Control device, control system, control method and program

Abstract

To suppress a deterioration in the operation efficiency of a robot.SOLUTION: A control device includes a control part for controlling the operation of a robot, an acquisition part for acquiring frequency in which an operator exists before a position on the basis of statistical information of the position of the operation within a monitoring area, and a change part for changing route information on the basis of information of a place at which the operator exists higher than a threshold and the route information including at least a start point and an end point of the operation of the robot. The control part controls the operation of the robot on the basis of the changed route information.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a control device, a control system, a control method, and a program. [Background technology]

[0002] When a robot and a worker work together, a virtual protection area is set near the robot, and a sensor is used to monitor whether the worker has entered the protection area. The protection area is set with a safety distance taken into account from the robot's range of motion. If a worker enters the protection area, the robot's movements are slowed down or stopped to ensure the worker's safety. Patent Document 1 discloses that the robot's movements are slowed down or stopped when it is determined that the person'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] Conventionally, when a robot is close to a person, the robot's movement is slowed down or stopped. However, if the robot's movement is slowed down or stopped too frequently, the robot's operation efficiency decreases.

[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 capable of preventing a decrease in the operational efficiency of a robot. [Means for solving the problem]

[0006] A control device according to one aspect of the present invention comprises a control unit that controls the operation of a robot, an acquisition unit that acquires the frequency with which the worker is present at a position based on statistical information on the worker's position within a monitored area, and a modification unit that modifies the route information based on information on locations where the frequency with which the worker is present is higher than a threshold and route information that includes at least the start and end points of the robot's operation, and the control unit controls the operation of the robot based on the modified route information.

[0007] According to the above configuration, the path information is changed based on information about locations where the frequency of workers is higher than a threshold and path information including at least the start and end points of the robot's movement, and the robot's movement is controlled based on the changed path information. This allows the robot's movement to be controlled based on the path information changed in accordance with the information about locations where the frequency of workers is higher than a threshold. By controlling the robot's movement based on the changed path information, the frequency of deceleration or stopping of the robot's movement can be reduced compared to when the robot's movement is controlled based on the path information before the change. This prevents a decrease in the robot's movement efficiency.

[0008] The change unit may create one or more waypoints for the robot to pass through based on information about locations where the frequency of the worker's presence is higher than a threshold and the route information, and the changed route information may include one or more of the waypoints. By controlling the operation of the robot based on the one or more waypoints included in the changed route information, it is possible to prevent a decrease in the operation efficiency of the robot.

[0009] There are a plurality of locations where the frequency of the worker's presence is higher than a threshold value, and the change unit A plurality of waypoints for the robot to pass through may be created based on the route information and information on a plurality of locations where a worker is present more frequently than a threshold, and the route information after change includes the plurality of waypoints. With this configuration, the route information can be changed in accordance with the plurality of locations where a worker is present more frequently than a threshold.

[0010] When the distance between two of the plurality of waypoints is equal to or less than a certain distance, the change unit may remove one of the two waypoints that is closer to the location where the frequency of the worker presence is higher than a threshold. With this configuration, the distance between two consecutive waypoints becomes longer, which makes it possible to suppress unnecessary robot operations and reduce the operation efficiency of the robot.

[0011] The one or more waypoints may be a predetermined distance or more away from a location where the frequency of the worker is higher than a threshold. Since the one or more waypoints included in the changed route information are a predetermined distance or more away from a location where the frequency of the worker is higher than a threshold, by controlling the operation of the robot based on the changed route information, it is possible to prevent a decrease in the operation efficiency of the robot.

[0012] The change unit may create a path for the robot to travel based on information about locations where the worker is present more frequently than a threshold and the route information, and the changed route information may include the path. By controlling the operation of the robot based on the path included in the changed route information, it is possible to prevent a decrease in the operation efficiency of the robot. The path may be located at a predetermined distance or more from a location where the worker is present more frequently than a threshold. Since the path included in the changed route information is located at a predetermined distance or more from a location where the worker is present more frequently than a threshold, it is possible to prevent a decrease in the operation efficiency of the robot by controlling the operation of the robot based on the changed route information.

[0013] When there are a plurality of locations where the worker is present more frequently than a threshold, the path information before the change includes a first path traversed by the robot, and all of the following conditions are satisfied: (1) a distance between a first location, which is one of the plurality of locations where the worker is present more frequently than a threshold, and the start point is equal to or greater than a predetermined distance, (2) a distance between the first location and the end point is equal to or greater than the predetermined distance, and (3) a distance between the first location and the first path is equal to or greater than the predetermined distance, the change unit does not change the path information based on the information about the first location.When there are a plurality of locations where the worker is present more frequently than a threshold, and the distance between a second location, which is one of the plurality of locations where the worker is present more frequently than a threshold, and the start point or the end point is shorter than a predetermined distance, the change unit does not change the path information based on the information about the second location.

[0014] The acquisition unit may acquire a frequency of presence of the worker corresponding to the worker information based on the statistical information and the worker information of the worker, and the change unit may change the route information based on information on locations where the frequency of presence of the worker corresponding to the worker information is higher than a threshold value. With this configuration, the route information can be changed according to the worker information of the worker, and a decrease in operation efficiency of the robot can be prevented.

[0015] The acquisition unit may acquire a frequency of presence of the worker corresponding to the work process information based on the statistical information and work process information of the robot, and the change unit may change the route information based on information on locations where the frequency of presence of the worker corresponding to the work process information is higher than a threshold value. With this configuration, it is possible to change the route information in accordance with the work process information of the robot, and to prevent a decrease in the operating efficiency of the robot.

[0016] The acquisition unit may acquire a frequency of presence of the worker corresponding to the peripheral information based on the statistical information and peripheral information of the worker, and the change unit may change the route information based on information on a location where the frequency of presence of the worker corresponding to the peripheral information is higher than a threshold value. With this configuration, the route information can be changed in accordance with the peripheral information of the worker, and a decrease in operation efficiency of the robot can be prevented.

[0017] The acquisition unit may acquire the frequency of presence of the worker corresponding to the two pieces of information based on the statistical information and at least two pieces of information selected from worker information about the worker, work process information about the robot, and information about the worker's surroundings, and the change unit may change the route information based on information about locations where the frequency of presence of the worker corresponding to the two pieces of information is higher than a threshold value and the route information.

[0018] The control device according to one aspect of the present invention may include a setting unit that sets a protection area within the monitoring area to detect intrusion of the worker based on the changed path information. Setting the protection area based on the changed path information reduces the possibility of the worker intruding into the protection area, and can prevent a decrease in the operating efficiency of the robot.

[0019] The present invention can also be understood as a control system that performs at least a part of the above-mentioned processing, a control method that includes 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]

[0020] According to the present invention, it is possible to provide a technique that can prevent a decrease in the operational efficiency of a robot. [Brief explanation of the drawings]

[0021] [Figure 1]FIG. 1 is a schematic configuration diagram of a control system according to this embodiment. [Figure 2] FIG. 2 is a block diagram of the control device according to this embodiment. [Figure 3] FIG. 3 is a plan view of the robot according to this embodiment. [Figure 4] FIG. 4 is a plan view of the robot according to this embodiment. [Figure 5] FIG. 5 is a plan view of the robot according to this embodiment. [Figure 6] FIG. 6 is a plan view of the robot according to this embodiment. [Figure 7] FIG. 7 is a hardware configuration diagram of the control device according to this embodiment. [Figure 8] FIG. 8 is a flowchart illustrating the processing flow of the control system according to this embodiment. [Figure 9] FIG. 9 is an explanatory diagram of the safety distance. [Figure 10] FIG. 10 is a plan view of the robot according to this embodiment. [Figure 11] FIG. 11 is a plan view of the robot according to this embodiment. [Figure 12] FIG. 12 is a plan view of the robot according to this embodiment. [Figure 13] FIG. 13 is a plan view of the robot according to this embodiment. [Figure 14] FIG. 14 is a plan view of the robot according to this embodiment. [Figure 15] FIG. 15 is a plan view of the robot according to this embodiment. [Figure 16] FIG. 16 is a plan view of the robot according to this embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0022] <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 worker (person) 10 coexist, for example, in a production site such as a factory, the robot 1 is controlled by grasping the movements of the worker 10. The robot 1 of Fig. 1 is The robot 1 is an 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, but may be a robot employing other methods such as a horizontal articulated robot. An end effector (hand) for grasping an object is attached to the tip of the arm 12. Furthermore, the robot 1 has a servo motor for operating the arm 12. In FIG. 1, the robot 1 is placed on a workbench 2.

[0023] The control system includes a robot 1, a control device 3 that controls the robot 1, and a sensor 4 as a detection unit that detects the positions of the robot 1 and the worker 10. The sensor 4 detects the positions of the robot 1 and the worker 10 at regular or irregular intervals, and sends the position information of the robot 1 and the worker 10 to the control device 3. Alternatively, the sensor 4 may continuously detect the positions of the robot 1 and the worker 10, and send the position information of the robot 1 and the worker 10 to the control device 3.

[0024] The sensor 4 is a distance measurement sensor that measures the distance to an object. The sensor 4 may be a RADAR (Radio Detection and Ranging), a LiDAR (Light Detection and Ranging), or a 3D camera. The sensor 4 may also be a sensor system that combines at least two of the RADAR, the LiDAR, and the 3D camera. The position of the robot 1 may be a relative position within a measurable area (detection range) of the sensor 4. The measurable area of ​​the sensor 4 is also called a monitored area (monitored area). The position of the robot 1 may be the position of each part of the robot 1. For example, the position of the robot 1 may be the position of the tip of the arm 12, the position of an end effector attached to the tip of the arm 12, or the position of the base 11. The position of the worker 10 may be a relative position within a measurable area of ​​the sensor 4. The position of the worker 10 may be the position of each part of the worker 10. For example, the position of the worker 10 may be the position of the hand, the position of the foot, or the position of the head of the worker 10.

[0025] As shown in FIG. 1, a protection area 20 is set between the robot 1 and the worker 10. The protection area 20 is a virtual three-dimensional area for detecting intrusion of the worker 10, and is set near or around a hazard source such as the robot 1. It is possible to set multiple protection areas 20. The protection area 20 is determined in accordance with safety standards and taking into account the operating range of the robot 1. For example, if an object such as the worker 10 intrudes into the protection area 20, safety control such as slowing down or stopping the operation of the robot 1 is performed. The sensor 4 is positioned and the field of view of the sensor 4 is set so that the protection area 20 is included within the measurable area of ​​the sensor 4.

[0026] 2 is a block diagram of the control device 3. The control device 3 includes a robot controller 31 that controls the movement of the robot 1, a creation unit 32 that creates path information, an acquisition unit 33 that acquires the frequency with which the worker 10 is present within a predetermined area, a change unit 34 that changes the path information, a setting unit 35 that sets the protection area 20, and a storage unit 36. The path information includes at least the start point and end point of the movement of the robot 1. In addition to the start point and end point of the movement of the robot 1, the path information may also include information such as the path from the start point to the end point of the movement of the robot 1.

[0027] The robot controller 31 controls the operation of the robot 1 based on the path information. The robot controller 31 is an example of a control unit. The robot controller 31 also controls the start, stop, deceleration, and acceleration of the operation of the robot 1. Figure 3 is a plan view of the robot 1. Figure 3 shows the state in which the tip of the arm 12 of the robot 1 moves from the start point SP to the end point EP. The arm 12 before the movement is shown by a solid line, and the arm 12 after the movement is shown by a dotted line. Here, the path P1 from the start point SP to the end point EP is set as a straight line. By setting the path P1 as a straight line, the movement distance of the arm 12 of the robot 1 is minimized, and the operation efficiency of the robot 1 is high. A protection area 20 is set in the vicinity of the path P1. Robot Obstacles 5 such as pillars are placed on both sides of the protection zone 20. Since workers 10 cannot enter the area where the obstacles 5 are placed, the protection zone 20 is not set in the area where the obstacles 5 are placed.

[0028] Each time the position of the worker 10 is detected by the sensor 4, the robot controller 31 determines whether the worker 10 has entered the protection area 20. If the worker 10 has entered the protection area 20, the robot controller 31 slows down or stops the operation of the robot 1. Alternatively, a safety determination unit different from the robot controller 31 may determine whether the worker 10 has entered the protection area 20 and transmit the determination result to the robot controller 31. The distance S1 in the planar direction of the protection area 20 may be a safety distance defined by a safety standard. The creation unit 32 creates path information according to the work (process) of the robot 1 and stores the path information in the storage unit 36. The creation unit 32 may also acquire path information from an external device connected to the control device 3 and store the path information in the storage unit 36.

[0029] The acquisition unit 33 acquires the frequency with which the worker 10 is present at the position of the worker 10 within a predetermined area based on statistical information on the position of the worker 10 detected by the sensor 4. The predetermined area may be a monitoring area. The acquisition unit 33 may store the position of the worker 10 detected by the sensor 4 in the memory unit 36 ​​to create statistical information on the position of the worker 10. The predetermined area may be the same size as the measurable area of ​​the sensor 4 or may be smaller than the measurable area of ​​the sensor 4. The predetermined area may include the protection area 20, or a portion of the predetermined area may overlap with a portion of the protection area 20. The frequency with which the worker 10 is present within the predetermined area may be the number of times the position of the worker 10 is detected by the sensor 4. Alternatively, the frequency with which the worker 10 is present within the predetermined area may be the number of hours the position of the worker 10 is detected by the sensor 4. In the above, an example has been described in which statistical information on the position of the worker 10 detected by the sensor 4 is used. However, the present invention is not limited to this example, and statistical information on the position of the worker 10 detected by an imaging device such as a fisheye camera may also be used.

[0030] FIG. 4 is a plan view of the robot 1. FIG. 4 shows locations L1 to L3 within the predetermined area 40 where the frequency of worker 10 presence is higher than a threshold. For example, as shown in FIG. 4, a two-dimensional coordinate system parallel to the floor surface may be set, and the predetermined area 40 may be divided into regular intervals, and the number of times the position of the worker 10 is detected may be tallied for each grid. The locations L1 to L3 may be circular or rectangular in plan view. The acquisition unit 33 may select locations showing a presence frequency higher than a threshold from a heat map of the presence frequency of the worker 10. In this way, the acquisition unit 33 can obtain locations within the predetermined area 40 where the frequency of worker 10 presence is higher than the threshold. In addition to the heat map of the presence frequency of the worker 10, the acquisition unit 33 may obtain locations within the predetermined area 40 where the frequency of worker 10 presence is higher than a threshold through machine learning using AI (artificial intelligence) technology such as a convolutional network (CNN). In Fig. 4, locations where the frequency of presence of workers 10 is higher than a threshold are shown for each grid obtained by dividing the predetermined area 40 at regular intervals, but this is not limited to the example shown in Fig. 4. The range of the predetermined area 40 and the range of the measurable area of ​​the sensor 4 may be the same or different. For example, when statistical information on the positions of workers 10 detected by the sensor 4 is used, the range of the predetermined area 40 and the range of the measurable area of ​​the sensor 4 will be the same.

[0031] The change unit 34 changes the route information based on information about locations in a predetermined area where the frequency of the presence of the worker 10 is higher than a threshold (hereinafter referred to as "high frequency locations") and the route information. The change unit 34 may change the route information by creating one or more waypoints for the robot 1 to pass through based on the information about the high frequency locations and the route information, and adding the created one or more waypoints to the route information. In this case, the changed route information includes at least the start point and end point of the operation of the robot 1 and the one or more waypoints. The change unit 34 also changes the route information based on the information about the high frequency locations and the route information. The route information may be changed by creating a new path for the robot 1 to travel based on the information on the location and the route information, and changing the path included in the route information to the newly created path. In this case, the changed route information includes at least the start point and end point of the movement of the robot 1 and the path that the robot 1 will travel. Furthermore, the change unit 34 may change the route information by adding a via point to the route information and changing the path included in the route information to the newly created path. In this case, the changed route information includes at least the start point and end point of the movement of the robot 1, one or more via points, and the path that the robot 1 will travel.

[0032] The setting unit 35 sets at least one protection area 20 to ensure safe work by the robot 1 and worker 10 in spatial coordinates within the viewing angle of the sensor 4. The protection area 20 indicates a range of three-dimensional coordinates (x coordinate, y coordinate, z coordinate).

[0033] FIG. 5 is a plan view of the robot 1. FIG. 5 shows a start point SP, an end point EP, and a path P1 connecting the start point SP and the end point EP, which are included in the route information. FIG. 5 also shows via points VP1 to VP5 created by the change unit 34, and a newly created path P2. The path P2 is a line connecting the start point SP, the via points VP1 to VP5, and the end point EP. The line between the start point SP and the via point VP1, the line between the via points VP1 to VP5, and the line between the via point VP5 and the end point EP may be straight or curved. The change unit 34 may change the route information by creating via points VP1 to VP5 based on information about the high-frequency location L2 and the path P1 in the route information and adding the via points VP1 to VP5 to the route information. The change unit 34 may change the route information by creating a new path P2 for the robot 1 to traverse based on information about the high-frequency location L2 and the path P1 in the route information, and changing the path P1 included in the route information to path P2.

[0034] The via points VP1 to VP5 and the path P2 are provided along the circle C2, outside the circle C2, with a radius of a predetermined distance from the center of the high frequency location L2. The via points VP1 to VP5 and the path P2 may be provided near the circle C2. Since the via points VP1 to VP5 and the path P2 are provided outside the circle C2, they are separated from the high frequency location L2 by a predetermined distance or more. The angle formed by the imaginary line from the center of the high frequency location L2 to the via point VP1 and the imaginary line from the center of the high frequency location L2 to the via point VP2 is arbitrary. The intervals between the via points VP1 to VP5 may be the same or different. The modification unit 34 may create the via points VP1 to VP5 outside the circle C2, and then create the path P2 connecting the start point SP, the via points VP1 to VP5, and the end point EP. The modification unit 34 may create the path P2 connecting the start point SP and the end point EP outside the circle C2, and then create the via points VP1 to VP5 on the path P2.

[0035] The robot controller 31 controls the operation of the robot 1 based on the changed path information. The changed path information includes via points VP1 to VP5 or path P2. Alternatively, the changed path information may include via points VP1 to VP5 and path P2. The robot 1 passing through via points VP1 to VP5 included in the changed path information moves to a position at least a predetermined distance away from the center of the high frequency location L2. As shown in FIG. 6, the setting unit 35 resets the protection area 20 near path P2, and the robot controller 31 determines whether the worker 10 has entered the protection area 20 each time the sensor 4 detects the position of the worker 10.

[0036] As shown in FIG. 4, the protection area 20 set near the path P1 overlaps with the high frequency location L2. Therefore, if the operation of the robot 1 is controlled based on the path information before the change, there is a high possibility that the worker 10 will enter the protection area 20, and the operation of the robot 1 will likely be slowed down or stopped frequently. On the other hand, as shown in FIG. 6, the protection area 20 set near the path P2 does not overlap with the high frequency location L2. Therefore, there is a lower possibility that the worker 10 will enter the protection area 20 than if the protection area 20 were set near the path P1. In other words, if the operation of the robot 1 is controlled based on the path information after the change, there is a high possibility that the worker 10 will enter the protection area 20. The possibility of robot 1 entering the protection area 20 is reduced. Therefore, when the operation of the robot 1 is controlled based on the changed route information, the frequency of the robot 1 slowing down or stopping is reduced. Furthermore, since the waypoints and paths included in the changed route information are located at a predetermined distance or more from high-frequency locations, the frequency of the robot 1 slowing down or stopping is reduced when the operation of the robot 1 is controlled based on the changed route information. In this way, by controlling the operation of the robot 1 based on the changed route information, the frequency of the robot 1 slowing down or stopping can be reduced compared to when the operation of the robot 1 is controlled based on the route information before the change. This prevents a decrease in the operation efficiency of the robot 1, improving productivity.

[0037] The above application examples are merely illustrative examples to aid in understanding the present invention, and are not intended to limit the present invention.

[0038] <System configuration> 7 is a hardware configuration diagram of the control device 3. The control device 3 includes a CPU 301, a ROM 302, a RAM 303, a sensor IF 304, a display unit 305, an operation IF 306, and a communication IF 307. The ROM 302 stores a control program executed by the CPU 301. The ROM 302 also stores values ​​such as various thresholds. The RAM 303 provides a work area when the CPU 301 executes the control program.

[0039] The sensor IF 304 processes the position information of the robot 1 and the position information of the worker 10 sent from the sensor 4 and transmits the information to the CPU 301. The display unit 305 is composed of an LCD or the like and displays various information. The operation IF 306 accepts various instructions input from the worker 10 and sends the input information to the CPU 301. The operation IF 306 may also have a function of notifying the worker 10 by voice, lamp, etc. based on instructions from the CPU 301. The communication IF 307 performs wired or wireless communication between the CPU 301 and external devices.

[0040] 2, the control device 3 includes a robot controller 31, a creation unit 32, an acquisition unit 33, a change unit 34, a setting unit 35, and a storage unit 36. The functions of these units are realized in software by programs stored in a ROM 302. That is, the CPU 301 loads the necessary programs into a RAM 303, executes them, and performs various calculations and controls various hardware resources, thereby providing the functions of each unit.

[0041] The flow of the process of changing the path information will be explained with reference to the flowchart in FIG. 8. The change unit 34 determines whether the distance between the high frequency location and the start point and end point of the robot 1's movement is equal to or greater than a predetermined distance (step S101). If the distance between the high frequency location and the start point or end point of the robot 1's movement is shorter than the predetermined distance, the change unit 34 does not change the path information. The start point and end point of the robot 1's movement cannot be changed, and the distance between the high frequency location and the start point or end point of the robot 1's movement cannot be set to equal to or greater than the predetermined distance. Therefore, the change unit 34 determines that the path information cannot be changed (step S102).

[0042] If the distances between the high frequency location and the start point and end point of the robot 1's movement are equal to or greater than the predetermined distance (step S101: YES), the process proceeds to step S103. In step S101, the change unit 34 may create a circle with a radius equal to the predetermined distance from the center of the high frequency location, and determine whether the start point and end point of the robot 1's movement are included within the circle. As shown in FIG. 5, the start point SP and end point EP are not included in the circle C1 in the high frequency location L1 and the circle C2 in the high frequency location L2. In this case, the change unit 34 determines that the distances between the high frequency location L1 and the start point SP and end point EP are equal to or greater than the predetermined distance. In addition, the change unit 34 determines that the distances between the high frequency location L2 and the start point SP and end point EP are equal to or greater than the predetermined distance. As shown in FIG. 5, the end point EP is included in the circle C3 in the high frequency location L3. In this case, the change unit 34 determines that the distance between the high frequency location L3 and the end point EP is equal to or greater than the predetermined distance. It is determined to be shorter than the specified distance.

[0043] The change unit 34 determines whether the distance between the high-frequency location and the path in the route information is equal to or greater than a predetermined distance (step S103). If the distance between the high-frequency location and the path in the route information is equal to or greater than the predetermined distance (step S103: YES), the change unit 34 does not change the route information. In step S103, the change unit 34 may create a circle with a radius of a predetermined distance from the center of the high-frequency location and determine whether the circle intersects with the path in the route information. As shown in FIG. 5, the circle C1 in the high-frequency location L1 does not intersect with the path P1. In this case, the change unit 34 determines that the distance between the high-frequency location L1 and the path P1 is equal to or greater than the predetermined distance. As shown in FIG. 5, the circle C2 in the high-frequency location L2 intersects with the path P1. In this case, the change unit 34 determines that the distance between the high-frequency location L2 and the path P1 is shorter than the predetermined distance.

[0044] If the distance between the high-frequency location and the path in the route information is shorter than a predetermined distance (step S103: NO), proceed to step S104. In step S104, the change unit 34 creates a new path and via point so that the new path and via point are at least a predetermined distance away from the high-frequency location. Then, the change unit 34 changes the route information using at least one of the new path and via point. If the distance between the high-frequency location and the path in the route information is equal to or greater than the predetermined distance (step S103: YES), the change unit 34 does not change the route information (step S105).

[0045] The change unit 34 determines whether or not processing has been performed for all high-frequency locations (step S106). If processing has been performed for all high-frequency locations (step S106: YES), the flowchart in Fig. 8 ends. If any high-frequency location has not been processed (step S106: NO), the process returns to step S101.

[0046] As shown in Fig. 5, the start point SP and the end point EP are not included in the circle C1 in the high frequency location L1, and the circle C1 in the high frequency location L1 does not intersect with the path P1. Therefore, the change unit 34 does not change the route information based on the information of the high frequency location L1. In other words, when all of the following conditions (1) to (3) are satisfied, the change unit 44 does not change the route information based on the information of the high frequency location L1, which is one of the multiple high frequency locations. (1) The distance between the high frequency location L1 and the starting point SP is equal to or greater than a predetermined distance. (2) The distance between the high frequency location L1 and the end point EP is equal to or greater than a predetermined distance. (3) The distance between the high frequency location L1 and the path P1 is equal to or greater than a predetermined distance. Information about the high-frequency location L1 is an example of information about a first location. Path P1 is an example of a first path. As shown in FIG. 5, the circle C2 in the high-frequency location L2 does not include the start point SP or the end point EP, and the circle C2 in the high-frequency location L2 intersects with path P1. Therefore, the change unit 34 changes the route information based on the information about the high-frequency location L2.

[0047] As shown in FIG. 5 , the end point EP is included in the circle C3 of the high-frequency location L3. Therefore, the change unit 34 does not change the path information based on the information about the high-frequency location L3. That is, if the distance between the high-frequency location L3, which is one of the multiple high-frequency locations, and the start point SP or the end point EP is shorter than a predetermined distance, the change unit 34 does not change the path information based on the information about the high-frequency location L3. The information about the high-frequency location L3 is an example of second location information. In this case, the change unit 34 may notify the worker 10 of the high-frequency location L3 and information indicating that the path information has not been changed by displaying this information on the display unit 305. For example, in a work process in which the worker 10 picks up a workpiece carried by the robot 1, the robot 1 and the worker 10 may come close to each other. By notifying the worker 10 of the high-frequency location L3 and information indicating that the path information has not been changed, it is possible to encourage the worker 10 to improve the work process.

[0048] The acquiring unit 33 may acquire the frequency with which the worker 10 corresponding to the worker information is present within a predetermined area based on statistical information on the position of the worker 10 detected by the sensor 4 and information about the worker 10 (hereinafter referred to as "worker information"). The worker information may be the name, ID number, etc. of the worker 10. For example, the frequency with which a skilled worker 10 is present within a predetermined area may differ from that of a non-skilled worker 10. The acquiring unit 33 may associate the position of the worker 10 detected by the sensor 4 with the worker information, store the position of the worker 10 and the worker information in the storage unit 36, and create statistical information on the position of the worker 10 corresponding to the worker information. For example, the worker 10 may wear an information storage unit such as an RFID tag that stores the worker information. In this case, a reading unit such as a reader / writer reads the worker information from the RFID tag, and the acquiring unit 33 acquires the worker information from the reader / writer. Furthermore, for example, the operation IF 306 may receive input of worker information from the worker 10, and the acquisition unit 33 may acquire the input worker information. The change unit 34 may change the route information based on information about locations in a predetermined area where the frequency of presence of the worker 10 corresponding to the worker information is higher than a threshold value, and the route information. This makes it possible to change the route information in accordance with the worker information, thereby further preventing a decrease in the operation efficiency of the robot 1.

[0049] The acquisition unit 33 may acquire the frequency with which the worker 10 corresponding to the work process information exists within a predetermined area based on statistical information on the position of the worker 10 detected by the sensor 4 and information on the work process of the robot 1 (hereinafter referred to as "work process information"). For example, if work process A of the robot 1 is different from work process B of the robot 1, the frequency with which the worker 10 exists within the predetermined area will differ. The acquisition unit 33 may associate the position of the worker 10 detected by the sensor 4 with the work process information, store the position of the worker 10 and the work process information in the storage unit 36, and create statistical information on the position of the worker 10 corresponding to the work process information. For example, the operation IF 306 may accept input of the work process information from the worker 10, and the acquisition unit 33 may acquire the input work process information. The change unit 34 may change the route information based on information on locations within the predetermined area where the frequency with which the worker 10 corresponding to the work process information exists is higher than a threshold, and the route information. This allows the path information to be changed in accordance with the work process information, and the decrease in the operation efficiency of the robot 1 can be further prevented.

[0050] The acquisition unit 33 may acquire the frequency of the presence of the worker 10 corresponding to the worker peripheral information within a predetermined area based on statistical information on the position of the worker 10 detected by the sensor 4 and information on the surrounding conditions of the worker 10 (hereinafter referred to as "worker peripheral information"). For example, the worker peripheral information is position information of a mobile robot. When the mobile robot moves around the worker 10, the frequency of the presence of the worker 10 within the predetermined area varies. The acquisition unit 33 may associate the position of the worker 10 detected by the sensor 4 with the worker peripheral information, store the position of the worker 10 and the worker peripheral information in the storage unit 36, and create statistical information on the position of the worker 10 corresponding to the worker peripheral information. The sensor 4 may detect the position of the mobile robot, and the acquisition unit 33 may acquire the position information of the mobile robot from the sensor 4. The change unit 34 may change the route information based on information on locations within the predetermined area where the presence frequency of the worker 10 corresponding to the worker peripheral information is higher than a threshold and the route information. This allows the path information to be changed in accordance with the information about the worker's surroundings, and the decrease in the operation efficiency of the robot 1 can be further prevented.

[0051] The acquisition unit 33 may acquire, based on statistical information on the positions of the workers 10 detected by the sensor 4 and at least two pieces of information from among the worker information, the work process information, and the worker surroundings information, the frequency with which the workers 10 corresponding to these two pieces of information exist within a predetermined area. The change unit 34 may change the route information based on information on locations where the frequency with which the workers 10 corresponding to at least two pieces of information from among the worker information, the work process information, and the worker surroundings information exist within a predetermined area is higher than a threshold value, and the route information.

[0052] The predetermined distance described in the flowchart of FIG. 8 may be a safety distance. The safety distance will be described with reference to FIG. 9. In 5.5.4.2.3 of ISO / TC15066, the safety distance Sp is defined as "Sp(t0)=Sh+Sr+Ss+c+Zd+Zr". In the above definition formula, "Sh" indicates "the distance a person travels from the current time until the robot stops moving", and "Sr" indicates "the distance a robot travels from the current time until the robot starts its stopping action". In the above definition formula, "Ss" indicates "the distance a robot travels from the time the robot starts its stopping action until the robot stops moving". In the above definition formula, "c" indicates "Depth penetration It is called the "factor" and indicates, for example, the "distance from the detection position such as the center of gravity of a person to a part of the person such as the arm." In the above definition, "Zd" indicates the "measurement error of the sensor that detects the human body," and "Zr" indicates the "error in the control position in robot control."

[0053] 10 to 15, a process for changing route information based on a plurality of high-frequency locations will be described. FIGS. 10 to 15 are plan views of the robot 1. As shown in FIG. 10, high-frequency location L4 and high-frequency location L5 overlap. In FIGS. 10 to 15, the protection area 20 and the predetermined area 40 are not shown. First, as shown in FIG. 11, the change unit 34 creates a circle C4 with a radius a predetermined distance from the center of the high-frequency location L4, and creates via points VP1 to VP6 for the high-frequency location L4.

[0054] As shown in FIG. 12, the modification unit 34 creates a circle C5 with a radius a predetermined distance from the center of the high-frequency location L5, and creates via points VP7 to VP12 for the high-frequency location L5. If a via point set for another high-frequency location is located within a predetermined distance from the center of the target high-frequency location, the modification unit 34 removes the via point located within the predetermined distance from the center of the target high-frequency location. In FIG. 13, the modification unit 34 removes via point VP7 located within a predetermined distance from the center of the high-frequency location L4, and via points VP5 and VP6 located within a predetermined distance from the high-frequency location L5. In FIG. 13, the removed via points VP5, VP6, and VP7 are displayed as black circles.

[0055] When multiple via points are located within a certain distance (in FIG. 14, the radius of a circle C6 located outside via point VP3), the change unit 34 keeps the via point far from the high-frequency location and removes the via point close to the high-frequency location. In FIG. 14, via points VP3 and VP8 are located within the certain distance, and the distance from via point VP3 to the high-frequency location L5 is longer than the distance from via point VP8 to the high-frequency location L4. Of via points VP3 and VP8 located within the certain distance, the change unit 34 keeps via point VP3 and removes via point VP8. Similarly, of via points VP4 and VP9 located within the certain distance, the change unit 34 keeps via point VP9 and removes via point VP4. The certain distance may be set, for example, as the interval between multiple via points. The interval between multiple via points may be calculated using a predetermined distance (e.g., a safety distance) when setting multiple via points and a setting angle for the via points (e.g., a central angle of 10 degrees). 15, the change unit 34 changes the route information by creating a new path P3 that passes through the remaining way points V1 to V3 and V9 to V12. In this way, when the distance between two of the multiple way points is equal to or less than a certain distance, the change unit 34 removes one of the two way points that is the shorter distance from the high-frequency location. This increases the distance between two consecutive way points, making it possible to suppress unnecessary movements of the robot 1 and prevent a decrease in the operating efficiency of the robot 1.

[0056] When the path information is changed, the robot controller 31 may refer to the information stored in the storage unit 36 ​​and determine whether the robot 1 can move based on the changed path information. A case where the robot controller 31 determines that the robot 1 cannot move based on the changed path information will be described. A first method of dealing with the situation when it is determined that the robot 1 cannot move will be described. As the first method of dealing with the situation, the change unit 34 changes the path information. It is also possible to prevent the information from being changed. This does not change the frequency of deceleration and stopping of the robot 1's movement, but it is possible to prevent the setting of route information that does not allow the robot 1 to move.

[0057] As a second countermeasure, as shown in FIG. 16, the change unit 34 may shorten the radius (predetermined distance) of the circle C2 in the high-frequency location L2 and set the waypoints VP1 to VP6 again. In FIG. 16, the protection area 20 and the predetermined area 40 are not shown. As shown in FIG. 16, compared to before the radius of the circle C2 was shortened, the path P2 after the change is set closer to the high-frequency location L2. Therefore, it is no longer possible to completely avoid contact or collision between the robot 1 and the worker 10. However, compared to before the radius of the circle C2 was shortened, it is possible to reduce the frequency of deceleration or stopping of the robot 1's operation when the worker 10 enters the protection area 20.

[0058] 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 control device 3 by loading and executing the program. The computer may function as the control device 3 by loading and executing the program.

[0059] <Additional Notes> a control unit (31) for controlling the operation of the robot (1); an acquisition unit (32) that acquires a frequency of the presence of the worker (10) within a predetermined area based on statistical information on the position of the worker (10) detected by the detection unit (4); a change unit (33) that changes the path information based on information about a location where the frequency of the presence of the worker (10) is higher than a threshold value and path information including at least a start point and an end point of a movement of the robot (1); Equipped with The control unit (31) controls the operation of the robot based on the changed path information. Control device (3). [Explanation of symbols]

[0060] 1:Robot 2: Workbench 3: Control device 4: Sensor 10: Worker 20;Protective Area 31: Robot controller 32: Creation Department 33: Acquisition part 34: Change section 35: Setting section 36: Storage section

Claims

1. a control unit that controls the operation of the robot; an acquisition unit that acquires a frequency at which the worker is present at a position based on statistical information on the position of the worker within a monitoring area; a change unit that changes the path information based on information about a location where the frequency of the worker's presence is higher than a threshold value and path information that includes at least a start point and an end point of a movement of the robot; Equipped with the control unit controls the operation of the robot based on the changed path information; There are a plurality of locations where the frequency of the presence of the worker is higher than a threshold value, When a distance between a second location, which is one of a plurality of locations where the frequency of the worker being present is higher than a threshold, and the start point or the end point is shorter than a predetermined distance, the change unit does not change the route information based on information about the second location. Control device.

2. the change unit creates one or more waypoints for the robot to pass through based on information about locations where the frequency of the worker's presence is higher than a threshold and the route information; The route information after the change includes one or more of the waypoints. The control device according to claim 1 .

3. The modification unit creates a plurality of waypoints for the robot to pass through based on information on a plurality of locations where the frequency of the worker's presence is higher than a threshold and the route information, The route information after the change includes a plurality of the via points. The control device according to claim 1 .

4. When the distance between two of the plurality of the way points is equal to or less than a certain distance, the change unit removes one of the two way points that is closer to a location where the frequency of the worker's presence is higher than a threshold. The control device according to claim 3 .

5. One or more of the way points are located at least the predetermined distance from a location where the frequency of the worker's presence is higher than a threshold value. The control device according to any one of claims 2 to 4.

6. the change unit creates a path for the robot to take based on information about locations where the frequency of the worker's presence is higher than a threshold and the route information; The route information after the change includes the path The control device according to any one of claims 1 to 5.

7. The path is located at a distance equal to or greater than the predetermined distance from a location where the frequency of the worker's presence is higher than a threshold value. The control device according to claim 6.

8. The route information before the change includes a first path that the robot takes, The change unit (1) The distance between the start point and a first location, which is one of a plurality of locations where the frequency of the presence of the worker is higher than a threshold, is equal to or greater than the predetermined distance. (2) The distance between the first location and the end point is equal to or greater than the predetermined distance. (3) the distance between the first location and the first path is equal to or greater than the predetermined distance; If all of the above conditions are met, the route information is not changed based on the information about the first location. A control device according to any one of claims 1 to 7.

9. the acquiring unit acquires a frequency of presence of the worker corresponding to the worker information based on the statistical information and the worker information of the worker; The change unit changes the route information based on information about a location where the frequency of presence of the worker corresponding to the worker information is higher than a threshold value and the route information. A control device according to any one of claims 1 to 8.

10. the acquisition unit acquires a frequency of presence of the worker corresponding to the work process information based on the statistical information and the work process information of the robot; The change unit changes the route information based on information on a location where the frequency of the worker corresponding to the work process information is higher than a threshold value and the route information. A control device according to any one of claims 1 to 8.

11. the acquisition unit acquires a frequency of presence of the worker corresponding to the surrounding information based on the statistical information and surrounding information of the worker; The change unit changes the route information based on information about a location where the frequency of the worker's presence corresponding to the peripheral information is higher than a threshold value and the route information. A control device according to any one of claims 1 to 8.

12. the acquisition unit acquires a frequency of presence of the worker corresponding to the two pieces of information based on the statistical information and at least two pieces of information selected from worker information about the worker, work process information about the robot, and surrounding information about the worker; and The change unit changes the route information based on information on a location where the frequency of the worker's presence corresponding to the two pieces of information is higher than a threshold value and the route information. A control device according to any one of claims 1 to 8.

13. A setting unit that sets a protection area within the monitoring area to detect intrusion of the worker based on the changed route information.

13. The control device according to claim 1, comprising:

14. A control device according to any one of claims 1 to 13; The robot; a detection unit that detects the position of the worker; A control system comprising:

15. The computer a control step for controlling the operation of the robot; an acquisition step of acquiring a frequency of the worker being present at the position based on statistical information of the worker's position within the monitoring area; a changing step of changing the path information based on information about a location where the frequency of the worker's presence is higher than a threshold value and path information including at least a start point and an end point of the robot's movement; Run In the control step, the operation of the robot is controlled based on the changed path information. There are a plurality of locations where the frequency of the presence of the worker is higher than a threshold value, In the changing step, when a distance between a second location, which is one of a plurality of locations where the frequency of the presence of the worker is higher than a threshold, and the start point or the end point is shorter than a predetermined distance, the route information is not changed based on information about the second location. Control method.

16. A program for causing a computer to execute the steps recited in claim 15.

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