WO2021033241A1 - Système de commande de robot - Google Patents

Système de commande de robot Download PDF

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Publication number
WO2021033241A1
WO2021033241A1 PCT/JP2019/032308 JP2019032308W WO2021033241A1 WO 2021033241 A1 WO2021033241 A1 WO 2021033241A1 JP 2019032308 W JP2019032308 W JP 2019032308W WO 2021033241 A1 WO2021033241 A1 WO 2021033241A1
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WO
WIPO (PCT)
Prior art keywords
robot
detection device
position detection
control system
reflector
Prior art date
Application number
PCT/JP2019/032308
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English (en)
Japanese (ja)
Inventor
真行 菅野
一功 尾▲さこ▼
哲也 赤木
Original Assignee
オムロン株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by オムロン株式会社 filed Critical オムロン株式会社
Priority to JP2021541363A priority Critical patent/JPWO2021033241A1/ja
Priority to PCT/JP2019/032308 priority patent/WO2021033241A1/fr
Publication of WO2021033241A1 publication Critical patent/WO2021033241A1/fr

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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

Definitions

  • the present disclosure relates to robot control systems, reflectors, wireless communication devices, and wireless transmitters.
  • Patent Document 1 discloses a robot system that stops a robot when an external force applied to the robot exceeds a predetermined limit value.
  • stopping the cooperative robot when the external force applied to the cooperative robot exceeds a predetermined limit value means stopping the cooperative robot after the cooperative robot comes into contact with the worker, thus ensuring the safety of the worker. There was a problem that it could not be secured sufficiently.
  • An object of the present invention is to provide a robot control system, a reflector, a wireless communication device, and a wireless transmission device that can solve the above problems, prevent a decrease in production efficiency, and ensure the safety of workers.
  • the robot control system is A reflector that is attached to the human body and reflects electromagnetic waves, A position detection device that transmits the electromagnetic wave, receives the reflected wave from the reflector, and detects the position of the reflector based on the received reflected wave.
  • a robot control system including a robot that performs a predetermined robot operation in an area including at least a part of the area in which the human body enters. The robot controls the robot operation according to the position of the reflector detected by the position detection device.
  • the robot control system is A position detector that transmits the first electromagnetic wave and A wireless communication device that is attached to the human body, receives the first electromagnetic wave transmitted from the position detection device, and transmits a second electromagnetic wave in response to the received first electromagnetic wave.
  • a robot control system including a robot that performs a predetermined robot operation in an area including at least a part of the area in which the human body enters.
  • the position detecting device receives a second electromagnetic wave transmitted from the wireless communication device, detects the position of the wireless communication device based on the received second electromagnetic wave, and determines the position of the wireless communication device.
  • the robot controls the robot operation according to the position of the wireless communication device detected by the position detection device.
  • the robot control system is A wireless transmitter that is attached to the human body and transmits electromagnetic waves, A position detection device that receives an electromagnetic wave transmitted from the wireless transmission device and detects the position of the wireless transmission device based on the received electromagnetic wave.
  • a robot control system including a robot that performs a predetermined robot operation in an area including at least a part of the area in which the human body enters. The robot controls the robot operation according to the position of the wireless transmission device detected by the position detection device.
  • the robot control system reflector, wireless communication device, and wireless transmission device according to the present disclosure, it is possible to prevent a decrease in production efficiency and ensure the safety of workers.
  • FIG. 1 is an overall configuration diagram showing an overall configuration example of the robot control system 100 according to the present disclosure.
  • the robot control system 100 includes a position detection device 120 using a three-dimensional electromagnetic wave radar, a reflector 110 that reflects an electromagnetic wave transmitted from the position detection device 120, and a robot 140.
  • the reflector 110 contains a reflective material such as a metal film that reflects electromagnetic waves, and has a shape that can be attached to the hand of an operator 160, for example.
  • the reflector 110 has a glove-like shape or is attached to a glove.
  • the robot 140 is an industrial robot that performs predetermined robot operations such as bolting, bonding, welding, assembling, picking, packing, and quality inspection on the work 170 to be manufactured.
  • the robot 140 performs the robot operation in cooperation with the worker 160 or in an area common to the work area of the worker 160, and is called, for example, a cooperative robot or a cooperative robot.
  • the worker 160 works on the workbench 150 in cooperation with the robot 140.
  • the robot 140 performs the robot operation in an area including at least a part of the area in which the worker 160 enters.
  • the robot 140 Since the robot 140 performs the robot operation in cooperation with the worker 160, the robot 140 is arranged in the vicinity of the worker 160, for example, within the reach of the worker 160. In such a case, it is necessary to prevent an accident or the like caused by the worker 160 coming into contact with the robot 140.
  • the cooperative robot is controlled based on the position of the torso and feet, the worker's hands can be detected.
  • the cooperative robot stops even though it is sufficiently far from the cooperative robot, and the work becomes inefficient.
  • the cooperative robot may not stop even though the hand is in contact with the cooperative robot, and there is a problem that the safety of the operator cannot be ensured.
  • the robot control system 100 solves the above-mentioned problems by including the reflector 110.
  • the reflector 110 is attached to the hand of the worker 160.
  • the intensity of the electromagnetic wave reflected from the hand of the worker 160 becomes stronger as compared with the case of FIG. 2A, as shown in FIG. 2B. .. This makes it possible to detect the position of the hand of the worker 160.
  • FIG. 3 is a block diagram illustrating the configuration of the robot control system 100 according to the first embodiment.
  • the robot control system 100 includes a reflector 110, a position detection device 120, and a robot 140.
  • the position detection device 120 has an ID signal generator 122 that generates a signal (hereinafter, referred to as “ID signal”) including identification information (hereinafter, referred to as “ID information”), and a radio carrier wave according to the ID signal.
  • ID signal a signal
  • ID information identification information
  • a modulation transmission circuit 123 that outputs a radio signal by modulating the radio signal, a transmission antenna 121 that transmits the radio signal, and a directional control unit 124 that controls the directivity of the transmission antenna 121 are provided.
  • FIG. 4 is a schematic view showing a configuration example of the transmitting antenna 121 of FIG.
  • the transmitting antenna 121 is, for example, a two-dimensional array antenna in which a plurality of antennas 121a are arranged two-dimensionally at predetermined intervals.
  • the directivity control unit 124 controls the phase of each radio signal transmitted from each antenna 121a to control the directivity of the transmission beam transmitted from the transmission antenna 121.
  • the directivity control unit 124 may control not only the phase of the radio signal but also the amplitude.
  • the directivity control unit 124 controls the directivity of the transmitted beam so that the transmitted beam scans in a predetermined three-dimensional space at a constant cycle.
  • the position detecting device 120 further includes a receiving antenna 125.
  • the radio signal transmitted from the transmitting antenna 121 of the position detecting device 120 is reflected by the reflector 110 and received by the receiving antenna 125.
  • the position detection device 120 further includes a low noise amplifier 126 that amplifies the received signal with low noise, and a mixer 127.
  • the mixer 127 mixes the amplified reception signal with the radio carrier wave from the modulation transmission circuit 123, and outputs the mixed signal.
  • the mixed signal output from the mixer 127 is input to a low-pass filter (hereinafter, referred to as “LPF”) 128, and unnecessary high-frequency components are removed. In this way, a baseband signal including ID information is obtained.
  • LPF low-pass filter
  • the baseband signal output from the LPF128 is input to the AD converter 129 and converted into a digital signal.
  • the digital signal output from the AD converter 129 is input to the position detection unit 130.
  • the position detection unit 130 detects the position of the reflector 110, for example, by the following procedure.
  • Acquire ID information included in the received digital signal (2) Based on the received digital signal, the receiving antenna 125 detects the time t1 when the reflected wave including the ID information is received.
  • Information about the direction in which the transmission beam including the ID information is transmitted is acquired from the directivity control unit 124.
  • Information about the time t2 at which the transmission beam including the ID information is transmitted is acquired from the directivity control unit 124.
  • a point separated from the transmitting antenna 121 by a distance (t1-t2) ⁇ c / 2 in the direction acquired in (3) is detected as the position of the reflector 110.
  • c is the speed of light.
  • the directivity control unit 124 and the position detection unit 130 are composed of an information processing circuit including, for example, a CPU (Central Processing Unit), a RAM (Random Access Memory), a ROM (Read Only Memory), and the like.
  • the directivity control unit 124 and the position detection unit 130 perform the above-mentioned directivity control and position detection by, for example, interpreting and executing the program expanded in the RAM by the CPU.
  • the position detection device 120 further includes a communication interface (hereinafter, referred to as “communication I / F”) 131.
  • the position detection unit 130 of the position detection device 120 transmits information including the detected position of the reflector 110 to the robot 140 via the communication I / F 131.
  • the communication I / F 131 includes an interface circuit for enabling communication connection between the position detection device 120 and the robot 140.
  • the communication I / F 131 communicates according to standards such as IEEE802.3, IEEE802.11 or Wi-Fi, LTE, 3G, 4G, and 5G.
  • the communication I / F 131 may be an interface that communicates according to standards such as USB (Universal Serial Bus), HDMI (High Definition Multimedia Interface), IEEE 1394, and Bluetooth.
  • the robot 140 includes a communication I / F 141, a control unit 142, and an arm 143.
  • the communication I / F 141 of the robot 140 includes an interface circuit for enabling a communication connection between the robot 140 and the position detection device 120, and has the same configuration as the communication I / F 131 of the position detection device 120.
  • the control unit 142 of the robot 140 is composed of an information processing circuit including, for example, a CPU, RAM, ROM, etc., and controls the entire robot 140.
  • the control unit 142 operates the arm 143 by interpreting and executing the program expanded in the RAM by the CPU.
  • the arm 143 of the robot 140 is a movable unit driven by the control unit 142. Under the control of the control unit 142, the arm 143 performs operations such as bolting, bonding, welding, assembling, picking, packing, and quality inspection on the work 170 (see FIG. 1) to be manufactured.
  • the control unit 142 of the robot 140 receives information including the position of the reflector 110 from the position detection device 120 via the communication I / F 141.
  • the control unit 142 of the robot 140 performs control for avoiding contact between the arm 143 and the operator 160 according to the position of the reflector 110. For example, when the reflector 110 is within the range of motion of a predetermined robot, the control unit 142 performs a safety ensuring operation such as stopping the arm 143 and reducing the operating speed of the arm 143.
  • the control unit 142 of the robot 140 may detect the position of the arm 143.
  • the control unit 142 controls to avoid contact between the arm 143 and the operator 160 according to the distance between the reflector 110 and the arm 143 of the robot 140.
  • the control unit 142 may perform the above safety ensuring operation when the distance between the reflector 110 and the arm 143 is less than a predetermined threshold value.
  • FIG. 5 is a schematic view showing an example of the configuration of the reflector 110 of FIG.
  • the reflector 110 is a metal film attached to the surface of the glove 101.
  • the reflector 110 may be provided with irregularities for scattering electromagnetic waves.
  • the configuration of the reflector 110 may be any one that can be attached to the hand of the worker 160, and is not limited to the one shown in FIG.
  • FIG. 6 is a schematic view showing another example of the configuration of the reflector 110 of FIG.
  • the reflector 110 is a metal body attached to the wristband and is attached to the wrist of the worker 160.
  • the robot 140 can be controlled based on the position of the reflector 110 mounted on the hand of the worker 160. Therefore, the robot 140 is not stopped even though the hand of the worker 160 is sufficiently separated from the robot 140, and the decrease in production efficiency can be prevented. Further, it is possible to prevent the robot 140 from stopping even though the hand of the worker 160 is in contact with the robot 140, and the safety of the worker 160 can be ensured.
  • the robot control system 100 uses an electromagnetic wave radar having robustness, it is possible to accurately detect the position even when the factory is filled with steam, for example.
  • FIG. 7 is a block diagram illustrating the configuration of the robot control system 200 according to the second embodiment.
  • the robot control system 200 of FIG. 7 includes a beacon signal generator 210 in place of the reflector 110 of the robot control system 100 of FIG.
  • the beacon signal generator 210 is an example of the "wireless communication device" of the present disclosure.
  • the beacon signal generator 210 has a configuration that can be worn on the wrist of the operator 160, similar to the reflector 110 shown in FIG. 6, for example.
  • the beacon signal generator 210 different from the first embodiment will be described.
  • FIG. 8 is a block diagram showing a configuration example of the beacon signal generator 210 of FIG.
  • the beacon signal generator 210 includes a receiving antenna 211, a low noise amplifier 212 that amplifies the received signal, a local oscillator 213 that generates a signal of a predetermined frequency, and a mixer 214.
  • the predetermined frequency is set to the same frequency as the radio signal transmitted from the transmitting antenna 121 of the position detecting device 120 of FIG. 7.
  • the received signal amplified by the low noise amplifier 212 and the signal output from the local oscillator 213 are input to the mixer 214.
  • the mixer 214 mixes and outputs these input signals.
  • the signal output from the mixer 214 is input to the LPF215, and unnecessary high frequency components are removed. As a result, a baseband signal including ID information can be obtained.
  • the baseband signal output from LPF215 is input to the AD converter 216 and converted into a digital signal.
  • the digital signal output from the AD converter 216 is input to the ID signal detection unit 217.
  • the ID signal detection unit 217 detects whether or not the ID information included in the input digital signal matches the ID information unique to the beacon signal generator 210 (hereinafter, referred to as "unique ID information").
  • the unique ID information is stored in the memory 218 in advance.
  • the ID signal detection unit 217 reads the unique ID information from the memory 218, detects whether or not the read unique ID information matches the ID information included in the input digital signal, and outputs a detection result signal indicating the detection result. It is output to the beacon signal generation unit 219.
  • the beacon signal generation unit 219 When the detection result signal that the ID information included in the input digital signal and the unique ID information match is input, the beacon signal generation unit 219 generates a signal including the unique ID information and causes the modulation transmission circuit 221 to generate a signal. Output.
  • the unique ID information is stored in the memory 220 in advance. Although the memory 218 and the memory 220 are shown as separate objects in FIG. 8, the functions of the memory 218 and the memory 220 may be realized by one memory.
  • the modulation transmission circuit 221 generates and outputs a radio signal by modulating the radio carrier wave according to the signal including the input unique ID information.
  • the radio carrier may be input from the local oscillator 213 to the modulation transmission circuit 221. Alternatively, the radio carrier may be generated by the beacon signal generator 219.
  • the radio signal output from the modulation transmission circuit 221 is transmitted from the transmission antenna 222 to the position detection device 120.
  • the receiving antenna 125 of the position detecting device 120 of FIG. 7 receives the radio signal transmitted from the transmitting antenna 222 of the beacon signal generating device 210.
  • the position detection device 120 can detect the position of the beacon signal generation unit 219 in the same procedure as in the first embodiment.
  • the robot control system 200 since the robot control system 200 according to the present embodiment includes a beacon signal generator 210 that transmits a radio signal to the position detection device 120 using the transmission antenna 222, the position detection device 120 from the beacon signal generator 210 is stably provided. A radio signal is transmitted to. Therefore, in addition to the operation and effect of the robot control system 100 according to the first embodiment, the robot control system 200 has an effect of being able to accurately detect the position of the hand of the beacon signal generator 210 and the worker 160.
  • FIG. 9 is a block diagram illustrating the configuration of the robot control system 300 according to the third embodiment.
  • the robot control system 300 of FIG. 9 differs from the robot control system 100 of FIG. 3 in the following points.
  • a continuous wave (Continuous Wave, hereinafter referred to as “CW”) transmitter 310 is provided instead of the reflector 110.
  • CW Continuous Wave
  • a position detection device 320 is provided instead of the position detection device 120. The differences will be described below.
  • FIG. 10 is a block diagram showing a configuration example of the CW transmitter 310 of FIG.
  • the CW transmitter 310 is an example of the "wireless transmitter" of the present disclosure.
  • the CW transmitter 310 has a configuration that can be worn on the wrist of the worker 160, similar to the reflector 110 shown in FIG. 6, for example.
  • the CW transmitter 310 sends the oscillator 311 that generates the signal of frequency f, the power amplifier 312 that amplifies the generated signal and outputs the radio signal, and the radio signal output from the power amplifier 312 to the position detection device 320. It includes a transmitting antenna 313 for transmitting.
  • the position detection device 320 includes a reception antenna 325, a directivity control unit 124, a low noise amplifier 126, a local oscillator 326, a mixer 127, a BPF 328, an AD converter 129, and a position detection unit 330. And communication I / F 131.
  • the receiving antenna 325 receives the radio signal transmitted from the CW transmitter 310.
  • the receiving antenna 325 is, for example, a two-dimensional array antenna in which a plurality of antennas are arranged in two dimensions, and has the same configuration as the transmitting antenna 121 of FIG.
  • the directivity of the receiving antenna 325 is controlled by the directivity control unit 124.
  • the low noise amplifier 126 amplifies the received signal and outputs it to the mixer 127.
  • the local oscillator 326 generates a signal of frequency f + ⁇ f and outputs it to the mixer 127.
  • the mixer 127 mixes the signal of the frequency f from the low noise amplifier 126 and the signal of the frequency f + ⁇ f from the local oscillator 326, and the signal of the frequency (f + ⁇ f) ⁇ f is referred to as a bandpass filter (hereinafter, “BPF”). .) Output to 328.
  • the BPF 328 transmits only the beat signal having the beat frequency ⁇ f among the signals input from the mixer 127.
  • the beat signal output from the BPF 328 is input to the AD converter 129 and converted into a digital signal.
  • the digital signal output from the AD converter 129 is input to the position detection unit 330.
  • the position detection unit 330 detects the position of the CW transmitter 310 based on the digital signal received from the AD converter 129 and the directivity information possessed by the directivity control unit 124. For example, when the position detection unit 330 receives a digital signal from the AD converter 129, the position detection unit 330 acquires information about the directivity of the receiving antenna 325 at that time from the directivity control unit 124, and the direction and distance indicated by the information. Detects that there is a CW transmitter 310 in.
  • the robot control system 300 since the robot control system 300 according to the present embodiment includes a CW transmitter 310 that transmits a radio signal to the position detection device 320 using the transmission antenna 313, the CW transmitter 310 stably wirelessly transmits the radio signal to the position detection device 320. A signal is transmitted. Therefore, the robot control system 300 has an effect of being able to accurately detect the position of the hand of the CW transmitter 310 and the worker 160 in addition to the effect of the robot control system 100 according to the first embodiment.
  • the position detection device 120 including the transmitting antenna 121 and the receiving antenna 125 separately has been described.
  • the present disclosure is not limited to this, and the position detection device 120 may include one antenna that both transmits and receives radio signals.
  • a changeover switch for switching transmission / reception, a circulator, or the like is used.
  • the transmitting antenna 121 is composed of a two-dimensional array antenna in which a plurality of antennas 121a are arranged in two dimensions, as shown in FIG.
  • the present disclosure is not limited to this.
  • the transmitting antenna 121 may be composed of a one-dimensional array antenna in which a plurality of antennas are arranged in a straight line.
  • the transmitting antenna 121 may be composed of one antenna element.
  • a position detection device 120 using an electromagnetic wave radar that modulates and transmits a radio carrier wave according to an ID signal has been described.
  • the modulation method used for the electromagnetic wave radar may be another continuous wave method or a pulse method.
  • the electromagnetic wave radar may be a pulse radar using a pulse modulation method.
  • the position detecting device 320 is configured by using the BPF 328.
  • the present disclosure is not limited to this, and the position detecting device 320 may include, for example, an LPF instead of the BPF 328.
  • Electromagnetic wave radar includes radio wave radar. Since the radio wave radar is cheaper than LIDAR (Light Detection and Ranging) using laser light, the above effects can be realized at a relatively low cost, which is necessary for introducing the robot control system 100. The cost can be reduced.
  • LIDAR Light Detection and Ranging
  • the position detection device 120 including the transmitting antenna 121 that scans the transmitting beam and the receiving antenna 125 that receives the radio signal has been described.
  • the receiving antenna 125 may be a two-dimensional array antenna in which a plurality of antennas are arranged two-dimensionally at predetermined intervals, similar to the transmitting antenna 121 shown in FIG.
  • the receiving antenna 125 may be composed of a one-dimensional array antenna in which a plurality of antennas are arranged in a straight line.
  • the position detection unit 130 measures the arrival direction of the radio signal by independently controlling the amplitude and phase of the reception signal of each antenna constituting the reception antenna 125 to perform beamforming. As a result, the position detection unit 130 can measure the reflection position of the electromagnetic wave, that is, the position of the reflector 110.
  • the position detection device 320 including the directivity control unit 124 that controls the directivity of the receiving antenna 325 has been described.
  • the present disclosure is not limited to this.
  • the position detection device 320 does not include the directional control unit 124, and the position detection unit 330 determines the reflection position of the electromagnetic wave based on the amplitude information and the phase information included in the digital signal output from the AD converter 129. That is, the position of the reflector 110 may be measured.
  • the receiving antenna 325 does not need to be scan-controlled, and three-dimensional information can be obtained based on the amplitude information and the phase information.
  • the directivity control unit 154 that controls the directivity of the beam by controlling the phase or amplitude of each antenna constituting the transmitting antenna 121 and the receiving antenna 125 has been described.
  • the present disclosure is not limited to this.
  • the directivity control unit 154 may scan the transmission beam by physically moving the transmission antenna 121 and the reception antenna 125 by mechanically rotating them.
  • a reflector (110) that is attached to the human body (160) and reflects electromagnetic waves
  • a position detection device (120) that transmits the electromagnetic wave, receives a reflected wave from the reflector (110), and detects the position of the reflector (110) based on the received reflected wave.
  • a robot control system (100) including a robot (140) that performs a predetermined robot operation in an area including at least a part of the area in which the human body (160) enters.
  • the robot (140) is a robot control system (100) that controls the robot operation according to the position of the reflector (110) detected by the position detection device (120).
  • the robot (140) When the position of the reflector (110) detected by the position detection device (120) is outside a predetermined area around the robot (140), the robot operation is performed. When the position of the reflector (110) detected by the position detection device (120) is within the predetermined region, the robot operation may be stopped or the speed of the robot operation may be reduced. Good.
  • the robot (140) Further detecting the position of the robot (140), When the distance between the position of the reflector (110) detected by the position detection device (120) and the position of the robot (140) detected by the robot (140) is equal to or greater than a predetermined threshold value, the above. Perform robot movement, When the distance is less than a predetermined threshold value, the robot operation may be stopped, the speed of the robot operation may be reduced, or the robot may operate in a direction away from the position of the reflector (110).
  • the position detection device (120) may be a radio wave radar.
  • Another aspect of the present disclosure is a reflector (110) of any of the above aspects.
  • a wireless communication device (210) that is attached to a human body (160) receives a first electromagnetic wave transmitted from the position detection device (120), and transmits a second electromagnetic wave in response to the received first electromagnetic wave.
  • a robot control system (200) including a robot (140) that performs a predetermined robot operation in an area including at least a part of the area in which the human body (160) enters.
  • the position detecting device (120) receives a second electromagnetic wave transmitted from the wireless communication device (210), detects the position of the wireless communication device (210) based on the received second electromagnetic wave, and determines the position of the wireless communication device (210).
  • the robot (140) may control the robot operation according to the position of the wireless communication device (210) detected by the position detection device (120).
  • the robot (140) When the position of the wireless communication device (210) detected by the position detection device (120) is outside a predetermined area around the robot (140), the robot operation is performed. When the position of the wireless communication device (210) detected by the position detection device (120) is within the predetermined area, the robot operation is stopped or the speed of the robot operation is reduced. May be good.
  • the robot (140) Further detecting the position of the robot (140), When the distance between the position of the wireless communication device (210) detected by the position detection device (120) and the position of the robot (140) detected by the robot (140) is equal to or greater than a predetermined threshold value. Perform the robot operation When the distance is less than a predetermined threshold value, the robot operation may be stopped, the speed of the robot operation may be reduced, or the robot may operate in a direction away from the position of the wireless communication device (210).
  • Another aspect of the present disclosure is the wireless communication device (210) of any of the above aspects.
  • a wireless transmitter (310) that is attached to the human body (160) and transmits electromagnetic waves
  • a position detection device (320) that receives an electromagnetic wave transmitted from the wireless transmission device (310) and detects the position of the wireless transmission device (310) based on the received electromagnetic wave.
  • a robot control system (300) including a robot (140) that performs a predetermined robot operation in an area including at least a part of the area in which the human body (160) enters.
  • the robot (140) is a robot control system (300) that controls the robot operation according to the position of the wireless transmission device (310) detected by the position detection device (320).
  • the robot (140) When the position of the wireless transmission device (310) detected by the position detection device (320) is outside a predetermined area around the robot (140), the robot operation is performed. When the position of the wireless transmission device (310) detected by the position detection device (320) is within the predetermined region, the robot operation is stopped or the speed of the robot operation is reduced. You may.
  • the robot (140) Further detecting the position of the robot (140), When the distance between the position of the wireless transmission device (310) detected by the position detection device (320) and the position of the robot (140) detected by the robot (140) is equal to or greater than a predetermined threshold value. Perform the robot operation When the distance is less than a predetermined threshold value, the robot operation may be stopped, the speed of the robot operation may be reduced, or the robot may operate in a direction away from the position of the wireless transmission device (310).
  • Another aspect of the present disclosure is the wireless transmitter (310) of any of the above aspects.
  • Robot control system 110 Reflector 120 Position detection device 121 Transmission antenna 122 Signal generator 123 Modulation transmission circuit 124 Directional control unit 125 Reception antenna 126 Low noise amplifier 127 Mixer 128 LPF 129 AD converter 130 Position detector 131 Communication I / F 140 Robot 142 Control unit 143 Arm 150 Workbench 160 Worker 170 Work

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  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

Cette invention concerne un système de commande de robot (100), comprenant : un réflecteur (110) qui est fixé à un corps humain (160) et réfléchit les ondes électromagnétiques ; un dispositif de détection de position (120) qui transmet des ondes électromagnétiques, reçoit les ondes réfléchies en provenance du réflecteur (110), et détecte la position du réflecteur (110) sur la base des ondes réfléchies reçues ; et un robot (140) qui effectue une opération de robot prédéfinie dans une zone comprenant au moins une partie de la zone dans laquelle pénètre le corps humain (160). Le robot (140) commande l'opération de robot en fonction de la position du réflecteur détectée par le dispositif de détection de position (120).
PCT/JP2019/032308 2019-08-19 2019-08-19 Système de commande de robot WO2021033241A1 (fr)

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