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Robot operation evaluation device, robot operation evaluation method, and robot system

An evaluation device, robot technology, applied in the field of information processing, can solve problems such as accidents, and achieve the effect of achieving safety

Active Publication Date: 2018-12-21
MITSUBISHI ELECTRIC CORP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

If human beings, animals, etc. come into contact with the robot within the range of motion of the robot, accidents may occur

Method used

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  • Robot operation evaluation device, robot operation evaluation method, and robot system
  • Robot operation evaluation device, robot operation evaluation method, and robot system
  • Robot operation evaluation device, robot operation evaluation method, and robot system

Examples

Experimental program
Comparison scheme
Effect test

Embodiment approach 1

[0037] figure 1 It is a block diagram showing a schematic configuration of the robot motion evaluation device 1 according to Embodiment 1 of the present invention. Such as figure 1 As shown, the robot motion evaluation device 1 is constituted by the following parts: a database 10 storing a robot model that models the robot 2 in the real space, and a robot hand that is a movable part of the robot 2. The hand model (movable part model) of the robot hand; the risk evaluation unit 11, which uses the database 10 to calculate the evaluation value indicating the risk of the action state of the robot hand, and outputs the evaluation data OT indicating the calculation result; output an interface unit (output I / F unit) 12 for displaying image information representing the evaluation data OT on the display unit 3; and an input interface unit (input I / F unit) 13 for inputting operations from the operation input unit 4 IT is transmitted to the risk evaluation unit 11 .

[0038] In additi...

Embodiment approach 2

[0090] Next, Embodiment 2 according to the present invention will be described. Figure 10 It is a block diagram showing a schematic configuration of a robot motion evaluation device 1A according to Embodiment 2 of the present invention. Such as Figure 10 As shown, this robot action evaluation device 1A is composed of the following parts: a database 10; a risk evaluation unit 11A, which uses the database 10 to evaluate the risk of the action state of the robot hand, and generates evaluation data representing the evaluation results. OT for output; output I / F section 12; and input I / F section 13.

[0091] Figure 11 It is a block diagram showing a schematic configuration of a risk evaluation unit 11A according to the second embodiment. Such as Figure 11 As shown, the risk evaluation unit 11A has: an action extraction unit 20, which takes as input an action program PD that specifies a series of actions of the robot main body 2R, and extracts a plurality of action states of ...

Embodiment approach 3

[0101] Next, Embodiment 3 according to the present invention will be described. Figure 13 It is a block diagram showing a schematic configuration of a robot motion evaluation device 1B according to Embodiment 3 of the present invention. Such as Figure 13 As shown, this robot motion evaluation device 1B has a database 10, a risk degree evaluation unit 11A, an output I / F unit 12, and an input I / F unit 13 similarly to the robot motion evaluation device 1A of the second embodiment described above, and further includes A dangerous motion detection unit 14 and a motion correction unit 15 are formed.

[0102]The dangerous motion detection unit 14 judges whether the evaluation value of the motion state of the hand (evaluation site) exceeds a threshold, and outputs judgment data DR indicating the judgment result to the output I / F portion 12 and the motion correction portion 15 . The output I / F unit 12 can display its judgment data DR on the display unit 3 . Also, the motion correc...

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PUM

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Abstract

A robot operation evaluation device (1) is provided with: an operation state calculator (22) for calculating the operation state of an evaluation portion, which is a movable portion of a robot, on thebasis of the operation state of the robot; a shape feature amount calculator (23) for calculating a shape feature amount, which is dependent on the operation direction of the evaluation portion corresponding to the calculated operation state; and an evaluation value calculator (24) for calculating, on the basis of the shape feature amount, an evaluation value representing the risk degree of the operation state of the evaluation portion with respect to the operation direction.

Description

technical field [0001] The present invention relates to an information processing technology for evaluating the operating state of a robot, and particularly relates to an information processing technology for evaluating the safety or danger of the operating state of a robot. Background technique [0002] In recent years, various types of robots such as industrial robots, medical robots, and life support robots are spreading. An accident may occur if living things such as humans and animals come into contact with the robot within the operating range of the robot. In order to prevent accidents as described above, a technique is required that prevents living beings from receiving excessive force from the robot when a robot (in particular, an industrial robot) comes into contact with a living being. For example, Patent Document 1 (Japanese Unexamined Patent Publication No. 2012-40626 ) discloses a robot system capable of preventing human beings from being subjected to excessive...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J19/06
CPCB25J19/06B25J9/1676B25J9/1674G05B2219/39G05B2219/40B25J9/1666G05B2219/40202B25J9/1623B25J9/1633B25J9/1692
Inventor 川西亮辅堂前幸康八田俊之
Owner MITSUBISHI ELECTRIC CORP
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