Work system

Abstract

To provide a work system capable of improving work efficiency of an industrial robot.SOLUTION: A work system that performs work on a bag-shaped object comprises a rotation mechanism for rotating the object about a rotation axis extending in a direction intersecting the direction of gravity, and a working robot for performing work on the object.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a work system. [Background technology]

[0002] BACKGROUND ART Working systems for performing predetermined work on bag-shaped objects (for example, flexible container bags) that contain predetermined contents are known (see, for example, Patent Documents 1 and 2). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2015-3764 [Patent Document 2] Patent No. 6396975 Summary of the Invention [Problem to be solved by the invention]

[0004] In the above-described work system, there are cases where it is not desirable for humans to operate the object. For example, when the contents contained in the object are hazardous materials. In such cases, it is possible to introduce a work robot that performs a predetermined task on the object.

[0005] However, depending on the content of the work, it may be difficult for a work robot to perform the work, resulting in reduced work efficiency. For example, if the opening for inserting and removing an object is fixed facing downward in the direction of gravity, it may be difficult for a work robot to push an object (such as an inner bag for enclosing powder contents) into the object.

[0006] The present invention has been made in consideration of the above circumstances, and has as its object to provide a work system that can improve the work efficiency of a work robot. [Means for solving the problem]

[0007] (1) In order to solve the above problem, the operating system according to aspect 1 of the present invention is a work system that performs work on a bag-shaped object, and includes a rotation mechanism for rotating the object around a rotation axis that extends intersecting the direction of gravity, and a work robot that performs work on the object.

[0008] (2) Furthermore, aspect 2 of the present invention is an operating system according to aspect 1, further comprising an actuator that operates to rotate the object around the rotation axis, and a rotation control unit that controls the operation of the actuator so as to be linked to the operation of the work robot.

[0009] (3) Furthermore, in a third aspect of the present invention, in the operation system of the first or second aspect, the working robot operates the rotation mechanism to rotate the object around the rotation axis.

[0010] (4) Furthermore, aspect 4 of the present invention provides an operating system according to any one of aspects 1 to 3, further comprising a rotation limiting unit that, when the object rotates around the rotation axis, limits the object from rotating around another rotation axis different from the rotation axis.

[0011] (5) Furthermore, aspect 5 of the present invention is an operating system according to any one of aspects 1 to 4, further comprising an input restriction unit, wherein the work robot is a remote-controlled robot that operates based on input from an operator, and the input restriction unit restricts input from the operator to an input that causes the remote-controlled robot to rotate the object around the rotation axis when the object rotates around the rotation axis. [Effects of the Invention]

[0012] (1) to (5) According to the first to fifth aspects of the present invention, a working system can be provided that can improve the working efficiency of a working robot. [Brief explanation of the drawings]

[0013] [Figure 1] 1 is a schematic diagram illustrating a work system according to an embodiment of the present invention. [Figure 2] FIG. 1 is a diagram illustrating an example of a task performed by a work robot. [Figure 3] FIG. 2 is a diagram illustrating an example of the functional configuration of a work robot and a remote control control device according to the present embodiment. [Figure 4] FIG. 1 is a diagram illustrating an example of work performed in a conventional work system. [Figure 5] 10A and 10B are diagrams for explaining the effects of the work system according to the present embodiment. [Figure 6] FIG. 10 is a schematic diagram showing a working system according to a modified example of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0014] A working system 1 according to an embodiment of the present invention will be described below with reference to the drawings.

[0015] <Overview of Work System 1> As shown in FIG. 1, the working system 1 according to this embodiment includes a holding mechanism 20, a support device 30, a working robot 40, a remote control control device 50, an environmental sensor 71, and an operator sensor 72.

[0016] The work system 1 according to this embodiment is a system in which an operator U remotely controls a work robot 40 via a remote control device 50, causing the work robot 40 to perform a predetermined task on a bag-shaped object 10.

[0017] <Machine configuration of work system 1> First, the mechanical configuration of the work system 1 (object 10, holding mechanism 20, support device 30, and work robot 40) will be described. Hereinafter, the direction parallel to gravity will be referred to as the gravity direction (vertical direction) Y. Also, the direction perpendicular to the gravity direction Y will be referred to as the horizontal direction. One direction within the horizontal direction will be referred to as the axial direction X.

[0018] The object 10 has an access opening 11 for putting in and taking out contents stored in the object 10. The access opening 11 is provided with an opening / closing mechanism 11a for opening and closing the access opening 11 (see FIG. 2). In the illustrated example, the opening / closing mechanism 11a includes a string-like member. However, the specific configuration of the opening / closing mechanism 11a is not particularly limited as long as it can open and close the access opening 11, and can be changed as appropriate.

[0019] The object 10 is, for example, a flexible container bag. The object 10 contains, for example, powder. The contents contained in the object 10 may be, for example, a substance (hazardous material) that is undesirable for humans to come into direct contact with. The object 10 may contain an inner bag 13 (see Figures 4 and 5), and the powder may be contained in the inner bag 13. The inner bag 13 may be formed from a material that is more dustproof than the object 10 (flexible container bag). However, the contents contained in the object 10 can be changed as appropriate. Furthermore, the type of object 10 is not limited to a flexible container bag, and can be changed as appropriate, as long as it can contain the contents.

[0020] In this embodiment, the object 10 is configured to be switchable between a posture in which the access opening 11 faces downward in the direction of gravity (also referred to as the "initial posture") and a posture in which the access opening 11 faces a direction different from that in the initial posture (details will be described later). Unless otherwise specified, the following will describe the positional relationship of each component when the object 10 is in the initial posture. Figure 1 shows the object 10 in the initial posture.

[0021] The holding mechanism 20 holds the object 10. Specifically, the holding mechanism 20 according to this embodiment holds the object 10 in a state in which the object 10 can rotate around predetermined rotation axes (first rotation axis AX1 and second rotation axis AX2). The holding mechanism 20 according to this embodiment has a frame portion 21, a handle portion 22, two connection portions 23, two pivot support portions 24, a connection base portion 25, and a hanging portion 26.

[0022] The frame portion 21 is provided so as to surround the target object 10. The frame portion 21 according to this embodiment includes a first member 21a, a second member 21b, and a plurality of (three in the illustrated example) connecting members 21c.

[0023] The first member 21a and the second member 21b are each an arc-shaped member. When the object 10 is in its initial position, the first member 21a and the second member 21b are arranged at an interval in the gravity direction Y. In this embodiment, the bottom of the object 10 (the end opposite the loading / unloading opening 11) is attached to the first member 21a by a string-like attachment member 12. In this way, the object 10 is attached to the frame 21. However, the method of attaching the object 10 to the frame 21 can be changed as appropriate.

[0024] The connecting member 21c is a rod-shaped member. The multiple connecting members 21c extend to connect the first member 21a and the second member 21b. When the object 10 is in the initial posture, each connecting member 21c extends in the gravity direction Y. As shown in FIG. 1, the multiple frame portions 21 include two connecting members 21c1 and 21c2 that are arranged to sandwich the object 10 in the axial direction X.

[0025] Two pivotal supports 24 are provided, one for each of the two connecting members 21c1 and 21c2. The pivotal supports 24 pivotally support the connecting members 21c1 and 21c2 so that they are rotatable about a first rotation axis AX1 extending in the axial direction X. In other words, the pivotal supports 24 have a first rotation axis AX1 extending in the axial direction X. This allows the frame 21 and the object 10 attached thereto to be rotatable about the first rotation axis AX1. The holding mechanism 20, which is provided with such pivotal supports 24, functions as a rotation mechanism for rotating the object 10 about the first rotation axis AX1.

[0026] In this embodiment, the two pivotal support portions 24 correspond one-to-one to the two connecting portions 23. Each pivotal support portion 24 is connected to the lower end of the corresponding connecting portion 23. This allows the frame portion 21 and the target object 10 to rotate relative to the connecting portion 23 around the first rotation axis AX1.

[0027] Handle portion 22 is a portion that is grasped by working robot 40 when rotating object 10 around rotation axes AX1 and AX2 (details will be described later). Handle portion 22 is connected to frame portion 21. Specifically, handle portion 22 according to this embodiment is connected to connecting member 21c3 other than connecting members 21c1 and 21c2.

[0028] As described above, the lower end of the connection part 23 is connected to the pivotal support part 24. The upper end of the connection part 23 is connected to the connection base part 25. In other words, the connection part 23 extends so as to connect the pivotal support part 24 and the connection base part 25.

[0029] Although detailed illustration is omitted, the two connection parts 23 are connected to the connection base part 25 in a state where they can rotate about a second rotation axis AX2 extending in the direction of gravity Y. This allows the connection parts 23 to rotate about the second rotation axis AX2 (relative rotation with respect to the connection base part 25). Similarly, the frame part 21 connected to the connection parts 23 via the pivot part 24, and the object 10 attached to the frame part 21 are also configured to be rotatable about the second rotation axis AX2. However, the object 10 does not have to be configured to be rotatable about the second rotation axis AX2 extending in the direction of gravity Y.

[0030] A hanging part 26 is connected to the connection base 25. The hanging part 26 is a part that is suspended from a support part 31 of the support device 30 when the holding mechanism 20 is attached to the support device 30. In the illustrated example, the hanging part 26 has a U-shape that is convex upward when viewed from the horizontal direction. However, the configuration for attaching the support device 30 to the holding mechanism 20 can be changed as appropriate.

[0031] The support device 30 supports the holding mechanism 20 (and the target object 10). The support device 30 according to this embodiment also functions as a transport device that transports the holding mechanism 20 (and the target object 10) in at least one of the gravity direction Y and the horizontal direction. The support device 30 according to this embodiment has a support unit 31, a moving mechanism 32, and a lifting mechanism 33. The support device 30 may have a control unit (transport device control unit) for controlling the operation of the moving mechanism 32 and the lifting mechanism 33.

[0032] The support part 31 supports the holding mechanism 20. The support part 31 according to this embodiment includes a hook 31a from which the hanging part 26 is hung, and a rope 31b connected to the hook 31a.

[0033] The movement mechanism 32 moves the holding mechanism 20 in the horizontal direction. The movement mechanism 32 may include a motor for realizing the movement in the horizontal direction, a rail for guiding the movement, and the like.

[0034] The lifting mechanism 33 moves (lifts and lowers) the holding mechanism 20 in the direction of gravity Y. The lifting mechanism 33 may have a motor or the like for realizing movement in the direction of gravity Y (winding up and down the rope 31b).

[0035] The support device 30 may be configured by, for example, a hoist. The support device 30 may not have one of the moving mechanism 32 and the lifting mechanism 33. Alternatively, the support device 30 may not have both the moving mechanism 32 and the lifting mechanism 33. In other words, the support device 30 may not have the function of a transport device.

[0036] The working robot 40 includes, for example, an arm A and a hand H. The hand H has fingers F (F1, F2). The fingers F are also referred to as grippers. Although not shown in detail, the working robot 40 may also include legs, feet, shoulders, a head, and a body. A control unit 41, which will be described later, may be provided within the body, for example.

[0037] The working robot 40 is equipped with at least one actuator for the arm A. The actuator for the arm A is provided, for example, in the shoulder joint, elbow joint, and wrist joint. The working robot 40 is also equipped with at least one actuator for the hand H (for the hand joint). The actuator for the hand H is provided in the hand (hand H) and the fingers F. Each actuator may be equipped with an encoder and a torque sensor. The hand H and the fingers F may also be equipped with force sensors.

[0038] The configuration of the working robot 40 is not limited to the above example, and can be modified as appropriate as long as it is equipped with the arm A and the hand H.

[0039] <Control configuration of work system 1> Next, the control configuration of work system 1 (work robot 40, remote control device 50, environmental sensor 71, and operator sensor 72) will be described.

[0040] The remote operation control device 50 and the environmental sensor 71 are connected, for example, via a wireless or wired network. The remote operation control device 50 and the operator sensor 72 are connected, for example, via a wireless or wired network. The remote operation control device 50 and the work robot 40 are connected, for example, via a wireless or wired network. Note that the remote operation control device 50 and the environmental sensor 71 may be connected directly without a network. The remote operation control device 50 and the operator sensor 72 may be connected directly without a network. The remote operation control device 50 and the work robot 40 may be connected directly without a network.

[0041] The working robot 40 performs work on the target object 10. Specific examples of work performed by the working robot 40 include the following. However, the specific examples of work performed by the working robot 40 are not limited to the following and can be changed as appropriate. The specific functional configuration that the working robot 40 has to perform such work will be described later. An operation (first operation) of transferring (dropping) the contents of the object 10 into a predetermined container 91 (see also FIG. 4) by opening the opening / closing mechanism 11a of the object 10 and the opening / closing mechanisms 13a and 13b of the inner bag 13 (see also FIG. 4 and FIG. 5). The operation of closing the opening / closing mechanism 11a of the object 10 and the opening / closing mechanisms 13a and 13b of the inner bag 13 (second operation) The operation of rotating the object 10 around the first rotation axis AX1 (third operation) The operation of swinging the object 10 around the second rotation axis AX2 (fourth operation) The operation of pushing the inner bag 13 into the object 10 (fifth operation)

[0042] For example, the third task described above can be performed by the working robot 40 operating the frame 21 (rotation mechanism) as shown in FIG. 2. Specifically, the third task can be performed by gripping the handle 22 with the fingers F and rotating the handle 22 around the first rotation axis AX1. Similarly, the fourth task can be performed by gripping the handle 22 with the fingers F and swinging (rotating) the handle 22 around the second rotation axis AX2. The first and second tasks can be performed by, for example, operating the opening and closing mechanisms 11a, 13a, 13b, etc. with the fingers F. For example, in the second task, the fingers F may tie the strings that make up the opening and closing mechanisms 11a, 13a, 13b. In the first task, the fingers F may untie the strings that make up the opening and closing mechanisms 11a, 13a, 13b. The fifth task can be performed by operating the inner bag 13, etc. with the fingers F (hands H).

[0043] Remote operation control device 50 remotely controls work robot 40 based on input from operator U (see FIG. 1). As shown in FIG. 1, operator U wears an HMD (head-mounted display) 81, controller 82, and other devices. An environmental sensor 71 is placed in the workspace where work robot 40 (and target object 10) is located. Note that environmental sensor 71 may be attached to work robot 40. Environmental sensor 71 includes, for example, an RGB camera and a depth sensor. Operator U remotely controls work robot 40 by moving their hand, fingers, or arm wearing controller 82 while viewing the image displayed on HMD 81. Note that during remote operation, operator U cannot directly see the movements of work robot 40, but can indirectly see the image from work robot 40's side through HMD 81.

[0044] In this embodiment, the remote operation control device 50 estimates the intention of the operator U based on information obtained from, for example, the HMD 81 (operator sensor 72), the controller 82 (operator sensor 72), the environmental sensor 71, and the robot sensor 43 provided in the work robot 40. Then, in this embodiment, the remote operation control device 50 generates an operation method, an operation force, etc. based on the intention of the operator U. The specific functional configuration for the remote operation control device 50 to perform these processes will be described later.

[0045] The operator sensor 72 includes, for example, a line-of-sight detection unit and a detection means. The line-of-sight detection unit and the detection means are included in, for example, the HMD 81. The detection means is included in, for example, the controller 82.

[0046] The HMD 81 includes, for example, an image display unit, a line-of-sight detection unit, detection means, a communication unit, a control unit, a memory unit, etc. The HMD 81 (image display unit) displays a status image of the work robot 40 received from the remote operation control device 50. The HMD 81 detects the line-of-sight movement and head movement of the operator U, and transmits the detected operator status information to the remote operation control device 50.

[0047] The line-of-sight detection unit detects the line of sight of the operator, and outputs to the remote control device 50 operator state information including the detected line-of-sight information (operator sensor value).

[0048] The detection means provided in the HMD81 is, for example, an acceleration sensor, a gyroscope, etc., which detects the movement and tilt of the head of the operator U and outputs operator status information including the detected head movement information (operator sensor value) to the remote operation control device 50.

[0049] The controller 82 includes, for example, a detection means, a control unit, a communication unit, and a feedback means. The controller 82 is, for example, a tactile data glove, and is worn on the hand of the operator U. The controller 82 detects the direction, the movements of each finger, and the movements of the hand using the detection means, and transmits the detected operator status information to the remote operation control device 50.

[0050] The detection means provided in the controller 82 is, for example, an acceleration sensor, a gyroscope sensor, a magnetic sensor, etc. If the controller 82 is provided with detection means having a plurality of sensors, the movement of each finger is tracked, for example, by two sensors. The detection means detects operator arm information (operator sensor value, operator status information) which is information on the posture and position of the arm of the operator U, such as the direction, the movement of each finger, and the movement of the hand, and outputs operator status information including the detected operator arm information to the remote operation control device 50. The operator arm information includes information covering the entire human arm, such as hand position and posture information, angle information of each finger, position and posture information of the elbow, and information tracking the movement of each part.

[0051] The environmental sensor 71 is installed in a position where it can capture and detect, for example, the work of the work robot 40. The environmental sensor 71 may be provided on the work robot 40 or may be attached to the work robot 40. Alternatively, there may be multiple work robots 40, and the environmental sensor 71 may be installed in the work environment and attached to the work robot 40. The work robot 40 may be, for example, an RGB camera or a depth sensor. The work robot 40 may be a motion capture device and may detect position information of objects using motion capture. The work robot 40 may be a distance sensor. The environmental sensor 71 transmits captured images and sensor values ​​detected by the depth sensor to the remote operation control device 50 as environmental information. The environmental sensor 71 may also detect position information of objects using the captured images and sensor values ​​and transmit the detection results to the remote operation control device 50 as environmental information. The data transmitted by the environmental sensor 71 may be, for example, a point cloud containing position information.

[0052] <Functional configuration of the work robot 40> 3, a working robot 40 according to this embodiment includes a control unit 41, a drive unit 42, and a robot sensor 43. The robot sensor 43 includes, for example, the force sensor, torque sensor, and encoder described above.

[0053] When the work robot 40 is not remotely operated, its behavior is controlled according to the control of the control unit 41. When the work robot 40 is remotely operated, its behavior is controlled according to the work plan information generated by the remote operation control device 50.

[0054] The control unit 41 controls the drive unit 42 based on control instructions output by the remote operation control device 50. The control unit 41 performs image processing (edge ​​detection, binarization, feature extraction, image enhancement, image extraction, pattern matching, etc.) on images captured by the environment sensor 71 based on information stored in a memory unit (not shown) etc. The control unit 41 creates a robot status image based on operating status information of the work robot 40, and transmits the created robot status image to the HMD 81 via the remote operation control device 50. The control unit 41 generates feedback information and transmits the generated feedback information to the controller 82 via the remote operation control device 50.

[0055] Drive unit 42 drives each part (arms, fingers, legs, head, torso, waist, etc.) of working robot 40 according to the control of control unit 41. Drive unit 42 includes, for example, actuators, gears, artificial muscles, etc.

[0056] The robot sensor 43 may be, for example, an acceleration sensor, a gyroscope sensor, a magnetic sensor, etc. The robot sensor 43 is attached to each joint, head, hand, finger, etc. of the working robot 40. The robot sensor 43 outputs the detection results to the control unit 41 and the remote operation control device 50.

[0057] <Functional configuration of the remote operation control device 50> As shown in FIG. 3, the remote control control device 50 according to this embodiment includes an acquisition unit 51, an intention estimation unit 52, an operation method determination unit 53, and a control amount determination unit .

[0058] The remote operation control device 50 acquires operator status information about the state of the operator U operating the work robot 40, and estimates the intended action that the operator U is trying to have the work robot 40 perform based on the acquired operator status information. The remote operation control device 50 determines a method of operating an object (for example, the target object 10 or the holding mechanism 20) based on the estimated intended action of the operator U. The remote operation control device 50 determines the operation method and the force to be applied during operation for the work robot 40 from the determined information, etc., and reflects these in the control instructions.

[0059] The acquisition unit 51 acquires information such as gaze information of the operator U, wrist movement and position, palm movement and position, and finger movement and position from the operator sensor 72. The control unit 41 acquires force, torque, and position information of the arm A and hand H from the robot sensor 43 of the working robot 40. The acquisition unit 51 acquires environmental information from the environment sensor 71. The environment sensor 71 outputs the acquired information to the intention estimation unit 52.

[0060] The intention estimation unit 52 estimates the intention of the operator U using the information acquired by the acquisition unit 51. Examples of the intention of the operator U include "have the work robot 40 perform the first task (described above)," "have the work robot 40 perform the second task (described above)," "have the work robot 40 perform the third task (described above)," "have the work robot 40 perform the fourth task (described above)," and "have the work robot 40 perform the fifth task (described above)." However, the intention of the operator U is not limited to these. The intention estimation unit 52 estimates the operator U's intention using at least one of gaze information, operator arm information, and head movement information acquired from the HMD 81 and the controller 82. The intention estimation unit 52 may also estimate the intention using environmental sensor values. The intention estimation method will be described later.

[0061] The operation method determination unit 53 determines an operation method for an object (e.g., the target object 10 or the holding mechanism 20) based on the estimated intention of the operator U. For example, the operation method determination unit 53 determines the operation method by referring to a template stored in a storage unit (not shown), for example. The operation method determination unit 53 may select the operation method by inputting it into a trained model stored in a storage unit (not shown), for example. The operation method determination unit 53 also determines the operation method based on the selected motion category, the object shape, estimated physical parameters such as the friction and weight of the object, constraints such as the torque that the working robot 40 can output, and the like. For example, the operation method determination unit 53 determines the contact points of the fingers of the working robot 40 with respect to an object (e.g., the handle 22 of the holding mechanism 20 or the opening / closing mechanism 11a of the target object 10) that can stably grasp the object. The operation method determination unit 53 may then perform a corrective operation using the joint angles calculated from these as target values. Furthermore, when operating in accordance with the target values, the operation method determination unit 53 controls, for example, the finger joint angles and torque in real time to eliminate errors between the target values / parameter estimates and the values ​​observed by the robot sensor 43 of the working robot 40. As a result, according to this embodiment, it becomes possible to stably and continuously grasp an object without dropping it.

[0062] The operation method determination unit 53 in this embodiment also functions as a rotation restriction unit that restricts the rotation of the object 10 around another rotation axis (e.g., a second rotation axis AX2) different from the first rotation axis AX1 when the object 10 rotates around the first rotation axis AX1.

[0063] For example, if it is estimated that the operator U has the operational intention to "make the work robot 40 perform a third task" (i.e., to "rotate the object 10 about the first rotation axis AX1"), the operation method determination unit 53 may determine an operation method in which the object 10 rotates only about the first rotation axis AX1, and does not rotate about other rotation axes (e.g., the second rotation axis AX2). Also, if a task based on the first task is in progress (i.e., the object 10 is in the middle of rotating about the first rotation axis AX1), the operation method determination unit 53 may determine an operation method in which the object 10 rotates only about the first rotation axis AX1, and does not rotate about other rotation axes (e.g., the second rotation axis AX2).

[0064] Note that, although the above description is of a case where the operation method determination unit 53 functions as a rotation limiting unit, examples of the rotation limiting unit are not limited to this. For example, the work system 1 may have a rotation limiting unit that structurally limits rotation of the object 10 around a rotation axis other than the first rotation axis AX1. For example, the work system 1 may have, as a rotation limiting unit, a locking mechanism that locks rotation around other rotation axes when the object 10 rotates around the first rotation axis AX1.

[0065] In addition, the operation method determination unit 53 in this embodiment also functions as an input restriction unit that restricts the input by the operator U to an input that causes the work robot 40 to rotate the object 10 around the first rotation axis AX1 when the object 10 rotates around the first rotation axis AX1.

[0066] For example, if it is estimated that the operator U has the intention to "have the work robot 40 perform a third task," the operation method determination unit 53 may limit (convert) the information on the input made by the operator U by operating the controller 82 to an input for moving the work robot 40 (e.g., the hand H, the finger F, and the arm A) along a predetermined trajectory. Furthermore, if a task based on the first task is in progress, the operation method determination unit 53 may limit (convert) the information on the input made by the operator U by operating the controller 82 to an input for moving the work robot 40 (e.g., the hand H, the finger F, and the arm A) along a predetermined trajectory.

[0067] Here, the above-mentioned "predetermined trajectory" refers to a trajectory along which the working robot 40 rotates the object 10 about the first rotation axis AX1. For example, if the position and shape of the holding mechanism 20 (hand 22, etc.) are known, it is possible to calculate in advance the trajectory that each part of the working robot 40 (hand H, finger F, arm A, etc.) should trace when the working robot 40 grasps the handle 22 and rotates the object 10 about the first rotation axis AX1. This trajectory corresponds to the "predetermined trajectory." Even if the operator U has the intention to "have the working robot 40 perform a third task," the input that the operator U makes by actually operating the controller 82 does not necessarily follow this "predetermined trajectory." In other words, the input that the operator U makes by actually operating the controller 82 may deviate from the "predetermined trajectory." Because the operator U indirectly views the image of the work robot 40 on the HMD 81, he or she may not be able to accurately grasp the positional relationship between the work robot 40 and the handle unit 22 (for example, the positional relationship in the depth direction (sense of distance)). This is one example of a factor that can cause such input deviation. Even when such input deviation occurs, the operation method determination unit 53, which functions as an input restriction unit, can restrict (convert) the input by the operator U to an input that follows a "predetermined trajectory," thereby enabling smooth rotation of the target object 10 about the first rotation axis AX1. For example, the operation method determination unit 53 may restrict (convert) the input by the operator U to information about the position and speed on the "predetermined trajectory."

[0068] The control amount determination unit 54 determines the operation method and operation force for the work robot 40 from the information acquired by the acquisition unit 51 and the information determined by the operation method determination unit 53, and reflects these in the control instructions. The control amount determination unit 54 transmits the reflected control instructions to the work robot 40.

[0069] <Method for estimating intention> Here, an example of an intention estimation method will be described. The intention estimation unit 52 estimates the intention of the operator U by, for example, the GRASP Taxonomy method (see, for example, Reference 1). In this embodiment, the operator U's operational intention is estimated by classifying the operator state by classifying the posture of the operator U or the work robot 40 using, for example, a grasptaxonomy method. The intention estimation unit 52 estimates the operator U's operational intention, for example, by inputting operator state information into a trained model stored in the intention estimation unit 52. In this embodiment, by performing intention estimation based on the classification of the operator state, the operator's operational intention can be estimated with high accuracy. Note that other methods may also be used to classify the operator state.

[0070] Reference 1; Thomas Feix, Javier Romero, et al., “The GRASP Taxonomy of Human Grasp Types” IEEE Transactions on Human-Machine Systems (Volume: 46, Issue: 1, Feb. 2016), IEEE, p66-77

[0071] The intention estimation unit 52 may also perform an integrated estimation using the gaze and arm movements. In this case, the intention estimation unit 52 may input gaze information, hand movement information, and object position information into a trained model to estimate the operator U's intention.

[0072] The intention estimation unit 52 first estimates the object to be grasped, for example, based on operator state information. The intention estimation unit 52 estimates the object to be grasped, for example, based on gaze information. Next, the intention estimation unit 52 estimates the posture of the hand of the operator U based on the estimated object to be grasped.

[0073] Alternatively, the intention estimation unit 52 first estimates the hand posture of the operator U based on, for example, the operator state information. Next, the intention estimation unit 52 estimates an object that the operator U wants to grasp from the estimated hand posture of the operator U.

[0074] Furthermore, intention estimation section 52 may estimate in advance the future trajectory of the hand intended by operator U, based on operator state information and state information of work robot 40.

[0075] In addition, the intention estimation unit 52 may also use the detection results detected by the operator sensor 72, the results of image processing of the image captured by the environment sensor 71, etc. to estimate the object to be operated and the position of the object.

[0076] <Effects of Work System 1> Next, the operation of the work system 1 configured as above will be described.

[0077] Fig. 4 is a diagram showing an example of an operation performed in a conventional operation system. Specifically, the left side of Fig. 4 shows a state in which the operation of transferring (dropping) the contents (powder) contained in inner bag 13, which contains bag-shaped object 10, into a predetermined container 91 has been completed and opening / closing mechanism 13a has been closed. In the illustrated example, by opening opening / closing mechanisms 11a, 13a, and 13b while inserting object 10 into funnel 92, the contents (not shown) contained in inner bag 13 fall into container 91 due to gravity.

[0078] The right side of Figure 4 shows the operation of pushing inner bag 13 into object 10 after the above operations are completed. At this time, opening 11 of object 10 is fixed facing downward in the direction of gravity Y. Therefore, due to the influence of gravity, inner bag 13 slides downward, and at least a part of inner bag 13 tends to fall out of object 10 through opening 11. For this reason, depending on the robot, it may be difficult to perform this pushing operation, i.e., the operation of pushing inner bag 13 upward in the direction of gravity Y.

[0079] To solve this problem, the working system 1 according to this embodiment includes a rotation mechanism (holding mechanism 20) for rotating the object 10 around a first rotation axis AX1 extending horizontally. As a result, after the task of transferring the contents into a container 91 (not shown in FIG. 5 ) (corresponding to the first task described above) is completed, the object 10 can be rotated to change its orientation (see FIG. 5 ). Specifically, the orientation of the object 10 can be changed from an initial orientation in which the loading / unloading opening 11 faces downward in the direction of gravity Y to an orientation (pushing orientation) in which the loading / unloading opening 11 faces in a direction other than downward in the direction of gravity Y. Note that this orientation change (rotation of the object 10) may be performed by the working robot 40 operating the holding mechanism 20 (rotation mechanism) (corresponding to the third task described above).

[0080] By changing the posture of object 10 (the orientation of loading / unloading opening 11) in this way, inner bag 13 is less likely to slip off in the pushing posture compared to the initial posture. Therefore, at least a portion of inner bag 13 is less likely to fall out of object 10 through loading / unloading opening 11. This makes it easier for working robot 40 to perform the task of pushing inner bag 13 into object 10 (corresponding to the fifth task described above). Therefore, the work efficiency of working robot 40 can be improved.

[0081] In the above example, the first rotation axis AX1 is described as extending in the horizontal direction, but the direction in which the first rotation axis AX1 extends can be changed as long as it intersects with the direction of gravity Y. In other words, the first rotation axis AX1 may extend in a direction inclined with respect to the horizontal direction. Such a first rotation axis AX1 can also change the orientation of the target object 10 from the initial orientation to an orientation in which the loading / unloading opening 11 faces in a direction other than downward in the direction of gravity. Note that the direction in which the first rotation axis AX1 extends is preferably set so that the loading / unloading opening 11 faces upward rather than horizontally in the changed orientation.

[0082] In this embodiment, the target object 10 is configured to be swingable (rotatable) around the second rotation axis AX2 extending in the direction of gravity Y. Therefore, when transferring the contents to the container 91, swinging (rotating) the target object 10 around the second rotation axis AX2 makes it easier for the contents to fall into the container 91. This improves work efficiency. Note that such swinging (rotating) of the target object 10 may be performed by the working robot 40 operating the holding mechanism 20 (corresponding to the fourth task described above).

[0083] <Summary> As described above, the working system 1 according to this embodiment is a working system that performs work on a bag-shaped object 10, and includes a rotation mechanism (holding mechanism 20) for rotating the object 10 around a rotation axis (first rotation axis AX1) that extends so as to intersect with the direction of gravity Y, and a working robot 40 that performs work on the object 10. This configuration can improve the working efficiency of the working robot 40.

[0084] Furthermore, the working robot 40 rotates the object 10 around the rotation axis (first rotation axis AX1) by operating the rotation mechanism (holding mechanism 20). With this configuration, the object 10 can be rotated without, for example, providing a separate drive mechanism for rotating the object 10. This makes it easier to simplify the configuration of the working system 1.

[0085] The working system 1 according to this embodiment further includes a rotation restriction unit (operation method determination unit 53) that restricts the object 10 from rotating around a rotation axis other than the rotation axis (first rotation axis AX1) when the object 10 rotates around the rotation axis (first rotation axis AX1). This configuration allows the object 10 to be smoothly rotated around the first rotation axis AX1.

[0086] Furthermore, working system 1 according to this embodiment further includes an input restriction unit (operation method determination unit 53), and working robot 40 is a remotely controlled robot that operates based on input from operator U. When object 10 rotates around the rotation axis (first rotation axis AX1), input restriction unit (operation method determination unit 53) restricts input from operator U to input that causes remotely controlled robot (working robot 40) to rotate object 10 around the rotation axis (first rotation axis AX1). This configuration enables object 10 to be smoothly rotated around first rotation axis AX1.

[0087] <Modification> The technical scope of the present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the spirit of the present invention.

[0088] FIG. 6 is a schematic diagram showing a working system 2 according to a modified example of the present invention. The configuration of this modified example is basically the same as the configuration of the above-described embodiment. Therefore, the same components are given the same reference numerals and their description will be omitted, and only the differences will be described. As shown in FIG. 6, the working system 2 according to this modified example further includes a rotation control unit 61, a weight sensor 62, and an actuator 63.

[0089] The weight sensor 62 is provided on the connection base 25. The weight sensor 62 acquires information related to the weight of the contents contained in the object 10. Specifically, the weight sensor 62 according to this embodiment acquires information on the load (the total weight of the connection portion 23, the pivot portion 24, the frame portion 21, the handle portion 22, the object 10, and the contents of the object 10) applied to the connection base 25 (weight sensor 62). The weight sensor 62 outputs the acquired information to the rotation control portion 61. The weight sensor 62 may also output the acquired information to a control means other than the rotation control portion 61.

[0090] The actuator 63 is provided on the pivot support 24. The actuator 63 operates to rotate the object 10 around the first rotation axis AX1 under the control of the rotation control unit 61. The actuator 63 may include a motor for rotating the object 10 (frame 21) around the first rotation axis AX1, an encoder for acquiring the rotation angle of the motor, and the like. The encoder may output the acquired information to the rotation control unit 61, other control means, or the like.

[0091] The rotation control unit 61 controls the operation of the actuator 63. The rotation control unit 61 according to this embodiment controls the operation of the actuator 63 so as to be linked with the operation of the work robot 40.

[0092] For example, when the work robot 40 performs the first task (rotating the object 10) described above, the rotation control unit 61 determines whether the remaining amount of the contents stored in the object 10 is less than a predetermined value. This determination is made, for example, based on information output from the actuator 63 and load information previously stored in a memory unit (not shown). Note that the load information may include information on the weight of the connection unit 23, the pivot support unit 24, the frame unit 21, the handle unit 22, the object 10, and the contents of the object 10. If it is determined that the remaining amount of the contents is less than the predetermined value, the rotation control unit 61 operates the actuator 63 to rotate the object 10 about the first rotation axis AX1.

[0093] As a result, in conjunction with the completion of the first task by the working robot 40, the actuator 63 operates to change the posture of the target object 10 from the initial posture described above to the pushing posture. Therefore, the working robot 40 does not need to rotate the target object 10 to perform the fifth task (pushing the inner bag 13) described above, which reduces the workload on the working robot 40. This allows for further improvement in work efficiency.

[0094] As described above, the work system 2 according to this modified example further includes an actuator 63 that operates to rotate the target object 10 about the rotation axis (first rotation axis AX1), and a rotation control unit 61 that controls the operation of the actuator 63 so as to be linked to the operation of the work robot 40. This configuration can further improve work efficiency.

[0095] The work system 2 may further include an actuator (second actuator) for rotating the target object 10 about the second rotation axis AX2. The rotation control unit 61 may then control the operation of the second actuator so as to be linked to the operation of the work robot 40.

[0096] <Other variations> In the above example, the operator U wears the HMD 81, but this is not limiting. Detection of gaze information and provision of a robot state image to the operator U may be achieved by, for example, a combination of a sensor and an image display device.

[0097] Furthermore, the working robot 40 may be, for example, a bipedal robot or a fixed robot.

[0098] Furthermore, while in the above example the working robot 40 was a remotely operated robot, the type of working robot 40 is not limited to this. For example, the working robot 40 may be a free-standing (autonomous) robot. In this case, the working systems 1 and 2 do not need to have a remote operation control device 50. Furthermore, the working robot 40 may have the function of the rotation limiting unit described above.

[0099] In addition, a program for implementing all or part of the operation systems 1 and 2 of the present invention may be recorded on a computer-readable recording medium, and the program recorded on the recording medium may be loaded into a computer system and executed to perform all or part of the processing performed by the operation systems 1 and 2. Note that the term "computer system" as used herein includes hardware such as an OS and peripheral devices. The term "computer system" also includes a WWW system equipped with a homepage provision environment (or display environment). The term "computer-readable recording medium" refers to portable media such as flexible disks, optical magnetic disks, ROMs, and CD-ROMs, as well as storage devices such as hard disks built into computer systems. The term "computer-readable recording medium" also includes devices that retain programs for a certain period of time, such as volatile memory (RAM) within computer systems that act as servers or clients when a program is transmitted via a network such as the Internet or a communication line such as a telephone line.

[0100] The program may also be transmitted from a computer system storing the program in a storage device or the like to another computer system via a transmission medium or by transmission waves in the transmission medium. Here, the "transmission medium" that transmits the program refers to a medium that has the function of transmitting information, such as a network (communication network) such as the Internet or a communication line (communication line) such as a telephone line. The program may also be a program that realizes part of the above-mentioned functions. Furthermore, the program may be a so-called differential file (differential program) that can realize the above-mentioned functions in combination with a program already recorded in the computer system.

[0101] In addition, it is possible to replace the components in the above-described embodiments with well-known components as appropriate, and the above-described embodiments and variations may be combined as appropriate, without departing from the spirit of the present invention. [Explanation of symbols]

[0102] 1, 2...Work system 10...Object 20...Holding mechanism (rotation mechanism) 40...Work robot 53...Operation method determination unit (rotation limiting unit, input limiting unit) 61...Rotation control unit 63...Actuator Y...Gravity direction AX1...First rotation axis (rotation axis) U...Operator

Claims

1. A work system for performing work on a bag-shaped object, a rotation mechanism for rotating the object around a rotation axis extending so as to intersect with the direction of gravity; a working robot that performs work on the object, Working system.

2. an actuator that operates to rotate the object around the rotation axis; a rotation control unit that controls the operation of the actuator so as to be linked to the operation of the work robot, The work system according to claim 1 .

3. the work robot operates the rotation mechanism to rotate the object around the rotation axis; The work system according to claim 1 .

4. a rotation limiting unit that limits rotation of the object around a rotation axis other than the rotation axis when the object rotates around the rotation axis, The work system according to claim 2 or 3.

5. further comprising an input limiting unit; the working robot is a remote-controlled robot that operates based on input from an operator, the input limiting unit limits an input by the operator to an input for causing the remote-controlled robot to rotate the object around the rotation axis when the object rotates around the rotation axis. The work system according to claim 3 .

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