robot systems

Abstract

This technology provides a way to easily stop a robot that operates based on human body movements. [Solution] The robot system comprises an imaging device for capturing images of human body movements, an motion generation device for detecting the human body movements from the images acquired from the imaging device and generating motion information relating to the movement of a predetermined part of the robot, and a control unit for controlling the driving of the predetermined part based on the motion information generated by the motion generation device. When the motion generation device detects a first specific human body movement from the images, it generates stop information to stop the predetermined part. The control unit stops the driving of the predetermined part based on the stop information.

Description

Technical Field

[0001] The technology disclosed in this specification relates to a robot system.

Background Art

[0002] A robot system that drives a predetermined part of a robot based on a human motion has been developed. For example, the robot system of Patent Document 1 includes an imaging device that images a human motion, a motion generation device that generates motion information regarding the motion of a predetermined part of the robot, and a control unit that drives the predetermined part of the robot. The motion generation device generates motion information from the human motion imaged by the imaging device. The control unit controls the driving of the predetermined part based on the motion information generated by the motion generation device.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the robot system of Patent Document 1, the control unit drives a predetermined part of the robot so as to detect a human motion and cause the robot to execute an operation imitating the human motion. However, while the robot is being made to perform an operation imitating a human motion, if an operator moves, the robot continues to move by imitating that motion, and it was difficult to stop the operation of the robot.

[0005] This specification discloses a technology for easily stopping a robot driven based on a human motion.

Means for Solving the Problems

[0006] In a first aspect of this technology, the robot system includes an imaging device for imaging human body movements, an motion generation device for detecting the human body movements from the images acquired from the imaging device and generating motion information relating to the movement of a predetermined part of the robot, and a control unit for controlling the driving of the predetermined part based on the motion information generated by the motion generation device. When the motion generation device detects a first specific human body movement from the images, it generates stop information for stopping the predetermined part. The control unit stops the driving of the predetermined part based on the stop information.

[0007] According to this configuration, a predetermined part of the robot is operated according to the detected human body movement, and when a first specific human body movement is detected, the operation of the predetermined part of the robot is stopped. Therefore, by performing the first specific human body movement, the operation of the predetermined part of the robot that is currently being operated can be easily stopped.

[0008] In a second aspect of this technology, in the first embodiment described above, the robot system may further include a storage device for storing information relating to a second specific human body movement. When the motion generation device detects the second specific human body movement stored in the storage device from the captured image, it may generate stop information for stopping the predetermined body part.

[0009] This configuration allows the robot to stop driving a predetermined part when a second specific human body movement is detected. Therefore, the specific movement required to stop driving a predetermined part of the robot can be modified as needed.

[0010] In a third aspect of this technology, the robot system may further include a solar cell in the first or second aspect described above. The imaging device, the motion generation device, and the control unit may use the power generated by the solar cell as a power source.

[0011] With this configuration, the electricity generated by the solar cells can be used to power each part of the robot system (imaging device, motion generation device, and control unit), thereby reducing the cost of operating the robot system. [Brief explanation of the drawing]

[0012] [Figure 1] A schematic diagram showing the general configuration of the robot system 10 according to this embodiment. [Figure 2] A diagram illustrating human body movements within images captured by an imaging device, and the robot's movements based on those human movements. [Figure 3] A flowchart illustrating an example of a process in which a motion generation device generates motion information or stop information based on human body movements. [Modes for carrying out the invention]

[0013] The robot system 10 of this embodiment will be described with reference to the drawings. The robot system 10 is a system for operating a predetermined part of a robot 30 based on human body movements. As shown in Figure 1, the robot system 10 comprises an imaging device 12, a motion generation device 20, a robot 30, and a solar cell 40.

[0014] The imaging device 12 is used to image human body movements. In this embodiment, the imaging device 12 is a 3D camera, but the type of imaging device 12 is not limited. The imaging device 12 only needs to have a configuration that can image human body movements, and may be a camera other than a 3D camera, for example. The imaging device 12 may also be a device that includes a light source that emits light such as laser light or infrared light and a light receiving unit, and can acquire the distance between the light source and the human body as an image from the reflected light received by the light receiving unit.

[0015] The motion generation device 20 detects human body movements from images captured by the imaging device 12 and generates information regarding the movements of the robot 30 (hereinafter also referred to as motion information). The motion generation device 20 includes a calculation unit 22, a memory 24, a communication unit 26, and a display 28. The calculation unit 22 is connected to the memory 24, the communication unit 26, and the display 28 via wiring such as busbars (not shown) to enable communication with each other. The communication unit 26 is connected to the imaging device 12 and the robot 30 (specifically, the communication unit 36 ​​of the robot 30) to enable communication with each other. The communication connection between the communication unit 26 and the imaging device 12 or the robot 30 may be a wired or wireless connection. The display 28 displays the images captured by the imaging device 12.

[0016] The calculation unit 22 is composed of a microcomputer (microprocessor) consisting of a CPU, ROM, RAM, etc. The calculation unit 22 detects human body movements in the captured images taken by the imaging device 12 and generates operation information for the robot 30 based on the detected human body movements. The captured images are transmitted from the imaging device 12 via the communication unit 26. In this embodiment, human body movements in the captured images refer to the posture of the human body in the captured images. Specifically, as shown in the left diagram of Figure 2, the calculation unit 22 detects the positions of multiple parts of the human body in the captured images (for example, parts such as eyes, nose, mouth, and joints) to detect human body movements (posture of the human body). For example, the calculation unit 22 can detect the posture of the human body in the captured images using known software. The calculation unit 22 generates operation information for the robot 30 so that the robot 30 (specifically, the arm 32 of the robot 30, which will be described later) operates in a manner that mimics the detected human body movements. Specifically, the calculation unit 22 detects the coordinates of each part of the human body in the captured image and converts the detected coordinates into the movement position (coordinates) of the robot 30. As a result, as shown in the right-hand diagram of Figure 2, the arm 32 of the robot 30 moves in a manner that mimics human body movements.

[0017] Memory 24 stores specific human body movements. These specific human body movements are pre-set movements such as crossing one's arms or raising one arm. When the calculation unit 22 detects a specific human body movement stored in memory 24 within the image captured by the imaging device 12, it generates information to stop the movement of the robot's arm 32 (hereinafter also referred to as stop information). The movement information or stop information generated by the calculation unit 22 is transmitted to the robot 30 via the communication unit 26. Furthermore, by changing the type of specific human body movement stored in memory 24, the type of human body movement required to stop the robot's arm 32 can be easily changed.

[0018] The robot 30 comprises an arm 32 capable of gripping and moving a workpiece, a control unit 34, and a communication unit 36. In this embodiment, the arm 32 operates based on human body movements. However, the part of the robot 30 that operates based on human body movements is not limited to the arm 32. For example, a part of the robot 30 other than the arm 32 capable of gripping and moving a workpiece may be configured to operate based on human body movements. The communication unit 36 ​​is connected to the robot 30 (more specifically, the communication unit 36 ​​of the robot 30) in a communicative manner. The communication connection between the communication unit 36 ​​and the robot 30 may be a wired connection or a wireless connection.

[0019] The control unit 34 is composed of a microcomputer (microprocessor) consisting of a CPU, ROM, RAM, etc. The control unit 34 controls the driving of the arm 32 according to the motion information or stop information generated by the motion generation device 20.

[0020] The solar cell 40 supplies the electric power generated by the solar cell 40 to each of the imaging device 12, the motion generation device 20, and the robot 30. Since the electric power generated by the solar cell 40 can be used, the cost for operating the imaging device 12, the motion generation device 20, and the robot 30 can be reduced. Note that the solar cell 40 may supply electric power to all of the imaging device 12, the motion generation device 20, and the robot 30, or may supply electric power only to a selected one of the imaging device 12, the motion generation device 20, and the robot 30.

[0021] Next, a process in which the arithmetic unit 22 of the motion generation device 20 generates information (motion information or stop information) for driving a predetermined part of the robot 30 will be described. As shown in FIG. 3, first, the arithmetic unit 22 acquires a captured image from the imaging device 12 (S12). By the operator operating so as to be imaged by the imaging device 12, the imaging device 12 images the operator's motion. The captured image captured by the imaging device 12 is transmitted to the communication unit 26 of the motion generation device 20 and output to the arithmetic unit 22.

[0022] Next, the arithmetic unit 22 detects a human motion from the captured image acquired in step S12 (S14). Specifically, the arithmetic unit 22 detects each part of the human body in the captured image.

[0023] Next, the arithmetic unit 22 determines whether or not the human motion detected in step S14 is a specific human motion stored in the memory 24 (S16). If the detected motion is not a specific human motion (NO in S16), the arithmetic unit 22 determines that the operator is giving an operation instruction to the robot 30, and generates motion information of the robot 30 from the detected human motion (S18). Specifically, the arithmetic unit 22 converts the coordinates of each part of the human body in the captured image into the movement position (coordinates) of the robot 30. Next, the arithmetic unit 22 transmits the generated motion information to the communication unit 36 of the robot 30 (S20). The control unit 34 of the robot 30 drives the arm 32 according to the received motion information. Then, the process returns to step S12, and the processes of steps S12 to S24 are repeated. Thereby, the arm 32 of the robot 30 can be operated based on the human motion.

[0024] On the other hand, when the detected operation is a specific human body operation (YES in S16), the arithmetic unit 22 determines that the operator is giving a stop instruction to the robot 30 and generates stop information (S22). Next, the arithmetic unit 22 transmits the generated stop information to the communication unit 36 of the robot 30 (S24). The control unit 34 of the robot 30 stops the driving of the arm 32 according to the transmitted stop information.

[0025] In this embodiment, by causing the imaging device 12 to image the human body operation, the arm 32 of the robot 30 can be operated based on the human body operation, and by causing the imaging device 12 to image a specific human body operation, the arm 32 of the robot 30 can be stopped. Therefore, when stopping the arm 32 of the robot 30, the operator only needs to perform a specific operation, and the arm 32 of the robot 30 during driving can be easily stopped.

[0026] As described above, specific examples of the technology disclosed in this specification have been described in detail, but these are merely examples and do not limit the scope of the claims. The technology described in the claims includes various modifications and changes of the specific examples illustrated above. In addition, the technical elements described in this specification or the drawings exhibit technical utility alone or in various combinations, and are not limited to the combinations described in the claims at the time of filing. Further, the technology illustrated in this specification or the drawings achieves a plurality of purposes simultaneously, and achieving one of these purposes itself has technical utility.

Explanation of Reference Numerals

[0027] 10: Robot system 12: Imaging device 20: Operation generation device 22: Arithmetic unit 24: Memory 30: Robot 32: Arm 34: Control unit 40: Solar cell

Claims

1. An imaging device for capturing images of human body movements, A motion generation device that detects human body movements from captured images acquired from the aforementioned imaging device and generates motion information relating to the movement of a predetermined part of a robot, The system comprises a control unit that controls the driving of a predetermined part based on the motion information generated by the motion generation device, When the motion generation device detects a first specific human body motion from the captured image, it generates stop information to stop the predetermined body part. The control unit stops the driving of the predetermined part based on the stop information, in this robot system.

2. A robot system according to claim 1, The system further includes a memory device that stores information about a second specific human body movement, The motion generation device is a robot system that, when it detects a second specific human body motion stored in the storage device from the captured image, generates stop information to stop the predetermined body part.

3. A robot system according to claim 1 or 2, It also has solar panels, The imaging device, the motion generation device, and the control unit are a robot system that uses electricity generated by the solar cell as a power source.

Images