Robot control device, robot control method and collaborative operation unit

Abstract

The present invention discloses a robot control device, a robot control method and a collaborative operation unit. A robot (12) control device (14) stops the robot (12) based on an external force (F) applied to the robot (12) mounted on a transport vehicle (16), and comprises: a determination unit (28) for determining whether the transport vehicle (16) is in motion; and a control unit (30) for stopping the robot (12) when the transport vehicle (16) is in motion, and for enabling the robot (12) to move when the transport vehicle (16) is not in motion.

Description

Technical Field

[0001] The present invention relates to a control device and a control method for a robot mounted on a transport vehicle, and a cooperative operation unit including a transport vehicle and the robot mounted on the transport vehicle. Background Art

[0002] A known cooperative operation unit includes: a robot that cooperates with a person; and a transport vehicle carrying the robot. The cooperative operation unit is, for example, the "robot 100" of Japanese Patent Publication No. 2016-032858. The "robot 100" determines whether to contact a person based on whether an unexpected external force is applied to itself. Summary of the invention

[0003] Problem that the invention aims to solve

[0004] The robot and the transport vehicle may be controlled to stop when the robot contacts an obstacle. In this case, the robot control device may recognize the external force generated by the transport vehicle passing through the steps as the external force generated by contact with the obstacle. As a result, the transport vehicle is controlled to stop when trying to pass through the steps, and the transport vehicle cannot pass through the steps.

[0005] Therefore, the present invention relates to a collaborative work unit having a transport vehicle and a robot mounted on the transport vehicle, and its object is to provide a robot control device, a robot control method and a collaborative work unit that can prevent the transport vehicle from stopping when passing through steps.

[0006] Technical means of solving problems

[0007] One form of the present invention is a robot control device, which stops the robot based on an external force applied to the robot mounted on a transport vehicle, and comprises: a determination unit, which determines whether the transport vehicle is moving; and a control unit, which stops the robot when the transport vehicle is moving, and enables the robot to move when the transport vehicle is not moving.

[0008] Another aspect of the present invention is a collaborative work unit comprising: a control device for the robot of the above aspect; a robot controlled by the control device; and a transport vehicle carrying the control device and the robot.

[0009] Another form of the present invention is a control method for a robot, wherein the robot is mounted on a transport vehicle, and the control method includes: a determination step of determining whether the transport vehicle is moving; a robot action step of enabling the robot to move when the transport vehicle is not moving, and detecting whether there is an abnormality based on an external force applied to the robot; and a robot stopping step of stopping the robot when the transport vehicle is moving or when the abnormality is detected.

[0010] Effects of the Invention

[0011] According to the present invention, it is possible to provide a robot control device, a robot control method, and a cooperative operation unit that can suppress a transport vehicle from stopping when passing through steps.

[0012] The above-mentioned objects, features and advantages will be easily understood from the following description of the embodiments described with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a diagram showing the overall configuration of the cooperative operation unit according to the first embodiment.

[0014] Figure 2 This is a functional configuration diagram of the robot control device according to the first embodiment.

[0015] Figure 3 This is a flowchart showing an example of the robot control method according to the first embodiment.

[0016] Figure 4 It is a diagram showing the overall configuration of a cooperative operation unit according to the second embodiment.

[0017] Figure 5 This is a functional configuration diagram of a robot control device according to a second embodiment.

[0018] Figure 6 This is a flowchart showing an example of a control method for a robot according to the second embodiment.

[0019] Figure 7 It is an overall configuration diagram of a cooperative operation unit according to the third embodiment.

[0020] Figure 8 This is a functional configuration diagram of a robot control device according to a third embodiment.

[0021] Fig. 9 This is a flowchart showing an example of a robot control method according to the third embodiment. DETAILED DESCRIPTION

[0022] Hereinafter, a robot control device, a robot control method, and a cooperative operation unit according to the present invention will be described in detail while listing preferred embodiments and referring to the drawings.

[0023] [First embodiment]

[0024] Figure 1 It is a diagram showing the overall configuration of the cooperative operation unit 10 according to the first embodiment.

[0025] The collaborative work unit 10 works in collaboration with people while moving around in a factory that manufactures industrial products, for example. The collaborative work unit 10 includes a robot 12, a control device 14 of the robot 12, and a transport vehicle 16 carrying the robot 12 and the control device 14. It should be noted that, in the following, when referring to the "control device 14 of the robot 12", it is simply recorded as "control device 14".

[0026] The robot 12 of this embodiment is a robot arm having multiple joints. In addition, the transport vehicle 16 of this embodiment realizes the movement of the collaborative work unit 10 by driving, and is also commonly referred to as an "unmanned transport vehicle" or "AGV (Automated guided vehicle)". Since such a robot 12 and transport vehicle 16 are each known in themselves, their description is appropriately omitted below.

[0027] The robot 12 has a plurality of joints that are driven by a motor 18. The motor 18 is, for example, a servo motor. The motor 18 is driven by a driving current supplied from the control device 14 via a feed circuit and an amplifier (amplifier) ​​not shown. In addition, the robot 12 is provided with a sensor 20 that detects an external force F applied to the robot 12.

[0028] The sensor 20 is provided at the motor 18 of the joint part, so as to detect the external force F based on the driving current supplied from the control device 14 to the motor 18 and the rotational torque of the rotating shaft of the motor 18. In addition, the sensor 20 outputs a signal corresponding to the detected external force F to the monitoring unit 32 (described later) of the control device 14.

[0029] Figure 2 1 is a functional configuration diagram of the control device 14 of the robot 12 according to the first embodiment.

[0030] The control device 14 controls the robot 12 based on a predetermined control program 22. The control device 14 includes a storage unit 24 and a calculation unit 26.

[0031] The storage unit 24 is configured to include, for example, ROM (Read Only Memory) and RAM (Random Access Memory) as hardware. The storage unit 24 stores the above-mentioned predetermined control program 22 .

[0032] The operation unit 26 includes, for example, a CPU (Central Processing Unit) as hardware. The operation unit 26 controls the robot 12 by executing a predetermined control program 22 stored in the storage unit 24. In this regard, the operation unit 26 includes a determination unit 28, a control unit 30, and a monitoring unit 32. These parts are realized by the operation unit 26 and the storage unit 24 cooperating to execute the control program 22. This will be described in order below.

[0033] The determination unit 28 determines whether the transport vehicle 16 is moving. There is no particular limitation on how to make the determination. For example, the determination unit 28 may make the determination by receiving a signal from the transport vehicle 16 indicating whether the transport vehicle 16 is moving. Alternatively, the determination unit 28 may make the determination by receiving a signal indicating the driving speed of the transport vehicle 16 from a speed sensor provided on the transport vehicle 16. Alternatively, the determination unit 28 may sequentially acquire the current position of the collaborative operation unit 10 by applying a GPS (Global Positioning System) to the collaborative operation unit 10, and make the determination based on the change in the acquired position.

[0034] Based on the result of the determination by the determination unit 28, the control unit 30 stops the robot 12 when the transport vehicle 16 is traveling, and enables the robot 12 to move when the transport vehicle 16 is not traveling. Here, it is preferred that the control unit 30 cuts off the power supply to the robot 12 when the transport vehicle 16 is traveling. In this way, the robot 12 can be stopped more reliably. When enabling the robot 12 to move, the power supply can be returned to a state where it can be turned on again.

[0035] Cutting off the power supply to the robot 12 means cutting off the supply of the driving current to the motor 18. This can be easily achieved by inserting a switching element in the electric wire supplying the driving current to the motor 18 and switching the switching element to off.

[0036] Although described later, the monitoring unit 32 may notify the control unit 30 that the robot 12 is abnormal. Upon receiving the notification from the monitoring unit 32, the control unit 30 immediately stops the robot 12 (fixes the posture of the robot 12).

[0037] A signal indicating the external force F is input from the sensor 20 to the monitoring unit 32. The monitoring unit 32 monitors whether an abnormal external force F is applied to the robot 12 in operation based on the signal. Whether the external force F is abnormal is determined based on whether the external force F exceeds a predetermined threshold value Vth. The threshold value Vth is determined based on the magnitude of the external force F assumed to be applied to the robot in normal operation by the control program. In addition, when the monitoring unit 32 determines that an abnormal external force F is applied to the robot 12 in operation, the monitoring unit 32 determines that an abnormality has occurred in the operation of the robot 12 and notifies the control unit 30 of the result.

[0038] For example, suppose that the robot 12 in operation contacts (collides) with an obstacle. At this time, the sensor 20 detects an abnormal external force F exceeding a threshold value from the robot 12. When a signal indicating the external force F exceeding a predetermined threshold value Vth is input from the sensor 20 to the monitoring unit 32, the monitoring unit 32 determines that an abnormality has occurred in the operation of the robot 12 and notifies the control unit 30 of the fact. Thus, the control device 14 of the present embodiment can quickly stop the robot 12 in the event of an abnormality such as the robot 12 contacting an obstacle.

[0039] It should be noted that the robot 12 of the present embodiment does not operate if the transport vehicle 16 is traveling. Therefore, if the transport vehicle 16 is traveling, the monitoring unit 32 does not need to determine whether an abnormality has occurred.

[0040] Figure 3 This is a flowchart showing an example of a control method of the robot 12 according to the first embodiment.

[0041] The following is a description of a "control method for the robot 12" (hereinafter referred to as the control method) that can be executed by the control device 14 of the present embodiment. In the control method, first, it is determined whether the transport vehicle 16 is traveling (S1: first determination step). This step can be performed by the determination unit 28.

[0042] When the transport vehicle 16 is not in motion (No), the robot 12 is enabled to move (S2: robot movement permission step). The robot movement permission step includes the following two steps. That is, the robot movement permission step includes the operation of the robot 12 based on the control program 22 (S3: operation step) and monitoring whether the external force F applied to the robot 12 is within the threshold value Vth (whether there is an abnormality) (S4: monitoring step). The operation step can be performed by the control unit 30 executing the control program 22. In addition, the monitoring step can be performed by the monitoring unit 32 monitoring the external force F detected by the sensor 20.

[0043] On the other hand, when the transport vehicle 16 is traveling (Yes), the robot 12 is stopped (S5: robot stopping step). This step can be performed by the control unit 30. When the robot 12 is stopped, it is preferable to cut off the power supply to the robot 12 as described above.

[0044] It should be noted that the robot stopping step is also executed when an abnormality is detected in the monitoring step. Thus, even if an abnormality occurs during the operation of the robot 12, the operation can be quickly interrupted.

[0045] After the robot stop step is started, a determination is made as to whether the robot stop step is to be terminated (S6: second determination step). In this step, it is determined whether the robot stop step is to be terminated based on whether a predetermined condition is satisfied. Here, the predetermined condition can be appropriately determined, and the predetermined condition refers to, for example, a predetermined time after the robot stop step is started, or an operator instructs to release the stop.

[0046] As described above, in the present embodiment, the robot 12 is allowed to operate if the transport vehicle 16 is not traveling, and is not allowed to operate if the transport vehicle 16 is traveling. In addition, when the robot 12 is not operating, that is, when the transport vehicle 16 is traveling, even if the external force F is applied to the robot 12, the transport vehicle 16 does not stop traveling.

[0047] Therefore, according to the present embodiment, in the collaborative operation unit 10 including the robot 12 and the transport vehicle 16 on which the robot 12 is mounted, it is possible to suppress the transport vehicle 16 from stopping when passing through a step.

[0048] [Second embodiment]

[0049] Hereinafter, the second embodiment will be described. It should be noted that the description of the same elements as those described in the first embodiment will be appropriately omitted.

[0050] Figure 4 It is an overall configuration diagram of a collaborative operation unit 10 ′ according to the second embodiment.

[0051] The collaborative work unit 10' of this embodiment has the same robot 12 and transport vehicle 16 as those of the first embodiment. That is, the robot 12 has a plurality of joints that are moved by a motor 18, and the motor 18 is provided with a sensor 20 for detecting an external force F. In this embodiment, the sensor 20 is also referred to as a first sensor 20. The transport vehicle 16 is an AGV that travels along a travel path while carrying the robot 12.

[0052] In addition, the collaborative unit 10' further includes a control device 14' of the second embodiment (control device of the robot 12) and a second sensor 34. The control device 14' of this embodiment is a device for controlling the robot 12 and is mounted on the transport vehicle 16. The second sensor 34 is used to detect the surrounding terrain, and is, for example, a visual sensor.

[0053] It should be noted that the second sensor 34 is not limited to a visual sensor as long as it detects the surrounding terrain, and may also be an ultrasonic sensor. As long as it can at least detect the terrain in the direction of travel of the transport vehicle 16, the number and configuration of the second sensor 34 are not limited to Figure 4 The composition shown.

[0054] Figure 5 1 is a functional configuration diagram of a control device 14 ′ of a robot 12 according to the second embodiment.

[0055] The control device 14' includes a computing unit 26' and a storage unit 24'. The computing unit 26' and the storage unit 24' may have the same configuration as the computing unit 26 and the storage unit 24 of the first embodiment as hardware. The storage unit 24' stores, in addition to the control program 22' for realizing the control of this embodiment, information required for the control of the robot 12 as appropriate. The information required for the control of the robot 12 refers to, for example, terrain information described later.

[0056] The calculation unit 26' includes a control unit 30', a step detection unit 36, a monitoring unit 32', a determination unit 28', and an emergency stop unit 38. These units are implemented by the calculation unit 26' and the storage unit 24' cooperating to execute the control program 22'. This will be described in order below.

[0057] The control unit 30' controls the driving of the motor 18 based on the control program 22' to operate the robot 12. Thus, the robot 12 operates in a cooperative manner with a human.

[0058] Although described later, the emergency stop unit 38 may request the control unit 30' to stop the operation of the robot 12. When the emergency stop unit 38 requests the control unit 30' to stop the operation of the robot 12, the motor 18 is stopped to quickly stop the robot 12 (fix the posture).

[0059] The step detector 36 detects steps on the travel path of the transport vehicle 16. The step detector 36 of this embodiment detects steps before the transport vehicle 16 reaches the steps based on the terrain information. The terrain information is information indicating at least the position of the steps on the travel path of the transport vehicle 16.

[0060] The second sensor 34 detects the terrain around the cooperative unit 10', and terrain information can be acquired sequentially as the transport vehicle 16 travels. This method is also generally referred to as SLAM (Simultaneous Localization and Mapping).

[0061] Alternatively, the topographic information may be acquired by investigating the position of the steps on the floor in the factory before the collaborative operation unit 10' operates. In this case, the second sensor 34 can be omitted from the configuration of the collaborative operation unit 10'.

[0062] When an external force F is applied to the robot 12, the determination unit 28' determines whether the external force F is applied during the period when the transport vehicle 16 passes through the step. This determination can be performed by comparing the position of the step detected by the step detection unit 36 ​​with the position of the collaborative operation unit 10' when the external force F is applied. The position of the collaborative operation unit 10' can be obtained, for example, by GPS. The determination unit 28' can also infer the position of the collaborative operation unit 10' based on the result of SLAM matching.

[0063] For example, when the position of the collaborative operation unit 10' when the external force F is applied to the robot 12 coincides with the position of the step, the determination unit 28' determines that the external force F applied to the robot 12 is an external force applied during the period when the transport vehicle 16 passes through the step. Alternatively, when the position of the collaborative operation unit 10' when the external force F is applied to the robot 12 is within a prescribed range centered on the step, the external force F applied to the robot 12 is determined to be an external force applied during the period when the transport vehicle 16 passes through the step.

[0064] When the external force F applied to the robot 12 is not applied while the transport vehicle 16 passes over the step, the monitoring unit 32' detects an abnormality occurring in the robot 12 during operation based on the external force F. Similar to the monitoring unit 32 of the first embodiment, the abnormality is detected by the monitoring unit 32' based on whether the external force F is within a predetermined threshold value Vth.

[0065] When an abnormality is detected, the monitoring unit 32' notifies the emergency stop unit 38 of the fact. When an abnormality is detected based on the external force F not applied to the robot 12 while the transport vehicle 16 is passing through the step, the emergency stop unit 38 requests the control unit 30' to stop the robot 12. In addition, the transport vehicle 16 is requested to stop traveling.

[0066] When the emergency stop unit 38 requests the control unit 30' to stop the robot 12, the control unit 30' promptly stops the robot 12 (fixes the posture). When the emergency stop unit 38 requests the transport vehicle 16 to stop traveling, the transport vehicle 16 promptly stops on the spot.

[0067] It should be noted that if the external force F is applied to the robot 12 while the transport vehicle 16 passes over the steps, the monitoring unit 32' will not detect the abnormality. Therefore, in this case, the emergency stop unit 38 will not request the control unit 30' to stop the operation of the robot 12 or the transport vehicle 16.

[0068] Figure 6 This is a flowchart showing an example of a control method of the robot 12 according to the second embodiment.

[0069] Hereinafter, a control method of the robot 12 according to the present embodiment will be described. It should be noted that, in the following, unless otherwise specified, the case where the transport vehicle 16 travels along the travel path will be described.

[0070] First, a step is detected on the travel path of the transport vehicle 16 (S11: step detection step). The step detection step is performed by the step detection unit 36 ​​based on the terrain information.

[0071] Next, when an external force F is applied to the robot 12, it is determined whether the external force F is applied while the transport vehicle 16 is passing over the step (S12: determination step). This determination is performed by the determination unit 28'.

[0072] The determination can be made by comparing the position of the step detected based on the terrain information with the current position of the cooperative unit 10'. If the external force F is applied when the cooperative unit 10' passes near the step, it can be determined that the external force F is applied while the transport vehicle 16 passes the step.

[0073] When the external force F applied to the robot 12 is not an external force applied during the period when the transport vehicle 16 passes through the step (the result of the determination is yes or no), the robot 12 is stopped and the transport vehicle 16 is requested to stop (S13: emergency stop step). Based on the result of the determination made by the emergency stop unit 38 in the determination step, the emergency stop unit 38 requests the control unit 30' and the transport vehicle 16 to perform the emergency stop step respectively.

[0074] When the external force F is applied during the period when the transport vehicle 16 passes through the steps (the result of the determination is yes), the transport vehicle 16 is not required to stop (end). Therefore, even if the external force F is applied to the robot 12 when the transport vehicle 16 passes through the steps, the transport vehicle 16 continues to travel as it is.

[0075] As described above, according to the control device 14' and control method of the robot 12 of this embodiment, the cooperative operation unit 10' including the robot 12 and the transport vehicle 16 carrying the robot 12 can suppress the transport vehicle 16 from stopping when passing through the steps. In addition, in this embodiment, the transportation vehicle 16 can be driven and the robot 12 can be operated at the same time.

[0076] [Third Embodiment]

[0077] The third embodiment is described below. The collaborative work unit 10" of the third embodiment is different from the second embodiment in that it detects the step after the transport vehicle 16 reaches the step. The structure of such a collaborative work unit 10" is described below. It should be noted that the description of the same elements as those described in the first and second embodiments will be appropriately omitted.

[0078] Figure 7 1 is an overall configuration diagram of a collaborative operation unit 10" according to a third embodiment.

[0079] The collaborative work unit 10" comprises: a robot 12 having a motor 18; a first sensor 20 arranged on the motor 18; a transport vehicle 16; a third sensor 40; and a control device 14". The robot 12, the transport vehicle 16, the motor 18 and the first sensor 20 among these have been described in other embodiments, so their description is omitted here.

[0080] The third sensor 40 detects acceleration based on the external force F' applied to the transport vehicle 16. When the external force F' is applied to the transport vehicle 16, the third sensor 40 outputs a detection signal corresponding to the acceleration based on the external force F' to the control device 14".

[0081] Figure 8 1 is a functional configuration diagram of a control device 14 ″ of a robot 12 according to a third embodiment.

[0082] In the present embodiment, the control device 14" controls the robot 12. The control device 14" includes a computing unit 26" and a storage unit 24". The computing unit 26" and the storage unit 24" may have the same configuration as the computing unit 26 and the storage unit 24 as hardware. A control program 22" is stored in the storage unit 24". The computing unit 26" implements the control method to be described below by executing the control program 22".

[0083] The calculation unit 26" includes a control unit 30", a monitoring unit 32", a step detection unit 36', a determination unit 28", and an emergency stop unit 38'. These units are implemented by the calculation unit 26" and the storage unit 24" executing the control program 22" in cooperation.

[0084] The control unit 30" mentioned above enables the robot 12 to work based on the control program 22". In addition, when the control unit 30" enables the robot 12 to work, the monitoring unit 32" monitors the external force F detected by the first sensor 20, thereby detecting abnormal external force F applied to the robot 12 in operation.

[0085] The step detection unit 36' calculates the acceleration based on the abnormal external force F detected by the monitoring unit 32". Thus, the acceleration based on the external force F applied to the robot 12 is obtained. In addition, the step detection unit 36' calculates the difference between the acceleration based on the external force F and the acceleration based on the external force F' input from the third sensor 40. It is preferred to decompose the two into components in each axial direction of the three-dimensional direction, and calculate the difference for each component.

[0086] And, if the calculated difference is within a predetermined range, the step detection unit 36' determines that there is a step (detects the step) where the transport vehicle 16 passes. In this way, the step detection unit 36' of this embodiment detects the step after the transport vehicle 16 reaches the step. It should be noted that, when calculating the difference in acceleration for each component in multiple directions, the step detection unit 36' determines whether the difference in all directions is within the above range.

[0087] The step detection unit 36' determines whether a step is detected, and when an external force F is applied to the robot 12, the determination unit 28" determines whether the external force F is applied during the period when the transport vehicle 16 passes the step. That is, the determination unit 28" determines whether the monitoring unit 32" detects an abnormal external force F applied to the robot 12, and whether the step detection unit 36' detects a step based on the external force F. Regardless of whether an abnormal external force F is detected, if the step detection unit 36' does not detect a step based on the external force F, the determination unit 28" calls the emergency stop unit 38'.

[0088] When the emergency stop unit 38' is called by the determination unit 28", the emergency stop unit 38' requests the control unit 30" to stop the robot 12. In addition, the transport vehicle 16 is requested to stop traveling.

[0089] The above is an overview of the cooperative operation unit 10 ″ according to the present embodiment. Next, a control method of the robot 12 that can be executed by the control device 14 ″ according to the present embodiment will be described.

[0090] Fig. 9 1 is a flowchart showing an example of a control method of the robot 12 according to the third embodiment. Note that, in the following, as in the second embodiment, unless otherwise specified, the case where the transport vehicle 16 travels along the travel path will be described.

[0091] In the control method of the present embodiment, first, the monitoring unit 32" monitors the external force F applied to the robot 12, thereby detecting an abnormality occurring in the robot 12 during operation (S21: monitoring step). When an external force F exceeding the threshold value Vth is applied to the robot 12, the monitoring unit 32" determines that an abnormality has occurred. In addition, during this period, the robot 12 can work in collaboration with humans. The control unit 30" controls the movements of the robot 12 during operation based on the control program 22".

[0092] When an abnormality is detected in the monitoring step (Yes), the step detection unit 36' detects a step based on the external force F applied to the robot 12 (S22: step detection step). As described above, the step detection unit 36' can detect a step based on whether the difference between the acceleration based on the external force F applied to the robot 12 and the acceleration based on the external force F' applied to the transport vehicle 16 is within a predetermined range.

[0093] Next, the determination unit 28' receives the result of the step detection step and determines whether the external force F is an external force applied during the period when the transport vehicle 16 passes through the step (S23: determination step). In this determination, when the step detection unit 36' detects a step based on the abnormal external force F, it is determined that the external force F is an external force applied during the period when the transport vehicle 16 passes through the step.

[0094] In the case where it is determined that the external force F detected in the monitoring step is an external force applied during the period when the transport vehicle 16 passes through the step (yes), the monitoring step is temporarily terminated. Fig. 9 In this case, if the transport vehicle 16 is in motion, it continues to travel without stopping.

[0095] On the other hand, if the abnormal external force F is not an external force applied while the transport vehicle 16 passes through the step (No), the emergency stop unit 38' is called (S24: emergency stop step). In the emergency stop step, if the robot 12 is working, the robot 12 is stopped, and if the transport vehicle 16 is traveling, the transport vehicle 16 is stopped.

[0096] According to the control device 14" and control method of the robot 12 of the present embodiment, even when an abnormal external force F is applied to the robot 12, the emergency stop unit 38' will not be called when a step is detected based on the external force F. Therefore, for the collaborative work unit 10" having the robot 12 and the transport vehicle 16 carrying the robot 12, it is possible to prevent the transport vehicle 16 from stopping when passing through a step.

[0097] [Modifications]

[0098] The above embodiment has been described as an example of the present invention, but it is of course possible to make various changes or improvements to the above embodiment. It is obvious from the description of the technical solution that such changes or improvements are also included in the technical scope of the present invention.

[0099] [Inventions from the embodiments]

[0100] The invention that can be understood from the above-mentioned embodiment and modified examples will be described below.

[0101] <First Invention>

[0102] A control device (14) for a robot (12) that stops the robot (12) based on an external force (F) applied to the robot (12) mounted on a transport vehicle (16), comprising: a determination unit (28) that determines whether the transport vehicle (16) is moving; and a control unit (30) that stops the robot (12) when the transport vehicle (16) is moving, and enables the robot (12) to move when the transport vehicle (16) is not moving.

[0103] Thus, a control device (14) for a robot (12) is provided that can prevent a transport vehicle (16) from stopping when passing through a step.

[0104] The control unit (30) may also cut off the power supply to the robot (12) when the transport vehicle (16) is in motion, and enable the power supply to the robot (12) when the transport vehicle (16) is stopped. Thus, the robot (12) can be stopped more reliably.

[0105] <Second invention>

[0106] A collaborative work unit (10) comprises: a control device (14) of the robot (12) of the first invention; a robot (12) controlled by the control device (14); and a transport vehicle (16) carrying the control device (14) and the robot (12).

[0107] Thus, a cooperative operation unit (10) capable of preventing a transport vehicle (16) from stopping when passing through a step is provided.

[0108] <Third invention>

[0109] A control method for a robot (12), wherein the robot is mounted on a transport vehicle (16), the control method comprising: a determination step for determining whether the transport vehicle (16) is in motion; a robot action permission step for enabling the robot (12) to move when the transport vehicle (16) is not in motion, and detecting whether an abnormality exists based on an external force (F) applied to the robot (12); and a robot stopping step for stopping the robot (12) when the transport vehicle (16) is in motion or when the abnormality is detected.

[0110] Thus, a control method for a robot (12) capable of preventing a transport vehicle (16) from stopping when passing through a step is provided.

[0111] In the robot stopping step, the robot (12) may be stopped by cutting off the power supply to the robot (12). Thus, the robot (12) can be stopped more reliably.

[0112] <Fourth Invention>

[0113] A control device (14', 14") of the robot (12), which requires the transport vehicle (16) to stop based on an external force (F) applied to the robot (12) mounted on the transport vehicle (16), and comprises: a step detection unit (36, 36') which detects steps on the travel path of the transport vehicle (16); a determination unit (28', 28") which, when an external force (F) is applied to the robot (12), determines whether the external force (F) is applied while the transport vehicle (16) passes over the step; and an emergency stop unit (38, 38') which does not require the transport vehicle (16) to stop if the external force (F) is applied while the transport vehicle (16) passes over the step.

[0114] Thus, a control device (14', 14") of a robot (12) is provided, which can prevent a transport vehicle (16) from stopping when passing through a step.

[0115] A storage unit (24', 24") may be further provided, which stores topographic information indicating the position of the step on the travel path, and the step detection unit (36, 36') detects the step based on the topographic information. Thus, the step is detected based on the topographic information.

[0116] The step detection unit (36') may also detect the step based on whether the difference between the external force (F) applied to the robot (12) and the external force (F') applied to the transport vehicle (16) is within a predetermined range. Thus, when the external force (F) is applied to the robot (12), the step is detected based on the external force (F).

[0117] <Fifth Invention>

[0118] A control method for a robot (12), wherein the robot is mounted on a transport vehicle (16), the control method comprising: a step detection step for detecting steps on the travel path of the transport vehicle (16); a determination step for determining, when an external force (F) is applied to the robot (12), whether the external force (F) is applied by the transport vehicle (16) while it is passing over the step; and an emergency stop step for requiring the transport vehicle (16) to make an emergency stop if the external force (F) is not applied while the transport vehicle (16) is passing over the step, and not requiring the transport vehicle (16) to make an emergency stop if the external force (F) is applied while the transport vehicle (16) is passing over the step.

[0119] Thus, a control method for a robot (12) capable of preventing a transport vehicle (16) from stopping when passing through a step is provided.

[0120] In the step detection step, the determination may be made based on topographic information indicating the position of the step on the travel path. Thus, the step is detected based on the topographic information.

[0121] In the step detection step, the step may be detected based on whether the difference between the external force (F) applied to the robot (12) and the external force (F') applied to the transport vehicle (16) is within a predetermined range. Thus, when the external force (F) is applied to the robot (12), the step is detected based on the external force (F).

Claims

1. A robot control device for stopping the robot based on an external force applied to the robot mounted on a transport vehicle, the control device comprising: a determination unit for determining whether the transport vehicle is in motion; a control unit, wherein the control unit stops the robot when the transport vehicle is in motion, and enables the robot to move when the transport vehicle is not in motion; a step detection unit, which detects steps on the travel path of the transport vehicle; as well as Emergency stop department; When an abnormality is detected based on the external force applied to the robot not during the period when the transport vehicle passes through the step, the emergency stop unit requests the control unit to stop the transport vehicle; In the case where an abnormal external force is applied to the robot, when the step is detected based on the external force, the determination unit does not call the emergency stop unit, and the emergency stop unit does not require the transport vehicle to stop; Whether the external force is abnormal is determined based on whether the external force exceeds a predetermined threshold.

2. The robot control device according to claim 1, characterized in that: The control unit cuts off power supply to the robot when the transport vehicle is traveling, and enables power supply to the robot when the transport vehicle is stopped.

3. A collaborative operation unit, characterized in that: have: A robot control device as claimed in claim 1 or 2; a robot controlled by the control device; and A transport vehicle is equipped with the control device and the robot.

4. A robot control method, which is executed by the robot control device according to claim 1 or 2, wherein the robot control method is characterized by comprising: A determination step of determining whether the transport vehicle is in motion; a robot motion allowing step of enabling the robot to move when the transport vehicle is not moving, and detecting whether an abnormality exists based on an external force applied to the robot; as well as The robot stopping step stops the robot when the transport vehicle is traveling or when the abnormality is detected.

5. The robot control method according to claim 4, characterized in that: In the robot stopping step, the robot is stopped by cutting off power supply to the robot.

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