Robot system

Abstract

To provide a robot system that can notify a user of influence on a sensor by a surrounding environment.SOLUTION: A robot system 2 comprises: a robot 4; a sensor 6 having a sensing electrode provided on the robot 4, which outputs a sensor value corresponding to an electrostatic capacitance generated between the sensing electrode and an object; and a control device 7 that operates and controls the robot 4. The control device 7 comprises: a control part that makes the robot 4 operate to a work-piece; an executing part that makes the robot 4 execute predetermined operation in a state where there is no person around the robot 4, before the control part makes the robot 4 operate; a determining part that determines whether the sensor value is out of a reference range or not, in the predetermined operation of the robot by the executing part; and a notifying part that notifies a user of information concerning a determined result by the determining part, before the control part makes the robot 4 operate.SELECTED DRAWING: Figure 1

Description

[Technical Field]

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

[0002] There are cases where humans and robots work together to perform tasks on a workpiece. Robots used in such cases are called collaborative robots. Collaborative robots share the same work environment with humans, so safety for humans is required. For this reason, collaborative robots are sometimes equipped with capacitance sensors that can detect nearby objects.

[0003] Capacitive sensors can detect nearby objects, making it possible to detect, for example, a person approaching. However, capacitive sensors can be affected by surrounding equipment, etc., and noise (offset components) can occur in the sensor values. This noise appears as an offset component due to the influence of surrounding equipment, etc.

[0004] For example, Patent Document 1 describes correcting a reference output value and comparing it with a threshold value in order to suppress the influence of the surrounding environment. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Publication No. 2019-136790 Summary of the Invention [Problem to be solved by the invention]

[0006] Here, if the surrounding environment, such as equipment located nearby, has a large effect, large noise (offset components) will appear in the sensor value, which may result in a decrease in detection accuracy or false detection. Although Patent Document 1 discloses that correction is performed for detection, it is difficult for users to recognize the effect of the surrounding environment on the sensor.

[0007] In view of the above-mentioned problems, an object of the present invention is to provide a robot system that can notify a user of the influence of the surrounding environment on a sensor. [Means for solving the problem]

[0008] In order to solve the above problem, the robot system of the present invention comprises a robot, a sensor having a detection electrode provided on the robot and outputting a sensor value corresponding to the capacitance generated between the detection electrode and an object, and a control device that controls the operation of the robot, wherein the control device comprises a control unit that causes the robot to operate relative to a workpiece, an execution unit that causes the robot to perform a predetermined operation when there is no one around the robot before the control unit operates the robot, a determination unit that determines whether the sensor value falls outside a reference range during the predetermined operation by the execution unit, and a notification unit that notifies information regarding the determination result of the determination unit before the control unit operates the robot.

[0009] In addition, in the robot system, the notification unit displays the operation flow of the robot and also displays the part of the operation flow that, when the robot is operated in accordance with the operation flow, results in a state equivalent to the state in which the determination unit determines that the sensor value is outside the reference range.

[0010] In addition, in the robot system, the notification unit displays the space including the robot, and also displays the part of the space that, when the robot is made to operate, will be in a state equivalent to the state in which the judgment unit has determined that the sensor value is outside the reference range.

[0011] In the robot system, the control device further includes a receiving unit that receives an instruction from a user to disable detection by the sensor after the notification unit has issued the notification.

[0012] In addition, the robot system further includes an auxiliary sensor that detects when the robot has entered a predetermined operating state, and the control device further includes an invalidation unit that invalidates the detection by the sensor when the auxiliary sensor detects that the robot has entered the predetermined operating state.

[0013] In the robot system, the notification unit distinguishes between whether the detection by the sensor is in a valid state or an invalid state and notifies the user accordingly. [Effects of the Invention]

[0014] According to the robot system of the present invention, it is possible to notify the user of the influence of the surrounding environment on the sensor. [Brief explanation of the drawings]

[0015] [Figure 1] 1 is a schematic diagram showing an example of the overall configuration of a robot system according to a first embodiment of the present invention. [Figure 2] 2 is a diagram showing an example of a specific configuration of the sensor in FIG. 1 together with a control device. FIG. [Figure 3] 3 is a diagram showing an example of a notification by the notification unit of FIG. 2. FIG. [Figure 4] 3 is a diagram showing an example of a notification by the notification unit of FIG. 2. FIG. [Figure 5] 2 is a flowchart showing an example of a processing flow of the control device of FIG. 1. [Figure 6] FIG. 10 is a schematic diagram showing an example of the overall configuration of a robot system according to a second embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0016] Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. To facilitate understanding of the description, the same components in the drawings will be denoted by the same reference numerals as much as possible, and duplicate descriptions will be omitted where appropriate.

[0017] ===First Embodiment=== First, the first embodiment will be described.

[0018] <Overall structure> FIG. 1 is a diagram schematically illustrating an example of the overall configuration of a robot system 2 according to a first embodiment of the present invention. The sensor 6, which is a capacitance-type sensor, includes a proximity sensor and a displacement sensor. That is, the sensor 6 may be a sensor that detects proximity or a sensor that detects displacement. In this embodiment, a case where the sensor 6 is a proximity sensor will be described as an example.

[0019] The robot system 2 is an industrial robot that performs processes such as machining and transporting a workpiece. The robot system 2 also uses, for example, a collaborative robot that works in the same space as a person.

[0020] As shown in FIG. 1, the robot system 2 mainly includes a robot 4, a sensor 6, and a control device .

[0021] The robot 4 is an articulated robot having multiple arms and multiple joints. Specifically, the robot 4 includes a base 5, a first arm A1, a second arm A2, a third arm A3, and a fourth arm A4. The number of arms provided is not limited. The base 5 is fixed to the floor and supports the entire robot 4. The first arm A1 is connected to the base 5 via a rotation shaft. The first arm A1 is rotated around the rotation shaft relative to the base 5 by a motor (not shown). The second arm A2 is connected to the first arm A1 via a rotation shaft and rotates around the rotation shaft by a motor (not shown). The third arm A3 is connected to the second arm A2 via a rotation shaft and rotates around the rotation shaft by a motor (not shown). The fourth arm A4 is connected to the third arm A3 via a rotation shaft and rotates around the rotation shaft by a motor (not shown). A tool 9 is attached to the tip of the fourth arm A4. By moving each joint, the robot 4 performs a predetermined operation and uses the tool 9 to perform a predetermined process on a workpiece.

[0022] The sensor 6 is a capacitance sensor that detects an object such as a person within a detection area in a predetermined direction. The sensor 6 is provided on the robot 4. For example, the sensor 6 is provided on the fourth arm A4. The sensor 6 may be provided on another part of the robot 4 or on multiple arms, and the installation position is not limited. In the above example, the sensor 6 is provided on the arm. However, as long as at least the detection electrode 25 of the sensor 6, which will be described later, is provided on the arm, other components of the sensor 6 may not be provided on the arm.

[0023] 2 is a diagram showing an example of a specific configuration of the sensor 6 together with the control device 7. The sensor 6 is configured to include a detection electrode 25. The detection electrode 25 configures a part of an RC bridge circuit 29.

[0024] In the sensor 6, an arbitrary waveform generator 21 uses a ground potential (GND potential) as a reference potential and generates a sine wave voltage or square wave voltage of a predetermined frequency, which is input to an RC bridge circuit 29. A resistor 22 and a capacitor 23 are electrically connected to the arbitrary waveform generator 21. One end of a resistor 24 is electrically connected to the arbitrary waveform generator 21, and the other end is electrically connected to a detection electrode 25.

[0025] The detection electrode 25 is electrically connected to the resistor 24. The detection electrode 25 has, for example, a flat plate shape. The detection electrode 25 generates an electric field. The region of the generated electric field becomes the detection area, and an object that enters the detection area is detected. Specifically, the detection electrode 25 forms a capacitance with an object that enters the detection area. FIG. 2 shows a person H as an example of an object. It is assumed that the potential of the person H is equivalent to the reference potential. A shield electrode connected to the reference potential or an active shield electrode with the same potential as the detection electrode 25 may be provided on the opposite side of the detection area of ​​the detection electrode 25.

[0026] The instrumentation amplifier 26 has a negative input terminal electrically connected between the resistor 22 and the capacitor 23, and a positive input terminal electrically connected between the resistor 24 and the detection electrode 25, and performs differential amplification and outputs the signal to the lock-in amplifier 27. The lock-in amplifier 27 synchronously detects the signal from the arbitrary waveform generator 21 as a reference signal, and outputs a signal (sensor value) via the A / D converter 28. In this way, the sensor value output from the sensor 6 corresponds to the capacitance generated in accordance with the state (distance) between the detection electrode 25 and the object. Note that the specific circuit configuration of the sensor 6 is not limited to that shown in FIG. 2, as long as a sensor value corresponding to the capacitance formed in the detection electrode 25 is output.

[0027] The control device 7 is an information processing device that controls the operation of the robot 4. The control device 7 is configured to include, for example, a CPU, a memory, a communication device, a storage device, an operation device, and a display device, and performs various functions by executing predetermined programs.

[0028] 2 shows functional blocks included in the control device 7. The control device 7 includes a control unit 31, an execution unit 32, a recording unit 33, a correction unit 34, a determination unit 35, a notification unit 36, a reception unit 37, and an invalidation unit 38.

[0029] The control unit 31 controls the operation of each arm of the robot 4 and the tool 9 to operate the robot 4 relative to the workpiece. The operation of the robot 4 relative to the workpiece is taught in advance by the user. For example, the control unit 31 causes the robot 4 to perform an operation of gripping the workpiece with the tool 9 and transporting the workpiece from one position to another.

[0030] The control unit 31 also has a stopping function. The control unit 31 stops the operation of the robot 4 using the sensor value output from the sensor 6. Specifically, if the sensor 6 is a proximity sensor, the control unit 31 compares the sensor value with a threshold value to determine whether an object such as a person H is in proximity to the robot 4. Then, if the sensor value indicates that an object is in proximity to the robot 4, the control unit 31 stops the operation of the robot 4. For example, if a collaborating person H gets too close to the robot 4, the operation of the robot 4 is stopped even if the robot 4 is in the middle of operating. The threshold value is set to, for example, an initial value, and is corrected by the correction unit 34, which will be described later.

[0031] As described above, the robot 4 is operated relative to the workpiece by the control unit 31. Before the robot 4 is actually operated relative to the workpiece, processing is performed by the execution unit 32 and the like to grasp the surrounding environment.

[0032] The execution unit 32 operates the robot 4 before the control unit 31 operates the robot 4 in order to grasp the surrounding environment. Specifically, the execution unit 32 causes the robot 4 to perform a predetermined operation when there is no person H around the robot 4. The predetermined operation is a pre-set operation of the robot 4. Specifically, the predetermined operation is the same as an operation that moves the robot 4 comprehensively or an operation that the control unit 31 causes the robot 4 to perform on a workpiece.

[0033] In this embodiment, a case will be described as an example in which the predetermined operation is an operation of moving the robot 4 comprehensively as the "first operation," and the same operation as the operation that the control unit 31 causes the robot 4 to execute as the "second operation." Note that the first operation of moving the robot 4 comprehensively differs from the second operation in that it causes the robot 4 to perform various operations within the operating range of the robot 4. If a device other than the robot 4 operates when the control unit 31 operates the robot 4, it is preferable that the execution unit 32 also operates the device together with the operation of the robot 4 as the second operation.

[0034] In this way, the execution unit 32 causes the robot 4 to execute the first action and the second action in a state where there is no person H around the robot 4, in order to grasp the surrounding environment of the robot 4. When the execution unit 32 causes the robot 4 to operate, the action is performed in a state where there is no person H around the robot 4, and therefore, for example, the stop function of the control unit 31 is in an OFF state (disabled state).

[0035] When the execution unit 32 causes the robot 4 to perform an action, the recording unit 33 sequentially records the position (coordinates) of the sensor 6 and the sensor value in association with each other. Specifically, the recording unit 33 acquires and records the position and sensor value of the sensor 6 at a predetermined control period while the robot 4 is performing the first action or the second action. Note that the position of the sensor 6 may be estimated from the posture of the robot 4, or the position of the sensor 6 may be measured.

[0036] The sensor value is an ideal value (for example, 0) when there is no person H present. However, if the sensor value is affected by the equipment around the robot 4, a deviation from the ideal value occurs. In other words, the influence of the surrounding environment of the robot 4 appears as noise (offset component) in the sensor value. The sensor value obtained by the operation of the execution unit 32 becomes information indicating the noise component (offset component) that depends on the surrounding environment of the robot 4, because the operation is performed when there is no person H around the robot 4. In other words, the recording unit 33 records the position of each sensor 6 and the sensor value indicating the noise component (offset component) corresponding to that position in association with each other.

[0037] The correction unit 34 corrects the threshold value used in the stop function of the control unit 31. Specifically, the correction unit 34 corrects the threshold value of the stop function so as to suppress the influence of noise (offset component) due to the surrounding environment. For example, when the sensor 6 is at position P1 and the sensor value is V1, the correction unit 34 adds (or subtracts) V1 from the initial value of the threshold value of the stop function corresponding to the position of P1. That is, the correction unit 34 corrects the threshold value in association with each position of the sensor 6 recorded in the recording unit 33. For example, the threshold value is recorded by the recording unit 33 in association with the position of each sensor 6 and is referenced by the control unit 31.

[0038] Note that, when multiple sensor values ​​corresponding to the same position are acquired in the first and second movements, the correction unit 34 may correct the threshold value for each of the first and second movements individually. Note that, for example, information such as posture information (shaft angle information) of the robot 4 and the position (coordinates) of the TCP (tool center point) of the robot 4 may be associated with the position of the sensor 6 to distinguish the position of the sensor 6 in the first and second movements. For example, even if the position of the sensor 6 is the same in the first and second movements, if the shaft angle information is different, it is possible to distinguish between different states. Furthermore, when multiple sensor values ​​corresponding to the same position are acquired, the threshold value may be corrected using a sensor value that is significantly different from the ideal value.

[0039] The determination unit 35 determines whether the sensor values ​​acquired by the execution unit 32 when the robot 4 is operated fall outside a reference range. The reference range is set in advance so as to include ideal values ​​for the sensor values. The determination unit 35 executes a determination process for the sensor values ​​corresponding to the positions of the sensors 6 recorded by the recording unit 33. Then, the position of the sensor 6 where the sensor value falls outside the reference range is identified.

[0040] If the sensor value falls outside the reference range, it will be significantly affected by the surrounding environment and contain a large amount of noise (offset components). In such cases, the sensor value will deviate significantly from the ideal value. If the sensor value falls outside the reference range, the detection accuracy of the sensor may decrease.

[0041] The determination unit 35 determines the position of the sensor 6 where the sensor value is within the reference range as a "normal position," and the position of the sensor 6 where the sensor value is outside the reference range as an "abnormal position." The recording unit 33 records the "normal position" or "abnormal position" corresponding to each position of the sensor 6.

[0042] The notification unit 36 ​​notifies the user of information related to the determination result of the determination unit 35. The notification unit 36 ​​notifies the user of an abnormal location as information related to the determination result of the determination unit 35. Specifically, when the robot 4 is operated, the notification unit 36 ​​notifies the user of a location that is in a state equivalent to the state in which the determination unit 35 determines that the sensor value is outside the reference range as an abnormal location. In this embodiment, this state is the state of the position of the sensor 6. Note that this state is not limited to the position of the sensor 6, as long as it is information indicating a state in which the determination unit 35 determines that the sensor value is outside the reference range. Note that as long as the determination result is notified to the user, notification of an abnormal location is not limited to the case.

[0043] The notification unit 36 ​​notifies the user by displaying a message on a predetermined display device. The predetermined display device may be, for example, a display device provided in the control device 7, a teaching pendant, a mobile terminal, or the like. Note that the notification method by the notification unit 36 ​​is not limited to display, and notification methods such as sound may also be used. The display device may also be an indicator light provided on the robot 4. The indicator light may be, for example, an LED provided in a collaborative robot to indicate collaboration mode.

[0044] FIG. 3 is a diagram showing an example of notification by the notification unit 36. As shown in FIG. 3, the notification unit 36 ​​displays the operation flow of the robot 4. The operation flow is a diagram showing the flow of operations to be performed by the robot 4. For example, the operation flow is a flow of operations to be performed by the control unit 31. FIG. 3 shows a case where the robot 4 performs operations in the order of step M1, step M2, step M3, and step M4. By performing operations from step M1 to step M4, the robot 4 can be caused to perform a series of operations.

[0045] The notification unit 36 ​​displays an abnormal location where the position of the sensor 6 (the state of the sensor 6) is equal to the abnormal location when the robot 4 is operated according to the operation flow. FIG. 3 shows an abnormal location K1 in the operation flow, where the position of the sensor 6 is equal to the abnormal location between the midpoint N1 between the steps M1 and M2 and the midpoint N2 between the steps M2 and M3. FIG. 3 also shows an abnormal location K2 in the operation flow, where the position of the sensor 6 is equal to the abnormal location between the midpoint N3 and the midpoint N4 between the steps M3 and M4. In this way, the notification unit 36 ​​provides the user with an abnormal location in the operation flow where the position of the sensor 6, which moves along with the operation of the robot 4, is equal to the abnormal location.

[0046] In the example of Figure 3, an operation flow is displayed to provide notification, but the notification unit 36 ​​may also operate the robot 4 according to the operation flow and issue a notification by emitting a sound during the operation corresponding to the abnormal point K1 or the abnormal point K2.

[0047] FIG. 4 is a diagram showing another example of notification by the notification unit 36. As shown in FIG. 4, the notification unit 36 ​​displays a space including the robot 4. While FIG. 4 illustrates a case where a three-dimensional space is displayed, a two-dimensional space may also be used. The notification unit 36 ​​displays an abnormality location where the position of the sensor 6 is the same as the abnormality location when the robot 4 performs the same operation as the operation instructed by the control unit 31. FIG. 4 illustrates a case where the position of the sensor 6 is the same as the abnormality location in space as abnormality locations K3 and K4 relative to the position of the robot 4. In other words, the abnormality locations K3 and K4 are abnormal areas corresponding to the operation of the robot 4. Note that, as shown in FIG. 4, the abnormality area is preferably notified as an area extending upward from the floor surface. Note that the floor surface refers to the surface of the floor where a person enters for work (i.e., the surface on which a person stands). In other words, the abnormality area is preferably set to cover an area where a person may be present. For example, if the base 5 of the robot 4 is higher than the floor surface, the abnormality area may be set from an area lower than the base 5.

[0048] 3 and 4 have been described above as examples of notification methods by the notification unit 36, but the notification method is not limited thereto. Furthermore, when multiple sensors 6 are provided, notification may be made for each sensor 6, or the results of the multiple sensors 6 may be collectively notified.

[0049] The notification unit 36 ​​issues a notification before the control unit 31 operates the robot 4. That is, the notification unit 36 ​​issues a notification before the control unit 31 actually operates the robot 4 on a workpiece. That is, the notification unit 36 ​​issues a notification before a person is present around the robot 4 or before a person is able to enter the area around the robot 4.

[0050] Returning to Fig. 2, after the notification unit 36 ​​has issued a notification, the reception unit 37 receives an instruction from the user to disable detection by the sensor 6. Even if the person H is not approaching, the abnormality location notified by the notification unit 36 ​​may be falsely detected by the sensor 6, causing the robot 4 to erroneously stop. For this reason, the user can issue an instruction to turn the sensor 6 to the OFF state.

[0051] For example, the user specifies the abnormal location K1 or K2 shown in Fig. 3, or the abnormal location K3 or K4 shown in Fig. 4. The range (area) to be invalidated may be arbitrarily set by the user.

[0052] The disabling unit 38 disables detection by the sensor 6 in response to the disabling instruction received by the receiving unit 37. That is, the disabling unit 38 turns off the operating state of the sensor 6. Specifically, the disabling unit 38 disables detection by the sensor 6 based on an instruction from the user while the control unit 31 is operating the robot 4. For example, when a disabling instruction is received for the abnormal portion K1, the disabling unit 38 disables detection by the sensor 6 while the robot 4 is performing an operation corresponding to the abnormal portion K1. This prevents the robot 4 from erroneously stopping due to erroneous detection by the sensor 6, allowing the robot 4 to operate smoothly. Note that when multiple sensors 6 are provided on the robot 4, the instruction to disable the sensor 6 can be given for each sensor 6.

[0053] When the sensor 6 is disabled, it is preferable to take measures to prevent people from entering the disabled area.

[0054] When the sensor 6 is set to be disabled as described above, it is preferable that the notification unit 36 ​​distinguishes between whether detection by the sensor 6 is in an enabled state or an disabled state and notifies the user accordingly. Specifically, while the detection by the sensor 6 is disabled while the robot 4 is in operation by the control unit 31, the notification unit 36 ​​notifies the user that the sensor 6 is in an disabled state. For example, when detection by the sensor 6 is in an disabled state, the notification unit 36 ​​turns on the lamp shown in FIG. 1 to notify the user. This allows the user to recognize the detection state of the sensor 6.

[0055] <Processing flow> 5 is a flowchart showing an example of the processing flow of the control device 7 according to this embodiment. Each of the following steps is executed, for example, in response to a start instruction from the user. Note that the order and content of each of the following steps can be changed as appropriate.

[0056] (Step SP10) The execution unit 32 causes the robot 4 to start a predetermined action in a state where there is no person H around the robot 4. Then, the process proceeds to step SP11.

[0057] (Step SP11) The recording unit 33 starts measuring time, and the process then proceeds to step SP12.

[0058] (Step SP12) The recording unit 33 determines whether the measured time has reached a predetermined value. If the time has reached the predetermined value, the process proceeds to step SP13, and if the time has not reached the predetermined value, step SP11 is repeatedly executed.

[0059] (Step SP13) The recording unit 33 acquires the position of the sensor 6 and the sensor value, and records them in association with each other. Then, the process proceeds to step SP14.

[0060] (Step SP14) The execution unit 32 determines whether or not the operation of the robot 4 has ended. If the operation of the robot 4 has not ended, the process returns to step SP11 and is executed. If the operation of the robot 4 has ended, the process proceeds to step SP15.

[0061] (Step SP15) The determination unit 35 refers to the recorded correspondence information between the positions of the sensors 6 and the sensor values, and identifies the positions of the sensors 6 where the sensor values ​​are outside the reference range. Then, the process proceeds to step SP16.

[0062] (Step SP16) The determination unit 35 sets the position of the sensor 6 where the sensor value is outside the reference range as an abnormal position. Note that the positions of the sensor 6 other than the position of the sensor 6 set as an abnormal position are set as normal positions. Then, the processing proceeds to step SP17.

[0063] (Step SP17) The notification unit 36 ​​notifies the user of the abnormal location based on the determination result of the determination unit 35. Then, the process proceeds to step SP18.

[0064] (Step SP18) The receiving unit 37 receives an instruction to disable detection by the sensor 6 from the user.

[0065] In this way, the environment around the robot 4 is grasped and any abnormalities are notified as a preliminary step before the control unit 31 controls the robot 4 with respect to the workpiece. When the control unit 31 operates the robot 4, the disabling unit 38 disables the notification from the sensor 6 in accordance with the instruction received in step SP18.

[0066] In the above flow, an example is shown in which the judgment unit 35 performs judgment processing after the execution unit 32 completes its operation, but the judgment unit 35 may also perform judgment processing in parallel with the operation by the execution unit 32.

[0067] <Action and effect> As described above, in this embodiment, it is determined whether the sensor value falls outside the reference range when the robot 4 is operated in a state where there is no one around, and information about the determination result is notified. Therefore, the user can recognize that the sensor value falls outside the reference range due to the influence of the surrounding environment. In other words, the user can recognize the influence of the surrounding environment on the sensor 6.

[0068] Furthermore, by being notified of points in the operation flow where the sensor value is outside the reference range, the user can recognize points in the operation flow where the surrounding environment has a large effect on the sensor value.

[0069] Furthermore, by being notified of the locations in the space including the robot 4 where the sensor values ​​are outside the reference range, the user can recognize locations in the space where the surrounding environment has a large effect on the sensor values.

[0070] Furthermore, by receiving an instruction from the user to disable the detection of the sensor 6, it is possible to prevent the sensor 6 from making a false detection and causing the robot 4 to erroneously stop, for example, in a location where the sensor 6 is greatly affected by the surrounding environment.

[0071] Furthermore, by distinguishing between a valid state and an invalid state of detection by the sensor 6 and notifying the user, the user can recognize the detection state of the sensor 6.

[0072] === Second Embodiment === Next, a second embodiment will be described.

[0073] In the second embodiment, a case will be described in which the sensor 6 is disabled using an auxiliary sensor 40. Note that a description of the same points as in the first embodiment will be omitted. Also, the second embodiment can be combined with the first embodiment.

[0074] FIG. 6 is a diagram schematically illustrating an example of the overall configuration of a robot system 2 according to the second embodiment. As shown in FIG. 6, the robot system 2 includes an auxiliary sensor 40. The auxiliary sensor 40 is, for example, a camera. The auxiliary sensor 40 detects the motion state of the robot 4. Then, while the robot 4 is being operated by the control unit 31, the auxiliary sensor 40 detects that the robot 4 has entered a predetermined motion state. The predetermined motion state is, for example, the posture or position of the robot 4, and is set in advance by the user. The predetermined motion state is set to include, for example, a motion state of the robot 4 in which the position of the sensor 6 is in an abnormal position. The auxiliary sensor 40 detects when the robot 4 has entered the predetermined motion state, and outputs the detection result to the disabling unit 38 of the control device 7.

[0075] In this embodiment, the auxiliary sensor 40 is described as a camera as an example, but it is possible to use a device other than a camera as the auxiliary sensor 40 as long as it can detect the operating state of the robot 4.

[0076] In this embodiment, the disabling unit 38 disables detection by the sensor 6 based on the detection result of the auxiliary sensor 40. Specifically, the disabling unit 38 acquires the detection result from the auxiliary sensor 40. Then, when it is detected that the robot 4 has entered a predetermined operating state, the disabling unit 38 disables detection by the sensor 6. Specifically, while the robot 4 is in the predetermined operating state, the disabling unit 38 disables detection by the sensor 6, and when the robot 4 is no longer in the predetermined operating state, the disabling unit 38 enables detection by the sensor 6.

[0077] <Action and effect> As described above, in this embodiment, by disabling detection by the sensor 6 using the auxiliary sensor 40, it is possible to prevent the sensor 6 from making a false detection and causing the robot 4 to erroneously stop, for example, in areas where the surrounding environment has a large effect on the sensor 6.

[0078] === Variations === The present invention is not limited to the above-described embodiments. In other words, designs that are produced by those skilled in the art with appropriate design modifications to the above-described specific examples are also included within the scope of the present invention as long as they include the features of the present invention. Furthermore, the elements of the above-described embodiments and the following modifications can be combined to the extent technically possible, and such combinations are also included within the scope of the present invention as long as they include the features of the present invention.

[0079] Furthermore, in the first and second embodiments, specific configuration examples of the sensor 6 have been described. However, the specific configuration of the sensor 6 is not limited as long as it has the detection electrode 25 and outputs a value corresponding to the capacitance between the detection electrode 25 and the object as the sensor value. For example, the sensor 6 may be configured in such a way that the oscillation frequency changes depending on the capacitance generated between the detection electrode 25 and the object. Even in such a case, the sensor value can be corrected.

[0080] In the first embodiment, the recording unit 33 records the position of the sensor 6 in association with the sensor value. However, other information can be used instead of the position of the sensor 6 as long as it can indicate a state in which the determination unit 35 has determined that the sensor value is outside the reference range. For example, the information may be posture information (shaft angle information) of the robot 4 or the position (coordinates) of the TCP (tool center point) of the robot 4. For example, when the position of the TCP of the robot 4 is used, the recording unit 33 records the position of the TCP of the robot 4 in association with the sensor value, and the position of the TCP of the robot 4 where the sensor value is outside the reference range is treated as an abnormal position. Then, the notification unit 36 ​​performs notification processing based on the abnormal position. Note that the position of the sensor 6 and the other information are not limited to being used individually, and may be used in combination.

[0081] Furthermore, in the first and second embodiments, the case where the detection of the sensor 6 can be disabled has been described, but an exception condition may be set. Specifically, if a predetermined exception condition is satisfied while the detection of the sensor 6 is disabled, the sensor 6 may be temporarily released from the disabled state and enabled.

[0082] Furthermore, in the first and second embodiments, the sensor 6 and the control device 7 are provided in the robot system 2, but the detection system may be provided for a target device other than the robot 4. In this case, the detection system includes the sensor 6 having the detection electrode 25 provided in the target device and outputting a sensor value corresponding to the capacitance generated between the detection electrode 25 and an object, and the control device 7 controlling the target device, and also includes a control unit 31 that operates the target device, an execution unit 32 that causes the target device to execute a predetermined operation in a state where there is no person around the target device before the control unit 31 operates the robot 4, a determination unit 35 that determines whether the sensor value falls outside a reference range during the predetermined operation by the execution unit 32, and a notification unit 36 ​​that notifies information regarding the determination result of the determination unit 35 before the control unit 31 operates the robot 4. [Explanation of symbols]

[0083] 2: Robot system 4: Robot 6: Sensor 7: Control device 25: Detection electrode 31: Control unit 32: Executive Department 35: Judgment section 36:Notification section 37: Reception 38: Invalidation section 40: Auxiliary sensor H: Person (object)

Claims

1. Robots and a sensor having a detection electrode provided on the robot, the sensor outputting a sensor value corresponding to a capacitance generated between the detection electrode and an object; a control device that controls the operation of the robot; Equipped with The control device a control unit that operates the robot relative to a workpiece; an execution unit that causes the robot to execute a predetermined action in a state where there is no person around the robot before the robot is operated by the control unit; a determination unit that determines whether the sensor value falls outside a reference range during the predetermined operation by the execution unit; a notification unit that notifies information regarding the determination result of the determination unit before the control unit operates the robot; A robot system comprising:

2. The robot system according to claim 1, characterized in that the notification unit displays the operation flow of the robot and also displays a portion of the operation flow that, when the robot is operated in accordance with the operation flow, results in a state equivalent to the state in which the determination unit determines that the sensor value is outside the reference range.

3. The robot system according to claim 1, characterized in that the notification unit displays a space including the robot and also displays a location in the space that, when the robot is made to perform an operation, will be in a state equivalent to the state in which the determination unit determines that the sensor value is outside the reference range.

4. The control device a receiving unit that receives an instruction to disable detection by the sensor from a user after the notification unit has issued a notification; The robot system according to any one of claims 1 to 3, further comprising:

5. further comprising an auxiliary sensor that detects when the robot is in a predetermined operating state; The control device a nullifying unit that, when the auxiliary sensor detects that the robot has entered the predetermined operating state, nullifies the detection by the sensor; The robot system according to any one of claims 1 to 3, further comprising:

6. 5. The robot system according to claim 4, wherein the notification unit notifies the user by distinguishing whether the detection by the sensor is in a valid state or an invalid state.

Images