Information processing apparatus, information processing method, and program

Abstract

To provide a technique that enables a user to easily recognize positional shift of a sensor.SOLUTION: An information processing device comprises: obtaining means that obtains distance information measured and outputted by a sensor in a state where the sensor is installed so that at least a portion of a robot is installed in a region where the sensor can measure; recognizing means that recognizes a three-dimensional operation range of the robot from the distance information measured by the sensor at a plurality of timings while moving the robot; determining means that determines whether or not the three-dimensional operation range of the robot is varied, on the basis of the distance information measured by the sensor during actual operation of the robot; and alarming means that issues an alarm showing occurrence of positional shift of the sensor, when the determining means determines that the three-dimensional operation range of the robot is varied.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to an information processing apparatus, an information processing method, and a program.

Background Art

[0002] In scenes that require monitoring, such as a production site, sensors are used to detect objects such as the human body.

[0003] For example, a system is known that uses a 3D sensor to monitor a predetermined area around a robot and performs safety control such as decelerating or stopping the robot when an operator approaches the robot. In this system, the predetermined area to be monitored is set based on the operating range of the robot learned using the image captured by the 3D sensor (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, in Patent Document 1, when a deviation such as an installation position deviation or an optical axis deviation occurs in the sensor, it becomes impossible to reliably detect an object in the predetermined area to be monitored. On the other hand, it is not easy for the user to recognize such a deviation of the sensor.

[0006] Therefore, an object of the present invention is to provide a technique that allows a user to easily recognize a deviation of a sensor.

Means for Solving the Problems

[0007] To achieve the above object, the present invention adopts the following configuration.

[0008] A first aspect of the present invention provides an information processing apparatus comprising: acquisition means for acquiring distance information measured and output by a sensor installed such that at least a part of a robot enters its measurable region; recognition means for recognizing a three-dimensional operating range of the robot from the distance information measured by the sensor at a plurality of timings while moving the robot; determination means for determining whether there is a change in the three-dimensional operating range of the robot based on the distance information measured by the sensor during actual operation of the robot; and warning means for warning that misalignment of the sensor has occurred when the determination means determines that there is a change in the three-dimensional operating range of the robot.

[0009] The "sensor" is, for example, a TOF (Time of Flight) sensor.

[0010] According to this configuration, it is determined whether there is a change in the three-dimensional operating range of the robot based on the distance information measured by the sensor during actual operation of the robot, and when there is a change in the three-dimensional operating range of the robot, a warning is given that misalignment of the sensor has occurred. Thereby, the user can easily recognize the misalignment of the sensor.

[0011] Further, the recognition means may convert each of the distance information measured by the sensor at the plurality of timings into object range information indicating a range occupied by each object in the measurable region, generate actual operation information indicating a range occupied by the robot in the measurable region excluding peripheral environment information indicating a range occupied by objects other than the robot in the measurable region from the object range information, and calculate the three-dimensional operating range of the robot by overlapping the actual operation information at the plurality of timings. Thereby, the three-dimensional operating range of the robot, and thus the determination of the dangerous area determined based thereon, can be performed in a short time.

[0012] ​Furthermore, it may further include setting means for setting the surrounding environment information based on the distance information measured by the sensor with the robot stopped. Thereby, the setting of the surrounding environment information can be performed simply.

[0013] Furthermore, the distance information measured by the sensor at the plurality of timings may be the distance information measured by the sensor while moving the robot in the same operation as during actual operation. Thereby, it is possible to accurately determine changes in the operating range of the robot during actual operation, and thus misalignment of the sensor. Also, when setting a danger area or a protection area based on the operating range of the robot, a minimum and optimal danger area and protection area can be set.

[0014] Furthermore, each time the work content by the robot changes, the recognition means may recognize the operating range of the robot according to the changed work content. Thereby, even if the operating range of the robot changes according to the change in the work content by the robot, misalignment of the sensor can be accurately determined. Also, when setting a danger area or a protection area based on the operating range of the robot, a minimum and optimal danger area and protection area can be set according to the work content of the robot.

[0015] Furthermore, it may further include determination means for determining a danger area based on the three-dimensional operating range of the robot, and monitoring means for monitoring an intruder approaching the danger area based on the distance information measured by the sensor during actual operation of the robot. By determining a danger area based on the operating range of the robot recognized from the measurement result of the sensor, a danger area with an appropriate position and size can be automatically determined, and it becomes possible to appropriately monitor intruders.

[0016] Furthermore, the determination means determines the size of the danger area in consideration of the three-dimensional operating range of the robot and a margin, and the margin may be changeable by the user. Thereby, the size of the danger area can be easily changed.

[0017] Also, a protection area setting means for setting a protection area, which is a three-dimensional area with a safety distance considered, outside the danger area is further provided, and the monitoring means may monitor an intruder approaching the danger area in the protection area. Thereby, the robot can surely complete deceleration and stop before the intruder approaching the danger area reaches the danger area.

[0018] Also, the protection area setting means may set the protection area in consideration of the surrounding environment information indicating the range occupied by the objects other than the robot in the measurable area. Thereby, the minimum necessary protection area can be set.

[0019] Also, the monitoring means further detects an object moving from the danger area to the protection area based on the distance information measured by the sensor during the actual operation of the robot, and when the monitoring means detects an object moving from the danger area to the protection area, a danger warning means for giving a danger warning may be further provided. Since it is unlikely that an object moves from the danger area to the protection area in a general situation, the detection of an object moving from the danger area to the protection area is assumed to be due to sensor deviation or failure, or malfunction of the robot, and in any case, there is a danger.

[0020] A warning may be given when an area located outside the measurable area exists in the protection area. This is because the distance information cannot be measured by the sensor for an area located outside the measurable area, and it cannot be used as a protection area.

[0021] A second aspect of the present invention includes steps of acquiring distance information measured and output by a sensor in a state where at least a part of a robot enters a measurable area of the sensor, recognizing a three-dimensional operating range of the robot from the distance information measured by the sensor at a plurality of timings while moving the robot, determining whether there is a change in the three-dimensional operating range of the robot based on the distance information measured by the sensor during actual operation of the robot, and warning that misalignment of the sensor has occurred when it is determined that there is a change in the three-dimensional operating range of the robot. An information processing method is provided, which is characterized by having these steps.

[0022] A third aspect of the present invention provides a program for causing a computer to execute each step of the above information processing method.

[0023] The present invention may be regarded as an information processing apparatus, a sensor misalignment determination apparatus, etc. having at least a part of the above means, or may be regarded as an object detection system, a monitoring system, etc. including these apparatuses and a sensor. Further, the present invention may be regarded as an information processing method, a sensor misalignment determination method, an object detection method, a monitoring method, or a control method having at least a part of the above processing. Further, the present invention can also be regarded as a program for realizing such a method and a recording medium on which the program is non-temporarily recorded. Note that each of the above means or processes can be combined with each other as much as possible to configure the present invention.

Effects of the Invention

[0024] According to the present invention, a user can easily recognize misalignment of a sensor.

Brief Description of the Drawings

[0025]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Embodiments for Carrying Out the Invention

[0026] <Application Example> With reference to FIGS. 1 to 3, an application example of the information processing apparatus according to the present invention will be described. FIG. 1 is a block diagram of a monitoring system including an information processing apparatus 50 according to an embodiment of the present invention. FIG. 2 is a functional block diagram of the control unit. FIG. 3 is a schematic side view of the site where the monitoring system is used. The directions of each part are referred to based on the X, Y, and Z coordinate axes shown in FIG. 3. As viewed from the sensor 10, the front is the +Y direction, the upper side is the +Z direction, and the right side is the +X direction.

[0027] As shown in FIG. 3, as a site where a three-dimensional distance sensor 10 (hereinafter referred to as the sensor 10) that measures and outputs three-dimensional distance information is used, a production site where a robot or machine (hereinafter simply referred to as "robot 302"), which is a danger source, produces while collaborating with workers is assumed as a place where object monitoring is required. The robot 302 is installed on a workbench 303 and passes through a moving line 305, which is a three-dimensional operating range, during actual operation. For example, if a worker reaches out his hand on the moving line 305, he will collide with the robot 302. Therefore, as a dangerous area 306, which is a dangerous area where a worker will actually collide with the robot 302 or is highly likely to collide when the worker reaches out his hand, a three-dimensional area that includes the moving line 305 of the robot 302 and is set to be one turn larger than the moving line 305 of the robot 302 is determined. During the actual operation of the robot 302, the sensor 10 is used to monitor an object (intruder) such as a human body approaching the dangerous area 306.

[0028] ​On the other hand, during the actual operation of the robot, if a positional deviation or an optical axis deviation (hereinafter simply referred to as "the deviation of sensor 10") has occurred in sensor 10 since its initial installation, it is necessary to warn the user to that effect. If there is a deviation in sensor 10, it will affect the measurement result of sensor 10 and there is a risk of error. This is because it is not easy for the user to recognize such a deviation in the sensor.

[0029] Therefore, in the present embodiment, as shown in FIG. 3, the user installs sensor 10 such that at least a part of robot 302 enters its measurable area 301. In this state, the sensing unit 201 (FIG. 2) of control unit 30 as an acquisition means acquires the distance information measured and output by sensor 10. Then, the path recognition unit 202 (FIG. 2) of control unit 30 as a recognition means recognizes the path 305 of robot 302 from the distance information measured by sensor 10 while moving robot 302. At this time, in order to measure the outer shape of robot 302 at various positions and postures on the path, the distance information is measured at a plurality of timings. The dangerous area automatic setting unit 203 (FIG. 2) of control unit 30 as a determination means determines the dangerous area 306 based on path 305. The actual operation control unit 206 (FIG. 2) of control unit 30 as a determination means determines whether there has been a change in the path 305 of robot 302, that is, whether there is a deviation in sensor 10, based on the distance information measured by sensor 10 during the actual operation of robot 302. The warning / safety control unit 210 (FIG. 2) of control unit 30 as a warning means gives a warning to that effect when the actual operation control unit 206 determines that there is a deviation in sensor 10.

[0030] The protection area automatic setting unit 204 (Fig. 2) of the control unit 30 as the protection area setting means sets a protection area 304 (Fig. 3), which is a three-dimensional area considering a safety distance, outside the danger area 306. The actual operation control unit 206 (Fig. 2) as the monitoring means monitors an intruder into the protection area 304, that is, an intruder approaching the danger area 306, based on the distance information measured by the sensor 10 during the actual operation of the robot 302. For example, when an object such as a human body enters the protection area 304, the warning / safety control unit 210 performs safety control such as driving the robot 302 at a low speed or stopping it. When the actual operation control unit 206 detects an intruder into the protection area 304, it may further determine whether the intruder entered the protection area 304 from the opposite side of the danger area 306 or from the danger area 306 into the protection area 304. In the former case, it may be regarded as an intrusion by a human body or the like. On the other hand, in the latter case, since the possibility of an intrusion by a human body or the like is low, there is a high possibility of a deviation of the sensor 10 or a malfunction of the robot 302. When the actual operation control unit 206 determines that a deviation of the sensor 10 or a malfunction of the robot 302 has occurred, the warning / safety control unit 210 (Fig. 2) issues a danger warning.

[0031] As shown in Fig. 1, the sensor 10 includes a light emitting unit 41, a light receiving unit 42, and a calculation unit 43. The light emitting unit 41 emits light (for example, infrared light), and the light receiving unit 42 receives the reflected light. As an example, the sensor 10 acquires a distance image from the time of flight (TOF) of light. A TOF sensor is adopted. For example, an indirect TOF sensor that estimates a time difference from the phase difference between the projected light and the reflected light is adopted. The sensor 10 outputs three-dimensional distance information and luminance information as measurement results. The measurement result by the sensor 10 includes the distance information of each position within the measurable area 301. The measurement result is supplied to the control unit 30 via the sensor I / F 44 in the information processing device 50. The sensor 10 is controlled by the control unit 30 via the sensor I / F 44.

[0032] The above application examples are for illustrative purposes to assist in the understanding of the present invention and are not intended to limit the interpretation of the present invention.

[0033] <Embodiment> Next, the configuration of the information processing apparatus 50 and each function of the control unit 30 in the embodiment of the present invention will be described in detail.

[0034] First, the configuration of the information processing apparatus 50 will be described with reference to FIG. 1. The information processing apparatus 50 includes a control unit 30, a sensor I / F 44, a display unit 34, an operation input unit 35, a storage unit 36, and a communication I / F 37. The control unit 30 includes a CPU 31, a ROM 32, a RAM 33, and a timer (not shown). A control program executed by the CPU 31 is stored in the ROM 32. Various values such as various thresholds are also stored in the ROM 32. The RAM 33 provides a work area when the CPU 31 executes the control program.

[0035] The display unit 34 is configured by, for example, a liquid crystal display and displays various information. The display unit 34 may have two or more screens or may have a function of displaying two or more screens by screen division. The operation input unit 35 receives inputs of various instructions from the user and sends the input information to the CPU 31. The operation input unit 35 may also have a function of giving a warning to the user by voice, a lamp, or the like based on an instruction from the CPU 31. The storage unit 36 is configured by, for example, a non-volatile memory. The storage unit 36 may be an external memory. The communication I / F 37 performs wired or wireless communication between the control unit 30 and the robot 302.

[0036] Next, each function of the control unit 30 will be described with reference to FIG. 2. The control unit 30 includes a sensing unit 201, a traffic line recognition unit 202, a danger area automatic setting unit 203, a protection area automatic setting unit 204, a parameter holding unit 205, an actual operation control unit 206, and a warning / safety control unit 210. The actual operation control unit 206 is composed of a safety monitoring unit 207, a robot malfunction determination unit 208, and a sensor misalignment determination unit 209. Each of these functions is realized software-wise by a program stored in the ROM 32. That is, the CPU 31 expands and executes the necessary program in the RAM 33 to perform various calculations and control of various hardware resources, thereby providing each function. In other words, the function of the sensing unit 201 is mainly realized by the cooperation of the CPU 31, ROM 32, RAM 33, and sensor I / F 44. The functions of the traffic line recognition unit 202 and the danger area automatic setting unit 203 are mainly realized by the cooperation of the CPU 31, ROM 32, RAM 33, display unit 34, and operation input unit 35. The functions of the protection area automatic setting unit 204 and the actual operation control unit 206 are mainly realized by the cooperation of the CPU 31, ROM 32, and RAM 33. The function of the parameter holding unit 205 is mainly realized by the ROM 32. The function of the warning / safety control unit 210 is mainly realized by the cooperation of the CPU 31, ROM 32, RAM 33, operation input unit 35, and communication I / F 37.

[0037] As shown in FIG. 3, the sensing unit 201 acquires distance information from a sensor 10 installed so that at least a part of the robot 302 enters the measurable area 301 via the sensor I / F 44. Before the actual operation of the robot 302, the sensing unit 201 acquires the distance information (1) measured by the sensor 10 when the robot 302 is stopped and the distance information (2) measured by the sensor 10 at different timings while moving the robot 302. Also, during the actual operation of the robot 302, the sensing unit 201 periodically acquires the distance information (3) measured by the sensor 10. The acquired distance information (1) to (3) is temporarily stored in the RAM 33.

[0038] The distance information (1) is used to set the surrounding environment information indicating the range occupied by objects other than the robot 302 in the measurable area 301, such as the workbench 303 shown in FIG. 3, the floor, the wall, the safety fence, etc. The specific method for setting the surrounding environment information will be described later.

[0039] The distance information (2) is used to recognize the movement path 305 of the robot 302, and the danger area 306 is determined based on the movement path 305. Therefore, in order to set the minimum and optimal danger area 306, the distance information (2) is preferably acquired while moving the robot 302 in the same operation as during actual operation.

[0040] The distance information (3) is used to monitor intrusions approaching the danger area 306, determine the presence or absence of displacement of the sensor 10, and determine the presence or absence of malfunction of the robot 302 during the actual operation of the robot 302.

[0041] The movement path recognition unit 202 reads the distance information (1) from the RAM 33, converts it into point cloud information in the orthogonal XYZ coordinate system in the global coordinate system, and draws it on the display unit 34. For example, an object within the measurable area 301 such as the robot 302 or the workbench 303 is drawn as a cluster of point clouds. When the user selects an object (cluster) drawn on the display unit 34 using the operation input unit 35, the position and size of the selected object are registered in the surrounding environment information. The registered surrounding environment information is stored in the storage unit 36.

[0042] The movement path recognition unit 202 reads each of the distance information (2) acquired by the sensing unit 201 from the RAM 33, converts it into point cloud information (object range information) in the orthogonal XYZ coordinate system in the global coordinate system, and excludes the surrounding environment information (range of the workbench 303, etc.) stored in the storage unit 36 from this converted point cloud information. Thereby, point cloud information (actual operation information) indicating the robot 302 at each timing when the distance information (2) is measured is generated.

[0043] After that, the traffic line recognition unit 202 sequentially plots the point cloud information of the robot 302 at each timing when the distance information (2) is measured, and recognizes the plotted all point cloud information as the traffic line 305 of the robot 302.

[0044] Although not shown in FIG. 3, distance information from other sensors (for example, sensor 10') having the same configuration as the sensor 10 may also be acquired, and the actual operation information of the robot 302 extracted by the same method as above may be further superimposed. By combining the distance information of a plurality of sensors in this way, the dead angle portion generated by the robot 302 can be reduced, and a danger area 306 with higher accuracy can be obtained. Regarding the dead angle portion of the sensor 10, the traffic line 305 of the robot 302 is calculated using only the distance information from the sensor 10'.

[0045] The danger area automatic setting unit 203 temporarily sets a three-dimensional shape 401 (FIG. 4) that surrounds all the traffic lines 305 of the robot 302 recognized by the traffic line recognition unit 202 as the danger area 306, and performs three-dimensional display on the display unit 34. At this time, the outermost peripheral portion of the danger area 306 is surrounded by a wireframe. When the user adjusts the size of this wireframe using the operation input unit 35, the position and size of the adjusted wireframe are registered in the storage unit 36 as the range of the danger area 306.

[0046] In this embodiment, the case where the user adjusts the size of the wireframe drawn on the display unit 34 is exemplified, but it is not limited to this as long as the user can change the shape of the danger area 306. For example, the outermost peripheral portion of the danger area 306 may be surrounded by a box frame, a spherical frame, or a polygon frame instead of a wireframe, or the actual plot of the traffic line 305 may be displayed.

[0047] Also, when determining the danger area 306 from the traffic line 305, the danger area automatic setting unit 203 may determine the size of the danger area 306 in consideration of the margin read from the ROM 32. Good. Further, the value of this margin may be made user-changeable, and the set danger area 306 and the value of its margin may be superimposed and displayed on the display unit 34. In this case, the size of the danger area 306 is changed according to the margin changed by the user.

[0048] The protection area automatic setting unit 204 sets a protection area 304, which is a three-dimensional area considering a safety distance, outside the danger area 306 registered in the storage unit 36.

[0049] Here, the safety distance is a distance that can guarantee that the robot 302 can complete deceleration and stop before an object entering the protection area 304 reaches the danger area 306, and is determined according to safety standards in consideration of the response speed of the sensor 10, the operating speed and braking performance of the robot 302, etc.

[0050] Therefore, the protection area automatic setting unit 204 reads out the used robot information (information such as the operating speed and braking performance of the robot 302) in the parameter holding unit 205, reads out the safety standard information to be used, and calculates the safety distance based on these.

[0051] In addition, the protection area automatic setting unit 204 may further set the protection area 304 in consideration of the surrounding environment information stored in the storage unit 36. For example, when the protection area automatic setting unit 204 can determine from the surrounding environment information (the position and size of the desk) that there is a desk and the operator cannot access from the right side of the danger area 306, the protection area 304 is not set on the right side of the danger area 306. Thereby, the minimum necessary protection area 304 can be set.

[0052] Also, when an area located outside the measurable area 301 exists in the set protection area 304, a warning may be given to the user by the operation input unit 35. This is because the distance information of an area located outside the measurable area 301 cannot be measured by the sensor 10 and cannot be used as the protection area 304.

[0053] The actual operation control unit 206 uses the distance information (3) acquired by the sensing unit 201, the danger area 306 set by the danger area automatic setting unit 203, and the protection area 304 set by the protection area automatic installation unit 204 to perform safety monitoring during the actual operation of the robot 302, determine whether there is any malfunction of the robot, and determine whether there is any deviation of the sensor 10.

[0054] The safety monitoring unit 207 in the actual operation control unit 206 monitors intruders approaching the danger area 306 based on the distance information (3) for safety monitoring during the actual operation of the robot 302. Specifically, the safety monitoring unit 207 monitors intruders approaching the danger area 306 by detecting an object moving from the protection area 304 to the danger area 306 based on the distance information (3).

[0055] The robot malfunction determination unit 208 in the actual operation control unit 206 detects objects in the danger area 306 and the protection area 304 based on the distance information (3) to determine whether there is any malfunction of the robot, and determines whether there is an object moving from the danger area 306 to the protection area 304. In general situations, it is unlikely that an object moves from the danger area 306 to the protection area 304. If such an object is detected, it is assumed that there may be a deviation or failure of the sensor 10, or a malfunction of the robot 302 (for example, a malfunction such as the arm of the robot 302 protruding from the danger area 306).

[0056] The sensor deviation determination unit 209 in the actual operation control unit 206 determines whether there is a change in the movement path 305 of the robot 302 based on the distance information (3) to determine whether there is any deviation of the sensor 10. If there is a change in the movement path 305 of the robot 302, the sensor deviation determination unit 20 9 determines that a deviation (deviation of the sensor 10) such as a deviation in the installation position or optical axis of the sensor 10 has occurred.

[0057] When the warning / safety control unit 210 detects an intruder approaching the dangerous area 306 as a result of the monitoring by the safety monitoring unit 207, it issues a stop command or a deceleration command to the robot 302 via the communication I / F 37. Thereby, for example, the robot 302 can be stopped or set to a safe speed before the operator reaches the dangerous area 306. Also, at this time, a warning may be given to the user by the operation input unit 35.

[0058] Further, when the warning / safety control unit 210 (hazard warning means) determines that a malfunction of the robot 302 has occurred in the robot malfunction determination unit 208, it gives a hazard warning to the user by the operation input unit 35 and issues a stop command or a deceleration command to the robot 302 to shift the robot 302 to a safe operating state. This is because if a malfunction occurs during the actual operation of the robot 302, there is a risk that the operator's body may collide with the robot 302 even if the operator is not approaching the dangerous area 306.

[0059] Furthermore, when the sensor misalignment determination unit 209 determines that the sensor 10 is misaligned, the warning / safety control unit 210 gives a warning to the user by the operation input unit 35 that the sensor 10 is misaligned from its set position or optical axis position. Thereby, the user can easily recognize the misalignment of the set position or optical axis position of the sensor 10.

[0060] Next, FIG. 5 is a flowchart showing the monitoring process and the sensor misalignment detection process.

[0061] This process is realized by the CPU 31 expanding and executing a program stored in the ROM 32 in the RAM 33. This process is started by a user's instruction after the user installs the sensor 10 so that at least a part of the robot 302 enters its measurable area 301 and before the actual operation by the robot 302.

[0062] First, in step S600, it is determined whether the work area where the robot 302 is installed is a new work area. For example, if the robot 302 is configured to be movable and is used by moving to different lines or different work processes, etc., it is necessary to update the surrounding environment information according to the work area at the destination. Therefore, if the work area is new (unknown), the process proceeds to step S601. On the other hand, if the work area is not new (already registered), steps S601 to S602 are omitted. The determination in step S600 is performed, for example, by displaying on the display unit 34 a screen that asks the user whether the work area is new or already registered.

[0063] In step S601, with the robot 302 stopped, the user inputs an acquisition instruction for the distance information (1) using the operation input unit 35. When there is an acquisition instruction for the distance information (1), the distance information (1) measured by the sensor 10 in the sensing unit 201 is acquired.

[0064] In step S602, based on the acquired distance information (1), the surrounding environment information is set in the traffic line recognition unit 202. This process corresponds to the registration (learning) of the work area.

[0065] In step S603, it is determined whether the work content to be performed by the robot 302 is new. For example, if the work content to be executed by the robot 302 changes, the traffic line of the robot 302 may change, and accordingly, it is necessary to re-set the danger area and the protection area. If the work content is new, the process proceeds to step S604. If it is not new, after setting the surrounding environment information, the danger area 306, and the protection area 304 based on the information held in the storage unit 36, the process proceeds to step S608. The determination in step S603 is performed, for example, by displaying on the display unit 34 a screen that asks the user whether the work content to be performed by the robot 302 is new work content or existing work content.

[0066] In step S604, after the user causes the robot 302 to start moving in the same manner as during actual operation, an acquisition instruction for distance information (2) is input using the operation input unit 35. When there is an acquisition instruction for distance information (2), the sensing unit 201 acquires the distance information (2) measured by the sensor 10.

[0067] In step S605, the traffic line recognition unit 202 recognizes the traffic line 305 of the robot based on the surrounding environment information and the distance information (2).

[0068] In step S606, the dangerous area automatic setting unit 203 determines the dangerous area 306 based on the traffic line 305 of the robot.

[0069] In step S607, the protection area automatic setting unit 204 sets the protection area 304 based on the dangerous area 306, the safety distance, etc.

[0070] When the above settings are completed, the operation (actual operation) by the robot 302 can be started. After the actual operation is started, in step S608, the distance information (3) periodically measured by the sensor 10 is taken into the sensing unit 201.

[0071] In step S609, the robot malfunction determination unit 208 determines whether there is a malfunction of the robot 302 based on the acquired distance information (3). If it is determined that there is a possibility of a malfunction of the robot 302, after sending a malfunction detection notification to the warning / safety control unit 210, the process proceeds to step S610. If there is no malfunction of the robot 302, the process proceeds to step S611.

[0072] When the warning / safety control unit 210 receives a malfunction detection notification, it issues a danger warning to the user (step S610), and at the same time, sends a stop command (or deceleration command) to the robot 302 via the communication I / F 37 (step S615), and ends the process. This is because it is dangerous to continue the actual operation in a state where there may be a malfunction. After the user inspects and checks the operation of the robot 302 etc. and takes necessary measures, from step S600, it is advisable to execute the re - setting of the surrounding environment information, danger area, and protection area.

[0073] In step S611, the sensor misalignment determination unit 209 determines the presence or absence of misalignment of the sensor 10 based on the acquired distance information (3). If it is determined that there may be misalignment of the sensor 10, after sending a sensor misalignment detection notification to the warning / safety control unit 210, the process proceeds to step S612. If there is no misalignment of the sensor 10, the process proceeds to step S613.

[0074] When the warning / safety control unit 210 receives a sensor misalignment detection notification, it warns the user that the sensor 10 is misaligned (step S612), and at the same time, sends a stop command (or deceleration command) to the robot 302 via the communication I / F 37 (step S615), and ends the process. This is because it is dangerous to continue the actual operation in a state where the sensor 10 may be misaligned. After the user inspects and checks the operation of the sensor 10 and takes necessary measures, from step S600, it is advisable to execute the re - setting of the surrounding environment information, danger area, and protection area.

[0075] In step S613, the safety monitoring unit 207 determines the presence or absence of an intruder approaching the danger area 306 based on the acquired distance information (3). As a result of the determination, if there is an intruder, after sending an intruder detection notification to the warning / safety control unit 210, the process proceeds to step S614, and if not, the process returns to step S608.

[0076] In step S614, upon receiving an intrusion detection notification from the safety monitoring unit 207 in the warning / safety control unit 210, a stop command, a deceleration command, etc. are transmitted to the robot 302 via the communication I / F 37, and after performing safety control, the process returns to step S608. According to the present embodiment, before the actual operation of the robot 302 is started, the control unit 30 recognizes the movement path 305 of the robot 302 from the distance information (2) measured by the sensor 10 while moving the robot 302, and determines the dangerous area 306 based on this. Further, after the start of the actual operation of the robot 302, based on the distance information (3) periodically measured by the sensor 10, while monitoring for intrusions approaching the dangerous area 306, if a deviation occurs in the sensor 10, a warning to that effect is issued. As a result, the user can easily recognize the deviation of the sensor 10.

[0077] Note that as the sensor 10, any other type of sensor may be adopted as long as it is a sensor that measures and outputs three-dimensional distance information. When adopting a TOF sensor, either a direct type or an indirect type may be used. Also, sensors using something other than light, such as radio waves, are also applicable.

[0078] Note that the information processing apparatus 50 can be configured by, for example, a computer including a processor, a memory, a storage, etc. In that case, the configuration shown in FIG. 2 is realized by loading a program stored in the storage into the memory and the processor executing the program. Such a computer may be a general-purpose computer such as a personal computer, a server computer, a tablet terminal, or a smartphone, or an embedded computer such as an on-board computer. Alternatively, all or part of the configuration shown in FIG. 2 may be configured by an ASIC, an FPGA, or the like. Alternatively, all or part of the configuration shown in FIG. 2 may be realized by cloud computing or distributed computing.

[0079] <Appendix> 〔1〕An acquisition means (201) for acquiring distance information measured and output in a state where a sensor (10) is installed such that at least a part of a robot (302) enters its measurable region (301); A recognition means (202) for recognizing a three-dimensional operating range of the robot from the distance information measured by the sensor at a plurality of timings while moving the robot; A determination means (206) for determining whether there is a change in the three-dimensional operating range (305) of the robot based on the distance information measured by the sensor during actual operation of the robot; A warning means (210) for warning that misalignment of the sensor has occurred when the determination means determines that there is a change in the three-dimensional operating range of the robot; An information processing apparatus (50) characterized by comprising the above.

[0080] 〔2〕Steps (S601, S603, S607) of acquiring distance information measured and output in a state where a sensor (10) is installed such that at least a part of a robot (302) enters its measurable region; A step (S604) of recognizing a three-dimensional operating range of the robot from the distance information measured by the sensor at a plurality of timings while moving the robot; Steps (S608, S614) of determining whether there is a change in the three-dimensional operating range of the robot based on the distance information measured by the sensor during actual operation of the robot; A step (S615) of warning that misalignment of the sensor has occurred when it is determined that there is a change in the three-dimensional operating range of the robot; An information processing method characterized by comprising the above.

Explanation of Signs

[0081] 10: Sensor 30: Control unit 50: Information processing apparatus 201: Sensing unit 202: Route recognition unit 203: Automatic dangerous area setting unit 206: Actual operation control unit 210: Warning / safety control unit 301: Measurable area 302: Robot 303: Workbench 304: Protection area 305: Traffic line 306: Danger area

Claims

1. An acquisition means for acquiring distance information measured and output in a state where a sensor is installed so that at least a part of a robot enters its measurable range; A recognition means for recognizing a three-dimensional operation range, which is an area where the robot can move during actual operation, based on the distance information measured by the sensor at a plurality of timings while moving the robot; A determination means for determining whether or not there is a change in the three-dimensional operation range of the robot based on the distance information measured by the sensor during actual operation of the robot; A warning means for warning that there is a deviation in the installation position or optical axis of the sensor itself when the determination means determines that there is a change in the three-dimensional operation range of the robot; An information processing apparatus, characterized by comprising the above.

2. The recognition means: Converts each of the distance information measured by the sensor at the plurality of timings into object range information indicating a range occupied by each object in the measurable range; Generates actual operation information indicating a range occupied by the robot in the measurable range, excluding peripheral environment information indicating a range occupied by objects other than the robot in the measurable range, from the object range information; The information processing apparatus according to claim 1, characterized in that the three-dimensional operation range of the robot is calculated by overlapping the actual operation information at the plurality of timings.

3. The information processing apparatus according to claim 2, further comprising a setting means for setting the peripheral environment information based on the distance information measured by the sensor with the robot stopped.

4. The distance information measured by the sensor at the plurality of timings is distance information measured by the sensor while moving the robot with the same operation as during actual operation, according to any one of claims 1 to 3. The information processing apparatus described in the section.

5. The information processing apparatus according to any one of claims 1 to 4, characterized in that each time the work content by the robot is changed, the recognition means recognizes the operation range of the robot according to the changed work content.

6. A determination means for determining a dangerous area based on the three-dimensional operation range of the robot; A monitoring means for monitoring an intruder approaching the dangerous area based on the distance information measured by the sensor during actual operation of the robot; The information processing apparatus according to any one of claims 1 to 5, further comprising

7. wherein the determination means determines the size of the dangerous area in consideration of the three-dimensional operation range and the margin of the robot, and the margin is user-changeable. The information processing apparatus according to claim 6.

8. further comprising protection area setting means for setting a protection area, which is a three-dimensional area considering a safety distance, outside the dangerous area, wherein the monitoring means monitors an intruder approaching the dangerous area in the protection area. The information processing apparatus according to claim 6 or 7.

9. The protection area setting means sets the protection area in consideration of peripheral environment information indicating a range occupied by an object other than the robot in the measurable area. The information processing apparatus according to claim 8.

10. when the monitoring means detects an object that has entered the protection area based on the distance information measured by the sensor during actual operation of the robot, the monitoring means determines whether the object has entered the protection area from the opposite side of the dangerous area or has moved from the dangerous area to the protection area, when the monitoring means detects an object moving from the dangerous area to the protection area, the information processing apparatus further comprises danger warning means for determining that there may be a sensor deviation or a malfunction of the robot and giving a danger warning. The information processing apparatus according to claim 8 or 9.

11. The information processing apparatus according to claim 10, further comprising safety control means for performing safety control to drive the robot at a low speed or stop it when the monitoring means detects an object entering the protection area from the opposite side of the dangerous area.

12. When a region located outside the measurable region exists in the protection area, warning is given. The information processing apparatus according to any one of claims 8 to 11.

13. acquiring distance information measured and output by a sensor installed so that at least a part of a robot enters its measurable area; recognizing a three-dimensional operation range, which is an area where the robot can move during actual operation, based on the distance information measured by the sensor at a plurality of timings while moving the robot; Based on the distance information measured by the sensor during the actual operation of the robot, determining whether there has been a change in the three-dimensional operating range of the robot; When it is determined that there has been a change in the three-dimensional operating range of the robot, warning that there is a deviation in the installation position or optical axis of the sensor itself; An information processing method characterized by comprising the above.

14. A program for causing a computer to execute each step of the information processing method according to Claim 13.

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