203).
- the operation control unit 41 of the control device 4 determines that the voice operation device 2 is normal when the voice information acquired in step S202 is determined to be a volume equal to or higher than the first volume (Yes in step S203). (Step S204), information indicating that the voice operating device 2 is normal is output to the output device 3 (Step S205), and the program is terminated.
- the information indicating that the voice operation device 2 is normal may be output (displayed) on a monitor or the like, for example, as character information such as “the voice operation device is normal”.
- the audio output device 30 or the like may be used.
- Step S206 information indicating that the voice operating device 2 is abnormal is outputted to the output device 3 (step S207), and the program is terminated.
- the information indicating that the voice operation device 2 is abnormal may be output (displayed) on a monitor or the like with text information such as “Voice control device is broken”. Audio information may be output from the audio output device 30 or the like.
- the robot system 100 according to the third embodiment configured as described above has the same operational effects as the robot system 100 according to the first embodiment.
- control device 4 is configured to execute a sound volume detection test of the voice operation device 2.
- the voice operation device 2 determines whether or not the voice operation device 2 is normal, and when a person such as an operator actually makes a loud voice such as a scream, or a collision of the robot 1 or other equipment or the like When a loud sound such as a sound is generated, the operation of the robot 1 can be changed by appropriately reacting with the sound.
- volume detection test As a disaster prevention drill, it is possible to improve the disaster prevention awareness of the operator or the like.
- the robot system according to the fourth embodiment is the robot system according to any one of the first to third embodiments.
- the control device includes a manual operation mode in which an operation instruction is given from an operator.
- the voice operation device is at the first volume or higher. When the voice is detected, the operation of the robot is changed.
- FIG. 9 is a flowchart showing an example of the operation of the robot system according to the fourth embodiment. The following operation is executed when the arithmetic unit of the control device 4 reads a program stored in the memory unit or the storage device 5 of the control device 4.
- the operation of the robot system 100 according to the fourth embodiment is the same as the operation of the robot system 100 according to the first embodiment, but instead of the process of step S100.
- the difference is that the process of step S100A is executed.
- the operation control unit 41 of the control device 4 determines whether or not the robot 1 is operating in the manual operation mode or the corrected automatic operation mode (step S100A).
- the operation control unit 41 of the control device 4 determines that the robot 1 is not operating in the manual operation mode or the corrected automatic operation mode, that is, determines that the robot 1 is operating in the automatic operation mode (step In S100A No), this program is terminated. Note that when the program is terminated, the control device 4 executes the program again after 50 msec, for example.
- step S100A when it is determined that the robot 1 is operating in the manual operation mode or the corrected automatic operation mode (Yes in step S100A), the operation control unit 41 of the control device 4 executes the process shown in step S101.
- the operation control unit 41 of the control device 4 performs the same operation (process) as the robot system 100 according to the first embodiment.
- the robot system 100 according to the fourth embodiment configured as described above has the same effects as the robot system 100 according to the first embodiment.
- the voice operation device detects the voice of the first volume or higher. Then, it is comprised so that operation
- the operator mistakenly inputs the operation of the robot 1 while inputting the operation of the robot 1, and reacts to the voice uttered by the operator when the robot 1 moves in an unexpected direction.
- the operation of the robot 1 can be changed.
- the operator operates the emergency stop button or the like to change the operation of the robot 1 earlier and more accurately than changing the operation of the robot 1. Can be changed.
- the robot system and the driving method thereof according to the present invention can change the operation of the robot in response to a loud voice such as a human screaming voice of an operator or a loud sound such as a collision sound of the robot. Useful in the field.
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Abstract
Description
本実施の形態1に係るロボットシステムは、複数の関節を有するロボットと、操作者からの操作指示を音声で入力される音声操作装置と、ロボットの動作を制御する制御装置と、を備え、制御装置は、ロボットの動作中に、音声操作装置が予め設定されている所定の第1音量以上の音量を検知すると、ロボットの動作を抑制するように構成されている。
図1は、本実施の形態1に係るロボットシステムの概略構成を示すブロック図である。図2は、本実施の形態1に係るロボットシステムの概略構成を示す模式図である。
次に、本実施の形態1に係るロボットシステム100の動作及び作用効果について、図1~図4を参照しながら説明する。なお、操作者が音声操作装置2を操作して、ロボット1を動作させて、一連の作業を行う動作については、公知のロボットシステムと同様に実行されるため、その詳細な説明は省略する。また、以下の動作は、制御装置4の演算部が、制御装置4のメモリ部又は記憶装置5に格納されているプログラムを読み出すことにより実行される。
本実施の形態2に係るロボットシステムは、実施の形態1に係るロボットシステムにおいて、音声操作装置は、操作者からの音声での操作指示を有効/無効にする切替器を有していて、制御装置は、切替器により、音声操作装置への音声による操作指示が無効にされている場合であっても、ロボットの動作中に、音声操作装置が第1音量以上の音声を検知すると、ロボットの動作を変更するように構成されている。
図5は、本実施の形態2に係るロボットシステムの概略構成を示すブロック図である。
図6は、本実施の形態2に係るロボットシステムの動作の一例を示すフローチャートである。なお、以下の動作は、制御装置4の演算部が、制御装置4のメモリ部又は記憶装置5に格納されているプログラムを読み出すことにより実行される。
本実施の形態3に係るロボットシステムは、実施の形態1又は2に係るロボットシステムにおいて、音声出力装置をさらに備え、制御装置は、音声出力装置から第1音量以上の音声を出力させて、音声操作装置が第1音量以上の音声を検知した場合には正常と判断し、音声操作装置が第1音量未満の音声を検知した場合には異常と判断する、音量検知試験を実行するように構成されている。
図7は、本実施の形態3に係るロボットシステムの概略構成を示すブロック図である。
図8は、本実施の形態3に係るロボットシステムの動作の一例を示すフローチャートである。なお、以下の動作は、制御装置4の演算部が、制御装置4のメモリ部又は記憶装置5に格納されているプログラムを読み出すことにより実行される。
本実施の形態4に係るロボットシステムは、実施の形態1~3のいずれか1つの実施の形態に係るロボットシステムにおいて、制御装置は、操作者からの操作指示で動作している手動運転モード、又は予め設定されたタスクプログラムに従って動作する自動運転モードで動作中のロボットを操作者からの操作指示によりその動作を修正する修正自動運転モードでロボットが動作中に、音声操作装置が第1音量以上の音声を検知すると、ロボットの動作を変更するように構成されている。
図9は、本実施の形態4に係るロボットシステムの動作の一例を示すフローチャートである。なお、以下の動作は、制御装置4の演算部が、制御装置4のメモリ部又は記憶装置5に格納されているプログラムを読み出すことにより実行される。
2 音声操作装置
3 出力装置
4 制御装置
5 記憶装置
11a 第1リンク部材
11b 第2リンク部材
11c 第3リンク部材
11d 第4リンク部材
11e 第5リンク部材
11f 第6リンク部材
12 エンドエフェクタ
15 基台
20 切替器
30 音声出力装置
40 受信部
41 動作制御部
42 出力制御部
51 タスクプログラム
52 動作シーケンス情報
100 ロボットシステム
JT1 第1関節
JT2 第2関節
JT3 第3関節
JT4 第4関節
JT5 第5関節
JT6 第6関節
Claims (16)
- 複数の関節を有するロボットと、
操作者からの操作指示を音声で入力される音声操作装置と、
前記ロボットの動作を制御する制御装置と、を備え、
前記制御装置は、前記ロボットの動作中に、前記音声操作装置が予め設定されている所定の第1音量以上の音声を検知すると、前記ロボットの動作を変更するように構成されている、ロボットシステム。 - 前記音声操作装置は、前記操作者からの音声での操作指示を有効/無効にする切替器を有していて、
前記制御装置は、前記切替器により、前記音声操作装置への音声による操作指示が無効にされている場合であっても、前記ロボットの動作中に、前記音声操作装置が前記第1音量以上の音声を検知すると、前記ロボットの動作を変更するように構成されている、請求項1に記載のロボットシステム。 - 音声出力装置をさらに備え、
前記制御装置は、前記音声出力装置から前記第1音量以上の音声を出力させて、前記音声操作装置が前記第1音量以上の音声を検知した場合には正常と判断し、前記音声操作装置が前記第1音量未満の音声を検知した場合には異常と判断する、音量検知試験を実行するように構成されている、請求項1又は2に記載のロボットシステム。 - 前記制御装置は、前記操作者からの操作指示で動作している手動運転モード、又は予め設定されたタスクプログラムに従って動作する自動運転モードで動作中の前記ロボットを前記操作者からの操作指示によりその動作を修正する修正自動運転モードで前記ロボットが動作中に、前記音声操作装置が前記第1音量以上の音声を検知すると、前記ロボットの動作を変更するように構成されている、請求項1~3のいずれか1項に記載のロボットシステム。
- 前記制御装置は、前記ロボットの動作中に、前記音声操作装置が前記第1音量以上の音声を検知すると、前記ロボットを予め設定されている第1速度未満の速度で動作させるように構成されている、請求項1~4のいずれか1項に記載のロボットシステム。
- 前記制御装置は、前記ロボットの動作中に、前記音声操作装置が前記第1音量以上の音声を検知すると、前記ロボットの動作を停止させるように構成されている、請求項1~4のいずれか1項に記載のロボットシステム。
- 前記制御装置は、前記ロボットの動作中に、前記音声操作装置が前記第1音量以上の音声を検知すると、前記音声操作装置が前記第1音量以上の音声を検知する前の動作方向に対して反対方向に前記ロボットを動作させる、請求項1~4のいずれか1項に記載のロボットシステム。
- 前記ロボットには、前記関節を介して接続されている、2つのリンク部材を相対的に駆動させるための駆動モータが設けられていて、
前記制御装置は、前記ロボットの動作中に、前記音声操作装置が前記第1音量以上の音声を検知すると、前記駆動モータのゲインを低減させるように構成されている、請求項1~4のいずれか1項に記載のロボットシステム。 - 複数の関節を有するロボットと、操作者からの操作指示を音声で入力される音声操作装置と、を備えるロボットシステムの運転方法であって、
前記ロボットの動作中に、前記音声操作装置が検知した音声情報が、予め設定されている所定の第1音量以上の音声である場合には、前記ロボットの動作が変更される(A)を備える、ロボットシステムの運転方法。 - 前記音声操作装置は、前記操作者からの音声の操作指示を有効/無効にする切替器を有していて、
前記切替器が、前記音声操作装置への音声の操作指示を無効にする(B)をさらに備え、
前記(B)が実行されていても、前記(A)は実行される、請求項9に記載のロボットシステムの運転方法。 - 前記ロボットシステムは、音声出力装置をさらに備え、
前記音声出力装置から前記第1音量以上の音声を出力させて、前記音声操作装置が前記第1音量以上の音声を検知した場合には正常と判断し、前記音声操作装置が前記第1音量未満の音声を検知した場合には異常と判断する(C)をさらに備える、請求項9又は10に記載のロボットシステムの運転方法。 - 前記(A)は、前記操作者からの操作指示で動作している手動運転モード、又は予め設定されたタスクプログラムに従って動作する自動運転モードで動作中の前記ロボットを前記操作者からの操作指示によりその動作を修正する修正自動運転モードで前記ロボットが動作中に実行される、請求項9~11のいずれか1項に記載のロボットシステムの運転方法。
- 前記(A)において、前記ロボットの動作中に、前記音声操作装置が前記第1音量以上の音声を検知すると、前記ロボットは、予め設定されている第1速度未満の速度で動作する、請求項9~12のいずれか1項に記載のロボットシステムの運転方法。
- 前記(A)において、前記ロボットの動作中に、前記音声操作装置が前記第1音量以上の音声を検知すると、前記ロボットは、その動作を停止する、請求項9~12のいずれか1項に記載のロボットシステムの運転方法。
- 前記(A)において、前記ロボットの動作中に、前記音声操作装置が前記第1音量以上の音声を検知すると、前記ロボットは、前記音声操作装置が前記第1音量以上の音声を検知する前の動作方向に対して反対方向に動作する、請求項9~12のいずれか1項に記載のロボットシステムの運転方法。
- 前記ロボットには、前記関節を介して接続されている、2つのリンク部材を相対的に駆動させるための駆動モータが設けられていて、
前記(A)において、前記ロボットの動作中に、前記音声操作装置が前記第1音量以上の音声を検知すると、前記ロボットは、前記駆動モータのゲインが低減するように動作する、請求項9~12のいずれか1項に記載のロボットシステムの運転方法。
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US20180354140A1 (en) | 2018-12-13 |
KR102046598B1 (ko) | 2019-11-19 |
KR20180054772A (ko) | 2018-05-24 |
JPWO2017098713A1 (ja) | 2018-09-27 |
CN108290296B (zh) | 2021-05-07 |
DE112016005595T5 (de) | 2018-10-25 |
CN108290296A (zh) | 2018-07-17 |
JP6920210B2 (ja) | 2021-08-18 |
US11072077B2 (en) | 2021-07-27 |
DE112016005595B4 (de) | 2019-07-04 |
TWI653128B (zh) | 2019-03-11 |
TW201729963A (zh) | 2017-09-01 |
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