Determination device, determination method, and program

Abstract

To provide a technology for estimating robot operation feeling by an operator.SOLUTION: A determination device includes: a storage part for storing corresponding information showing a correspondence relation between a physical quantity related to a pick-and-place motion of a robot and human sensitivity evaluation to the robot; a measurement part for measuring the physical quantity related to the pick-and-place motion of the robot operated by the operator; and a determination part for determining a sensitivity evaluation result corresponding to the measurement result of the physical quantity on the basis of the corresponding information.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present disclosure relates to a determination device, a determination method, and a program.

Background Art

[0002] Currently, robots are being used in various work sites. Among them, there are cases where a human operates a robot as an operator to perform various tasks. For example, by operating a manipulator or a robot arm, a target object can be grasped, held, and moved to the vicinity of a target position and placed at the target position, and a pick-and-place operation can be executed.

[0003] When an operator operates a robot to execute various tasks, subjective evaluations of the operator regarding the operability of the robot may be collected and used for improving the operability.

[0004] For example, Patent Document 1 describes a subjective feeling estimation model that quantifies the user's sense of agency (the feeling of influencing the surroundings by one's own actions).

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0006] However, there is no prior art for analyzing subjective evaluations regarding the operability of a robot, and a technique for estimating subjective evaluations regarding the operability of a robot may be desired.

[0007] In view of the above problems, one problem of the present disclosure is to provide a technique for estimating the operating feeling of a robot by an operator.

Means for Solving the Problems

[0008] One aspect of the present disclosure relates to a determination device having a storage unit that stores correspondence information indicating a correspondence relationship between a physical quantity related to a pick-and-place operation of a robot and a human sensory evaluation of the robot, a measurement unit that measures a physical quantity related to the pick-and-place operation of the robot operated by an operator, and a determination unit that determines a sensory evaluation result corresponding to the measurement result of the physical quantity based on the correspondence information.

Advantages of the Invention

[0009] According to the present disclosure, a technique for predicting the operating feeling of a robot by an operator can be provided.

Brief Description of the Drawings

[0010]

Figure 1

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DETAILED DESCRIPTION OF THE INVENTION

[0011] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings.

[0012] In the following embodiments, a determination device is disclosed that estimates an operator's operating feeling from the operation information and the manipulation information of a robot such as a manipulator.

[0013] [SUMMARY OF THE PRESENT DISCLOSURE] To outline the present disclosure, as shown in FIG. 1, when an operator uses the operation terminal 30 to input operation information for remotely operating the manipulator 20, the operation information is transmitted to the manipulator 20 and the determination device 100. Here, the operation terminal 30 may be, for example, a dedicated console equipped with any one or more input devices such as a handle, lever, joystick, gamepad, 3D mouse, keyboard, mouse, wearable device, VR (Virtual Reality) / AR (Augmented Reality) controller, or a personal computer (PC). The operation information includes instructions for the manipulator 20 corresponding to various operations of the operator on the input device.

[0014] The manipulator (or arm) 20 operates according to the received operation information, and transmits operation information indicating the amount of movement, maximum speed, number of direction changes, etc. of the manipulator 20 due to the operation to the determination device 100. The determination device 100 determines a physical quantity related to the operation of the manipulator 20 from the received operation information and operation information, and obtains a sensory evaluation result indicating the subjective operation feeling of the operator corresponding to the determined physical quantity. Here, the sensory evaluation indicating the subjective operation feeling may indicate one or more evaluation results of the operator indicating the operability of the manipulator 20, such as "able to operate as expected", "able to operate without stress", "it is okay to continue using this robot", etc., without being limited to the following. For example, the determination device 100 may notify the operator of an alert based on the sensory evaluation result of the determined operation feeling, prompt the operator to change the current task, or guide the operation of the manipulator 20 based on the operation information of other operators operating with a good operation feeling.

[0015] Note that the operation target of the operator according to the present disclosure is not limited to the manipulator 20 or the arm, and can be applied to robots in general. That is, the present disclosure is preferably applicable when causing a robot to execute an operation by an operator, and in particular, may be considered suitable for estimating the operation feeling of the operator related to the pick-and-place operation.

[0016] The pick-and-place operation by the manipulator 20 typically, as shown in FIG. 2, 1) Object gripping in which an object to be moved is gripped by the arm 2) Object movement in which the gripped object is moved to the target position 3) Object placement in which the gripped object is placed at the target position It can be composed of three operation modes. Among them, in the operation modes of 1) object grasping and 3) object placement, fine operation of the manipulator 20 by the operator is required, and in the operation mode of 2) object movement, rough operation of the manipulator 20 by the operator is required. In the rough operation mode, it is assumed that the manipulator 20 is in a moving operation. Therefore, for example, when the manipulator 20 is moving at a speed equal to or higher than a predetermined speed, it can be estimated that the current operation mode is the rough operation mode. On the other hand, in the fine operation mode, it can be assumed that the manipulator 20 has stopped and only the arm is operating. Therefore, for example, when the manipulator 20 is moving at a speed lower than a predetermined speed or has stopped, it may be estimated that the current operation mode is the fine operation mode.

[0017] Here, the determination device 100 is realized by a computing device such as a personal computer or a server, and may have, for example, a hardware configuration as shown in FIG. 3. That is, the determination device 100 includes a drive device 101, a storage device 102, a memory device 103, a processor 104, a user interface (UI) device 105, and a communication device 106 that are interconnected via a bus B.

[0018] Programs or instructions for realizing various functions and processes described later in the determination device 100 may be stored in a removable storage medium such as a CD-ROM (Compact Disk-Read Only Memory) or a flash memory. When the storage medium is set in the drive device 101, the program or instruction is installed from the storage medium via the drive device 101 into the storage device 102 or the memory device 103. However, the program or instruction does not necessarily have to be installed from the storage medium and may be downloaded from any external device via a network or the like. The storage device 102 is realized by a hard disk drive or the like and stores files, data, etc. used for the execution of the installed program or instruction together with the installed program or instruction. The memory device 103 is realized by a random access memory, a static memory, etc. When the program or instruction is activated, the program or instruction, data, etc. are read from the storage device 102 and stored. The storage device 102, the memory device 103, and the removable storage medium may be collectively referred to as a non-transitory storage medium.

[0019] The processor 104 may be implemented by one or more CPUs (Central Processing Units), GPUs (Graphics Processing Units), processing circuitry, etc. that may be composed of one or more processor cores. It executes various functions and processes of the determination device 100 described later according to programs, instructions, data such as parameters necessary to execute the program or instruction, etc. stored in the memory device 103. The user interface (UI) device 105 may be composed of input devices such as a keyboard, mouse, camera, microphone, output devices such as a display, speaker, headset, printer, input / output devices such as a touch panel, etc., and realizes an interface between the user and the determination device 100. For example, the user operates the determination device 100 by operating a GUI (Graphical User Interface) displayed on the display or touch panel with a keyboard, mouse, etc. The communication device 106 is realized by various communication circuits that execute communication processing with external devices, communication networks such as the Internet, LAN (Local Area Network), etc.

[0020] However, the above-described hardware configuration is merely an example, and the determination device 100 according to the present disclosure may be realized by any other appropriate hardware configuration.

[0021] [Determination Device] Next, the determination device 100 according to an embodiment of the present disclosure will be described. In this embodiment, the determination device 100 acquires operation information for the manipulator 20 for the pick-and-place operation by the operator from the operation terminal 30 of the operator who operates the manipulator 20, and acquires operation information indicating the operation of the manipulator 20 from the manipulator 20 that has operated according to the operation information. Then, the determination device 100 measures a physical quantity related to the pick-and-place operation from the acquired operation information and operation information, and estimates a sensory evaluation result indicating the subjective operation feeling of the operator for the manipulator 20 based on the measurement result.

[0022] FIG. 4 is a block diagram showing a functional configuration of the determination device 100 according to an embodiment of the present disclosure. As shown in FIG. 4, the determination device 100 includes a storage unit 110, a measurement unit 120, and a determination unit 130. For example, one or more functional units of the storage unit 110, the measurement unit 120, and the determination unit 130 may be realized by one or more processors 104 executing one or more programs or instructions.

[0023] The storage unit 110 stores correspondence information indicating a correspondence relationship between a physical quantity related to the pick-and-place operation of the robot and a human sensory evaluation of the robot. Here, the robot is not limited to a specific individual robot and may include robots of the same type that perform the same work. For example, for the pick-and-place operation by the manipulator 20, the physical quantity may be various parameters such as the amount of hand movement by the operator per unit of robot movement, the number of direction changes by the operator per unit of robot movement, the non-operation time by the operator per unit of robot movement, the maximum speed of the robot within the movement unit, and the non-operation time ratio indicating the ratio of the non-operation time of the operator with respect to the robot within a certain time interval. Such physical quantities can be obtained, for example, from operation information (e.g., the amount of hand movement such as an operation lever on the operation terminal 30, direction change operation, etc.) and motion information (e.g., the amount of movement of the robot, maximum speed, etc.) when the operator operates the operation terminal 30 to cause the manipulator 20 to perform the pick-and-place operation.

[0024] Also, the sensory evaluation may indicate subjective sensory evaluation results regarding the operability of the manipulator 20. The subjective sensory evaluation results may indicate, for example, the operator's evaluation regarding one or more items such as "able to operate as intended", "able to operate without stress", and "able to continue using this robot". The operator's evaluation regarding each item may be indicated by discrete values such as "very good", "good", "normal", "bad", and "very bad". When the subjective evaluation is regarding the three items of "able to operate as intended", "able to operate without stress", and "able to continue using this robot", the sensory evaluation may indicate, for example, "able to operate as intended: good", "able to operate without stress: normal", and "able to continue using this robot: good", or may indicate a comprehensive result obtained by aggregating each item. However, the subjective sensory evaluation results are not limited to such discrete values and may be expressed by real numbers within a certain numerical range.

[0025] Such correspondence information can be configured based on the physical quantities obtained when one or more operators are made to operate the manipulator 20 in advance and perform the pick-and-place operation, and the subjective sensory evaluation results regarding the operability of the manipulator 20 collected from the operators. Also, the correspondence information may include human attribute information, and correspondence information including the attribute information corresponding to the operator may be used. That is, the correspondence relationship may be stored in the storage unit 110 for each operator.

[0026] Here, the correspondence information may include correspondence information for the rough operation mode for the rough operation mode in the pick-and-place operation and correspondence information for the fine operation mode for the fine operation mode in the pick-and-place operation.

[0027] For example, subjective sensory evaluation results regarding the operability of the manipulator 20 in the rough operation mode were collected from an operator who operated the manipulator 20 to perform a pick-and-place operation, and when summarizing the correspondence between various physical quantities measured during the operation and the sensory evaluation results, a correspondence diagram as shown in FIG. 5 was generated. For example, it can be seen that when the amount of end-effector movement is small, there is a tendency to obtain a sensory evaluation result of "can be operated without stress". Also, when the number of direction changes is small, it can be seen that there is a tendency to obtain a sensory evaluation result of "this robot can be used continuously". Further, when the amount of end-effector movement is large, it can be seen that there is a tendency to obtain a sensory evaluation result of "felt anxious about whether the input was received". It can be understood from FIG. 5 that there is also a correspondence between other physical quantities and the sensory evaluation results.

[0028] From the correspondence between the physical quantities shown in FIG. 5 and the sensory evaluation results, for example, correspondence information for the rough operation mode as shown in FIG. 6 can be derived. For example, as the amount of end-effector movement by the operator per movement unit of the manipulator 20 increases, productivity decreases and the sense of unease increases. On the other hand, as the amount of end-effector movement decreases, stress decreases. Also, as the number of direction changes by the operator per movement unit of the manipulator 20 decreases, operability improves and the intention to continue using the manipulator 20 increases. Furthermore, as the ratio of no-operation time increases, the intention to continue using the manipulator 20 increases.

[0029] From the operator who operated the manipulator 20 to perform the pick-and-place operation, subjective sensory evaluation results regarding the operability of the manipulator 20 in the fine operation mode were collected, and when the correspondence between various physical quantities measured during the operation and the sensory evaluation results was summarized, a correspondence diagram as shown in FIG. 7 was generated. For example, it can be seen that when the amount of hand movement is small, there is a tendency to obtain a sensory evaluation result of "can be operated without stress". Also, when the number of direction changes is small, there is a tendency to obtain a sensory evaluation result of "this robot can be used continuously". Also, when the non-operation time is long, it can be seen that there is a tendency to obtain sensory evaluation results of "the reaction was sometimes poor" and "felt anxious whether the input was received". From FIG. 7, it can be seen that there is also a correspondence between other physical quantities and the sensory evaluation results.

[0030] From the correspondence between the physical quantities shown in FIG. 7 and the sensory evaluation results, for example, correspondence information for the fine operation mode as shown in FIG. 8 can be derived. For example, when the maximum speed of the manipulator 20 decreases, the operability increases. Also, when the amount of hand movement by the operator per movement unit of the manipulator 20 decreases, the stress decreases. Also, when the non-operation time by the operator per movement unit of the manipulator 20 becomes long, the responsiveness decreases and the sense of uneasiness increases. On the other hand, when the non-operation time becomes short, the intention to continue using the manipulator 20 increases. Furthermore, when the number of direction changes decreases, the intention to continue using the manipulator 20 increases.

[0031] Note that the above-mentioned correspondence information is merely an example, and any correspondence information showing the correspondence between the physical quantity and the sensory evaluation result may be used. Also, the above-mentioned correspondence information is prepared in advance and is used to determine the sensory evaluation result of the operator based on the physical quantity obtained during the operation of the manipulator 20 by the operator to be judged. Also, the mode is not limited to the coarse operation mode and the fine operation mode, and other operation modes may be used.

[0032] The measurement unit 120 measures physical quantities related to the pick-and-place operation of a robot operated by an operator. For example, the measurement unit 120 can acquire the operation information obtained from the operator's operation terminal 30 and the operation information of the manipulator 20 operated according to the operation information, and determine the physical quantity from the acquired operation information and operation information.

[0033] For example, the amount of hand movement by the operator per movement unit of the manipulator 20 can be measured based on the amount of hand movement of the operation lever or the like on the operation terminal 30 as the operation information and the movement amount of the manipulator 20 operated according to the operation information as the operation information. For example, the amount of hand movement may indicate how much the hand has moved during one fine operation and / or one coarse operation. Also, the number of direction changes by the operator per movement unit of the manipulator 20 can be measured based on the number of direction changes of the operation lever or the like on the operation terminal 30 as the operation information and the movement amount of the manipulator 20 operated according to the operation information as the operation information. Also, the non-operation time by the operator per movement unit of the manipulator 20 can be measured based on the non-operation time by the operator on the operation terminal 30 as the operation information and the movement amount of the manipulator 20 operated according to the operation information as the operation information. Also, the maximum speed of the manipulator 20 within the movement unit can be measured based on the movement amount and speed of the manipulator 20 as the operation information. Also, the non-operation time ratio can be measured based on the non-operation time by the operator on the operation terminal 30 as the operation information and the measurement target time.

[0034] The determination unit 130 determines a sensory evaluation result corresponding to the measurement result of the physical quantity based on the correspondence information. Specifically, when the measurement unit 120 acquires the measurement result of the physical quantity related to the operation of the manipulator 20 by the operator to be determined, the determination unit 130 may refer to the stored correspondence information and determine the evaluation result corresponding to the acquired measurement result of the physical quantity.

[0035] For example, when the corresponding information for the rough operation mode for the rough operation mode in the pick-and-place operation and the corresponding information for the fine operation mode for the fine operation mode in the pick-and-place operation are stored, the determination unit 130 may determine the sensory evaluation result by using the corresponding information for the rough operation mode or the corresponding information for the fine operation mode corresponding to the operation mode in the pick-and-place operation.

[0036] Specifically, in the pick-and-place operation of the manipulator 20, the determination unit 130 determines whether the current operation mode is the rough operation mode or the fine operation mode based on the operation information and / or the operation information. For example, when the moving speed of the manipulator 20 is equal to or higher than a predetermined threshold value, the determination unit 130 determines that the operation mode is the rough operation mode. On the other hand, when the moving speed of the manipulator 20 is less than the predetermined threshold value, the determination unit 130 may determine that the operation mode is the fine operation mode. Also, for example, based on the operation time of the manipulator 20, the determination unit 130 may determine whether the operation mode is the rough operation mode or the fine operation mode. Also, for example, based on the elapsed time since the start of the work, the determination unit 130 may determine whether the operation mode is the rough operation mode or the fine operation mode. Also, for example, based on the distance traveled by the manipulator 20 per predetermined time, or the volume or area including the range traveled, the determination unit 130 may determine whether the operation mode is the rough operation mode or the fine operation mode. Also, for example, based on the tip operation position of the manipulator 20, the determination unit 130 may determine whether the operation mode is the rough operation mode or the fine operation mode.

[0037] In this way, when determining the operation mode of the manipulator 20, the determination unit 130 may determine a sensory evaluation result corresponding to the measurement result of the physical quantity acquired from the measurement unit 120 by using the corresponding information corresponding to the determined operation mode. For example, when the operation mode is the coarse operation mode, the determination unit 130 may refer to the corresponding information as shown in FIG. 6, compare the reference value of the physical quantity with the measurement result, and determine the sensory evaluation result according to the comparison result. Specifically, when the measurement result of the amount of hand movement by the operator per movement unit of the manipulator 20 is larger than the reference value, the determination unit 130 may output a sensory evaluation result that lowers the operation feeling. For example, the determination unit 130 may determine the sensory evaluation result as "bad" which is lowered by one level from "normal". Further, when the measurement result of the number of direction changes by the operator per movement unit of the manipulator 20 is larger than the reference value, the determination unit 130 may output a sensory evaluation result that lowers the operation feeling. For example, the determination unit 130 may determine the sensory evaluation result as "very bad" which is lowered by one level from "bad".

[0038] On the other hand, when the operation mode is the fine operation mode, the determination unit 130 may refer to the corresponding information as shown in FIG. 8, compare the reference value of the physical quantity with the measurement result, and determine the sensory evaluation result according to the comparison result. Specifically, when the measurement result of the amount of hand movement by the operator per movement unit of the manipulator 20 is smaller than the reference value, the determination unit 130 may output a sensory evaluation result that raises the operation feeling. For example, the determination unit 130 may determine the sensory evaluation result as "good" which is raised by one level from "normal". Further, when the measurement result of the non-operation time by the operator per movement unit of the manipulator 20 is shorter than the reference value, the determination unit 130 may output a sensory evaluation result that raises the operation feeling. For example, the determination unit 130 may determine the sensory evaluation result as "very good" which is raised by one level from "good".

[0039] Note that the increase or decrease in the above-described sensory evaluation results is merely an example, and the determination unit 130 may determine the sensory evaluation results by any other appropriate method. Also, the sensory evaluation results may be determined using only one of the corresponding information for the coarse operation mode and the corresponding information for the fine operation mode.

[0040] The determined sensory evaluation results may be used, for example, as follows. In one embodiment, the determination unit 130 may notify an alert based on the determined sensory evaluation results. When determining the sensory evaluation results, the determination unit 130 may notify an alert based on the determined sensory evaluation results. For example, when the sensory evaluation results fall below a predetermined operation feeling level (e.g., "bad", "very bad", etc.), the determination unit 130 may send an appropriate alert to the operation terminal 30 to prompt the operator to take a break. Thereby, it is possible to prompt an operator with a poor operation feeling due to fatigue or the like to take a break, and it may be possible to reduce a decrease in work efficiency and the occurrence of operation mistakes.

[0041] Also, in one embodiment, the determination unit 130 may prompt a change in the current task based on the determined sensory evaluation results. When determining the sensory evaluation results, the determination unit 130 may prompt a change in the current task based on the determined sensory evaluation results. For example, when the sensory evaluation results fall below a predetermined operation feeling level (e.g., "bad", "very bad", etc.), the determination unit 130 may interrupt the operator's current task and notify the operator and / or the operator's administrator to execute another task. Thereby, it is possible to reassign an operator with a poor operation feeling due to unfamiliarity with the current task, and it may be possible to reduce a decrease in work efficiency and the occurrence of operation mistakes.

[0042] In addition, in one embodiment, the determination unit 130 may guide an operation based on the determined sensory evaluation result. When determining the sensory evaluation result, the determination unit 130 may guide an operation based on the determined sensory evaluation result. For example, when the sensory evaluation result is below a predetermined operation feeling level (e.g., "bad", "very bad", etc.), the determination unit 130 may guide the operator to operate based on the operation information of another operator having a relatively high operation feeling level (e.g., "good", "very good", etc.) with respect to the manipulator 20 of the same type. Thereby, it is possible to assist an operator who is inexperienced in operating the manipulator 20.

[0043] In addition, in one embodiment, the determination unit 130 may prompt an increase in the speed of the manipulator 20 based on the determined sensory evaluation result. For example, when the determined sensory evaluation result exceeds a predetermined operation feeling level (e.g., "good", "very good", etc.), the determination unit 130 may prompt the operator to increase the maximum speed of the manipulator 20. Thereby, it is possible to improve work efficiency and productivity.

[0044] In addition, in one embodiment, the determination unit 130 may display the trajectory of the manipulator 20 having good operability based on the determined sensory evaluation result. For example, when the period during which the determined sensory evaluation result exceeds a predetermined operation feeling level (e.g., "good", "very good", etc.) is in the operation history of the operator, the determination unit 130 may display the trajectory of the manipulator 20 during that period to the operator. For this purpose, the identification information of the operation terminal 30, the identification information of the operator, and / or the past operation history information may be combined with the sensory evaluation result. Thereby, it is possible to guide the operator to perform an optimal operation.

[0045] [Determination Process] Next, the determination process according to an embodiment of the present disclosure will be described. FIG. 9 is a flowchart showing the determination process according to an embodiment of the present disclosure. The determination process is executed by the determination device 100 described above. More specifically, it may be realized by one or more processors 104 of the determination device 100 executing one or more programs or instructions stored in one or more memory devices 103.

[0046] As shown in FIG. 9, in step S101, the determination device 100 stores the correspondence information for each operation mode. Specifically, the determination device 100 stores the correspondence information for the rough operation mode and the correspondence information for the fine operation mode in the pick-and-place operation.

[0047] In step S102, the determination device 100 measures the physical quantities related to the pick-and-place operation. Specifically, the determination device 100 obtains the measurement results of various physical quantities based on the operation information for the manipulator 20 acquired from the operation terminal 30 and the operation information of the manipulator 20 acquired from the manipulator 20.

[0048] In step S103, the determination device 100 determines the sensory evaluation result corresponding to the measurement result of the physical quantity by using the correspondence information corresponding to the operation mode. That is, in the rough operation mode, the determination device 100 determines the sensory evaluation result corresponding to the measurement result of the physical quantity based on the correspondence information for the rough operation mode, and in the fine operation mode, the determination device 100 determines the sensory evaluation result corresponding to the measurement result of the physical quantity based on the correspondence information for the fine operation mode.

[0049] Based on the sensory evaluation result determined in this way, the determination device 100 may notify the operator of an alert on the operation terminal 30, may prompt the operator to change the current task on the operation terminal 30, or may guide the way of operation on the display / speaker etc. on the operation terminal 30.

[0050] According to the above-described determination device 100, it is possible to estimate the sensory evaluation result of the operator corresponding to each operation mode of the gross operation mode and the fine operation mode in the pick-and-place operation. Thereby, an alert can be notified to the operator based on the determined sensory evaluation result of the operation feeling, the operator can be prompted to change the current task, or the operation of the manipulator 20 can be guided based on the operation information of other operators who are operating with a good operation feeling.

[0051] In addition, the following supplementary notes are disclosed regarding the above description. (Supplementary Note 1) A storage unit that stores correspondence information indicating the correspondence between the physical quantity related to the pick-and-place operation of the robot and the human sensory evaluation of the robot; A measurement unit that measures the physical quantity related to the pick-and-place operation of the robot operated by the operator; A determination unit that determines a sensory evaluation result corresponding to the measurement result of the physical quantity based on the correspondence information; A determination device having the above. (Supplementary Note 2) The correspondence information includes first correspondence information for the first mode in the pick-and-place operation and second correspondence information for the second mode in the pick-and-place operation, The determination unit determines the sensory evaluation result by using the first correspondence information or the second correspondence information corresponding to the operation mode in the pick-and-place operation. The determination device according to Supplementary Note 1. (Supplementary Note 3) The physical quantity includes one or more of the amount of hand movement by the operator with respect to the robot, the number of direction changes, and the non-operation time, the maximum speed of the robot, and the non-operation time ratio. The determination device according to Supplementary Note 1 or 2. (Supplementary Note 4) The determination unit determines whether the operation of the robot by the operator is in the first mode or the second mode based on the information measured by the measurement unit. The determination device according to Supplementary Note 3. (Supplementary Note 5) The determination unit determines whether the operation of the robot by the operator is in the first mode or the second mode based on any one of the moving speed of the robot, the operation time of the robot by the operator, the elapsed time from the start of the operation of the robot by the operator, the moving distance of the robot, and the volume or area including the area where the robot has moved. The determination device according to Supplementary Note 3. (Supplementary Note 6) The sensory evaluation result includes a subjective evaluation regarding the operability of the robot by the operator. The determination device according to any one of Supplementary Notes 1 to 5. (Supplementary Note 7) The determination unit notifies an alert based on the determined sensory evaluation result. The determination device according to any one of Supplementary Notes 1 to 6. (Supplementary Note 8) The determination unit prompts a change in the current task based on the determined sensory evaluation result. The determination device according to any one of Supplementary Notes 1 to 7. (Supplementary Note 9) The determination unit guides the operation based on the determined sensory evaluation result. The determination device according to any one of Supplementary Notes 1 to 8. (Supplementary Note 10) The correspondence information includes the human attribute information, and uses the correspondence information including the attribute information corresponding to the operator. The determination device according to any one of Supplementary Notes 1 to 9. (Supplementary Note 11) Storing correspondence information indicating the correspondence between the physical quantity related to the pick-and-place operation of the robot and the human sensory evaluation of the robot; Measuring the physical quantity related to the pick-and-place operation of the robot operated by the operator; Determining a sensory evaluation result corresponding to the measurement result of the physical quantity based on the correspondence information; A determination method executed by a computer, comprising: (Supplementary Note 12) Storing correspondence information indicating the correspondence between the physical quantity related to the pick-and-place operation of the robot and the human sensory evaluation of the robot; Measuring a physical quantity related to the pick-and-place operation of the robot operated by an operator; Determining a sensory evaluation result corresponding to the measurement result of the physical quantity based on the corresponding information; A program that causes a computer to execute the above.

[0052] As described above in detail with reference to the embodiments of the present disclosure, the present disclosure is not limited to the specific embodiments described above, and various modifications and changes are possible within the scope of the gist of the present disclosure described in the claims.

Industrial Applicability

[0053] The present disclosure is useful for a determination device and method for estimating an operator's operation feeling with respect to a robot such as the manipulator 20.

Explanation of Signs

[0054] 20 Manipulator 30 Operation terminal 100 Determination device 110 Storage unit 120 Measurement unit 130 Determination unit

Claims

1. A storage unit that stores correspondence information indicating a correspondence relationship between a physical quantity related to a pick-and-place operation of a robot and a human sensory evaluation of the robot; A measurement unit that measures a physical quantity related to the pick-and-place operation of the robot operated by an operator; A determination unit that determines a sensory evaluation result corresponding to the measurement result of the physical quantity based on the correspondence information; A determination device comprising:

2. The determination device according to claim 1, wherein the physical quantity includes one or more of the amount of hand movement by the operator with respect to the robot, the number of direction changes, the no-operation time, the maximum speed of the robot, and the no-operation time ratio.

3. The correspondence information includes first correspondence information for a first mode in the pick-and-place operation and second correspondence information for a second mode in the pick-and-place operation, The determination device according to claim 1 or 2, wherein the determination unit determines the sensory evaluation result by using the first correspondence information or the second correspondence information corresponding to the operation mode in the pick-and-place operation.

4. The determination device according to claim 3, wherein the determination unit determines whether the operation of the robot by the operator is in the first mode or the second mode based on the information measured by the measurement unit.

5. The determination device according to claim 3, wherein the determination unit determines whether the operation of the robot by the operator is in the first mode or the second mode based on any one of the moving speed of the robot, the operation time of the robot by the operator, the elapsed time since the start of the operation of the robot by the operator, the moving distance of the robot, and the volume or area of the region moved by the robot.

6. The determination device according to claim 1, wherein the sensory evaluation result includes a subjective evaluation regarding the operability of the robot by the operator.

7. The determination device according to claim 1, wherein the determination unit notifies an alert based on the determined sensory evaluation result.

8. The determination device according to claim 1, wherein the determination unit prompts a change of the current task based on the determined sensory evaluation result.

9. The determination device according to claim 1, wherein the determination unit guides an operation based on the determined sensory evaluation result.

10. The determination device according to claim 1, wherein the correspondence information includes the human attribute information and uses the correspondence information including the attribute information corresponding to the operator.

11. Storing correspondence information indicating a correspondence relationship between a physical quantity related to a pick-and-place operation of a robot and a human sensory evaluation of the robot; Measuring a physical quantity related to the pick-and-place operation of the robot operated by an operator; Determining a sensory evaluation result corresponding to the measurement result of the physical quantity based on the correspondence information; A determination method executed by a computer, comprising:

12. Storing correspondence information indicating a correspondence relationship between a physical quantity related to a pick-and-place operation of a robot and a human sensory evaluation of the robot; Measuring a physical quantity related to the pick-and-place operation of the robot operated by an operator; Determining a sensory evaluation result corresponding to the measurement result of the physical quantity based on the correspondence information; A program for causing a computer to execute the above.

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