Robot system for working in collaboration with humans and robot control method

Abstract

The present invention provides a robot system and a robot control method for performing collaborative work with a human. The robot system disclosed in the present invention comprises: a robot; a detection device that detects a work object and detects a predetermined action of an operator on the work object; and a robot control unit that, when the detection device detects a predetermined action, causes the robot to perform a predetermined work on the work object detected by the detection device.

Description

Technical Field

[0001] The present invention relates to a robot system and a robot control method for performing collaborative work with humans. Background Art

[0002] A robot system that works in collaboration with a human is known (for example, Japanese Patent Application Publication No. 2017-74660). In the past, a robot system that can work in collaboration with a human has been sought. Summary of the invention

[0003] In one embodiment of the present disclosure, a robot system comprises: a robot; a detection device that detects a work object and detects a person's predetermined action on the work object; and a robot control unit that causes the robot to perform a predetermined work on the work object detected by the detection device when the detection device detects the predetermined action.

[0004] According to the present disclosure, the operator can intuitively start the robot at a desired timing without operating the device, so that the robot can perform cooperative work in a manner that is highly compatible with the operator's actions. BRIEF DESCRIPTION OF THE DRAWINGS

[0005] Figure 1 is a diagram of a robot system according to one embodiment.

[0006] Figure 2 yes Figure 1 Block diagram of the robot system shown.

[0007] Figure 3 Yes means Figure 1 A flowchart showing an example of the operation flow of the robot system shown.

[0008] Figure 4 This is a diagram for explaining an example of the first operation of the operator.

[0009] Figure 5 It is a diagram for explaining another example of the first action of the operator.

[0010] Figure 6 This is a diagram for explaining another example of the first action of the operator.

[0011] Figure 7 This is a diagram for explaining another example of the first action of the operator.

[0012] Figure 8 Indicated in Figure 3 The state in which the worker and the robot cooperate to transport the work object in step S10.

[0013] Fig. 9This is a diagram for explaining an example of the second operation of the operator.

[0014] Fig.10 It is a diagram for explaining another example of the second action of the operator.

[0015] Fig.11 is a diagram of a robot system according to another embodiment.

[0016] Fig.12 yes Fig.11 Block diagram of the robot system shown.

[0017] Fig.13 Yes means Fig.11 A flowchart showing an example of the operation flow of the robot system shown.

[0018] Fig.14 This is a diagram for explaining an example of a planned operation of an operator.

[0019] Fig.15 is a diagram of a robot system according to another embodiment.

[0020] Fig.16 is a diagram of a robot system according to another embodiment. DETAILED DESCRIPTION

[0021] Hereinafter, the embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. In addition, in the various embodiments described below, the same elements are marked with the same reference numerals, and repeated descriptions are omitted. Figure 1 and Figure 2 , a robot system 10 according to one embodiment is described.

[0022] The robot system 10 is a system that performs a task of transporting a work object W to a predetermined destination position in cooperation with an operator A. The robot system 10 includes a robot 12, a force detection device 14, detection devices 16A and 16B, and a control device 18. The control device 18 includes, for example, a processor (CPU, GPU, etc.) and a memory (RAM, ROM, etc.), and is used to control the robot 12, the force detection device 14, and the detection devices 16A and 16B.

[0023] In the present embodiment, the robot 12 is a vertical multi-joint robot, which includes a robot base 20, a rotating body 22, a robot arm 24, a wrist 32, and a robot hand 26. The robot base 20 is fixed on a base plate 38, and the base plate 38 is fixed on the floor of the work unit. The rotating body 22 is arranged on the robot base 20 in a manner that can rotate around a vertical axis. The robot arm 24 includes a lower arm 28 rotatably mounted on the rotating body 22, and an upper arm 30 rotatably mounted on the front end of the lower arm 28.

[0024] The wrist 32 is connected to the front end of the upper arm 30 and rotatably supports the robot 26. The robot 26 has a robot base 34 connected to the wrist 32 and a plurality of fingers 36 provided on the robot base 34 so as to be openable and closable. The robot 26 grasps or releases the work object W with the fingers 36.

[0025] The robot 12 has a plurality of servo motors 40 ( Figure 2 ) These servo motors 40 are built into the components of the robot 12 (ie, the robot base 20, the rotating body 22, the robot arm 24, and the wrist 32) to rotate these components around the drive axis.

[0026] The force detection device 14 is disposed between the wrist 32 and the manipulator 26. In the present embodiment, the force detection device 14 has a six-axis force sensor for detecting the external force applied to the manipulator 26, and the six-axis force sensor has a plurality of strain gauges (not shown). In addition, the force detection device 14 is not limited to the six-axis force sensor, and may have any device as long as it can detect the external force applied to the manipulator 26.

[0027] The detection device 16A detects the work object W. Specifically, the detection device 16A is fixed at a predetermined position in the work unit, captures the work object W, and detects the work object W in the robot coordinate system C based on the captured image. R In this document, the “position” of a work object or a robot may refer to both position and posture.

[0028] The detection device 16B detects the predetermined action of the operator A on the work object W. Specifically, the detection device 16B captures the operator A and detects the predetermined action of the operator A on the work object W based on the captured image (so-called optical motion capture). In addition, the predetermined action of the operator A to be detected by the detection device 16B will be described later. For example, the detection devices 16A and 16B can be composed of a three-dimensional visual sensor having a camera element, an optical lens such as a focusing lens, and an image processing processor (for example, a GPU).

[0029] Next, refer to Figure 3 The operation of the robot system 10 will be described. The control device 18 starts when it receives an operation start instruction from an operator, a host controller, or a robot program. Figure 3 In this embodiment, after starting Figure 3 When the action flow shown is Figure 4 As shown, a plurality of objects W1 to W4 are randomly placed.

[0030] In step S1, the detection device 16A detects each work object W1 to W4. Specifically, the control device 18 sends a position detection command to the detection device 16A, and the detection device 16A receives the position acquisition command to photograph each work object W1 to W4, and acquires the position of each work object W1 to W4 in the robot coordinate system C according to the captured image. R The position in.

[0031] In step S2, the detection device 16B starts detecting the action of the operator A. Specifically, the control device 18 sends an action detection command to the detection device 16B, and the detection device 16B receives the action detection command to continuously (for example, at a predetermined cycle) photograph the operator A and continuously detect the action of the operator A based on the photographed images.

[0032] Here, the detection device 16B detects the first action and the second action of the operator A. The first action is a predetermined action performed by the operator A on the work object W to be grasped by the robot 12 in order to cause the robot 12 to grasp the work object W. Figures 4 to 7 An example of this first action will be described.

[0033] exist Figure 4 In the example shown, the first action is defined as an action in which the operator A approaches an object W1 to be grasped by the robot 12. The detection device 16B continuously captures images of the operator A, and calculates the distance d1 between the operator A and the object W1, the distance d2 between the operator A and the object W2, the distance d3 between the operator A and the object W3, and the distance d4 between the operator A and the object W4, based on the captured images and the position information of the objects W1 to W4 obtained in the above-mentioned step S1.

[0034] Then, the detection device 16B determines whether each of the calculated distances d1 to d4 is equal to a predetermined threshold value d th1 Furthermore, when any one of the distances d1 to d4 is a threshold value d th1 In the following, as the first operation, it is detected that the worker A approaches any one of the work objects W1 to W4.

[0035] exist Figure 4 In the example shown, worker A is approaching work object W1, and detection device 16B is at a distance d1 equal to threshold value d th1 When the first action of the operator A approaching the work object W1 is detected, the work object W1 is determined as the gripping object of the robot 12. Alternatively, the detection device 16B may calculate the moving direction E of the operator A from the continuously captured images, and determine the work object W1 intersecting the moving direction E as the gripping object of the robot 12.

[0036] exist Figure 5 In the example shown, the first action is determined to be an action of the operator A using hand B to grasp a work object W1 that the robot 12 should grasp. The detection device 16B continuously photographs the operator A, uses so-called motion capture technology to detect the first action of the operator A grasping the work object W1, and determines the work object W1 grasped by the operator A as the grasping object of the robot 12.

[0037] As an example, the detection device 16B stores (or learns by machine) a reference motion pattern of the action of the operator A grasping the work object W1. Then, when the detection device 16B monitors the action of the operator A after starting step S2, it determines whether the actual action of the operator A matches the reference motion pattern, and if it is determined to match, it detects that the operator A has performed the first action of grasping the work object W1.

[0038] exist Figure 6 In the example shown, the first action is determined to be an action of the worker A pointing to a work object W1 that the robot 12 should grasp with his finger C. The detection device 16B continuously photographs the worker A, detects the action of the worker A pointing to the work object W1 and the pointing direction D using so-called motion capture technology, and determines the work object W1 that intersects the pointing direction D as the grasping object of the robot 12.

[0039] exist Figure 7 In the example shown, the first action is determined to be an action of the operator A tapping a work object W1 that the robot 12 should grasp with his hand B. The detection device 16B continuously photographs the operator A, uses the so-called motion capture technology to detect the action of the operator A tapping the work object W1, and determines the tapped work object W1 as the grasping object of the robot 12.

[0040] In this case, the operator A hits the work object W1 a predetermined number of times n (n is an integer greater than or equal to 2), and when the detection device 16B detects that the operator hits the work object W1 n times, the detection device 16B can detect the action as the first action. In addition, the second action of the operator A to be detected by the detection device 16B will be described later.

[0041] In step S3, the detection device 16B determines whether the first action of the operator A is detected. Specifically, the detection device 16B determines whether the first action of the operator A is detected. Figures 4 to 7The first action of the operator A described in the above. When the detection device 16B detects the first action of the operator A, it determines that it is a positive action and determines that the work object W1 is the gripping target of the robot 12. Then, the detection device 16A moves the work object W1 determined by the detection device 16B as the gripping target in the robot coordinate system C. R The information of the position in is sent to the control device 18, and then the process proceeds to step S5. On the other hand, when the detection device 16B does not detect the first action, it determines as no and proceeds to step S4.

[0042] In step S4, the control device 18 determines whether an operation end instruction is received from the operator, the host controller, or the robot program. When the control device 18 determines that an operation end instruction is received (ie, the answer is yes), the operation ends. Figure 3 On the other hand, in the flow shown, when it is determined that the operation end instruction has not been received (ie, NO), the process returns to step S3.

[0043] In step S5, the control device 18 moves the robot 12 to a position for gripping the work object W1 (hereinafter referred to as the gripping position), so that the robot 12 grips the work object W1. Specifically, the control device 18 sends a command to each servo motor 40 of the robot 12 based on the position information of the work object W1 received from the detection device 16A in the above step S3, so that the robot 12 moves to the gripping position.

[0044] When the robot 12 is positioned at the gripping position, the workpiece W1 is positioned between the fingers 36 of the manipulator 26. Thus, the control device 18 uses the detection of the first action of the worker A by the detection device 16B as a trigger to start the operation of moving the robot 12 to the gripping position (i.e., commands to the servomotors 40).

[0045] Next, the control device 18 operates the manipulator 26 to close the finger portion 36. As a result, the robot 12 grasps the work object W1 through the manipulator 26. In this way, in the present embodiment, the control device 18 serves as the robot control unit 42 ( Figure 2 ) functions, that is, when the detection device 16B detects the first action of the operator A, the robot 12 performs a predetermined task (moving the robot 12 to the gripping position to grip the work object W1).

[0046] In addition, in step S5, the control device 18 can calculate the motion path of the robot 12 that can avoid collision with the operator A based on the information of the motion of the operator A continuously detected by the detection device 16B. For example, the control device 18 obtains data indicating the motion path of the operator A from the detection device 16B, and calculates the motion path of the robot 12 that avoids the motion path of the operator A (does not intersect with the motion path of the operator A). Then, the control device 18 causes the robot 12 to move along the calculated motion path. According to this structure, the collision between the robot 12 and the operator A can be avoided.

[0047] In step S5, when the robot 12 has completed the work of gripping the work object W1, the operator A applies an external force F to the robot 12 in order to cooperate with the robot 12 to transport the work object W1 to the destination. As an example, the operator A lifts the work object W1 gripped by the robot 12 and pushes the work object W1 in the direction of the destination. At this time, the external force F applied by the operator A to the work object W1 is applied to the manipulator 26 via the work object W1.

[0048] As another example, the operator A may directly apply the external force F to the manipulator 26 with the hand B. In this case, a handle (not shown) that the operator A can grasp is provided on the manipulator 26 (e.g., the manipulator base 34), and the operator A may grasp the handle with the hand B and apply the external force F to the manipulator 26 via the handle.

[0049] In this embodiment, after completing step S5, the control device 18 switches from position tracking control (steps S2 to S5) in which the robot 12 tracks the movements of the operator A detected by the detection device 16B and approaches the target position detected by the detection device 16A to lead through control (steps S6 to S10 described later) in which the robot 12 is controlled according to the external force F applied to the robot 12.

[0050] In step S6, the control device 18 starts detecting the external force F applied to the robot 12. Specifically, the control device 18 starts the following operation: continuously (e.g., periodically) obtains data of the external force F detected by the force detection device 14 from the force detection device 14. The external force F (magnitude and direction) applied by the operator A to the robot 12 via the work object W1 (or directly by the hand B) is detected by the force detection device 14.

[0051] In step S7, the control device 18 determines whether the external force F most recently detected by the force detection device 14 is a predetermined threshold value F. th The control device 18 determines that the most recent external force F is F ≥ F th(i.e., yes), the process proceeds to step S10. On the other hand, if it is determined that F<F th (ie, No), proceed to step S8.

[0052] In step S8, the control device 18 determines whether the operation end instruction is received, similarly to the above step S4. When the control device 18 determines that the operation end instruction is received (that is, the answer is yes), the control device 18 ends the operation. Figure 3 On the other hand, in the illustrated flow, when it is determined that the operation end instruction has not been received (ie, NO), the process proceeds to step S9.

[0053] In step S9, the control device 18 generates a warning signal. For example, the control device 18 may generate a warning signal in the form of sound or image, such as "Please guide the robot to the destination", and output the warning through a speaker or a display (not shown). After step S9, the control device 18 returns to step S7.

[0054] In step S10, the control device 18 causes the robot 12 to transport the work object W1 based on the data of the external force F most recently detected by the force detection device 14. Specifically, the control device 18 obtains the direction of the external force F most recently detected by the force detection device 14, and controls the robot 12 to move the manipulator 26 holding the work object W1 in the direction of the external force F.

[0055] The control device 18 can obtain the magnitude of the external force F most recently detected by the force detection device 14, and control the speed at which the manipulator 26 moves in the direction of the external force F according to the magnitude of the external force F. For example, the control device 18 can control the moving speed of the manipulator 26 in such a way that the larger the magnitude of the external force F, the faster the manipulator 26 moves.

[0056] Therefore, if Figure 8 As shown in FIG. 1 , the robot 12 moves the work object W1 according to the external force F applied to the robot 12 by the operator A. Figure 8 The example shown shows a case where the worker A and the robot 12 grasp the work object W1 with the hand B, and an external force F is applied to the robot 12 through the work object W1. In this way, the robot 12 and the worker A cooperate to transport the work object W1 to the destination.

[0057] In addition, during the execution of step S10, the control device 18 determines whether the external force F detected by the force detection device 14 exceeds the upper limit value F MAX , when the external force F exceeds the upper limit value F MAX (i.e., F ≥ F MAX ), the action of the robot 12 can be stopped urgently. MAXIn order to detect the collision between the robot 26 or the work object W1 and the obstacle during the execution of step S10, the user sets the threshold F in advance to be higher than the above threshold F. th Large value.

[0058] When the work object W1 has been moved to the target position, the worker A performs a second action. The second action is a predetermined action different from the first action performed by the worker A in order to cause the robot 12 to release the work object W1. Fig. 9 and Fig.10 An example of this second action will be described.

[0059] exist Fig. 9 In the example shown, the second action is determined to be an action in which the worker A moves away from the work object W1 gripped by the robot 12. As an example, the detection device 16B continuously captures images of the worker A and the work object W1, and calculates the distance d1 between the worker A and the work object W1 from the captured images. The detection device 16B may start the action of calculating the distance d1 between the worker A and the work object W1 when step S5 is completed or step S10 is started.

[0060] The detection device 16B determines whether the calculated distance d1 is equal to a predetermined threshold value d th2 And, when the distance d1 is the threshold value d th2 When the threshold value d is greater than d, the worker A is detected to have left the work object W1 as the second action. th2 It can also be the same as the threshold d above. th1 The same value, or different values.

[0061] exist Fig.10 In the example shown, the second action is determined to be the action of the worker A opening the hand B holding the work object W1 and releasing the work object W1. The detection device 16B continuously photographs the worker A and uses the so-called motion capture technology to detect the action of the worker A opening the hand B holding the work object W1.

[0062] As an example, the detection device 16B stores (or learns by machine) a reference action pattern of the action of the operator A opening the hand B holding the work object W1. When the detection device 16B monitors the action of the operator A during the execution of step S10, it determines whether the actual action of the operator A matches the reference action pattern, and when it is determined to match, it can detect that the operator A has performed the second action of opening the hand B.

[0063] In step S11, the detection device 16B determines whether the second action of the operator A is detected. Specifically, the detection device 16B determines whether the second action of the operator A is detected. Fig. 9 and Fig.10 If the second action of the operator A described in , is detected, the determination is yes, and the process proceeds to step S12. On the other hand, if the second action of the operator A is not detected, the detection device 16B determines no, and the process returns to step S7.

[0064] As described above, in the present embodiment, the detection device 16B detects the first action performed by the operator A before the work object W1 is transported and the second action performed by the operator A when the work object W1 is transported to the destination. Thus, at least the detection device 16B is arranged at a position where the operator A can be detected before the work object W1 is transported and the operator A when the work object W1 is transported to the destination.

[0065] In step S12, the control device 18 causes the robot 12 to release the work object W1. Specifically, the control device 18 causes the manipulator 26 to operate to open the fingers 36. As a result, the manipulator 26 releases the gripped work object W1. As a result, the work object W1 is placed at the target position.

[0066] When the determination result is YES in step S11 , in step S12 , the control device 18 may cause the robot 12 to operate according to the robot program to move the work object W1 gripped by the robot 12 in a predetermined direction (eg, vertically downward) before releasing the work object W1 .

[0067] For example, it is assumed that the worker A performs the second action when the robot 12 moves the work object W1 to the vertical position above the placement table as the destination position. When the second action is detected in step S11, the control device 18 causes the robot 12 to perform an action to move the work object W1 vertically downward in step S12, and when the work object W1 is placed on the placement table, the robot 12 releases the work object W1.

[0068] Here, when the robot 12 moves the work object W1 vertically downward, the control device 18 monitors the external force detected by the force detection device 14, and can detect whether the work object W1 is in contact with the placement table based on the data of the external force. In addition, when the control device 18 detects that the work object W1 is in contact with the placement table, the robot 12 can release the work object W1.

[0069] In step S13, the control device 18 determines whether the operation end instruction is received, similarly to the above step S4. When the control device 18 determines that the operation end instruction is received (that is, the answer is yes), the control device 18 ends the operation. Figure 3 On the other hand, in the flow shown, when it is determined that the operation end instruction has not been received (ie, NO), the process returns to step S3.

[0070] Then, the operator A performs the first action again on one of the other work objects W2 to W4 , and the control device 18 repeats the loop of steps S3 to S13 , thereby cooperating with the operator A to cause the robot 12 to transport the work objects W2 to W4 to the destination position in sequence.

[0071] As described above, in this embodiment, when the detection device 16B detects the first action of the operator A, the control device 18 causes the robot 12 to perform a predetermined operation (movement to the gripping position and gripping) on ​​the work object W. According to this structure, the operator A can intuitively start the robot 12 at a desired timing without operating the device. Therefore, the robot 12 can be made to work in coordination with the action of the operator A in a manner that is highly matched.

[0072] In addition, in the present embodiment, after step S5 is completed, the control device 18 switches from the position tracking control (steps S2 to S5) based on the detection data of the detection device 16B to the guidance control (steps S6 to S10) based on the detection data of the force detection device 14. According to this structure, the robot 12 is started by the first action of the operator A, and a series of operations of transporting the work object W1 to the destination position in cooperation with the robot 12 can be smoothly performed.

[0073] Furthermore, in the present embodiment, the control device 18 causes the robot 12 to release the work object W1 when the detection device 16B detects the second action of the operator A. According to this configuration, the operator A can intuitively cause the robot 12 to release the work object W1 at the timing of transporting the work object W1 to the destination without operating the device.

[0074] In the present embodiment, the detection device 16A detects the work objects W1 to W4 in the robot coordinate system C R However, this is not limited to this. For example, the work objects W1 to W4 can be arranged in the robot coordinate system C by a clamp or the like. R The control device 18 can store the predetermined positions of these work objects W1 to W4 in the robot coordinate system C in advance. R The position in.

[0075] In this case, the detection device 16A may detect only the existence of each of the work objects W1 to W4 in step S1 without obtaining the positions of the work objects W1 to W4 in the robot coordinate system C. RThen, in step S3, the detection device 16B determines the work object W1 that is the object of the first action of the operator A, and in step S5, the control device 18 can move the robot 12 to the gripping position based on the pre-stored information on the position of the work object W1.

[0076] In addition, Figure 3 In the process shown in FIG. 1 , the control device 18 may also execute the above step S6 before step S5 (for example, at a timing immediately before or immediately after step S2). When executing step S5, when the external force F detected by the force detection device 14 exceeds the upper limit value F MAX , it is determined that the manipulator 26 has collided with the operator A, and the robot 12 is urgently stopped.

[0077] In this case, when the control device 18 determines that the robot 12 and the worker A have collided, it can generate a warning signal in the form of sound or image to indicate the collision between the robot 12 and the worker A, and output the warning through the speaker or display.

[0078] Furthermore, the force detection device 14 can be omitted from the robot system 10. In this case, the control device 18 can cause the robot 12 to operate according to the robot program so that the robot 12 automatically transports the work object W1 to the destination position, thereby replacing Figure 3 Steps S6 to S12 in .

[0079] For example, the robot program can be constructed by teaching the robot 12 an action of transporting the work object W1 to a destination. The first action and the second action of the worker A are not limited to the above actions, and may be any action as long as the detection device 16B can detect them.

[0080] Next, refer to Fig.11 and Fig.12 A robot system 50 according to another embodiment will be described. The robot system 50 is a system that performs work of fastening a work object V to a component F in cooperation with a worker A. The robot system 50 is different from the robot system 10 described above in that it does not include a force detection device 14 and in that a robot 52 has a structure.

[0081] The robot 52 is a vertical multi-joint robot, and includes a robot base 20, a rotating body 22, a robot arm 24, a wrist 32, and an end effector 54. The end effector 54 is mounted on the wrist 32 and includes a tool 56. The tool 56 includes an axis O, and the end effector 54 drives the tool 56 to rotate around the axis O. The work object V is, for example, a bolt, and the end effector 54 drives the tool 56 to rotate while the work object V is engaged with the tool 56, thereby enabling the work object V to be fastened to the component F.

[0082] Next, refer to Fig.13 The operation of the robot system 50 will be described. When the control device 18 receives an operation start instruction from an operator, a host controller, or a robot program, it starts Fig.13 In this embodiment, as shown in the action flow. Fig.14 As shown in FIG. 1 , a plurality of work objects V1 to V4 are set on a member F. As shown in FIG.

[0083] In step S21, the detection device 16A detects each of the work objects V1 to V4. Specifically, the control device 18 sends a position detection command to the detection device 16A, and the detection device 16A receives the position acquisition command to photograph each of the work objects V1 to V4, and acquires the position of each of the work objects V1 to V4 (for example, the center) in the robot coordinate system C according to the captured image. R The position in.

[0084] In step S22 , the detection device 16B starts detecting the motion of the worker A. Specifically, the control device 18 sends a motion detection command to the detection device 16B, and the detection device 16B receives the motion detection command to continuously photograph the worker A and continuously detect the motion of the worker A based on the photographed images.

[0085] Here, the detection device 16B is configured to detect a predetermined action of the worker A. The predetermined action is an action performed by the worker A on the work object V to be fastened in order to cause the robot 52 to perform the fastening operation of the work object V. Fig.14 An example of this predetermined operation will be described.

[0086] exist Fig.14 In the example shown, the predetermined action is determined to be an action of the worker A pointing at a work object V1 to be fastened with a finger C. The detection device 16B continuously photographs the worker A, detects the action of the worker A pointing at the work object V1 and the pointing direction G using so-called motion capture technology, and determines the work object V1 that intersects the pointing direction G as the fastening object.

[0087] In step S23, the detection device 16B determines whether the predetermined action of the operator A is detected. Specifically, the detection device 16B determines whether the predetermined action of the operator A is detected. Fig.14 The action of the worker A described in is determined to be yes when detected, and the work object V1 to be fastened is determined.

[0088] Then, the detection device 16A sends the information about the work object V1 determined as the fastening object in the robot coordinate system C to the control device 18. ROn the other hand, if the detection device 16B does not detect the predetermined action of the operator A, the determination is No, and the process proceeds to step S24.

[0089] In step S24, the control device 18 determines whether the operation end instruction is received, similarly to the above step S4. When the control device 18 determines that the operation end instruction is received (that is, the answer is yes), the control device 18 ends the operation. Fig.13 On the other hand, in the flow shown, when no operation end instruction is received (ie, the answer is No), the flow returns to step S23.

[0090] In step S25, the control device 18 functions as the robot control unit 42, moves the robot 52 to a position for fastening the work object V1 (hereinafter referred to as the fastening position), and fastens the work object V1 to the component F. Specifically, the control device 18 sends a command to each servo motor 40 of the robot 52 based on the position information of the work object V1 received from the detection device 16A in the above-mentioned step S23, and moves the robot 52 to the fastening position.

[0091] When the robot 52 is arranged at the fastening position, the axis O of the tool 56 is consistent with the central axis of the work object V1, and the tool 56 and the work object V1 are engaged so as not to rotate relative to each other. In this way, the control device 18 uses the detection device 16B detecting the predetermined action of the operator A as a trigger to start the operation of moving the robot 52 to the fastening position (i.e., the instruction to the servo motor 40).

[0092] Next, the control device 18 operates the end effector 54 to drive the tool 56 to rotate around the axis O. As a result, the work object V1 is rotated by the tool 56 and is fastened to the component F. In addition, in step S25, the control device 18 calculates the movement path of the robot 52 that can avoid the collision with the operator A based on the information of the movement of the operator A continuously detected by the detection device 16B. And the control device 18 can make the robot 52 move along the calculated movement path. According to this structure, the collision between the robot 52 and the operator A can be prevented.

[0093] In step S26, the control device 18 determines whether the operation end instruction is received, similarly to the above step S4. When the control device 18 determines that the operation end instruction is received (that is, the answer is yes), the control device 18 ends the operation. Fig.13 On the other hand, in the flow shown, when it is determined that the operation end instruction has not been received (ie, NO), the process returns to step S23.

[0094] Then, the worker A performs the first operation again on any of the other work objects V2 to V4 , and the control device 18 repeats the loop of steps S23 to 26 , thereby cooperating with the worker A to cause the robot 52 to perform the fastening operation on the work objects V2 to V4 .

[0095] As described above, in this embodiment, when the detection device 16B detects a predetermined action of the operator A, the control device 18 causes the robot 52 to perform a predetermined operation (movement to the fastening position and fastening of the work object) on the work object V. According to this structure, the operator A can intuitively start the robot 52 at a desired timing without operating the device.

[0096] In addition, in this embodiment, the predetermined action of the operator A detected by the detection device 16B can be Figure 4 The approach action shown, Figure 5 The grasping action shown, or Figure 7 The slapping action shown. In addition, in the present embodiment, the robot 52 is described as performing the operation of fastening the work object V. However, this is not limited to this, and the robot 52 may also perform welding operations on the work object, or perform any other operations. When the robot 52 performs welding operations, the end effector 54 of the robot 52 may have a welding gun.

[0097] In addition, in the above-mentioned embodiment, the robot 12, 52 is described as operating on a plurality of operating objects W, V, but it is also possible to operate on only one operating object. In addition, the detection device 16B may also be composed of a camera and a processor of the control device 18. Specifically, the operator A is photographed by the camera, and the processor of the control device 18 may perform image analysis on the image taken by the camera to detect the action of the operator A.

[0098] In addition, the detection device 16B is not limited to the three-dimensional visual sensor, and may include a plurality of inertial sensors provided on the body of the operator A. In this case, the control device 18 may detect the motion of the operator A based on the output data from the plurality of inertial sensors. In addition, the detection device 16B is not limited to the above-mentioned method, and may include any type of sensor, and may use any type of motion capture technology to detect the motion of the operator A.

[0099] Furthermore, the detection devices 16A and 16B may be constituted by one detection device. Fig.15 This shows such an embodiment. Fig.15The robot system 10' shown has a detection device 16. The detection device 16 is composed of, for example, a three-dimensional visual sensor, and assumes the functions of the above-mentioned detection devices 16A and 16B. Specifically, the detection device 16 detects the work object W and detects the predetermined action of the operator A on the work object W. The detection device 16 can also be used in the above-mentioned robot system 50.

[0100] In addition, in the robot system 10, the force detection device 14 can be set at any position. Fig.16 Other examples of the installation position of the force detection device 14 are described. Fig.16 In the robot system 10″ shown, the force detection device 14 is interposed between the robot base 20 and the base plate 38. In this example, the force detection device 14 is capable of detecting an external force F applied to a component of the robot 12 (i.e., the robot base 20, the rotating body 22, the robot arm 24, the wrist 32 or the robot hand 26).

[0101] In addition, the force detection device 14 is not limited to the six-axis force sensor, and may be configured to have a torque sensor for detecting the torque applied to the drive shaft of each servo motor 40, and detect the external force F applied to the component of the robot 12 based on the detection value of the torque sensor. Alternatively, the force detection device 14 may be configured to detect the external force F applied to the component of the robot 12 based on the disturbance torque fed back from each servo motor 40.

[0102] In addition, the robot 12 (or 52) is not limited to a vertical multi-joint robot, and can be any type of robot such as a horizontal multi-joint robot, a parallel linkage robot, or a loader. In addition, the robot 12 (or 52) can also have a robot body and a driving device that moves the robot body in any direction, and the robot body has: a robot base 20, a rotating body 22, a robot arm 24, a wrist 32, and a robot hand 26 (or an end effector 54). In this case, the control device 18 can cause the driving device to operate in the above steps S5 and S10 (or, in step S25) to move the robot body.

[0103] As mentioned above, although this disclosure was demonstrated using embodiment, the said embodiment does not limit the invention of a claim.

Claims

1. A robot system, characterized in that: have: robot; a detection device that detects a work object and detects a predetermined action of a person on the work object; and a robot control unit which, when the detection device detects the first action as the predetermined action, starts to cause the robot to grasp the work object detected by the detection device and to transport the work object by the robot, The detection device calculates the distance between the person and the work object, and when the distance is less than a predetermined threshold value, detects the action of the person approaching the work object as the first action, The detection device monitors the actions of the person during the operation, When the detection device detects a second motion different from the first motion after the work is started, the robot control unit causes the robot to release the work object.

2. The robot system according to claim 1, characterized in that: The robot control unit moves the robot to a position where the work object is gripped based on the position of the work object detected by the detection device, and grips the work object at the gripping position.

3. The robot system according to claim 2, characterized in that: The robot system also has a force detection device, which is used to detect the external force applied to the robot. The robot control unit causes the robot to transport the work object based on the data of the external force detected by the force detection device.

4. A robot control method, characterized in that: Detection of work objects, detecting a predetermined action of a person on the work object, calculating the distance between the person and the work object, and when the distance is less than a predetermined threshold, detecting a first action of the person approaching the work object as the predetermined action, When the first action is detected, the robot starts to grasp the detected work object and to transport the work object by the robot. monitoring the movements of the person during said operation, When a second motion different from the first motion is detected after the work is started, the robot is caused to release the work object.

5. The control method according to claim 4, characterized in that: When the first action is detected, the robot is moved to a position where the work object is grasped according to the detected position of the work object. causing the robot to grip the work object at the gripping position, The robot is caused to transport the work object based on data of an external force applied to the robot detected by a force detection device.

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