Robot control system, robot, and robot control program

Abstract

A robot control system is a robot control system which can be attached to and detached from a wrist portion of a three-dimensionally operated arm, and which performs work on an object by attaching a tool according to a type of work on the object, the robot control system comprising: a determination unit which determines the type of work on the object; and a control unit that controls an operation of assembling the tool corresponding to the type of operation determined by the determination unit, and controls an operation corresponding to the type of operation.

Description

Technical Field

[0001] This disclosure relates to a control system for a robot, a robot, and a control program for a robot. Background Technology

[0002] Humanoid robots are used on factory production lines to perform tasks automatically. Japanese Patent Application Publication No. 2019-093506 describes the posture control of humanoid robots.

[0003] In addition, WO2011 / 001569 discloses a robot arm driven by an elastomeric actuator and having multiple joints. The control unit controls the end support member disposed at the end of the robot arm and the force of the end support member in contact with the support surface to support the robot arm, and controls the position and orientation of the end of the robot arm.

[0004] However, in the past, humanoid robots have been used to pick items in warehouses, such as picking items (such as shampoo, conditioner, cosmetics, toothpaste, instant noodles, and bagged snacks) from shelves and packing them into designated packaging (boxes, etc.), which is currently done manually.

[0005] Furthermore, even if the robot's gripper is structured as a finger, the slow movement of fingers and arms results in low productivity. Moreover, when performing tasks other than holding goods, the operation becomes an indirect task involving gripping necessary tools (such as drill bits, screwdrivers, etc.), which increases the control burden due to the gripper holding the necessary tools. Summary of the Invention

[0006] This disclosure takes into account the above facts and aims to obtain a control system, a robot, and a robot control program that can reduce the control burden by directly performing multiple types of work, including holding goods by the gripping part.

[0007] The robot control system of Embodiment 1 disclosed herein is a robot control system that can be detached and assembled at the wrist of a three-dimensionally rotating arm and can assemble tools according to the type of work for an object and perform work for said object. It includes: a determination unit that determines the type of work for said object; and a control unit that controls the operation of assembling the tool corresponding to the type of work determined by the determination unit and controls the operation corresponding to said type of work.

[0008] According to Method 1 of this disclosure, the control unit controls the operation of the tool corresponding to the work type determined by the determination unit, and controls the operation according to the work type, wherein the determination unit determines the work type for the object.

[0009] Therefore, by directly performing multiple types of work, including the holding of goods by the holding unit, the control burden can be reduced.

[0010] The feature of the second aspect of this disclosure is that, in the first aspect, there are at least a plurality of arms capable of assembling the tool, one arm is selectively equipped with a tool corresponding to the type of work for the object, and the other arms are equipped with auxiliary work tools that can perform auxiliary work for the object to perform the main work.

[0011] Multiple arms can each play their own role (primary work and auxiliary work to the primary work).

[0012] In embodiment 3 of this disclosure, in embodiment 2, a tool corresponding to the type of work performed on the object is selectively mounted on one arm, and a monitoring device is mounted to monitor the work area in conjunction with the work performed by the mounted tool. Multiple arms can each play a role (primary work and auxiliary work), and the monitoring device can monitor the work area in conjunction with the work performed by the mounted tool.

[0013] The feature of this disclosure in method 4 is that, in method 2 or method 3, the auxiliary work tool has the function of a human hand, holding the object.

[0014] During its main tasks, it can maintain the object and stably perform its main tasks.

[0015] In embodiment 5 of this disclosure, in embodiment 4, the auxiliary work tool includes a storage section that stores components corresponding to the type of work performed by the tool mounted on one arm. The control unit uses the components stored in the storage section to perform operations corresponding to the type of work. According to embodiment 5 of this disclosure, the object can be held while components are prepared during the main work, thus enabling efficient work performance.

[0016] In embodiment 6 of this disclosure, in embodiment 5, the control unit replaces the component used on the one arm with a new component stored in the storage unit when predetermined conditions are met. According to embodiment 6 of this disclosure, components can be replaced efficiently during operation.

[0017] The feature of embodiment 7 of this disclosure is that, in the invention described in any of embodiments 2 to 6, the auxiliary work tool includes a monitoring sensor tool, which is dedicated to monitoring the main work of the object.

[0018] For example, it is possible to perform a task while pressing an object with a human hand, and to monitor the main task by monitoring the task through a monitoring sensor tool.

[0019] The feature of this disclosure in aspect 8 is that, in the invention described in any of aspects 1 to 7, the robot is a humanoid robot.

[0020] As a humanoid robot, it can perform tasks similar to those of humans and has high versatility.

[0021] The feature of this disclosure, in embodiment 9, is that, in any of the embodiments 1 to 8, the robot is mounted on a vehicle supported on the ground by drive wheels.

[0022] By being mounted on vehicles, it enables improved operational efficiency in work environments that prioritize functionality (agility).

[0023] The feature of the present disclosure of the method 10 is that, in the invention described in any of the methods 1 to 9, the determination unit makes a determination based on information from a sensor unit mounted on the tool, the sensor unit comprising a camera for capturing an image of the object and identifying the type of the object, and a motion processing unit for determining the position of the object.

[0024] A camera identifies the object (sometimes referred to as cargo) captured in the image. In other words, it acquires information to determine the type (shape, size, hardness, etc.) of the object.

[0025] The Motion Processing Unit (MoPU) outputs position information along with the motion information, consisting of vector information representing the movement of a point indicating the object's location along specified coordinate axes. In other words, the motion information output from the MoPU only includes information representing the movement (direction and speed) of the object's center point (or center of gravity) along the coordinate axes (x-axis, y-axis, z-axis). This allows for highly precise guidance of the gripper's trajectory as it approaches the object.

[0026] In any of the embodiments 1 to 10 of the present disclosure, the robot's control system comprises: a separate control unit for the operation control of each robot, which is equipped with a tool corresponding to the type of work determined by the determination unit and controls the operation corresponding to the type of work; and a cooperative control unit for the operation control of multiple robots cooperating with each other, which at least causes any one of the multiple robots to hold the object, and simultaneously causes the multiple robots to perform multiple types of operations on the held object in a time sequence.

[0027] According to embodiment 11 of this disclosure, the individual control unit controls the various operations of the robot, is equipped with tools corresponding to the type of work determined by the decision unit, and controls the operation according to the type of work.

[0028] On the other hand, the collaborative control unit is the operation control that enables multiple robots to cooperate with each other, at least one of the multiple robots to hold the object, and at the same time, the multiple robots to perform multiple types of operations on the held object in a time sequence.

[0029] Therefore, by directly performing multiple types of work, including the holding of goods by the holding unit, the control burden can be reduced.

[0030] In addition, the collaborative control unit can be equipped with control devices that have the same function for all robots, so that they can be synchronized with each other. It can also be composed of a master device mounted on a specific robot and a sub-device mounted on a robot other than the specific robot and operating according to the commands from the master device (i.e., a master-slave structure).

[0031] The characteristic of embodiment 12 of this disclosure is that, in embodiment 11, the tool for holding the object has the function of a human hand, holding the object by gripping.

[0032] The characteristic of this disclosure in aspect 13 is that, in aspect 11 or aspect 12, the collaborative control unit performs multiple types of operations simultaneously without interfering with each other when multiple robots are performing tasks.

[0033] The feature of embodiment 14 of this disclosure is that, in any of embodiments 11 to 13, when the cooperative control unit is holding the object with a tool mounted on one arm of one robot, if it is necessary to change the tool mounted on another arm, another robot takes over from the one robot to hold the object.

[0034] The robot according to embodiment 15 of this disclosure has a wrist part of a three-dimensionally rotating arm that can be detached and equipped with tools according to the type of work to be performed on the object, and has a sensing unit for determining the position of the object and the tools.

[0035] The robot according to embodiment 16 of this disclosure is characterized in that, in embodiment 15, the robot has multiple arms that can rotate in three dimensions and are capable of assembling at least a number of working tools, and is a robot that performs work on an object. One arm is selectively equipped with a tool corresponding to the type of work on the object, and is equipped with a monitoring device that monitors the working part in conjunction with the work performed by the assembled tool. Other arms are equipped with auxiliary working tools that can perform auxiliary work on the object to perform the main work.

[0036] The robot control program according to Embodiment 17 of this disclosure is characterized in that, in the invention described in any of Embodiments 1 to 14, a computer is used as the aforementioned components.

[0037] Furthermore, the above summary of this disclosure does not enumerate all the necessary features of this disclosure. Additionally, sub-combinations of these feature groups may also constitute this disclosure.

[0038] Invention Effects

[0039] As described above, according to this disclosure, by directly performing multiple types of work, including the work of holding goods by the gripping part, the effect of reducing the control burden is achieved. Attached Figure Description

[0040] Figure 1 This is a front view of the humanoid robot involved in the first embodiment.

[0041] Figure 2 This is a side view of the humanoid robot according to the first embodiment.

[0042] Figure 3A This is a top view showing the humanoid robot according to the first embodiment equipped with robotic tools.

[0043] Figure 3B This is a top view showing the humanoid robot according to the first embodiment equipped with robotic tools.

[0044] Figure 3C This is a top view showing the humanoid robot according to the first embodiment equipped with robotic tools.

[0045] Figure 3DThis is a top view showing the humanoid robot according to the first embodiment equipped with robotic tools.

[0046] Figure 4A This shows the use of... Figures 3A to 3D A 3D diagram showing the operational status of the corresponding robotic tools.

[0047] Figure 4B This shows the use of... Figures 3A to 3D A 3D diagram showing the operational status of the corresponding robotic tools.

[0048] Figure 4C This shows the use of... Figures 3A to 3D A 3D diagram showing the operational status of the corresponding robotic tools.

[0049] Figure 4D This shows the use of... Figures 3A to 3D A 3D diagram showing the operational status of the corresponding robotic tools.

[0050] Figure 5 This is a diagram that schematically illustrates an example of the functional structure of the humanoid robot involved in the first embodiment.

[0051] Figure 6 This is a flowchart illustrating the gripping control sequence when the gripping part holds goods, in conjunction with the overall operation of the humanoid robot.

[0052] Figure 7 This is a control flow diagram showing the details of the robot tool application processing subroutine.

[0053] Figure 8 This is a top view of the humanoid robot involved in a variation of the first embodiment (Variation 1).

[0054] Figure 9A This is a top view showing the work process of a humanoid robot based on a workflow, as described in Practical Example 1 which applies the first embodiment.

[0055] Figure 9B This is a perspective view showing the work procedures based on process operations involved in the comparative example of Practical Example 1.

[0056] Figure 10A This is a front view of the arm involved in the second embodiment.

[0057] Figure 10B This is the front view of a robotic tool that can be mounted on an arm.

[0058] Figure 10C This is the front view of a robotic tool that can be mounted on an arm.

[0059] Figure 10D This is the front view of a robotic tool that can be mounted on an arm.

[0060] Figure 11 This is a perspective view of the arm involved in a variation of the second embodiment (variation 2).

[0061] Figure 12 This is a perspective view of the arm involved in a variation of the second embodiment (variation 3).

[0062] Figure 13 This is a perspective view showing the working conditions on an EV vehicle manufacturing line using the arm described in the second embodiment.

[0063] Figure 14A This is a perspective view showing the operation of the arm on the EV vehicle manufacturing line using the second embodiment of the utility example 2, and the operation in the engine room (drive unit room).

[0064] Figure 14B This is a perspective view showing the operation of the arm on the EV vehicle manufacturing line using the second embodiment of the utility example 2, as well as the operation inside the vehicle.

[0065] Figure 15A This is a schematic diagram of the second embodiment, specifically Example 3, showing a perspective view of the process of checking the installation status after the seat belt device is installed on the vehicle body.

[0066] Figure 15B This is a schematic diagram of the second embodiment, specifically Example 3, and is an enlarged view of the inspection area (pillar portion) of the vehicle body.

[0067] Figure 16 An example of the hardware structure of a computer used as the central brain is shown in a schematic diagram. Detailed Implementation

[0068] The following describes embodiments of the present disclosure, but these embodiments are not intended to limit the present disclosure. Furthermore, not all combinations of features described in the embodiments are necessary for the solutions provided in this disclosure.

[0069] (First Implementation)

[0070] Figure 1 This is a front view of the humanoid robot 1 according to the first embodiment. (Example) Figure 1 As shown, the humanoid robot 1 according to the first embodiment includes an upper body 2, feet 3, and a connecting part 4 that rotatably connects the upper body 2 to the feet 3. It is configured, for example, on a factory production line, to work on an object 100 (see reference 100). Figure 2 (to carry out the work.)

[0071] In the case of a picking operation that involves holding the object 100, the object (such as a dropped item) is held on the production line or the ground. In addition to picking the object 100 from the shelf, the holding operation also includes packaging the held object 100 into a specified frame (such as a cardboard box).

[0072] The upper body 2 has two arms 5 and 6. Arms 5 and 6 are rotatably mounted on the left and right sides of the upper body 2. In addition, robotic tools 20L and 20R (described in detail later) for performing prescribed operations on the object 100 are mounted at the front ends of arms 5 and 6. Furthermore, the number of arms is not limited to two; there may be one or more arms.

[0073] The two wheels 7 and 8 of the leg 3 are mounted on its lower part, enabling it to move on the ground where the humanoid robot 1 is located.

[0074] The connecting part 4 rotatably connects the upper body 2 and the feet 3. Therefore, the upper body 2 can lean forward and backward relative to the feet 3. Thus, as... Figure 2 As shown, the humanoid robot 1 according to the first embodiment can lean its upper body 2 forward relative to its feet 3 to pick up objects 100 placed on shelves or on the ground, as well as objects 100 that fall to the ground during operation.

[0075] In addition, the feet 3 have a balancing function to prevent the humanoid robot 1 from falling when the upper body 2 leans forward or backward relative to the feet 3, or when the humanoid robot 1 moves.

[0076] In addition, such as Figure 1 As shown, the connecting part 4 has the function of changing the distance between the upper body 2 and the feet 3. Therefore, the position of the upper body 2 relative to the feet 3 in the vertical direction can be adjusted in a way that suits the height of the workbench on the production line, as shown by arrow A.

[0077] Furthermore, the humanoid robot 1 according to the first embodiment is equipped with a control system 10 (see reference 10) that is actually installed in the humanoid robot 1. Figure 5 (This is used to control its drive.)

[0078] (Structure of robot tools 20L and 20R)

[0079] like Figure 3A As shown, the robotic tool 20L, which is equivalent to the left hand in human terms and is installed at the front end of the arm 6, is made with the same hand structure (Intelligent Hand System) as a human. It mainly performs auxiliary tasks such as pressing the object 100 to keep it still when the robotic tool 20R is working.

[0080] In addition, such as Figure 3A As shown, the robotic tool 20R, which is equivalent to the right hand to a human and is installed at the front end of the arm 5, is a tool for performing specific tasks.

[0081] Robot tools 20L and 20R are connected to arms 6 and 5 via universal joints and are mounted in a three-dimensional free-rotation manner. More specifically, they are capable of wrist rotation (torsion) and wrist up-and-down movements (wrist flexion), and can also perform wrist extension and retraction movements as needed.

[0082] In addition, at least the robot tool 20R mounted on the arm 5 can be detached from the arm 5 and can be replaced with the robot tool 21EX described later.

[0083] The robot tool 20L mounted on the arm 6 is not to be disassembled or assembled, but it can be disassembled and assembled in the same way as the robot tool 20R.

[0084] Arm 5 is replaced with a tool for performing the instructed work. On the other hand, arm 6 is positioned as an auxiliary work tool that assists in performing the instructed work (e.g., supporting the object 100, or pressing it down to remain stationary while processing the object 100).

[0085] In addition, in the humanoid robot 1 of the first embodiment, it is a structure equivalent to a right-handed person. In actual operation, the robot tool 20R is detachably installed on the right arm 5, which is the dominant arm, and the robot tool 20L (assistive work tool) with a human hand structure is installed on the left arm 6, which is not the dominant arm. However, it can also be a structure equivalent to a left-handed person (the auxiliary work tool (human hand) is installed on the arm 5, and the work tool is installed on the arm 6).

[0086] (Robotics Tools 20)

[0087] As shown in Figure 3, the robot tool 20L according to the first embodiment has a palm portion as its base, which is equivalent to a so-called human hand. Five fingers, each with multiple joints, are mounted on the palm portion. Furthermore, in the first embodiment, the robot tool 20L has five fingers, but it can also have a different number of fingers, such as three.

[0088] A palm sensor 26 is installed on the palm. The high-resolution camera constituting the palm sensor 26 in the first embodiment identifies what the photographed object 100 is based on the image information captured, whether it is a personal care product such as shampoo, conditioner, cosmetics or toothpaste, or a food such as instant noodles or packaged snacks.

[0089] In other words, a high-resolution camera has the function of acquiring information for determining the type (shape, size, hardness, etc.) of an object 100.

[0090] On the other hand, the MoPU, which together with the high-resolution camera constitutes the palm sensor 26 of the first embodiment, outputs motion information representing the motion of the photographed object 100 (in this case, the relative motion with respect to the arms 5 and 6) at a frame rate of, for example, 1000 frames per second or higher, based on an image of the object 100 captured at a frame rate of 1000 frames per second or higher. Furthermore, when detecting a moving object 100, the frame rate can be increased; when detecting a stationary object (the non-moving object 100), the frame rate can be decreased.

[0091] MoPU outputs motion information as vector information representing the movement of a point indicating the location of object 100 along a specified coordinate axis. That is, the motion information output from MoPU does not include information needed to identify what the photographed object 100 is (the aforementioned care product, food), but only includes information representing the movement (direction of movement and speed) of the center point (or center of gravity) of the object 100 along the coordinate axes (x-axis, y-axis, z-axis).

[0092] That is, it can guide the trajectory of the robot tool 20 as it approaches the object 100 with high precision.

[0093] Information output from the palm sensor 26, which includes a high-resolution camera and a MoPU, is provided to the information processing device 14. The information processing device 14 functions as a determination unit and a control unit, etc., as disclosed in this disclosure.

[0094] Furthermore, although the palm sensor 26 (high-resolution camera and MoPU) is shown as the closest point to the work area, it is not necessary to mount it on the palm. For example, the high-resolution camera and MoPU can be mounted on the back of the hand or the wrist. Alternatively, for a top-down view of the gripping operation, the high-resolution camera and MoPU can also be mounted on the head of the humanoid robot 1 shown in Figure 3. Furthermore, the high-resolution camera and MoPU can be mounted in multiple locations.

[0095] The information processing device 14 determines the position of the object 100 with high precision based on information from the palm sensor 26, including the high-resolution camera and the MoPU, calculates the degree of finger spread when gripping, the strength of gripping, and the adsorption force generated by the adsorption pad, and controls the minute movements of the arms 5 and 6 and the robot tool 20 with high precision, so as to handle the picking operations of various objects 100.

[0096] (Robot Tools 21R and Robot Tools 21EX)

[0097] In the first embodiment, the main purpose of the work involving the object 100 is to use the robotic tool 20R to hold the object 100.

[0098] On the other hand, the types of work performed on the object 100 include not only holding, but also other types of work (such as holding heavy objects, drilling with a drill bit, wiping dirt, handling small substances (tweezers work) etc.).

[0099] In this case, the robot tool 20R can hold the tool corresponding to various tasks and confront the object 100. However, when continuing to perform the same type of work, the burden of maintaining and controlling the holding state (such as the relative position control between the holding part and the held tool) is relatively large.

[0100] Therefore, in the first embodiment, instead of the robot tool 20R (see reference 5) which is a basic tool assembled on the arm 5, Figure 3A According to the type of work applied to object 100, such as Figures 3B to 3D As shown, it is equipped with robot tool 21EX (three types in the first embodiment: 21EXA, 21EXB, and 21EXC). As needed, robot tool 20R can be replaced with robot tool 21EX to perform work corresponding to different types of work than the holding of object 100.

[0101] (Storage instructions for Robot Tools 21EX)

[0102] like Figure 1 As shown, the humanoid robot 1 is equipped with a belt 28 at the lower part of the upper body 2 (the so-called waist position), and a retainer (not shown) is installed on the belt 28 to hold each of the three robot tools 21EXA, 21EXB, and 21EXC.

[0103] exist Figure 1 In this context, three robot tools 21EX are set, but the number of robot tools 21EX that can be assembled instead of robot tool 20R can also be one, two, or more than four, and the number of assembled can be determined according to the properties of object 100 described later.

[0104] Figures 3 and 4 show the detailed structure and usage of the robot tool 21 (21EXA, 21EXB, 21EX) that can replace the robot tool 20R and be mounted on the arm 5.

[0105] Figure 3A and Figure 4A This indicates the gripping state of the robot tool 20R, which is a basic tool of the robot tool, on the object 100. The type of work of the robot tool 20R is the same as that of the robot tool 20L, which is gripping, but it is a structure that can grip special objects 100 (such as overweight objects) that are difficult to grip in the robot tool 20L.

[0106] That is, the robot tool 20R has, for example, the same structure as a claw fork used as an accessory for heavy machinery. In the first embodiment, the robot tool 20R has a two-finger structure, and the two fingers open or close by pressure supplied from a pressure source via piping. This reduces versatility compared to gripping operations (robot tool 20L) using an electric motor, but enhances the strength of gripping the object 100.

[0107] In the operation performed using the robot tool 20R, the robot tool 20L presses to keep the object 100 stationary.

[0108] like Figure 3B and Figure 4B As shown, the robot tool 21EXA performs drilling operations and is equipped with a drill bit. Drill bit inserts of a specified diameter can be detachably mounted on the drill bit, and the drill bit inserts are pre-assembled according to the hole size to be drilled into the object 100.

[0109] In the operation performed using the robot tool 21EXA, the robot tool 20L presses down to keep the object 100 stationary.

[0110] like Figure 3C and Figure 4C As shown, the robot tool 21EXB is used for wiping away dirt and is equipped with cotton swabs.

[0111] In the robot tool 21EXB, wiping is achieved by moving the cotton swab left and right with a lateral amplitude while it contacts the dirt portion 100A attached to the surface of the object 100 suppressed by the robot tool 20L.

[0112] In the operation performed using the robot tool 21EXB, the robot tool 20L presses to keep the object 100 stationary.

[0113] Here, as Figure 4C As shown, the robot tool 20L has a storage section 30 on its back side, which stores components 32 corresponding to the working type of the robot tool (e.g., robot tool 21EXB) mounted on the arm 5. The storage section 30 is detachably mounted to the robot tool 20L. Figure 4C In this example, component 32 is set as a cotton swab.

[0114] like Figure 4C As shown, the storage section 30 is a rectangular box component with an open upper surface. Inside the storage section 30 are multiple panels 31, which form spaces for storing various components 32. Figure 4C In this example, eight components 32 (cotton swabs) are stored in the storage section 30 with a portion of them protruding from the top of the storage section 30.

[0115] Furthermore, the information processing device 14, functioning as the control unit of this disclosure, uses the component 32 housed in the storage unit 30 to perform operations corresponding to the type of work performed by the robotic tool. Figure 4C In the case shown, the information processing device 14 assembles the component 32 stored in the storage section 30 onto the robot tool 21EXB and uses the component 32 to perform the task of wiping away dirt.

[0116] Furthermore, the information processing device 14, as the control unit of this disclosure, replaces the component 32 used by the arm 5 with a new component 32 stored in the storage unit 30 when certain conditions are met, such as when the usage time of component 32 exceeds a predetermined time. Specifically, the information processing device 14 replaces the component 32 by performing the following controls.

[0117] First, based on predetermined conditions, the information processing device 14 disassembles the component 32 mounted on the robot tool 21EXB and places it on the robot tool 20L, then places the disassembled component 32 in a predetermined location. Next, the information processing device 14 directs the robot tool 21EXB to approach the component 32 stored in the storage section 30, and inserts the new component 32 into the hole (not shown) of the robot tool 21EXB exposed by the disassembled component 32. Thus, the replacement of the component 32 used in the arm 5 and the component 32 stored in the storage section 30 is completed.

[0118] With the above structure, the robot tool 20L can hold the object 100 during the main work and prepare the parts 32 simultaneously, thus enabling efficient operation. Furthermore, according to the above structure, parts 32 can be changed efficiently during operation. Additionally, in the above, with... Figure 4C For example, component 32 has been described as a cotton swab, but component 32 is not limited to this. For example, component 32 could be... Figure 4B The drill bit insert of the robot tool 21EXA shown. Figure 4D The tweezers and other components of the robot tool 21EXC shown can be any parts that correspond to the type of work performed by the robot tool mounted on the arm 5.

[0119] like Figure 3D and Figure 4D As shown, the robot tool 21EXC performs tweezer operations, which involve pinching or pulling out tiny objects. It is equipped with tweezers as a tool. Examples of tiny objects that can be removed include solder paste used when mounting electronic components on circuit boards, or solder residue from molten metal soldering.

[0120] The robot tool 21EXC has a structure that allows it to grasp and remove fine particles such as dust 100B adhering to the surface of the object 100, which is held in place by the robot tool 20L. Examples of dust include chips generated during drilling. It can also be used to remove screws drilled into narrow slots.

[0121] In the operation performed using the robot tool 21EXC, the robot tool 20L presses down to keep the object 100 stationary.

[0122] In addition, in the first embodiment, although it is not mounted on the humanoid robot 1, it can also be equipped as a robot tool with other types of work such as a painting spray gun, an electric drill, a carving knife, a notebook, and a 3D modeling molding agent sprayer.

[0123] For example, a spray gun is one of the pistol-shaped painting machines used in spray painting. It uses compressed air from a compressor (illustration omitted) to atomize the paint, creating a mist that is then sprayed from the front of the spray gun, enabling uniform coating of the surface to be painted.

[0124] In the first embodiment, the most suitable robot tool 20R and robot tool 21EX are selected according to the type of work (refer to Table 1), and the robot tool 20 is replaced with the selected robot tool 21 to perform the processing.

[0125] (Table 1)

[0126]

[0127] In addition, a palm sensor 26 is mounted on the robot tool 20L, but a sensor with the same function as the palm sensor 26 can also be installed on each robot tool 21EX.

[0128] Figure 5 This is a schematic diagram of an example of the control system 10 of the humanoid robot 1 according to the first embodiment. The control system 10 includes sensors 12 mounted on the humanoid robot, including a high-resolution camera and a hand sensor 26 of MoPU, and an information processing device 14.

[0129] Sensor 12 sequentially acquires information indicating at least the distance and angle between the humanoid robot 1 and its arms 5 and 6, which are located around the humanoid robot 1 and where the robot 1 is operating. Sensor 12 can be a high-performance camera, a solid-state LiDAR, a multi-color laser coaxial displacement meter, or various other sensor arrays. Other examples of sensors 12 include vibrometers, thermal cameras, hardness testers, radar, LiDAR, high-resolution telescopic ultra-wide-angle 360-degree high-performance cameras, visual recognition sensors, micro-sound sensors, ultrasonic sensors, vibration sensors, infrared sensors, ultraviolet sensors, electromagnetic waves, temperature sensors, humidity sensors, real-time AI weather forecasts, high-precision multi-channel GPS, low-altitude satellite information, or long-tail event AI data.

[0130] In addition to the information mentioned above, sensor 12 also detects images, distance, vibration, heat, odor, color, sound, ultrasound, ultraviolet or infrared radiation, etc. Furthermore, information detected by sensor 12 can include the movement of the humanoid robot 1's center of gravity, the material of the ground on which the humanoid robot 1 is placed, the external air temperature, the external air humidity, the vertical and horizontal tilt angles of the ground, and the moisture content.

[0131] Sensor 12 performs these detections, for example, every nanosecond.

[0132] The palm sensor 26 (high-resolution camera and MoPU) is a sensor of the robot tool 20L located on the arm 5 and 6. In addition to the sensor 12, it also has the function of a camera to capture images of the object 100 and the function of determining the position of the object 100.

[0133] Furthermore, using a single MoPU, it is possible to acquire vector information representing the position of object 100 along two coordinate axes (x-axis and y-axis) in a three-dimensional orthogonal coordinate system. Utilizing the principle of a stereo camera, two MoPUs can output vector information representing the position of object 100 along three coordinate axes (x-axis, y-axis, and z-axis) in a three-dimensional orthogonal coordinate system. The z-axis is along the depth direction (vehicle travel). Additionally, the z-axis is along the depth direction, which serves as the optical axis of the photograph.

[0134] The information processing device 14 includes an information acquisition unit 140, a control unit 142, and an information storage unit 144.

[0135] The information acquisition unit 140 acquires information about the object 100 detected by the sensor 12 and the palm sensor 26 (high-resolution camera and MoPU).

[0136] The control unit 142 uses the information acquired by the information acquisition unit 140 from the sensor 12 and the AI ​​(Artificial Intelligence) to control the rotation operation of the connecting unit 4, the up-down movement operation, and the operation of the arms 5 and 6.

[0137] Furthermore, the control unit 142 controls the information obtained by the information acquisition unit 140 from the palm sensor 26 (high-resolution camera and MoPU) to obtain detailed information about the type (shape, size, hardness, etc.) and position of the object 100, and makes it stand in opposition according to its shape or position, for example, holding the object 100 (holding control).

[0138] For example, as part of the overall operation, the control unit 142 performs the following processes.

[0139] (1) Drive the connecting part 4 to tilt the upper body part 2 forward or backward so as to be able to pick up the object 100 located on the shelf and the ground.

[0140] (2) Drive arms 5, 6 and robot tool 20 to grasp object 100.

[0141] (3) The upper body 2 is driven up and down relative to the feet 3 to suit the workbench height of the production line.

[0142] (4) In order to prevent humanoid robot 1 from falling and to gain balance.

[0143] (5) Control the drive of wheels 7 and 8 so that the humanoid robot 1 can push the handcart, etc.

[0144] The operation of the first embodiment is described below.

[0145] (Work control of object 100)

[0146] Figure 6 This is a flowchart illustrating the work control sequence when the robot tool 20 performs work on the object 100.

[0147] In step 150, it is determined whether there is an instruction for the object 100 to work. If the determination is positive, the process proceeds to step 152, where the humanoid robot 1 is moved (e.g., the arms 5 and 6 are operated) so that the palm side faces the object 100, and the process proceeds to step 154.

[0148] In step 154, the robot tool 20L is brought towards the object 100, and information about the object 100 is detected by the palm sensor 26 (high-resolution camera and MoPU).

[0149] In the next step 156, the detection information obtained by the palm sensor 26 is analyzed to obtain a detailed understanding of the type (shape, size, hardness, etc.) and location of the object 100, and then the process is transferred to step 158.

[0150] In step 158, the job (job type) for working with object 100 is selected. Next, the process proceeds to step 160, where, based on the attributes of object 100, the selection of robot tools 20R, 21EXA, 21EXB, and 21EXC is performed (see details...). Figure 7 Proceed to step 162.

[0151] In step 162, work is performed on object 100 (e.g., gripping a weight if it is robot tool 20R).

[0152] In the next step 164, it is determined whether the work on object 100 is successful. If the determination is positive, post-processing (post-processing of moving the held object 100 to a designated location when it is being held) is performed, and the process moves to step 150 to wait for work instructions on the next object 100.

[0153] Alternatively, if the decision in step 164 is negative, proceed to step 166, perform error handling, and return to step 150.

[0154] The robotic tool 20L is equipped with a high-resolution camera and a MoPU hand sensor 26, enabling it to monitor the working status in real time. Even if the work fails, it can respond quickly (troubleshoot).

[0155] In addition, since the palm sensor 26 (high-resolution camera and MoPU) is mounted on the palm side, it can capture the object 100 with high precision and can also handle operations that require small movements.

[0156] (Details of robot tool application processing)

[0157] Figure 7 This is a control flow diagram showing the details of the robot tool application processing subroutine.

[0158] In step 200, based on the type of work to be performed on object 100 (refer to Table 1), robot tool 20R or 21EXA, 21EXB, 21EXC, ... is selected.

[0159] That is, as shown in Table 1, the required types of robot tools 20R or 21EXA, 21EXB, 21EXC, ... are determined according to the type of work performed on the target object 100.

[0160] In addition, the selection of robot tools based on the types of work performed on object 100 as shown in Table 1 is one example. The selection can be determined based on the types or quantities of robot tools available.

[0161] In the first embodiment, since three robot tools 21EXA, 21EXB, and 21EXC are mounted on the belt 28, in addition to robot tool 20R, a total of four robot tools 20, 21EXA, 21EXB, and 21EXC can be selected. However, the number of belts 28 can be increased, or multiple robot tools 21 can be selected and pre-mounted on the belt 28 according to the work site. Alternatively, different types of robot tools 21EX can be mounted on each humanoid robot 1.

[0162] In the next step 202, the tool (usually robot tool 20R, but sometimes other robot tools 21EXA, 21EXB, or 21EXC) is removed from the arm 5 on the replacement side using the robot tool 20L mounted on the arm 6.

[0163] In the next step 204, the arm 5 on the replacement side is moved to the position of the belt 28, and robot tools 21EXA, 21EXB, and 21EXC are assembled.

[0164] In the next step 206, the robotic tool originally mounted on the arm 5 on the replacement side, which is held by the non-replacement side arm 6, is stored in the retainer of the belt 28, and the routine ends.

[0165] As explained above, in the first embodiment, in addition to performing work control of robot tools 20, 21EXA, 21EXB, and 21EXC, robot tools 20R, 21EXA, 21EXB, and 21EXC are prepared in advance, for example, according to the type of work to be performed on object 100.

[0166] Therefore, by directly assembling robot tools 21EXA, 21EXB, and 21EXC, the control burden (such as the burden related to the relative position control of the robot tool 20 and the tool) that arises from using a human hand-shaped robot to hold the tools required for the type of work in the gripping part of the comparative example and perform the work can be eliminated.

[0167] (Modification 1 "First Embodiment")

[0168] Furthermore, in the humanoid robot 1 of the first embodiment, similar to a human, it has a structure with two arms 5 and 6 (right arm 5 and left arm 6), each equipped with robot tools 20R (21EXA, 21EXB, 21EXC), but as... Figure 8As shown, a dedicated monitoring arm 9 can also be installed, which is monitored by a camera 50 mounted on the front end, while simultaneously performing operations.

[0169] Arm 9 is a so-called serpentine structure that can approach the object 100 through the gap between arms 5 and 6, and can cover the area that becomes a blind spot for the palm sensor 26.

[0170] (Practical Example 1 "First Implementation")

[0171] Figure 9A A practical example 1 relating to the first embodiment is a top view of a workplace 800 in which multiple humanoid robots 1 described in the first embodiment (including variant 1) perform a series of operations consisting of multiple work steps.

[0172] In practical example 1, a work area 800 is provided where the work object 100 is fixedly configured. This becomes a... Figure 9A The object 100 is moved into the work area 800 by a humanoid robot 1 on the left.

[0173] In addition, from the workplace 800 to Figure 9A As shown on the right, the object 100, which has completed the work (multiple work processes), is moved out by humanoid robot 1.

[0174] In the work area 800, several (six in this case) humanoid robots 1 are arranged in a ring around the path for moving in and out.

[0175] In Practical Example 1, the humanoid robot 1 is divided into three types: for loading, for unloading, and for operation. However, the distinction is based on function, and they are all humanoid robots 1 of the same type. In other words, the humanoid robots 1 used for loading and unloading can also participate in operations within the work area 800. Furthermore, the loading and unloading routes can be made the same.

[0176] In addition, in the practical example 1, the humanoid robot 1 for moving in and moving out is configured not to participate in the work within the work site 800, and can also be equipped with tools (robot tools 20L) that are the same as human hands, making it easy to grasp the object 100.

[0177] Each humanoid robot 1 can perform tasks independently and share location information with each other. In addition, when performing a common work procedure within the work site 800, each humanoid robot 1 performs its own work procedure assigned according to the work procedure in chronological order.

[0178] That is, the position of the humanoid robot 1 with radius r1 in the work area 800 is the position of the humanoid robot 1 that does not perform the work (hereinafter referred to as the standby position), and the position of the humanoid robot 1 with radius r2 (r1>r2) in the work area 800 is the position of the humanoid robot 1 that performs the work (hereinafter referred to as the working position).

[0179] When the loading robot 1 moves object 100, all the humanoid robots 1 are in standby position. When object 100 is moved into the work area 800, any one of the humanoid robots 1 corresponding to the work procedure number moves to the work position. This movement is based on the work procedure program, and the humanoid robots 1 do not interfere with each other (contact or collide, etc.).

[0180] In the workplace 800, at least one humanoid robot 1 holds (holds) an object 100, and while it is held, at least one other humanoid robot 1 performs a prescribed task.

[0181] The number of work steps (total number n) varies depending on the type of work, but in practical example 1, it is independent of the total number of work steps n. In a single work site 800, multiple work steps can be performed.

[0182] That is, when task 1 is completed, the humanoid robot 1 responsible for task 1 moves to the standby position, and then the humanoid robot 1 responsible for task 2 moves to the task position to execute task 2.

[0183] Next, when task n-1 is completed, the humanoid robot 1 responsible for task 2 moves to the standby position. Then, the humanoid robot 1 responsible for task n moves to the task position and executes task n.

[0184] In this way, in each work process, the humanoid robot 1 moves between the standby position and the work position, so even in a single work site 800, multiple work processes can be performed and moved out without interfering with each other.

[0185] In addition, the humanoid robot 1 can be used to move in or move out the object 100.

[0186] Figure 9B This is a perspective view showing the work procedures involved in the process operation based on the comparative example of Practical Example 1.

[0187] Generally, as in the comparative example, when multiple work processes are required, the object 100 is moved by the belt conveyor 820, and multiple work sites are set up along the direction in which the object 100 is moved by the belt conveyor 820 (in... Figure 9BIn the comparative example, work sites 810A to 81E are respectively equipped with robotic arms 840. By using the conveyor belt 820, the work performed by each robotic arm 840 (work 1 to work 5) is carried out synchronously with the conveying period of the object 100, and the object 100 is removed.

[0188] Thus, in the comparative example, by means of belt conveyor 820, the object 100 needs to be moved to work areas 810A to 81E corresponding to the total number of work steps. The conveying length, through simple calculation, only requires work area interval × (number of work steps - 1). Furthermore, in Figure 9B In this case, because the conveying path of the belt conveyor 820 is set as a crank shape, the working space is relatively narrow. However, in the case of a straight working path, a working space of the same length as the conveying length is required.

[0189] In contrast, Figure 9A In the practical example 1 shown, since multiple humanoid robots 1 sequentially approach a work area 800 to perform tasks, the work space can be reduced. Furthermore, since it is a single work area 800, multiple work processes can be performed simultaneously, improving work efficiency.

[0190] According to the practical example 1 of the first embodiment, by being able to replace the hand tools, although it is a single humanoid robot 1, it is possible to make the most of its multiple functions.

[0191] That is, there is no need to move the object 100 according to the work procedure. By having multiple humanoid robots 1 cooperate, they can hold the object 100 while performing multiple different tasks simultaneously, thereby achieving work efficiency. The object 100 will never be placed on the ground, and the work can be performed directly while the humanoid robot 1 is holding the object 100.

[0192] Furthermore, in a single humanoid robot 1, when multiple tasks are performed simultaneously by holding an object 100 with a pair of arms 5 and 6, it is necessary to change the hand tool midway through the task. In this case, by having another humanoid robot 1 hold the object 100, the humanoid robot 1 can replace the hand tool of one arm 5 (or 6) with the hand tool of the other arm 6 (or 5).

[0193] For example, in the chair manufacturing process, while one humanoid robot 1 is rotating the thread (Operation 1) and applying the fabric (Operation 2), another humanoid robot 1 is holding the object 100 while changing tools. Such two operation processes can be performed by a single humanoid robot 1.

[0194] (Second Implementation)

[0195] The second embodiment of this disclosure will now be described. Furthermore, components identical to those in the first embodiment will be labeled with the same symbols, and their structural descriptions will be omitted.

[0196] like Figure 10A As shown, the second embodiment is characterized in that the front end is a movable free arm 52 that can be detached and attached according to the type of work, rather than a humanoid robot 1.

[0197] The movable free arm 52 is mounted on the base 54 via a rotatable cylindrical support 56, for example, on a production line in a component assembly plant.

[0198] The movable free arm 52 is connected to multiple connecting parts 58 via joint axes 60, including rotational operation relative to the base 54, enabling the robot tool 20R(21EXA(reference) mounted at the front end to rotate in the x-axis, y-axis, and θ-axis directions. Figure 10B ), 21EXB (refer to Figure 10C ), 21EXC (refer to) Figure 10D Move to the desired location.

[0199] In addition, the robot tools 20R (21EXA, 21EXB, 21EXC) are also capable of three-dimensional operation.

[0200] According to the movable free arm 52 of the second embodiment, on the production line of the component assembly plant, by changing the robot tools 20R (21EXA, 21EXB, 21EXC), it is possible to complete multiple types of work that are not a single type of work.

[0201] In this scenario, by using robot tool 20R to hold object 100 and move it to a designated worktable, a series of operations can be performed in a single production line process, such as switching to robot tool 21EXA to perform a piercing operation on object 100, switching to robot tool 21EXB to wipe away dirt from the pierced area, and switching to robot tool 21EXC to remove residual chips around the pierced area. Through simple calculations, this operation can be performed in 1 / 4 of the previous production line length.

[0202] (Modification 2 "Second Implementation")

[0203] In addition, in the second embodiment, a robot tool 20R (21EXA, 21EXB, 21EXC) is equipped with a tool corresponding to a job type, but if Figure 11 As shown, in the movable free arm 52A involved in the second embodiment of the modified example 1, tools corresponding to the two types of work can also be assembled on a robot tool 20R (21EXA, 21EXB, 21EXC).

[0204] exist Figure 11 In this setup, one tool is a dual-jaw tool (robot tool 20R) mounted on arm 5 for gripping heavy objects, and the other tool is a local sensor tool 62 mounted on arm 6. Arms 5 and 6 branch off from the commonly operating main connector 64 and can operate independently.

[0205] Therefore, during the operation using the robot tool 20R, image information specific to the operation of the robot tool 20R (e.g., holding a heavy object) can be obtained from the local sensor tool 62.

[0206] In addition, Figure 11 In this system, because the movable free arm 52A is mounted on a mobile vehicle 66, it is not fixedly configured on the production line of the component assembly plant, but can travel to the site where the work needs to be done, thus enabling more versatile operations.

[0207] (Modification 3 "Second Implementation")

[0208] Figure 12 In the movable free arm 52B involved in the second embodiment's variation 2, the humanoid robot 1 involved in the first embodiment (see reference) Figure 8 Similarly, it is equipped with a hand-shaped robot tool 20L and a detachable robot tool 20R (21EXA, 21EXB, 21EXC) that can be replaced according to multiple job types, and is equipped with a camera that can transform into a snake shape (snake camera 68).

[0209] Therefore, during the operation using the assembled robot tools 20R (21EXA, 21EXB, 21EXC), image information specifically for the operation can be obtained from the snake camera 68.

[0210] Furthermore, since the movable free arm 52B is mounted on a drivable vehicle 66, it has superior mobility compared to humanoid robots in areas where the vehicle 66 can drivable (such as factories with flat ground).

[0211] (Practical Example 2 "Second Implementation")

[0212] Figure 13 This is a perspective view showing an assembly line for an EV (electric vehicle) using the movable free arm 52 according to the second embodiment (especially the movable free arm 52A according to variant 2 and the movable free arm 52B according to variant 3).

[0213] Figure 14A and Figure 14BThe process shown is the process of mounting the lithium-ion battery 72, which is unique to EV vehicles, on the vehicle body 70.

[0214] Like the movable free arm 52, movable free arm 52A and movable free arm 52B, if multi-joint, long-bodied, long-neck, finger and other robotic tools are used, even in the manufacturing of EV cars, the complex cable connection, screw tightening and other tasks in the vehicle body 70 that were previously inaccessible to robotic arms can be performed by humans.

[0215] In addition, as a well-known technology, vehicle assembly robots, led by welding robots, perform tasks quickly and accurately through computer control. However, in recent years, the assembly and wiring of lithium-ion batteries, such as in EVs, has become more precise and accurate than ever before. Therefore, in addition to the programmed operation control (sequence control) like that of existing work robots, it is also necessary to strengthen the confirmation and monitoring during the operation.

[0216] In this respect, the robot involved in this embodiment, which is capable of flexible camera operation, can be said to be the most suitable robot for EV vehicles.

[0217] Figure 14A This is a perspective view showing the operation inside the engine compartment of the vehicle body 70 (in EV vehicles, this is the space where drive units such as electric motors are installed, sometimes called the drive unit compartment).

[0218] The operation of the robotic tools 20R (21EXA, 21EXB, 21EXC) mounted on the two arms 5 and 6 is monitored in real time by a camera (MoPU) 76 mounted at the tip of the arm 74, while the operation is performed by an execution camera. The joints of the movable free arms 52 (52A, 52B) can rotate within a 360° range. By determining the range of rotation according to the nature of the operation, the control burden can also be reduced.

[0219] Figure 14B This is a perspective view showing the work being carried out inside the vehicle body 70.

[0220] like Figure 13 As shown, the lithium-ion battery 72 is sometimes configured along the floor of the vehicle compartment. In this case, especially when the vehicle body 70 is a single-shell body, the space for the working arm to enter the vehicle compartment from the outside is sometimes limited.

[0221] Even in this case, if robots with multiple joints, long bodies, long necks, fingers, etc. (mobile free arm 52, movable free arm 52A and movable free arm 52B) are utilized, the assembly or wiring of lithium-ion batteries 72 becomes easier.

[0222] (Practical Example 3 "Second Implementation")

[0223] In the second embodiment, a practical example 3 is shown, which illustrates a structure that performs both operation and inspection simultaneously, and monitors for defective products through image recognition from all directions (360-degree three-dimensional direction).

[0224] For example, if the tools and camera are mounted on the right hand (arm 5), they can be held with the left hand (arm 6) while assembling with the right hand (arm 5) and monitoring for defective products. Monitoring vehicle assembly, in particular, requires entry into the vehicle, making it a difficult task for non-humans, but is possible with a robotic arm, allowing for more accurate and comprehensive monitoring compared to human supervision. Of course, the left and right hands can be reversed for both tasks and monitoring, or... Figure 8 Arm 9 is shown.

[0225] Figure 15A This is a perspective view of the assembly status inspection process performed after the seat belt device 78 is installed on the vehicle body 70. Figure 15B This is an enlarged view of the inspection area (pillar section) inside the vehicle body 70.

[0226] like Figure 15A As shown, the seat belt device 78 is installed along the pillar portion 70A of the vehicle body 70. In the vehicle body 70, pillar members 70PM, roof members 70RM, and floor members 70FM are provided as rigid components.

[0227] The upper end of the pillar component 70PM is fixed to the roof component 70RM, and the lower end is fixed to the floor component 70FM.

[0228] like Figure 15B As shown, the seat belt device 78 includes: a strip-shaped webbing 80 for restraining the body of the occupant on the seat, a shoulder anchor 81 for holding the upper end of the webbing 80, a wrapping anchor 82 for holding the lower end, a retractor 83 for winding and pulling out to hold the other end of the webbing 80, and a sliding joint 84 for pulling out the webbing 80 for mounting on the occupant's waist and shoulders.

[0229] The shoulder anchor 81 is fixed to the column member 70PM by mounting bolts 81A. In addition, in the column member 70PM, the mounting parts of the wrapping anchor 82 and the retractor 83 of the seat belt device 78 are set close to each other, and a reinforcing member is provided to reinforce each mounting part together. The wrapping anchor 82 and the retractor 83 are fixed to the reinforcing member by mounting bolts 82A and 83A.

[0230] In the right hand (arm 5), in order to confirm the installation status of the aforementioned seat belt device 78, the seat belt 80 is grasped and pulled while monitoring the installation status of the mounting bolts 81A, 82A, and 83A.

[0231] As a specific operation, use a tool (holding tool) to pull the webbing 80 of the safety belt device 78, and use a camera to closely monitor and photograph the mounting bolts 81A, 82A, and 83A. If any loosening is found, perform additional tightening operations.

[0232] In addition, monitoring mainly focuses on the damage to the webbing 80 and the appearance of the mounting bolts 81A, 82A, and 83A, but the tightening torque of the mounting bolts 81A, 82A, and 83A can also be measured using bolt sleeves, etc.

[0233] According to the practical example 3 of the second embodiment, as with arms 5 and 6, by utilizing robotic tools with multiple joints, long torsos, long necks, fingers, etc., it is possible to replace humans and monitor the assembly status of the seatbelt device 78, which is directly related to safety, with high precision. In particular, it is possible to perform defective product inspection while holding the assembly with the right hand (arm 5) with the left hand (arm 6), and by performing installation and monitoring operations simultaneously, the operation time can be shortened. In addition, since vehicle assembly inspection requires entering the vehicle interior, it is a difficult task if performed by a human, but with a robotic arm, it can be performed accurately and without omissions compared to human inspection.

[0234] Figure 16 This schematically illustrates an example of the hardware structure of a computer 1200 that functions as an information processing device 14. Programs installed in the computer 1200 can cause the computer 1200 to function as one or more "parts" of the apparatus according to various embodiments, or to perform operations or one or more "parts" associated with the apparatus according to various embodiments, and / or to perform processes or stages of processes according to various embodiments. Such programs can cause the computer 1200 to perform specific operations associated with some or all of the boxes in the flowcharts and block diagrams described in this specification by the CPU 1212.

[0235] The computer 1200 in each embodiment includes a CPU 1212, RAM 1214, and a graphics controller 1216, which are interconnected via a main controller 1210. The computer 1200 also includes input / output units, such as a communication interface 1222, a storage device 1224, a DVD drive, and an IC card driver, which are connected to the main controller 1210 via an input / output controller 1220. The DVD drive can be a DVD-ROM drive or a DVD-RAM drive, etc. The storage device 1224 can be a hard disk drive or a solid-state drive, etc. The computer 1200 also includes input / output units such as a ROM 1230 and a keyboard, which are connected to the input / output controller 1220 via an input / output chip 1240.

[0236] The CPU 1212 runs according to the program stored in the ROM 1230 and RAM 1214, and thereby controls the various units. The graphics controller 1216 obtains the image data generated by the CPU 1212 from the frame buffer provided in RAM 1214 or from itself, and displays the image data on the display device 1218.

[0237] Communication interface 1222 communicates with other electronic devices via a network. Storage device 1224 stores programs and data used by CPU 1212 within computer 1200. DVD drive reads programs or data from DVD-ROM, etc., and provides them to storage device 1224. IC card driver reads programs and data from IC card, and / or writes programs and data to IC card.

[0238] ROM 1230 stores boot programs and / or programs that depend on the hardware of computer 1200 and are executed by computer 1200 upon activation. Input / output chip 1240 can also connect various input / output units to input / output controller 1220 via USB port, parallel port, serial port, keyboard port, mouse port, etc.

[0239] The program is provided by a computer-readable storage medium such as a DVD-ROM or an IC card. The program is read from the computer-readable storage medium, mounted in a storage device 1224, RAM 1214, or ROM 1230 (examples of computer-readable storage media), and executed by the CPU 1212. The information processing described in these programs is read by the computer 1200, resulting in cooperation between the program and the aforementioned various types of hardware resources. The apparatus or method can be configured to perform information manipulation or processing based on the use of the computer 1200.

[0240] For example, when communication is performed between computer 1200 and an external device, CPU 1212 can execute a communication program loaded into RAM 1214 and instruct communication interface 1222 to perform communication processing based on the processing described in the communication program. Under the control of CPU 1212, communication interface 1222 reads transmission data stored in a transmission buffer area provided in a recording medium such as RAM 1214, storage device 1224, DVD-ROM, or IC card, and sends the read transmission data to the network, or writes received data received from the network into a receive buffer area provided on the recording medium.

[0241] In addition, the CPU 1212 can read all or necessary portions of files or databases stored in the RAM 1214 from external recording media such as the storage device 1224, DVD drive (DVD-ROM), and IC card, and perform various types of processing on the data in the RAM 1214. Then, the CPU 1212 can write the processed data back to the external recording medium.

[0242] Various types of information (such as programs, data, tables, and databases) can be stored in a recording medium and processed. The CPU 1212 can perform various types of processing on data read from RAM 1214, including various types of operations specified by a sequence of program instructions as described anywhere in this disclosure, information processing, conditional judgments, conditional branches, unconditional branches, information retrieval / replacement, etc., and write the results back to RAM 1214. Furthermore, the CPU 1212 can retrieve information from files, databases, etc., within the recording medium. For example, if multiple entries are stored in the recording medium, each entry having an attribute value of a first attribute associated with an attribute value of a second attribute, the CPU 1212 can retrieve from the multiple entries an entry that matches a condition specifying the attribute value of the first attribute, read the attribute value of the second attribute stored in that entry, thereby obtaining the attribute value of the second attribute associated with the first attribute that satisfies a predetermined condition.

[0243] The programs or software modules described above can be stored in computer 1200 or a computer-readable storage medium near computer 1200. Alternatively, recording media such as hard disks or RAM provided in a server system connected to a dedicated communication network or the Internet can be used as computer-readable storage media to provide the program to computer 1200 via the network.

[0244] In the flowcharts and block diagrams of various embodiments, boxes may represent stages of a process for performing an operation or "parts" of a device having the function of performing an operation. Specific stages and "parts" may be implemented by dedicated circuitry, programmable circuitry provided with computer-readable instructions stored on a computer-readable storage medium, and / or a processor provided with computer-readable instructions stored on a computer-readable storage medium. Dedicated circuitry may include digital and / or analog hardware circuitry and may include integrated circuits (ICs) and / or discrete circuitry. Programmable circuitry may include reconfigurable hardware circuitry including logical products, logical sums, XOR, negated logical products, negated logical sums, and other logical operations, flip-flops, registers, and storage elements, such as field-programmable gate arrays (FPGAs) and programmable logic arrays (PLAs).

[0245] Computer-readable storage media can include any tangible device capable of storing instructions executable by a suitable device, resulting in a computer-readable storage medium having instructions stored therein comprising instructions executable to create elements for performing operations specified in a flowchart or block diagram. Examples of computer-readable storage media include electronic storage media, magnetic storage media, optical storage media, electromagnetic storage media, semiconductor storage media, etc. More specific examples of computer-readable storage media include floppy disks, magnetic disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), electrically erasable programmable read-only memory (EEPROM), static random access memory (SRAM), compact disc read-only memory (CD-ROM), digital multipurpose disc (DVD), Blu-ray disc, memory sticks, integrated circuit cards, etc.

[0246] Computer-readable instructions may include any combination of source code or object code described in one or more programming languages, including assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, status setting data, or object-oriented programming languages ​​such as Smalltalk (registered trademark), JAVA (registered trademark), C++, and conventional programming languages ​​such as the "C" programming language or similar programming languages.

[0247] Computer-readable instructions may be provided via a local area network (LAN), a wide area network (WAN), or the Internet to a processor or programmable circuit of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so as to cause the processor or programmable circuit of the general-purpose computer, special-purpose computer, or other programmable data processing device to execute the computer-readable instructions, which generate elements for performing operations specified in a flowchart or block diagram. Examples of processors include computer processors, processing units, microprocessors, digital signal processors, controllers, microcontrollers, etc.

[0248] The present disclosure has been described above using embodiments, but the technical scope of the present disclosure is not limited to the scope described in the above embodiments. It will be apparent to those skilled in the art that various modifications or improvements can be made to the above embodiments. Based on the claims, it is also apparent that adding such modifications or improvements may also be included within the technical scope of the present disclosure.

[0249] It should be noted that the execution order of operations, sequences, steps, and stages in the apparatus, systems, programs, and methods shown in the claims, description, and drawings can be implemented in any order unless specifically indicated by "before," "prerequisite," or the output of a previous process is used in a subsequent process. Even if the operational flow in the claims, description, and drawings is described using terms such as "firstly" or "next" for convenience, it does not mean that it must be implemented in that order.

[0250] The publications of Japanese Patent Application No. 2023-050632, filed on March 27, 2023; Japanese Patent Application No. 2023-125787, filed on August 1, 2023; Japanese Patent Application No. 2023-135397, filed on August 23, 2023; and Japanese Patent Application No. 2023-143611, filed on September 5, 2023, are incorporated herein by reference in their entirety.

[0251] All documents, patent applications and technical standards described in this specification are incorporated herein by reference to each document, patent application and technical standard to the same extent as the specific individual descriptions.

Claims

1. A robot control system, comprising a control system for a robot whose wrist portion of a three-dimensionally rotating arm can be detached and fitted with tools according to the type of work to be performed on the object, and which performs work on said object, comprising: The determination unit determines the type of work to be performed on the object; and The control unit controls the operation of the tool that corresponds to the type of work determined by the determination unit, and controls the operation corresponding to the type of work.

2. The control system for the robot according to claim 1, wherein, The robot's control system has at least multiple arms capable of assembling the tools. A tool corresponding to the type of work being performed on the object is selectively mounted on one arm. Other arm parts are equipped with auxiliary work tools that enable the main work to be performed on the object.

3. The control system for the robot according to claim 2, wherein, A tool corresponding to the type of work performed on the object is selectively mounted on one arm, and a monitoring device is mounted to monitor the work area in conjunction with the work performed by the mounted tool.

4. The control system for the robot according to claim 2, wherein, The auxiliary work tool has the function of a human hand, holding the object.

5. The control system for the robot according to claim 4, wherein, The auxiliary work tool has a storage section that stores components corresponding to the type of work of the tool assembled on one of the arms. The control unit uses the component housed in the storage unit to perform operations corresponding to the type of work.

6. The control system for the robot according to claim 5, wherein, When specified conditions are met, the control unit replaces the component used in one of the arms with a new component stored in the storage unit.

7. The control system for the robot according to claim 2, wherein, The auxiliary operation tool is equipped with a monitoring sensor tool, which is specifically used to monitor the main operations of the object.

8. The control system for the robot according to claim 1, wherein, The robot in question is a humanoid robot.

9. The control system for the robot according to claim 1, wherein, The robot is mounted on a vehicle supported on the ground by drive wheels.

10. The control system for the robot according to claim 1, wherein, The determination unit makes a determination based on information from a sensor unit mounted on the tool. The sensor unit includes a camera that captures an image of the object and identifies the type of the object, and a motion processing unit that determines the position of the object.

11. The control system for the robot according to claim 1, wherein, The robot's control system has the following features: Each individual control unit controls the operation of the robot, is equipped with the tool corresponding to the type of work determined by the determination unit, and controls the operation corresponding to the type of work. and The collaborative control unit is an operation control unit that enables multiple robots to cooperate with each other, at least one of the multiple robots to hold the object, and simultaneously causes the multiple robots to perform multiple types of operations on the held object in a time sequence.

12. The control system for the robot according to claim 11, wherein, The tool used to hold the object has the function of a human hand, holding the object by gripping it.

13. The control system for the robot according to claim 11, wherein, When multiple robots are performing tasks, the collaborative control unit can simultaneously execute multiple types of operations without interfering with each other.

14. The control system for the robot according to claim 11, wherein, When a robot is holding an object using a tool mounted on one arm, and if it is necessary to change the tool to one of the other arms, the collaborative control unit will have another robot take over holding the object.

15. A robot having a wrist portion of a three-dimensionally operable arm that can be detached and equipped with tools according to the type of work to be performed on the object, thereby performing work on the object. The robot has a sensing unit for determining the position of the object and the tool.

16. The robot according to claim 15, wherein, The robot has multiple arms that can rotate in three dimensions and are capable of assembling tools for the task, and is a robot that performs work on an object. A tool corresponding to the type of work performed on the object is selectively mounted on one arm, and a monitoring device is also mounted thereon, which monitors the work area in conjunction with the work performed by the mounted tool. Other arm parts are equipped with auxiliary work tools that enable the main work to be performed on the object.

17. A robot control program that causes a computer to operate as a component of any one of claims 1 to 14.

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