Robot control device

Abstract

A robot control device (20) for controlling a robot is provided with: a region setting unit (201) for setting an operation region in which the robot can operate or a restricted region in which the robot cannot enter; a position calculation unit (204) that calculates the position of the robot; an interference detection unit (205) that detects interference between the robot and the outer surface of the operation region or the restricted region on the basis of the calculated position of the robot; an operation state detection unit (206, 209) that detects the operation state of the robot when the interference is detected; and a stop unit (207) that stops the robot by means of stop control corresponding to the detected operating state.

Description

Technical Field

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

[0002] Various technologies have been proposed for ensuring safety in a workspace where a robot system is configured. For example, Patent Document 1 states the following: "In an arm-type robot, when a person approaches a first stage range, the speed of the arm is controlled at a low speed, and when a person approaches a second stage range closer to the first stage range, the arm is stopped." (Paragraph 0016).

[0003] Patent document 2 records the following: "It has: a robot arm 2; a human body identifier 4, which outputs human body identification information for identifying human bodies and non-human objects in a specified monitoring area that includes the movement range of the robot arm 2; and a controller 3, which controls the movement of the robot arm 2, and the controller 3 is configured to control the robot arm 2 to slow down or stop the movement of the robot arm 2 if it is detected that a human body has entered the specified monitoring area by identifying human bodies and non-human objects in the specified monitoring area based on the human body identification information output by the human body identifier 4." (Abstract).

[0004] Prior art literature

[0005] Patent Literature

[0006] Patent Document 1: Japanese Patent Application Publication No. 2000-202790

[0007] Patent Document 2: Japanese Patent Application Publication No. 2019-42871 Summary of the invention

[0008] Problems to be solved by the invention

[0009] In a robot system, there is a control that sets the range of motion in which the robot can move or the restricted area that the robot cannot enter as a specified area calculated inside the control device, and causes the robot to stop urgently when interference between the robot and the outer surface of the motion area or the restricted area is detected. Such a safety function is particularly important from the perspective of ensuring the safety of people in the working space. On the other hand, emergency stop has an aspect that is accompanied by a load on the robot mechanism. It is desirable to be able to adaptively change the stop control applied when interference between the robot and the outer surface of the motion area or the restricted area is detected.

[0010] Means for solving problems

[0011] One method of the present disclosure is a robot control device for controlling a robot, comprising: an area setting unit, which is used to set an action area in which the robot can move or a restricted area that the robot cannot enter; a position calculation unit, which calculates the position of the robot; an interference detection unit, which detects the interference between the robot and the outer surface of the action area or the restricted area based on the calculated position of the robot; an action state detection unit, which detects the action state of the robot when the interference is detected; and a stop unit, which stops the robot through a stop control corresponding to the detected action state.

[0012] Effects of the Invention

[0013] According to the above configuration, when interference with the outer surface of the operating area or the restricted area of ​​the robot is detected, appropriate stop control can be applied according to the operating state of the robot, thereby achieving stop control that ensures the safety of the operator and reduces the load applied to the robot mechanism.

[0014] 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

[0015] Figure 1 It is a diagram showing the device configuration of a robot system according to one embodiment.

[0016] Figure 2 This is a diagram showing an example of setting an operation area around a robot.

[0017] Figure 3 It is a diagram showing a hardware configuration example of a robot control device and an external input device.

[0018] Figure 4 This is a functional block diagram of the robot control device according to the first embodiment.

[0019] Figure 5A This is a diagram showing an operation example of the stop control when the operation area is designated in the first embodiment.

[0020] Figure 5B This is a diagram showing an operation example of the stop control when the operation area is designated in the first embodiment.

[0021] Fig. 6A This is a diagram showing an example of the operation of the stop control when a restricted area is designated in the first embodiment.

[0022] Figure 6B This is a diagram showing an example of the operation of the stop control when a restricted area is designated in the first embodiment.

[0023] Fig. 7A It is a diagram showing an operation example when the user coordinate system is set as the reference coordinate system for detecting the motion direction.

[0024] Figure 7B It is a diagram showing an operation example when the user coordinate system is set as the reference coordinate system for detecting the motion direction.

[0025] Figure 8 This is a diagram showing a first example of a user interface screen for setting a designated area and a stop method in the first embodiment.

[0026] Fig. 9 This is a diagram showing a second example of the user interface screen for setting a designated area and a stop method in the first embodiment.

[0027] Fig.10 This is a diagram for explaining an operation example when obtaining the components of the robot's operation direction.

[0028] Fig.11 This is a diagram for explaining how to determine a stopping method when there are multiple components regarding the movement direction of the robot.

[0029] Fig.12 This is a diagram showing interference between the robot model set for the robot and the outer surface of the action area.

[0030] Fig.13 This is a functional block diagram of a robot control device according to a second embodiment.

[0031] Fig.14 This is a diagram showing an example of assigning identification numbers to action areas.

[0032] Fig.15 This is a diagram showing an example of assigning identification numbers to action areas.

[0033] Fig.16A This is a diagram showing an operation example of stop control when interference occurs between the outer surface of the operation area and the robot in the second embodiment.

[0034] Fig. 16B This is a diagram showing an operation example of stop control when interference occurs between the outer surface of the operation area and the robot in the second embodiment.

[0035] Fig.17A This is a diagram showing an operation example of stop control when interference occurs between the outer surface of the restriction area and the robot in the second embodiment.

[0036] Fig. 17BThis is a diagram showing an operation example of stop control when interference occurs between the outer surface of the restriction area and the robot in the second embodiment.

[0037] Fig.18 It is a diagram showing a user interface screen for setting a designated area and a stop method in the second embodiment.

[0038] Fig.19 This is a functional block diagram of a robot control device according to a third embodiment.

[0039] Fig. 20A This is a diagram for explaining the stop control in the area invalid state.

[0040] Fig. 20B This is a diagram for explaining the stop control in a state where the zone is effective.

[0041] Fig. 20C This is a diagram for explaining the stop control in a state where the zone is effective.

[0042] Fig.21 It is a diagram showing a user interface screen for setting a designated area and a stop method in the third embodiment. DETAILED DESCRIPTION

[0043] 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 symbols. 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.

[0044] Figure 1 1 is a diagram showing the device configuration of a robot system according to one embodiment. Figure 1 As shown, 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 robot and a dual-arm robot may also be used depending on the work object. The joint axes of the robot 10 are referred to as the J1 axis, the J2 axis, the J3 axis, the J4 axis, the J5 axis, and the J6 axis in sequence from the base side. These J1 axis to J6 axis correspond to the rotation axes of the actuators provided for the respective axes. In Figure 1 In the diagram, arrows J1 to J6 are used to indicate the rotation direction of each axis.

[0045] The robot 10 can perform the desired work by means of an end effector mounted on the wrist. The end effector is an external device that can be replaced according to the purpose, such as a manipulator, a welding gun, a tool, etc. Figure 1 , an example of using a robot as an end effector is shown.

[0046] The robot control device 20 has a safety function of stopping the robot 10 when the robot 10 leaves the action area or enters the restricted area. The action area can also be defined as a computational (i.e., virtual) area that specifies the area in which the robot can move. The restricted area can also be defined as a computational (i.e., virtual) area that specifies the area that the robot cannot enter. The safety function includes a function of stopping the robot when the robot leaves the action area (i.e., when interfering with the outer surface (boundary surface) of the action area) and a function of stopping the robot when the robot 10 interferes with the restricted area.

[0047] Reference Figure 2 , this safety function is explained. Figure 2 , an example in which an action area R1 is set around the robot 10 is shown. When the action area R1 is set, the robot 10 is stopped when interference between the robot 10 and the outer surface of the action area R1 is detected. When the interference check is performed by the safety function, a cylindrical or spherical model (robot model 101M) may be set around the robot 10 so as to surround the arm, joint part, and tool part, and the robot 10 is stopped when interference between the robot model 101M and the outer surface of the action area R1 is detected. Similarly, when a restricted area is set, the robot can be stopped when interference with the robot 10 or the robot model 101M is detected.

[0048] When the robot control device 20 of this embodiment detects interference between the robot (or robot model) and the outer surface of the action area or the restricted area, it can stop the robot 10 through stop control corresponding to the action state of the robot 10. In this way, the robot control device 20 can maintain safety and reduce the occurrence of situations in which a load is applied to the mechanism of the robot 10 due to an emergency stop.

[0049] Figure 3 : shows an example of the hardware configuration of the robot control device 20 and the external input device 40. The robot control device 20 may also have a configuration as a general computer connected to the processor 21 via a bus, including a memory 22 (ROM, RAM, non-volatile memory, etc.), various input / output interfaces 23, an operation unit 24 including various operation switches, etc. The input / output interface 23 includes a network interface, a serial interface, a sensor signal interface, and other external device interfaces.

[0050] The external input device 40 may also have a general computer structure connected to the processor 41 via a bus, such as 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.

[0051] Hereinafter, three embodiments (first embodiment to third embodiment) related to the robot control device 20 will be described. In addition, for the sake of convenience of description, the robot control device of the first embodiment is referred to as the robot control device 20, the robot control device of the second embodiment is referred to as the robot control device 20A, and the robot control device of the third embodiment is referred to as the robot control device 20B.

[0052] First embodiment

[0053] Figure 4 2 is a functional block diagram of the robot control device 20 according to the first embodiment. Figure 4 As shown, the robot control device 20 includes an operation control unit 201 , an area setting unit 202 , a stop method setting unit 203 , a position calculation unit 204 , an interference detection unit 205 , an operation direction detection unit 206 , and a stop unit 207 .

[0054] The motion control unit 201 controls the robot 10 according to the motion program 208 or the instruction from the external input device (teaching operation panel) 40. That is, the motion control unit 201 performs servo control of the servo motors driving the joint axes of the robot 10 according to the motion program 208 or the instruction from the external input device 40 and the feedback information from the position sensors (encoders, etc.) 11 arranged on the axes of the robot 10, thereby causing the prescribed control part of the robot 10 to move according to the instruction.

[0055] The area setting unit 202 provides a function for setting a designated area (action area or restriction area). The function provided by the area setting unit 202 may include a function of accepting setting input of the designated area from an external device or a user and maintaining it in the storage unit. For example, the area setting unit 202 may also be configured to accept setting input of the action area or restriction area via a UI screen for setting the action area or restriction area. In this case, the area setting unit 202 may be configured to display a UI screen on the display screen of the display unit 43 of the external input device 40, and accept operation input to the UI screen via operation on the operation unit 44. The setting input in this case may also include information on the three-dimensional position and size of the designated area. The area setting unit 202 provides information related to the designated area to the interference detection unit 205.

[0056] The stop method setting unit 203 provides the following function: to make settings related to stopping the robot when the robot 10 leaves the action area or interferes with the restriction area. The function provided by the stop method setting unit 203 may include a function of accepting setting input of the stop method from an external device or a user and storing it in the storage unit. The setting input in this case includes, for example, the following items.

[0057] (1) Reference coordinate system that serves as a reference for detecting the position and movement direction of the robot

[0058] (2) Information that associates the robot's movement direction with the type of stop control during interference detection

[0059] Hereinafter, the type of stop control is referred to as a stop category. In addition, the stop category refers to the classification of the content of the stop control when the robot is stopped, and for example, the following categories may be included.

[0060] (1) Stop Category 0: The robot's servo control power is cut off, and the robot's motion is stopped instantly. In Stop Category 0, the servo power is cut off while the robot is in motion, so the trajectory of the deceleration motion is not controlled.

[0061] (2) Stop Category 1: After the robot's motion is decelerated and stopped, the robot's servo power is cut off.

[0062] Stop category 0 is used in a highly urgent situation. Stop category 0 stops the robot earlier than stop category 1, but the load applied to the robot mechanism becomes larger. In addition, the stop method setting unit 203 may also have a function of accepting setting input of the stop method via a UI screen. In this case, the stop method setting unit 203 may also be configured to display the UI screen on the display screen of the display unit 43 of the external input device 40, and accept operation input to the UI screen via operation on the operation unit 44.

[0063] The position calculation unit 204 calculates the position of the robot 10 through kinematic calculation based on the position information from the position sensors 11 of each axis of the robot 10. Here, the "position of the robot" as the object of position calculation can include the positions of all parts of the robot, such as the positions of specific arms and joints on the robot, in addition to the positions of control parts such as TCP (tool center point). In addition, when the robot 10 is equipped with a tool (end effector), the position on the tool can also become the object of position calculation as the "position of the robot". The calculation of the position can also include the calculation of the posture. The position calculation unit 204 provides the calculated position of the robot 10 to the interference detection unit 205.

[0064] The interference detection unit 205 detects whether the robot 10 interferes with the outer surface of the operation area or the restriction area based on the position of the robot 10 provided from the position calculation unit 204 and the position information of the operation area or the restriction area set in the area setting unit 202 .

[0065] The motion direction detection unit 206 functions as a motion state detection unit that detects the motion state of the robot 10 when the interference detection unit 205 detects the interference. The motion direction detection unit 206 detects the motion direction of the robot 10 when the interference detection unit 205 detects the interference. The motion direction of the robot can be obtained based on the position information of the robot 10 calculated at a predetermined cycle by the position calculation unit 204. The coordinate system used as a reference when the motion direction of the robot 10 is obtained is acquired from the area setting unit 202 or the stop method setting unit 203.

[0066] The stopping unit 207 stops the robot according to the stop type corresponding to the movement direction of the robot 10 when interference between the robot 10 and the outer surface of the movement area or the restriction area is detected, based on the setting information set by the stopping method setting unit 203 .

[0067] Reference Figure 5A as well as Figure 5B A specific operation example of the stop control when the operation area is set to the designated area will be described. Figure 5A and Figure 5B In the condition shown, the action area R101 is set for the robot 10, and the operator OP is located on the right side of the front of the robot 10 in the figure. In this condition, when the robot 10 leaves the action area R101, the robot 10 moves in a direction close to the operator OP, focusing on safety or stopping in stop category 0. In other cases, the robot 10 stops in stop category 1 considering the burden imposed on the robot 10. In this example, the world coordinate system C1 fixed to the base of the robot 10 is used as the reference coordinate system for detecting the action direction. In addition, for the sake of convenience, in Figure 5A In the figure (the same applies to other similar figures), the upper right portion of the figure shows the directions of the coordinate axes of the world coordinate system C1. In this example, the movement direction of the robot 10 is set to stop category 0 in the +Y direction and stop category 1 in other directions.

[0068] Figure 5AIndicates the state when the robot 10 interferes with the outer surface of the action area R101. In this case, the action direction of the robot 10 when the robot 10 interferes with the outer surface of the action area R101 is determined to be the +Y direction, and the robot 10 stops in stop category 0. In this case, the robot 10 moves in a direction close to the operator OP and leaves the action area R101, so it stops urgently in stop category 0 and reliably ensures the safety of the operator OP.

[0069] exist Figure 5B In the case of , the movement direction of the robot 10 when the robot 10 interferes with the outer surface of the movement area R101 is determined to be the -Y direction, and the robot 10 stops in stop category 1. Figure 5B The positional relationship between the robot 10 and the operator OP in FIG. 1 is such that the safety of the operator OP is ensured when the robot 10 moves in the −Y direction and leaves the action area R101. Therefore, in this case, by stopping the robot 10 in stop category 1, the safety of the operator OP can be ensured and the load on the robot 10 can be reduced.

[0070] Reference Fig. 6A as well as Figure 6B A specific operation example of the stop control when the restricted area is set as the designated area is described. Fig. 6A and Figure 6B In the case of, the restricted areas R102 and R103 are set for the robot 10, and the operator OP is located at the right side of the front face relative to the robot 10 in the figure. Fig. 6A Restricted areas R102 and Figure 6B The restriction areas R103 are configured at different positions.

[0071] In this situation, when the robot 10 enters the restricted area, the robot 10 stops in stop category 0 in consideration of urgency when moving in a direction close to the operator OP, and stops in stop category 1 in consideration of the burden imposed on the robot 10 in other cases. In this example, the world coordinate system C1 fixed to the base of the robot 10 is used as a reference coordinate system for detecting the movement direction. In this example, the movement direction of the robot 10 is set to stop category 0 in the +Y direction, and to stop category 1 in other directions.

[0072] Fig. 6A This is a situation where the robot 10 enters the restricted area R102 and interference is detected. In this case, the robot 10 moves in the +Y direction, so the stop control of stop category 0 is performed. In this case, the robot 10 moves in a direction close to the operator OP, so it can be stopped in an emergency in stop category 0 and the safety of the operator can be reliably ensured.

[0073] exist Figure 6BIn the case of , when the robot 10 interferes with the restricted area R103, the robot 10 moves in the -Y direction, so the robot 10 stops in stop category 1. Figure 6B The positional relationship between the robot 10 and the operator OP in FIG. 1 is such that when the robot 10 moves in the −Y direction and enters the restricted range R103, the safety of the operator OP is ensured. Therefore, in this case, by stopping the robot in stop category 1, the safety of the operator OP can be ensured and the load on the robot can be reduced.

[0074] As a reference coordinate system used as a reference for detecting the motion direction, in addition to using the world coordinate system as in the above example, a user coordinate system arbitrarily set by the user can be used. Fig. 7A as well as Figure 7B The following describes an operation example in which a coordinate system set by a user (hereinafter referred to as a user coordinate system) is used as a reference coordinate system for detecting the operation direction. The user coordinate system is, for example, a coordinate system set for a workpiece located in an operation area or a workbench on which the workpiece is placed. Fig. 7A as well as Figure 7B This is an example of operation when the operation area R101 is set to a designated area. The operator OP is located at the left side of the front of the robot 10 in the figure. In this case, when the robot 10 leaves the operation area, the robot 10 stops in stop category 0 when it moves toward the operator OP, emphasizing urgency. Otherwise, the robot 10 stops in stop category 1 in consideration of the load imposed on the robot 10. In this example, the operation direction of the robot 10 is set to stop category 0 in the +Y direction in the user coordinate system U1, and to stop category 1 in other directions.

[0075] Fig. 7A This shows the state when the robot 10 interferes with the outer surface of the operation area R101. Fig. 7A In the case of , the movement direction of the robot 10 when the robot 10 interferes with the outer surface of the movement area R101 is determined to be the -Y direction, and the robot 10 stops in stop category 1. Fig. 7A The positional relationship between the robot 10 and the operator OP in FIG. 1 ensures the safety of the operator OP when the robot 10 moves in the −Y direction and leaves the motion range R101. Therefore, in this case, by stopping the robot in stop category 1, the safety of the operator can be ensured and the load on the robot can be reduced.

[0076] Figure 7BIndicates the state when the robot 10 interferes with the outer surface of the action area R101. In this case, the action direction of the robot 10 when the robot 10 interferes with the outer surface of the action area R101 is determined to be the +Y direction, and the robot 10 stops in stop category 0. In this case, the robot 10 moves in a direction close to the operator OP and leaves the action area R101, so it is possible to make an emergency stop in stop category 0 and reliably ensure the safety of the operator.

[0077] The user coordinate system is a coordinate system that is easy for the user to intuitively understand. Therefore, by being able to set the user coordinate system as the reference coordinate system of the safety function, the user can easily and intuitively understand the setting of the stop method and the grasp of the movement direction of the robot.

[0078] Figure 8 300 is a diagram showing a first example of a UI (user interface) screen for setting a designated area and a stop method. The UI screen 300 is provided as a function of the area setting unit 202 and the stop method setting unit 203. The UI screen 300 can be displayed on the display screen of the display unit 43 of the external input device 40, and operation input to the UI screen is accepted through operation on the operation unit 44.

[0079] The UI screen 300 has an area designation column 301 that can designate either an action area or a restriction area as a designated area. Figure 8 , an example of specifying an action area as a designated area is shown. For example, the position of the action area can be set in the position specification column 304. For example, when setting a rectangular area, the diagonal position can be specified in the position specification column 304. In the object model specification column 302, Figure 2 A robot model for interference checking as shown.

[0080] The UI screen 310 also includes a designation column 305 for designating a stop method, a designation column 306 for designating a motion direction of stop category 0, a designation column 306 for designating a motion direction when detecting the motion direction, and a designation column 303 for designating a reference coordinate system when detecting the motion direction. In this example, only the direction designated in the designation column 306 for designating a direction of stop category 0 becomes stop category 0, and the other directions become the stop categories designated in the designation column 305 of the stop method. Figure 8 In the case of the setting, only the +X direction stops in stop category 0, and all other directions stop in stop category 1. In addition, the options that can be specified in the stop category designation column 306 may also be "None", "+X", "+Y", "+Z", "-X", "-Y", "-Z".

[0081] Fig. 92 is a diagram showing a second example of a UI screen for setting a designated area and a stop method. These UI screens are provided as functions of the area setting unit 202 and the stop method setting unit 203. These UI screens can be displayed on the display screen of the display unit 43 of the external input device 40, and operation input to the UI screens can be accepted through operation on the operation unit 44. Fig. 9 The UI screen 310 shown on the left side is mainly related to setting of a designated area. Fig. 9 The UI screen 320 shown on the right side in the middle is a setting screen related to detailed setting of the stop method.

[0082] The UI screen 310 has an area designation column 311 that can designate either an action area or a restriction area as a designated area. Fig. 9 , an example of specifying an action area as a designated area is shown. For example, the position of the action area can be set in the position specification column 312. For example, when setting a rectangular area, the diagonal position can be specified in the position specification column 312. In the object model specification column 313, Figure 2 A robot model for interference checking as shown.

[0083] The UI screen 310 includes a stop method designation column 314. By selecting the stop method designation column 314, a UI screen 320 for performing detailed settings of the stop method can be called. Fig. 9 As shown, the UI screen 320 is configured to be able to set different stop methods according to the direction of the action. In the UI screen 320, the following stop methods can be set:

[0084] (1) Stop category (designated column 321)

[0085] (2) Movement direction of the robot during interference (specification column 322)

[0086] (3) Reference coordinate system when detecting the motion direction (designation field 323).

[0087] exist Fig. 9 In the UI screen 320, the following four stop methods are set.

[0088] (1) Stop method 1: Stop category 0, action direction is +X direction, reference coordinate system is world coordinate system

[0089] (2) Stop method 2: Stop category 0, action direction is +Y direction, reference coordinate system is user coordinate system 1

[0090] (3) Stop method 3: Set to non-stop, the action direction is +Z direction, and the reference coordinate system is user coordinate system 2

[0091] (4) Stop method 4: Stop category 1, action direction is -X direction, reference coordinate system is user coordinate system 3

[0092] The component of the movement direction of the robot 10 when the robot 10 interferes with the outer surface of the movement area or the restriction area can also be detected, and the stop type can be determined based on the detected component. When multiple components are detected as the movement direction, the robot control device 20 can determine the stop type according to the following process.

[0093] (A1) Detect interference between the robot and the outer surface of the action area or the restricted area.

[0094] (A2) Detect multiple components of motion direction.

[0095] (A3) The set stop type is obtained for all the motion direction components detected in the process (A2).

[0096] (A4) The stop category with the highest priority among the stop categories obtained in the process (A3) is adopted.

[0097] Reference Fig.10 and Fig.11 The specific determination of the stop type based on the above-mentioned process will be described. Fig.10 This shows a situation where two components are obtained as the movement direction when the robot 10 leaves the movement area R101. Fig.10 Under this condition, the +Y component and -X component are obtained as the components of the robot's movement direction V. Fig.11 The setting contents of the stop method used in this example are shown (UI screen 320A).

[0098] exist Fig.10 The components of the motion direction obtained under the condition are +Y component and -X component, so, if Fig.11 As described in the columns of symbols 325 and 326, the stop categories obtained in the above process (A3) are stop category 0 and stop category 1. As an example, regarding the priority of the stop category, from the perspective of safety, a higher priority is assigned to a stop category that is more important. In this case, the priority of stop category 0 is higher than the priority of stop category 1. Therefore, in this case, in process (A4), stop category 0 is adopted, and the robot 10 stops in stop category 0. Thus, as Fig.10 As shown, when the robot 10 moves in a direction approaching the operator OP and leaves the operation area R101 , the robot 10 performs an emergency stop according to the stop category 0 to ensure the safety of the operator OP.

[0099] In addition, when the interference between the robot 10 and the outer surface of the action area or the restricted area is obtained by calculation, as shown in FIG. Fig.12 As shown, a robot model 101M (see Figure 2 ), calculate whether interference occurs between the robot model 101M and the outer surface of the action area and the restriction area. Fig.12 This shows a state where the robot model 101M set for the robot 10 has detected interference with the outer surface of the operation region R101 (the robot model 101M has left the operation region R101). By detecting interference using the robot model 101M, the calculation load can be reduced.

[0100] Second embodiment

[0101] The robot controller 20A of the second embodiment is described below. The robot controller 20A of the second embodiment is configured to detect which surface of the outer surfaces constituting the operation area or the restriction area the robot 10 interferes with, and to set the stop type according to the interfering surface.

[0102] Fig.13 2 is a functional block diagram of a robot control device 20A according to the second embodiment. Fig.13 In the functional block diagram of Figure 4 The same functional blocks as those of the robot control device 20 of the first embodiment shown in the figure are denoted by the same reference numerals. Fig.13 As shown, the robot control device 20A includes an operation control unit 201, an area setting unit 202, a stop method setting unit 203A, a position calculation unit 204, an interference detection unit 205, an interference surface detection unit 209, and a stop unit 207A.

[0103] The stop method setting unit 203A can provide a function for setting the stop type for each surface of the outer surface of the operation area or the restriction area. The interference surface detection unit 209 functions as an operation state detection unit that detects the operation state of the robot 10 when the interference is detected by the interference detection unit 205. When the interference of the robot 10 and the outer surface of the operation area or the restriction area is detected, the interference surface detection unit 209 detects which surface of the outer surface of the operation area or the restriction area the robot 10 interferes with.

[0104] The stopping unit 207A stops the robot 10 according to the stop type set for the surface detected by the interfering surface detecting unit 209 .

[0105] In the case of a configuration in which the stop type is set for each surface of a designated area, Fig.14 , Fig.15 As shown, identification information is assigned to each surface. Fig.14, an example is shown in which identification numbers 1 to 6 are assigned to the front, right, back, left, bottom, and top surfaces, respectively, when a rectangular parallelepiped action region R1 is set. Fig.14 In the figure, the circled numbers represent identification numbers 1 to 6 respectively.

[0106] exist Fig.15 In FIG. 1 , an octagonal prism-shaped action area R2 is set around the robot, identification numbers 1 to 8 are assigned to the eight side surfaces, and identification numbers 9 and 10 are assigned to the top surface and the bottom surface, respectively. Fig.15 In the figure, the numbers with circles represent identification numbers 1 to 10 respectively. The interference surface detection unit 209 and the stop unit 207A can identify each surface on the outer surface of the designated area through these identification numbers. In this way, by configuring so that identification information can be assigned to each surface on the outer surface constituting the designated area to identify the surface, even when the designated area is set as a polyhedron, the stop type of each surface can be efficiently specified.

[0107] Fig.16A This shows a state where, when a rectangular parallelepiped action region R101 is set and the lower side in the figure is set as the front side, identification numbers 1 to 4 are assigned to the front surface, right side, back side, and left side of the action region R101, respectively. Fig.16A In the figure (the same applies to other similar figures), the identification numbers are represented by circled numbers. In this example, the stop category 0 is set on the face of identification number 2 (right face), and the stop category 1 is set on the other faces.

[0108] Fig.16A The figure shows a situation where the robot 10 leaves the action area R101 while interfering with the surface (right side surface) of identification number 2. In this case, the robot 10 stops at the stop category 0 assigned to the surface (right side surface) of identification number 2. In this case, the robot 10 moves in a direction approaching the operator OP and leaves the action area R101, so the safety of the operator OP can be reliably ensured.

[0109] Fig. 16B The figure shows a state where the robot 10 leaves the operation area R101 while interfering with the surface (left side surface) of identification number 4. In this case, the robot 10 stops in stop category 1 assigned to the surface (left side surface) of identification number 4. In this case, the robot 10 moves away from the operator OP and leaves the operation area R101, thereby avoiding the application of a load to the robot 10 while maintaining the safety of the operator OP.

[0110] Fig.17A , Fig. 17BThe following is an example of operation in which identification numbers are assigned to the surfaces constituting the outer surface of the restricted area. Here, the following is a state in which identification numbers 1 to 4 are assigned to the front, right, back, and left surfaces of the restricted areas R102 and R103, with the lower side in the figure being the front side. In this case, the stop category 0 is set to the surface with identification number 4 (left side), and the stop category 1 is set to the other surfaces.

[0111] Fig.17A This indicates that the robot 10 interferes with the surface (left side) of the restricted area R102 with identification number 4 and enters the restricted area R102. In this case, the robot 10 stops at the stop category 0 set on the surface (left side) of identification number 4. Fig.17A In the case of , the operator OP is located on the right side of the restricted area R102. Fig.17A In such a situation where the robot 10 enters the restricted area R102 so as to approach the operator OP, the robot 10 stops in the stop category 0, and the safety of the operator OP is reliably ensured.

[0112] Fig. 17B This indicates that the robot 10 interferes with the surface of identification number 2 (right side surface) of the restricted area R103 and enters the restricted area R103. In this case, the robot 10 stops in the stop category 1 set on the surface of identification number 2 (right side surface). Fig. 17B In the case of , the operator OP is located on the right side of the restricted area R103. Fig. 17B In such a situation that the robot 10 enters the restricted area R103 away from the operator OP, the robot 10 stops in the stop category 1, thereby avoiding the application of a load to the robot 10 while maintaining the safety of the operator OP.

[0113] Fig.18 1 is a diagram showing an example of a UI (user interface) screen for setting a designated area and a stop method in the second embodiment. These UI screens are provided as functions of the area setting unit 202 and the stop method setting unit 203A. These UI screens can be displayed on the display screen of the display unit 43 of the external input device 40, and operation input to the UI screens can be accepted through operation on the operation unit 44. Fig.18 The UI screen 410 shown on the left side in the middle is mainly related to setting of a designated area. Fig.18 The UI screen 420 shown on the right side in the middle is a setting screen related to detailed setting of the stop method.

[0114] The UI screen 410 has Fig. 9The UI screen 410 includes a stop method designation field 411. For example, by selecting the designation field 411, a UI screen 420 for setting the details of the stop method can be called. Fig.18 As shown, the UI screen 420 is configured to be able to set multiple stop methods according to the surface with which the robot interferes. In the UI screen 420, the following stop methods can be set:

[0115] (1) Stop category (designated column 421)

[0116] (2) Surface with which the robot interferes (designation column 422).

[0117] Like this, by being configured to set the stopping method according to the face, can make setting content simple.In addition, the operator only needs to carry out the setting that each face of the designated area is matched with the stopping category, therefore, can carry out the setting of the stopping method in the form that is easy to intuitively grasp.

[0118] exist Fig.18 In the UI screen 420, set 4 stop methods and set them according to the following contents.

[0119] Stop method 1: Specified surface 1 (identification number 1), stop category 0

[0120] Stop method 2: Specified surface 2 (identification number 2), stop category 0

[0121] Stop method 3: Specify face 3 (identification number 3), do not stop

[0122] Stop method 4: Specified surface 4 (identification number 4), stop category 1

[0123] Third embodiment

[0124] The robot control device 20B of the third embodiment is described below. The robot control device 20B of the third embodiment is configured to be able to set the validity or invalidity of the restricted area, and when the operator enters the restricted area, the restricted area is set to be valid, and the robot is stopped in the stop category corresponding to the movement direction of the robot 10 in the restricted area at that time.

[0125] The above functions of the robot control device 20B can be realized by configuring a sensor for detecting that a person enters a restricted area, inputting a signal from the sensor to the robot control device 20B, and performing control to make the restricted area effective when a person enters a restricted area. As a sensor for detecting that a person enters a restricted area, various sensors such as a light curtain, a safety mat, and an area sensor can be used. In addition to the sensor, an input from an I / O device such as a sequencer can also be used as a signal via the input / output interface 45.

[0126] Fig.19 20B is a functional block diagram of a robot control device according to the third embodiment. Fig.19 In the embodiment, the same symbols are assigned to the same functional blocks as those of the robot control device 20 of the first embodiment. Fig.19 As shown, the robot control device 20B includes an area setting unit 202B, a stop method setting unit 203, a position calculation unit 204, an interference detection unit 205B, a motion direction detection unit 206, and a stop unit 207 as functional blocks related to the safety function. A detection signal from the sensor 80 for detecting that a person enters a restricted area is input to the interference detection unit 205B.

[0127] The area setting unit 202B is configured to provide a function for setting a designated area as valid or invalid in addition to the function of the area setting unit 202 of the first embodiment. When the sensor 80 detects that a person has entered the restricted area, the interference detection unit 205B sets the restricted area as valid, and when the interference between the robot 10 and the restricted area is detected in this situation, it notifies the motion direction detection unit 206. On the other hand, when the sensor 80 does not detect that a person has entered the restricted area, the interference detection unit 205B regards the restricted area as invalid.

[0128] The motion direction detection unit 206 functions as a motion state detection unit that detects the motion state of the robot 10 when the interference detection unit 205B detects interference. The motion direction detection unit 206 detects the motion direction of the robot 10 when a person enters the restricted area when the interference between the robot 10 and the restricted area is detected. The stop unit 207 stops the robot 10 by a stop control corresponding to the motion direction of the robot 10 when the person enters the restricted area when the interference between the robot 10 and the restricted area is detected.

[0129] Reference FIG. 20A to FIG. 20C A specific operation example is described below. FIG. 20A to FIG. 20CIn this example, the restricted area R110 is set on the front side of the robot 10, and the operator OP may enter the restricted area R110. In addition, in this example, based on the world coordinate system C1 set for the base of the robot 10, the stop category 0 is set in the +X direction as the movement direction, and the stop category 1 is set in the -X direction as the movement direction.

[0130] exist Fig. 20A , the operator OP has not entered the restricted area R110, and therefore the restricted area R110 is set to be invalid. In this case, the interference detection unit 205B regards the restricted area R110 as invalid and does not perform the detection check of the interference between the robot 10 and the restricted area R110. In this example, the stop control when the robot 10 interferes with the restricted area R110 is not performed, but the safety of the operator OP is maintained, and the load applied to the robot 10 accompanying the stop control is avoided.

[0131] Fig. 20B This is a situation where the operator OP enters the restricted area R110. In this case, the intrusion of the operator OP into the restricted area R110 is detected by the sensor 80, and the restricted area R110 is validated. In this situation, when the restricted area R110 is validated, the robot 10 enters the restricted area R110, and its movement direction is the +X direction, so the robot 10 stops urgently according to the stop category 0. In this way, the safety of the operator OP is reliably ensured.

[0132] Fig. 20C This is a situation where the operator OP enters the restricted area R110. In this case, the intrusion of the operator OP into the restricted area R110 is detected by the sensor 80, and the restricted area R110 is validated. In this situation, when the restricted area R110 is validated, the robot 10 enters the restricted area R110, and its movement direction is the -X direction, and the robot 10 stops according to the stop category 1. In this case, the robot 10 moves in a direction away from the operator OP, so the load applied to the robot 10 is reduced while maintaining the safety of the operator OP.

[0133] Fig.21 1 shows an example of a UI screen used in the setting of the third embodiment. The UI screen 300A is provided as a function of the area setting unit 202B and the stop method setting unit 203. The UI screen 300A can be displayed on the display screen of the display unit 43 of the external input device 40, and an operation input to the UI screen 300A can be accepted through an operation on the operation unit 44. The UI screen 300A used in this embodiment can also be displayed by referring to Figure 8The UI screen 300 in the first embodiment described is implemented in the form of adding a designation column 309 for designating a signal for validating / invalidating the designated area. In the UI screen 300A, an example of setting to designate a signal from a safety mat as a signal for invalidating the restricted area is shown. The interference detection unit 205B can determine the state of the signal from the sensor 80 to invalidate the restricted area based on the setting content in the designation column 315. In addition, in the UI screen 300A, it is set as a form to designate the direction of the stop category 0 in the designation column 305A for designating the stop method.

[0134] In addition, in the present embodiment, an example of an operation in which a restricted area is set as a designated area and the restricted area is invalidated or validated according to a signal from the sensor 80 to perform stop control is described, but it is also possible to set an action area as a designated area, detect a person's intrusion into the action area by the sensor 80, and perform stop control by invalidating or validating the action area according to a signal from the sensor 80. In this case, as in the above-mentioned embodiment, it is possible to realize stop control that ensures the safety of the operator and reduces the burden imposed on the robot.

[0135] In addition, in the present embodiment, an example of an operation in which the area where the robot is stopped can be set to be valid or invalid according to the stop type corresponding to the movement direction of the robot 10 when the interference with the outer surface of the movement area or the restriction area is detected is described, but it can also be configured so that when the interference of the robot 10 with the outer surface of the movement area or the restriction area is detected as shown in Embodiment 2, it is detected which surface of the outer surface of the movement area or the restriction area interferes with the robot 10, and the robot 10 is stopped according to the stop type set for the detected surface, it is also possible to set the area to be valid or invalid, and to perform stop control by invalidating or validating the movement area according to the signal from the sensor 80. In this case, as in the above-mentioned embodiment, it is possible to realize stop control that ensures the safety of the operator and reduces the burden imposed on the robot.

[0136] As described above, according to each embodiment, when interference with the outer surface of the action area or the restricted area of ​​the robot is detected, appropriate stop control can be applied according to the action state of the robot, thereby achieving stop control that ensures the safety of the operator and reduces the load applied to the robot mechanism.

[0137] Although the present invention has been described above using typical embodiments, it will be understood by 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.

[0138] For example, the functional block diagram of the robot control device in the above-mentioned embodiment ( Figure 4 , Fig.13 , Fig.19 ) is an example, and there can be various variations on the configuration of these function blocks. For example, there can be a configuration example in which at least a part of the function blocks related to the safety function configured in the robot control device (for example, the area setting unit, the stop method setting unit) is configured in the teaching operation panel as an external input device. In this case, the overall function of the teaching operation panel as an external input device and the function of the robot control device can also be defined as the robot control device.

[0139] In the detection of interference between the robot and the outer surface of the action area or the restricted area, when the interference between all parts constituting the robot (or the robot model covering the robot) (which may include all parts from the base of the robot to the tool part) and the outer surface of the action area or the restricted area is detected, it can of course be "detected that the robot interferes with the outer surface of the action area or the restricted area". In addition, in the detection of the action direction or the detection of the interference surface when the interference between the robot and the outer surface of the action area or the restricted area is detected, when the interference between all parts constituting the robot (or the robot model covering the robot) (which may include all parts from the base of the robot to the tool part) and the outer surface of the action area or the restricted area is detected, it can of course be "detected that the robot's action direction and the interference surface that interferes with the robot are interfered with".

[0140] Figure 4 , Fig.13 , Fig.19 The functional blocks of the robot control device shown 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 configuration mainly based on hardware such as an ASIC (Application Specific Integrated Circuit).

[0141] The program for executing various processing such as the process for determining the stop category in the above-mentioned embodiment can be recorded on various computer-readable recording media (for example, semiconductor memories such as ROM, EEPROM, flash memory, magnetic recording media, CD-ROM, DVD-ROM and other optical disks).

[0142] Explanation of symbols

[0143] 10. Robot

[0144] 11 Position Sensor

[0145] 20, 20A, 20B robot control device

[0146] 21 Processor

[0147] 22 Memory

[0148] 23 Input and output interfaces

[0149] 24 Operation Department

[0150] 40 External input device

[0151] 41 Processor

[0152] 42 Memory

[0153] 43 Display

[0154] 44 Operation Department

[0155] 45 Input and output interface

[0156] 100 Robotic Systems

[0157] 101M Robot Model

[0158] 201 Motion Control Department

[0159] 202, 202B Area Setting Unit

[0160] 203, 203A, 203B stop method setting unit

[0161] 204 Position calculation unit

[0162] 205, 205B Interference detection unit

[0163] 206 motion direction detection unit

[0164] 207, 207A stop

[0165] 208 Action Program

[0166] 209 Interference surface detection unit

[0167] 310A, 320, 320A, 410, 420UI screen.

Claims

1. A robot control device for controlling a robot, characterized in that: have: An area setting unit, which is used to set an action area in which the robot can move or a restricted area that the robot cannot enter; a position calculation unit, which calculates the position of the robot; an interference detection unit, which detects interference between the robot and an outer surface of the action area or the restriction area according to the calculated position of the robot; an action state detection unit that detects the action state of the robot when the interference is detected; and A stopping unit stops the robot by a stop control corresponding to the detected operation state.

2. The robot control device according to claim 1, characterized in that: The robot control device further comprises: a stop method setting unit for setting a stop control corresponding to the operation state of the robot. The stopping unit stops the robot by the stop control corresponding to the operation state set in the stop method setting unit.

3. The robot control device according to claim 2, characterized in that: The motion state detection unit includes: a motion direction detection unit that detects the motion direction of the robot when the interference is detected. The stopping unit stops the robot by performing a stop control corresponding to the movement direction of the robot when the interference is detected.

4. The robot control device according to claim 3, characterized in that: The stop method setting unit is configured to be able to set different stop controls according to the movement directions of the robot.

5. The robot control device according to claim 3 or 4, characterized in that: The stop method setting unit is configured to be able to set a coordinate system that serves as a reference when the movement direction detection unit detects the movement direction of the robot.

6. The robot control device according to claim 2, characterized in that: The action state detection unit includes an interference surface detection unit, which, when the interference is detected, detects which surface of the plurality of surfaces constituting the outer surface of the action area or the outer surface of the restriction area the robot interferes with. When the interference is detected, the stopping unit stops the robot by performing a stop control corresponding to a surface with which the robot interferes among the plurality of surfaces.

7. The robot control device according to claim 6, characterized in that: The stop method setting unit is configured to be able to set different stop controls for each surface constituting the outer surface of the operation area or the outer surface of the restriction area.

8. The robot control device according to claim 3, characterized in that: The area setting unit is configured to be able to designate a signal for switching the operation area or the restriction area to be effective or ineffective, The interference detection unit is configured to detect the interference when the operation area or the restriction area is valid according to the signal, The stopping unit stops the robot by performing a stop control corresponding to the moving direction of the robot when the interference is detected, when the moving area or the limiting area is valid according to the signal.

9. The robot control device according to claim 8, characterized in that: The area setting unit is configured to be able to designate a detection signal from a sensor for detecting entry of a person into the operation area or the restriction area as a signal for switching the operation area or the restriction area to be valid or invalid.

10. The robot control device according to any one of claims 2 to 9, characterized in that: The stop method setting unit is configured to accept a setting of a stop control corresponding to an operation state of the robot via a user interface screen.

11. The robot control device according to any one of claims 1 to 10, characterized in that: The area setting unit is configured to accept settings related to the operation area or the restricted area via a user interface screen.

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