Safety device, robot system, and control method

Abstract

To allow a travel device and a robot to properly perform prescribed work.SOLUTION: A safety device 50 is provided in a robot system 10 including an AGV 20 (travel device) and a robot 40 provided in the AGV 20. The safety device 50 has laser sensors 52a, 52b which are mounted in the AGV 20, are set with a prescribed detection area, and detect an object existing in the prescribed detection area, and an operation suppression section 106 which suppresses operation of the AGV 20 and the robot 40 when detecting existence of the object in the prescribed detection area by the laser sensors 52a, 52b. The laser sensors 52a, 52b change the prescribed detection area on the basis of an ambient signal related to the surroundings of the AGV 20 and the robot 40 from the outside.SELECTED DRAWING: Figure 10

Description

[Technical Field]

[0001] The technology disclosed herein relates to a safety device, a robot system, and a control method. [Background technology]

[0002] BACKGROUND ART Traveling devices and safety devices for robots provided on the traveling devices have been known and are disclosed in, for example, Patent Document 1.

[0003] In the safety device of Patent Document 1, the reflectivity of a high-priority robot is set higher than the reflectivity of a low-priority robot. As a result, a sensing signal emitted from a low-priority robot is reflected by the high-priority robot and received with sufficient intensity by the low-priority robot. On the other hand, a sensing signal emitted from a high-priority robot is reflected by the low-priority robot and received with insufficient intensity by the high-priority robot. As described above, the safety device of Patent Document 1 makes it possible for the high-priority robot to perform work with priority. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 9-38891 Summary of the Invention [Problem to be solved by the invention]

[0005] However, a safety device such as that disclosed in Patent Document 1 may make it difficult for a robot or the like to perform a predetermined task appropriately. That is, if the detection area of ​​the safety device overlaps with a work area where, for example, a work shelf or work bench of the robot is present, the safety device will detect the work shelf or the like, causing the robot or the like to unnecessarily slow down or stop.

[0006] The technology disclosed herein has been developed in consideration of these points, and its purpose is to provide a safety device, a robot system, and a control method that enable the traveling device and the robot to properly perform the specified tasks. [Means for solving the problem]

[0007] The safety device disclosed herein is provided in a robot system having a traveling device and a robot attached to the traveling device. The safety device includes a first sensor and a motion suppression unit. The first sensor is attached to at least one of the traveling device and the robot, and a predetermined detection area is set and detects objects present within the predetermined detection area. The motion suppression unit suppresses the motion of at least one of the traveling device and the robot when the first sensor detects the presence of an object within the predetermined detection area. The first sensor changes the predetermined detection area based on an external ambient signal regarding the surroundings of the traveling device and the robot. Here, "the surroundings of the traveling device and the robot" refers to objects and people surrounding the traveling device and the robot.

[0008] The robot system disclosed herein includes a traveling device, a robot mounted on the traveling device, and the safety device.

[0009] Also disclosed herein is a control method for controlling the operation of a robot system including a traveling device, a robot mounted on the traveling device, and a first sensor attached to at least one of the traveling device and the robot, the first sensor having a predetermined detection area and configured to detect an object present within the predetermined detection area. The control method includes setting the predetermined detection area of ​​the first sensor, changing the predetermined detection area of ​​the first sensor based on ambient signals related to the surroundings of the traveling device and the robot, and suppressing the operation of at least one of the traveling device and the robot when the first sensor detects the presence of an object within the predetermined detection area. [Effects of the Invention]

[0010] The safety device allows the traveling device and the robot to perform the predetermined tasks appropriately.

[0011] According to the robot system, the traveling device and the robot can perform predetermined tasks appropriately.

[0012] According to the control method, the traveling device and the robot can appropriately perform the predetermined task. [Brief explanation of the drawings]

[0013] [Figure 1] FIG. 1 is a schematic diagram showing a robot system applied to a work site. [Figure 2] FIG. 2 is a perspective view showing the overall configuration of the robot system. [Figure 3] FIG. 3 is a side view showing the configuration of the main part of the robot system. [Figure 4] FIG. 4 is a front view showing a part of the AGV as seen from the front. [Figure 5] FIG. 5 is a block diagram showing a control system of the robot system. [Figure 6] FIG. 6 is a schematic diagram showing a predetermined detectable area set by the safety device. [Figure 7] FIG. 7 is a flowchart showing the control method. [Figure 8] FIG. 8 is a schematic diagram showing predetermined detection areas set by a safety device, where (A) is a schematic diagram showing a first detection area, and (B) is a schematic diagram showing a second detection area. [Figure 9] FIG. 9 is a schematic diagram showing a third detection area set by the safety device. [Figure 10] FIG. 10 is a schematic diagram showing a fourth detection area set by the safety device. [Figure 11] FIG. 11 is a schematic diagram showing a fifth detection area set by the safety device. [Figure 12] FIG. 12 is a schematic diagram showing a sixth detection area set by the safety device. [Figure 13] FIG. 13 is a schematic diagram showing a seventh detection area set by the safety device. [Figure 14] FIG. 14 is a schematic diagram showing an eighth detection area set in a safety device according to another embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0014] Exemplary embodiments will now be described in detail with reference to the accompanying drawings.

[0015] <Robot System 10> FIG. 1 is a schematic diagram showing a robot system 10 applied to a work site. As shown in FIG. 1, the robot system 10 of this embodiment is used to transport multiple workpieces W, which are sequentially transported by a conveyor C, to any one of multiple shelves S arranged in a row along the transport direction of the conveyor C. The robot system 10 is self-propelled. In this embodiment, two robot systems 10 are arranged between the conveyor C and the multiple shelves S to perform the above-mentioned transport work. Note that a worker P is positioned near the two robot systems 10 to perform the same transport work as the two robot systems 10.

[0016] FIG. 2 is a perspective view showing the overall configuration of the robot system 10. FIG. 3 is a side view showing the main configuration of the robot system 10. FIG. 4 is a front view showing a part of the AGV 20 as seen from the front. The robot system 10 includes an AGV (Automated Guided Vehicle) 20, a robot 40 provided on the upper surface of the AGV 20, and a robot control device 100 (see FIG. 5). The robot system 10 also includes a safety device 50 provided for the AGV 20 and the robot 40.

[0017] AGV20 The AGV 20 is an example of a traveling device and is a self-propelled device. The AGV 20 has a rectangular parallelepiped housing 22, a drive unit 24 (see FIG. 5) provided in the housing 22, two drive wheels 26a and 26b driven by the drive unit 24, and four wheels 27a to 27d that are not connected to the drive unit 24.

[0018] The drive wheel 26a is provided at the center of the left edge of the bottom surface of the AGV 20 and is driven by a servo motor 110g (see FIG. 5) of the drive device 24. The drive wheel 26b is provided at the center of the right edge of the bottom surface of the AGV 20 and is driven by a servo motor 110h (see FIG. 5) of the drive device 24. For example, the AGV 20 can turn and rotate right and left by varying the rotation speeds of the drive wheels 26a and 26b. The four wheels 27a to 27d are provided at the corners of the bottom surface of the AGV 20, respectively. Each of the four wheels 27a to 27d may be an omnidirectional caster.

[0019] Robot 40 The robot 40 includes a base 41 fixed to the upper surface of the housing 22 of the AGV 20, a robot arm 42 having a base end connected to the base 41, and an end effector (not shown) provided at the tip of the robot arm 42. In this embodiment, the robot 40 is a so-called vertical articulated robot.

[0020] 2, the robot arm 42 has six joint axes JT1 to JT6 and five links 44a to 44e connected in sequence by the joint axes JT1 to JT6. The joint axes JT1 to JT6 are driven by servo motors 110a to 110f (see FIG. 5).

[0021] The joint shaft JT1 connects the base 41 and the base end of the link 44a rotatably around an axis extending in the vertical direction. The rotation of the link 44a relative to the base 41 is performed by a servo motor 110a (see FIG. 5). The joint shaft JT2 connects the tip of the link 44a and the base end of the link 44b rotatably around an axis extending in the horizontal direction. The rotation of the link 44b relative to the link 44a is performed by a servo motor 110b (see FIG. 5). The joint shaft JT3 connects the tip of the link 44b and the base end of the link 44c rotatably around an axis extending in the horizontal direction. The rotation of the link 44c relative to the link 44b is performed by a servo motor 110c (see FIG. 5).

[0022] The joint shaft JT4 connects the tip of the link 44c and the base end of the link 44d so that they can rotate about an axis extending in the longitudinal direction of the link 44c. The rotational movement of the link 44d relative to the link 44c is performed by a servo motor 110d (see FIG. 5). The joint shaft JT5 connects the tip of the link 44d and the base end of the link 44e so that they can rotate about an axis extending in a direction perpendicular to the longitudinal direction of the link 44d. The rotational movement of the link 44e relative to the link 44d is performed by a servo motor 110e (see FIG. 5). The joint shaft JT6 connects the tip of the link 44e and the base end of the end effector so that they can rotate torsionally. The rotational movement of the end effector relative to the link 44e is performed by a servo motor 110f (see FIG. 5).

[0023] <Robot control device 100> 5 is a block diagram showing a control system of the robot system 10. The robot control device 100 controls the operations of the AGV 20 and the robot 40.

[0024] Specifically, the robot control device 100 can servo-control the operation of the robot arm 42. Furthermore, the robot control device 100 can servo-control the operation of an end effector (not shown) provided at the tip of the robot arm 42, using the end effector as an external axis. Furthermore, the robot control device 100 can servo-control the operation of the drive wheels 26a, 26b, using the drive wheels 26a, 26b as external axes.

[0025] The robot control device 100 may also control the operations of a buzzer 60, status indicator lights 62a to 62d, and bumper switches 64a and 64b, which will be described later.

[0026] <Safety device 50> 2 to 5, the safety device 50 of this embodiment includes two laser sensors 52a, 52b, two safety proximity sensors 58a, 58b, and a condition monitoring device 105. The two laser sensors 52a, 52b are an example of first sensors. The two safety proximity sensors 58a, 58b are an example of second sensors. Note that the number of each of the laser sensors 52a, 52b and the safety proximity sensors 58a, 58b is not limited to two, and may be one or three or more.

[0027] The two laser sensors 52a, 52b are attached to at least one of the AGV 20 and the robot 40. In this example, the two laser sensors 52a, 52b are attached to the housing 22 of the AGV 20. The laser sensor 52a is attached to the bottom of the corner where the front and right sides of the housing 22 intersect, and the laser sensor 52b is attached to the bottom of the corner where the back and left sides of the housing 22 intersect. In other words, the two laser sensors 52a, 52b are respectively provided at two non-adjacent corners of the housing 22 in a plan view. The laser sensor 52b has the same structure as the laser sensor 52a. Therefore, hereinafter, only the laser sensor 52a will be described unless otherwise necessary, and a similar description of the laser sensor 52b will not be repeated.

[0028] As shown in FIG. 5, each of the two laser sensors 52a, 52b has a projector 53 that projects laser light radially from the projector itself within a predetermined detectable area D (see FIG. 6) described below, a photoreceiver 54 that is arranged adjacent to the projector 53 and receives the laser light that has bounced off an object (e.g., another robot system 10 and worker P shown in FIG. 1) present within the predetermined detectable area D, and a detector 55 that detects an object present within the predetermined detectable area D based on the light receiving state of the photoreceiver 54.

[0029] FIG. 6 is a schematic diagram showing a predetermined detectable area D set by the safety device 50. As shown in FIG. 6, the laser sensor 52a uses a projector 53 to project laser light radially from the center of the sensor 52a. At this time, since the laser sensor 52a is attached to the bottom of the corner where the front and right sides of the housing 22 of the AGV 20 intersect, there is an area into which the laser light cannot be projected because it is blocked by the housing 22. That is, the laser sensor 52a can project laser light radially from the center of the sensor 52a to an area of ​​270° from the front to the right side of the housing 22 in a plan view. This enables the laser sensor 52a to detect an object present within the detectable area D1 indicated by the two-dot chain line in FIG. 6.

[0030] Similarly, laser sensor 52b uses projector 53 to project laser light radially from itself as a center. At this time, since laser sensor 52b is attached to the bottom of the corner where the back and left faces of housing 22 of AGV 20 intersect, there is an area into which the laser light cannot be projected due to obstruction by housing 22. In other words, laser sensor 52b can project laser light radially from itself as a center to an area of ​​270° from the back to the left face of housing 22 in a plan view. This enables laser sensor 52b to detect objects present within detectable area D2 indicated by the two-dot chain line in FIG. 6.

[0031] The detectable area D by the safety device 50 is the combined area of ​​the detectable area D1 by the laser sensor 52a and the detectable area D2 by the laser sensor 52b. Note that, as shown in Fig. 6, the detectable area D1 and the detectable area D2 partially overlap each other in a plan view.

[0032] Each of the two laser sensors 52a, 52b further includes an area setting unit 56 that sets all or part of the detectable area D as a predetermined detection area. The area setting unit 56 changes the predetermined detection area based on an external ambient signal related to the surroundings of the AGV 20 and the robot 40. More specifically, the area setting unit 56 changes the predetermined detection area based on ambient signals output from safety proximity sensors 58a, 58b, which will be described later.

[0033] More specifically, the area setting unit 56 sets the predetermined detection area by masking a part of the detectable area D (i.e., a part that does not need to be detected). If there is no part to be masked, the entire detectable area D is set as the predetermined detection area. The area setting unit 56 also changes the predetermined detection area by changing the part of the detectable area D that is masked.

[0034] Furthermore, the area setting unit 56 can change the predetermined detection area in accordance with the operating states of the AGV 20 and the robot 40. Specifically, the operating states of the AGV 20 and the robot 40 are transmitted from the state monitoring device 105, which will be described later, and the area setting unit 56 changes the predetermined detection area in accordance with the transmitted operating states. In other words, the detector 55 detects an object present within the predetermined detection area thus set by the area setting unit 56.

[0035] The two safety proximity sensors 58a, 58b detect the surrounding conditions of the AGV 20 and the robot 40. More specifically, the safety proximity sensors 58a, 58b detect a predetermined work area of ​​the robot 40 and output a surrounding signal when the predetermined work area is detected. In this embodiment, the predetermined work area of ​​the robot 40 is the area where the shelves S and the conveyor C are located.

[0036] The two safety proximity sensors 58a, 58b have the same configuration. In this embodiment, the two safety proximity sensors 58a, 58b are attached to the housing 22 of the AGV 20. More specifically, the two safety proximity sensors 58a, 58b are provided on the left and right sides, respectively, of the front bottom surface of the housing 22. The safety proximity sensors 58a, 58b detect a predetermined work area by detecting aluminum tapes (hereinafter referred to as AL tapes) 59a, 59b affixed to predetermined positions on the floor (see FIGS. 10 and 11, etc.). The AL tapes 59a, 59b are affixed to the floor surface near the predetermined work area, i.e., the area where the shelves S and conveyor C are located. Therefore, when the AGV 20 and the robot 40 approach the predetermined work area, the safety proximity sensors 58a, 58b detect the AL tapes 59a, 59b, thereby detecting that a work area exists around the AGV 20 and the robot 40. When the safety proximity sensors 58a and 58b detect a predetermined work area, they transmit a surrounding signal, which is a detection signal, to the laser sensors 52a and 52b via the status monitor 105.

[0037] The status monitoring device 105 monitors the operating states of the AGV 20 and the robot 40 and transmits the monitored operating states to the area setting unit 56 of the laser sensors 52a and 52b. More specifically, the robot controller 100 transmits detection values ​​of an encoder (not shown) to the status monitoring device 105. The encoder is provided, for example, on the robot 40, detects the rotation angles of the servo motors 110a to 110f, and outputs the detection values ​​to the robot controller 100. The status monitoring device 105 grasps and monitors the operating states of the AGV 20 and the robot 40 based on the detection values ​​of the encoders transmitted from the robot controller 100. The operating states of the AGV 20 and the robot 40 include, for example, the stop state of the AGV 20 and the robot 40, the traveling speed of the AGV 20, the operating speed of the robot arm 42, and the position of the robot arm 42. The status monitoring device 105 monitors these operating states and outputs the monitoring results (i.e., the monitored operating states) to the area setting unit 56 as duplicated safety signals. In this way, in response to the safety signal sent from the condition monitor 105, the area setting unit 56 changes the predetermined detection area.

[0038] The state monitoring device 105 also has an operation suppressing unit 106. When the laser sensors 52a, 52b detect the presence of an object within a predetermined detection area, the operation suppressing unit 106 suppresses the operation of at least one of the AGV 20 and the robot 40. Specifically, when the laser sensors 52a, 52b detect the presence of an object within the predetermined detection area, the laser sensors 52a, 52b transmit a detection signal to the state monitoring device 105. When the state monitoring device 105 receives the detection signals from the laser sensors 52a, 52b, the operation suppressing unit 106 outputs a command to the robot control device 100 to suppress (e.g., slow down or stop) the operation of at least one of the AGV 20 and the robot 40 based on the detection signal. The robot control device 100 suppresses the operation of the AGV 20 and the robot 40 based on the command from the state monitoring device 105.

[0039] The various signals transmitted and received by the laser sensors 52a, 52b and the status monitor 105, including the ambient signals of the safety proximity sensors 58a, 58b, are so-called safety signals that are duplicated and have a self-diagnosis function. Therefore, even if some of these signals fail, appropriate signals are reliably transmitted and received.

[0040] The safety device 50 further includes a buzzer 60, status indicator lights 62a to 62d, and bumper switches 64a and 64b.

[0041] The buzzer 60 is attached to the corner where the front and top surfaces of the housing 22 of the AGV 20 intersect. The buzzer 60 is attached so as to extend in the width direction of the housing 22. The buzzer 60 may issue an alarm sound when the laser sensors 52a, 52b detect the presence of an object in a deceleration area AD1 (described later), thereby alerting the user to the occurrence of danger. Furthermore, the buzzer 60 may issue an alarm sound that is louder when the laser sensors 52a, 52b detect the presence of an object in the stop area AS1 than when the laser sensors 52a, 52b detect the presence of an object in the deceleration area AD1, thereby alerting the user to the occurrence of danger.

[0042] The status indicator lights 62a to 62d are attached to the center of the corner where the front and left sides of the housing 22 of the AGV 20 intersect, the center of the corner where the front and right sides of the housing 22 intersect, the center of the corner where the back and left sides of the housing 22 intersect, and the center of the corner where the back and right sides of the housing 22 intersect. The status indicator lights 62a to 62d may each light up (or flash) when the laser sensors 52a and 52b detect the presence of an object in a deceleration area AD1 (described later) to indicate that a danger has occurred. Furthermore, the status indicator lights 62a to 62b may each light up (or flash rapidly) in a color different from that used when the laser sensors 52a and 52b detect the presence of an object in the stop area AS1 or when the laser sensors 52a and 52b detect the presence of an object in the deceleration area AD1 to indicate that a danger has occurred.

[0043] The bumper switch 64a is attached to a corner where the front and bottom surfaces of the housing 22 of the AGV 20 intersect, and extends in the width direction of the housing 22. The bumper switch 64b is attached to a corner where the back and bottom surfaces of the housing 22 of the AGV 20 intersect, and extends in the width direction of the housing 22. The bumper switches 64a and 64b each stop the operation of the AGV 20 and the robot 40 when an object collides with them.

[0044] In the robot system 10, as shown in Fig. 7, the operations of the AGV 20 and the robot 40 are controlled using a safety device 50. At that time, various predetermined detection areas can be set / changed in the laser sensors 52a and 52b. Fig. 7 is a flowchart showing the control method.

[0045] <Detection area A1> First, a predetermined detection area is set by the area setting unit 56 of the laser sensors 52a and 52b (step S1). For example, as shown in Fig. 8(A), a detection area A1 is set as a first detection area. Fig. 8 is a schematic diagram showing the predetermined detection areas set by the safety device 50, where (A) is a schematic diagram showing the first detection area and (B) is a schematic diagram showing the second detection area.

[0046] The detection area A1 is set when the robot 40 is not moving and the AGV 20 is moving forward. The laser sensors 52a and 52b detect objects present within the detection area A1. The detection area A1 is part of the detectable area D. In other words, the detection area A1 is included in the detectable area D.

[0047] Specifically, the area setting unit 56 sets the detection area A1 by masking a portion of the detectable area D. The detection area A1 is set to extend from the AGV 20 at least in the traveling direction of the AGV 20. In FIG. 8(A), since the AGV 20 is traveling forward, the detection area A1 extends from the AGV 20 to the front of the AGV 20 and also extends slightly from the AGV 20 to the rear of the AGV 20. The detection area A1 is set to be rectangular in plan view. As shown in the figure, the detection area A1 is set to be rectangular in plan view so as to encompass the AGV 20, and also extends slightly to the left and right sides of the AGV 20.

[0048] 8(A), the area setting unit 56 can set a deceleration area AD1 and a stop area AS1 within the detection area A1. As shown in the figure, the deceleration area AD1 and the stop area AS1 are each rectangular, and the deceleration area AD1 is set to include the stop area AS1.

[0049] When the laser sensors 52a and 52b detect the presence of an object in the deceleration area AD1, the laser sensors 52a and 52b transmit detection signals to the operation suppression unit 106. Upon receiving the detection signals from the laser sensors 52a and 52b, the operation suppression unit 106 outputs a command to the robot control device 100 to decelerate the movement of the AGV 20, thereby suppressing the movement of the AGV 20. Furthermore, when the laser sensors 52a and 52b detect the presence of an object in the stopping area AS1, the laser sensors 52a and 52b transmit detection signals to the operation suppression unit 106. Upon receiving the detection signals from the laser sensors 52a and 52b, the operation suppression unit 106 outputs a command to the robot control device 100 to stop the movement of the AGV 20, thereby suppressing the movement of the AGV 20. Note that when the operation suppression unit 106 detects the presence of an object in both the deceleration area AD1 and the stopping area AS1, it may suppress the movement of the AGV 20 by stopping the movement of the AGV 20.

[0050] In the following step S2, it is determined whether or not the status monitoring device 105 has received a surrounding signal from the safety proximity sensors 58a, 58b. If the status monitoring device 105 has not received a surrounding signal, the process proceeds to step S3.

[0051] <Detection area A2> In step S3, the area setting unit 56 changes the predetermined detection area according to the operating status of the AGV 20 and the robot 40 transmitted from the status monitoring device 105. Here, for example, the detection area A1 is changed to a detection area A2 (see FIG. 8(B)) as a second detection area. The detection area A2 is set when the AGV 20 is stopped and the robot 40 is in an operating state. The laser sensors 52a and 52b detect objects present within the detection area A2. The detection area A2 is part of the detectable area D. In other words, the detection area A2 is included in the detectable area D.

[0052] Specifically, the area setting unit 56 sets the detection area A2 by masking a portion of the detectable area D that is different from the detection area A1. The detection area A2 is set so as to extend from the robot 40 toward at least the movable area in which the robot 40 can operate. In FIG. 8(B), since the robot arm 42 extends rightward from the AGV 20, the detection area A2 extends rightward from the AGV 20 so as to encompass the robot arm 42. In addition, in a plan view, the detection area A2 is set to have a rectangular shape that encompasses the housing 22 of the AGV 20, except for the portion that encompasses the robot arm 42.

[0053] 8(B), the area setting unit 56 can set a deceleration area AD2 and a stop area AS2 within the detection area A2. As shown in the figure, the deceleration area AD2 is set so as to include the stop area AS2.

[0054] In the following step S5, when the presence of an object is detected in the detection area A2, the operation of the AGV 20 and the robot 40 is suppressed by the operation suppression unit 106. Specifically, when the laser sensors 52a and 52b detect the presence of an object in the deceleration area AD2, the laser sensors 52a and 52b transmit detection signals to the operation suppression unit 106. Upon receiving the detection signals from the laser sensors 52a and 52b, the operation suppression unit 106 outputs a command to the robot control device 100 to decelerate the operation of the robot 40, thereby suppressing the operation of the robot 40. Furthermore, when the laser sensors 52a and 52b detect the presence of an object in the stop area AS2, the laser sensors 52a and 52b transmit detection signals to the operation suppression unit 106. Upon receiving the detection signals from the laser sensors 52a and 52b, the operation suppression unit 106 outputs a command to the robot control device 100 to stop the robot 40, thereby suppressing the operation of the robot 40. It should be noted that the operation suppression unit 106 may suppress the operation of the robot 40 by stopping the robot 40 when the presence of an object is detected both in the deceleration area AD2 and the stop area AS2.

[0055] The operations of the buzzer 60, the status indicator lights 62a to 62d, and the bumper switches 64a and 64b are the same as those for the detection area A1 described with reference to Fig. 8(A), and therefore will not be described again here. The same applies to the detection areas A3 to A8 described later.

[0056] <Detection area A3> In step S3, the area setting unit 56 can also change the detection area A1 to a detection area A3 (see FIG. 9) as a third detection area. FIG. 9 is a schematic diagram showing the third detection area set by the safety device 50. The detection area A3 is set when the AGV 20 is traveling and the robot 40 is in an operating state. As shown in the figure, the area setting unit 56 sets the detection area A3 by masking a portion of the detectable area D that is different from the detection areas A1 and A2. The detection area A3 is set to have a circular shape whose center coincides with the center of the housing 22 of the AGV 20 in a plan view.

[0057] 9, the area setting unit 56 can set a deceleration area AD3 and a stop area AS3 within the detection area A3. As shown in the figure, the deceleration area AD3 and the stop area AS3 are each concentric circular shapes, and the deceleration area AD3 is set to encompass the stop area AS3.

[0058] For example, when the AGV 20 is traveling and the robot 40 is operating, the area setting unit 56 may change the size of the detection area A3 (in other words, the sizes of the deceleration area AD3 and the stop area AS3) according to the operating speeds of the AGV 20 and the robot 40. For example, the area setting unit 56 may increase the size of the detection area A3 when at least one of the AGV 20 and the robot 40 is operating at high speed.

[0059] In addition, when the AGV 20 is traveling and the robot 40 is operating, the area setting unit 56 may change the shape of the detection area from the shape of the detection area A3 shown in Figure 9 to the shape of the detection area A1 shown in Figure 8(A) or the shape of the detection area A2 shown in Figure 8(B).

[0060] Furthermore, in step S2, if the status monitoring device 105 receives a surrounding signal from the safety proximity sensors 58a, 58b, the process proceeds to step S4. In step S4, the area setting unit 56 changes the predetermined detection area based on the surrounding signal transmitted from the safety proximity sensors 58a, 58b via the status monitoring device 105. Here, as an example of changing the predetermined detection area in step S4, detection areas A4 to A7 will be described with reference to FIGS. 10 to 13.

[0061] <Detection area A4> FIG. 10 is a schematic diagram showing a fourth detection area set by the safety device 50. Note that the detectable area D is not shown in FIG. 10, and this also applies to FIGS. 11 to 14 described below. The area setting unit 56 changes the detection area A1 to a detection area A4 as a fourth detection area based on the ambient signal of the safety proximity sensor 58a. More specifically, the area setting unit 56 sets the detection area A4 based on the operating status of the AGV 20 from the status monitoring device 105 in addition to the ambient signal of the safety proximity sensor 58a.

[0062] The detection area A4 is set when the AGV 20 is stopped and the left safety proximity sensor 58a of the two safety proximity sensors 58a, 58b detects the predetermined AL tape 59a and outputs a surrounding signal. In other words, the detection area A4 is set when the AGV 20 is stopped and the presence of a predetermined work area (shelf S in this example) is detected on the left side of the AGV 20 and the robot 40.

[0063] Specifically, the area setting unit 56 sets the detection area A4 by masking a portion of the detectable area that is different from the detection area A1. More specifically, the area setting unit 56 sets the detection area A4 so that the detection area A4 does not overlap with the predetermined work area detected by the safety proximity sensor 58a. That is, in this example, the detection area A4 is set by masking a portion of the detectable area that corresponds to the predetermined work area (i.e., the portion to the left of the AGV 20). The detection area A4 set in this way is formed in a rectangular shape in a plan view. That is, the detection area A4 extends forward and backward from the AGV 20 and also extends to the right.

[0064] As shown in FIG. 10, the area setting unit 56 can set a deceleration area AD4 and a stop area AS4 within the detection area A4, similar to the detection area A1, etc. As shown in the figure, the deceleration area AD4 and the stop area AS4 are each rectangular, and the deceleration area AD4 encompasses the stop area AS4 (excluding the outer edge on the left side). In this way, in the detection area A4, neither the deceleration area AD4 nor the stop area AS4 is set in the portion corresponding to the predetermined work area. By setting the detection area A4 in this way, the laser sensors 52a and 52b do not detect the predetermined work area (i.e., the presence of the shelf S). Therefore, the robot 40 can properly perform work in the predetermined work area without slowing down or stopping.

[0065] In the following step S5, similar to step S5 described for detection area A2, when the laser sensors 52a and 52b detect the presence of an object in detection area A4, the movement of the robot 40 is restrained by the movement restraining unit 106.

[0066] <Detection area A5> 11 is a schematic diagram showing a fifth detection area set by the safety device 50. The area setting unit 56 changes the detection area A1 to a detection area A5 as a fifth detection area based on the surrounding signal of the safety proximity sensor 58b. More specifically, the area setting unit 56 sets the detection area A5 based on the operating status of the AGV 20 from the status monitoring device 105 in addition to the surrounding signal of the safety proximity sensor 58b.

[0067] The detection area A5 is set when the AGV 20 is stopped and the right safety proximity sensor 58b of the two safety proximity sensors 58a, 58b detects the predetermined AL tape 59b and outputs a surrounding signal. In other words, the detection area A5 is set when the AGV 20 is stopped and the presence of a predetermined work area (shelf S in this example) is detected on the right side of the AGV 20 and the robot 40.

[0068] Specifically, the area setting unit 56 sets the detection area A5 by masking a portion of the detectable area that is different from the detection area A1. More specifically, the area setting unit 56 sets the detection area A5 so that the detection area A5 does not overlap with the predetermined work area detected by the safety proximity sensor 58b. That is, in this example, the detection area A5 is set by masking a portion of the detectable area that corresponds to the predetermined work area (i.e., the portion to the right of the AGV 20). The detection area A5 set in this way is formed in a rectangular shape in a plan view. That is, the detection area A5 extends forward and backward from the AGV 20 and also extends leftward.

[0069] As shown in FIG. 11, the area setting unit 56 can set a deceleration area AD5 and a stop area AS5 within the detection area A5, similar to the detection area A1, etc. As shown in the figure, the deceleration area AD5 and the stop area AS5 are each rectangular, and the deceleration area AD5 encompasses the stop area AS5 (excluding the outer edge on the right side). In this way, in the detection area A5, neither the deceleration area AD5 nor the stop area AS5 is set in the portion corresponding to the predetermined work area. By setting such a detection area A5, the robot 40 can properly perform work in the predetermined work area without slowing down or stopping, similar to the detection area A4. The subsequent step S5 is the same as for the detection area A4.

[0070] <Detection area A6> 12 is a schematic diagram showing a sixth detection area set by the safety device 50. The area setting unit 56 changes the detection area A1 to a detection area A6 as the sixth detection area based on the ambient signal of the safety proximity sensor 58b. More specifically, the area setting unit 56 sets the detection area A6 based on the operating status of the AGV 20 from the status monitoring device 105 in addition to the ambient signal of the safety proximity sensor 58b.

[0071] The detection area A6 is set when the AGV 20 is traveling in the direction of the arrow shown in Fig. 12 and the right safety proximity sensor 58b of the two safety proximity sensors 58a, 58b detects the predetermined AL tape 59b and outputs a surrounding signal. In other words, the detection area A5 is set when the AGV 20 is traveling and the presence of a predetermined work area (shelf S in this example) is detected on the right side of the AGV 20 and the robot 40. Furthermore, the detection areas A5 and A6 differ in that the detection area A5 is set when the AGV 20 is stopped, whereas the detection area A6 is set when the AGV 20 is traveling.

[0072] Specifically, the area setting unit 56 sets the detection area A6 by masking a portion of the detectable area that is different from the detection area A1. More specifically, the area setting unit 56 sets the detection area A6 so that it does not overlap with the predetermined work area detected by the safety proximity sensor 58b. That is, in this example, the detection area A6 masks the portion of the detectable area that corresponds to the predetermined work area (i.e., the portion to the right of the AGV 20). The detection area A6 set in this manner is rectangular in plan view. That is, the detection area A6 extends forward and backward from the AGV 20 and also extends to the left. Furthermore, because the AGV 20 is traveling forward in the detection area A6, the detection area in front of the AGV 20 is set larger than the detection area A5.

[0073] As shown in FIG. 12, the area setting unit 56 can set a deceleration area AD6 and a stop area AS6 within the detection area A6, similar to the detection area A5. As shown, the deceleration area AD6 and the stop area AS6 are each rectangular, and the deceleration area AD6 encompasses the stop area AS6 (excluding the outer edge on the right side). In this example, the stop area AS6 in front of the AGV 20 is set larger than the detection area A5. As such, in the detection area A6, similar to the detection area A5, neither the deceleration area AD6 nor the stop area AS6 is set in the portion corresponding to the predetermined work area. Therefore, the robot 40 can properly perform work in the predetermined work area without slowing down or stopping. Furthermore, because the portion of the detection area A6 in front of the AGV 20 is larger than the detection area A5, the presence of an object in front of the AGV 20 can be detected quickly. The subsequent step S5 is the same as in the case of the detection area A4.

[0074] <Detection area A7> 13 is a schematic diagram showing a seventh detection area set by the safety device 50. The area setting unit 56 changes the detection area A1 to a detection area A7 as the seventh detection area based on the ambient signals of the two safety proximity sensors 58a and 58b. More specifically, the area setting unit 56 sets the detection area A7 based on the operating status of the AGV 20 from the status monitoring device 105 in addition to the ambient signals of the two safety proximity sensors 58a and 58b.

[0075] The detection area A7 is set when the AGV 20 is stopped and the two safety proximity sensors 58a, 58b detect the predetermined AL tapes 59a, 59b, respectively, and output a surrounding signal. In other words, the detection area A7 is set when the AGV 20 is stopped and the presence of predetermined work areas (in this example, shelves S) is detected on the left and right sides of the AGV 20 and the robot 40.

[0076] Specifically, the area setting unit 56 sets the detection area A7 by masking a portion of the detectable area that is different from the detection area A1. More specifically, the area setting unit 56 sets the detection area A7 so that the detection area A7 does not overlap with the two predetermined work areas detected by the two safety proximity sensors 58a, 58b. That is, in this example, the detection area A7 is set by masking the portions of the detectable area that correspond to the two predetermined work areas on the left and right (i.e., the portions to the left and right of the AGV 20). The detection area A7 set in this way is formed in a rectangular shape in a plan view. That is, the detection area A7 extends forward and backward from the AGV 20.

[0077] As shown in FIG. 13, the area setting unit 56 can set a deceleration area AD7 and a stop area AS7 within the detection area A7, similar to the detection area A1, etc. As shown in the figure, the deceleration area AD7 and the stop area AS7 are each rectangular, and the deceleration area AD7 encompasses the stop area AS7 (excluding the outer edges on the left and right). In this way, in the detection area A7, neither the deceleration area AD7 nor the stop area AS7 is set in the portions corresponding to the two predetermined work areas on the left and right. Therefore, the robot 40 can properly work in the two predetermined work areas on the left and right without slowing down or stopping. The subsequent step S5 is the same as for the detection area A4.

[0078] As described above, the safety device 50 of the embodiment is provided in the robot system 10 having the AGV 20 (traveling device) and the robot 40 provided on the AGV 20. The safety device 50 includes laser sensors 52a, 52b (first sensors) and a motion suppression unit 106. The laser sensors 52a, 52b are attached to at least one of the AGV 20 and the robot 40, and set predetermined detection areas A1 to A7 to detect objects present within the predetermined detection areas A1 to A7. The motion suppression unit 106 suppresses the motion of at least one of the AGV 20 and the robot 40 when the laser sensors 52a, 52b detect the presence of an object within the predetermined detection areas A1 to A7. The laser sensors 52a, 52b change the predetermined detection areas A1 to A7 based on external ambient signals related to the surroundings of the AGV 20 and the robot 40.

[0079] The robot system 10 of the embodiment includes an AGV 20 (traveling device), a robot 40 provided on the AGV 20, and a safety device 50.

[0080] The control method of the above embodiment is a method for controlling the operation of the AGV 20 and the robot 40 in a robot system 10 including an AGV 20 (traveling device), a robot 40 provided on the AGV 20, and laser sensors 52a, 52b (first sensors) attached to at least one of the AGV 20 and the robot 40, each having a predetermined detection area A1-A7, and detecting an object present within the predetermined detection area A1-A7. This control method includes setting the predetermined detection area A1-A7 of the laser sensors 52a, 52b, changing the predetermined detection area A1-A7 of the laser sensors 52a, 52b based on ambient signals related to the surroundings of the AGV 20 and the robot 40, and suppressing the operation of at least one of the AGV 20 and the robot 40 when the laser sensors 52a, 52b detect the presence of an object within the predetermined detection area A1-A7.

[0081] According to this configuration, when the laser sensors 52a, 52b detect the presence of an object within the predetermined detection areas A1 to A7, the operation of at least one of the AGV 20 and the robot 40 is suppressed (e.g., slowed down or stopped), thereby preventing, for example, the AGV 20 from colliding with an object. Meanwhile, the predetermined detection areas A1 to A7 are changed based on external ambient signals relating to the surroundings of the AGV 20 and the robot 40. Therefore, the predetermined detection areas A1 to A7 can be changed so that, for example, objects necessary for the work performed by the robot 40 among objects and people surrounding the AGV 20 are not detected. As a result, the AGV 20 and the robot 40 do not needlessly slow down or stop, and can properly perform the predetermined work.

[0082] In addition, in the safety device 50 of the above embodiment, the laser sensors 52a, 52b (first sensors) set a predetermined detection area A1 to A7 by masking a portion of the predetermined detectable area D, while changing the predetermined detection area A1 to A7 by changing the portion of the predetermined detectable area D that is masked.

[0083] According to the above configuration, the predetermined detection areas A1 to A7 are changed by changing the masked portion of the detectable area D, so that the detection areas A1 to A7 can be easily changed.

[0084] In addition, in the safety device 50 of the above embodiment, the surrounding signals are duplicated.

[0085] According to the above configuration, even if some of the surrounding signals become defective, normal surrounding signals are reliably transmitted and received, so that the predetermined detection areas A1 to A7 can be changed more reliably based on the surrounding signals.

[0086] The safety device 50 of the embodiment further includes safety proximity sensors 58a, 58b (second sensors) that detect a predetermined working area of ​​the robot 40 and output a surrounding signal when the predetermined working area is detected.

[0087] According to the above configuration, the surrounding signals are signals related to the predetermined work area (shelf S in this example) of the AGV 20 and the robot 40. Therefore, the predetermined detection areas A1 to A7 can be changed so that the predetermined work area is not detected by the laser sensors 52a and 52b. This allows the robot 40 and the like to work appropriately in the predetermined work area.

[0088] In addition, in the safety device 50 of the above embodiment, when an ambient signal is output from the safety proximity sensors 58a, 58b (second sensors), the laser sensors 52a, 52b (first sensors) change the predetermined detection areas A1 to A7 so that the predetermined detection areas A1 to A7 do not overlap with the predetermined working area.

[0089] According to the above configuration, the predetermined detection areas A1 to A7 are changed so as not to overlap with the predetermined work area detected by the safety proximity sensors 58a, 58b, thereby reliably preventing the predetermined work area from being detected by the laser sensors 52a, 52b.

[0090] In the safety device 50 of the above embodiment, the second sensors are the safety proximity sensors 58a and 58b.

[0091] According to the above configuration, the surrounding signal can be output as a safety signal.

[0092] The safety device 50 of the embodiment is attached to the AGV 20 (traveling device) and the robot 40 provided on at least one of the AGV 20, and has predetermined detection areas A1 to A7 set based on its own position. The safety device 50 is equipped with laser sensors 52a, 52b for detecting objects present in the predetermined detection areas A1 to A7, and an operation suppression unit 106 for suppressing operation of at least one of the AGV 20 and the robot 40 when the laser sensors 52a, 52b detect the presence of an object in the predetermined detection areas A1 to A7. The laser sensors 52a, 52b are equipped with an area setting unit 56 for changing the predetermined detection areas A1 to A7 depending on the operating states of the AGV 20 and the robot 40.

[0093] According to the above configuration, the safety device 50 can suppress the operation of at least one of the AGV 20 and the robot 40 depending on the operating state of the AGV 20 and the robot 40 .

[0094] In addition, the area setting unit 56 can switch between a first detection area as a predetermined detection area A1 extending from the AGV 20 at least in the direction of travel of the AGV 20 when the robot 40 is not operating and the AGV 20 is running, and a second detection area as a predetermined detection area A2 extending from the robot 40 at least toward the movable area in which the robot 40 can operate when the AGV 20 is not operating and the robot 40 is operating.

[0095] According to the above configuration, the safety device 50 can efficiently restrain the operations of the AGV 20 and the robot 40.

[0096] Furthermore, the area setting unit 56 can change the predetermined detection area A3 to a third detection area while the AGV 20 is traveling and the robot 40 is operating.

[0097] In addition, the area setting unit 56 can set at least one of a deceleration area and a stop area within the specified detection areas A1 to A7, and the operation suppression unit 106 slows down the operation of the AGV 20 and the robot 40 when the laser sensors 52a, 52b detect the presence of an object in the deceleration area, and stops the operation of the AGV 20 and the robot 40 when the laser sensors 52a, 52b detect the presence of an object in the stop area.

[0098] According to the above configuration, the safety device 50 can appropriately restrain the operations of the AGV 20 and the robot 40.

[0099] The first sensor is laser sensor 52a, 52b having a projector 53 that projects laser light radially from the projector itself into a predetermined detectable area D including the predetermined detection area, a photoreceiver 54 that is arranged adjacent to the projector 53 and receives the laser light that hits an object present in the predetermined detectable area D and bounces back, and a detector 55 that detects an object present in the predetermined detectable area D based on the light receiving state of the photoreceiver 54, and an area setting unit 56 changes the predetermined detection areas A1 to A7 by changing the portion of the predetermined detectable area D to be masked.

[0100] In addition, the AGV 20 has a rectangular parallelepiped housing 22, a drive unit 24 provided in the housing 22, and drive wheels 26a, 26b driven by the drive unit 24, and the laser sensors 52a, 52b are provided at least at each of two non-adjacent corners of the housing 22 when viewed in a plane.

[0101] According to the above-described configuration, the safety device 50 can obtain a sufficiently large detectable area D without providing more laser sensors 52a and 52b than necessary.

[0102] Furthermore, the control method of the above embodiment is a control method for controlling the operation of the AGV 20 and the robot 40 using the safety device 50, and includes the steps of setting predetermined detection areas A1 to A7, changing the predetermined detection areas A1 to A7 by an area setting unit 56 depending on the operating state of the AGV 20 and the robot 40, and suppressing the operation of the AGV 20 and the robot 40 by an operation suppression unit 106 when the presence of an object is detected within the predetermined detection areas A1 to A7 by laser sensors 52a, 52b (first sensors).

[0103] According to the above configuration, the safety device 50 can be used to suppress the operation of the AGV 20 and the robot 40 depending on the operating state of the AGV 20 and the robot 40 . Other Embodiments As described above, the above embodiment has been described as an example of the technology disclosed in this application. However, the technology of the present disclosure is not limited to this and can be applied to embodiments in which modifications, substitutions, additions, omissions, etc. are made as appropriate. Furthermore, the components described in the above embodiment can be combined to create new embodiments. Furthermore, the components described in the accompanying drawings and detailed description may include not only components essential for solving the problem, but also components that are not essential for solving the problem in order to exemplify the technology. Therefore, the fact that these non-essential components are described in the accompanying drawings or detailed description should not be interpreted as immediately determining that these non-essential components are essential.

[0104] For example, in step S4 described above, it is possible to change to a detection area A8 as an eighth detection area shown in Fig. 14. Fig. 14 is a schematic diagram showing an eighth detection area set by a safety device 50 according to another embodiment. Note that the detectable area D is also omitted from Fig. 14.

[0105] The area setting unit 56 changes the detection area A1 to the detection area A8 based on the ambient signals from the two safety proximity sensors 58a and 58b. More specifically, the area setting unit 56 sets the detection area A8 based on the ambient signals from the two safety proximity sensors 58a and 58b as well as the operating status of the AGV 20 from the status monitoring device 105. Unlike the above embodiment, the ambient signals from the two safety proximity sensors 58a and 58b indicate the detection of the presence of a predetermined wall WA. That is, the detection area A8 is set when the AGV 20 approaches the predetermined wall WA while the AGV 20 is traveling forward normally in the detection area A1. Two parallel AL tapes 59a and 59b are attached to the floor near the predetermined wall WA. When the AGV 20 and the robot 40 approach the predetermined wall WA, the safety proximity sensors 58a and 58b detect the two AL tapes 59a and 59b, thereby detecting the presence of the predetermined wall WA. The safety proximity sensors 58a, 58b then output a surrounding signal indicating that they have detected the presence of a predetermined wall WA. In this way, the detection area A8 is set when the AGV 20 travels as close as possible to a predetermined object (in this example, the wall WA). Note that, like the detection area A1, a deceleration area AD8 and a stop area AS8 are set within the detection area A8.

[0106] Specifically, the area setting unit 56 sets the detection area A8 by masking a portion of the detectable area that is different from the detection area A1. More specifically, the area setting unit 56 sets the detection area A8 so that a stop area AS8 set on the front side of the detection area A8 does not overlap with the predetermined wall WA detected by the two safety proximity sensors 58a, 58b. More specifically, the detection area A8 is set by shifting the front outer edge of the front stop area AS8 further rearward than the detection area A1 (see the hollow arrow in FIG. 14). That is, like the detection area A1, the detection area A8 extends in a rectangular shape from the AGV 20 forward and backward, but the front stop area AS8 is set smaller than the detection area A1.

[0107] In this way, by setting the detection area A8, which is the front stop area AS8, further rearward than the detection area A1 during normal driving, it is possible to prevent the stop area AS8 from overlapping with the predetermined wall WA when the AGV 20 approaches the predetermined wall WA. Therefore, the AGV 20 decelerates but does not stop, so it can get as close to the predetermined wall WA as possible. This allows the AGV 20 and the robot 40 to perform their work appropriately.

[0108] Furthermore, as shown in FIG. 14, the safety device 50 may use a non-contact safety switch 65 to detect the predetermined wall WA instead of the safety proximity sensors 58a and 58b. In this case, the AL tapes 59a and 59b are omitted. The non-contact safety switch 65 includes a master unit 65a and a slave unit 65b. The master unit 65a is attached to, for example, the housing 22 of the AGV 20, and the slave unit 65b is attached to the predetermined wall WA. In this case, when the AGV 20 approaches the predetermined wall WA, the master unit 65a receives a predetermined signal from the slave unit 65b, thereby detecting the presence of the predetermined wall WA. The master unit 65a then outputs an ambient signal indicating that the presence of the predetermined wall WA has been detected. In this configuration, the master unit 65a and the slave unit 65b can be attached relatively easily compared to the AL tapes 59a and 59b, and the degree of freedom in the installation position is relatively high.

[0109] In the above embodiment, the predetermined work area may be detected using the non-contact safety switch described above instead of the safety proximity sensors 58a and 58b. In this case, for example, the parent machine is attached to the housing 22 of the AGV 20, and the child machine is attached to the shelf S.

[0110] In the above embodiment, the AL tapes 59a and 59b are merely an example, and for example, tapes made of metal other than aluminum may be used.

[0111] In the above embodiment, the ambient signal does not have to be a duplicated signal.

[0112] In the above embodiment, the safety signal transmitted and received by the safety device 50 may be wireless.

[0113] In the above embodiment, the shape of each of the detection areas A1 to A7 may be other than rectangular, and may be formed into an elliptical shape, for example.

[0114] In the above embodiment, the predetermined work area detected by the safety proximity sensors 58a and 58b may be the conveyor C in addition to the shelf S, or may be something else.

[0115] In the above embodiment, the laser sensors 52a and 52b may be attached to the robot 40 instead of the AGV 20. In that case, the laser sensors 52a and 52b are attached to, for example, the base 41. The laser sensors 52a and 52b may be attached to both the AGV 20 and the robot 40.

[0116] In the above embodiment, the case has been described in which the housing 22 is rectangular parallelepiped-shaped and the laser sensors 52a, 52b are provided at two non-adjacent corners of the housing 22, respectively, in a plan view. However, this is not limited to this case, and the housing 22 may be a polygonal prism shape other than a rectangular parallelepiped, or may have other shapes. Also, for example, only one laser sensor may be disposed in the center of the top surface of the housing 22. Furthermore, one or three or more laser sensors may be attached to the housing 22. Also, the laser sensor may be attached to the robot 40.

[0117] In the above embodiment, the area setting unit 56 sets the deceleration areas AD1 to AD7 and the stop areas AS1 to AS7 within the detection areas A1 to A7. However, the present invention is not limited to this case, and the area setting unit 56 may set at least one of a deceleration area and a stop area within a predetermined detection area.

[0118] In the above embodiment, the first sensor is configured as a so-called reflective laser sensor 52a, 52b. However, the present invention is not limited to this, and the first sensor may be configured as a so-called transmissive laser sensor that cooperates with a sensor attached to an exterior wall or the like, or may be configured as another sensor.

[0119] In the above embodiment, the robot 40 has six joint axes JT1 to JT6. However, the present invention is not limited to this, and the robot 40 may be configured as a vertical articulated robot having at least one joint axis other than six. Alternatively, the robot 40 may be configured as a dual-arm robot, a horizontal articulated robot, or any other robot. [Explanation of symbols]

[0120] 10 Robot Systems 20 AGV (traveling device) 40 Robot 50 Safety equipment 52a, 52b laser sensor (first sensor) 56 Area setting section 58a, 58b Safety proximity sensors 65 Non-contact safety switch 106 Operation suppressor A1~A7 detection area D Detectable area S Shelf (work area)

Claims

1. A safety device provided in a robot system having a traveling device and a robot provided on the traveling device, a first sensor attached to at least one of the traveling device and the robot, the first sensor having a predetermined detection area and configured to detect an object present within the predetermined detection area; an operation suppression unit that suppresses an operation of at least one of the traveling device and the robot when the first sensor detects the presence of an object in the predetermined detection area; a second sensor provided on each of the left and right sides of the bottom surface of the traveling device, the second sensor detecting the predetermined work area of ​​the robot by detecting metal tape attached to the floor surface in the vicinity of the predetermined work area, and outputting a surrounding signal relating to the surroundings of the traveling device and the robot when the predetermined work area is detected; when one of the left and right second sensors detects the metal tape, the one of the left and right second sensors detects that the predetermined work area is present on one of the left and right sides of the traveling device, When the surrounding signal is output from the second sensor, the first sensor changes the predetermined detection area based on the surrounding signal so that the predetermined detection area does not overlap with the predetermined work area, and when the surrounding signal is not output from the second sensor, the first sensor changes the predetermined detection area based on signals related to the operating status of the traveling device and the robot.

2. 2. The safety device according to claim 1, The first sensor sets a predetermined detection area by masking a portion of the predetermined detectable area, while the safety device changes the predetermined detection area by changing the portion of the predetermined detectable area that is masked.

3. 3. The safety device according to claim 1 or 2, A safety device in which the ambient signal is duplicated.

4. 4. The safety device according to claim 1, The safety device wherein the second sensor is a safety proximity sensor.

5. A robot system comprising: a traveling device; a robot mounted on the traveling device; and the safety device according to any one of claims 1 to 4.

6. A control method for controlling operations of the traveling device and the robot in a robot system including a traveling device, a robot mounted on the traveling device, a first sensor attached to at least one of the traveling device and the robot, the first sensor having a predetermined detection area and configured to detect an object present within the predetermined detection area, and second sensors provided on the left and right sides of the bottom surface of the traveling device, the second sensors detecting the predetermined work area of ​​the robot by detecting metal tape attached to a floor surface near the predetermined work area, and outputting a surrounding signal relating to the surroundings of the traveling device and the robot upon detecting the predetermined work area, comprising: setting the predetermined detection area of ​​the first sensor; When the surrounding signal is output from the second sensor, the predetermined detection area of ​​the first sensor is changed based on the surrounding signal so that the predetermined detection area does not overlap with the predetermined working area, and when the surrounding signal is not output from the second sensor, the predetermined detection area is changed based on signals related to the operating states of the traveling device and the robot; suppressing an operation of at least one of the traveling device and the robot when the first sensor detects the presence of an object in the predetermined detection area; The control method includes the step of the second sensor detecting the predetermined work area including, when one of the left and right second sensors detects the metal tape, the one of the left and right second sensors detecting that the predetermined work area is present on one of the left and right sides of the traveling device.

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