Working device and control method of working device

Abstract

To provide a work device which can highly accurately perform height adjustment of a work robot with a comparatively simple and inexpensive configuration.SOLUTION: A work device comprises: a work robot which performs a work to a target object; a platform which is loaded with the work robot; a height adjustment device which adjusts the height of the platform; a detection device which detects the target object; a determination device which determines whether or not the position of the target object detected by the detection device is within an operation range of the work robot; and a robot control device which controls the operation of the work robot. The determination device determines whether or not the target object is within the operation range of the work robot, instructs the robot control device to calculate the operation locus of the work robot according to the position of the target object when the target object is within the operation range, and instructs the height adjustment device to adjust the height of the platform when the target object is not within the operation range.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to the configuration of a working device and its control, and in particular to a technique that is effective when applied to adjusting the height of a working robot mounted on the working device. [Background technology]

[0002] Robots on vertical moving platforms are used to perform assembly, inspection and maintenance tasks in the construction and maintenance sector. Such tasks include, but are not limited to, automated installation of elevator rails, maintenance of building facades, fastening of interior boards to walls, inspection of dam walls, wiping of windows, etc. To perform these tasks, a winder is usually used to move the platform, which then moves the robot vertically to reach the height of the target object that the robot is to handle.

[0003] High accuracy height measurements are required when performing highly accurate tasks or when following pre-programmed trajectories based on drawings or 3D schematics of the working environment.

[0004] However, typical winding machines do not meet the millimeter-level accuracy required to avoid under-reaching of the robot, robot singularities, and collisions with obstacles, so an alternative height measurement method is required.

[0005] Background art in this technical field includes, for example, a technology such as Patent Document 1. Patent Document 1 discloses a technology using a laser distance sensor that is composed of a laser irradiator placed on the ground floor and a laser reflector installed on a movable platform.

[0006] Furthermore, Patent Document 2 discloses a technique for detecting a scale traced on a vertically stretched piano wire and measuring the platform height with high precision. [Prior art documents] [Patent documents]

[0007] [Patent Document 1] JP 2020-7095 A [Patent Document 2] Japanese Patent Application Publication No. 4-55276 Summary of the Invention [Problem to be solved by the invention]

[0008] In Patent Document 1, in addition to the increased costs due to the addition of a laser distance sensor, the laser irradiator must be placed on the lowest floor and aligned with the laser reflector before the robot system can be operated, increasing the lead time for preparing the system for operation.

[0009] Furthermore, the accuracy of the laser measurements decreases with platform height, limiting the maximum height to which the robot can be operated.

[0010] Furthermore, in Patent Document 2, in addition to increasing the cost of the robot system, it is necessary to use a specially calibrated piano wire, which makes the system more complicated.

[0011] Furthermore, when the piano wire stretches, it undergoes plastic deformation, which reduces the accuracy of height measurement. Also, because the piano wire is thin, it is difficult to measure the scale.

[0012] Therefore, an object of the present invention is to provide a working device in which a working robot is mounted on a vertically moving platform, which has a relatively simple and inexpensive configuration and allows for high-precision height adjustment of the working robot, and a control method for the same. [Means for solving the problem]

[0013] In order to solve the above problems, the present invention provides a robot comprising a work robot which performs work on a target object, a platform on which the work robot is mounted, a height adjustment device which adjusts the height of the platform, a detection device which detects the target object, a determination device which determines whether the position of the target object detected by the detection device is within an operating range of the work robot, and a robot control device which controls the operation of the work robot, the detection device continually attempts to detect the target as the platform moves, at a sampling frequency corresponding to a maximum vertical velocity of the platform divided by a vertical dimension of a field of view or a vertical dimension of a measurement range of the detection device; The determination device determines whether the target is within the operating range of the work robot, and if it is within the operating range, instructs the robot control device to calculate a operating trajectory of the work robot in accordance with the position of the target, and if it is not within the operating range, instructs the height adjustment device to adjust the height of the platform.

[0014] The present invention also provides a method for detecting a position of a target object by using a detection device attached to the work robot, the method comprising the steps of: (a) moving a platform on which a work robot is mounted to a height of a target object; (b) detecting the target object by using a detection device attached to the work robot; and (c) determining whether the position of the target object detected by the detection device is within an operating range of the work robot, In step (b), while the platform is moving, continuously attempting to detect the target at a sampling frequency corresponding to a maximum vertical velocity of the platform divided by a vertical dimension of a field of view or a vertical dimension of a measuring range of the detection device; In step (c), if it is determined that the target is within the operating range of the work robot, a motion trajectory of the work robot is calculated in accordance with the position of the target, and if it is determined that the target is not within the operating range of the work robot, the height of the platform is adjusted. Effect of the Invention

[0015] According to the present invention, in a working apparatus in which a working robot is mounted on a vertically moving platform, it is possible to realize a working apparatus and a control method thereof that can adjust the height of the working robot with high precision using a relatively simple and inexpensive configuration.

[0016] This allows the robot to perform tasks optimally when performing work that involves vertical movement.

[0017] Problems, configurations and effects other than those described above will become apparent from the following description of the embodiments. [Brief description of the drawings]

[0018] [Figure 1] FIG. 2 is a front view of the assembly system arranged in the elevator hoistway according to the first embodiment of the present invention. [Diagram 2] FIG. 2 is a top view of the assembly system of FIG. 1. [Diagram 3] 1 is a flowchart showing a method for optimizing the height of a robot for an assembly task according to the first embodiment of the present invention. [Figure 4] 10 is a flowchart showing a method for optimizing the height of a robot for an assembly task according to a second embodiment of the present invention. [Diagram 5] FIG. 11 is a front view of an assembly system arranged outside a building with windows according to a third embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0019] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. In the drawings, the same components are designated by the same reference numerals, and detailed description of overlapping parts will be omitted. EXAMPLES

[0020] A working device and a control method thereof according to a first embodiment of the present invention will be described with reference to FIGS. 1 to 3. FIG.

[0021] In this specification, the working device will be described using an example of an assembly system that mainly performs assembly work inside an elevator hoistway; however, the present invention is not limited to this, and as described above, the present invention can also be applied to working devices for maintaining the exterior of buildings, fixing interior boards to walls, inspecting dam walls, wiping windows, and the like.

[0022] Figure 1 is a front view of an assembly system 100 disposed within an elevator hoistway 101 in accordance with an embodiment of the present invention. Figure 2 is a top view of the assembly system 100 of Figure 1. Figure 3 is a flow chart illustrating a method for optimizing the height of a robot for an assembly task in accordance with an embodiment of the present invention.

[0023] 1 and 2, an assembly system 100 of this embodiment is disposed in an elevator hoistway 101 to perform assembly work. The assembly system 100 includes a robot arm 1 disposed on top of a vertically moving platform 2 suspended by at least two ropes 3.

[0024] The ropes 3 are wound or unwound by at least one winding machine 4, respectively, which allows the vertically moving platform 2 to move upwards or downwards. At least one of the winding machines 4 is equipped with an absolute position detector (not shown) that allows a rough estimation of the height of the vertically moving platform 2.

[0025] It should be noted that the accuracy of estimating the height of the vertical moving platform 2 decreases due to stretching and deterioration of the ropes 3, so the value of the absolute position detector cannot be accurately related to the height of the vertical moving platform 2.

[0026] The orientation of the vertical moving platform 2 in the X and Y axes is measured by tilt sensors 5. This orientation is adjusted by a winder controller 12 which sends winding commands to the winder 4 to keep the vertical moving platform 2 horizontal.

[0027] The assembly system 100 also includes a system control device 10 including a robot control device 11, a winding machine control device 12, a robot motion range determination device 13 (hereinafter simply referred to as the determination device 13), and a work planning device 14.

[0028] The robot controller 11 sends control commands to the robot arm to move it according to the plan created by the work planner 14.

[0029] The operation planner 14 plans the operation of the winder 4 which is driven by the winder control device 12 .

[0030] The determination device 13 determines whether the robot is at a height where it can perform assembly work without reaching an inaccessible area, whether the robot is located at a singular point, or whether the robot will collide with the surrounding environment.

[0031] The elevator hoistway 101 in which the assembly system 100 is disposed comprises a wall 6 surrounding the assembly system 100, two rails 7 fixed to the ground at a lower position, and a target 8 fixed to the rails 7.

[0032] The target 8 includes a bracket 8a, a clip bolt 8b, a clip 8c, and a nut 8d.

[0033] The clip bolt 8b presses the clip 8c against one side of the edge of the rail 7, and the nut 8d is screwed into the surface of the bracket 8a on the opposite side of the edge of the rail 7, thereby fixing the bracket 8a on the opposite side of the edge of the rail 7 to the rail 7. The clip bolt 8b passes through a hole (not shown) provided in the bracket 8a to connect with the nut 8d on the opposite side.

[0034] The bracket 8a may be fixed to the rail 7 by, for example, soldering, instead of by using the clip bolt 8b and the nut 8d.

[0035] The robot arm 1 is equipped with a target detection device 9 (hereinafter simply referred to as the target detection device 9) that is used to detect a target 8 outside the assembly system 100.

[0036] In this embodiment, a camera equipped with an image processing capability for detecting a predetermined target is used as the target detection device 9. Note that other sensors equipped with a target detection function can be used instead of the camera. For example, a laser profiler equipped with an algorithm for object detection, a laser scanner, or an ultrasonic distance sensor can be used instead of the camera.

[0037] In addition, in this embodiment, the assembly system 100 is used in an elevator hoistway 101, but the scope of application of the present invention is not limited to elevator hoistways. The present invention can also be applied to building exteriors, locations close to dam walls, construction facilities where interior boards need to be fixed to walls, etc.

[0038] The assembly tasks performed by the assembly system 100 of this embodiment include tasks related to handling of the target object 8. The type of handling task affects the determination of the operating range of the robot, but is not critical to the concept of the present invention.

[0039] However, for ease of understanding in the description of the present invention, the handling operation is defined herein as a series of operations including untightening the clip bolt 8b, partially shifting the position of the bracket 8a, and tightening the clip bolt 8b.

[0040] This operation is performed in order to move the bracket 8a, one end of which is fixed to the rail 7, to a height on the wall 6 at which the bracket can be fixed to the wall surface (for example, the height of a wall with a smooth surface).

[0041] Although not shown in FIGS. 1 and 2, to perform this operation, at least a tool such as a nut runner for loosening the clip bolt and a tool such as an air gripper for gripping the bracket are required.

[0042] FIG. 3 shows a flow chart of a method for optimizing the height of a robot for performing an assembly task in this embodiment.

[0043] First, in step S30, the vertically moving platform 2 is moved to a predetermined height close to the target 8.

[0044] Next, in step S31, the target detection device 9 (hereinafter also referred to as a camera) is moved to the position of the target 8 estimated in advance.

[0045] Next, in step S32, an attempt is made to detect the target 8 by the camera 9.

[0046] Next, in step S33, it is determined whether or not the target 8 can be detected.

[0047] Due to inaccuracies in the winder 4 or inaccuracies in height due to manual placement of the target 8, the target 8 may not be within the field of view 15 of the camera 9. If so (No), the camera 9 is moved to a new search position and the process returns to step S32 to repeat the detection of the target 8 by the camera 9.

[0048] On the other hand, if the target 8 is detected by the camera 9 in step S33 (Yes), the process proceeds to step S35, where it is checked whether the target 8 is within the working range of the robot arm 1.

[0049] If it is determined in step S35 that the target 8 is within the working range of the robot arm 1 (Yes), proceed to step S37, where the trajectory of the robot assembly including the robot arm 1 is adjusted to a new target position to accommodate the height of the target 8, and the assembly work is performed.

[0050] On the other hand, if it is determined in step S35 that the target 8 is not within the working range of the robot arm 1 (No), the process proceeds to step S36, where the vertical moving platform 2 is moved to a new height, and the process returns to step S31, and the operations from step S31 onwards are repeated.

[0051] It should be noted that the predetermined initial height of the vertical moving platform 2 and the pre-estimated search position of the target 8 can be obtained by 3D data or 2D drawing of the elevator hoistway 101 .

[0052] It can also be obtained by a prior direct measurement of the height of the target 8, for example if the target 8 has been manually positioned.

[0053] When considering the initial height of the vertical moving platform 2, the blind spot of the target detection device (camera) 9 should also be taken into consideration.

[0054] An example of a blind spot is a position of the camera 9 where there is a rope 3 or other object between the camera 9 and the target 8 .

[0055] To detect a target 8, for example, features of the target 8 can be extracted via image processing from previously captured images of the same target 8, and then features matching those extracted features can be searched for in newly captured images during the search for the target 8.

[0056] If a matching feature is found, it means that the target 8 has been found. Examples of image processing methods for extracting image features include template matching and pattern detection. Also the use of neural networks is conceivable.

[0057] To determine whether the target 8 is within the working range of the robot arm 1, the judgment device 13 can simply check whether: (1) the target 8 is within the joint limits of the robot arm 1; (2) whether it is not in a position that requires a robot configuration where a robot singularity may occur according to the specifications of the robot arm 1; (3) whether it is not in a position where a collision of the robot arm 1 has occurred in previous experience; and (4) even if it is not included in (1) to (3), it is not in a position where the joints of the robot arm 1 may be damaged by overload due to the posture of the robot.

[0058] To obtain these experiences, the robot arm 1 needs to be moved to various heights and tasks simulated to check the possibility of collisions. The information on the possible collisions is then stored in a database (not shown) for access by the decision device 13.

[0059] An example of (4) is when the robot arm 1 tries to grasp an object, the position of the center of gravity of the robot arm 1 changes, causing the platform 2 to mutate and rotate, resulting in the gripper position of the robot arm 1 mutating, making it unable to grasp the object or resulting in a collision. In addition, when the robot arm grasps an object and is handling it, the robot's posture may cause the platform 2 to move in a way that puts strain on the joints of the robot arm 1, causing the robot arm 1 to break or stop due to joint overload.

[0060] To determine whether the robot arm 1 is in a posture that will cause it to stop due to overload, it is necessary to detect the load just before the overload using past operation test data or a sensor. Examples of load detection sensors include current sensors that measure the current at each joint of the robot arm 1, torque sensors that measure the torque at each joint of the robot arm 1, and force sensors that are attached to the tip of the robot arm 1 and measure the force and moment of the tip of the robot arm 1.

[0061] Another method for determining whether the target 8 is within the working range of the robot arm 1 is to (1) create a simulation environment with all the components of the assembly system 100 as well as all the components of the working environment (i.e., the elevator hoistway 101); (2) update the environment based on the position of the target 8 obtained by the camera 9; and (3) try to find a collision-free path for manipulating the target 8 via a graph-based trajectory search algorithm, for example, a fast-searching random tree (RRT).

[0062] If the path is found, the target 8 is determined to be within the working range of the robot arm 1, otherwise, the target 8 is determined to not be within the working range of the robot arm 1. If the target 8 is not found at the initial search position, the new camera 9 position for searching the target 8 can be any position that is within the working range of the robot arm 1 and has not been measured by the camera 9.

[0063] To efficiently search for the target 8 , the robot arm 1 can be moved in step sizes no larger than the horizontal or vertical field of view 15 of the camera 9 .

[0064] Considering that the estimation of the target 8 position in the lateral direction (Y-axis in Figure 1) is always accurate, an efficient approach to search for the target 8 is to move in the direction (upwards or downwards) in which the robot arm 1 can move longer without reaching its reach limit, with a step size equal to the vertical field of view of the camera 9.

[0065] If a reach limit is reached after successive search steps in one direction, an efficient approach is to return the robot arm 1 to the initial search position and continue searching in the other direction.

[0066] In this way, the robot arm 1 can cover the entire search area in the vertical direction, and if the target object 8 is not found, the determination device 13 can reliably determine that the target object 8 is not within the working range of the robot arm 1.

[0067] If the position of the detected target object 8 is determined not to be within the working range of the robot arm 1, the new height of the vertical moving platform 2 may be in a direction and step size that will bring the target object 8 to a predetermined optimum working position relative to the robot arm 1. This optimum position may be obtained by prior experimentation using the assembly system 100.

[0068] The new vertical moving platform 2 height if the target 8 is not found may be a height shifted upwards or downwards from the current platform position with a step size equal to the vertical working range of the robot arm 1.

[0069] Without any knowledge as to why a target 8 was not detected, the search direction can be chosen randomly.

[0070] By the methods described above, the robot arm 1 of the assembly system 100 can be positioned at a height that optimizes the assembly operation. EXAMPLES

[0071] A working device and a control method thereof according to a second embodiment of the present invention will be described with reference to Fig. 4. Fig. 4 is a flow chart showing a method for optimizing the height of a robot for an assembly operation according to this embodiment. This embodiment is a modified example of the first embodiment (Fig. 3).

[0072] As shown in FIG. 4, first, in step S40, the vertically moving platform 2 is moved (raised) while attempting to detect the target 8 using the camera 9.

[0073] Next, in step S41, it is determined whether or not the target 8 can be detected.

[0074] If the camera 9 does not detect the target 8 (No), the process returns to step S40, and the vertical moving platform 2 continues to move until it reaches the upper or lower limit depending on the direction of movement of the vertical moving platform 2.

[0075] On the other hand, if the camera 9 detects the target 8 (Yes), the process proceeds to step S42, where the movement of the vertically moving platform 2 is stopped.

[0076] Subsequently, in step S43, the camera 9 is moved to the position where the target 8 was detected, and the target 8 is detected more precisely. That is, in order to redetect the target 8, the vertical moving platform 2 and the robot arm 1 are moved to a better detection height.

[0077] Next, the process proceeds to step S44, where it is checked whether the target 8 is within the working range of the robot arm 1.

[0078] If it is determined in step S44 that the target 8 is within the working range of the robot arm 1 (Yes), proceed to step S46, where the trajectory of the robot assembly including the robot arm 1 is adjusted to a new target position to accommodate the height of the target 8, and the assembly work is performed.

[0079] On the other hand, if it is determined in step S44 that the target 8 is not within the working range of the robot arm 1 (No), the process proceeds to step S45, where the vertical moving platform 2 is moved to a new (different) height, and then the process returns to step S43 and the operations from step S43 onwards are repeated.

[0080] The re-detection of the target 8 in step S43 is performed because detection of the target 8 while the vertical moving platform 2 is moving may be subject to image acquisition errors due to the movement of the vertical moving platform 2.

[0081] A higher sampling frequency and faster shutter speed may reduce this image acquisition error, but redetection is more reliable.

[0082] Another reason for redetection is that there is a delay between when the target 8 is detected and when the vertical moving platform 2 comes to a complete halt. Therefore, after the vertical moving platform 2 comes to a halt, the position of the target 8 is not the same as when the target 8 was detected.

[0083] A pre-estimate of said delay and an estimate of the height travelled during this delay can be made to compensate for height errors in the position estimate of the target 8. However, re-detection of the target 8 with the vertically moving platform 2 stationary is more accurate.

[0084] If the height traveled during this delay is used to compensate for height errors in the position of the detected target 8, it can be ensured that the target 8 is within the field of view 15 of the camera 9 when the camera 9 moves to redetect the target 8.

[0085] Compared to the method of Example 1 (Figure 3), this method is advantageous because it attempts to continuously detect the target 8 as the vertical moving platform 2 ascends, and does not rely on a prior estimation of the position of the target 8, for example by 3D data verification.

[0086] However, this method is prone to detection errors since the target 8 is detected as moving. Another drawback is that the camera 9 used must have a high enough sampling frequency to capture all heights traveled by the vertical moving platform 2, which can be calculated by equation (1).

[0087]

number

[0088] Here, f is the sampling frequency, Vplatf is the maximum vertical speed of the platform, and dVFOV' is the size of the vertical field of view of the camera 9. Note that if another sensor is used, the measurement range of the sensor can be substituted for dVFOV. EXAMPLES

[0089] A working device and a control method thereof according to a third embodiment of the present invention will be described with reference to Fig. 5. Fig. 5 is a front view of an assembly system arranged outside a building with windows according to this embodiment.

[0090] As shown in FIG. 5, the assembly system 100 of this embodiment is placed outside a building 501 with windows, and performs window cleaning work as an example of maintenance work.

[0091] The basic configuration of the assembly system 100 of this embodiment is similar to that of embodiment 1 (Figures 1 and 2), but differs from embodiment 1 (Figures 1 and 2) in that the winding machine 4 is arranged on the vertically moving platform 2, and the rope 3 is not stored inside the winding machine 4 when it is wound, but passes through the winding machine 4 as the vertically moving platform 2 moves vertically.

[0092] An exterior wall 52 and a window 53 are arranged on the exterior portion of the window-equipped building 501. The window 53 is rectangular and has four corners. These four corners become the target 8 of this embodiment. Although the four corners that are the target 8 are highlighted in Fig. 5, they have the shape of the four corners of a normal window and do not have a special shape required for use in the method of the present invention.

[0093] The methods described in the first and second embodiments can be used in the building with windows 501 of this embodiment, but in this assembly environment, the detected targets 8 are the four corners of the window 53. The window has four corners, and any of the corners can be the detection target. A detection algorithm that can detect all four corners of the window 53 is more effective in estimating the robot's position, since it provides more options for detecting the window position in case one corner is falsely detected.

[0094] It should be noted that the targets 8 used in the first to third embodiments are merely exemplary and do not limit the scope of the claims. Any object that can be used as a reference for determining the height of the assembly system 100 compared to the area where the assembly work is performed is valid. Non-objects such as marks on a wall or rail can also be used as reference points (targets 8).

[0095] Furthermore, the present invention is not limited to the above-mentioned embodiment, and various modifications are included. For example, the above-mentioned embodiment has been described in detail to clearly explain the present invention, and is not necessarily limited to those having all of the configurations described. Furthermore, it is possible to replace a part of the configuration of one embodiment with the configuration of another embodiment, and it is also possible to add the configuration of another embodiment to the configuration of one embodiment. Furthermore, it is possible to add, delete, or replace a part of the configuration of each embodiment with another configuration. [Explanation of symbols]

[0096] 1. Robot arm 2. Vertical moving platform 3. Rope 4…Winding machine 5...Tilt sensor 6. Wall 7…Rail 8…Target 8a…Bracket 8b…Clip bolt 8c…Clip 8d…Nut 9...Target detection device (target detection device, camera) 10...System control device 11...Robot control device 12...Winding machine control device 13...Robot motion range determination device (determination device) 14...Work planning device 15…Field of view 52...(Exterior wall of a building with windows) 53…Window (of a building with windows) 100...Assembly system 101…Elevator shaft 501…Building with windows

Claims

1. A working robot that performs operations on a target object, a platform on which the working robot is mounted, a height adjustment device that adjusts the height of the platform, a detection device that detects the target object, a determination device that determines whether the position of the target object detected by the detection device is within the operating range of the working robot, and a robot control device that controls the operation of the working robot, wherein when the platform is moving, the detection device continuously tries to detect the target object at a sampling frequency corresponding to a value obtained by dividing the maximum vertical speed of the platform by the vertical dimension of the field of view of the detection device or the vertical dimension of the measurement range of the detection device, the determination device determines whether the target object is within the operating range of the working robot, if it is within the operating range, it instructs the robot control device to calculate the operating trajectory of the working robot according to the position of the target object, if it is not within the operating range, it instructs the height adjustment device to adjust the height of the platform, which is characterized by the working device.

2. The working device according to claim 1, wherein the determination device determines whether the position of the target object is within the joint limit of the working robot or whether the position of the target object is within the area where a collision of the working robot occurred in past movement experiments, which is characterized by the working device.

3. The working device according to claim 1, wherein the determination device updates the simulation environment using the components of the working device and the components of the working environment based on the position of the target object detected by the detection device, and generates a collision-free path within the simulation environment via a path generation algorithm that represents the position specification of the target object within the working range of the working robot, which is characterized by the working device.

4. The working device according to claim 1, wherein when the determination device determines that the target object is not within the operating range of the working robot, it moves the detection device with a step size equal to or less than the vertical measurement ability of the detection device, which is characterized by the working device.

5. The working device according to claim 1, wherein when the determination device determines that the target object is not within the operating range of the working robot, it moves the platform with a step size equal to or less than the vertical movable range of the working robot, which is characterized by the working device.

6. The working device according to claim 1, wherein the height of the platform that moves between the time when the target object is detected and the time when the platform completely stops is estimated in advance, and the detection position of the target object by the detection device is corrected based on the estimated height. The working device is characterized by this.

7. The working device according to claim 1, which is disposed in an elevator hoistway and performs assembly work in the hoistway. The working device is characterized by this.

8. The working device according to claim 1, which is disposed on the outer wall of a building with windows, detects the four corners of the windows as the target objects, and performs window wiping work. The working device is characterized by this.

9. The working device according to claim 1, wherein the determination device determines whether the posture of the working robot is the posture before the joints of the working robot stop due to overload in a past movement experiment, or whether the posture of the working robot is the posture before the joints of the working robot stop due to overload based on a signal from a load detector attached to the working robot. The working device is characterized by this.

10. (a) A step of moving a platform mounted with a working robot to the height of a target object; (b) A step of detecting the target object by a detection device attached to the working robot; (c) A step of determining whether the position of the target object detected by the detection device is within the operating range of the working robot, and having, in the step (b), when the platform is moving, the detection of the target object is continuously tried at a sampling frequency corresponding to a value obtained by dividing the maximum vertical speed of the platform by the vertical dimension of the field of view of the detection device or the vertical dimension of the measurement range of the detection device. in the step (c), when it is determined that the target object is within the operating range of the working robot, an operating trajectory of the working robot is calculated according to the position of the target object. When it is determined that the target object is not within the operating range of the working robot, the height of the platform is adjusted. The control method of the working device is characterized by this.

11. The control method of the working device according to claim 10, between the step (b) and the step (c), (d) A step of moving the detection device to the position where the target object is detected and re-detecting the target object. The control method of the working device is characterized by this.

Images