WO2017141577A1

WO2017141577A1 - Impact prediction device, impact prediction system, control device, impact prediction method, and impact prediction program

Info

Publication number: WO2017141577A1
Application number: PCT/JP2017/000575
Authority: WO
Inventors: 小也香内藤; 嘉一森; 一希笠井
Original assignee: オムロン株式会社
Priority date: 2016-02-15
Filing date: 2017-01-11
Publication date: 2017-08-24
Also published as: JP2017144492A

Abstract

Provided are an impact prediction device, control device, impact prediction system, impact determination method, and impact prediction program with which it is possible to ensure safety in an area in which there is a risk of contact between an object to be controlled and a worker when an object to be controlled such as an industrial robot and a human subject such as a worker perform work in cooperation. This impact prediction device (1) is provided with a specifications recording unit that records specification information relating to the specifications of the object to be controlled. The impact prediction device (1) calculates a movement of the human subject on the basis of a measurement result for a part to be measured in the body of the human subject (S401-S405), and calculates an operation of the object to be controlled (S406-S408). Then, on the basis of the movement of the human subject, the operation of the object to be controlled, and the specification information recorded in the specifications recording unit, the impact prediction device (1) calculates an impact degree, which represents the degree of the impact of the object to be controlled on the human subject when the object to be controlled makes contact with the human subject (S411), and controls the object to be controlled on the basis of the calculation result (S412).

Description

Impact prediction device, impact prediction system, control device, impact prediction method, and impact prediction program

The present invention relates to an impact prediction device that predicts an impact given to a subject by contact of a control object, a control device that controls the control object based on a prediction result of such an impact prediction device, and an impact equipped with such an impact prediction device The present invention relates to a prediction system, an impact prediction method using such an impact prediction device, and an impact prediction program for realizing such an impact prediction device.

In various work sites, such as factories, machines such as industrial robots and people work together. In a cooperative work between a machine and a person, it is an important safety issue to detect the degree of impact when a person collides with the machine. In a conventional machine, an actual collision is detected by detecting the state of the machine such as displacement, overtorque, and overcurrent after the collision. In such a method, since a collision is detected only when a load is applied to the human body, there is a risk of danger such as pain in the human body.

A method for measuring an impact when a machine collides is disclosed in Patent Document 1, for example. A method for controlling the robot after the collision is disclosed in, for example, Patent Document 2.

By the way, conventionally, industrial robots with a rated output exceeding 80 W had to be enclosed with a physical safety fence and isolated from the workers. Such 80W regulations were relaxed in December 2013, and if certain conditions were met, industrial robots exceeding 80W could cooperate with workers without safety fences.

JP 2009-101457 A JP 2007-26528 A

With the relaxation of the 80W regulation, ensuring safety is a more important issue when industrial robots and people collaborate. Note that ensuring safety is also an important issue for industrial robots of 80 W or less.

However, Patent Document 1 and Patent Document 2 do not disclose a technique regarding a collision between a machine such as an industrial robot and a person. In addition, in the conventional method of detecting the degree of impact after a collision, sufficient safety must be ensured when applied to an area where there is a risk of collision between a machine and a person.

The present invention has been made in view of such circumstances, and by calculating the degree of impact when a machine comes into contact with a person based on the operation of the person, the operation of the machine, and the specifications of the machine, the machine and the person It is a main object to provide an impact prediction device capable of predicting an impact before it comes into contact.

Another object of the present invention is to provide a control device that controls a controlled object based on the impact prediction result of the impact prediction device according to the present invention.

Another object of the present invention is to provide an impact prediction system including the impact prediction device according to the present invention.

Further, the present invention has another object to provide an impact prediction method using the impact prediction apparatus according to the present invention.

Further, the present invention has another object to provide an impact prediction program for realizing the impact prediction apparatus according to the present invention.

In order to solve the above-described problem, the impact prediction device described in the present application is an impact prediction device that predicts an impact that a control target gives to a subject by contact, and a specification acquisition unit that acquires specification information about the specification of the control target A target person action acquisition unit for acquiring target person action information indicating the action of the target person based on a measurement result of a measurement target part of the subject person's body, and control target action information indicating the action of the control object Based on the control target action acquisition unit to be acquired, the target person action information acquired by the target person action acquisition unit, the control target action information acquired by the control target action acquisition unit, and the specification information acquired by the specification acquisition unit And an impact degree calculation unit that calculates an impact degree indicating the degree of impact that the control object gives to the subject when the control subject comes into contact with the subject.

Further, in the impact prediction apparatus, the subject motion acquisition unit acquires subject motion information of a plurality of the subjects, and the impact degree computation unit specifies the subject to be contacted. .

Further, in the impact prediction device, the specification acquisition unit acquires at least one of information on a shape, information on a material, and information on an operation regarding a part constituting the control target as specification information. And

Further, in the impact prediction device, the subject motion acquisition unit acquires the calculated subject motion information based on at least one of position information and posture information of a measurement target part of the subject's body. Features.

Further, in the impact prediction apparatus, at least one of the position information and posture information related to the acquisition of the subject motion acquisition unit is the velocity, acceleration, angular velocity, angular acceleration, pressure, and magnetism of the measurement target part of the subject's body. It is the information calculated based on at least one of these.

Further, in the impact prediction device, the calculated subject motion information acquired by the subject motion acquisition unit is a speed or acceleration of a calculation target part of the subject.

The impact prediction apparatus further includes a control target control unit that outputs a control command for controlling the control target based on the impact level calculated by the impact level calculation unit.

Further, in the impact prediction device, the control target control unit outputs a control command for continuing the operation, stopping the operation, reducing the operation speed, performing the contact avoiding operation, or performing the operation for reducing the impact level. It is characterized by.

Furthermore, the control device described in the present application is a control device that controls a control target, and an input unit that receives an input of an impact level calculated by the impact level calculation unit from the impact prediction device, and the input unit receives And a control target control unit that outputs a control command for controlling the control target based on the degree of impact.

Further, in the control device, the control target control unit outputs a control command for causing the operation to continue, the operation to be stopped, the operation speed to be reduced, the contact avoidance operation to be performed, or the impact degree reduction operation to be performed. Features.

Furthermore, the impact prediction system described in the present application includes a mounting device that can be worn by a subject, a controlled object that operates based on control, and the impact prediction device, and the wearing device measures the body of the subject. A measurement unit that measures a target region, the control target includes an output unit that outputs information about an operation, and the subject motion acquisition unit included in the impact prediction device is based on a measurement result by the measurement unit of the mounting device The subject motion information is obtained, and the control subject motion acquisition unit provided in the impact prediction apparatus obtains control subject motion information based on information related to the motion output from the control subject.

Further, the impact prediction method described in the present application is an impact prediction method for predicting an impact given to a subject by contact of a control target, wherein the specification acquisition unit acquires specification information related to the specification of the control target; A person action obtaining unit obtaining object person action information indicating the action of the subject person based on a measurement result of a measurement target part of the subject person's body; and a control object action obtaining unit comprising an action of the control object The control object operation information indicating the control object operation information acquired by the object person operation acquisition unit, the control object operation information acquired by the control object operation acquisition unit, and the specification acquisition Calculating a degree of impact indicating a degree of impact that the control target gives to the target person when the control target contacts the target person based on the specification information acquired by the unit; And wherein the Mukoto.

Furthermore, the impact prediction program described in the present application is an impact prediction program for causing a computer to predict an impact given to a subject by contact of a control target, and acquiring, in the computer, specification information relating to the specification of the control target; Acquiring subject motion information indicating the motion of the subject based on measurement results of a measurement target region of the subject's body, obtaining control target motion information indicating the motion of the control target, and obtaining The degree of impact indicating the degree of impact that the control target gives to the target person when the control target comes into contact with the target person based on the acquired target person action information, the acquired control target action information, and the acquired specification information The step of calculating is performed.

The impact prediction device, the control device, the impact prediction system, the impact prediction method, and the impact prediction program described in this application are based on the target person's motion, the control target's motion, and the control target's specification information. In this case, it is possible to calculate the degree of impact indicating the degree of impact that the control target gives to the subject.

The present invention provides a control object when a control object comes into contact with a target person based on specification information regarding the operation of the object person and the operation of the control object based on the measurement result of the measurement part of the body of the object person and the control object. The degree of impact indicating the degree of impact given to the subject is calculated. As a result, the degree of impact can be predicted before the worker contacts the controlled object, so that control of the controlled object according to the degree of impact is possible, so the worker and the controlled object can collaborate. As a result, it is possible to improve the safety in performing the process.

It is explanatory drawing which shows notionally an example of the impact prediction system of this application description. It is a block diagram which shows an example of the hardware constitutions of the impact prediction apparatus with which the impact prediction system of this application description is provided, and other various apparatuses. It is explanatory drawing which shows notionally an example of the recording content of the robot specification recording part with which the impact prediction apparatus of this application description is provided. It is a functional block diagram which shows an example of a function structure of the impact prediction apparatus with which the impact prediction system of this application description is equipped, and other various apparatuses. It is a flowchart which shows an example of the robot specification recording process of the impact prediction apparatus with which the impact prediction system of this application is provided. It is a flowchart which shows an example of the 1st human body model recording process of the impact prediction apparatus with which the impact prediction system of this application is provided. It is a flowchart which shows an example of the 2nd human body model recording process of the impact prediction apparatus with which the impact prediction system of this application description is provided. It is a flowchart which shows an example of the impact prediction process of the impact prediction apparatus with which the impact prediction system of this application is provided. It is a functional block diagram which shows an example of a function structure of the various apparatuses in the other system structure example of the impact prediction system described in this application.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. The following embodiment is an example embodying the present invention, and is not intended to limit the technical scope of the present invention.

<System configuration>
First, an outline of the impact prediction system described in the present application will be described. FIG. 1 is an explanatory diagram conceptually illustrating an example of an impact prediction system described in the present application. The impact prediction system described in the present application includes a work robot (hereinafter referred to as a robot) 2 that works according to a predetermined control command as a control target, and an FA (Factory Automation) that a worker (target person) works in cooperation with the robot 2. ) Applies to systems such as systems. The worker uses the mounting device 3 including various inertial sensors such as an acceleration sensor and a gyro sensor on various measurement target parts of the body, for example, measurement target parts such as the head, upper arm, forearm, chest, abdomen, thigh, and lower leg. Installing. The mounting apparatus 3 including various inertial sensors measures a measurement target portion of the subject's body and outputs various measurement information indicating the measurement results. As a sensor to be attached to the mounting device 3, in addition to an inertial sensor such as an acceleration sensor or a gyro sensor, a sensor such as a magnetic sensor or a pressure sensor can be used. When a plurality of workers work, each worker who is a target of impact prediction mounts these mounting devices 3. In FIG. 1, for easy understanding, a part where the inertial sensor is located is indicated by a white circle in an operator who wears the mounting device 3.

Furthermore, the impact prediction system includes an impact prediction device 1 that acquires various types of information output from the mounting device 3 and the robot 2 and predicts an impact when the operator and the robot 2 come into contact with each other. The impact prediction apparatus 1 is configured using a computer such as a control computer that controls the robot 2, for example. The impact prediction device 1 is communicably connected to the mounting device 3 and the robot 2 indirectly or directly via a communication network such as a local LAN (Local Area Network) by a wireless or wired communication method. It communicates various information and signals.

Here, for convenience of explanation, the robot 2 and the impact prediction device 1 are described as different devices, but the impact prediction device 1 may be a device incorporated in the robot 2. In that case, a circuit or a program that functions as the impact prediction device 1 may be incorporated into a part of the control circuit that controls the operation of the robot 2. Furthermore, the robot 2 may be plural, and in that case, the impact prediction device 1 may be incorporated in each robot 2.

<Device configuration>
Next, configuration examples of various devices included in the impact prediction system described in the present application will be described. FIG. 2 is a block diagram illustrating an example of a hardware configuration of the impact prediction device 1 and other various devices included in the impact prediction system described in the present application. The impact prediction apparatus 1 includes a control unit 10 and a recording unit 11, and further includes a measurement information acquisition unit 12, a robot input / output unit 13, and an information input unit 14 as interfaces with other devices.

The control unit 10 is configured by using a processor such as a CPU (Central Processing Unit) and a memory such as a register, and controls the entire apparatus by executing various commands. Is output.

The recording unit 11 includes a nonvolatile memory such as a ROM (Read Only Memory) and an EPROM (Erasable Programmable Read Only Memory), a volatile memory such as a RAM (Random Access Memory), and a recording medium such as a hard disk drive and a semiconductor memory. It records data such as various programs and information. Further, in the recording area of the recording unit 11, an impact prediction program PG that causes a computer such as a control computer to function as the impact prediction apparatus 1 according to the present invention is recorded.

Furthermore, a part of the recording area of the recording unit 11 includes a human body model recording unit 11a that records a human body model that schematically represents the body shape of each worker, and a robot specification recording unit that records specification information indicating the specifications of the robot 2. It is used as a database such as 11b. The human body model is a numerical model schematically representing the body of each worker using numerical values such as lengths of various parts such as the upper arm, forearm, thigh, and lower leg. In the human body model recording unit 11a, a human body model relating to each worker is recorded in association with worker specifying information (worker ID) for specifying the worker. Instead of using a part of the recording area of the recording unit 11 included in the impact prediction device 1 as the human body model recording unit 11a, a recording device such as a server computer for recording various information is connected to the impact prediction device 1 to A part of the recording area of the recording device connected to the prediction device 1 may be used as a database for the human body model recording unit 11a, the robot specification recording unit 11b, and the like. That is, the database such as the human body model recording unit 11a and the robot specification recording unit 11b is accessed by the control unit 10 included in the impact prediction device 1 and can be designed in various forms as long as it can be recorded and read. Is possible.

FIG. 3 is an explanatory diagram conceptually showing an example of recorded contents of the robot specification recording unit 11b provided in the impact prediction apparatus 1 described in the present application. In the robot specification recording unit 11b, information related to the specifications of the robot 2 is recorded for each part of the robot 2 indicated as "A", "B", and "C" in the figure. As the specification information on the specifications of the robot 2, various information such as information on the shape of the part such as the link length, information on the material of the part such as the weight and the coefficient of restitution, information on the operation such as the movable range and the maximum speed are recorded. ing.

Returning to the block diagram of FIG. 2, the measurement information acquisition unit 12 is an interface that acquires various types of information such as measurement information indicating the results of measurement from each mounting device 3. The robot input / output unit 13 is an interface that acquires various information from the robot 2 and outputs various commands. The information input unit 14 is an interface for communicating with various devices used for inputting various information such as information indicating a human body model and specification information regarding the specifications of the robot 2. Note that these interfaces do not necessarily have to exist as individual devices, and can be shared as appropriate, and include a plurality of devices for inputting and outputting different information to one apparatus. It is also possible to make it. For example, when transmitting / receiving information to / from other apparatuses via a communication network, it is sufficient to have one device connected to the communication network, and a device that acquires position information, posture information, and other information from the robot 2 It is also possible to provide both the robot 2 and a device that outputs a command. Furthermore, the information input unit 14 may accept input of various information such as a human body model and specification information from an information input device using a device such as a tablet computer, and various information from portable recording media such as various semiconductor memories. It is possible to design as appropriate, such as accepting the input.

A computer such as a control computer reads various programs recorded in the recording unit 11, for example, the impact prediction program PG, acquires specification information included in the read impact prediction program PG, acquires target person operation information, and controls. It functions as the impact prediction device 1 by executing various steps such as acquisition of target motion information and calculation of impact level under the control of the control unit 10.

The robot 2 includes various components such as a control unit that controls the entire apparatus, an operation unit such as an arm unit that performs work, a sensor unit that measures operations such as position and posture, and an input / output unit that communicates with the impact prediction apparatus 1. ing.

The mounting device 3 includes various components such as a measurement unit using sensors that detect information related to the operation of an acceleration sensor, a gyro sensor, and the like, and other output units. As a sensor attached to the mounting device 3, various sensors such as a magnetic sensor and a pressure sensor can be used in addition to an acceleration sensor and a gyro sensor. And the mounting apparatus 3 measures physical quantities, such as speed, angular velocity, acceleration, angular acceleration, pressure, magnetism, in a measurement part, and uses the measured result as measurement information, such as raw data which shows the measurement result regarding an operator's operation | movement. , Output from the output unit to the impact prediction device 1. The impact prediction apparatus 1 acquires measurement information indicating physical quantities such as velocity, angular velocity, acceleration, angular acceleration, pressure, magnetism, and the like by the measurement information acquisition unit 12, and position information and posture calculated based on the acquired measurement information Get status information such as information. For example, the position information can be calculated by integrating the acceleration measured by the acceleration sensor twice. Note that calculation of state information such as position information and posture information based on measurement information indicating physical quantities such as velocity, angular velocity, acceleration, angular acceleration, pressure, and magnetism is performed by either the mounting device 3 or the impact prediction device 1. You may do it.

FIG. 4 is a functional block diagram showing an example of the functional configuration of the impact prediction device 1 and other various devices provided in the impact prediction system described in the present application. The impact prediction device 1 executes various programs such as the impact prediction program PG, and based on the control of the control unit 10, the human body state acquisition unit 10a, the human body model calculation unit 10b, the human body model acquisition unit 10c, the human body motion calculation unit 10d, human body motion acquisition unit (target person motion acquisition unit) 10e, robot motion calculation unit 10f, robot motion acquisition unit (control target motion acquisition unit) 10g, approach part determination unit 10h, robot specification acquisition unit 10i, impact degree calculation unit 10j, the function as a calculation part which performs various calculations, such as a robot control part (control object control part) 10k, is realized. Note that various arithmetic units that realize these various functions can be implemented as dedicated circuits using semiconductor chips such as LSI (Large Scale Integration) and VLSI (Very Large Scale Integration).

The human body state acquisition unit 10a uses the measurement information indicating physical quantities such as velocity, angular velocity, acceleration, angular acceleration, pressure, magnetism, and the like acquired by the measurement information acquisition unit 12 from the mounting device 3 to determine the position information and posture of the measurement target part. Status information such as information is obtained by calculation. When state information such as position information and posture information is output from the mounting device 3 and the measurement information acquisition unit 12 acquires the state information, the human body state acquisition unit 10a of the control unit 10 It is acquired as it is as information used for calculation.

The human body model calculation unit 10b performs a calculation for calculating a human body model that schematically represents the shape of the worker's body based on various state information such as position information and posture information acquired by the human body state acquisition unit 10a. The calculation of the human body model based on the various state information based on the measurement of the mounting device 3 worn by the worker can be performed using various preceding techniques. For example, it is described in “Kanesugi Hiroshi, Shibasaki Ryosuke,“ Measurement and Analysis of Human Motion Using Wearable Sensors ”, Japan Photogrammetric Society, 2005 Annual Scientific Papers, pp.199-202, 2005.06. It is possible to apply the method.

The human body model acquisition unit 10c executes a process of acquiring the human body model recorded in the human body model recording unit 11a.

The human body motion calculation unit 10d is based on the state information acquired by the human body model acquisition unit 10c and the human body model acquired by the human body model acquisition unit 10c from the human body model recording unit 11a, and the calculation target of the body such as the hands and feet of the worker The calculation which calculates the operation | movement of a site | part is performed. The operation of the calculation target part is calculated as, for example, human body motion information (subject action information) indicating operations such as the position of the calculation target part, the motion direction, the predicted position after a predetermined time, and the predicted motion direction.

The human body motion acquisition unit 10e executes a process of acquiring the human body motion information calculated by the human body motion calculation unit 10d.

The robot motion calculation unit 10f communicates with the robot 2 via the robot input / output unit 13 that functions as the robot state acquisition unit 13a. Then, the robot operation calculation unit 10f receives input of robot state information indicating the position, posture, and the like of each part from the robot 2, and executes calculation for calculating the operation of the robot 2 based on the received input.

The robot motion acquisition unit 10g executes a process of acquiring robot motion information (control target motion information) indicating the motion of the robot 2 calculated by the robot motion calculation unit 10f.

The approaching part determination unit 10h is configured so that each part of the worker and each part of the robot 2 are determined based on the operation of the worker that is the calculation result of the human body motion calculation unit 10d and the operation of the robot 2 that is the calculation result of the robot motion calculation unit 10f. The approach situation is determined for the part. The determination of the approach situation is the identification of the worker and the part of the worker who is approaching or predicted to approach and the part of the robot 2, the relative speed between the approaching parts, the prediction of the contact, It is the derivation of the situation such as the relative speed between the parts.

The robot specification acquisition unit 10i executes a process of acquiring specification information recorded in the robot specification recording unit 11b.

The impact calculation unit 10j is configured so that the robot 2 touches the target person by the contact based on the approach status as the calculation result of the approach site determination unit 10h and the specification information of each part of the robot 2 recorded in the robot specification recording unit 11b. The calculation which calculates the applied impact as an impact degree is performed. The degree of impact is calculated based on items such as pressure, force, maximum transmission energy, and kinetic energy applied to the worker when the robot 2 contacts the worker. Therefore, for example, the higher the relative speed at the time of contact between the robot 2 and the worker, and the greater the weight of the part of the robot 2, the greater the impact degree is calculated.

The robot control unit 10k executes a calculation for deriving a method for controlling the robot 2 based on the calculation result of the impact level by the impact level calculation unit 10j, and outputs a control command indicating the control method for the robot 2 as the calculation result. To do. The output of the control command is executed as an output to the robot 2 via the robot input / output unit 13 that functions as the robot control command output unit 13b. The method for controlling the robot 2 is derived, for example, by comparing the calculated degree of impact with a predetermined threshold value set in advance in a plurality of stages. For example, if the degree of impact is less than a predetermined first threshold, it is determined that there is no problem even if the contact is made, and control is performed so that the operation of the robot 2 is continued. If the degree of impact is equal to or greater than the first threshold value and less than the predetermined second threshold value, the robot 2 is controlled to perform an operation for reducing the degree of impact. Further, if the degree of impact is equal to or greater than the second impact value, control is performed so that the motion trajectory is corrected so that the motion of the robot 2 is not stopped or touched. The derived control method is not limited to these exemplified controls, and is appropriately set according to the calculation result of the impact level. That is, the robot control unit 10k derives a control method such as continuation of operation, stop of operation, deceleration of operation speed, implementation of contact avoidance operation, reduction operation of impact degree, and the like, and a control command for executing the derived control method Is output.

In this way, not only is it determined whether or not the robot 2 and the worker are in contact with each other, but even if there is a possibility of contact, control is performed so as not to stop the operation of the robot 2 if the degree of impact is low. Do. Thereby, since the impact prediction apparatus 1 described in the present application does not need to stop the operation of the robot 2 more than necessary while maintaining safety, it is possible to improve both safety and productivity. .

The information input unit 14 functions as a human body model input unit 14a that receives input of the human body model of each worker from the human body model input device 4 that is an external device, and records the received human body model in the human body model recording unit 11a. . The information input unit 14 functions as a robot specification input unit 14b that receives input of specification information of the robot 2 from the robot specification input device 5 that is an external device, and records the received specification information in the robot specification recording unit 11b. To do.

<Processing configuration>
Various processes of the impact prediction apparatus 1 provided in the impact prediction system according to the present application configured as described above will be described. FIG. 5 is a flowchart showing an example of the robot specification recording process of the impact prediction apparatus 1 provided in the impact prediction system described in the present application. The robot specification recording process is a process of accepting input of specification information from the robot specification input device 5 that records specification information and recording it in the robot specification recording unit 11b.

The control unit 10 included in the impact prediction apparatus 1 executes a robot specification recording process by executing various programs such as the impact prediction program PG. The control unit 10 of the impact prediction apparatus 1 accepts input of specification information from the robot specification input device 5 through the robot specification input unit 14b (S101), and records the received specification information in the robot specification recording unit 11b (S102). In step S102, specification information such as information on the shape of the part of the robot 2, information on the material, and information on the operation is recorded for each part. When there are a plurality of robots 2 to be used, specification information is recorded for each robot 2 and each part.

In this way, the robot specification recording process is executed.

FIG. 6 is a flowchart showing an example of the first human body model recording process of the impact prediction device 1 provided in the impact prediction system described in the present application. The first human body model recording process is a process in which an operator wearing the mounting apparatus 3 performs an operation, acquires information based on the operation, and records a human body model calculated from the acquired information in the human body model recording unit 11a. is there.

The control unit 10 included in the impact prediction apparatus 1 executes the first human body model recording process by executing various programs such as the impact prediction program PG. The control unit 10 of the impact prediction apparatus 1 acquires measurement information as a result of measuring the operator's operation by the measurement information acquisition unit 12 from the mounting apparatus 3 worn by the worker (S201). The acquisition of the measurement information in step S201 means that the worker wearing various inertial sensors as the attachment device 3 performs a predetermined reference motion, and the speed and angular velocity of the measurement target part measured by the worker performing the reference motion. The measurement information acquisition unit 12 acquires measurement information indicating at least one of physical quantities such as acceleration, angular acceleration, pressure, and magnetism.

The control unit 10 uses the human body state acquisition unit 10a to obtain and acquire state information such as position information and posture information of the measurement target part based on the measurement information acquired by the measurement information acquisition unit 12 (S202). Step S202 is a process of calculating at least one of the position information and posture information of the subject as state information based on the measurement information obtained by measuring the motion of the subject acquired by the measurement information acquisition unit 12.

The control unit 10 calculates (calculates) a human body model that schematically represents the shape of the worker's body based on the acquired state information by the calculation of the human body model calculation unit 10b (S203).

Then, the control unit 10 records the calculated human body model in the human body model recording unit 11a in association with worker specifying information for specifying the worker who performed the operation (S204).

In this way, the first human body model recording process is executed.

FIG. 7 is a flowchart showing an example of the second human body model recording process of the impact prediction device 1 provided in the impact prediction system described in the present application. The second human body model recording process is a process of receiving an input of a human body model from the human body model input device 4 that records a human body model calculated in advance and recording it in the human body model recording unit 11a.

The control unit 10 provided in the impact prediction apparatus 1 executes the second human body model recording process by executing various programs such as the impact prediction program PG. The control unit 10 of the impact prediction apparatus 1 receives an input of the human body model and corresponding worker identification information from the human body model input device 4 through the human body model input unit 14a (S301). And the control part 10 matches the received human body model with worker specific information, and records it on the human body model recording part 11a (S302).

In this way, the second human body model recording process is executed.

In addition, as a process which records model information in the model recording part 11a, any of a 1st human body model recording process and a 2nd human body model recording process may be used, and you may make it use another method. .

FIG. 8 is a flowchart showing an example of the impact prediction process of the impact prediction device 1 provided in the impact prediction system described in the present application. The impact prediction process is a process for predicting the impact that the control target gives to the subject by contact. The control unit 10 included in the impact prediction apparatus 1 executes impact prediction processing by executing various programs such as the impact prediction program PG. The control unit 10 of the impact prediction apparatus 1 executes a process for calculating the operation state of the worker and a process for calculating the operation state of the robot 2 as parallel processes. That is, as one process, the control unit 10 acquires measurement information indicating a measurement result obtained by the mounting apparatus 3 measuring the movement of the worker by the measurement information acquisition unit 12 (S401), and the human body state acquisition unit 10a. Based on the acquired measurement information, human body state information indicating the state of the human body such as position information and posture information is obtained by calculation and acquired (S402). Further, the control unit 10 acquires a human body model from the human body model recording unit 11a by the human body model acquisition unit 10c (S403). Further, the control unit 10 calculates the motion of the calculation target part of the worker (human body) based on the acquired human body state information and the human body model by the human body motion calculation unit 10d (S404), and the human body motion acquisition unit 10e Then, human body motion information indicating the motion of the part to be calculated is acquired (S405). The calculation of the operation state of the calculation target part based on the operation information is performed for each worker.

Further, as the other process, the control unit 10 acquires robot state information indicating the robot state such as the position and posture of each part from the robot 2 by the robot state acquisition unit 13a (S406). Further, the control unit 10 calculates the operation of the robot 2 based on the robot state information acquired by the robot operation calculation unit 10f (S407), and the robot operation information indicating the operation of the robot 2 by the robot operation acquisition unit 10g. Is acquired (S408).

After the parallel processing, the control unit 10 determines the approach status for each part for each worker and each part of the robot 2 based on the human body motion information and the robot motion information by the approach part determination unit 10h. It is determined whether or not the robot 2 comes into contact (S409).

If it is determined in step S409 that the worker and the robot 2 are in contact (S409: YES), the control unit 10 acquires the specification information of each part of the robot 2 from the robot specification recording unit 11b by the robot specification acquisition unit 10i. (S410), the impact level calculation unit 10j calculates the impact level between the worker and the robot 2 based on the approach situation and the specification information (S411). In step S411, the degree of impact is calculated based on the approach status of each part for each worker and each part of the robot 2, and the specification information of each part of the robot 2 recorded in the robot specification recording unit 11b. The calculation of the degree of impact is performed as identification of the worker who is predicted to be contacted, derivation of the degree of impact obtained by quantifying the contact portion of the worker and the robot 2 and the impact of the robot 2 on the subject due to the contact. That is, in step S411, as the calculation of the degree of impact, the impact that the robot 2 gives to the operator through contact is predicted. If it is determined in step S409 that the worker and the robot 2 do not come into contact with each other (S409: NO), the control unit 10 parallels the process for calculating the operation state of the worker and the process for calculating the operation state of the robot 2. Run the process again.

After calculating the impact level, the control unit 10 performs arbitrary control of the robot 2 based on the impact level by the robot control unit 10k (S412). The arbitrary control in step S412 means that the robot 2 continues to operate, stops operation, decelerates the operation speed, performs a contact avoidance operation, reduces the impact, etc., based on the impact calculated in step S411. This indicates that predetermined control is executed in advance. The robot control unit 10k derives a control method for arbitrary control based on the degree of impact, and outputs a control command for executing the derived control method to the robot 2 via the robot control command output unit 13b.

And the control part 10 determines whether an impact prediction process is complete | finished (S413). For example, when the operator finishes the work and performs a predetermined operation for ending the impact prediction process, the control unit 10 that has received the operation determines to end the impact prediction process.

When it is determined in step S413 that the impact prediction process is to be ended (S413: YES), the control unit 10 ends the impact prediction process. If it is determined in step S413 that the impact prediction process is not to be ended (S413: NO), the control unit 10 executes again the parallel process of the process of calculating the operation state of the worker and the process of calculating the operation state of the robot 2. To do.

In this way, the impact prediction process is executed. The impact prediction device 1 predicts the impact that the control target gives to the subject by contact based on the motion of the subject, the motion of the robot 2, and the specifications of the robot 2. As a result, the impact can be predicted before the operator contacts the robot 2, so that arbitrary control such as continuation of the operation of the robot 2, impact mitigation operation, stop, contact avoidance operation, information collection, etc. can be performed according to the impact. Is possible. Therefore, the impact prediction apparatus 1 can improve both safety and productivity because it is not necessary to stop the operation of the robot 2 more than necessary while maintaining safety.

The present invention is not limited to the embodiment described above, and can be implemented in various other forms. For this reason, the above-described embodiment is merely an example in all respects and should not be interpreted in a limited manner. The scope of the present invention is shown by the scope of claims, and is not restricted by the text of the specification. Further, all modifications and changes belonging to the equivalent scope of the claims are within the scope of the present invention.

For example, in the embodiment, the robot motion information is acquired when calculating the robot motion. However, the present invention is not limited to this, and the motion of the robot 2 is calculated based on a preprogrammed control command. It can be developed in various forms.

Further, for example, in the above-described embodiment, the scalar quantity is used as the degree of impact obtained by quantifying the impact. However, the present invention is not limited to this, and the present invention can be developed in various forms such as using a vector quantity as the degree of impact. It is possible.

In the above-described embodiment, the impact prediction device 1 performs various calculations using various calculation units such as the human body model calculation unit 10b, the human body movement calculation unit 10d, and the robot movement calculation unit 10f. The invention is not limited to this. That is, some of these calculation functions are provided in another device, the impact prediction device 1 acquires various calculation results from the other device, and the impact degree calculation unit 10j performs the calculation of the impact degree. It can be developed in various forms.

Moreover, although the impact prediction apparatus 1 showed the form which controls the robot 2 in the said embodiment, this invention is not limited to this, The apparatus which controls the robot 2 separately from the impact prediction apparatus 1 which estimates an impact is shown. It is also possible to develop in various forms such as providing.

<Other system configuration examples>
A system configuration example in which a control device 6 for controlling the robot 2 is provided separately from the impact prediction device 1 will be described. In addition, about the structure similar to the above-mentioned system configuration example which is not provided with the control apparatus 6, the description regarding the above-mentioned system shall be referred, and the description is abbreviate | omitted.

FIG. 9 is a functional block diagram showing an example of the functional configuration of various devices in another system configuration example of the impact prediction system described in the present application. The control device 6 is formed using, for example, a device such as a control computer that controls the robot 2, and is connected to the impact prediction device 1 and the robot 2.

The impact prediction device 1 includes a control device output unit 15 as a communication interface with the control device 6. The control device 6 includes various components such as an input unit 60 serving as a communication interface with the impact prediction device 1 and a robot control unit (control target control unit) 61 that controls the robot 2.

Then, the impact prediction device 1 outputs the impact level predicted by the impact level calculation unit 10j to the control device 6. The control device 6 receives an input of the impact level from the input unit 60, and the robot control unit 61 determines control of the robot 2 based on the impact level. Then, the control device 6 outputs a control command for arbitrarily controlling the robot 2 based on the degree of impact from the robot control unit 61 to the robot 2. The control command to be output to the robot 2 performs predetermined control such as continuation of the operation, stop of the operation, deceleration of the operation speed, execution of the contact avoidance operation, reduction operation of the impact degree, etc. It is an instruction to make. That is, the robot control unit 61 included in the control device 6 realizes the same function as the robot control unit 10 k included in the impact prediction device 1.

Thus, the impact prediction system described in the present application can be deployed in various system configurations.

DESCRIPTION OF SYMBOLS 1 Impact prediction apparatus 10 Control part 10a Human body state acquisition part 10b Human body model calculation part 10c Human body model acquisition part 10d Human body movement calculation part 10e Human body movement acquisition part (target person movement acquisition part)
10f Robot motion calculation unit 10g Robot motion acquisition unit (control target motion acquisition unit)
10h Approach site determination unit 10i Robot specification acquisition unit (specification acquisition unit)
10j Impact degree calculation unit 10k Robot control unit (control target control unit)
DESCRIPTION OF SYMBOLS 11 Recording part 11a Human body model recording part 11b Robot specification recording part 12 Measurement information acquisition part 13 Robot input / output part 13a Robot state acquisition part 13b Robot control command output part 14 Information input part 14a Human body model input part 14b Robot specification input part 15 Control unit output unit 2 Robot (control target)
3 Mounting device 4 Human body model input device 5 Robot specification input device 6 Control device 60 Input unit 61 Robot control unit (control target control unit)
PG impact prediction program

Claims

An impact prediction device that predicts an impact that a control target gives to a subject by contact,
A specification acquisition unit for acquiring specification information on the specification of the control target;
A subject motion acquisition unit for acquiring subject motion information indicating the motion of the subject based on a measurement result of a measurement target portion of the subject's body;
A control target action acquisition unit for acquiring control target action information indicating the control target action;
Based on the target person action information acquired by the target person action acquisition unit, the control target action information acquired by the control target action acquisition unit, and the specification information acquired by the specification acquisition part, the control target is transferred to the target person. An impact prediction device, comprising: an impact degree calculation unit that calculates an impact degree indicating the degree of impact that the control object gives to the subject when contacted.
The impact prediction device according to claim 1,
The target person action acquisition unit acquires target person action information of a plurality of the target persons,
The impact prediction device is characterized in that the impact degree calculation unit identifies the subject in contact.
The impact prediction apparatus according to claim 1 or 2,
The specification acquisition unit
As the specification information, at least one of information regarding a shape, information regarding a material, and information regarding an operation of a part constituting the control target is acquired.
The impact prediction apparatus according to any one of claims 1 to 3,
The subject action acquisition unit
An impact prediction device, wherein the calculated subject motion information is acquired based on at least one of position information and posture information of a measurement target part of the subject's body.
The impact prediction device according to claim 4,
At least one of the position information and the posture information related to the acquisition of the subject motion acquisition unit is based on at least one of speed, acceleration, angular velocity, angular acceleration, pressure, and magnetism of a measurement target part of the subject's body. An impact prediction device characterized by being calculated information.
The impact prediction apparatus according to claim 4 or 5, wherein
The calculated subject motion information acquired by the subject motion acquisition unit is the speed or acceleration of the calculation target portion of the subject.
The impact prediction device according to any one of claims 1 to 6,
An impact prediction apparatus comprising: a control target control unit that outputs a control command for controlling the control target based on the impact level calculated by the impact level calculation unit.
The impact prediction device according to claim 7,
The control target control unit
An impact prediction apparatus, characterized by outputting a control command for continuing an operation, stopping an operation, reducing an operation speed, performing a contact avoiding operation, or performing an operation for reducing an impact level.
A control device for controlling a control object,
An input unit that receives an input of an impact level calculated by the impact level calculation unit from the impact prediction device according to any one of claims 1 to 6,
And a control target control unit that outputs a control command for controlling the control target based on the degree of impact received by the input unit.
The control device according to claim 9,
The control target control unit
A control device that outputs a control command for causing an operation to continue, an operation to be stopped, an operation speed to be reduced, a contact avoidance operation to be performed, or an impact reduction operation to be performed.
A wearing device that the subject can wear;
A controlled object that operates based on the control;
An impact prediction device according to any one of claims 1 to 8, and
The mounting device is
A measurement unit for measuring a measurement target part of the subject's body;
The controlled object is
It has an output unit that outputs information about operations,
The subject motion acquisition unit provided in the impact prediction device acquires subject motion information based on the measurement result by the measurement unit of the mounting device,
The control object operation acquisition part with which the above-mentioned shock prediction device is provided acquires control object operation information based on information about the operation outputted from the control object. An impact prediction system characterized by things.
An impact prediction method for predicting an impact given to a subject by contact of a controlled object,
A specification acquiring unit acquiring specification information related to the specification of the control target;
A subject motion acquisition unit acquiring subject motion information indicating the motion of the subject based on a measurement result of a measurement target region of the subject's body;
A control target operation acquisition unit acquires control target operation information indicating the operation of the control target; and
The degree-of-impact calculator calculates the control based on the target person action information acquired by the target person action acquisition part, the control target action information acquired by the control target action acquisition part, and the specification information acquired by the specification acquisition part. Calculating a degree of impact indicating a degree of impact that the control target gives to the subject when the subject comes into contact with the subject.
An impact prediction program for causing a computer to predict an impact given to a subject by contact of a controlled object,
On the computer,
Obtaining specification information on the specification of the controlled object;
Obtaining subject action information indicating the action of the subject based on the measurement result of the measurement subject part of the subject's body;
Obtaining control target operation information indicating the operation of the control target;
Based on the acquired subject action information, the obtained control object action information, and the obtained specification information, an impact indicating the degree of impact that the control object gives to the subject when the control object comes into contact with the subject person And a step of calculating a degree.