Area setting device, rack, control system, area setting method and program

Abstract

To reduce time required for adjustment of a protection region.SOLUTION: A region setting device includes: a setting unit that sets a protection region for detecting an entry of an object in at least a part of a periphery of a robot; an acquisition unit that acquires peripheral information of the robot; and a storage unit in which a setting value of the protection region and the peripheral information are stored in association with each other in advance. The setting unit sets the protection region on the basis of the setting value read from the storage unit.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to an area setting device. [Background technology]

[0002] When a robot and a human work together, a virtual protection area is set near the robot, and a sensor is used to monitor whether a human has entered the protection area. The protection area is set with a safety distance taken into account relative to the robot's range of motion. When a human enters the protection area, the robot's movements are slowed down or stopped to ensure the human's safety. Patent Document 1 discloses that the robot's movements are slowed down or stopped when it is determined that the human's position is within a predetermined range. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2014-8562 Summary of the Invention [Problem to be solved by the invention]

[0004] The protection area must be adjusted to match the conditions around the robot's installation location. For example, if there are objects such as walls around the robot's installation location, the protection area must be set taking these objects into account. In the case of a three-dimensional protection area, adjusting the protection area becomes more complicated. When changing the robot's installation location in response to the production line situation, it takes time to adjust the protection area to match the conditions around the robot's installation location each time the robot's installation location is changed, which means that changing the production line also takes time.

[0005] The present invention has been made in view of the above-mentioned circumstances, and an object of the present invention is to provide a technique that can shorten the time required to adjust a protection area. [Means for solving the problem]

[0006] An area setting device according to one aspect of the present invention comprises a setting unit that sets a protection area around at least a portion of a robot to detect the intrusion of objects, an acquisition unit that acquires peripheral information about the robot, and a memory unit in which setting values ​​for the protection area and the peripheral information are pre-stored in correspondence with each other, and the setting unit sets the protection area based on the setting values ​​read from the memory unit.

[0007] According to the above configuration, the setting unit reads from the storage unit the setting value of the protection area associated with the robot's surrounding information, which is information about objects present around the robot, and sets the protection area based on the read setting value. Because the protection area can be set based on the setting value associated with the robot's surrounding information, the time required to adjust the protection area can be reduced. This reduces the time required to change the production line.

[0008] The storage unit may previously store a plurality of the setting values ​​and a plurality of pieces of the peripheral information in association with each other, and the setting unit may read out the setting values ​​associated with the peripheral information acquired by the acquisition unit from the storage unit. The peripheral information may include information indicating an outer shape of an object detected by a sensor. The peripheral information may include information indicating one or more feature points of the object detected by the sensor.

[0009] The area setting device according to one aspect of the present invention includes a control unit for controlling the operation of the robot; and a determination unit that determines whether the object has entered a protection area, and the control unit may slow down or stop the operation of the robot when the determination unit determines that the object has entered the protection area. When a specific object is present in the protection area that is set around at least a portion of the robot, the setting unit may set the specific object present in the protection area as an object that is not subject to the determination by the determination unit regarding the object's entry.

[0010] According to one aspect of the present invention, there is provided an area setting device including a control unit that controls the operation of the robot and determines whether the object has entered the protection area, and the control unit may slow down or stop the operation of the robot when the object has entered the protection area. When a specific object is present within the protection area set around at least a portion of the robot, the setting unit may set the specific object present within the protection area as an object not to be subject to the control unit's determination of the object's entry.

[0011] The area setting device according to one aspect of the present invention may include a display unit that displays the protection area set around at least a portion of the robot on a screen, and the display unit may display the protection area set around at least a portion of the robot and the specific object superimposed on the screen.The protection area set around at least a portion of the robot and the specific object may be displayed superimposed on a screen of an external device.

[0012] The present invention can also be understood as a movable rack including the above-mentioned area setting device and the above-mentioned robot.The present invention can also be understood as a control system including the above-mentioned area setting device and the above-mentioned robot.The present invention can also be understood as an area setting method including at least a part of the above-mentioned processing, or a program for realizing such a method, or a recording medium on which such a program is non-temporarily recorded.Note that the above-mentioned means and processing can be combined with each other as much as possible to constitute the present invention. [Effects of the Invention]

[0013] According to the present invention, it is possible to provide a technique that can shorten the time required to adjust a protection area. [Brief explanation of the drawings]

[0014] [Figure 1] FIG. 1 is a schematic diagram of the control system. [Figure 2]FIG. 2 is a diagram showing a state before a plurality of racks are moved and a state after the plurality of racks are moved. [Figure 3] FIG. 3 is a block diagram of the sensor unit. [Figure 4] FIG. 4 is a plan view showing the range of the protection area. [Figure 5] FIG. 5 is an explanatory diagram of switching the range of the protection area. [Figure 6] FIG. 6 is a hardware configuration diagram of the sensor unit. [Figure 7] FIG. 7 is an explanatory diagram of the safety distance. [Figure 8] FIG. 8 is a diagram showing an example of an image displayed on the screen. DETAILED DESCRIPTION OF THE INVENTION

[0015] <Application example> FIG. 1 is a schematic diagram of a control system according to this embodiment. In the control system of FIG. 1, in an environment where a robot 1 and a person 10 such as a worker coexist, for example, in a production site such as a factory, the robot 1 is controlled by grasping the movements of the person 10. The robot 1 of FIG. 1 is a vertical articulated robot, and has a base 11 and an arm 12 connected to the base 11. The robot 1 is not limited to a vertical articulated robot, and may be a robot employing other methods such as a horizontal articulated robot. An end effector for grasping an object is attached to the tip of the arm 12. The robot 1 further has a servo motor for operating the arm 12.

[0016] A movable rack (housing) 2 is provided with a robot 1, a robot controller 3 that controls the operation of the robot 1, and a sensor unit 4. The robot controller 3 is an example of a control unit. The sensor unit 4 is an example of an area setting device. FIG. 2 shows the state of the rack 2 before and after relocation. The rack 2 has a workbench 5 and a frame 6 attached to the workbench 5. The sensor unit 4 is attached to the upper part of the frame 6. In FIG. 1, the robot 1 and the robot controller 3 are placed on the workbench 5. The robot 1 may perform operations on the workbench 5 or on a workbench arranged around the rack 2. The robot controller 3 may be provided inside the workbench 5. The robot 1 may be fixed to the rack 2, and the robot 1 and the rack 2 may be integrated. The base 11 of the robot 1 may be fixed to the workbench 5. Alternatively, the robot 1 may be removably attached to the rack 2, and the robot 1 and the rack 2 may be separate entities. Wheels 7 are attached to the bottom of the workbench 5. The wheels 7 may be detachable from the workbench 5, and the wheels 7 may be attached to the workbench 5 when the rack 2 is moved. Furthermore, the configuration of the rack 2 is not limited to that of FIG. 1 , and the rack 2 may have a configuration that does not include the workbench 5. For example, the rack 2 may have an installation stand on which the robot 1 is installed, instead of the workbench 5, and a frame 6 provided on the installation stand. In this case, the robot 1 may perform work on a workbench arranged around the rack 2. Furthermore, the wheels 7 may be attached to the installation stand of the rack 2.

[0017] The robot controller 3 controls the operation of the robot 1 via a wired or wireless connection. The robot controller 3 and the sensor unit 4 are an example of an area setting device. In the above, an example has been shown in which the robot 1, the robot controller 3, and the sensor unit 4 are installed in the rack 2, but this is not limiting. The robot 1 and the sensor unit 4 may be installed in the rack 2, with the robot controller 3 separated from the rack 2. In other words, the robot controller 3 may be installed outside the rack 2.

[0018] As shown in Fig. 2, a rack 2 may be provided with a plurality of sensor units 4. Fig. 2 illustrates a configuration in which the rack 2 is provided with three sensor units 4, but the number of sensor units 4 can be increased or decreased. The rack 2 may be provided with one or two sensor units 4, or may be provided with four or more sensor units 4.

[0019] 3 is a block diagram of the sensor unit 4. The sensor unit 4 includes a sensor 41 as a detection unit, a setting unit 42 that sets the protection area 20, an acquisition unit 43 that acquires information about the surroundings of the robot 1, a memory unit 44 that stores various types of information and data, a determination unit 45 that makes various determinations, and a display unit 46 that displays various types of information and data on a screen.

[0020] The sensor 41 detects the position of an object, including the person 10, at regular or irregular intervals. Alternatively, the sensor 41 may continuously detect the position of an object. The sensor 41 detects objects in the vicinity of the rack 2. A 3D scanner may be used as the sensor 41. The sensor 41 may be a sensor that combines a 3D scanner with a distance measurement sensor such as RADAR (Radio Detection and Ranging) and LiDAR (Light Detection and Ranging). A 2D scanner may be used as the sensor 41. The sensor 41 may be a sensor that combines a 2D scanner with a distance measurement sensor.

[0021] The position of the object may be a relative position in the measurable area (detection range) 100 of the sensor 41. The position of the object may be a position specified by three-dimensional coordinates (x coordinate, y coordinate, z coordinate). The position of the object may be a position specified by two-dimensional coordinates (x coordinate, y coordinate). The position of the person 10 may be the position of each part of the person 10. For example, the position of the person 10 may be the position of the hand, the position of the foot, or the position of the head of the person 10.

[0022] The setting unit 42 sets a protection area 20 in at least a portion of the periphery of the robot 1 mounted on the rack 2 to detect the intrusion of an object, including a person 10. The setting unit 42 sets one or more protection areas 20 in at least a portion of the periphery of the robot 1. The protection area 20 may be a range specified by three-dimensional coordinates. The protection area 20 may be a range specified by three-dimensional coordinates. The protection area 20 may be a range specified by two-dimensional coordinates.

[0023] The acquisition unit 43 acquires information about objects detected by the sensor 41 as peripheral information of the robot 1 (hereinafter referred to as robot peripheral information). The sensor 41 may detect objects other than humans in the vicinity of the robot 1 and send information about the detected objects to the acquisition unit 43 as robot peripheral information. For example, the sensor 41 may detect objects in the vicinity of the robot 1 when no humans are present in the vicinity of the robot 1 and send information about the detected objects to the acquisition unit 43 as robot peripheral information. The sensor 41 may detect objects in the vicinity of the robot 1 and send information about the detected objects to the acquisition unit 43, and the acquisition unit 43 may acquire the robot peripheral information by excluding information about humans from the object information. The robot peripheral information may be information indicating the outer shape of an object detected by the sensor 41. The robot peripheral information may be information indicating one or more feature points of an object detected by the sensor 41.

[0024] The storage unit 44 pre-stores a set value for the protection area 20 and robot periphery information in association with each other. The set value for the protection area 20 (hereinafter referred to as the area set value) is a set value for setting the protection area 20 around at least a portion of the periphery of the robot 1. The setting unit 42 reads from the storage unit 44 the area set value associated with the robot periphery information acquired by the acquisition unit 43, and sets the protection area 20 based on the read area set value. The setting unit 42 may read from the storage unit 44 an area set value associated with information that completely matches the robot periphery information acquired by the acquisition unit 43. The setting unit 42 may read from the storage unit 44 an area set value associated with information that is similar to the robot periphery information acquired by the acquisition unit 43 and has a certain correspondence with the robot periphery information. The setting unit 42 may determine whether the robot periphery information acquired by the acquisition unit 43 has a certain correspondence with the area set value stored in the storage unit 44 by performing calculations or machine learning using AI (artificial intelligence).

[0025] As shown in FIG. 1, a protection area 20 is set between the robot 1 and a person 10. The protection area 20 is a virtual three-dimensional area for detecting the entry of the person 10, and is set in at least a portion of the vicinity or periphery of a hazard source such as the robot 1. In FIG. 1, the protection area 20 is set in front of the robot 1, but the protection area 20 may also be set to the side or rear of the robot 1. It is also possible to set multiple protection areas 20. The protection area 20 is determined in accordance with safety standards, taking into account the operating range of the robot 1. The distance D1 in the planar direction of the protection area 20 may be a safety distance defined by the safety standard. For example, when an object such as the person 10 enters the protection area 20, safety control is performed, such as slowing down or stopping the operation of the robot 1.

[0026] The sensor 41 is positioned and the field of view of the sensor 41 is set so that the protection area 20 is included within the measurable area 100 of the sensor 41. The sensor unit 4 is attached to the rack 2. Therefore, if the position of the sensor 41 is adjusted and the field of view of the sensor 41 is set at the location before the rack 2 is moved (location L1 in FIG. 2), there is no need to adjust the position of the sensor 41 or set the field of view of the sensor 41 at the location to which the rack 2 is to be moved (location L2 in FIG. 2). Note that the position of the sensor 41 may be readjusted and the field of view of the sensor 41 may be reset at the location to which the rack 2 is to be moved.

[0027] When the rack 2 is relocated to a desired location, the scope of the protection area 20 must be changed depending on the presence of objects, such as walls, tool shelves, and workbenches other than the workbench 5, around the rack 2 at the new location. FIGS. 4A and 4B are plan views showing the scope of the protection area 20 when the rack 2 is installed at the new location. For example, as shown in FIG. 4A, if a portion of a wall 8 exists within the protection area 20 set around at least a portion of the robot 1, the sensor 41 will erroneously detect the wall 8. In other words, the sensor 41 will assume that an object has entered the protection area 20, and safety control, such as slowing down or stopping the robot 1, will be performed. Therefore, as shown in FIG. 4B, the scope of the protection area 20 must be changed depending on the presence of walls 8 around the rack 2.

[0028] FIG. 5 is an explanatory diagram of changing the range of the protection area 20. For example, area 20A shown in FIG. 5 indicates the range of the protection area 20 that is set when rack 2 is moved to location L1 in FIG. 2. For example, area 20B shown in FIG. 5 indicates the range of the protection area 20 that is set when rack 2 is moved to location L2 in FIG. 2. The setting unit 42 reads out, from the storage unit 44, area setting values ​​associated with robot surroundings information, which is information about objects present around rack 2, and sets the protection area 20 based on the read area setting values. Because the protection area 20 can be set based on the area setting values ​​associated with the robot surroundings information, the time required to adjust the protection area can be shortened. This reduces the time required to change the production line.

[0029] If the area setting value associated with the robot peripheral information does not exist in the memory unit 44, the setting unit 42 may issue a warning or alarm to the user or administrator. In this way, the setting unit 42 may function as an alarm unit. The warning or alarm may include a message indicating that the area setting value associated with the robot peripheral information does not exist in the memory unit 44. The warning or alarm may include a message indicating that the location where the rack 2 will be relocated is a new location. This makes it possible to inform the user or administrator that the location where the rack 2 will be relocated is a new location. The user or administrator can change the location where the rack 2 will be relocated to to a location where the rack 2 has been relocated in the past, thereby ensuring the reproducibility of the work environment.

[0030] For example, if multiple sensor units 4 are provided on a rack 2, the area setting value and robot surroundings information are stored in association with each other in the memory unit 44 of each sensor unit 4. Therefore, each sensor unit 4 can independently set the protection area 20. The number of sensor units 4 can be determined at the time of design, and the placement positions of the sensor units 4 can be fixed at the time of design. When setting the protection area 20, there is no difference between providing one sensor unit 4 on a rack 2 and providing multiple sensor units 4 on a rack 2.

[0031] The above application examples are merely illustrative examples to aid in understanding the present invention, and are not intended to limit the present invention.

[0032] <Device configuration> 6 is a hardware configuration diagram of the sensor unit 4. It includes a CPU 401, a ROM 402, a RAM 403, a sensor IF 404, a display unit 405, an operation IF 406, and a communication IF 407. The ROM 402 stores programs executed by the CPU 401. The RAM 403 provides a work area when the CPU 401 executes the programs.

[0033] The sensor IF 404 processes the object position information and robot surroundings information sent from the sensor 41 and transmits them to the CPU 401. The display unit 405 is composed of an LCD or the like and displays various information. The operation IF 406 receives input of various instructions from a user such as the person 10. The operation IF 406 may also have a function of notifying a user such as a person 10 by voice or lamp based on an instruction from the CPU 401. The communication IF 407 performs wired or wireless communication between the CPU 401 and an external device.

[0034] 2, the sensor unit 4 includes a sensor 41, a setting unit 42, an acquisition unit 43, a storage unit 44, a determination unit 45, and a display unit 46. At least one function of each of these units may be realized in software by a program stored in a ROM 402. In other words, the CPU 401 may load a necessary program into a RAM 403, execute it, and perform various calculations and control each hardware resource, thereby providing the function of each unit.

[0035] Each time the position of an object is detected by the sensor 41, the determination unit 45 determines whether the object has entered the protection area 20 and sends the determination result to the robot controller 3. If the object has entered the protection area 20, the determination unit 45 sends the determination result indicating that the object has entered the protection area 20 to the robot controller 3. If the object has not entered the protection area 20, the determination unit 45 sends the determination result indicating that the object has not entered the protection area 20 to the robot controller 3. If the object has entered the protection area 20, the robot controller 3 slows down or stops the operation of the robot 1. If the object has not entered the protection area 20, the robot controller 3 continues the operation of the robot 1.

[0036] Calculation of the safe distance requires the response speed and measurement error of the sensor 41, and the stopping time of the robot 1. The stopping time of the robot 1 is the time from when the robot controller 3 performs control to stop the operation of the robot 1 until the robot 1 actually stops. The robot 1 and the sensor unit 4 are provided on the rack 2, and the response speed and measurement error of the sensor 41, and the stopping time of the robot 1 can be stored in advance in the memory unit 44.

[0037] The safety distance is calculated based on the safety standard (ISO13855) using the following formula (1). S = (K × T) + C + D (1) K: Moving speed of person 10 (for example, K = 1600 mm / s) T: Response speed of the sensor 41 (for example, 0.1 s) + Stop time of the robot 1 (for example, 0.7 s) C: Length of part of person 10 (e.g., length of person's hand = 208 mm, e.g., length of person's arm = 850 mm) D: measurement error of the sensor 41 (for example, D = 100 mm)

[0038] FIG. 7 is an explanatory diagram of the safety distance. In FIG. 7, the height from the floor to the sensor unit 4 is 2200 mm, the field of view of the sensor 41 is 60 degrees, and the height of the workbench 5 is 700 mm. When a 2D scanner is used as the sensor 41, intrusion of a person's feet into the protection area 20 is detected. In this case, the safety distance S1 is 1600 mm / s × (0.1 s + 0.7 s) + 850 mm + 100 mm = 2230 mm. When a 3D scanner is used as the sensor 41, intrusion of a person's arms into the protection area 20 is detected. In this case, the safety distance S2 is 1600 mm / s × (0.1 s + 0.7 s) + 208 mm + 100 mm = 1580 mm. Taking into consideration the length of a person's arm, the safety distance S1 (2230 mm) for detecting the intrusion of a person's foot into the protection area 20 is longer than the safety distance S2 (1580 mm) for detecting the intrusion of a person's arm into the protection area 20.

[0039] A method for adjusting the protection area 20 according to an object present around the rack 2 will be described. For example, a user connects an information processing device to the sensor unit 4. The information processing device is an example of an external device. The information processing device may be a personal computer. Alternatively, the sensor unit 4 may be a tablet terminal. An information processing device connected to the sensor unit 4 may be provided in the rack 2. For example, the information processing device may be placed on the workbench 5, or may be provided on the top or side of the workbench 5.

[0040] An image A1 of a hazard source such as the robot 1, an image B1 of the protection area 20, and an image C1 of a desk in the vicinity of the rack 2 detected by the sensor 41 are displayed on the screen of the information processing device using a GUI (Graphical User Interface) of the setting tool of the information processing device. FIG. 8 is a diagram showing an example of an image displayed on the screen of the information processing device. As shown in FIG. 8, an image A1 of the robot 1, an image B1 of the protection area 20, and an image C1 of an object in the vicinity of the rack 2 detected by the sensor 41 are displayed. In FIG. 8, the image B1 of the protection area 20 and the image C1 of the object in the vicinity of the rack 2 are superimposed and displayed. For example, when the rack 2 is relocated to a predetermined location for the first time, the robot vicinity information at the relocation location is not stored in the storage unit 44. Therefore, if an object such as a desk is present in the protection area 20, the user adjusts the protection area 20 displayed on the screen of the information processing device using the GUI of the setting tool so that the object such as the desk is not included in the protection area 20.

[0041] After the protection area 20 is adjusted, the setting tool associates the area setting value with the robot periphery information and stores the information in the storage unit 44. The robot periphery information stored in the storage unit 44 may be information indicating the outline of an object or information indicating one or more feature points of the object. The setting tool may automatically extract the outline of an object displayed on the screen of the information processing device, and store the extracted outline of the object in the storage unit 44 as the robot periphery information. Alternatively, a user may manually extract one or more feature points of an object displayed on the screen of the information processing device using the GUI of the setting tool, and store the extracted one or more feature points in the storage unit 44 as the robot periphery information. Furthermore, one or more feature points of an object displayed on the screen of the information processing device may be extracted using a feature point extraction method such as pattern matching, and store the extracted one or more feature points in the storage unit 44 as the robot periphery information.

[0042] Each time the rack 2 is relocated to a plurality of locations, a process of adjusting the protection area 20 and a process of storing the area setting value and the robot periphery information in the storage unit 44 are performed. As a result, a plurality of area setting values ​​and a plurality of pieces of robot periphery information are associated and stored in the storage unit 44. Therefore, a plurality of area setting values ​​and a plurality of pieces of robot periphery information are stored in advance in the storage unit 44 in association with each other.

[0043] If an object such as a desk exists within the protection area 20, the user may use the GUI of the setting tool to set the object, such as the desk, within the protection area 20 displayed on the screen of the information processing device as a specific object. This allows the specific object to be excluded from object intrusion detection within the protection area 20. The specific object is an object that does not affect the operation of the robot 1 and can also be considered background information. The range of the specific object may be larger than the range of objects within the protection area 20 displayed on the screen of the information processing device. In other words, a margin may be provided in the range of objects within the protection area 20 displayed on the screen of the information processing device. This allows the specific object to be more reliably excluded from object intrusion detection within the protection area 20. By displaying the protection area 20 and the specific object superimposed on each other on the screen of the information processing device, the user can recognize the presence of the specific object within the protection area 20. Furthermore, the protection area 20 and the specific object may be displayed superimposed on each other on the screen of the display unit 46. The setting tool stores the robot surroundings information and information on a specific object included in the robot surroundings information in the storage unit 44 in association with each other.

[0044] When a specific object is present within the protection area 20 set around at least a part of the periphery of the robot 1, the setting unit 42 sets the protection area 20 set around at least a part of the periphery of the robot 1. The determination unit 45 sets a specific object present in the protection area 20 as an object that is not subject to object intrusion determination by the determination unit 45. As a result, even if the specific object has entered the protection area 20, the determination unit 45 sends a determination result indicating that no object has entered the protection area 20 to the robot controller 3. As a result, even if the specific object has entered the protection area 20, the robot controller 3 can continue operating the robot 1.

[0045] In the above example, the robot controller 3 performs processing such as continuing, slowing down, or stopping the operation of the robot 1 based on the determination result of the determination unit 45. The processing is not limited to this, and the robot controller 3 may perform processing performed by the determination unit 45. That is, the function of the determination unit 45 may be implemented in the robot controller 3. The robot controller 3 may determine whether an object has entered the protection area 20 each time the sensor 41 detects the position of an object. If an object has entered the protection area 20, the robot controller 3 slows down or stops the operation of the robot 1. If an object has not entered the protection area 20, the robot controller 3 continues the operation of the robot 1. If a specific object is present within the protection area 20 set around at least a portion of the robot 1, the setting unit 42 may set the specific object present within the protection area 20 set around at least a portion of the robot 1 as an exception to the object entry determination by the robot controller 3. This allows the robot controller 3 to continue the operation of the robot 1 even if the specific object has entered the protection area 20. Furthermore, the function of the determination unit 45 may be implemented in a PLC or dedicated processing device. The PLC or dedicated processing device in which the function of the determination unit 45 is implemented may be installed in the rack 2 or outside the rack 2. The implementation is not limited to these examples, and the function of the determination unit 45 may be implemented in other equipment or devices.

[0046] Each of the processes described above may be considered as a method executed by a computer. Furthermore, a program for causing a computer to execute each of the processes described above may be provided to the computer via a network or from a computer-readable recording medium that non-temporarily stores data. The computer may function as the sensor unit 4 by loading and executing the program. The computer may function as the sensor unit 4 by loading and executing the program.

[0047] <Additional Notes> a setting unit (42) that sets a protection area (20) for detecting the intrusion of an object around at least a part of the periphery of the robot (1); an acquisition unit (43) that acquires peripheral information of the robot (1); a storage unit (44) in which the set value of the protection area (20) and the surrounding information are stored in advance in association with each other; Equipped with The setting unit (42) sets the protection area (20) based on the setting value read from the storage unit (44). Area setting device (4). [Explanation of symbols]

[0048] 1:Robot 2: Rack 3: Robot controller 4: Sensor unit 5: Workbench 6: Frame 10: People 20:Protection area 41: Sensor 42: Setting section 43: Acquisition Department 44: Storage part 45: Judgment section 46: Display section 100: Measurable area

Claims

1. a setting unit that sets a protection area for detecting an intrusion of an object around at least a part of the periphery of the robot mounted on the relocatable rack; an acquisition unit that acquires information about an object detected by a sensor provided on the rack as peripheral information of the robot; a storage unit in which a setting value relating to the range of the protection area specified by two-dimensional or three-dimensional coordinates and the surrounding information acquired by the acquisition unit before the rack is relocated are associated and stored in advance; Equipped with The setting unit reads the setting value from the storage unit based on the peripheral information acquired by the acquisition unit after the rack is relocated, and sets the protection area based on the setting value read from the storage unit. Area setting device.

2. The storage unit stores in advance a plurality of the setting values ​​and a plurality of the peripheral information in association with each other, The setting unit reads out the setting value associated with the peripheral information acquired by the acquisition unit from the storage unit. The area setting device according to claim 1 .

3. The area setting device according to claim 1 or 2, wherein the peripheral information includes information indicating the outer shape of an object detected by the sensor.

4. The area setting device according to claim 1 or 2, wherein the peripheral information includes information indicating one or more feature points of an object detected by the sensor.

5. a control unit for controlling the operation of the robot; a determination unit that determines whether the object has entered the protection area; Equipped with The control unit slows down or stops the movement of the robot when the determination unit determines that the object has entered the protection area. The area setting device according to claim 1 .

6. When a specific object is present within the protection area set around at least a part of the robot, the setting unit sets the specific object present within the protection area as an object not subject to entry determination by the determination unit. The area setting device according to claim 5 .

7. a control unit that controls the operation of the robot and determines whether the object has entered the protection area; The control unit slows down or stops the operation of the robot when the object enters the protection area. The area setting device according to claim 1 .

8. When a specific object is present within the protection area set around at least a part of the robot, the setting unit sets the specific object present within the protection area as an object not subject to entry determination by the control unit. The area setting device according to claim 7 .

9. a display unit that displays on a screen the protection area set around at least a part of the robot; The display unit displays the protection area set around at least a part of the robot and the specific object in a superimposed manner on the screen.

9. The area setting device according to claim 6 or 8.

10. The protection area set around at least a part of the robot and the specific object are displayed superimposed on the screen of an external device.

9. The area setting device according to claim 6 or 8.

11. A relocatable rack, The area setting device according to any one of claims 1 to 10, The robot; A rack comprising:

12. The area setting device according to any one of claims 1 to 10, The robot; A control system comprising:

13. The computer a setting step of setting a protection area for detecting an intrusion of an object around at least a part of the periphery of the robot mounted on the movable rack; an acquiring step of acquiring information about an object detected by a sensor provided on the rack as peripheral information of the robot; Run In the setting step, the protection area is set based on the setting value read from a storage unit in which a setting value relating to the range of the protection area specified by two-dimensional or three-dimensional coordinates and the surrounding information acquired in the acquisition step before the rack is moved are associated and stored in advance, based on the surrounding information acquired in the acquisition step after the rack is moved. Area setting method.

14. A program for causing a computer to execute the steps of claim 13.

Images