Robot system

Abstract

To provide a robot system capable of detecting an interference object with high accuracy even when a robot freely operates within a movable range.SOLUTION: A robot system (1) includes a robot (10) having an operation unit (11) and a sensor (a1) that detects an interfering object in a detection area (12A). Further, the robot system includes a first calculation unit that calculates a distance between the sensor and the peripheral object based on posture information indicating a posture of the operation unit and first to third models respectively indicating shapes, positions, and the like of the robot, the peripheral object, and the sensor. Further, the robot system includes a second calculation unit configured to calculate a threshold value of the detection value of the sensor from the distance, and an operation control unit configured to control the robot to perform an operation when a relationship between the detection value and the threshold value satisfies a set condition, the operation being different from an operation when the set condition is not satisfied.SELECTED DRAWING: Figure 1A

Description

[Technical Field]

[0001] The present invention relates to a robot system including a robot having a non-contact sensor and a robot control device. [Background technology]

[0002] BACKGROUND ART Conventionally, robots equipped with non-contact sensors for detecting interfering objects and robot systems including such robots have been known.

[0003] In this regard, Patent Document 1 discloses a robot that stores the output value of a non-contact sensor for each of a number of measurement points set within the robot's range of motion, and stops operation when the output value at the measurement point closest to the robot's operating position changes by more than a predetermined threshold value. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 6988531 Summary of the Invention [Problem to be solved by the invention]

[0005] The technology described in Patent Document 1 is based on the assumption that the robot's movement trajectory is the same every time, and has the problem of not being able to handle cases where the robot's movement trajectory may change, such as when the robot moves freely within its range of motion.

[0006] The present invention has been made in consideration of such problems, and its purpose is to provide a robot system that can detect an interfering object with high accuracy even when the robot moves freely within its movable range. [Means for solving the problem]

[0007] In order to solve the above problem, the robot system of the present invention comprises a robot having an operating unit and a non-contact sensor that detects interfering objects within a detection area; a first calculation unit that calculates the distance between the non-contact sensor and the peripheral object based on posture information that indicates the posture of the operating unit, a first model that indicates the shape and position of the robot, a second model that indicates the shape and position of peripheral objects located around the robot, and a third model that indicates the detection area and position of the non-contact sensor; a second calculation unit that calculates a threshold value for the detection value of the non-contact sensor from the distance; and an operation control unit that controls the operation of the robot so that, when the relationship between the detection value of the non-contact sensor and the threshold value satisfies a set condition, the operation is different from when the set condition is not satisfied.

[0008] Moreover, the first calculation unit changes the position or shape of the first model and the third model according to the posture of the movement unit indicated by the posture information.

[0009] Furthermore, the operation control unit stops or slows down the operation of the robot when the detection value of the non-contact sensor is equal to or greater than the threshold value.

[0010] In addition, the second calculation unit calculates a plurality of threshold values ​​related to the non-contact sensor, and the operation control unit controls the operation of the robot so that the robot operates differently depending on which of a plurality of ranges defined by the plurality of threshold values ​​the detection value of the non-contact sensor falls within. [Effects of the Invention]

[0011] According to the present invention, the robot system can detect an interfering object with high accuracy even when the robot moves freely within its movable range. [Brief explanation of the drawings]

[0012] [Figure 1A] 1 is a diagram showing the overall configuration of a robot system according to an embodiment of the present invention; [Figure 1B] FIG. 1B is a diagram showing the robot system shown in FIG. 1A as viewed from above. [Figure 1C] This is a diagram showing a case where the position of the operating part of the robot system is different from that of FIG. 1B. [Figure 2] FIG. 1B is a diagram illustrating a functional configuration of a control device illustrated in FIG. 1A. [Figure 3] 1B is a flowchart showing an example of the processing flow of the robot system shown in FIG. 1A. DETAILED DESCRIPTION OF THE INVENTION

[0013] Hereinafter, an embodiment of the present invention (hereinafter referred to as "the present embodiment") will be described with reference to the accompanying drawings. To facilitate understanding of the description, the same components and steps in each drawing will be designated by the same reference numerals as much as possible, and redundant description will be omitted.

[0014] FIG. 1A is a diagram showing the overall configuration of a robot system 1 according to this embodiment. FIG. 1B is a diagram showing the robot system 1 shown in FIG. 1A as viewed from above. FIG. 1C is a diagram showing a case where the position of the operating unit 11 of the robot system 1 is different from that shown in FIG. 1B. The robot system 1 is mainly composed of, for example, a robot 10, an imaging unit 4, and control devices 5A and 5B. Peripheral objects 3A to 3C are arranged around the robot 10 in the robot system 1, and an obstruction 2 is located therein. In FIG. 1A, the direction facing upward is assumed to be the Z-axis direction. In FIG. 1A, the direction perpendicular to the Z-axis direction and facing rightward is assumed to be the X-axis direction. In FIG. 1A, the direction perpendicular to the Z-axis and X-axis directions and facing backward is assumed to be the Y-axis direction. In this embodiment, the obstruction 2 is a person, but is not limited to this and may be any object. 1A to 1C, the locations of the control devices 5A and 5B are not shown, but they may be placed near the robot 10 as peripheral objects.

[0015] The robot 10 is an industrial device having a movable part that can move within a space within a predetermined distance from the robot 10, such as a robot with an articulated arm, a machine tool, or a tester. In this embodiment, a case will be described in which the robot 10 is a robot with an articulated arm. As shown in FIG. 1 , the main part of the robot 10 includes, for example, non-contact sensors 12A and 12B, an operating unit 11, a base unit 13, and a wrist unit 14.

[0016] The non-contact sensors 12A and 12B are, for example, capacitance-type proximity sensors that detect the presence or absence of an obstructing object 2 in the detection direction. Specifically, the non-contact sensor 12A detects changes in capacitance in the detection area a1 using multiple detection electrodes arranged along a detection surface perpendicular to the detection direction. The non-contact sensor 12B detects changes in capacitance in the detection area a2. The non-contact sensors 12A and 12B detect the presence or absence of an obstructing object 2 according to the detected changes in capacitance. The non-contact sensors 12A and 12B transmit the detected capacitance values ​​or changes to the control device 5B as detection values. The non-contact sensor 12A is provided on the surface of the arm near the tip of the operating unit 11. The non-contact sensor 12B is provided on the surface of the arm closer to the base end than the arm where the non-contact sensor 12A is provided. 1A and 1B, the detection surface of non-contact sensor 12A faces the Z-axis direction opposite to the X-axis direction, and of peripheral objects 3A to 3C, peripheral object 3A is the closest, and the distance to peripheral object 3A is distance d1. Also, in Figures 1A and 1B, the detection surface of non-contact sensor 12B faces the Y-axis direction, and of peripheral objects 3A to 3C, peripheral object 3B is the closest, and the distance to peripheral object 3B is distance d2.

[0017] The operating unit 11 is, for example, an articulated arm, and its main part is composed of multiple arms and multiple drive units. The base end of the operating unit 11 is connected to the base unit 13, and the tip end is connected to the wrist unit 14. As described above, the operating unit 11 has non-contact sensors 12A and 12B provided on the surface of the arms. The drive unit is a component that functions as a joint that rotatably connects the two arms, and performs or stops the operation at a speed and angle according to a control command transmitted from the control device 5B. The drive unit measures the rotation angle between the two arms connected to both ends. The operating unit 11 also generates posture information indicating the posture of the operating unit 11 and transmits the generated posture information to the control device 5B. The posture information is information including the measurement results of the rotation angle of each drive unit in the operating unit 11.

[0018] Base unit 13 is a base for supporting operation unit 11, and is installed so as to be in contact with an installation surface (not shown) of robot 10. Base unit 13 is connected to operation unit 11. Base unit 13 is also connected to control device 5B so as to be able to communicate with it.

[0019] The wrist 14 is connected to the tip of the operating unit 11 and performs various operations on a workpiece (not shown). The various operations include, for example, irradiation with X-rays, gripping, transporting, rotating, attaching to another workpiece, injecting or applying a substance, polishing, screwing, heating, etc.

[0020] Peripheral objects 3A to 3C are objects arranged around the robot 10 in the space in which the robot 10 is installed. In FIGS. 1A and 1B, peripheral object 3A is formed to have an L-shape when viewed from above and from the front, and is provided above and behind the base unit 13 of the robot 10. Peripheral object 3B is formed in the shape of a rectangular parallelepiped with another rectangular parallelepiped attached to a corner of the top surface, and is provided behind the base unit 13 of the robot 10. Peripheral object 3C is formed in the shape of a rectangular parallelepiped and is provided to the left and below the base unit 13 of the robot 10. Note that the positions, shapes, and numbers of peripheral objects 3A to 3C are merely examples, and any positions, shapes, and numbers may be used.

[0021] The imaging unit 4 is, for example, a sensor capable of measuring the three-dimensional position of an object, such as an active stereo camera, a passive stereo camera, a ToF (Time of Flight) camera, or a LiDAR (Laser Imaging Detection and Ranging) sensor. It is provided, for example, above the space in which the robot 10 is placed, and captures images of the space including the robot 10 and the surrounding objects 3A to 3C from above. The imaging unit 4 transmits the captured image data to the control device 5A.

[0022] The control device 5A includes, for example, a storage device 53A that stores various programs, various information, and information on processing results required for the execution of processing by a central processing unit (CPU) 51A. The control device 5A also includes, for example, a CPU 51A that functions as various functional means by executing predetermined programs stored in a memory 52A or the storage device 53A. The control device 5A also includes, for example, a memory 52A that temporarily stores predetermined programs and data required for the CPU 51A to execute the predetermined programs, and a communication device 54A for communicating with external devices. The control device 5A also includes, for example, an input / output device 55A that receives inputs from an operator of the control device 5A to operate the control device 5A and displays information provided by the control device 5A to the operator. The control device 5B also includes, for example, a CPU 51B, a memory 52B, a storage device 53B, a communication device 54B, and an input / output device 55B. Details of each component of the control device 5B are similar to those of the control device 5A, and therefore will not be described here. In this embodiment, the control devices 5A and 5B are two devices, but the present invention is not limited to this and may be configured with a single device or three or more devices.

[0023] The control device 5A is configured to be able to communicate with the control device 5B, and transmits and receives information, data, signals, and the like to and from the control device 5B. The control device 5A is configured to be able to communicate with the imaging unit 4, and acquires images captured by the imaging unit 4 from the imaging unit 4. The control device 5A calculates the distances between the non-contact sensors 12A and 12B and the surrounding objects 3A to 3C based on the images acquired from the imaging unit 4 and information about the robot 10 transmitted from the control device 5B. The control device 5A also calculates thresholds for detection by the non-contact sensors 12A and 12B from the calculated distances, and determines whether an interfering object 2 is present in either of the detection areas a1 and a2 based on the calculated thresholds. The control device 5A then transmits the determination results to the control device 5B. The control device 5A also notifies the administrator or user of the robot system 1 of the information acquired from the imaging unit 4 and the control device 5B, the calculated values, and the like, by displaying them on a screen or outputting audio.

[0024] The control device 5B is configured to be able to communicate with the control device 5A, and transmits and receives information, data, signals, and the like to and from the control device 5A. The control device 5B is configured to be able to communicate with the robot 10, and transmits control commands to the base unit 13 to control the operation of the robot 10 in accordance with information transmitted from the control device 5A. The control device 5B may transmit control commands directly to the non-contact sensors 12A and 12B, the operating unit 11, and the wrist unit 14 of the robot 10 without going through the base unit 13. The control device 5B also acquires various information related to the non-contact sensors 12A and 12B, the operating unit 11, and the wrist unit 14 from the base unit 13 and stores the acquired information. The control device 5B transmits the stored information to the control device 5A, reflects it in controlling the operation of the operating unit 11 and the wrist unit 14, and notifies the administrator or user of the robot system 1 by screen display, audio output, etc.

[0025] The overall configuration of the robot system 1 has been described above. Next, the functional configuration of the control devices 5A and 5B will be described with reference to FIG. 2. FIG. 2 is a diagram showing the functional configuration of the control devices 5A and 5B shown in FIG. 1A. As shown in FIG. 2, the control device 5A is configured such that its main functional components include, for example, a storage unit 510, a first calculation unit 520, and a second calculation unit 530. The functional components of the control device 5A other than the storage unit 510 are realized by the CPU 51A executing programs stored in the storage device 53A, etc.

[0026] The storage unit 510 is a functional component that stores a first model 511, a second model 512, a third model 513, and condition information 514.

[0027] The first model 511, the second model 512, and the third model 513 are three-dimensional model data, and are data expressed, for example, by a wireframe model, a surface model, or a solid model. The first model 511 is three-dimensional data related to the robot 10, and indicates the shape, position, and orientation of the robot 10. The second model 512 is three-dimensional data related to the peripheral objects 3A to 3C, and indicates the shapes, positions, and orientations of the peripheral objects 3A to 3C. The third model 513 is three-dimensional data related to the detection areas a1 and a2 of the non-contact sensors 12A and 12B, and indicates the shapes, positions, and orientations of the detection areas a1 and a2.

[0028] The condition information 514 is information indicating the correspondence between the detection values ​​detected by the non-contact sensors 12A and 12B, thresholds related to the detection values, and operation control of the robot 10. The condition information 514 includes, for example, a condition that, when the detection value exceeds the threshold, the operation of the robot 10 is controlled to stop. The condition information 514 also includes, for example, a condition that, when the detection value exceeds the threshold, the operation speed of the robot 10 is controlled to be decelerated at a predetermined speed or a predetermined rate.

[0029] First calculation unit 520 calculates the distances between each of non-contact sensors 12A and 12B and peripheral objects 3A to 3C based on the posture information transmitted from control device 5B and first model 511, second model 512, and third model 513. Furthermore, first calculation unit 520 changes the position or shape of first model 511 and third model 513 according to the posture of operating unit 11 indicated by the posture information.

[0030] The second calculation unit 530 calculates threshold values ​​for the detection values ​​of the non-contact sensors 12A and 12B, respectively, from the distances calculated by the first calculation unit 520. The second calculation unit 530 transmits the calculated threshold values ​​and the condition information 514 to the control device 5B. Details of the calculation methods of the first calculation unit 520 and the second calculation unit 530 will be explained later with reference to FIG. 3, and therefore will not be explained here.

[0031] The control device 5B is configured such that its main functional components include, for example, an acquisition unit 540 and an operation control unit 550. Each functional component of the control device 5B is realized by the CPU 51B executing a program stored in the storage device 53B or the like.

[0032] The acquisition unit 540 acquires posture information from the operating unit 11 of the robot 10. The acquisition unit 540 also acquires detection values ​​from the non-contact sensors 12A and 12B of the robot 10. The acquisition unit 540 transmits the acquired posture information to the control device 5A.

[0033] The operation control unit 550 determines whether the relationship between the detection values ​​of the non-contact sensors 12A and 12B acquired by the acquisition unit 540 and the threshold values ​​for the non-contact sensors 12A and 12B transmitted from the control device 5A satisfies a set condition. The set condition is a condition indicated by the condition information 514 transmitted from the control device 5A. When the determination is positive, the operation control unit 550 controls the operation of the robot 10 so that the operation is different from that when the determination is negative. Specifically, when the detection values ​​of the non-contact sensors 12A or 12B are equal to or greater than the threshold values ​​associated with them, the operation control unit 550 transmits a control command to the operation unit 11 to stop or slow down the operation of the robot 10.

[0034] <Process flow> The above has described the functional configuration of the control devices 5A and 5B. Next, a detailed description will be given of the flow of a series of processes in the robot system 1. Figure 3 is a flowchart showing an example of the flow of processes in the robot system 1 shown in Figure 1A.

[0035] (Step SP10) The robot system 1 acquires, via the acquisition unit 540, posture information indicating the current posture state of the robot 10 from the robot 10. Then, the process proceeds to step SP12.

[0036] (Step SP12) The robot system 1 captures images of the peripheral objects 3A to 3C using the imaging unit 4. The robot system 1 also transmits the image data of the peripheral objects 3A to 3C to the control device 5A using the imaging unit 4. Then, the process proceeds to step SP14.

[0037] (Step SP14) The robot system 1 uses the first calculation unit 520 to coordinate map a coordinate space related to the image data captured by the imaging unit 4 onto a real space, which is an actual space. The robot system 1 also uses the first calculation unit 520 to coordinate map a machine coordinate space related to the operation of the robot 10 onto the real space. The robot system 1 uses the first calculation unit 520 to coordinate map in advance a coordinate system of a three-dimensional model space used when performing calculations on the three-dimensional data onto the machine coordinate space. The robot system 1 then uses the first calculation unit 520 to change and update the shape, position, and orientation of the three-dimensional data of the first model 511 and the third model 513 in accordance with the rotation angles of the drive units of the robot 10 indicated by the posture information acquired by the acquisition unit 540. The robot system 1 also uses the first calculation unit 520 to change and update the three-dimensional data of the second model 512 in accordance with the image data of the peripheral objects 3A to 3C transmitted from the imaging unit 4. If the first model 511, the second model 512, and the third model 513 have not been generated, the robot system 1 generates the first model 511, the second model 512, and the third model 513. Then, the processing proceeds to step SP16.

[0038] (Step SP16) The robot system 1 calculates the distances between the non-contact sensors 12A and 12B and the peripheral objects 3A to 3C using the first calculation unit 520. The robot system 1 calculates only the distances between the peripheral objects 3A to 3C that are located within the detection areas a1 and a2, to exclude objects that are located outside the detection areas a1 and a2, using the first calculation unit 520. In FIGS. 1A and 1B, the robot system 1 calculates the distance d1 between the non-contact sensor 12A and the peripheral object 3A, and the distance d2 between the non-contact sensor 12B and the peripheral object 3B using the first calculation unit 520. In FIG. 1C, the robot system 1 calculates the distance d1 between the non-contact sensor 12A and the peripheral object 3B, and the distance d2 between the non-contact sensor 12B and the peripheral object 3B using the first calculation unit 520. Furthermore, when there are multiple objects within the detection areas a1 and a2, the robot system 1 selects the shortest (i.e., closest) distance from the calculated distances to the peripheral objects 3A to 3C as the calculation result, and then proceeds to step SP18.

[0039] (Step SP18) The robot system 1 uses the second calculation unit 530 to calculate threshold values ​​for the detection values ​​of the non-contact sensors 12A and 12B, respectively, from the distances calculated by the first calculation unit 520. Specifically, the robot system 1 uses the second calculation unit 530 to calculate threshold values ​​such that the shorter the distances between the non-contact sensors 12A and 12B and the peripheral objects 3A to 3C, the higher the threshold values. When calculating the threshold values ​​using the second calculation unit 530, the robot system 1 calculates the threshold values, for example, by substituting the distances calculated by the first calculation unit 520 into a predetermined calculation formula or by applying the distances to a predetermined correspondence table between distances and threshold values. Then, the process proceeds to step SP20.

[0040] (Step SP20) The robot system 1 determines, by the operation control unit 550, whether or not the relationship between the detection values ​​of the non-contact sensors 12A and 12B and the threshold values ​​for the non-contact sensors 12A and 12B satisfies the set condition indicated by the condition information 514. If the determination is affirmative, the process proceeds to step SP22. On the other hand, if the determination is negative, the series of processes shown in FIG. 3 ends.

[0041] (Step SP22) The robot system 1 stops or slows down the movement of the movement unit 11 of the robot 10 by the movement control unit 550. Then, the series of processes shown in FIG. 3 ends.

[0042] <Effects> As described above, in this embodiment, the robot system 1 calculates the distance d1 between the non-contact sensor 12A and the peripheral objects 3A to 3C using the first calculation unit 520 based on the posture information, the first model 511, the second model 512, and the third model 513. Furthermore, the robot system 1 calculates a threshold value related to the detection value of the non-contact sensor 12A from the distance d1 using the second calculation unit 530. Furthermore, the robot system 1 controls the operation of the robot 10 in accordance with the calculated threshold value using the operation control unit 550. Therefore, the robot system 1 can detect the interfering object 2 with high accuracy even when the robot 10 moves freely within its movable range.

[0043] Furthermore, in this embodiment, the first calculation unit 520 changes the position or shape of the first model 511 and the third model 513 according to the posture of the operating unit 11 indicated by the posture information. Therefore, the robot system 1 detects the interfering object 2 after previously excluding the influence of the operation of the operating unit 11 of the robot 10, and therefore can detect the interfering object 2 with even higher accuracy. Furthermore, the robot system 1 calculates thresholds from the first model 511 and the third model 513 that have changed according to the operation of the operating unit 11, and therefore can improve the productivity and operating efficiency of the robot system 1.

[0044] Furthermore, in this embodiment, when the detection value of the non-contact sensor 12A is equal to or greater than a threshold value, the operation control unit 550 stops or slows down the operation of the robot 10. Therefore, the robot system 1 can stop or slow down the operation of the robot 10 taking into account the influence of the posture of the robot 10 and the positions of the surrounding objects 3A to 3C, thereby improving the productivity and operating efficiency of the robot system 1.

[0045] <Modification> The present invention is not limited to the above-described embodiments. In other words, variations of the above-described embodiments, which are appropriately modified by a person skilled in the art, 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 modifications described below 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.

[0046] For example, in the present embodiment, the second calculation unit 530 calculates one threshold value for each of the non-contact sensors 12A and 12B, but this is not limiting. The second calculation unit 530 may calculate multiple threshold values ​​for each of the non-contact sensors 12A and 12B. Furthermore, the operation control unit 550 may control the operation of the robot 10 so that the robot 10 performs different operations depending on which of multiple ranges defined by the multiple threshold values ​​the detection values ​​of the non-contact sensors 12A and 12B fall within.

[0047] Specifically, the operation control unit 550 may control the operation of the robot 10 so that the operation continues when the detection value is less than a first reference value, slows down when the detection value is equal to or greater than the first reference value and less than a second reference value, and stops when the detection value is equal to or greater than the second reference value. Here, the second reference value is a value greater than the first reference value. With this configuration, the robot system 1 controls the operation of the robot 10 depending on which range the detection value falls within, thereby improving the operating efficiency of the robot system 1.

[0048] Furthermore, in this embodiment, when multiple peripheral objects 3A to 3C are located within the detection areas a1 and a2, the first calculation unit 520 calculates the distance to the nearest object, but this is not limited to this. The first calculation unit 520 may calculate the distance to all peripheral objects 3A to 3C located within the detection areas a1 and a2. Furthermore, the second calculation unit 530 may calculate a threshold from multiple distances calculated by the first calculation unit 520. With this configuration, the threshold is calculated taking into account the influence of multiple peripheral objects 3A to 3C, so that an interfering object 2 can be detected with high accuracy even when the robot 10 moves freely within its movable range.

[0049] Furthermore, in this embodiment, the first calculation unit 520 generates or changes the first model 511 and the third model 513 based on posture information measured by the operation unit 11 of the robot 10, but this is not limited to this. The first calculation unit 520 may generate or change the first model 511 and the third model 513 from imaging data of the robot 10 captured by the imaging unit 4. Furthermore, when generating or acquiring the second model 512, the first calculation unit 520 may use three-dimensional data prepared in advance instead of the imaging unit 4. With this configuration, the robot system 1 can detect an interfering object 2 with high accuracy when the robot 10 moves freely within its range of motion by using various means for acquiring or generating three-dimensional data. [Explanation of symbols]

[0050] REFERENCE SIGNS LIST 1... robot system, 2... interfering object, 10... robot, 11... operation unit, 12A... non-contact sensor, 12B... non-contact sensor, 511... first model, 512... second model, 513... third model, 520... first calculation unit, 530... second calculation unit, 550... operation control unit

Claims

1. a robot having a non-contact sensor that detects an interfering object within a motion unit and a detection area; a first calculation unit that calculates a distance between the non-contact sensor and the peripheral object based on posture information that indicates the posture of the operation unit, a first model that indicates the shape and position of the robot, a second model that indicates the shape and position of a peripheral object provided around the robot, and a third model that indicates the detection area and position of the non-contact sensor; a second calculation unit that calculates a threshold value related to the detection value of the non-contact sensor from the distance; an operation control unit that controls an operation of the robot when a relationship between the detection value of the non-contact sensor and the threshold value satisfies a set condition, so that the operation is different from an operation when the relationship does not satisfy the set condition; A robot system comprising:

2. The robot system according to claim 1 , wherein the first calculation unit changes the positions or shapes of the first model and the third model according to the posture of the operation unit indicated by the posture information.

3. 3. The robot system according to claim 1, wherein the operation control unit stops or slows down the operation of the robot when the detection value of the non-contact sensor is equal to or greater than the threshold value.

4. the second calculation unit calculates a plurality of the threshold values ​​related to the non-contact sensor; The robot system according to claim 1 or 2, characterized in that the operation control unit controls the operation of the robot so that the robot performs different operations depending on which of multiple ranges defined by the multiple threshold values ​​the detection value of the non-contact sensor falls within.

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