Detection system

Abstract

This system provides a detection system that can detect interfering objects approaching a robot with high precision and over a wide area. [Solution] The detection system (1) comprises a robot (10), a laser sensor (30), and a control device (20). The robot has a base (12), an articulated arm (11) connected to the base, and a capacitive proximity sensor (110) mounted on the articulated arm that detects the interfering object (2). The laser sensor is mounted on the base at positions opposite to each other and emits a laser along a direction substantially parallel to the robot's mounting surface (S1) to detect the interfering object. The control device stops or slows down the robot's movement based on the detection result of the interfering object by at least one of the capacitive proximity sensor and the laser sensor.

Description

Technical Field

[0001] The present invention relates to a detection system including a robot and a control device.

Background Art

[0002] Conventionally, robots equipped with non-contact proximity sensors for detecting interfering objects and robot systems including such robots are known.

[0003] Regarding this, Patent Document 1 discloses an automatic device (robot) including a sensor device having a first sensor, a second sensor, and a third sensor provided at a position closer to the moving part than the first sensor. Further, Patent Document 1 discloses that a laser sensor is used for the first sensor and proximity sensors are used for the second and third sensors.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] In the technology described in Patent Document 1, since the detectable range by the proximity sensors adopted for the second sensor and the third sensor is limited by the emission angle of the sensors, when an interfering object approaches from a direction outside the detection range, the approach of the interfering object may not be detected. Also, regarding the first sensor, the detection direction is fixed. Therefore, in the technology described in Patent Document 1, there is a problem that it is difficult to detect the approach of an interfering object to the robot in all directions by the first sensor to the third sensor.

[0006] This invention has been made in view of these problems, and its objective is to provide a detection system that can detect interfering objects approaching a robot with high precision and over a wide range. [Means for solving the problem]

[0007] To solve the above problems, the detection system of the present invention comprises a robot having a base, a multi-jointed arm connected to the base, and a capacitive proximity sensor provided on the multi-jointed arm for detecting interfering objects; a pair of laser sensors provided at positions opposite each other to the base, which emit lasers along a direction substantially parallel to the mounting surface of the robot to detect the interfering objects; and a control device that stops or slows down the operation of the robot based on the detection result of the interfering object by at least one of the capacitive proximity sensor and the laser sensors.

[0008] Furthermore, the control device controls the operation of the laser sensor to stop or disable detection by the laser sensor if a part of the articulated arm is located within the detection range where the laser sensor detects the interfering object.

[0009] Furthermore, the control device controls the operation of the laser sensor to detect the interfering object when none of the parts of the articulated arm are located within the detection range of the laser sensor.

[0010] Furthermore, the control device calculates the distance between the interfering object and the robot from the detection results of the capacitive proximity sensor and the laser sensor, and controls the robot's movement to stop or slow down if the calculated distance is within a certain distance. [Effects of the Invention]

[0011] According to the present invention, the detection system can detect interfering objects approaching the robot with high precision and over a wide range. [Brief explanation of the drawing]

[0012] [Figure 1] This figure shows the overall configuration of the detection system according to this embodiment. [Figure 2] Figure 1 shows the robot and laser sensor viewed from above. [Figure 3] This figure shows the functional configuration of the control device shown in Figure 1. [Figure 4] Figure 1 is a flowchart showing an example of the processing flow of the detection system. [Figure 5A] This figure shows an example of how the detection system shown in Figure 1 detects an interfering object. [Figure 5B] This figure shows another example of how the detection system shown in Figure 1 detects an interfering object. [Modes for carrying out the invention]

[0013] Hereinafter, embodiments of the present invention (hereinafter referred to as "this embodiment") will be described with reference to the attached drawings. To facilitate understanding of the description, the same reference numerals are used for the same components and steps in each drawing whenever possible, and redundant explanations are omitted.

[0014] Figure 1 shows the overall configuration of the detection system 1 according to this embodiment. As shown in Figure 1, the main components of the detection system 1 include, for example, a robot 10, a control device 20, and laser sensors 30A and 30B. In this embodiment, the vertical direction in Figure 1 is assumed to be the Z-axis direction. Also in this embodiment, the direction perpendicular to the Z-axis direction in Figure 1 and where the laser sensors 30A and 30B, described later, face each other is assumed to be the Y-axis direction. Also in this embodiment, the direction orthogonal to the Z-axis direction and the Y-axis direction in Figure 1 is assumed to be the X-axis direction. In this embodiment, it is assumed that the space near the robot 10 contains or moves interfering objects 2 (see Figure 5A), such as people or objects.

[0015] Robot 10 is an industrial device having movable parts that can move within a predetermined distance from the robot 10, such as a robot with an articulated arm 11, a machine tool, or a tester. As shown in Figure 1, the main part of robot 10 consists of, for example, an articulated arm 11 and a base 12. Robot 10 is mounted on an installation surface S1 located vertically below it. Installation surface S1 is the surface on which robot 10 is installed. The normal direction of installation surface S1 is parallel to the Z-axis direction. The tangential direction of installation surface S1 is parallel to a virtual XY plane formed by the X-axis and Y-axis directions. In this example, installation surface S1 is, for example, the floor surface of the room on which robot 10 is installed.

[0016] The articulated arm 11 is composed of, for example, multiple arms and multiple drive units, and performs various operations on a workpiece (not shown) using a tool connected to its tip. These operations include X-ray irradiation, gripping, transporting, rotation, attachment to other workpieces, injection or coating of substances, polishing, screw tightening, and heating. The base end of the articulated arm 11 is connected to a base 12. Multiple capacitive proximity sensors 110 are provided on the surface of the arms of the articulated arm 11. The drive unit is a component that functions as a joint connecting two arms in a rotatable manner. The drive unit is equipped with a motor for rotational movement and an angle sensor for measuring the rotation angle. The drive unit controls the rotational movement of the motor according to control commands transmitted from the control device 20 via the base 12, thereby operating at a speed and angle according to the control commands, or stopping the operation. The drive unit also measures the rotation angle between the two arms connected at both ends using the angle sensor. Furthermore, the articulated arm 11 transmits the measurement results of the rotation angle of each drive unit to the control device 20 via the base 12.

[0017] The base 12 is a base for supporting the articulated arm 11. The base 12 is installed on the installation surface S1 of the robot 10. That is, the bottom surface of the base 12 is in contact with the installation surface S1. The articulated arm 11 is connected to the upper surface on the opposite side of the bottom surface of the base 12. Also, in the Y-axis direction in FIG. 2, a laser sensor 30A is connected to one end side of the base 12. Also, in the Y-axis direction in FIG. 2, a laser sensor 30B is connected to the other end side of the base 12. Further, the base 12 is communicably connected to the control device 20.

[0018] In this example, the base 12 includes a plate-like member 12A, a columnar member 12B, and a rear side member 12C. The plate-like member 12A is a member formed in a rectangular plate shape. The plate-like member 12A is provided on the bottommost side of the base 12. That is, the bottom surface of the plate-like member 12A is in contact with the installation surface S1. The columnar member 12B is provided on the plate-like member 12A. The articulated arm 11 is connected to the upper surface of the columnar member 12B. The laser sensor 30A and the laser sensor 30B are connected to the columnar member 12B so as to face each other in the Y-axis direction. The rear side member 12C is connected to the rear side of the columnar member 12B. The bottom surface of the rear side member 12C is in contact with the installation surface S1.

[0019] The capacitance proximity sensor 110 is a non-contact proximity sensor, and a plurality of them are provided on the surface of the arm portion of the articulated arm 11. The capacitance proximity sensor 110 detects the presence or absence of the interference object 2 within the detection range by measuring the capacitance between the detection electrode and the ground potential from the potential of the detection electrode. The capacitance proximity sensor 110 transmits the detected capacitance value or the amount of change as a detection value to the control device 20. In FIGS. 1 to 5B, for simplicity of the drawing and for simplicity of explanation, the capacitance proximity sensor 110 is schematically illustrated. Actually, the capacitance proximity sensor 110 is not exposed and is housed inside the exterior.

[0020] The control device 20 mainly includes a storage device 23 that stores various programs, various information, and information on processing results necessary for the execution of processing in, for example, a CPU (Central Processing Unit) 21. Further, the control device 20 mainly includes a CPU 21 that functions as various functional means by executing a predetermined program stored in the memory 22 or the storage device 23 or the like. Furthermore, the control device 20 mainly includes a memory 22 that temporarily stores a predetermined program and data necessary when the CPU 21 executes the predetermined program, and a communication device 24 for communicating with an external device. Furthermore, the control device 20 mainly includes an input / output device 25 that receives an input for an operator of the control device 20 to operate the control device 20 and displays information provided from the control device 20 to the operator. Note that the control device 20 may be composed of a single information processing device or may be composed of a plurality of information processing devices.

[0021] The control device 20 is configured to be communicable with the robot 10, and transmits a control command for controlling the operation of the articulated arm 11 via the base 12 according to the information transmitted from the robot 10. Note that the control device 20 may directly transmit a control command to the capacitance type proximity sensor 110 or the articulated arm 11 of the robot 10 without going through the base 12. Further, the control device 20 acquires the detection result of the interference object 2 by the capacitance type proximity sensor 110 from the base 12, and determines the presence or absence of the interference object 2 within the detection range from the detection result. The control device 20 controls the operation of the articulated arm 11 according to the determination result, and notifies the determination result to the administrator or user of the detection system 1 by screen display, voice output, or the like.

[0022] The laser sensor 30 is a reflective optical distance sensor that detects the presence or absence of an interfering object 2 within its detection range and measures the distance between the laser sensor 30 and the interfering object 2 if an interfering object 2 is present. Specifically, the laser sensor 30 emits a laser from its emitter in a direction substantially parallel to the mounting surface S1 of the robot 10, and detects the presence or absence of the interfering object 2 and measures the distance between the laser sensor 30 and the interfering object 2 by receiving the reflected light reflected from the interfering object 2 with a light receiving unit. In addition, a total of one pair of laser sensors 30 are connected to each side of the base 12. Specifically, a total of one pair of laser sensors 30 are provided on the mounting surface S1 of the robot 10, one on each side, so that they are in positions facing each other with respect to the base 12.

[0023] Here, the laser sensors 30A and 30B will be described with reference to Figure 2. Figure 2 is a view from above of the robot 10 and laser sensors 30A and 30B shown in Figure 1. As shown in Figure 2, the laser sensor 30A is connected to the base 12 and mounted on the mounting surface S1. The laser sensor 30A detects the presence or absence of the interfering object 2 and measures the distance between the interfering object 2 and the laser sensor 30A within the detection range A1 of the robot 10. The laser sensor 30B is connected to the base 12 and mounted on the mounting surface S1. The laser sensor 30B detects the presence or absence of the interfering object 2 and measures the distance between the interfering object 2 and the laser sensor 30A within the detection range A2. The detection ranges A1 and A2 extend vertically in the Z-axis direction by a predetermined range of emission angles, with reference to the emission parts of the laser sensors 30A and 30B.

[0024] The overall configuration of the detection system 1 has been described above. Next, the functional configuration of the control device 20 will be described with reference to Figure 3. Figure 3 is a diagram showing the functional configuration of the control device 20 shown in Figure 1. As shown in Figure 3, the control device 20's main components include, for example, a storage unit 210, an acquisition unit 220, an update unit 230, and an operation control unit 240. The functional configuration of the control device 20, other than the storage unit 210, is realized by the CPU 21 executing a program stored in the storage device 23, etc.

[0025] The memory unit 210 has a functional configuration that stores detection range data 211 and posture data 212.

[0026] The detection range data 211 is data relating to the detection ranges A1 and A2 in which the laser sensors 30A and 30B detect the interfering object 2. The detection range data 211 is, for example, data of a 3D model, and may be represented by a wireframe model, surface model, solid model, etc. Alternatively, the detection range data 211 may be, for example, a set of coordinate data of vertices of a 3D model that indicates the detection ranges A1 and A2 of the laser sensors 30A and 30B in a 3D virtual space.

[0027] The posture data 212 is three-dimensional data relating to the robot 10, indicating the shape, position, and orientation of the robot 10. The posture data 212 is represented by a wireframe model, surface model, solid model, etc.

[0028] The acquisition unit 220 acquires the measurement results of the rotation angle of each drive unit from the articulated arm 11 of the robot 10. The acquisition unit 220 also acquires measured values ​​from the laser sensors 30A and 30B. In addition, the acquisition unit 220 acquires detected values ​​from the multiple capacitive proximity sensors 110 of the robot 10.

[0029] The update unit 230 refers to the storage unit 210 and changes the position and shape of the posture data 212 according to the measurement results of the rotation angles of each drive unit of the articulated arm 11 acquired by the acquisition unit 220. The update unit 230 updates the posture data 212 in the storage unit 210 with the posture data 212 whose position and shape have been changed.

[0030] The motion control unit 240 controls the operation of the robot 10 and the laser sensors 30A and 30B. Specifically, the motion control unit 240 stops or disables detection by the laser sensors 30A and 30B if a part of the articulated arm 11 is located within at least one of the detection ranges A1 and A2 in which the laser sensors 30A and 30B detect the interfering object 2. In addition, the motion control unit 240 stops or slows down the operation of the robot 10 based on the detection results of the interfering object 2 obtained by the acquisition unit 220 from the capacitive proximity sensor 110 and at least one of the laser sensors 30A and 30B.

[0031] Furthermore, the motion control unit 240 stops or slows down the robot 10's movement based on the detection results of the interfering object 2 by the capacitive proximity sensor 110 and the laser sensors 30A and 30B. The motion control unit 240 calculates the distance between the interfering object 2 and the robot 10 from the detection results (detected value, measured value) of the capacitive proximity sensor 110 and the laser sensors 30A and 30B acquired by the acquisition unit 220. The motion control unit 240 controls the robot 10's movement to stop or slow down if the calculated distance is less than a certain distance. The motion control unit 240 continues the movement if the calculated distance is greater than or equal to a certain distance. Further details of the operation of the motion control unit 240 will be explained later with reference to Figure 4, so the explanation is omitted here.

[0032] The functional configuration of the control device 20 has been described above. Next, the sequence of processes of the detection system 1 will be described in detail. Figure 4 is a flowchart showing an example of the process flow of the detection system 1 shown in Figure 1.

[0033] (Step SP10) The detection system 1, using the acquisition unit 220, acquires the measurement results of the rotation angles of each drive unit of the articulated arm 11 from the robot 10. The detection system 1, using the update unit 230, changes and updates the position and shape of the posture data 212 stored in the storage unit 210 according to the measurement results of the rotation angles of each drive unit of the articulated arm 11 acquired by the acquisition unit 220. Then, the process moves on to the process in step SP12.

[0034] (Step SP12) The detection system 1, using the motion control unit 240, determines whether at least a portion of the articulated arm 11 is located within at least one of the detection ranges A1 and A2 of the laser sensors 30A and 30B. Specifically, the detection system 1, using the motion control unit 240, refers to the detection range data 211 and posture data 212 stored in the storage unit 210. The detection system 1, using the motion control unit 240, determines from the detection range data 211 and posture data 212 whether at least a portion of the articulated arm 11 is located within at least one of the detection ranges A1 and A2 of the laser sensors 30A and 30B. If the determination is positive, the process proceeds to step SP14. If the determination is negative, the process proceeds to step SP16.

[0035] (Step SP14) The detection system 1 controls the operation of laser sensors 30A and 30B by the operation control unit 240 to stop or disable the detection process of the interfering object 2 by laser sensors 30A and 30B. Now, referring to Figure 5B, the detection process when at least a part of the articulated arm 11 is located within at least one of the detection ranges A1 and A2 of laser sensors 30A and 30B will be described. Figure 5B is a diagram showing another example of when the detection system 1 shown in Figure 1 detects the interfering object 2. As shown in Figure 5B, when at least a part of the articulated arm 11 is located within at least one of the detection ranges A1 and A2 of laser sensors 30A and 30B, the detection system 1 performs the detection process of the interfering object 2 using only the capacitive proximity sensor 110. If the detection process of the interfering object 2 by laser sensors 30A and 30B has already been stopped or disabled, the detection system 1 maintains the operation settings for the detection process. Returning to Figure 4, the process moves on to the process in step SP18.

[0036] (Step SP16) The detection system 1 controls the operation of laser sensors 30A and 30B by the operation control unit 240 to enable the detection process of the interfering object 2 by laser sensors 30A and 30B. Now, referring to Figure 5A, the detection process when the articulated arm 11 is not located within either of the detection ranges A1 and A2 of laser sensors 30A and 30B will be described. Figure 5A is a diagram showing an example of when the detection system 1 shown in Figure 1 detects the interfering object 2. As shown in Figure 5A, if the articulated arm 11 is not located within either of the detection ranges A1 and A2 of laser sensors 30A and 30B, the detection system 1 uses the capacitive proximity sensor 110 and laser sensors 30A and 30B to perform the detection process of the interfering object 2. If the detection process of the interfering object 2 by laser sensors 30A and 30B is already enabled, the detection system 1 maintains the operation settings related to the detection process. Returning to Figure 4, the process moves on to the process in step SP18.

[0037] (Step SP18) The detection system 1, using the acquisition unit 220, acquires the detection result of the presence or absence of the interfering object 2 from the capacitive proximity sensor 110. The detection system 1 also acquires measurement results from the laser sensors 30A and 30B, using the acquisition unit 220, regarding the presence or absence of the interfering object 2 and, if the interfering object 2 is present, the distance to the interfering object 2. Then, the process proceeds to the process of step SP20.

[0038] (Step SP20) The detection system 1, using the motion control unit 240, determines whether the distance between the robot 10 and the interfering object 2 is less than a certain distance. Specifically, the detection system 1 determines that the distance between the interfering object 2 and the robot 10 is within a certain distance if the detection result of the capacitive proximity sensor 110 indicates that the interfering object 2 has been detected, using the motion control unit 240. The detection system 1 also determines that the distance between the interfering object 2 and the robot 10 is within a certain distance if the detection results of the laser sensors 30A and 30B indicate that the distance to the interfering object 2 is less than a certain distance, using the motion control unit 240. If either the determination result from the capacitive proximity sensor 110 or the determination results from the laser sensors 30A and 30B is a positive determination, the process proceeds to step SP22. On the other hand, if both the determination result from the capacitive proximity sensor 110 and the determination results from the laser sensors 30A and 30B are negative determinations, the series of processes shown in Figure 4 ends.

[0039] (Step SP22) The detection system 1, via the motion control unit 240, stops or slows down the movement of the articulated arm 11 of the robot 10. Then, the series of processes shown in Figure 4 are completed.

[0040] <Effects> As described above, in this embodiment, the detection system 1 stops or slows down the operation of the robot 10 based on the detection result of the interfering object 2 by at least one of the capacitive proximity sensor 110 and the laser sensors 30A and 30B, using the control device 20. Therefore, since the detection system 1 uses the capacitive proximity sensor 110 and the laser sensors 30A and 30B to detect the interfering object 2, it can detect the interfering object 2 approaching the robot 10 with high accuracy and over a wide range.

[0041] Furthermore, in this embodiment, the control device 20 stops or disables detection by the laser sensors 30A and 30B if a part of the articulated arm 11 is located within at least one of the detection ranges A1 and A2 in which the laser sensors 30A and 30B detect the interfering object 2. Therefore, the detection system 1 can detect the interfering object 2 with even greater accuracy because it prevents the laser sensors 30A and 30B from making false detections when the articulated arm 11 is within at least one of the detection ranges A1 and A2 in which the laser sensors 30A and 30B are located.

[0042] Furthermore, in this embodiment, if the articulated arm 11 is not located within either of the detection ranges A1 and A2 of the laser sensors 30A and 30B, the control device 20 detects the interfering object 2 using both the capacitive proximity sensor 110 and the laser sensors 30A and 30B. Therefore, the detection system 1 can detect interfering objects 2 approaching the robot 10 over an even wider area.

[0043] Furthermore, in this embodiment, the control device 20 calculates the distance between the interfering object 2 and the robot 10, and stops or slows down the robot 10's movement if the calculated distance is within a certain range. Therefore, the detection system 1 can suppress collisions between the interfering object 2 and the robot 10, and reduce the risk of robot 10 failure or damage to the interfering object 2 due to the impact of a collision.

[0044] <Variation> It should be noted that the present invention is not limited to the embodiments described above. That is, any design modifications made to the above embodiments by those skilled in the art are also included within the scope of the present invention, as long as they retain the features of the present invention. Furthermore, the elements of the above embodiments and the modifications described later can be combined to the extent that it is technically possible, and any combination thereof is also included within the scope of the present invention, as long as it retains the features of the present invention.

[0045] For example, in this embodiment, the laser sensors 30 are connected in pairs to both sides of the base 12 of the robot 10 and installed on the mounting surface S1, but are not limited to this. The laser sensors 30 may be installed in any number at any location, as long as they can detect the presence or absence of an interfering object 2 in an area within a certain distance from the robot 10. The detection system 1 may, for example, have multiple laser sensors 30 installed at different locations near the robot 10 but away from the base 12. The detection system 1 may also be configured such that the control device 20 can communicate with the multiple laser sensors 30 by wire or wireless. With this configuration, the detection system 1 can easily install the laser sensors 30 in an arrangement suitable for the environment in which the robot 10 is installed, and can detect the interfering object 2 with high accuracy and over a wide range at a suitable location according to the environment near the robot 10.

[0046] Furthermore, in this embodiment, the detection system 1 disables or stops the detection process by laser sensors 30A and 30B when at least a portion of the articulated arm 11 is located within at least one of the detection ranges A1 and A2, but is not limited to this. For example, the detection system 1 may enable or maintain the detection process for laser sensors 30 that are associated with detection ranges A1 and A2 in which no portion of the articulated arm 11 is located, instead of disabling or stopping the detection process. As an example, let's consider the case where at least a portion of the articulated arm 11 is located within detection range A1, and all parts of the articulated arm 11 are located outside detection range A2. In this case, the detection system 1 disables or stops the detection process of laser sensor 30A and enables or maintains the detection process of laser sensor 30B. With this configuration, the detection system 1 disables or stops the detection process only for the laser sensor 30 in which at least a portion of the articulated arm 11 is located within the detection range, out of the multiple laser sensors 30A and 30B. Therefore, detection system 1 can detect the interfering object 2 with even greater accuracy.

[0047] Furthermore, in this embodiment, the detection system 1 uses a laser sensor 30 as an optical distance sensor, but is not limited to this. Instead of the laser sensor 30, the detection system 1 may use an imaging device such as a camera to capture an image of the imaging range including detection ranges A1 and A2. The detection system 1 detects the presence or absence of an interfering object 2 within the imaging range and measures the distance to the interfering object 2 by performing image processing or image analysis on the image captured by the imaging device. With this configuration, the detection system 1 can detect the interfering object 2 with even higher accuracy because it performs image processing or image analysis on the image captured.

[0048] Furthermore, in this embodiment, the detection system 1 stops or slows down the robot 10's movement when either the detection result of the capacitive proximity sensor 110 or the laser sensor 30 satisfies a condition, but is not limited to this. The detection system 1 may also slow down the movement of the robot 10's articulated arm 11 when the motion control unit 240 determines that the detection results of the laser sensors 30A and 30B indicate that the distance between the interfering object 2 and the robot 10 is less than a certain distance. Alternatively, the detection system 1 may also stop the movement of the robot 10's articulated arm 11 when the motion control unit 240 determines that the capacitive proximity sensor 110 has detected the interfering object 2. The detection ranges A1 and A2 of the laser sensors 30A and 30B are wider than the detection range of the capacitive proximity sensor 110. With this configuration, the detection system 1 slows down the movement of the robot 10 according to the detection results of the laser sensors 30A and 30B, thereby reducing the load on the robot 10 by abruptly stopping its movement when an interfering object 2 approaches at high speed.

[0049] Furthermore, the detection system 1 may perform different processing depending on the distance between the robot 10 and the interfering object 2 measured by the laser sensors 30A and 30B, as determined by the motion control unit 240. Specifically, if the measured distance is greater than or equal to a first distance, the motion control unit 240 maintains the movement of the robot 10's articulated arm 11. If the measured distance is greater than or equal to a second distance (shorter than the first distance) and less than the first distance, the motion control unit 240 slows down the movement of the robot 10's articulated arm 11. If the measured distance is less than the second distance, the motion control unit 240 stops the movement of the robot 10's articulated arm 11. In addition, if the capacitive proximity sensor 110 detects the interfering object 2 separately from the detection by the laser sensors 30A and 30B, the motion control unit 240 stops the movement of the robot 10's articulated arm 11. With this configuration, the detection system 1 gradually slows down and stops the robot 10's movement according to the distance between the robot 10 and the interfering object 2, thereby reducing the burden on the robot 10 associated with sudden control.

[0050] Furthermore, the detection system 1 may acquire the position of the interfering object 2 detected by the laser sensors 30A and 30B using the acquisition unit 220. The detection system 1 may also determine whether the distance between the position of the interfering object 2 acquired from the laser sensors 30A and 30B and the position of the tool connected to the tip of the articulated arm 11 is less than a certain distance. In addition, the detection system 1 may, using the motion control unit 240, decelerate or stop the operation of the robot 10 if the determination is positive. With this configuration, the detection system 1 can suppress collisions between the tool connected to the tip of the articulated arm 11 of the robot 10 and the interfering object 2, and reduce the risk of robot 10 failure or damage to the interfering object 2 due to impact in the event of a collision. Furthermore, if the tool of the robot 10 is more than a certain distance away from the interfering object 2, the detection system 1 can allow the robot 10 to continue working without stopping its operation within a range that does not interfere with the interfering object 2.Therefore, the detection system 1 can reduce the opportunities to unnecessarily stop the operation of the robot 10, thereby improving the productivity of the robot 10. [Explanation of Symbols]

[0051] 1...Detection system, 2...Interfering object, 10...Robot, 11...Articulated arm, 12...Base, 20...Control device, 30A...Laser sensor, 30B...Laser sensor, 110...Capacitive proximity sensor

Claims

1. A robot comprising a base, a multi-jointed arm connected to the base, and a capacitive proximity sensor provided on the multi-jointed arm for detecting interfering objects, A pair of laser sensors are provided at positions opposite to each other with respect to the base, and emit lasers along a direction substantially parallel to the mounting surface of the robot to detect the interfering object, A control device that stops or slows down the robot's movement based on the detection result of the interfering object by at least one of the capacitive proximity sensor and the laser sensor, A detection system characterized by comprising the following features.

2. The detection system according to claim 1, characterized in that the control device controls the operation of the laser sensor to stop or disable detection by the laser sensor when a part of the articulated arm is located within the detection range in which the laser sensor detects the interfering object.

3. The detection system according to claim 2, characterized in that the control device controls the operation of the laser sensor to detect the interfering object when none of the parts of the articulated arm are located within the detection range of the laser sensor.

4. The detection system according to any one of claims 1 to 3, characterized in that the control device calculates the distance between the interfering object and the robot from the detection results of the capacitive proximity sensor and the laser sensor, and controls the operation of the robot to stop or slow down its operation when the calculated distance is within a certain distance.

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