Robot system, terminal, head-mounted display, helmet, wristwatch terminal, teaching pendant, robot system control method, terminal control method, head-mounted display control method, helmet control method, wristwatch terminal control method, teaching pendant control method, article manufacturing method using robot system, control program, and recording medium

Abstract

To provide an apparatus capable of improving work efficiency in consideration of attributes of an operator.SOLUTION: A robot system includes a robot body that executes a prescribed work together with an operator, and a control device for controlling the robot body. The control device selects a movement of the robot body to be executed in the prescribed work based on intrinsic information of the operator.SELECTED DRAWING: Figure 5

Description

[Technical Field]

[0001] The present invention relates to a robot system and a terminal. [Background technology]

[0002] In recent years, collaborative robots capable of working in collaboration with humans have been developed for industrial robots used in factories, etc. For example, Patent Document 1 discloses a control device for a robot in which humans and a robot work together, which learns the behavior of the human and controls the behavior of the robot during the period in which the human and the robot work together. This makes it possible to operate the robot in accordance with the behavior of the human, thereby improving the work efficiency between humans and the robot. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2018-62016 Summary of the Invention [Problem to be solved by the invention]

[0004] However, it is difficult for human workers to perform continuous work for long periods of time due to fatigue. As a result, multiple workers take turns performing the work. Unlike machines that are manufactured with a certain degree of precision and adjusted to each other, efficient work procedures for humans vary depending on individual attributes (unique information), such as height or dominant hand. For this reason, technology based on learning human behavior, such as that described in Patent Document 1, has not yet been developed to take into account the above-mentioned individual attributes and control robots to improve work efficiency.

[0005] In view of the above-mentioned problems, an object of the present invention is to provide a device that can improve work efficiency by taking into account the attributes (unique information) of a worker. [Means for solving the problem]

[0006] The present invention relates to a robot that performs a predetermined task. a user interface for identifying a user; a control device for controlling the robot, the control device comprising: A storage unit in which first information relating to a user is stored can be referenced, and the user is identified using the user interface, and the 1st information The robot's operation to be executed in the predetermined task is calculated by referring to the stored data. The robot system is characterized by selecting an action and displaying the selected action on a display unit. [Effects of the Invention]

[0007] According to the present invention, the attributes (unique information) of the worker are taken into consideration, and work efficiency can be improved. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a schematic diagram of a robot system 100 according to an embodiment. [Figure 2] FIG. 2 is a control block diagram of a robot control device 2 in the embodiment. [Figure 3] FIG. 1 is a control block diagram of a robot system 1000 according to an embodiment. [Figure 4] 3 is a control flowchart according to the embodiment. [Figure 5] 3A to 3C are diagrams illustrating the operation of the robot body 1 according to the attributes of the worker 100 in the embodiment. [Figure 6] 2 is a diagram showing attributes of a worker 100 and information corresponding to the attributes in the embodiment. FIG. [Figure 7] 3 is a control flowchart according to the embodiment. [Figure 8] FIG. 2 is a schematic diagram of a head-mounted display 13 according to an embodiment. [Figure 9] 1 is a schematic diagram of a helmet 14 according to an embodiment. [Figure 10] FIG. 2 is a schematic diagram of a wristwatch terminal 15 according to an embodiment. [Figure 11] FIG. 2 is a schematic diagram of a teaching pendant 130 according to an embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] Preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Note that the examples shown below are merely examples, and for example, the detailed configurations can be changed without departing from the spirit of the present invention. Furthermore, the numerical values ​​used in each embodiment are for reference only and do not limit the present invention.

[0010] (First embodiment) Figure 1 is a block diagram showing an outline of the control system of a robot system 1000 according to this embodiment. As shown in Figure 1, the robot system 1000 has a robot body 1, a robot control device 2 that controls the drive of the robot body 1, and a visual sensor 5 that monitors the operating status of the robot body 1. Although one visual sensor 5 is shown in Figure 1, multiple visual sensors 5 may be provided, and they may be installed on the robot body 1 as necessary. The robot body 1 is equipped with an end effector as a predetermined part that can hold or grasp a workpiece, and is capable of performing collaborative tasks (predetermined tasks) with a worker 100, such as handing over (or receiving) a workpiece.

[0011] The system control device 3 also has a memory 6 that manages the operation sequence of the robot main body 1 and stores the operation details of the robot main body 1. A safety device 7 outputs a command to make an emergency stop of the robot main body 1, such as an emergency stop switch, when there is a possibility that the robot main body 1 may pose a danger to the worker 100. The user interface control device 4 is a control device that processes input from a user interface worn by the worker 100 who performs a collaborative task with the robot main body 1.

[0012] The part supply device 16 is a device that supplies workpieces to the robot body 1. By using the robot body 1 to manipulate a workpiece and assemble it to another workpiece, an industrial product or an article can be manufactured. For example, the operation on this workpiece is performed by using the robot arm body 1 to grasp or hold the workpiece as an object, move it, and fit or assemble it to another workpiece. The article assembled by the robot body 1 is then handed over to the worker 100.

[0013] The system control device 3 also includes an ID recognition means 10, a LUT (Look Up Table) 11, and an operation adjustment means 12, which are used when managing the operation sequence. The worker 100 also wears a head-mounted display 13, a helmet 14, and a wristwatch terminal 15 as user interfaces. The head-mounted display 13, helmet 14, and wristwatch terminal 15 of the present invention are equipped with wireless communication devices, enabling them to exchange information with the user interface control device 4.

[0014] Figure 2 is a control block diagram showing the detailed control system of the robot main body 1 and robot control device 2. The robot main body 1 has multiple joints (six axes: joints J1 to J6), and is equipped with motors that drive the joints, position detectors that detect the positions of the motor rotation axes, reducers that slow down the motor rotation and operate the links, and torque detectors that measure the force applied to the links as torque.

[0015] The robot control device 2 is basically configured with a power supply circuit, a communication controller, a computing unit, a serial communication unit, an AD converter, a current detector, and a motor driver, and each joint J1 to J6 has the same configuration. Each joint is driven and controlled by a motor drive signal from a motor driver in the robot control device 2. In this embodiment, the motor driver that generates the power to drive the motor is built into the robot main body 1, but the robot control device 2 may be installed external to the robot main body 1, and the motor drivers for each axis may be installed together external to the robot main body 1. Each computing unit in the robot control device 2 is programmed to control the robot main body 1 so that the force is released when the torque sensor for each axis detects excessive torque. Furthermore, a current detector controls the current generated by the motor driver so that humans and robots can work together.

[0016] Furthermore, the outputs of the position detector and torque detector are converted into a sensor communication format between the robot main body 1 and the robot control device 2 by the serial communication device of each axis, and are input to the robot control device 2. In this embodiment, the type of sensor communication format is not limited as long as a predetermined communication speed is satisfied.

[0017] The communication controller for each axis is connected so as to be able to send and receive data, and is provided so as to be able to communicate with the system control device 3. This allows the motor drive signals and the outputs of each detector to be exchanged between the computing unit for each axis and the system control device 3.

[0018] 3 is a block diagram showing the configuration of a control system of the robot system 1000 according to this embodiment. The system control device 3 is made up of a computer, and includes a CPU (Central Processing Unit) 301 as a control unit (processing unit).

[0019] The system control device 3 also includes, as memory 6, a ROM (Read Only Memory) 302, a RAM (Random Access Memory) 303, and an HDD (Hard Disk Drive) 304. The system control device 3 also includes a recording disk drive 305, and various interfaces 306, 307, 308, 309, 310, 311, 312, 313, and 314 are connected via a bus 315.

[0020] ROM 302, RAM 303, HDD 304, recording disk drive 305, and various interfaces 306 to 314 are connected to CPU 301 via bus 315. Basic programs such as BIOS are stored in ROM 302. RAM 303 is a storage device that temporarily stores various data such as the results of calculations performed by CPU 301.

[0021] The HDD 304 is a storage device that stores the results of the arithmetic processing of the CPU 301 and various data acquired from the outside, and also records a program 330 that causes the CPU 301 to execute arithmetic processing. The CPU 301 executes each step of a robot control method based on the detection results of the torque detector and the position detector, based on the program 330 recorded (stored) in the HDD 304.

[0022] The recording disk drive 305 can read various data, programs, etc. recorded on a recording disk 331 .

[0023] Similarly, the user interface control device 4, the ID recognition means 10, and the operation adjustment means 12 each have a CPU as a computing unit, and RAM, ROM, and HDD as memories (storage units).

[0024] The user interface control device 4 is connected to the interface 306. The CPU 301 inputs and outputs data from the user interface control device 4 via the interface 306 and the bus 315.

[0025] The user interface control device 4 is a control device that outputs work information to the worker and receives interrupt signals from the worker, such as when the worker temporarily suspends work. In this embodiment, a head-mounted display 13, a helmet 14, and a wristwatch terminal 15 are used as user interface terminals. Each is connected to the user interface control device 4 via wireless communication, and terminal control is performed using wireless communication. Although an example of wireless communication is shown in this embodiment, wired communication may also be used if the worker's range of movement is relatively narrow.

[0026] The head-mounted display 13 is a semi-transparent display, and the worker can observe the state of the robot through a see-through display while simultaneously receiving work instructions displayed on the display.

[0027] The helmet 14 is linked to the safety device 7 to protect the head, and transmits helmet fastening information such as buckle information to the safety device 7 via the user interface control device 4, interfaces 306, 311, and bus 315. If the buckle is loose, the safety device 7 stops the collaborative work of the robot main body 1 and transmits a signal to the system control device 3 to display a warning on each interface.

[0028] The wristwatch terminal 15 is equipped with a touch panel, and the worker can input data by touching the touch panel, sliding his / her finger, or performing other operations. In this embodiment, the head-mounted display 13, the helmet 14, and the wristwatch terminal 15 are shown as examples of user interfaces, but they are not limited to these. For example, a PAD-type portable terminal with integrated input and output may also be used. Alternatively, a stationary input / output terminal installed near the work space may be used, or a teaching pendant for teaching the robot may also be used.

[0029] A monitor 321 is connected to the interface 307, and various images are displayed on the monitor 321 under the control of the CPU 301. In this image display, an image showing a warning may be displayed on the monitor 321 as a warning display by the safety device 7 described above. The interface 308 is configured to be connectable to an external storage device 322, which is a storage unit such as a rewritable nonvolatile memory or an external HDD.

[0030] The robot control device 2 is connected to the interface 309. The robot control device 2 outputs operation commands from the system control device 3 to the robot control device 2 as control target values, and controls the drive of the robot main body 1 based on feedback from the torque detectors and position detectors of each axis.

[0031] The CPU 301 acquires detection results from the position detectors of the joints J1 to J6 via the robot control device 2, interface 309, and bus 315. The CPU 301 outputs command value data for each joint based on the detection results of each position detector at predetermined time intervals via the bus 315 and interface 309 to the robot control device 2 having motor drivers for each axis, and executes position control of the robot main body 1.

[0032] Furthermore, torque detectors provided at the joints J1 to J6 are connected to the CPU 301 via the interface 309 and the bus 315. The CPU 301 acquires detection results from the torque detectors via the interface 309 and the bus 315. As a result, command value data for each joint based on the detection results of the torque detectors is output at predetermined time intervals via the bus 315 and the interface 309 to the robot control device 2 having motor drivers for each axis, and force control (torque control) of the robot main body 1 is executed.

[0033] Furthermore, CPU 301 is connected to component supply device 16 via interface 310 and bus 315. Component supply device 16 is equipped with a sensor (shown in the attached drawing) that detects the setting of a workpiece, and CPU 301 instructs component supply device 16 to set a new workpiece based on the output of this sensor.

[0034] Furthermore, CPU 301 is connected to visual sensor 5 via interface 312 and bus 315. Visual sensor 5 captures images of robot main body 1 and worker 100 and measures the images to obtain information on the operating status of robot main body 1 and the surrounding environment. This information is then transmitted to CPU 301 via interface 312 and bus 315. CPU 301 can control robot main body 1 based on the information transmitted from visual sensor 5.

[0035] The CPU 301 is also connected to the safety device 7 via an interface 311 and a bus 315, and has the function of safely stopping the robot body 1 upon receiving a safety stop signal from the safety device 7. For example, the CPU 301 stops the robot body 1 at a safe speed that will not pose a risk to the worker if the robot collides with the worker, and controls the robot to not apply excessive force in the unlikely event of contact. Note that if the output of the robot body 1 during work is very small, it is possible to omit the force control described above.

[0036] The CPU 301 generates operation timing for work based on the operation information recorded in the memory 6, signal information from each detector from the robot control device 2, and signals from external sensors (not shown) (such as sensors provided in the component supply device 16). The CPU 301 also monitors the signal information from each detector from the robot control device 2, information from the visual sensor 5, and the safety stop signal from the safety device 7 to maintain the safety of the worker 100. In particular, when the robot main body 1 and the worker 100 work together, the worker 100 and the robot main body 1 come into close proximity. Therefore, in this embodiment, the positional relationship between the worker 100 and the robot main body 1 is monitored by the visual sensor 5, and if an unsafe positional relationship is detected, the robot main body 1 is brought to an emergency stop. This does not apply, however, if the output of the robot main body 1 is sufficiently small or the robot main body 1 and the worker 100 are always separated during work.

[0037] The ID recognition means 10 comprises a CPU 1001, a memory 1006, and an interface 1013, and is provided so as to be able to communicate with each other via a bus 1015. The interface 313 and the interface 1013 are also connected so as to be able to communicate with each other. This allows the CPU 301 and the CPU 1001 to send and receive data. The processing by the ID recognition means 10 will be described later.

[0038] LUT 11 is a large-scale selector, and is implemented in the system manufacturing equipment 3 using hard logic such as a gate array. It is also implemented so as to be able to communicate with the CPU of each control device via a bus 315. It also includes a memory 1106 for storing various data. The processing by LUT 11 will be described later.

[0039] The operation adjustment means 12 comprises a CPU 1201, a memory 1206, and an interface 1213, and is provided so as to be able to communicate with each other via a bus 1215. The interface 1214 and the interface 1213 are also connected so as to be able to communicate with each other. This allows the CPU 1201 and the CPU 1211 to send and receive data. It is also possible to refer to the information in the LUT 11. The processing by the operation adjustment means 12 will be described later.

[0040] In this embodiment, the computer-readable recording medium is each HDD, and a corresponding program is stored on each HDD. However, this is not limited to this. The program may be recorded on any computer-readable recording medium. For example, a ROM, a recording disk, an external storage device, etc. may be used as a recording medium for supplying the program. Specific examples include a flexible disk, a hard disk, an optical disk, a magneto-optical disk, a CD-ROM, a CD-R, a magnetic tape, a non-volatile memory, a ROM, etc.

[0041] Next, the processing procedure in the robot system 1000 of this embodiment will be described with reference to the drawings. The flow described below is assumed to be executed by the CPUs of the respective control devices communicating with each other.

[0042] 4 is a control flowchart for acquiring the identification information of the worker 100, newly registering attribute information (unique information), and verifying the worker's identity in this embodiment. This process is executed by the system control device 3, the user interface control device 4, and the ID recognition means 10. It is assumed that the memory 1008 of the ID recognition means 10 stores the identification information of a certain number of workers, with the corresponding IDs and corresponding attribute information linked to each other.

[0043] As shown in FIG. 4 , first, in S100, identification information of the worker 100 is acquired. Specifically, the system control device 3 acquires image information, such as face and gait information, from the visual sensor 5. The user interface control device 4 acquires at least one of the following information: iris information of the worker 100 from the camera of the head-mounted display 13; brain waves and blood flow patterns from the helmet 14; and blood flow patterns and fingerprint information from the wristwatch terminal 15. Acquisition of the iris information, brain waves, blood flow patterns, fingerprint information, etc. is assumed to be performed using known prior art, and a description thereof will be omitted here. In this embodiment, acquisition of the iris information, brain waves, blood flow patterns, fingerprint information, etc. is performed using respective user interfaces; however, acquisition of the iris information, brain waves, blood flow patterns, fingerprint information, etc. may also be performed using a single user interface. The system control device 3 and user interface control device 4 then transmit the acquired information to the ID recognition means 10.

[0044] In this embodiment, the head-mounted display 13, helmet 14, and wristwatch terminal 15 are provided with wireless communication devices and are capable of exchanging information with the user interface control device 4, but they may of course be wired.

[0045] Next, in S101, the ID recognition means 10 identifies the worker 100 currently present in the vicinity of the robot main body 1 based on the identification information obtained in S100 and the identification information registered in the memory 1008. Various methods, such as deep learning, are known as pattern recognition algorithms for identification. Any method may be used as long as it is accurate.

[0046] Next, in S102, the ID recognition means 10 determines whether the information of the worker 100 currently present in the vicinity of the robot main body 1 is linked to the corresponding ID in the memory 1008 and registered, or whether the worker is not registered and is a new worker.

[0047] If S102: Yes indicates that the acquired information has already been registered, the process proceeds to S103, where the ID recognition means 10 communicates the personal name associated with the ID of the information and stored in memory 1008 to the worker 100 via the user interface, and performs identity verification with the worker 100. If the confirmation operation by the worker 100 shows that the information associated with the ID matches the information of the worker 100, S103: Yes indicates that the worker 100 inputs that the information associated with the ID, the information of the worker 100, and the worker himself are different, the process returns to the step immediately before S100 and performs re-recognition.

[0048] In S106, the ID of the worker 100 whose identity has been verified and the attribute information linked to the ID are transmitted to the LUT 11.

[0049] If it is determined from S102: No that the acquired information has not yet been registered, the process proceeds to S104, where the ID recognition means 10 inquires the worker 100 about the next process via the user interface. The content of the process to be inquired of the worker 100 via the user interface is either re-recognition, new registration of the information of the worker 100, or no action.

[0050] If the worker 100 selects the re-recognition process, the process returns to the step immediately before S100 and re-recognition is performed.

[0051] If the worker 100 selects new registration processing, the process proceeds to S105. In S105, the ID recognition means 10 issues a new ID and displays a screen via the user interface prompting the worker 100 to input attribute information such as handedness. The input attribute information is then linked to the ID and stored in memory 1008. When inputting the information, the user interface displays options for input information, so the worker simply selects and inputs the information according to the instructions on the user interface. The input information may include the individual's name, handedness, height, language used, years of experience, and the like, and is set as needed.

[0052] If the worker 100 selects to do nothing, the process proceeds to S107, where the standard ID prepared for an arbitrary worker and the attribute information linked to the standard ID are transmitted to the LUT 11.

[0053] This completes the control flow for obtaining the identification information of the worker 100, registering new attribute information, and verifying the worker's identity.

[0054] Fig. 5 is a diagram showing an example of the operation of the robot main body 1 in a collaborative task between the robot main body 1 and a worker 100, which is registered in association with an ID in the LUT 11. The task in Fig. 5 shows the robot main body 1 taking the workpiece 20, which has been assembled, from the workbench 16 and handing it over to the worker 100, who then checks the received workpiece 20, hands it over to the robot main body 1 again, and returns it to the workbench 16.

[0055] Fig. 5(a) shows a case where worker 100a is right-handed and is located on the right side of the robot main body 1 as viewed from the paper when performing the handover (or receiving) work. Fig. 5(b) shows a case where worker 100b is left-handed and is located on the right side of the robot main body 1 as viewed from the paper when performing the handover (or receiving) work. Fig. 5(c) shows a case where worker 100c is left-handed and is located on the left side of the robot main body 1 as viewed from the paper when performing the handover (or receiving) work.

[0056] Here, the standard ID mentioned in FIG. 4 will be described in detail. The standard ID is an ID linked to a template motion preset in the robot body 1 in a task performed by the robot body 1 and a worker in cooperation with each other. In FIGS. 5(a) and 5(b), when the worker is on the right side of the robot body 1 as viewed in the drawing (when the worker's right hand is on the workbench side), the motion of handing over (or receiving) to the worker is set as a template motion, linked to the standard ID, and registered in LUT 11. In FIG. 5(a), the end effector is operated in the direction of arrow a. In FIG. 5(b), the end effector is operated in the direction of arrow b.

[0057] In the case of Figure 5(a), since the worker 18 is right-handed, when performing template operations using the standard ID, when the robot main body 1 and the worker 100a face each other, the dominant hand (right hand) will be on the workbench side, allowing the series of tasks to be performed smoothly.

[0058] On the other hand, in the case of FIG. 5(b), since the worker 100b is left-handed, when the robot main body 1 and the worker 100a are facing each other, the worker's dominant hand (left hand) will be on the opposite side from the work table when the robot main body 1 and the worker 100a are facing each other. As a result, the movements of the worker's dominant hand become larger, and the working speed decreases. Furthermore, repeated work causes fatigue. To prevent this, the worker 100b needs to work with his / her non-dominant right hand, but this not only requires practice to increase the working speed, but also may lead to mistakes.

[0059] Therefore, as shown in Figure 5(c), if the worker is left-handed, the robot main body 1 is made to operate using an operation registered with an ID having a left-handed attribute, rather than the template operation registered with the standard ID. In Figure 5(c), the end effector is made to operate in the direction of arrow c. When performing the work in Figure 5(c), if the worker is on the left side of the robot main body 1 as viewed in the paper (if the worker's left hand is on the workbench side), the operation of handing over (or receiving) the item to the worker is linked to an ID having a left-handed attribute and registered in LUT11.

[0060] This allows the dominant hand of the worker 100c to be positioned on the workbench side, and the movement of the dominant hand can be reduced compared to when performing work using template movements linked to a standard ID, which allows for faster work speed and reduces fatigue when performing repetitive work.

[0061] As described above, in the operations to be executed by the robot main body 1 in the above-mentioned work of handing over (or receiving), operations linked to standard IDs and operations linked to IDs with left-handed attributes are registered in the LUT 11. In this embodiment, for the sake of simplicity, the handing over (or receiving) work has been used as an example, but it is assumed that operations are also registered according to the respective IDs for other tasks such as screw tightening and transporting a large workpiece.

[0062] In this embodiment, it is assumed that there are many right-handed workers, and actions that are easy for right-handed workers to perform are registered as template actions as standard IDs, but this is not limited to this.If there are many left-handed workers, actions that are easy for left-handed workers to perform may be linked to the standard ID as template actions.

[0063] 6 shows the types of attribute information of the worker 100 linked to the ID and the specific data linked according to the attribute information and registered in the LUT 11. In this embodiment, the attribute information (unique information) includes a dominant hand attribute, a height attribute, a language attribute, and a number of years of experience attribute.

[0064] Specific data linked to the handedness attribute includes the basic passing points of the robot body 1 during work, as described in FIG. 5, the standing position of the worker, and operation information of the part supply device.

[0065] Specific data linked to the height attribute includes height information for transferring (or receiving) parts and control information for part supply devices, which are assumed to be the most natural positions for workers to work at.

[0066] Specific data associated with language attributes includes language information displayed as characters in the user interface. For example, official languages ​​of each country, such as Japanese, English, Chinese, and German, are associated and registered.

[0067] Specific data linked to the years of experience attribute includes user interface control information such as help information, information limiting work speed, and information on prohibited work according to years of experience.

[0068] In this way, various information according to the attributes linked to the IDs is registered in the LUT 11. Based on the IDs transmitted from the ID recognition means 10 and the attribute information linked to the IDs, the LUT 11 extracts the corresponding operation information and control information and transmits them to the operation adjustment means 12.

[0069] 7 is a flowchart showing a control flow executed by the movement adjustment means 12 based on the movement information and control information transmitted from the LUT 11. For simplicity of explanation, the process of generating teaching points for the robot main body 1 based on the movement information and control information corresponding to the dominant hand attribute and the height attribute will be described in detail here.

[0070] First, in S200, various information related to handedness attributes transmitted from LUT11 is acquired.

[0071] Next, in S201, based on the various information related to the handedness attribute acquired in S200, basic teaching points for the operation to be performed by the robot main body 1 are generated. For example, if the attribute is right-handed, teaching points for operating the robot main body 1 are generated as described in Fig. 5(a). If the attribute is left-handed, teaching points for operating the robot main body 1 are generated as described in Fig. 5(c).

[0072] Next, in S202, various information related to height attributes transmitted from the LUT 11 is acquired.

[0073] Next, in S203, height adjustment is performed at the part transfer (or receiving) position based on various information related to height attributes and the basic teaching point generated in S201, and the final robot teaching point is generated. Specifically, a teaching point is generated in which the end effector position at the time of transfer (or receiving) of the robot main body 1 is adjusted. If the part supply device 16 is equipped with a tilt mechanism, the positioning of the tilt mechanism is also adjusted at the same time.

[0074] Next, in S204, the generated robot teaching points and component supply device teaching points are sent to the system control device 3. The system control device 3 controls the timing of these two devices and other peripheral devices based on the sent robot teaching points and component supply device teaching points. The robot teaching points are transferred to a dedicated robot control device 2, and the robot main body 1 is driven according to the control timing of the robot control device 2. In this embodiment, the component supply device teaching points are used by the system control device 3 to control the component supply device 16, but a separate control device may also be provided in the component supply device 16, and the control may be performed by that control device.

[0075] The above describes the generation of teaching points for controlling the movement of the robot main body 1 based on various information corresponding to the handedness attribute and the height attribute. Of course, the language to be displayed on the monitor or the language to be spoken may be set based on various information corresponding to the language attribute in order to warn or guide the worker 100. Furthermore, the movement speed of the robot main body 1 may be limited or prohibited tasks may be set based on various information corresponding to the years of experience attribute.

[0076] As a result, when performing collaborative work, the robot body can be operated taking into account the attributes of the worker, improving work efficiency. This allows the machine to operate in accordance with the human, preventing a drop in efficiency. In particular, since the robot can change its operation depending on the dominant hand, it can not only improve work efficiency but also reduce worker fatigue.

[0077] (Second embodiment) In the first embodiment described above, a form was described in which teaching points for the robot main body 1 were generated based on the worker's handedness attribute and height attribute. In this embodiment, a case in which display processing on the head-mounted display 13 is controlled based on the worker's language attribute will be described in detail. Note that, below, parts of the hardware and control system configuration that are different from those in the first embodiment will be illustrated and described. Furthermore, it is assumed that parts similar to those in the first embodiment can have the same configuration and function as those described above, and detailed description thereof will be omitted.

[0078] 8 is a diagram showing the head-mounted display 13 of this embodiment. First, the head-mounted display 13 is a glasses-type wearable display, and includes an image sensor 21, stereo cameras 22 and 23, display units 24 and 25, and speakers 26 and 27. It is also configured to be able to communicate wirelessly with the user interface control device 4, and includes a processing unit that controls the cameras, display units, and speakers. This allows the processing unit to exchange worker attribute information, IDs, etc. from the LUT 11.

[0079] The image sensor 21 is an image sensor for identifying the worker wearing the head-mounted display 13, and acquires images of the iris, face, etc., and transfers the acquired images to the ID recognition means 10 via the user interface control device 4.

[0080] The stereo cameras 22 and 23 are outward-facing stereo cameras that acquire three-dimensional information of the robot main body 1 and peripheral devices as viewed by the worker wearing the head-mounted display 13 .

[0081] The display sections 24 and 25 are semi-transparent so that the work information 28 and 29 can be displayed without obstructing the worker's view.

[0082] The speakers 26, 27 are provided on the temples of the head-mounted display 13 and output navigation information, warning information, etc. by voice near the operator's ears.

[0083] The work information 28 is a navigation display screen showing the details of the task being performed and the next task to be performed, and is displayed as text information on the display unit 24. This information is displayed in the worker's native language based on information corresponding to the language attribute linked to the worker ID, acquired by the LUT 11. In Fig. 8, the handover of part A is displayed as work information, but the receipt of part A may also be displayed as work information.

[0084] The task information 29 is a navigation display screen that shows the operation details of the task being executed and the next task to be executed as a trajectory, and is displayed on the display unit 25. The movement trajectory of the robot main body 1 based on the teaching points generated from the information corresponding to the dominant hand and height attributes linked to the worker ID, acquired by the LUT 11, is displayed as an emphasized arrow. At this time, the target position when the robot main body 1 approaches the worker is also displayed. Furthermore, the operation of the robot main body 1 in the case where the worker is right-handed may be displayed as a standard operation.

[0085] The task information 29 can also be realized by overwriting the details of the action on the actual image. In this case, the details of the action are generated and overwritten based on the three-dimensional information acquired by the visual sensor 5 and the stereo cameras 22 and 23.

[0086] Furthermore, the speakers 26 and 27 output navigation information, warning information, and the like relating to the work content in the worker's native language based on the information corresponding to the language attribute linked to the worker ID obtained by the LUT 11 .

[0087] As described above, in this embodiment, the display and audio output of the work content are in the native language of the worker performing the work, which allows the worker to be reliably informed of the work content and important points to note during the work, thereby reducing work errors and the like.

[0088] (Third embodiment) In the second embodiment described above, a case where display processing on the head-mounted display 13 is controlled based on the attribute information of the worker is described in detail. In this embodiment, a case where display processing on the helmet 14 is controlled based on the language attribute of the worker is described in detail. Note that, below, parts of the hardware and control system configuration that are different from the above-described embodiment are illustrated and described. Furthermore, it is assumed that parts similar to the above-described embodiment can have the same configuration and function as above, and detailed description thereof will be omitted.

[0089] 9 is a diagram showing the helmet 14 of this embodiment. The helmet 14 includes a buckle 30, a belt 31, a wireless communication means 32, an upper head portion 33, and a processing unit 34. The helmet 14 also includes stereo cameras 22 and 23, display units 24 and 25, and speakers 26 and 27.

[0090] The buckle 30 is a fastener that prevents the helmet 14 from coming off the worker. The belt 31 also has an internal communication line that can communicate with the processing unit 34, and has the function of transmitting and receiving data. The buckle 30 also has an internal pressure sensor (not shown), and data from the pressure sensor is transmitted to the processing unit 34 via the belt 31 to determine whether the buckle 30 is fastened or unclasped.

[0091] The speakers 26 and 27 are attached to the belt 31 and output navigation information, warning information, etc. by voice near the ears of the operator in response to instructions from the processing unit 34.

[0092] The stereo cameras 22 and 23 are outward facing stereo cameras that obtain three-dimensional information of the robot main body 1 and peripheral devices as viewed by the worker wearing the helmet 14 and transmit the information to the processing unit 34 .

[0093] The display units 24 and 25 are semi-transparent so that they can display the work information 28 and 29 without obstructing the worker's view, and are provided so as to be able to communicate with the processing unit 34.

[0094] The wireless communication means 32 is a communication means that enables wireless communication between the user interface control device 4 and the processing unit 34. For example, Wi-Fi communication, Bluetooth communication, or the like is used. This allows the processing unit 34 to transmit the state of the buckle 30 to the system control device 3 via the user interface device 4 and receive each piece of work information from the system control device 3 via the user interface device 4. This allows the processing unit 34 to exchange worker attribute information, ID, and the like from the LUT 11.

[0095] The work information 28 is a navigation display screen showing the details of the task being performed and the next task to be performed, and is displayed as text information on the display unit 24. This information is displayed in the worker's native language based on information corresponding to the language attribute linked to the worker ID, acquired by the LUT 11. In Fig. 9, the handover of part A is displayed as work information, but the receipt of part A may also be displayed as work information.

[0096] The task information 29 is a navigation display screen that shows the operation details of the task being executed and the next task to be executed as a trajectory, and is displayed on the display unit 25. The movement trajectory of the robot main body 1 based on the teaching points generated from the information corresponding to the dominant hand and height attributes linked to the worker ID, acquired by the LUT 11, is displayed as an emphasized arrow. At this time, the target position when the robot main body 1 approaches the worker is also displayed. Furthermore, the operation of the robot main body 1 in the case where the worker is right-handed may be displayed as a standard operation.

[0097] The task information 29 can also be realized by overwriting the details of the action on the actual image. In this case, the details of the action are generated and overwritten based on the three-dimensional information acquired by the visual sensor 5 and the stereo cameras 22 and 23.

[0098] Furthermore, the speakers 26 and 27 output navigation information, warning information, and the like relating to the work content in the worker's native language based on the information corresponding to the language attribute linked to the worker ID obtained by the LUT 11 .

[0099] Furthermore, if the buckle 30 is undone, the processing unit 34 transmits information to the system control device 3 that the buckle 30 is undone. Upon receiving the information that the buckle 30 is undone, the system control device 3 activates the safety device 7 and stops the robot main body 1 to ensure the safety of the worker. The system control device 3 also notifies the worker in his or her native language via the displays 24, 25 or speakers 26, 27 to fasten the buckle 30. Note that, although the safety device 7 is activated by the buckle 30 in this embodiment, the safety device 7 may also be activated by detecting an abnormality in the worker from electroencephalograms.

[0100] As described above, in this embodiment, the display and audio output of the work content are in the native language of the worker performing the work, which allows the worker to be reliably informed of the work content and important points to note during the work, thereby reducing work errors and the like.

[0101] Furthermore, if the worker's protective equipment, such as a helmet, is not properly attached, the safety device will be activated, the robot will stop, and the worker will be notified to properly attach the equipment. This ensures worker safety. Ensuring safety allows workers to carry out their work smoothly with peace of mind, which also improves work efficiency.

[0102] In this embodiment, the helmet 14 is linked with the safety device 7, but this is not limiting. For example, it may be executed by the head-mounted display 13 or the wristwatch terminal 15. When executed by the head-mounted display 13, information such as sweating is obtained from the facial expression information of the worker by the image sensor 21, and when a certain amount of sweating is detected, it is determined that something is wrong with the worker and the safety device 7 is activated. When executed by the wristwatch terminal 15, information such as heart rate is obtained from information on blood flow patterns, and when a certain amount of heart rate is detected, it is determined that something is wrong with the worker and the safety device 7 is activated.

[0103] (Fourth embodiment) In the third embodiment described above, a case where display processing on the helmet 14 is controlled based on the worker's attribute information is described in detail. In this embodiment, a case where display processing on the wristwatch terminal 15 is controlled based on the worker's language attribute is described in detail. Note that, below, parts of the hardware and control system configuration that are different from the above-described embodiment will be illustrated and described. Furthermore, it is assumed that parts similar to the above-described embodiment can have the same configuration and function as above, and detailed description thereof will be omitted.

[0104] FIG. 10 shows a wristwatch terminal 15 of this embodiment. FIG. 10(a) shows prohibited actions being displayed to the worker, and FIG. 10(b) shows help information being displayed to the worker. The wristwatch terminal 15 is equipped with a touch panel 40 and a strap 41. The touch panel 40 is also equipped with a speaker 26 and a fingerprint authentication unit 42. The wristwatch terminal 15 is also configured to be able to communicate wirelessly with the user interface control device 4, and is equipped with a processing unit that controls the touch panel 40, speaker 26, and fingerprint authentication unit 42. This allows the processing unit to exchange worker attribute information, ID, etc. from the LUT 11.

[0105] The speaker 26 outputs navigation information, warning information, etc. to the operator by voice in response to instructions from the processing unit.

[0106] When the worker touches the fingerprint authentication unit 42 with his / her finger for a certain period of time, the fingerprint authentication unit 42 acquires fingerprint information of the finger and transmits it to the processing unit.

[0107] The touch panel 40 is capable of displaying the work information 28, 29, a help button 43, a prohibition display button 44, and an experience years information display section 45, and is provided so as to be capable of communicating with the processing section.

[0108] The work information 28 is a navigation display screen showing the details of the task being performed and the next task to be performed, and is displayed as text information on the touch panel 40. This information is displayed in the worker's native language based on information corresponding to the language attribute linked to the worker ID, acquired by the LUT 11. In Fig. 10, the handover of part A is displayed as work information, but the receipt of part A may also be displayed as work information.

[0109] The task information 29 is a navigation display screen that shows the operation details of the task being performed and the next task to be performed as a trajectory, and is displayed on the touch panel 40. The movement trajectory of the robot main body 1 based on the teaching points generated from the information corresponding to the dominant hand and height attributes linked to the worker ID, acquired by the LUT 11, is displayed as an emphasized arrow. At this time, the target position when the robot main body 1 approaches the worker is also displayed. Furthermore, the operation of the robot main body 1 in the case of a right-handed worker may be displayed as a standard operation.

[0110] The work information 29 can also be realized by overwriting the details of the operation on the actual image. In this case, the details of the operation are generated based on the image acquired by the visual sensor 5 and overwritten.

[0111] Furthermore, the speaker 26 outputs navigation information, warning information, and the like relating to the work content in the worker's native language based on the information corresponding to the language attribute linked to the worker ID acquired by the LUT 11 .

[0112] Furthermore, the years of experience information display section 45 displays content according to the worker's years of experience in the worker's native language. When the prohibited items display button 44 is touched, prohibited items are displayed as shown in FIG. 10(a) based on the information about the worker's years of experience. When the help button 43 is pressed, help information is displayed as shown in FIG. 10(b) based on the information about the worker's years of experience. Furthermore, the years of experience information display section 45 can be scrolled by touch.

[0113] Figure 10(a) shows a case where a worker with less than a certain number of years of experience touches the prohibited items display button 44. Because the worker has less than a certain number of years of experience and is not very skilled in handling the robot body 1, in consideration of safety, the worker is prohibited from changing the basic settings of the robot body 1, such as changing the speed of the robot body 1. For workers with more than a certain number of years of experience, the item about changing the speed is not displayed.

[0114] FIG. 10(b) shows a case where a worker with more than a certain number of years of experience touches the help button 43. This is a case where the robot body 1 stops during work and the help button 43 is touched to restart the robot body 1. Since the worker has more than a certain number of years of experience, it is assumed that the worker is somewhat skilled in operating the robot body 1, and a method for restarting the robot body 1 is displayed on the experience information display unit 45. When displaying the information to a worker with less than a certain number of years of experience, a message such as "Please have a nearby experienced worker carry out this" is displayed to prompt a worker with more than a certain number of years of experience to carry out the method for restarting the robot body 1. The notification of prohibited actions and help information may be performed audibly through the speaker 26.

[0115] As described above, in this embodiment, the display and audio output of the work content are in the native language of the worker performing the work, which allows the worker to be reliably informed of the work content and important points to note during the work, thereby reducing work errors and the like.

[0116] In addition, the display of prohibited actions and help information is changed depending on the worker's years of experience. This reduces the likelihood that workers who are not skilled in handling the robot will attempt to perform difficult operations on the robot (operations that may be dangerous to the worker depending on the operation), thereby ensuring worker safety. Ensuring safety allows workers to perform their work smoothly with peace of mind, and also improves work efficiency.

[0117] In this embodiment, the display of prohibited actions based on years of experience and help information is executed on the wristwatch terminal 15, but this is not limited to this. For example, the display may be executed on the head-mounted display 13, the helmet 14, a teaching pendant, etc.

[0118] (Fifth embodiment) In the above-described fourth embodiment, a case where display processing on the wristwatch terminal 15 is controlled based on the worker's attribute information is described in detail. In this embodiment, a case where display processing on the teaching pendant that operates the robot main body 1 is controlled based on the worker's language attribute is described in detail. Note that, below, parts of the hardware and control system configuration that are different from the above-described embodiments are illustrated and explained. Furthermore, it is assumed that parts similar to the above-described embodiments can have the same configuration and function as above, and detailed explanations thereof will be omitted.

[0119] FIG. 11 shows a teaching pendant 130 that allows an instructor to operate the robot main body 1 and the visual sensor 5. The teaching pendant 130 includes a display unit 131. In this embodiment, a teaching tablet is used as an example of the teaching pendant. Although this embodiment uses a teaching tablet as an example, a tablet terminal such as a smartphone may also be used. The teaching pendant 130 is configured to be able to wirelessly communicate with the user interface control device 4 and includes a processing unit that controls the display unit 131. This allows the processing unit to exchange worker attribute information, ID, and the like from the LUT 11. The visual sensor 5 is a camera with pan-tilt-zoom functions.

[0120] The display unit 131 displays an interface for operating the robot main body 1 and the visual sensor 5, work information, etc. The display unit 131 is a touch panel compatible display, and the worker can input command values ​​to the robot main body 1 and the visual sensor 5 by operating the display unit 131 by touching, etc. As described above, the worker can input command values ​​by touching the display unit 131 based on the information displayed on the display unit 131, and can operate the robot main body 1 and the visual sensor 5.

[0121] Moreover, the display unit 131 displays a robot operation unit 132, an image capture operation unit 133, and an information display unit 134 all on the same display unit 131, and is capable of receiving input from the operator.

[0122] The robot operation unit 132 is equipped with an end effector operation button 135 for moving the end effector of the robot main body 1 in the X, Y, and Z directions in an arbitrary coordinate system, and a joint operation button 136 for operating the amount of rotation for each of the joints J1 to J6. The imaging operation unit 133 is equipped with a viewpoint operation button 136 for panning and tilting the visual sensor 5, and a zoom operation button 137 for zooming in and out.

[0123] Furthermore, an information display section 134 is displayed between the robot operation section 132 and the imaging operation section 133, displaying information such as the work information 28 and 29, the prohibited items display section 51, and the help information display section 52. The prohibited items display section 51 and the help information display section 52 can be scrolled by touch.

[0124] The work information 28 is a navigation display screen showing the details of the task being performed and the next task to be performed, and is displayed as text information on the information display unit 134. This information is displayed in the worker's native language based on information corresponding to the language attribute linked to the worker ID, acquired by the LUT 11. In Fig. 11, the handover of part A is displayed as work information, but the receipt of part A may also be displayed as work information.

[0125] The work information 29 is a navigation display screen that shows the operation details of the task being executed and the next task to be executed as a trajectory, and is displayed on the information display unit 134. The operation trajectory of the robot main body 1 based on the teaching points generated from the information corresponding to the dominant hand and height attributes linked to the worker ID, acquired by the LUT 11, is displayed as an emphasized arrow. At this time, the target position when the robot main body 1 approaches the worker is also displayed. Furthermore, the operation of the robot main body 1 in the case where the worker is right-handed may be displayed as a standard operation.

[0126] The work information 29 can also be realized by overwriting the details of the operation on the actual image. In this case, the details of the operation are generated based on the image acquired by the visual sensor 5 and overwritten.

[0127] Furthermore, the prohibited items display section 51 and the help information display section 52 display content in the worker's native language according to the worker's years of experience. The prohibited items display section 51 displays prohibited items based on the information about the worker's years of experience. The help information display section 52 displays help information based on the information about the worker's years of experience.

[0128] The prohibited items display section 51 in Fig. 11 is an example of what is displayed when a worker with less than a certain number of years of experience is working. Because the worker has less than a certain number of years of experience, it is assumed that the worker is not very skilled in handling the robot body 1, and in consideration of safety, actions such as changing the speed of the robot body 1, returning operation, and changing the basic settings of the robot body 1, as well as performing the returning operation of the robot body 1, are prohibited. For workers with more than a certain number of years of experience, the items regarding speed changes and returning operations are not displayed.

[0129] The help information display unit 52 in Fig. 11 is an example of a display when a worker with less than a certain number of years of experience is working. Assuming that the robot body 1 has stopped during work and help information for restarting the robot body 1 is displayed. Because the worker has less than a certain number of years of experience, it is assumed that the worker is not particularly skilled in operating the robot body 1, and in consideration of safety, a message such as "Please have a nearby experienced worker carry out this task" is displayed to request that a worker with more than a certain number of years of experience return the robot to working order. When displayed to a worker with more than a certain number of years of experience, a message such as "To restart the robot from a stopped state, use the XX switch..." is displayed to request that a specific method of restarting the robot be performed.

[0130] As described above, in this embodiment, the display and audio output of the work content are in the native language of the worker performing the work, which allows the worker to be reliably informed of the work content and important points to note during the work, thereby reducing work errors and the like.

[0131] In addition, the display of prohibited actions and help information is changed depending on the worker's years of experience. This reduces the likelihood that workers who are not skilled in handling the robot will attempt to perform difficult operations on the robot (operations that may be dangerous to the worker depending on the operation), thereby ensuring worker safety. Ensuring safety allows workers to perform their work smoothly with peace of mind, and also improves work efficiency.

[0132] (Other embodiments) The processing procedures of the above-described embodiments are specifically executed by each control device. Therefore, a recording medium on which a software program capable of executing the above-described functions is recorded can be supplied to a control device that integrates the respective control devices, and the CPU that performs the integrated processing reads and executes the program stored on the recording medium to achieve the above-described functions. In this case, the program itself read from the recording medium realizes the functions of each of the above-described embodiments, and the program itself and the recording medium on which the program is recorded constitute the present invention.

[0133] In addition, in each embodiment, the computer-readable recording medium is a ROM, a RAM, or a flash ROM, and the control program is stored in the ROM, RAM, or flash ROM. However, the present invention is not limited to this embodiment. The control program for implementing the present invention may be recorded on any computer-readable recording medium. For example, a hard disk drive (HDD), an external storage device, a recording disk, etc. may be used as the recording medium for supplying the control program.

[0134] In addition, in the various embodiments described above, the robot arm main body 1 is an articulated robot arm having multiple joints, but the number of joints is not limited to this. Although a vertical multi-axis configuration has been shown as the type of robot arm, a configuration equivalent to the above can also be implemented with a different type of joint, such as a parallel link type.

[0135] Furthermore, the various embodiments described above can be applied to machines that can automatically perform movements such as extension and contraction, bending and stretching, up and down movement, left and right movement, or rotation, or a combination of these movements, based on information stored in a memory device provided in the control device.

[0136] The present invention is not limited to the above-described embodiments, and many modifications are possible within the technical concept of the present invention. Furthermore, the effects described in the embodiments of the present invention are merely a list of the most preferable effects resulting from the present invention, and the effects of the present invention are not limited to those described in the embodiments of the present invention. [Explanation of symbols]

[0137] 1 Robot body 2. Robot control device 3 System control device 4 User Interface Control Device 5. Visual Sensor 6, 1006, 1106, 1206 memory 7 Safety equipment 10 ID recognition means 11 LUT 12 Operation adjustment means 13 Head-mounted display 14. Helmet 15 Watch terminal 16 Parts supply device 20 Work 21 Image Sensor 22, 23 Stereo camera 24, 25 Display section 26, 27 Speakers 28, 29 Work Information 30 Buckle 31, 41 Belt 32 Wireless communication means 33 Upper head 34 Processing section 40 Touch Panel 42 Fingerprint authentication unit 43 Help button 44 Prohibited Items Display Button 45 Years of experience information display section 51 Prohibited items display area 52 Help information display section 100 workers 130 Teaching Pendant 131 Display section 132 Robot Operation Unit 133 Imaging operation section 134 Information display section 135 End effector operation button 136 Viewpoint control button 137 Zoom operation button

Claims

1. A robot system including a robot that performs a predetermined task, a user interface for identifying a user, and a control device that controls the robot, The control device A storage unit in which first information about the user is stored can be referenced; Identifying a user using the user interface; selecting an action of the robot to be performed in the predetermined task by referring to the first information corresponding to the identified user from the storage unit; The selected operation is displayed on the display. A robot system characterized by:

2. 2. The robot system according to claim 1, The first information includes at least one of information on the user's personal name, information on the user's dominant hand, information on the user's height, information on the user's native language, and information on the user's years of experience. A robot system characterized by:

3. 3. The robot system according to claim 2, The control device If the first information includes right-handedness information, causing the robot to perform a first action; causing the robot to perform a second action if the first information includes left-handedness information; A robot system characterized by:

4. 4. The robot system according to claim 3, The control device As the first action, an action is performed to bring a predetermined part of the robot closer to a user who is positioned so that the user's right hand is on the workbench side; As the second action, an action is performed to bring the predetermined portion of the robot closer to a user who is positioned so that the user's left hand is on the workbench side. A robot system characterized by:

5. The robot system according to claim 4, The control device setting a target position of the predetermined part when the predetermined part is brought closer based on information about the height of the user; A robot system characterized by:

6. 6. The robot system according to claim 3, The control device setting the first motion as a standard motion of the robot for the predetermined task; A robot system characterized by:

7. 7. The robot system according to claim 2, The control device Set the language in which to notify the user based on the user's native language information; A robot system characterized by:

8. The robot system according to claim 7, The notification is executed by at least one of displaying text on a display unit and making a sound. A robot system characterized by:

9. 9. The robot system according to claim 1, The control device As the second information for identifying the user, at least one of information on the user's face, information on the user's gait, information on the user's iris, information on the user's electroencephalogram, information on the user's blood flow pattern, and information on the user's fingerprint is used. A robot system characterized by:

10. The robot system according to claim 9, The control device If the second information of the identified user is not registered, notify the user of at least one of re-identification and new registration of the first information. A robot system characterized by:

11. The robot system according to claim 10, The control device If the user does not select either the re-recognition or the new registration upon receiving the notification, a standard operation that is preset in the operation of the robot to be performed in the predetermined task is executed. A robot system characterized by:

12. The robot system according to any one of claims 1 to 11, The terminal worn by the user includes at least one of a helmet, a head-mounted display, and a wristwatch terminal. A robot system characterized by:

13. The robot system according to claim 12, a safety device for safely stopping the operation of the robot; The terminal and the safety device are linked together. A robot system characterized by:

14. The robot system according to claim 13, the terminal linked to the safety device is a helmet, When the helmet buckle is unbuckled, the safety device is activated. A robot system characterized by:

15. 15. The robot system according to claim 1, The control device When a user with a certain number of years of experience or less causes the robot to perform the predetermined task, information prompting another user with a certain number of years of experience or more to perform the predetermined task is displayed on the display unit. A robot system characterized by:

16. 16. The robot system according to claim 1, The control device A user with less than a certain number of years of experience is prevented from instructing the robot to change basic settings of the robot. A robot system characterized by:

17. 17. The robot system according to claim 1, The control device When a user with a certain number of years of experience or more causes the robot to perform the predetermined task, a method for performing the predetermined task is displayed on the display unit. A robot system characterized by:

18. A robot system for manufacturing an article using the robot system according to any one of claims 1 to 17.

19. A terminal for a user to issue a command to a robot that performs a predetermined task, a processing unit capable of referencing a storage unit in which first information relating to a user is stored; an identification unit that identifies a user, The processing unit displaying an operation of the robot to be performed in the predetermined task by referring to the first information corresponding to the identified user from the storage unit; A terminal characterized by:

20. 2. The terminal according to claim 1, displaying an action that the robot can perform in response to a command from a user based on the first information; A terminal characterized by:

21. 21. The terminal according to claim 19 or 20, The first information includes at least one of information on the user's personal name, information on the user's dominant hand, information on the user's height, information on the user's native language, and information on the user's years of experience. A terminal characterized by:

22. A head-mounted display worn by a user who uses a robot that performs a predetermined task, a processing unit capable of referencing a storage unit in which first information relating to a user is stored; an identification unit that identifies a user, The processing unit displaying an operation of the robot to be performed in the predetermined task by referring to the first information corresponding to the identified user from the storage unit; A head-mounted display characterized by:

23. A helmet worn by a user who uses a robot that performs a predetermined task, A display unit; a processing unit capable of referencing a storage unit in which first information relating to a user is stored; an identification unit that identifies a user, The processing unit and displaying, on the display unit, an operation of the robot to be executed in the predetermined task by referring to the first information corresponding to the identified user from the storage unit. A helmet characterized by:

24. A wristwatch terminal worn by a user who uses a robot that performs a predetermined task, a processing unit capable of referencing a storage unit in which first information relating to a user is stored; an identification unit that identifies a user, The processing unit displaying an operation of the robot to be performed in the predetermined task by referring to the first information corresponding to the identified user from the storage unit; A wristwatch terminal characterized by:

25. A teaching pendant that allows a user to give commands to a robot that performs a predetermined task, a processing unit capable of referencing a storage unit in which first information relating to a user is stored; an input unit that accepts input from a user, The processing unit Identifying a user based on information input by the input unit; displaying an operation of the robot to be performed in the predetermined task by referring to the first information corresponding to the identified user from the storage unit; A teaching pendant characterized by:

26. A control method for a robot system including a robot that performs a predetermined task, a user interface for identifying a user, and a control device that controls the robot, comprising: The control device A storage unit in which first information about the user is stored can be referenced; Identifying a user using the user interface; selecting an action of the robot to be performed in the predetermined task by referring to the first information corresponding to the identified user from the storage unit; The selected operation is displayed on the display. A control method comprising:

27. A method for controlling a terminal in which a user issues a command to a robot that performs a predetermined task, comprising: The terminal a processing unit capable of referencing a storage unit in which first information relating to a user is stored; an identification unit that identifies a user, The processing unit displaying an operation of the robot to be performed in the predetermined task by referring to the first information corresponding to the identified user from the storage unit; A control method comprising:

28. A method for controlling a head-mounted display worn by a user who uses a robot that performs a predetermined task, comprising: The head-mounted display includes: a processing unit capable of referencing a storage unit in which first information relating to a user is stored; an identification unit that identifies a user, The processing unit displaying an operation of the robot to be performed in the predetermined task by referring to the first information corresponding to the identified user from the storage unit; A control method comprising:

29. A method for controlling a helmet worn by a user who uses a robot that performs a predetermined task, comprising: The helmet comprises: A display unit; a processing unit capable of referencing a storage unit in which first information relating to a user is stored; an identification unit that identifies a user, The processing unit and displaying, on the display unit, an operation of the robot to be executed in the predetermined task by referring to the first information corresponding to the identified user from the storage unit. A control method comprising:

30. A method for controlling a wristwatch terminal worn by a user who uses a robot that performs a predetermined task, comprising: The wristwatch terminal includes: a processing unit capable of referencing a storage unit in which first information relating to a user is stored; an identification unit that identifies a user, The processing unit displaying an operation of the robot to be performed in the predetermined task by referring to the first information corresponding to the identified user from the storage unit; A control method comprising:

31. A teaching pendant control method in which a user issues a command to a robot that performs a predetermined task, comprising: The teaching pendant includes: a processing unit capable of referencing a storage unit in which first information relating to a user is stored; an input unit that accepts input from a user, The processing unit Identifying a user based on information input by the input unit; displaying an operation of the robot to be performed in the predetermined task by referring to the first information corresponding to the identified user from the storage unit; A control method comprising:

32. A control program capable of executing the control method according to any one of claims 26 to 31.

33. A computer-readable recording medium storing the control program according to claim 32.

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