Detection system

Abstract

The invention relates to a detection system. The detection system includes a robot arm, a laser sensor, and a control device. The robot arm includes a base, a multi-joint arm connected to the base, and a capacitance-type proximity sensor provided on the multi-joint arm and detecting an interfering object. The laser sensors are provided at positions facing each other with respect to the base, and emit laser light in a direction substantially parallel to a mounting surface of the robot arm to detect an interfering object. The control device stops or decelerates the operation of the robot arm on the basis of the detection result of the interfering object obtained by at least one of the capacitive proximity sensor and the laser sensor. The beneficial effect is that the interference object approaching the mechanical arm can be detected in a high-precision and large-range manner.

Description

Detection system Technical Field

[0001] This invention relates to a detection system equipped with a robotic arm and a control device. Background Technology

[0002] It has long been known that robotic arms equipped with non-contact proximity sensors for detecting interfering objects, as well as robotic arm systems including such robotic arms, are available.

[0003] In response, Japanese Patent Application Publication No. 2018-155712 discloses an automated device (robotic arm) equipped with a sensor device, which includes a first sensor, a second sensor disposed closer to the moving part than the first sensor, and a third sensor. Furthermore, Patent Document 1 discloses that the first sensor uses a laser sensor, and the second and third sensors use proximity sensors. Summary of the Invention

[0004] The problem this invention aims to solve is that, in the technology described in Japanese Patent Application Publication No. 2018-155712, the detection range of the proximity sensors used by the second and third sensors is limited by the sensor's emission angle. Therefore, when an interfering object approaches from a direction outside the detection range, its approach sometimes cannot be detected. Furthermore, the detection direction of the first sensor is also fixed. Therefore, in the technology described in Japanese Patent Application Publication No. 2018-155712, there is a problem that it is difficult to detect the approach of an interfering object relative to the robotic arm from all directions using the first to the third sensors.

[0005] The present invention was made in view of the following problems, and its object is to provide a detection system capable of detecting interference objects approaching a robotic arm with high precision and over a wide range.

[0006] To address the aforementioned problem, the detection system of the present invention comprises: a robotic arm having a base, a multi-joint arm connected to the base, and an electrostatic capacitive proximity sensor disposed on the multi-joint arm for detecting an interferometer; a pair of laser sensors disposed opposite each other relative to the base, and emitting laser light in a direction substantially parallel to the mounting surface of the robotic arm to detect the interferometer; and a control device that stops or decelerates the movement of the robotic arm based on the detection result of the interferometer obtained by at least one of the electrostatic capacitive proximity sensor and the laser sensor.

[0007] Furthermore, when a portion of the articulated arm is within the detection range of the laser sensor detecting the interferometer, the control device controls the operation of the laser sensor in a manner that stops or disables the detection performed by the laser sensor.

[0008] Furthermore, when any part of the articulated arm is not within the detection range of the laser sensor, the control device controls the operation of the laser sensor by detecting the interferometer.

[0009] Furthermore, the control device calculates the distance between the interferometer and the robotic arm based on the detection results of the electrostatic capacitive proximity sensor and the laser sensor. If the calculated distance is within a fixed range, the device controls the movement of the robotic arm by stopping or slowing down its movement.

[0010] According to the present invention, the detection system can detect interference objects approaching the robotic arm with high precision and over a wide range. Attached Figure Description

[0011] Figure 1 is a diagram showing the overall structure of the detection system involved in this embodiment.

[0012] Figure 2 is a view of the robotic arm and laser sensor shown in Figure 1 from above.

[0013] Figure 3 is a diagram showing the functional structure of the control device shown in Figure 1.

[0014] Figure 4 is a flowchart illustrating an example of the processing flow of the detection system shown in Figure 1.

[0015] Figure 5A is an example of the detection system shown in Figure 1 detecting an interferometer.

[0016] Figure 5B is another example of the detection system shown in Figure 1 detecting an interferometer. Detailed Implementation

[0017] Hereinafter, embodiments of the present invention (hereinafter referred to as "this embodiment") will be described with reference to the accompanying drawings. For ease of understanding, the same reference numerals will be used as much as possible to denote the same constituent elements and steps in the drawings, and repeated descriptions will be omitted.

[0018] Figure 1 is a diagram showing the overall structure of the detection system 1 according to this embodiment. As shown in Figure 1, the detection system 1 includes, for example, a robotic arm 10, a control device 20, and laser sensors 30A and 30B, which constitute the main components. In this embodiment, the vertical direction in Figure 1 is assumed to be the Z-axis direction. Furthermore, in this embodiment, the direction in Figure 1 that is perpendicular to the Z-axis direction and opposite to the laser sensors 30A and 30B (described later) is assumed to be the Y-axis direction. In addition, in this embodiment, the direction in Figure 1 that is orthogonal to the Z-axis and Y-axis directions is assumed to be the X-axis direction. Furthermore, in this embodiment, the space near the robotic arm 10 is assumed to contain an interfering object 2 (see Figure 5A) such as a person or object, which is placed therein or moves within the space.

[0019] The robotic arm 10 is an industrial device having a movable part that can move within a space at a predetermined distance from the robotic arm 10, such as a robotic arm with a multi-joint arm 11, a machine tool, a tester, etc. As shown in FIG1, the robotic arm 10 includes, for example, a multi-joint arm 11 and a base 12, which constitute the main part. Furthermore, the robotic arm 10 is mounted on a mounting surface S1 located vertically below the robotic arm 10. The mounting surface S1 is the surface on which the robotic arm 10 is mounted. In addition, the normal direction of the mounting surface S1 is parallel to the Z-axis direction. Furthermore, the tangent direction of the mounting surface S1 is parallel to a virtual XY plane formed by the X-axis direction and the Y-axis direction. In this example, the mounting surface S1 is, for example, the floor of the room where the robotic arm 10 is mounted.

[0020] The articulated arm 11 is configured to include multiple arm sections and multiple drive sections, and performs various operations on a workpiece (not shown) via a tool connected to its top end. These operations include X-ray irradiation, gripping, conveying, rotating, mounting relative to other workpieces, injecting or coating substances, grinding, thread tightening, heating, etc. The base end of the articulated arm 11 is connected to a base 12. Multiple capacitive proximity sensors 110 are provided on the surface of the arm sections of the articulated arm 11. The drive section functions as a joint that rotatably connects two arm sections. The drive section includes a motor for rotational movement and an angle sensor for measuring the rotation angle. The drive section controls the rotational movement of the motor according to control commands transmitted from the control device 20 via the base 12, thereby operating at a speed and angle according to the control commands, or stopping the operation. Furthermore, the drive section measures the rotation angle between the two arm sections connected at both ends using the angle sensor. Furthermore, the multi-joint arm 11 transmits the measurement results of the rotation angle of each drive unit to the control device 20 via the base 12.

[0021] The base 12 is used to support the articulated arm 11. The base 12 is mounted on the mounting surface S1 of the robotic arm 10. That is, the bottom surface of the base 12 is in contact with the mounting surface S1. The articulated arm 11 is connected to the upper surface of the base 12 on the side opposite to the bottom surface. Furthermore, in the Y-axis direction of FIG2, a laser sensor 30A is connected to one end of the base 12, and a laser sensor 30B is connected to the other end. Additionally, the base 12 is communicatively connected to the control device 20.

[0022] In this example, the base 12 includes a plate-shaped component 12A, a cylindrical component 12B, and a rear-side component 12C. The plate-shaped component 12A is a plate-shaped component with a quadrilateral shape. The plate-shaped component 12A is disposed on the bottommost side of the base 12. That is, the bottom surface of the plate-shaped component 12A is in contact with the mounting surface S1. The cylindrical component 12B is disposed on top of the plate-shaped component 12A. A multi-joint arm 11 is connected to the upper surface of the cylindrical component 12B. Laser sensors 30A and 30B are connected to the cylindrical component 12B in a manner opposite each other in the Y-axis direction. The rear-side component 12C is connected to the rear side of the cylindrical component 12B. The bottom surface of the rear-side component 12C is in contact with the mounting surface S1.

[0023] The capacitive proximity sensor 110 is a non-contact proximity sensor, with multiple sensors disposed on the surface of the arm portion of the articulated arm 11. The capacitive proximity sensor 110 detects the presence or absence of an interfering object 2 within the detection range by measuring the electrostatic capacitance between the detection electrode and the ground potential based on the potential of the detection electrode. The capacitive proximity sensor 110 uses the detected value or change in electrostatic capacitance as a detection value and transmits the detection value to the control device 20. Furthermore, in Figures 1 to 5B, the capacitive proximity sensor 110 is schematically illustrated for simplification and explanation. In reality, the capacitive proximity sensor 110 is not exposed but is housed within an external casing.

[0024] The control device 20 comprises, for example, a storage device 23, which stores various programs, information, and processing results required for processing in the CPU (Central Processing Unit) 21. Furthermore, the control device 20 comprises a CPU 21 that functions as various functional units by executing predetermined programs stored in the memory 22 or storage device 23, thus forming a main part. The control device 20 also comprises a memory 22 that temporarily stores predetermined programs and data required by the CPU 21 when executing the predetermined programs, and a communication device 24 for communicating with external devices, thus forming a main part. Additionally, the control device 20 comprises an input / output device 25, which accepts input from the operator of the control device 20 and displays information provided by the control device 20 to the operator. Furthermore, the control device 20 may be composed of a single information processing device or multiple information processing devices.

[0025] The control device 20 is configured to communicate with the robotic arm 10 and, based on information transmitted from the robotic arm 10, send control commands for controlling the movement to the articulated arm 11 via the base station 12. Alternatively, the control device 20 can also transmit control commands directly to the capacitive proximity sensor 110 of the robotic arm 10 and the articulated arm 11 without going through the base station 12. Furthermore, the control device 20 obtains the detection result of the interfering object 2 from the capacitive proximity sensor 110 from the base station 12 and determines whether the interfering object 2 is present within the detection range based on the detection result. The control device 20 controls the movement of the articulated arm 11 based on the determination result, or notifies the administrator or user of the detection system 1 of the determination result through screen display, sound output, or other means.

[0026] The laser sensor 30 is a reflective optical distance sensor that detects the presence or absence of an interfering object 2 within its detection range. If an interfering object 2 is present, the distance between the laser sensor 30 and the interfering object 2 is measured. Specifically, the laser sensor 30 emits a laser beam from its emission part along a direction approximately parallel to the mounting surface of the robotic arm 10, and receives the reflected light from the interfering object 2 through its light-receiving part, thereby detecting the presence or absence of the interfering object 2 and measuring the distance between the laser sensor 30 and the interfering object 2. Furthermore, one laser sensor 30 is connected to each side of the base 12, forming a total of one pair. Specifically, one laser sensor 30 is positioned opposite each other relative to the base 12 on each side of the mounting surface S1 of the robotic arm 10, forming a total of one pair.

[0027] Here, laser sensors 30A and 30B will be described with reference to FIG2. FIG2 is a view from above of the robotic arm 10 shown in FIG1 and laser sensors 30A and 30B. As shown in FIG2, laser sensor 30A is connected to base 12 and is mounted on mounting surface S1. Within the detection range A1 of robotic arm 10, laser sensor 30A detects the presence or absence of interfering object 2 and measures the distance between interfering object 2 and laser sensor 30A. Laser sensor 30B is connected to base 12 and is mounted on mounting surface S1. Within the detection range A2 of robotic arm 10, laser sensor 30B detects the presence or absence of interfering object 2 and measures the distance between interfering object 2 and laser sensor 30B. In addition, the detection ranges A1 and A2, relative to the Z-axis direction, extend in the vertical direction by a predetermined range of emission angles, with reference to the emission portions of laser sensors 30A and 30B.

[0028] The overall structure of the detection system 1 has been described above. Next, the functional structure of the control device 20 will be described with reference to FIG3. FIG3 is a diagram showing the functional structure of the control device 20 shown in FIG1. ​​As shown in FIG3, the control device 20 includes, for example, a storage unit 210, an acquisition unit 220, an update unit 230, and an operation control unit 240 as its main functional components. The functional components of the control device 20 other than the storage unit 210 are implemented by the CPU 21 executing programs stored in the storage device 23, etc.

[0029] The storage unit 210 is a functional structure for storing detection range data 211 and posture data 212.

[0030] The detection range data 211 refers to data related to the detection ranges A1 and A2 of the laser sensors 30A and 30B for detecting the interferometer 2. The detection range data 211 can be, for example, data from a three-dimensional model, such as data represented by a wireframe model, surface model, or solid model. Alternatively, the detection range data 211 can also be, for example, a set of coordinate data of the vertices of the three-dimensional model representing the detection ranges A1 and A2 of the laser sensors 30A and 30B in a three-dimensional virtual space.

[0031] Pose data 212 is three-dimensional data related to robotic arm 10, representing the shape, position, and orientation of robotic arm 10. Pose data 212 is represented through wireframe models, surface models, solid models, etc.

[0032] The acquisition unit 220 acquires measurement results of the rotation angles of each drive unit from the multi-joint arm 11 of the robotic arm 10. The acquisition unit 220 acquires measured values ​​from laser sensors 30A and 30B. In addition, the acquisition unit 220 acquires detection values ​​from multiple electrostatic capacitive proximity sensors 110 of the robotic arm 10.

[0033] The updating unit 230 refers to the storage unit 210 and changes the position and shape of the posture data 212 according to the measurement results of the rotation angle of each drive unit of the multi-joint arm 11 obtained by the acquisition unit 220. The updating unit 230 updates the posture data 212 of the storage unit 210 according to the posture data 212 with changed position and shape.

[0034] The motion control unit 240 controls the movements of the robotic arm 10 and the laser sensors 30A and 30B. Specifically, when a portion of the articulated arm 11 is within at least one of the detection ranges A1 and A2 of the laser sensors 30A and 30B for detecting the interfering object 2, the motion control unit 240 stops or disables the detection performed by the laser sensors 30A and 30B. Furthermore, based on the detection results of the interfering object 2 obtained by the acquisition unit 220 from the electrostatic capacitive proximity sensor 110 and at least one of the laser sensors 30A and 30B, the motion control unit 240 stops or slows down the movement of the robotic arm 10.

[0035] Furthermore, the motion control unit 240 stops or slows down the movement of the robotic arm 10 based on the detection results of the interferometer 2 from the capacitive proximity sensor 110 and the laser sensors 30A and 30B. The motion control unit 240 calculates the distance between the interferometer 2 and the robotic arm 10 based on the detection results (detection values, measured values) from the capacitive proximity sensor 110 and the laser sensors 30A and 30B acquired by the acquisition unit 220. If the calculated distance is less than a fixed distance, the motion control unit 240 controls the movement of the robotic arm 10 by stopping or slowing down its movement. If the calculated distance is greater than or equal to a fixed distance, the motion control unit 240 continues the movement. More detailed information about the operation of the motion control unit 240 will be explained later with reference to FIG4, and therefore is omitted here.

[0036] <Flowchart of a Series of Processes> The functional structure of the control device 20 has been described above. Next, the flowchart of a series of processes of the detection system 1 will be described in detail. Figure 4 is a flowchart illustrating an example of the processing flow of the detection system 1 shown in Figure 1.

[0037] Regarding step SP10, the detection system 1 acquires the measurement results of the rotation angles of each drive unit of the multi-joint arm 11 from the robotic arm 10 via the acquisition unit 220. Furthermore, the detection system 1 updates the position and shape of the posture data 212 stored in the storage unit 210 according to the measurement results of the rotation angles of each drive unit of the multi-joint arm 11 acquired by the acquisition unit 220 via the update unit 230. Then, the process proceeds to step SP12.

[0038] Regarding step SP12, the detection system 1 determines, via the motion control unit 240, whether at least a portion of the articulated arm 11 is within at least one of the detection ranges A1 and A2 of the laser sensors 30A and 30B. Specifically, the detection system 1 refers to the detection range data 211 and posture data 212 stored in the storage unit 210 via the motion control unit 240. The detection system 1 determines, via the motion control unit 240, whether at least a portion of the articulated arm 11 is within at least one of the detection ranges A1 and A2 of the laser sensors 30A and 30B based on the detection range data 211 and posture data 212. Then, if the determination is positive, the process proceeds to step SP14. Conversely, if the determination is negative, the process proceeds to step SP16.

[0039] Regarding step SP14, the detection system 1 controls the operation of laser sensors 30A and 30B by stopping or invalidating the detection processing of interfering object 2 performed by laser sensors 30A and 30B through the action control unit 240. Here, referring to FIG5B, the detection processing when at least a portion of the articulated arm 11 is located within at least one of the detection ranges A1 and A2 of laser sensors 30A and 30B will be described. FIG5B is a diagram showing another example of the detection system 1 shown in FIG1 detecting interfering object 2. As shown in FIG5B, when at least a portion of the articulated arm 11 is located within at least one of the detection ranges A1 and A2 of laser sensors 30A and 30B, the detection system 1 uses only the capacitive proximity sensor 110 to perform the detection processing of interfering object 2. In addition, when the detection processing of interfering object 2 performed by laser sensors 30A and 30B has stopped or become invalid, the detection system 1 maintains the operation settings related to the detection processing. Returning to FIG4, the processing is transferred to step SP18.

[0040] Regarding step SP16, the detection system 1 controls the operation of laser sensors 30A and 30B via the motion control unit 240 to ensure the effective detection of the interfering object 2 performed by laser sensors 30A and 30B. Here, referring to FIG5A, the detection process when the articulated arm 11 is not within either of the detection ranges A1 and A2 of laser sensors 30A and 30B will be explained. FIG5A is an example diagram showing the detection system 1 shown in FIG1 detecting the interfering object 2. As shown in FIG5A, when the articulated arm 11 is not within either of the detection ranges A1 and A2 of laser sensors 30A and 30B, the detection system 1 uses the capacitive proximity sensor 110 and laser sensors 30A and 30B to perform the detection of the interfering object 2. Furthermore, the detection system 1 maintains the operation settings related to the detection process after the detection of the interfering object 2 performed by laser sensors 30A and 30B has been effective. Returning to FIG4, the process proceeds to step SP18.

[0041] Regarding step SP18, the detection system 1 acquires the detection result of the presence or absence of the interfering object 2 from the electrostatic capacitive proximity sensor 110 via the acquisition unit 220. Furthermore, the detection system 1 acquires measurement results related to the presence or absence of the interfering object 2 and the distance to the interfering object 2 in the presence of the interfering object 2 from the laser sensors 30A and 30B via the acquisition unit 220. Then, the process proceeds to step SP20.

[0042] Regarding step SP20, the detection system 1 uses the motion control unit 240 to determine whether the distance between the robotic arm 10 and the interfering object 2 is less than a fixed distance. Specifically, if the detection result of the capacitive proximity sensor 110 indicates that the interfering object 2 has been detected, the detection system 1 determines that the distance between the interfering object 2 and the robotic arm 10 is within the fixed distance. Furthermore, if the detection results of the laser sensors 30A and 30B indicate that the distance between the interfering object 2 and the robotic arm 10 is less than the fixed distance, the detection system 1 also determines that the distance between the interfering object 2 and the robotic arm 10 is within the fixed distance. If either the determination result of the capacitive proximity sensor 110 or the determination results of the laser sensors 30A and 30B are positive, the process proceeds to step SP22. Conversely, if both the determination result of the capacitive proximity sensor 110 and the determination results of the laser sensors 30A and 30B are negative, the series of processes shown in FIG4 ends.

[0043] Regarding step SP22, the processing detection system 1 stops or slows down the movement of the multi-joint arm 11 of the robotic arm 10 via the motion control unit 240. Then, the series of processes shown in Figure 4 ends.

[0044] <Effect> As explained above, in this embodiment, the detection system 1, through the control device 20, stops or slows down the movement of the robotic arm 10 based on the detection results of the interferometer 2 by at least one of the capacitive proximity sensor 110 and laser sensors 30A and 30B. Therefore, by using the capacitive proximity sensor 110 and laser sensors 30A and 30B to detect the interferometer 2, the detection system 1 can detect the interferometer 2 approaching the robotic arm 10 with high accuracy and over a wide range.

[0045] Furthermore, in this embodiment, when a portion of the articulated arm 11 is within at least one of the detection ranges A1 and A2 of the laser sensors 30A and 30B for detecting the interferometer 2, the control device 20 stops or disables the detection performed by the laser sensors 30A and 30B. Therefore, when the articulated arm 11 is within at least one of the detection ranges A1 and A2 of the laser sensors 30A and 30B, the detection system 1 prevents false detections by the laser sensors 30A and 30B, thus enabling the detection of the interferometer 2 with higher accuracy.

[0046] Furthermore, in this embodiment, when the articulated arm 11 is not within either of the detection ranges A1 and A2 of the laser sensors 30A and 30B, the control device 20 uses both the electrostatic capacitive proximity sensor 110 and the laser sensors 30A and 30B to detect the interfering object 2. Therefore, the detection system 1 can detect the interfering object 2 approaching the robotic arm 10 over a wider range.

[0047] Furthermore, in this embodiment, the control device 20 calculates the distance between the interfering object 2 and the robotic arm 10, and stops or slows down the movement of the robotic arm 10 if the calculated distance is within a fixed range. Therefore, the detection system 1 can suppress collisions between the interfering object 2 and the robotic arm 10, or reduce the risk of malfunction of the robotic arm 10 or damage to the interfering object 2 due to the impact of a collision.

[0048] <Modifications> Furthermore, the present invention is not limited to the embodiments described above. That is, any design modifications made to the above embodiments by those skilled in the art that incorporate the features of the present invention are also included within the scope of the present invention. In addition, the elements of the above embodiments and the following modifications can be combined in a technically feasible manner, and any structure formed by combining them that incorporates the features of the present invention is also included within the scope of the present invention.

[0049] For example, in this embodiment, a pair of laser sensors 30 are connected to both sides of the base 12 of the robotic arm 10 and disposed on the mounting surface S1, but this is not a limitation. As long as the laser sensors 30 can detect the presence or absence of interfering objects 2 within a fixed distance from the robotic arm 10, any number can be disposed at any location. The detection system 1 can, for example, place multiple laser sensors 30 at different locations near the robotic arm 10 and away from the base 12. Furthermore, the detection system 1 can be configured to enable the control device 20 to communicate with the multiple laser sensors 30 via wired or wireless means. With this configuration, the detection system 1 can easily configure the laser sensors 30 to suit the environment in which the robotic arm 10 is located, thus enabling high-precision and wide-range detection of interfering objects 2 at suitable locations based on the environment near the robotic arm 10.

[0050] Furthermore, in this embodiment, the detection system 1 disables or stops the detection processing of laser sensors 30A and 30B when at least a portion of the articulated arm 11 is located within at least one of the detection ranges A1 and A2, but is not limited to this. The detection system 1 may also, for example, establish corresponding laser sensors 30 for detection ranges where no portion of the articulated arm 11 is located within detection ranges A1 and A2, without disabling or stopping the detection processing, but rather enabling or maintaining it. As an example, the case where at least a portion of the articulated arm 11 is located within detection range A1 and all of the articulated arms 11 are located outside detection range A2 will be described. In this case, the detection system 1 disables or stops the detection processing of laser sensor 30A, and enables or maintains the detection processing of laser sensor 30B. According to this structure, the detection system 1 disables or stops the detection processing of laser sensors 30 only where at least a portion of the articulated arm 11 is located among the plurality of laser sensors 30A and 30B. Therefore, the detection system 1 can detect the interferometer 2 with higher precision.

[0051] Furthermore, in this embodiment, the detection system 1 uses a laser sensor 30 as an optical distance sensor, but is not limited to this. The detection system 1 may also replace the laser sensor 30 by using an imaging device such as a camera to capture images of the detection ranges A1 and A2. The detection system 1 detects the presence or absence of an interfering object 2 within the capture range and measures the distance to the interfering object 2 by performing image processing or image analysis on the captured images. Based on this structure, the detection system 1 performs image processing or image analysis on the captured images, thus enabling higher precision detection of the interfering object 2.

[0052] Furthermore, in this embodiment, the detection system 1 stops or slows down the movement of the robotic arm 10 when either the detection result of the capacitive proximity sensor 110 or the laser sensor 30 meets a condition, but it is not limited to this. The detection system 1 may also slow down the movement of the multi-joint arm 11 of the robotic arm 10 when the motion control unit 240 determines that the detection results of the laser sensors 30A and 30B indicate that the distance between the interfering object 2 and the robotic arm 10 is less than a fixed distance. Furthermore, the detection system 1 may also stop the movement of the multi-joint arm 11 of the robotic arm 10 when the motion control unit 240 determines that the capacitive proximity sensor 110 has detected the interfering object 2. Additionally, the detection ranges A1 and A2 of the laser sensors 30A and 30B are set to be larger than the detection range of the capacitive proximity sensor 110. According to this structure, the detection system 1 slows down the movement of the robotic arm 10 based on the detection results of the laser sensors 30A and 30B, thus reducing the burden on the robotic arm 10 by urgently stopping its movement when the interfering object 2 approaches at high speed.

[0053] Furthermore, the detection system 1 can also perform different actions based on the distance between the robotic arm 10 and the interfering object 2 measured by the laser sensors 30A and 30B via the motion control unit 240. Specifically, when the measured distance is greater than or equal to a first distance, the motion control unit 240 maintains the movement of the multi-joint arm 11 of the robotic arm 10. Furthermore, when the measured distance is greater than or equal to a second distance shorter than the first distance but less than the first distance, the motion control unit 240 decelerates the movement of the multi-joint arm 11 of the robotic arm 10. Furthermore, when the measured distance is less than the second distance, the motion control unit 240 stops the movement of the multi-joint arm 11 of the robotic arm 10. Additionally, when the motion control unit 240 detects the interfering object 2 independently of the detection performed by the electrostatic capacitive proximity sensor 110, the motion control unit 240 stops the movement of the multi-joint arm 11 of the robotic arm 10. According to this structure, the detection system 1 decelerates / stops the movement of the robotic arm 10 in stages based on the distance between the robotic arm 10 and the interfering object 2, thus reducing the burden on the robotic arm 10 during emergency controls.

[0054] Furthermore, the detection system 1 can also acquire the position of the interfering object 2 detected by the laser sensors 30A and 30B via the acquisition unit 220. Additionally, the detection system 1 can determine whether the distance between the position of the interfering object 2 acquired from the laser sensors 30A and 30B and the position of the tool connected to the tip of the articulated arm 11 is less than a fixed distance. Moreover, the detection system 1 can, via the motion control unit 240, decelerate or stop the movement of the robotic arm 10 if the determination is affirmative. According to this structure, the detection system 1 can suppress collisions between the tool connected to the tip of the articulated arm 11 and the interfering object 2, or reduce the risk of malfunction of the robotic arm 10 or damage to the interfering object 2 due to the impact of a collision. Furthermore, when the tool of the robotic arm 10 is more than a fixed distance away from the interfering object 2, the detection system 1 can continue operation without stopping the movement of the robotic arm 10 within a range that does not interfere with the interfering object 2. Therefore, the detection system 1 can reduce the chance of unnecessarily stopping the movement of the robotic arm 10, thereby improving the productivity of the robotic arm 10.

[0055] Symbol Explanation: 1…Detection system; 2…Interference object; 10…Robotic arm; 11…Multi-joint arm; 12…Base; 20…Control device; 30A…Laser sensor; 30B…Laser sensor; 110…Electrostatic capacitive proximity sensor.

Claims

1. A detection system, characterized in that, The device comprises: a robotic arm having a base, a multi-joint arm connected to the base, and an electrostatic capacitive proximity sensor disposed on the multi-joint arm for detecting an interferometer; a pair of laser sensors disposed opposite each other relative to the base, and emitting laser light in a direction substantially parallel to the mounting surface of the robotic arm to detect the interferometer; and a control device that stops or slows down the movement of the robotic arm based on the detection result of the interferometer obtained by at least one of the electrostatic capacitive proximity sensor and the laser sensor.

2. The detection system as described in claim 1, characterized in that, When a portion of the articulated arm is within the detection range of the laser sensor detecting the interferometer, the control device controls the operation of the laser sensor in a manner that stops or disables the detection performed by the laser sensor.

3. The detection system as described in claim 2, characterized in that, The control device controls the operation of the laser sensor by detecting the interferometer when no part of the articulated arm is within the detection range of the laser sensor.

4. The detection system according to any one of claims 1 to 3, characterized in that, The control device calculates the distance between the interferometer and the robotic arm based on the detection results of the electrostatic capacitive proximity sensor and the laser sensor. If the calculated distance is within a fixed range, the device controls the movement of the robotic arm by stopping or slowing down its movement.

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