Robot control device

Abstract

A robot control device (20) that controls a robot includes: a standard function unit (250) that controls operation as a standard function of the robot and has a function of monitoring the robot; a safety function unit (260) that controls a safety function for managing the safety of the robot; a setting unit (240) that sets setting information relating to setting items that are commonly used in the control of the safety function of the safety function unit (260) and the monitoring of the robot by the standard function unit (250); and a switching unit (241) that switches between the operation of the safety function based on the setting information of the safety function unit (260) and the monitoring of the robot based on the setting information of the standard function unit (250).

Description

Technical Field

[0001] The invention relates to a robot control device. Background Art

[0002] In industrial robot systems, in addition to standard functions for robot control, safety functions for safety are also required for the sake of user safety and equipment protection. For example, Patent Document 1 states: "A control system for controlling equipment, characterized in that it has: a standard function unit that controls the operation of the equipment; a safety function unit that controls the safety of the equipment; a standard function setting unit that sets setting items related to the control of the standard function unit; and a safety function setting unit that sets setting items related to the control of the safety function unit. When a value of a first setting item is set in one of the standard function setting unit and the safety function setting unit, a second setting item associated with the first setting item is automatically set to a prescribed content corresponding to the content of the first setting item in the other of the standard function setting unit and the safety function setting unit." (Claim 1).

[0003] Patent document 2 states about a robot control device: "In the invention described in claim 2, the servo motor of the robot is driven by the action control of the servo control unit, and accordingly, the position detection unit detects the action position that changes with the driving of the servo motor (the position, angle, position change amount or angle change amount, etc. of each part of the robot that changes with the servo motor). Furthermore, each processing operation unit individually determines whether the detected action position is within a preset allowable action position, and stops the servo motor even if only one processing operation unit determines that it is outside the allowable action position." (Paragraph 0012).

[0004] Patent document 3 states about the robot motion limiting device: "The structure is to define the area L data used to determine whether the motion limiting area L has interference by the interference determination unit 11 as an area included in a polyhedron using a function, and determine whether the robot 12 has interference based on the area L data, thereby achieving the desired purpose." (Abstract). Patent document 4 states: "Even when the shape, posture and load conditions of the robot arm change, the joint movement position of the robot arm is detected by a position detector, and the joint movement speed is calculated based on the change in the joint movement position and the elapsed time, and compared with the allowed movement speed to control the release and locking of the brake, so that the joint movement speed of the arm when the brake is released is within a certain value." (Abstract).

[0005] Prior art literature

[0006] Patent Literature

[0007] Patent Document 1: Japanese Patent Application Publication No. 2018-136715

[0008] Patent Document 2: Japanese Patent Application Publication No. 2007-136617

[0009] Patent Document 3: Japanese Patent Application Laid-Open No. 07-108487

[0010] Patent Document 4: International Publication No. 2003 / 086718 Summary of the invention

[0011] Problems to be solved by the invention

[0012] Regarding the safety function as described above, it can provide high safety in situations where an operator may enter the robot's working space, but it also has another side, that is, it creates a burden in terms of operation due to changes in setting parameters during the authentication process. In addition, in a robot control device, as one of the standard functions of a normal robot control, a function of monitoring the robot's operating state is sometimes provided. However, general safety functions and a function of monitoring the robot's operating state based on standard functions are provided as separate independent functions. A robot control device is desired that allows the user to smoothly switch between the safety function and the function of monitoring the robot's operating state based on standard functions.

[0013] Means for solving problems

[0014] One method of the present disclosure is a robot control device for controlling a robot, comprising: a standard function unit, which controls the operation of the standard function of the robot and has a function of monitoring the robot; a safety function unit, which controls the safety function for managing the safety of the robot; a setting unit, which is used to set setting information related to setting items commonly used in the control of the safety function of the safety function unit and the monitoring of the robot by the standard function unit; and a switching unit, which switches the operation of the safety function based on the setting information of the safety function unit and the monitoring of the robot based on the setting information of the standard function unit.

[0015] Effects of the Invention

[0016] According to the above configuration, it is possible to switch between the safety function and the monitoring function of the robot based on the standard function in a smooth manner for the user.

[0017] These and other objects, features and advantages of the present invention will become more apparent from the detailed description of typical embodiments of the present invention as shown in the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] FIG. 1 is a diagram showing a device configuration of a robot system according to an embodiment.

[0019] FIG. 2 is a diagram for explaining a function of checking the operating range of the robot control device.

[0020] FIG. 3 is a diagram for explaining an example of the interference check function of the robot control device.

[0021] FIG. 4 is a diagram for explaining another example of the interference check function of the robot control device.

[0022] FIG. 5 is a diagram showing a hardware configuration example of a robot control device and an external input device.

[0023] FIG. 6 is a conceptual diagram showing the structure and cooperation of the safety function and the standard function.

[0024] FIG. 7 is a functional block diagram of a robot control device.

[0025] FIG. 8 is a diagram showing an example of a UI screen for setting parameters related to position inspection.

[0026] FIG. 9 is a diagram showing an example of a UI screen for setting parameters related to speed checking.

[0027] FIG. 10 is a diagram for explaining the flow of operations when switching from the safety function to the standard function on the UI screen.

[0028] FIG. 11 is a diagram for explaining the flow of operations when switching from a standard function to a safety function on a UI screen.

[0029] FIG. 12A is a diagram for explaining an operation when a setting parameter is changed on a UI screen in which a standard function is selected.

[0030] FIG. 12B is a diagram schematically showing a state of an actual operation check when the setting change of FIG. 12A is performed. DETAILED DESCRIPTION

[0031] Next, the embodiments of the present disclosure are described with reference to the accompanying drawings. In the referenced drawings, the same structural parts or functional parts are marked with the same reference figure numbers. For easy understanding, the scales of these drawings are appropriately changed. In addition, the method shown in the drawings is an example for implementing the present invention, and the present invention is not limited to the method shown in the drawings.

[0032] FIG. 1 is a diagram showing the device structure of a robot system 100 according to an embodiment. As shown in FIG. 1 , the robot system 100 includes: a robot 10, a robot control device 20 for controlling the robot 10, and an external input device 40 connected to the robot control device 20. The external input device 40 is, for example, a teaching operation panel. In addition, as the external input device 40, an information processing device such as a tablet terminal, a smart phone, a PC (personal computer) or the like may also be used. As an example, the robot 10 is a six-axis multi-joint robot. In addition, as the robot 10, various types of robots such as a parallel link type robot and a dual-arm robot may also be used according to the work object. The joint axes of the robot 10 are sequentially referred to as the J1 axis, the J2 axis, the J3 axis, the J4 axis, the J5 axis, and the J6 axis from the base side. These J1 axis to the J6 axis correspond to the rotation axis of the actuator provided for each axis. In FIG. 1 , the rotation direction of each axis is indicated by arrows J1 to J6.

[0033] The robot 10 can perform a desired task by using an end effector mounted on a wrist. The end effector is an external device that can be replaced according to the application, such as a manipulator, a welding gun, a tool, etc. FIG1 shows an example of using a manipulator as an end effector.

[0034] The functions for safety of the robot system 100 are described. In addition to the standard functions related to the control of the robot 10 and peripheral equipment, the robot control device 20 is also equipped with safety functions for managing the safety of the robot 10 (including functions for stopping the robot when an abnormality in the position or speed of the robot is detected, etc.). This safety function is configured to meet the requirements of international safety standards ISO13849-1 and IEC61508, and is executed in a highly reliable operating environment. As an example, the safety function uses the following structure: it is executed under the control of a dedicated processor different from the processor responsible for the standard function, or the position and speed of the motor of each axis are dual-monitored by a dual processor, and the power of the servo control can be cut off by different independent systems when an abnormality is detected. In addition, the safety function generally has an aspect that creates a burden in operation, such as requiring an authentication process and restarting the system in the parameter setting change and application.

[0035] Regarding the safety function, for example, it provides higher safety in situations where an operator may enter the robot's working space, but on the other hand, it also has the side of taking up man-hours in operation due to the existence of the authentication process, etc. as described above. In view of this, as one of the standard functions of a single processor that performs normal robot control, the robot control device 20 is equipped with a function of monitoring the position and speed of the motor of each axis and detecting abnormalities. Since this function does not need to meet the requirements related to the protection level of the action environment and setting parameters such as the above-mentioned safety function, it has the side of reducing the burden on operation.

[0036] Referring to FIG2 , the function of limiting the motion area of ​​the robot 10 performed under the safety function or the standard function is described. FIG2 shows an example in which a motion area R1 in which the robot 10 can move is set around the robot 10. When the motion area R1 is set, the robot 10 is stopped when the robot 10 moves beyond the motion area R1. In addition, when such an interference check is performed, a cylindrical or spherical model (robot model 101M) may be set around the robot 10 in a manner covering the arm, joint part, and tool part, and the robot 10 is stopped when the robot model 101M moves beyond the motion area R1.

[0037] It is also possible to set a restricted area that the robot 10 cannot enter. In this case, when the robot 10 (or the robot model 101M) performs an action to enter the restricted area, the robot 10 is stopped.

[0038] The interference check function performed in the safety function or the standard function will be described with reference to Fig. 3 and Fig. 4. Fig. 3 shows a situation where a plurality of robots 10A and 10B perform work on a workpiece W. In a situation such as Fig. 3, for example, the control device of the robot 10A obtains the position information of the robot 10B and stops the robot 10A when the robot 10A performs an action interfering with the robot 10B.

[0039] Fig. 4 shows the interference check between the robot 10 and the peripheral equipment. In Fig. 4, the model R3 representing the peripheral equipment D1 and the model R2 representing the peripheral equipment D2 are set. By performing the interference check between the robot model 101M and the models R2 and R3 of the peripheral equipment, the interference between the robot and the peripheral equipment caused by the operation error during teaching can be prevented.

[0040] FIG5 shows an example of the hardware structure of the robot control device 20 and the external input device 40. The robot control device 20 may also have a general computer structure connected to the processor 21 via a bus, including a memory 22 (ROM, RAM, non-volatile memory, etc.), various input and output interfaces 23, and an operating unit 24 including various operating switches. The input and output interface 23 includes: a network interface, a serial interface, a sensor signal interface, and other external device interfaces. In addition, when the robot control device 20 is configured as a dual CPU system, a processor 28 capable of exchanging information with the processor 21 is mounted. The processor 28 is the same as the processor 21, and may also be connected to the memory 22 (ROM, RAM, non-volatile memory, etc.), various input and output interfaces 23, and an operating unit 24 including various operating switches via a bus.

[0041] The external input device 40 may also have a general computer structure connected to the processor 41 via a bus, including a memory 42 (ROM, RAM, non-volatile memory, etc.), a display unit 43, an operation unit 44 composed of an input device such as a keyboard (or software key), and various input / output interfaces 45. The input / output interface 45 includes a network interface, a serial interface, and other external device interfaces.

[0042] The robot control device 20 of this embodiment can switch between the safety function and the standard function, and the user can select the safety function and the standard function as needed. In this case, the setting parameters are set to a shared state from the user's point of view.

[0043] FIG6 is a conceptual diagram showing the structure and cooperation of the safety function and the standard function. The portion surrounded by the rectangular frame in the figure represents the safety function. The standard function is shown on the left side of the rectangular frame in the figure. The setting parameters 202 can be set in the safety function screen 201 provided on the safety function. The safety function parameters 211 are protected in a manner that cannot be directly edited. The setting parameters 202 set via the safety function screen 201 are subjected to the application process, whereby the setting parameters 202 can be used as safety function parameters 211 used by the safety function 210. The application process includes an authentication process such as password input.

[0044] The setting parameters 202 are also applied as standard function parameters 221 for the standard function 220. In this case, the authentication process may not be included.

[0045] In this embodiment, the inspection functions of the safety function and the standard function include the following.

[0046] (Function 1) Position abnormality detection function: Check the position of the robot, check whether the robot (or the robot model set for the robot) exceeds the action area, or whether the robot (or the robot model set for the robot) enters the restricted area. Here, when referring to the "position of the robot", it can include all positions from the base of the robot to the front end of the arm and the tool. It can also be detected as an abnormality when the robot's tool (tool model) or arm (arm shape model) performs an action that exceeds the action area. In addition, the position abnormality detection function can also include a function to check whether the position of each axis of the robot exceeds the set action range (angle range).

[0047] (Function 2) Posture abnormality detection function: For example, a function that detects abnormalities by comparing the posture of the flange surface at the front end of the robot arm or the tool (rotation angle position around the X, Y, and Z axes in the reference coordinate system) with the reference posture (W, P, R).

[0048] (Function 3) Model interference detection function: This function checks whether the set models interfere with each other.

[0049] (Function 4) Speed ​​abnormality detection function: This function checks whether the specified control part of the robot (TCP (Tool Center Point) etc.) exceeds the set speed limit. In addition, the speed abnormality detection function can also include a function to check whether the speed of each axis exceeds the set speed limit.

[0050] Fig. 7 is a functional block diagram of the robot control device 20. As shown in Fig. 7, the robot control device 20 includes a switching unit 241 that provides a function of switching between a safety function and a standard function.

[0051] The robot control device 20 has a setting unit 240 for setting setting information including setting items commonly used in monitoring the actions of the robot 10 based on the safety function and the standard function. The setting unit 240 has an area setting unit 242, a posture restriction setting unit 243, a model setting unit 244, and a speed restriction setting unit 245.

[0052] The area setting unit 242 provides a function of setting the position and size of the operation area or the restriction area.

[0053] The posture restriction setting unit 243 provides a function for setting a reference posture (W, P, R) of the flange surface or the tool and an upper limit value (deg) of the posture change therefrom.

[0054] The model setting unit 244 provides a function of setting a model covering the robot, robot tool, or peripheral equipment. These models are used to perform calculations for violation checks in area checks (position checks) and model interference checks.

[0055] The speed limit setting unit 245 provides a function of setting a speed limit value of a predetermined control part (TCP, etc.) of the robot or each axis of the robot.

[0056] The robot controller 20 has a safety function unit 260 that is responsible for the safety function. The safety function unit 260 has a position, posture, and speed calculation unit 261, a position abnormality detection unit 262, a posture abnormality detection unit 263, a model interference detection unit 264, and a speed abnormality detection unit 265. The robot controller 20 also has a stop command unit 270.

[0057] The position, posture and speed calculation unit 261 can obtain the position of the robot 10, the position of each axis of the robot 10, the speed of the robot 10, and the speed of each axis of the robot 10 through kinematic calculation based on the signals from the sensor unit (encoder, etc.) 11 mounted on each joint axis of the robot 10. In addition, the position, posture and speed calculation unit 261 can obtain the posture of the flange surface or tool of the robot 10 based on the output of the sensor unit 11 of each axis.

[0058] The position abnormality detection unit 262 checks whether the position of the robot 10 exceeds the operation area or enters the restricted area based on the position of the robot 10 obtained by the position posture speed calculation unit 261. When the position abnormality detection unit 262 detects an abnormality, it notifies the stop command unit 270.

[0059] The posture abnormality detection unit 263 checks whether the change in the posture of the robot 10 obtained by the position, posture, and speed calculation unit 261 relative to the reference posture (W, P, R) exceeds an upper limit value. If the posture abnormality detection unit 263 detects an abnormality, it notifies the stop command unit 270 of it.

[0060] The model interference detection unit 264 checks whether interference occurs between the set models based on the position calculated by the position, posture and speed calculation unit 261. When the model interference detection unit 264 detects an abnormality, it notifies the stop instruction unit 270 of the abnormality.

[0061] The speed abnormality detection unit 265 checks whether the speed of the robot 10 or the speed of each axis of the robot 10 obtained by the position posture speed calculation unit 261 exceeds a set speed limit value. If the speed abnormality detection unit 265 detects an abnormality, it notifies the stop command unit 270 of it.

[0062] The stop command unit 270 stops the robot 10 when being notified of an abnormality by the position abnormality detection unit 262 , the posture abnormality detection unit 263 , the model interference detection unit 264 , or the speed abnormality detection unit 265 .

[0063] The safety function unit 260 may further function as a diagnostic unit that diagnoses whether each abnormality detection unit is operating normally when the safety function is in operation. This diagnostic function may be performed by, for example, regularly executing programs, monitoring the status of hardware, and monitoring the legitimacy of parameters.

[0064] The robot control device 20 further includes a standard function unit 250 that monitors the motion of the robot 10 among standard functions. The standard function unit 250 includes a position posture speed calculation unit 251 , a position abnormality detection unit 252 , a posture abnormality detection unit 253 , a model interference detection unit 254 , and a speed abnormality detection unit 255 .

[0065] The position, posture and speed calculation unit 251 can obtain the position of the robot 10, the position of each axis of the robot 10, the speed of the robot 10, and the speed of each axis of the robot 10 through kinematic calculation based on the signals from the sensor unit (encoder, etc.) 11 mounted on each joint axis of the robot 10. In addition, the position, posture and speed calculation unit can obtain the posture of the flange surface or tool of the robot 10 based on the output of the sensor unit 11 of each axis.

[0066] The position abnormality detection unit 252 checks whether the position of the robot 10 exceeds the operation area or enters the restricted area based on the position of the robot 10 obtained by the position, posture and speed calculation unit 251. When the position abnormality detection unit 252 detects an abnormality, it notifies the stop command unit 270.

[0067] The posture abnormality detection unit 253 checks whether the change in the posture of the robot 10 obtained by the position, posture, and speed calculation unit 251 relative to the reference posture (W, P, R) exceeds an upper limit. If the posture abnormality detection unit 253 detects an abnormality, it notifies the stop command unit 270 of the abnormality.

[0068] The model interference detection unit 254 checks whether interference occurs between the set models based on the position calculated by the position, posture and speed calculation unit 251. The interference check in the model interference detection unit 254 includes interference checks between the robot model and the peripheral device model, interference between the shape model of the tool in the robot and the shape model of the arm, etc. When the model interference detection unit 254 detects an abnormality, it notifies the stop command unit 270 of it.

[0069] The speed abnormality detection unit 255 checks whether the speed of the robot 10 or the speed of each axis of the robot 10 obtained by the position, posture and speed calculation unit 251 exceeds a set speed limit value. If the speed abnormality detection unit 255 detects an abnormality, it notifies the stop command unit 270 of it.

[0070] The stop command unit 270 stops the robot 10 when being notified of an abnormality by the position abnormality detection unit 252 , the posture abnormality detection unit 253 , the model interference detection unit 254 , or the speed abnormality detection unit 255 .

[0071] The monitoring in the functional blocks related to the safety function (position posture speed calculation unit 261, position abnormality detection unit 262, posture abnormality detection unit 263, model interference detection unit 264, speed abnormality detection unit 265) can be performed in dual execution by two processors (processors 21, 28) built into the robot control device 20, thereby realizing a monitoring function with high reliability and high-speed processing capabilities. In the safety function, when an abnormality is detected, the power of the robot's motor can also be reliably cut off through two independent paths. In addition, in the safety function, reliability can also be maintained by having the two processors check the processing content and the data used for processing with each other. In addition, in the safety function, in order to avoid the accumulation of potential faults, self-diagnosis of hardware and software related to the safety function can also be performed periodically.

[0072] On the other hand, in the standard function, it is possible to configure that a single processor (for example, the processor 21 that is responsible for normal motion control) executes the function blocks related to the monitoring function (position posture speed calculation unit 251, position abnormality detection unit 252, posture abnormality detection unit 253, model interference detection unit 254, speed abnormality detection unit 255). In this case, it is possible to configure that dual monitoring, mutual checking, and self-diagnosis by two processors are not performed as in the case of the safety function.

[0073] Next, the details of parameter settings by the area setting unit 242, the posture restriction setting unit 243, the model setting unit 244, and the speed limit setting unit 245 are described. The area setting unit 242, the posture restriction setting unit 243, the model setting unit 244, and the speed limit setting unit 245 may also be configured to accept these parameter settings via a UI (user interface) screen. The UI screen may be, for example, a display screen displayed on the display unit 43 of the external input device 40, and operation input to the UI screen may be accepted via the operation unit 44.

[0074] The setting contents in the UI screen 310 shown in FIG. 8 show an example of the setting contents when the position check of the robot is performed. The UI screen 310 includes:

[0075] • a designated column 311 for setting a monitoring method;

[0076] • a designation column 312 for designating the model to be used in the position check; and

[0077] •A designation column 313 for designating the position and size of the action area or restriction area as three-dimensional coordinates.

[0078] The setting contents of the designation column 311 for the monitoring method, the designation column 312 for designating the model, and the designation column 313 for the position and size of the action area or the restriction area can be used for the inspection in the position abnormality detection units 252 and 262. The designation column 312 for designating the model can be used for the interference inspection in the model interference detection units 254 and 264.

[0079] As monitoring methods, the operating area or restriction area of ​​the position check, or the posture check and model interference check can be selected. The UI screen 310 switches to a screen for setting the position check, posture check, and model interference check according to the monitoring method specified in the specification field 311.

[0080] The UI screen 310 also has a selection bar 318 for switching the settings of the safety function and the standard function. By operating the selection bar 318, it is possible to select whether the setting parameters set on the UI screen 310 are used as the safety function or as the standard function. The selection of the safety function and the standard function through the selection bar 318 is provided as a function of the switching unit 241. The switching unit 241 switches the safety function and the standard function according to the selection in the selection bar 318. The UI screen 310 of FIG. 8 shows a state in which the safety function is selected.

[0081] In the case where you want to implement multiple position checks, posture checks, and model interference checks, you can also prepare multiple UI screens 310. In this case, the UI screen 300 shown in Figure 8 is a setting screen of the upper level, showing that four parameter sets 301-304 are prepared according to the monitored object. The UI screen 310 for detailed setting of the parameter set 301 is shown on the right side of Figure 8. The UI screen 310 can also be opened, for example, by selecting a part of the parameter set 301 in the UI screen 300. In this case, it is possible to select whether to use it as a safety function or as a standard function according to the parameter set. In this case, the position check, posture check, and model interference check are not switched in the designated column 311 of the UI screen 310, but can also be installed in a manner in which the settings for the position check, posture check, and model interference check are input from the UI screen 300 to the screen for inputting the settings.

[0082] FIG9 shows an example of a UI screen 360 for setting parameters for speed checking. The UI screen 360 includes:

[0083] • a designation column 361 for designating the direction of the speed check;

[0084] • A designation column 362 for designating a speed limit value.

[0085] Here, an example is shown in which “ALL” for designating all movement directions is set in the designation column 361 as the direction for speed check, and “250.000 mm / sec” is set in the designation column 362 as the speed limit value.

[0086] The UI screen 360 also has a selection bar 368 for switching the settings of the safety function and the standard function. By operating the selection bar 368, it is possible to select whether the setting parameters set on the UI screen 360 are used as the safety function or as the standard function. The selection of the safety function and the standard function through the selection bar 368 is provided as a function of the switching unit 241. The switching unit 241 switches the safety function and the standard function according to the selection in the selection bar 368. The UI screen 360 of FIG. 9 shows a state in which the safety function is selected.

[0087] 9 also shows an example of a UI 350 of a higher level when a plurality of setting parameters are created. A parameter set 351 , which is one of a plurality of parameter sets prepared in the UI screen 350 of the higher level, corresponds to the UI screen 360 .

[0088] FIG. 10 is a diagram for explaining the flow of actions in the case of switching from a state of a security function in the selection bar 418 to a standard function in the UI screen 410. As shown in frame 411, it is assumed that the switch from the security function to the standard function is selected in the UI screen 410. In this case, an operation related to the change of the security function such as releasing the security function is performed, and therefore, as an authentication process, an application process of entering a password, confirming the parameter content, and restarting is required (frame 412). The user enters a password and confirms the parameters through the operation of the display screen of the external input device 40 and the operation unit 44, and instructs the input application. Through this application process, as shown in FIG. 6, the setting parameters in the UI screen 410 can be used as the standard function parameters 221 (frame 413).

[0089] FIG. 11 is a diagram for explaining the flow of actions in the case of switching from a state in which a standard function is set in the selection bar 428 to a safety function in the UI screen 420. As shown in frame 421, it is assumed that the switch from the standard function to the safety function is selected in the UI screen 420. In this case, an operation such as re-validating the safety function is performed, and therefore, as an authentication process, a password input and parameter content confirmation, and a restart application process (frame 422) are required. The user inputs a password and confirms the parameters through the display screen of the external input device 40 and the operation unit 44, and instructs the input application. Through this application process, as shown in FIG. 6, the setting parameters in the UI screen 420 can be used as the safety function parameters 211 (frame 423).

[0090] As described above, in this embodiment, regarding the inspection function using the same setting items, it is possible to simply switch the execution of the safety function and the standard function, thereby eliminating the trouble of transplanting the setting information between the safety function and the standard function and re-verifying the setting information, and enabling efficient transfer between the two functions.

[0091] FIG. 12A is a diagram for explaining the flow of the action of applying the setting change of the parameter in the UI screen 430 in which the standard function is selected. As shown in the frame 431, in the UI screen 430 in which the standard function is selected, when the parameter is changed and the changed parameter is applied, the authentication process as in the case of the safety function is not required. In this case, the setting parameter changed on the UI screen 430 is immediately applied. Alternatively, in the case where the operation input assigned to the parameter application is performed via the operation unit 44, it can also be applied immediately. As an example, the position check function based on the parameter before the setting change of the UI screen 430 is a setting for checking the position of the robot model 102M and the action area R111 as shown on the left side of FIG. 12B. In addition, the position check function after the setting change in the UI screen 430 is an interference check function between the user model 10M and the restricted area R112 as shown in FIG. 12B. In this case, in response to the setting change in the UI screen 430, the position check function is immediately switched from the state shown on the left side of FIG. 12B to the state shown on the right side.

[0092] As described above, according to the present embodiment, with the above configuration, it is possible to perform switching between the safety function and the monitoring function of the robot based on the standard function in a smooth manner for the user.

[0093] Although the present invention has been described above using typical embodiments, it will be apparent to those skilled in the art that changes to the above-described embodiments and various other changes, omissions, and additions may be made without departing from the scope of the present invention.

[0094] The functional configuration in the functional block diagram of the robot control device shown in FIG7 is an example, and various modifications can be made to the configuration of these functional blocks. For example, the function of the setting unit 240 can also be configured on the side of the external input device 40. In this case, the function that combines the function of the external input device 40 and the function of the robot control device 20 can also be defined as the robot control device.

[0095] In the functional block diagram shown in FIG. 7 , the position, posture, and speed calculation units 251 and 261 are respectively arranged in the standard function unit 250 and the safety function unit 260 . However, one position, posture, and speed calculation unit may be shared by the standard function unit 250 and the safety function unit 260 .

[0096] The functional blocks of FIG. 7 may be implemented by a processor of the robot control device executing various software stored in a storage device, or may be implemented by a structure mainly based on hardware such as an ASIC (Application Specific Integrated Circuit).

[0097] The program for executing various processes in the above-described embodiments can be recorded in various computer-readable recording media (eg, semiconductor memories such as ROM, EEPROM, and flash memory, magnetic recording media, and optical disks such as CD-ROM and DVD-ROM).

[0098] Description of Reference Numerals

[0099] 10. Robot

[0100] 11 Sensor unit

[0101] 20 Robot control device

[0102] 40 External input device

[0103] 21, 28 Processor

[0104] 22 Memory

[0105] 23 Input and output interfaces

[0106] 24 Operation Department

[0107] 41 Processor

[0108] 42 Memory

[0109] 43 Display

[0110] 44 Operation Department

[0111] 45 Input and output interface

[0112] 100 Robotic Systems

[0113] 240 Setting Department

[0114] 241 Switching Department

[0115] 242 Regional Setting Department

[0116] 243 Posture limit setting unit

[0117] 244 Model Setting Department

[0118] 245 Speed ​​limit setting unit

[0119] 250 Standard Function Department

[0120] 251 Position, attitude and speed calculation unit

[0121] 252 Position abnormality detection unit

[0122] 253 Abnormal Posture Detection Unit

[0123] 254 Model Interference Detection Department

[0124] 255 Speed ​​abnormality detection unit

[0125] 260 Safety Function Department

[0126] 261 Position, attitude and speed calculation unit

[0127] 262 Position abnormality detection unit

[0128] 263 Abnormal Posture Detection Unit

[0129] 264 Model Interference Detection Unit

[0130] 265 Speed ​​abnormality detection unit.

Claims

1. A robot control device for controlling a robot, characterized in that: The control device has: a standard function unit that controls operations as standard functions of the robot and has a function of monitoring the robot; a safety function unit that performs control of a safety function for managing the safety of the robot; a setting unit for setting setting information related to setting items commonly used in controlling the safety function of the safety function unit and monitoring the robot of the standard function unit; A switching unit switches between operation of the safety function based on the setting information of the safety function unit and monitoring of the robot based on the setting information of the standard function unit.

2. The robot control device according to claim 1, characterized in that: The robot control device further includes a stop command unit that stops the robot when an abnormality is detected in the safety function of the safety function unit or when an abnormality is detected in monitoring of the robot by the standard function unit.

3. The robot control device according to claim 1 or 2, characterized in that: The monitoring of the safety function of the safety function unit and the monitoring of the robot of the standard function unit includes at least any one of the following: Anomaly detection of the position of the robot; abnormality detection of the posture of the robot; Interference detection between the robot and surrounding equipment; and Anomaly detection of the robot's speed.

4. The robot control device according to any one of claims 1 to 3, characterized in that: The setting items include at least one of the following: setting items related to abnormality detection of the position of the robot; setting items related to abnormality detection of the posture of the robot; Setting items related to interference detection between the robot and peripheral equipment; as well as Setting items related to abnormality detection of the speed of the robot.

5. The robot control device according to any one of claims 1 to 4, characterized in that: The setting unit provides a user interface screen that accepts input of setting information related to the setting items commonly applied to control of the safety function of the safety function unit and monitoring of the robot of the standard function unit.

6. The robot control device according to claim 5, characterized in that: The user interface screen includes a selection field for selecting either operation of the safety function of the safety function unit or monitoring of the robot of the standard function unit. The switching unit switches between the operation of the safety function of the safety function unit and the monitoring of the robot by the standard function unit, according to a selection operation on the selection field.

7. The robot control device according to any one of claims 1 to 6, characterized in that: The safety function unit and the standard function unit each detect an abnormality in the operation of the robot using a model representing the robot.

8. The robot control device according to any one of claims 1 to 7, characterized in that: The safety function section has a function of diagnosing whether a monitoring function of the robot as the safety function is operating normally.

9. The robot control device according to any one of claims 1 to 8, characterized in that: The robot control device includes two processors for doubly executing monitoring of the robot by the safety function of the safety function unit.

10. The robot control device according to any one of claims 1 to 9, characterized in that: The robot control device has a single processor that performs the monitoring of the robot of the standard functions.

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