Control device, control method and program product

Abstract

The control device controls the robot for performing the operation, and is provided with an independent mode in which the robot operates independently and a cooperative mode in which the robot operates together with an operator. The control device causes the robot to operate in the independent mode or the cooperative mode. The control device is configured to determine whether a first predetermined condition is satisfied based on the position of the operator, and switch from the independent mode to the cooperative mode when the first predetermined condition is satisfied in the independent mode, and to determine whether a second predetermined condition is satisfied based on the position of the operator, and switch from the cooperative mode to the independent mode when the second predetermined condition is satisfied in the cooperative mode.

Description

Technical Field

[0001] The invention relates to a control device, a control method and a program product. Background Art

[0002] Conventionally, there is known a robot control device that allows the robot to work together with a worker (for example, see Patent Document 1).

[0003] The control device of Patent Document 1 is configured to estimate the action of the operator based on the shooting result of the camera, and to operate the robot according to the action of the operator. For example, when installing a unit on an assembly object, after the robot moves the unit to the installation position, the robot and the operator perform screw tightening to install the unit on the assembly object. Then, the robot brings the cable to a predetermined position in the assembly object, the operator receives the cable, and the operator connects the cable to the unit.

[0004] Furthermore, when the robot moves the unit to the installation position, if the operator enters the working area or operation area of ​​the robot or the unit, the robot is decelerated or stopped. Similarly, when the robot moves the cable to the predetermined position, if the operator enters the working area or operation area of ​​the robot, the robot is decelerated or stopped. Thus, it is possible to prevent the robot and the unit from colliding with the operator.

[0005] Prior art literature

[0006] Patent Literature

[0007] Patent Document 1: Japanese Patent Application Publication No. 2018-62016 Summary of the invention

[0008] Problems to be solved by the invention

[0009] In the above-mentioned conventional control device, the robot can cooperate with the operator, but it is not assumed that the operator and the robot perform independent operations. On the other hand, a control device is sought that can make the robot perform operations alone or work together with the operator in a situation where the operator and the robot perform independent operations and occasionally perform cooperative operations.

[0010] The present invention is completed to solve the above-mentioned problems. The purpose of the present invention is to provide a control device, a control method and a program product, which can enable the robot to work alone or in collaboration with the operator under the situation that the operator and the robot perform independent operations respectively and occasionally cooperate with each other.

[0011] Means used to solve problems

[0012] The control device of the present invention controls a robot that performs work, and is provided with an independent mode that enables the robot to work alone and a cooperative mode that enables the robot to work together with an operator. The control device has a motion control unit that enables the robot to act in an independent mode or a cooperative mode, and a first switching unit or a second switching unit. The first switching unit is configured to determine whether a first predetermined condition is met based on at least one of the position of the operator, the posture of the operator, the motion of the operator, the direction of the operator's line of sight, the sound emitted by the operator, and the workpiece provided by the operator, and when the first predetermined condition is met in the independent mode, the independent mode is switched to the cooperative mode. The second switching unit is configured to determine whether a second predetermined condition is met based on at least one of the position of the operator, the posture of the operator, the motion of the operator, the direction of the operator's line of sight, the sound emitted by the operator, and the workpiece provided by the operator, and when the second predetermined condition is met in the cooperative mode, the cooperative mode is switched to the independent mode.

[0013] By configuring in this way, when the robot and the operator are working together, the collaborative mode is set, and when the robot is working alone without the intervention of the operator, the independent mode is set, so that the robot can selectively perform the independent work and the collaborative work. In addition, when the operator needs to switch the action mode, the first predetermined condition or the second predetermined condition can be easily satisfied to switch the action mode.

[0014] The control method of the present invention is a method for controlling a robot performing an operation, comprising the following steps: causing the robot to operate in an independent mode in which the robot operates alone, or in a collaborative mode in which the robot operates together with an operator; judging whether a first predetermined condition is met based on at least one of the operator's position, the operator's posture, the operator's movement, the direction of the operator's line of sight, the sound emitted by the operator, and a workpiece provided by the operator, and if the first predetermined condition is met in the independent mode, switching from the independent mode to the collaborative mode; or judging whether a second predetermined condition is met based on the operator's position, the operator's posture, the operator's movement, the direction of the operator's line of sight, the sound emitted by the operator, and at least one of the workpiece provided by the operator, and if the second predetermined condition is met in the collaborative mode, switching from the collaborative mode to the independent mode.

[0015] The program product of the present invention includes a program for causing a computer to execute the following steps: causing a robot to operate in an independent mode in which the robot works alone or in a collaborative mode in which the robot works together with an operator; judging whether a first predetermined condition is met based on at least one of the operator's position, the operator's posture, the operator's movement, the direction of the operator's line of sight, the sound emitted by the operator, and a workpiece provided by the operator, and if the first predetermined condition is met in the independent mode, switching from the independent mode to the collaborative mode; or judging whether a second predetermined condition is met based on at least one of the operator's position, the operator's posture, the operator's movement, the direction of the operator's line of sight, the sound emitted by the operator, and a workpiece provided by the operator, and if the second predetermined condition is met in the collaborative mode, switching from the collaborative mode to the independent mode.

[0016] Effects of the Invention

[0017] According to the control device, control method and program product of the present invention, in a situation where the operator and the robot perform independent tasks and occasionally perform collaborative tasks, the robot can perform the task independently or in collaboration with the operator. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a block diagram showing a schematic configuration of a robot control system according to the present embodiment.

[0019] Figure 2 This is a flowchart for explaining the operation mode switching operation in the robot control system according to the present embodiment.

[0020] Figure 3 This is a flowchart for explaining the operation in the independent mode in the robot control system of this embodiment. DETAILED DESCRIPTION

[0021] Hereinafter, one embodiment of the present invention will be described.

[0022] First, refer to Figure 1 , a configuration of a robot control system 100 including a control device 1 according to an embodiment of the present invention will be described.

[0023] The robot control system 100 is applied to, for example, a production site of a single-unit production method in a factory. Figure 1 As shown, the robot control system 100 includes a control device 1, a robot 2, and an imaging device 3. The robot control system 100 is configured to cause the robot 2 to perform a predetermined operation (task) in a production line.

[0024] The control device 1 is configured to control the robot 2 based on the image pickup result of the image pickup device 3. The control device 1 is provided with an independent mode and a cooperative mode, and is configured to operate the robot 2 in the independent mode or the cooperative mode.

[0025] Here, the independent mode is a mode in which the robot 2 works alone, and the cooperative mode is a mode in which the robot 2 works together with an operator (human). Therefore, in the independent mode, the robot 2 performs an independent operation, and in the cooperative mode, the robot 2 performs a part of the joint operation (the operation performed by the robot 2 in the joint operation). That is, the main body of the independent operation in the independent mode is only the robot 2, and the main body of the joint operation in the cooperative mode is both the robot 2 and the operator. For example, the independent mode is repeated in the independent mode, and the joint operation is repeated in the cooperative mode. As a specific example, the independent operation is the operation of moving the workpiece W1 transported to the location P1 to the location P2 by the robot 2, and the joint operation is composed of the operation of the operator processing the workpiece W2 transported to the location P3 and the operation of moving the processed workpiece W2 from the location P3 to the location P4 by the robot 2. It should be noted that in one working space, multiple robots 2 and multiple operators can also perform operations.

[0026] In addition, the control device 1 is configured to switch from the independent mode to the cooperative mode when a first predetermined condition is satisfied in the independent mode. The first predetermined condition is set for the control device 1 to determine whether the operator requests to start the cooperative operation. For example, when the operator is located in a pre-set area (an area where the operation performed by the operator in the cooperative operation can be performed), it is determined that the first predetermined condition is satisfied.

[0027] In addition, the control device 1 is configured to switch from the collaborative mode to the independent mode when a second predetermined condition is satisfied in the collaborative mode. The second predetermined condition is set for the control device 1 to determine whether the operator requests to end the collaborative operation. For example, when the operator leaves a pre-set area, it is determined that the second predetermined condition is satisfied.

[0028] The control device 1 includes a calculation unit 11, a storage unit 12, and an input-output unit 13. The calculation unit 11 is configured to control the control device 1 by executing calculation processing based on a program stored in the storage unit 12. The storage unit 12 stores programs and the like. As an example of the program, there are action programs for individual operations of the robot 2 and action programs for joint operations of the robot 2. The robot 2 and the camera 3 are connected to the input-output unit 13. It should be noted that the "action control unit", "first switching unit" and "second switching unit" of the present invention are realized by executing the program stored in the storage unit 12 by the calculation unit 11. In addition, the control device 1 is an example of a "computer" of the present invention.

[0029] The robot 2 includes a multi-axis arm and a manipulator as an end effector provided at the front end of the multi-axis arm. The robot 2 is configured to hold a workpiece with the manipulator and to transport the held workpiece.

[0030] The photographing device 3 is configured to photograph the working area of ​​the robot 2. The working area of ​​the robot 2 is an area surrounding the robot 2, and is an area including the working area when working alone and the working area when working together. For example, the working area when working alone includes the area through which the robot 2 moving when working alone and the workpiece held by the robot 2 pass, and the working area when working together includes the area through which the robot 2 moving when working together and the workpiece held by the robot 2 pass. In addition, the photographing device 3 is provided with a microphone (not shown) for collecting sounds around the robot 2. The photographing results and sound collection results of the photographing device 3 are input to the control device 1.

[0031] -Switching action of action mode-

[0032] Next, refer to Figure 2 , the switching action of the action mode in the robot control system 100 of this embodiment is explained. The switching action is performed in parallel with the action in the independent mode or the action in the cooperative mode described later. It should be noted that when the action of the robot control system 100 starts, for example, it is set to the independent mode. In addition, the following steps are executed by the control device 1.

[0033] First, in Figure 2 In step S1, it is determined whether the action mode is the independent mode. Then, if it is determined to be the independent mode, it moves to step S2. On the other hand, if it is determined not to be the independent mode (in the case of the cooperative mode), it moves to step S4.

[0034] Next, in step S2, it is determined whether the first predetermined condition is satisfied. For example, if it is determined based on the shooting result of the shooting device 3 that the operator is located in a pre-set area, it is determined that the first predetermined condition is satisfied. Then, if it is determined that the first predetermined condition is satisfied, in step S3, the action mode is switched from the independent mode to the cooperative mode, and the process moves to return (return to step S1). On the other hand, if it is determined that the first predetermined condition is not satisfied, the action mode is not changed from the independent mode, and the process moves to return.

[0035] In addition, in step S4, it is determined whether the second predetermined condition is satisfied. For example, when the operator leaves the pre-set area, it is determined that the second predetermined condition is satisfied. And, when it is determined that the second predetermined condition is satisfied, in step S5, the action mode is switched from the collaborative mode to the independent mode and moves to the return mode. On the other hand, when it is determined that the second predetermined condition is not satisfied, the action mode is not changed from the collaborative mode and moves to the return mode.

[0036] - Actions in standalone mode -

[0037] Next, refer to Figure 3 Next, the operation in the independent mode of the robot control system 100 according to the present embodiment will be described. It should be noted that the following steps are executed by the control device 1 .

[0038] First, in Figure 3 In step S11, it is determined whether it is the start of a single operation. Then, if it is determined that it is not the start of a single operation (when the independent mode continues), it moves to step S12. On the other hand, if it is determined that it is the start of a single operation (when the robot control system 100 has just started the operation, when it has just switched from the cooperative mode to the independent mode), it moves to step S13.

[0039] Next, in step S12, based on the image capturing result of the image capturing device 3, it is determined whether a part of the operator's body has entered the working area of ​​the robot 2 during the single operation. Then, if it is determined that a part of the operator's body has entered the working area of ​​the robot 2 during the single operation, since there is a possibility that the type of workpiece has been changed, etc., the process moves to step S13. On the other hand, if it is determined that a part of the operator's body has not entered the working area of ​​the robot 2 during the single operation, the initialization process does not need to be performed (it is in the single operation repeated after the initialization process is performed), so the process moves to step S14.

[0040] Next, in step S13, an initialization process is performed. In the initialization process, for example, the type of the workpiece is determined based on the photographing result of the photographing device 3, and an action program corresponding to the type of the workpiece is selected, and the position of the workpiece is calculated based on the photographing result of the photographing device 3, and the action program is corrected based on the position of the workpiece. That is, the type and position of the workpiece are identified by image processing, and the action program is selected and corrected based on the result.

[0041] Next, in step S14, the robot 2 is caused to perform an independent operation. The independent operation is performed based on the corrected motion program.

[0042] Furthermore, when the robot 2 is working alone, if it is determined based on the shooting results of the shooting device 3 that the robot 2 is likely to interfere with the operator, the robot 2 is prevented from interfering with the operator. Avoiding interference means, for example, making the robot 2 take a detour to avoid the operator. That is, in the case where it is predicted that the robot 2 or the workpiece held by the robot 2 will collide with the operator, the path through which the robot 2 and the workpiece pass is changed, and the operation is continued while avoiding the collision. It should be noted that the situation in which a collision is predicted is, for example, a situation in which the distance D between the robot 2 and the workpiece relative to the operator is less than a predetermined value Th, and the path of the robot 2 and the workpiece is changed so that the distance D is not less than a predetermined value Th. The predetermined value Th is a pre-set value, and is a threshold value used to determine whether the robot 2 and the workpiece are too close to the operator.

[0043] When the robot 2 performs a single operation, the distance D between the robot 2 and the workpiece relative to the operator is adjusted according to the workpiece. Specifically, the distance D is adjusted by changing the predetermined value Th according to the workpiece. For example, when the shape of the workpiece is sharp, the predetermined value Th is increased compared to normal, thereby increasing the distance D.

[0044] After that, when one individual operation is completed, the process moves to return (return to step S11 ).

[0045] - Actions in cooperative mode -

[0046] Next, the operation in the cooperation mode in the robot control system 100 according to the present embodiment will be described.

[0047] In the cooperative mode, the robot 2 and the worker perform a cooperative operation. In the cooperative mode, the control device 1 causes the robot 2 to perform a part of the cooperative operation based on the operation program.

[0048] During collaborative work, if it is determined based on the sound collection result of the camera 3 that the operator has made a loud sound, emergency processing can also be performed. As an example of emergency processing, it is possible to cite reducing the moving speed of the robot 2, reducing the moving speed of the robot 2 and then stopping it, immediately stopping the robot 2, and slowly returning the robot 2 to the initial position. It should be noted that emergency processing can also be performed when the operator utters a pre-set language (for example, "danger", "stop", etc.) and when an abnormal sound such as causing an object to fall is generated.

[0049] Furthermore, during collaborative work, the worker's proficiency may be identified based on the image capturing result of the image capturing device 3, and the moving speed of the robot 2 may be adjusted according to the proficiency. Furthermore, when the proficiency changes drastically, a warning may be issued.

[0050] In addition, when working together, the operator's physical characteristics (e.g., dominant hand, arm length, etc.) can be identified based on the shooting results of the camera 3, and the position (movement trajectory) of the robot 2 can be adjusted according to the physical characteristics. For example, the operator's working range can be identified, and the movement trajectory of the robot 2 can be corrected in a way that does not interfere with the operator.

[0051] Furthermore, when an operator comes into contact with a workpiece held by the robot 2 during collaborative work, the holding force of the robot 2 may be weakened to hand the workpiece over to the operator.

[0052] Furthermore, during collaborative work, the robot 2 may perform an evasive action to avoid the worker in order to ensure safety.

[0053] -Effect-

[0054] In the present embodiment, as described above, an independent mode and a cooperative mode are set, and the independent mode is switched to the cooperative mode when the first predetermined condition is satisfied, thereby enabling the robot 2 to selectively perform independent work and cooperative work. Thus, independent work can be repeatedly performed while inserting cooperative work between repeated independent work. As a result, in a situation where the operator and the robot 2 perform independent work respectively and occasionally perform cooperative work, the robot 2 can perform work alone or in cooperation with the operator. For example, large batches of products can be produced by independent work, and small batches of products can be produced by cooperative work.

[0055] Here, when the robot control system 100 of the present embodiment is applied to the single-unit production method, the robot 2 can perform individual operations and cooperative operations in the same single-unit structure, and thus can efficiently complete a complicated process.

[0056] As specific examples, the following situations can be cited:

[0057] (A) In assembly work, robot 2 works alone until a certain amount of parts (workpieces) are used up. However, when parts are used up and new parts are distributed, the operator enters a pre-set area (such as the work area of ​​robot 2) and works together.

[0058] (B) Normally, the robot 2 picks up a component placed at a predetermined position and performs work alone. However, when a component is defective, an operator enters a predetermined area (eg, the work area of ​​the robot 2 ) to deliver the component and performs work together.

[0059] In addition, in the present embodiment, by determining that the first predetermined condition is satisfied when the worker is located in a preset area, when the worker starts collaborative work, the first predetermined condition can be easily satisfied and the mode can be switched to the collaborative mode.

[0060] In addition, in this embodiment, when the operator leaves the preset area, it is determined that the second predetermined condition is met and the collaborative mode is switched to the independent mode. Therefore, when the operator ends the collaborative work, the second predetermined condition can be easily met and the mode can be switched to the independent mode.

[0061] In addition, in the present embodiment, by avoiding interference between the robot 2 and the operator in the independent mode, it is possible to ensure safety when the robot 2 performs independent work. In addition, by continuing the independent work while avoiding interference with the operator, it is possible to suppress a decrease in productivity.

[0062] Furthermore, in the present embodiment, when an operator enters the working area of ​​the robot 2 in the independent mode, the initialization process is performed, so that changes in the type of workpieces and the like can be promptly dealt with.

[0063] Furthermore, in the present embodiment, the clearance distance D is adjusted according to the workpiece in the independent mode, and when the shape of the workpiece is sharp, the clearance distance D is increased, thereby improving safety.

[0064] Therefore, in this embodiment, the robot 2 and the operator share the same space, and in a situation where they perform independent tasks respectively and occasionally collaborate with each other, the robot 2 and the operator can collaborate naturally without reducing the productivity of the robot 2 while ensuring safety. In addition, compared with the case where the robot's working area and the operator's working area are distinguished, the work space can be prevented from becoming larger.

[0065] -Other Implementation Methods-

[0066] It should be noted that the embodiments disclosed this time are all illustrative in all aspects and do not serve as the basis for restrictive interpretation. Therefore, the technical scope of the present invention is not only explained by the above-mentioned embodiments, but is defined based on the description of the technical solution. In addition, the technical scope of the present invention includes all changes within the meaning and scope equivalent to the technical solution.

[0067] For example, in the above embodiment, an example of a robot carrying a workpiece is shown, but the robot is not limited to this, and the robot can also process the workpiece, etc. That is, in the above embodiment, an example of the robot 2 having a multi-axis arm and a manipulator is shown, but the robot is not limited to this, and the structure of the robot can be any structure.

[0068] In addition, in the above-mentioned embodiment, an example of determining whether the first predetermined condition is satisfied based on the position of the operator is shown, but the present invention is not limited thereto, and it is also possible to determine whether the first predetermined condition is satisfied based on at least one of the position of the operator, the posture of the operator, the movement of the operator, the direction of the operator's line of sight, the sound made by the operator, and the workpiece provided by the operator. For example, the first predetermined condition may be determined to be satisfied when all of the following items (1) to (7) are satisfied, or it may be determined to be satisfied when at least one item appropriately selected from the following items (1) to (7) is satisfied.

[0069] (1) The operator is located in a pre-set area.

[0070] (2) The front surface of the operator's chest faces the robot.

[0071] (3) The front surface of the operator's head faces the robot.

[0072] (4) The operator performs a pre-set action (gesture).

[0073] (5) The operator’s line of sight is toward the robot.

[0074] (6) The operator makes a pre-set sound.

[0075] (7) The operator provides the robot with a preset workpiece (the operator places the preset workpiece at a starting point for starting the collaborative work with the robot).

[0076] In addition, in the above-mentioned embodiment, an example of judging whether the second predetermined condition is satisfied based on the position of the operator is shown, but it is not limited to this. It is also possible to judge whether the second predetermined condition is satisfied based on at least one of the position of the operator, the posture of the operator, the movement of the operator, the direction of the operator's line of sight, the sound emitted by the operator, and the workpiece provided by the operator. It should be noted that the items for judging whether the second predetermined condition is satisfied are the same as the items for judging whether the first predetermined condition is satisfied, but for example, the content (parameters) set in each item may also be different. For example, the second predetermined condition may be judged to be satisfied when all of the following items (8) to (14) are satisfied, or it may be judged to be satisfied when at least one item appropriately selected from the following items (8) to (14) is satisfied.

[0077] (8) The operator leaves the pre-set area.

[0078] (9) The front surface of the operator’s chest does not face the robot.

[0079] (10) The front surface of the operator's head does not face the robot.

[0080] (11) The operator performed a pre-set action.

[0081] (12) The operator’s line of sight is not directed toward the robot.

[0082] (13) The operator made a pre-set sound.

[0083] (14) The operator provides the robot with a preset workpiece (the operator places the preset workpiece at a starting point for starting the robot's individual work).

[0084] In addition, in the above embodiment, an example is shown in which interference with the operator is avoided by making the robot 2 take a detour to avoid the operator, but the present invention is not limited to this, and interference with the operator may also be avoided by reducing the movement speed of the robot or temporarily stopping the movement of the robot.

[0085] In addition, in the above-mentioned embodiment, when the robot 2 performs an independent operation, the robot 2 may not be decelerated or stopped while the robot 2 continues to perform the operation while avoiding collision with the operator. That is, the independent mode may be a mode in which the robot 2 performs the operation independently while avoiding collision with the operator without decelerating or stopping the robot 2. It should be noted that, for example, the robot 2 may not be decelerated or stopped, and the moving speed of the robot 2 may be kept constant (maintained the same before and after the avoidance), or the moving speed of the robot 2 may be increased to avoid a delay in the arrival time at the moving destination caused by the detour of the robot 2.

[0086] In the above embodiment, an example is shown in which a single operation is performed once in step S2, but the present invention is not limited thereto. When a single operation is composed of a plurality of operation units, the operation units may be performed sequentially in step S2.

[0087] In the above embodiment, an example is shown in which the spacing distance D is increased when the shape of the workpiece is sharp, but the present invention is not limited thereto. The spacing distance may be increased when the temperature of the workpiece is high or when the workpiece is unstable.

[0088] In addition, in the above embodiment, an example of adjusting the spacing distance D according to the workpiece is shown, but it is not limited to this, and the moving speed of the robot may also be adjusted according to the workpiece. For example, the moving speed of the robot may be reduced when the shape of the workpiece is sharp, the temperature of the workpiece is high, or the workpiece is unstable.

[0089] In addition, in the above-mentioned embodiment, an example of performing initialization processing when a part of the operator's body intrudes into the working area of ​​the robot 2 when working alone is shown, but it is not limited to this. Initialization processing may also be performed when a part of the operator's body intrudes into a pre-set area in the working area of ​​the robot when working alone.

[0090] Industrial Applicability

[0091] The present invention can be used in a control device, a control method, and a program for controlling a robot that performs work.

[0092] Description of reference numerals:

[0093] 1: Control device (computer);

[0094] 2: Robot;

[0095] 3: Shooting device;

[0096] 11: Operation unit;

[0097] 12: Storage unit;

[0098] 13: Input and output part;

[0099] 100: Robot control system.

Claims

1. A control device that controls a robot that performs a task. It is characterized in that The control device is provided with an independent mode for enabling the robot to work independently and a cooperative mode for enabling the robot to work together with an operator. The control device comprises: a motion control unit that causes the robot to move in the independent mode or the cooperative mode; and a first switching unit or a second switching unit, The control device is configured to prevent the robot from interfering with the operator when the robot is operating alone and there is a possibility that the robot may interfere with the operator. The first switching unit is configured to determine whether a first predetermined condition is satisfied based on at least one of the position of the operator, the posture of the operator, the gesture of the operator, the direction of the operator's line of sight, the sound made by the operator, and the workpiece provided by the operator, and to switch from the independent mode to the collaborative mode when the first predetermined condition is satisfied in the independent mode. The second switching unit is configured to determine whether a second predetermined condition is met based on at least one of the operator's position, the operator's posture, the operator's gesture, the direction of the operator's line of sight, the sound made by the operator, and the workpiece provided by the operator, and to switch from the collaborative mode to the independent mode when the second predetermined condition is met in the collaborative mode.

2. A control method for controlling a robot performing a task, It is characterized in that The control method comprises the following steps: causing the robot to operate in an independent mode in which the robot operates independently or in a cooperative mode in which the robot operates together with an operator; Based on at least one of the position of the operator, the posture of the operator, the gesture of the operator, the direction of the operator's line of sight, the sound emitted by the operator, and the workpiece provided by the operator, determine whether a first predetermined condition is met, and if the first predetermined condition is met in the independent mode, switch from the independent mode to the collaborative mode; or based on at least one of the position of the operator, the posture of the operator, the gesture of the operator, the direction of the operator's line of sight, the sound emitted by the operator, and the workpiece provided by the operator, determine whether a second predetermined condition is met, and if the second predetermined condition is met in the collaborative mode, switch from the collaborative mode to the independent mode. When there is a possibility that the robot may interfere with an operator when the robot is working alone, the robot is prevented from interfering with the operator.

3. A program product, comprising a program for causing a computer to execute the following steps: operating the robot in an independent mode in which the robot operates independently or in a cooperative mode in which the robot operates together with an operator; Based on at least one of the position of the operator, the posture of the operator, the gesture of the operator, the direction of the operator's line of sight, the sound emitted by the operator, and the workpiece provided by the operator, determine whether a first predetermined condition is met, and if the first predetermined condition is met in the independent mode, switch from the independent mode to the collaborative mode; or based on at least one of the position of the operator, the posture of the operator, the gesture of the operator, the direction of the operator's line of sight, the sound emitted by the operator, and the workpiece provided by the operator, determine whether a second predetermined condition is met, and if the second predetermined condition is met in the collaborative mode, switch from the collaborative mode to the independent mode. When there is a possibility that the robot may interfere with an operator when the robot is working alone, the robot is prevented from interfering with the operator.

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