Robot control device and robot control system

Abstract

To provide a robot control device that can determine whether an operation state of a cooperative robot is in a cooperation state or in a non-cooperation state, with high accuracy.SOLUTION: A robot control device is provided with: an obtaining part that obtains a detection range from a detecting device that detects a person in a predetermined detection range; a range determining part that determines whether or not the detection range obtained by the obtaining part includes a setting range set on a cooperative robot so that the range includes a predetermined range concerning the cooperative robot that cooperates with a person; a speed determining part that determines a magnitude relation between a motion speed of the cooperative robot and a first speed; and a cooperative state determining part that determines whether the motion state of the cooperative robot is a cooperative state where the robot can operate with a person when the person can enter the predetermined range or a non-cooperative state where the robot cannot operate with the person when the person can enter the predetermined range, in accordance with determined results by the range determining part and the speed determining part.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to a robot control device and a robot control system for controlling the operation of a collaborative robot.

Background Art

[0002] Conventionally, a robot control system including a detection device and a robot control device has been known. The detection device detects a person present within a predetermined detection range from a collaborative robot operating in a collaborative range that is within a predetermined distance from the robot and within a range where a person can exist inside. Further, the robot control device controls the operation of the collaborative robot according to the detection result of the detection device. When a person is present within the collaborative range, the collaborative robot operates at a reduced speed. The detection range is usually set for the detection device so as to include the entire collaborative range within the range.

[0003] Regarding this, Patent Document 1 discloses a configuration in which a control device sequentially predicts the operation area of a robot until a predetermined time, effectively sets the detection result of a sensor in an area including the predicted operation area, and restricts the operation of the robot when an intrusion of a person is detected within the area where the detection result of the sensor is effectively set.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] In the technology described in Patent Document 1, the control device, upon detecting a person entering the detection range, either reduces the operating speed of the collaborative robot to a predetermined speed or temporarily stops the operation of the collaborative robot itself before the person enters the collaborative range. Here, the detection range is usually set in the detection device to be wider than the distance a person can travel within the time required to reduce the operating speed of the collaborative robot to a predetermined speed relative to the collaborative range.

[0006] However, in the technology described in Patent Document 1, the control device cannot grasp the detection range set in the detection device. Therefore, there was a problem in that it was not possible to accurately determine whether the operating state of the collaborative robot was a collaborative state (hereinafter simply referred to as the collaborative state), in which the robot can operate together with a person when a person can enter a predetermined range (e.g., the collaborative range) related to the collaborative robot, or a non-collaborative state (hereinafter simply referred to as the non-collaborative state), in which the robot cannot operate together with a person when a person can enter a predetermined range (e.g., the collaborative range).

[0007] This invention has been made in view of these problems, and its objective is to provide a robot control device and a robot control system that can accurately determine whether the operating state of a collaborative robot is a collaborative state or a non-collaborative state. [Means for solving the problem]

[0008] To solve the above problems, the robot control device of the present invention includes: an acquisition unit that acquires a detection range from a detection device that detects a person within a predetermined detection range; a range determination unit that determines whether the detection range acquired by the acquisition unit includes a set range that is set for the collaborative robot so as to include a predetermined range relating to a collaborative robot that works in cooperation with a person; a speed determination unit that determines the relationship between the operating speed of the collaborative robot and a first speed; and a collaborative state determination unit that determines, according to the determination results of the range determination unit and the speed determination unit, whether the operating state of the collaborative robot is a collaborative state in which the collaborative robot can operate together with a person when a person can enter the predetermined range, or a non-collaborative state in which the collaborative robot cannot operate together with a person when a person can enter the predetermined range.

[0009] Furthermore, the cooperative state determination unit determines that the operating state is the cooperative state when the determination result of the range determination unit is an affirmative determination that the detection range includes the set range, and the speed determination unit determines that the operating speed is less than or equal to the first speed.

[0010] Furthermore, the speed determination unit further determines the relationship between the operating speed and the second speed which is slower than the first speed, and the cooperative state determination unit determines that the operating state is the cooperative state when the speed determination unit indicates that the operating speed is less than or equal to the second speed.

[0011] Furthermore, the predetermined range is a predetermined collaboration range from the collaborative robot, and the range determination unit sets the set range according to the time it takes for the operating speed to decelerate from the first speed to the second speed, the third speed related to the human movement speed, and the collaboration range.

[0012] Furthermore, the predetermined range is the operating range in which the collaborative robot operates, and the range determination unit sets the set range according to the time it takes for the operating speed to decelerate from the first speed to the second speed, the third speed related to the speed of human movement, and the operating range.

[0013] Furthermore, the robot control system of the present invention comprises: a collaborative robot that works in cooperation with a person; an acquisition unit that acquires a detection range from a detection device that detects a person within a predetermined detection range; a range determination unit that determines whether the detection range acquired by the acquisition unit includes a set range that is set for the collaborative robot so as to include a predetermined range relating to the collaborative robot; a speed determination unit that determines the relationship between the operating speed of the collaborative robot and a first speed; and a collaborative state determination unit that determines, according to the determination results of the range determination unit and the speed determination unit, whether the operating state of the collaborative robot is a collaborative state in which the collaborative robot can operate together with a person when a person can enter the predetermined range, or a non-collaborative state in which the collaborative robot cannot operate together with a person when a person can enter the predetermined range. [Effects of the Invention]

[0014] According to the present invention, the robot control device and robot control system can accurately determine whether the operating state of a collaborative robot is a collaborative state or a non-collaborative state. [Brief explanation of the drawing]

[0015] [Figure 1] This diagram schematically shows the configuration of the robot control system according to the first embodiment. [Figure 2] This figure shows the circuit configuration of the robot control system shown in Figure 1. [Figure 3] This figure schematically shows the relationship between the detection range and the deceleration range when the detection range is set inappropriately in the robot control system shown in Figure 1. [Figure 4] Figure 1 is a flowchart showing the sequence of processes of the robot control device. [Figure 5] This diagram schematically shows the configuration of the robot control system according to the second embodiment. [Modes for carrying out the invention]

[0016] Hereinafter, embodiments of the present invention (hereinafter referred to as "the present embodiment") will be described with reference to the accompanying drawings. For ease of understanding the description, the same reference numerals are attached to the same components and steps in each drawing as much as possible, and duplicate descriptions are omitted.

[0017] ———First Embodiment——— First, the first embodiment will be described.

[0018] <Configuration> FIG. 1 is a diagram schematically showing the configuration of a robot control system 1 according to the first embodiment. As shown in FIG. 1, the robot control system 1 mainly includes, for example, a robot control device 10, a collaborative robot 20, and a detection device 30.

[0019] The robot control device 10 is a device that acquires information transmitted from the detection device 30 and controls the operation of the collaborative robot 20 according to the acquired information. Further, the robot control device 10 sets a collaborative range A1, which is a range centered on the collaborative robot 20, and a deceleration range A2, which is a range wider than the collaborative range A1 by a predetermined distance, for the collaborative robot 20. Also, the robot control device 10 acquires a detection range A3 set in the detection device 30 to detect whether or not a person 40 is inside among the information transmitted from the detection device 30. Further, the robot control device 10 calculates the operating speed of the collaborative robot 20 according to the information transmitted from the collaborative robot 20. Furthermore, the robot control device 10 determines whether the state of the collaborative robot 20 is in a collaborative state or a non-collaborative state according to the detection range A3, the deceleration range A2, and the operating speed of the collaborative robot 20, and outputs the determined result to the outside so that the person 40 can confirm it. Note that the robot control device 10 sets the collaborative range A1 so as to entirely include the range that the articulated arm 22 of the collaborative robot 20 reaches when the collaborative robot 20 operates.

[0020] In the first embodiment, the collaborative state is a state in which the human 40 can enter a predetermined range (the collaborative range A1 in the first embodiment) related to the collaborative robot 20 and can operate together with the human 40. Further, the non-collaborative state is a state in which the human 40 cannot operate together with the human 40 when the human 40 can enter a predetermined range (the collaborative range A1 in the first embodiment).

[0021] The collaborative robot 20 is a robot that performs a predetermined processing operation on a workpiece (not shown) or the like according to the operation control of the robot control device 10, and is arranged together with the detection device 30 in a space where the human 40 can be present for working. Further, as is well known, the collaborative robot 20 operates (collaborates) together with the human 40 without being surrounded by a fence or the like in the human 40 in the same space. The collaborative robot 20 mainly includes, for example, a base 21 and an articulated arm 22.

[0022] The detection device 30 is, for example, an area sensor, sets a detection range A3, and detects whether or not the human 40 is inside the set detection range A3. The detection device 30 is arranged together with the collaborative robot 20 in a space where the human 40 can be present for working. Further, the detection device 30 transmits information (such as position and size) and detection results regarding the detection range A3 to the robot control device 10.

[0023] FIG. 2 is a diagram showing the circuit configuration of the robot control system 1 shown in FIG. 1. As shown in FIG. 2, the robot control device 10 mainly includes, for example, an acquisition unit 11, a range determination unit 12, a speed determination unit 13, a collaborative state determination unit 14, an output unit 15, an input unit 16, a control unit 17, and a storage unit 100.

[0024] The storage unit 100 stores information necessary for determining whether or not the detection range A3 is correctly set in the detection device 30. Specifically, the storage unit 100 stores, for example, speed information 110, collaborative range information 111, and time information 112.

[0025] The speed information 110 is information relating to the operating speed of the collaborative robot 20. The speed information 110 includes, for example, a second speed v2 which is the operating speed at which the collaborative robot 20 can operate even when a person 40 is within the collaborative range A1, a first speed v1 which is faster than the second speed v2 and is the operating speed at which the collaborative robot 20 can decelerate to the second speed v2 by the time the person 40 reaches the collaborative range A1 from the outer edge of the deceleration range A2, and a third speed v3 which relates to the movement speed of the person 40. Here, the third speed v3 is a speed that is faster by a predetermined margin than the maximum movement speed vm that the person 40 can achieve when moving on their own without using a means of transportation such as a car.

[0026] The collaborative range information 111 is information about the range that includes the collaborative robot 20. For example, the collaborative range information 111 includes information about the collaborative range A1 (such as its position and size) and information about the deceleration range A2 (such as its position and size).

[0027] Time information 112 is information about the time it takes for the collaborative robot 20 to decelerate. Time information 112 includes, for example, the deceleration time ts when the collaborative robot 20 decelerates its operating speed from a first speed v1 to a second speed v2.

[0028] The acquisition unit 11 acquires information about the detection range A3 (such as location and size) from the detection device 30, which detects people 40 within the detection range A3. The acquisition unit 11 transmits the acquired information about the detection range A3 to the range determination unit 12. The acquisition unit 11 also acquires the detection result from the detection device 30, which determines whether or not people 40 are within the detection range A3. The acquisition unit 11 transmits the acquired detection result to the control unit 17.

[0029] The range determination unit 12 determines whether the detection range A3 acquired by the acquisition unit 11 includes a set range that is set for the collaborative robot 20 so as to include a predetermined range relating to the collaborative robot 20. In the first embodiment, the predetermined range is the collaborative range A1. Also in the first embodiment, the set range is the deceleration range A2. Specifically, in the first embodiment, the set range is the deceleration range A2. The range determination unit 12 determines whether the detection range A3 transmitted from the acquisition unit 11 includes the entire range of the deceleration range A2 (set range) included in the collaborative range information 111 stored in the storage unit 100. The range determination unit 12 outputs the result of this determination to the collaborative state determination unit 14.

[0030] Furthermore, the range determination unit 12 sets the deceleration range A2 (set range) according to the deceleration time ts, the third velocity v3, and the cooperative range A1 (predetermined range). Specifically, the range determination unit 12 reads the deceleration time ts and the third velocity v3 from the storage unit 100 and multiplies the deceleration time ts by the third velocity v3. The range determination unit 12 sets the deceleration range A2 (set range) such that the outer edge of the cooperative range A1 (predetermined range) is at least as far as the result of the multiplication, and stores the set deceleration range A2 (set range) in the storage unit 100.

[0031] The speed determination unit 13 determines the relationship between the operating speed of the collaborative robot 20 and the first speed v1. Specifically, the speed determination unit 13 calculates the operating speed of the collaborative robot 20 according to the position information transmitted from the position detection unit 25 of the collaborative robot 20. Next, the speed determination unit 13 reads the first speed v1 from the storage unit 100 and determines the relationship between the first speed v1 and the calculated operating speed of the collaborative robot 20. The speed determination unit 13 also reads the second speed v2 from the storage unit 100 and determines the relationship between the second speed v2 and the calculated operating speed of the collaborative robot 20. The speed determination unit 13 outputs the results of each determination to the collaborative state determination unit 14.

[0032] The cooperative state determination unit 14 determines whether the operating state of the cooperative robot 20 is a cooperative state or a non-cooperative state, according to the determination results of the range determination unit 12 and the speed determination unit 13. Specifically, the cooperative state determination unit 14 determines that the operating state of the cooperative robot 20 is a cooperative state when the determination result of the range determination unit 12 is a positive determination that the detection range A3 includes the above-mentioned set range, and the speed determination unit 13 determines that the operating speed of the cooperative robot 20 is less than or equal to the first speed v1. In addition, the cooperative state determination unit 14 also determines that the operating state of the cooperative robot 20 is a cooperative state when the speed determination unit 13 indicates that the operating speed of the cooperative robot 20 is less than or equal to the second speed v2.

[0033] The relationship between the deceleration range A2 and the detection range A3 when the collaborative robot 20 is in a collaborative state will be explained with reference to Figure 1. In Figure 1, the detection device 30 is set so that the detection range A3 includes the entire range of the deceleration range A2. In Figure 1, assuming that the operating speed of the collaborative robot 20 is less than or equal to the first speed v1, the collaborative state determination unit 14 determines that the operating state of the collaborative robot 20 is a collaborative state because the detection range A3 includes the set range (deceleration range A2).

[0034] Returning to Figure 2, the cooperative state determination unit 14 determines that the operating state of the cooperative robot 20 is non-cooperative if the determination result of the range determination unit 12 is a negative determination, such as the detection range A3 not including the set range described above. The cooperative state determination unit 14 also determines that the operating state of the cooperative robot 20 is non-cooperative if the determination result of the range determination unit 12 is a positive determination as described above, and the speed determination unit 13 determines that the operating speed of the cooperative robot 20 is faster than the first speed v1. The cooperative state determination unit 14 outputs the determination result to the control unit 17 and the output unit 15.

[0035] An example of the relationship between the deceleration range A2 and the detection range A3 when the collaborative robot 20 is in a non-collaborative state will be explained with reference to Figure 3. Figure 3 is a schematic diagram showing the relationship between the detection range A3 and the deceleration range A2 when the detection range A3 is set inappropriately in the robot control system 1 shown in Figure 1. In Figure 3, the detection device 30 is set so that the detection range A3 does not include a part of the deceleration range A2. In Figure 3, the collaborative state determination unit 14 determines that the operating state of the collaborative robot 20 is a non-collaborative state because the detection range A3 does not include a part of the deceleration range A2 (set range).

[0036] Returning to Figure 2, the output unit 15 outputs the determination result of the collaborative state determination unit 14. The output unit 15 is, for example, a display, lamp, or speaker, and by displaying the determination result of the collaborative state determination unit 14 or emitting a sound, it indicates to the person 40 whether the collaborative robot 20 is in a collaborative state or a non-collaborative state. Note that the output unit 15 may simply be an output terminal. In this case, the output unit 15 outputs the determination result of the collaborative state determination unit 14 to an external device different from the robot control device 10 (such as a control system, display, lamp, or speaker of a facility such as a factory where the collaborative robot 20 is located; not shown).

[0037] The input unit 16 receives commands input by the human operator 40 and outputs the received commands to the control unit 17. The input unit 16 can be, for example, an input device called a teaching pendant, a keyboard, a switch, or a mouse. The input unit 16 may also be a simple input terminal. In this case, the input unit 16 receives commands input from an external input device (such as a teaching pendant, keyboard, switch, or mouse; not shown) different from the robot control device 10 and outputs the received commands to the control unit 17.

[0038] The control unit 17 controls the operation of the collaborative robot 20 according to either the detection results transmitted from the detection device 30 or the commands output from the input unit 16. Specifically, when the control unit 17 receives a command from the input unit 16 to start or stop the operation of the collaborative robot 20, it starts or stops the operation of the collaborative robot 20 according to the command. Also, when the control unit 17 receives a command from the input unit 16 to change the operating speed of the collaborative robot 20, it changes the operating speed of the collaborative robot 20 according to the command. Furthermore, when the control unit 17 receives a command from the input unit 16 to provide information regarding the collaborative robot 20 and the robot control device 10 (such as the operating speed and operating time of the collaborative robot 20, speed information 110, collaboration range information 111, and time information 112), it outputs the information regarding the collaborative robot 20 and the robot control device 10 to the output unit 15 according to the command.

[0039] The operation of the control unit 17 when the collaborative state determination unit 14 determines that the operating state of the collaborative robot 20 is a collaborative state will be described. If the detection result transmitted from the detection device 30 indicates that a person 40 is within the detection range A3, the control unit 17 controls the operation of the collaborative robot 20 so as to reduce the operating speed of the collaborative robot 20 to a second speed v2.

[0040] The operation of the control unit 17 when the cooperation state determination unit 14 determines that the operating state of the cooperative robot 20 is a non-cooperative state will be described. The control unit 17 controls the operation of the cooperative robot 20 so as to stop its operation when the detection result transmitted from the detection device 30 indicates that a person 40 is within the detection range A3.

[0041] The collaborative robot 20 includes, for example, a position detection unit 25. The movement of the articulated arm 22 of the collaborative robot 20 is controlled according to the motion control of the control unit 17 of the robot control device 10.

[0042] The position detection unit 25 is a sensor provided on at least one of the articulated arms 22 of the collaborative robot 20. The position detection unit 25 detects its position within the space in which the collaborative robot 20 is located and transmits the detected position information to the speed determination unit 13 of the robot control device 10.

[0043] The detection device 30, for example, comprises a storage unit 31, a detection unit 32, a control unit 33, and an input / output unit 34 as its main components.

[0044] The memory unit 31 stores information regarding the detection range A3 for detecting whether or not a person 40 is inside. Specifically, the memory unit 31 stores, for example, detection range information 310.

[0045] The detection range information 310 is information about the detection range A3. For example, the detection range information 310 includes information about the detection range A3 (such as its location and size).

[0046] The detection unit 32 detects whether or not a person 40 is present within the detection range A3 stored in the storage unit 31. The detection unit 32 transmits the detection result to the acquisition unit 11 of the robot control device 10 via the control unit 33.

[0047] The control unit 33 controls the operation of the detection device 30 according to the commands output from the input / output unit 34. Specifically, when the control unit 33 receives a command from the input / output unit 34 to start or stop the detection operation by the detection device 30, it starts or stops the detection operation by the detection device 30 according to the command. When the detection device 30 is performing a detection operation, the control unit 33 receives a detection result from the detection unit 32 indicating whether or not a person 40 is present within the detection range A3, and transmits the received detection result to the acquisition unit 11 of the robot control device 10.

[0048] Furthermore, when the control unit 33 receives a command from the input / output unit 34 to set or change the position and width of the detection range A3, it sets or changes the position and width of the detection range A3 according to the command and stores the set or changed content in the storage unit 31. Also, when the control unit 33 receives a command from the input / output unit 34 to provide information related to the detection device 30 (such as detection range information 310 or detection results), it outputs information related to the detection device 30 to the input / output unit 34 according to the command.

[0049] The input / output unit 34 is an interface for receiving operations from person 40 and for showing information to person 40 through screen displays, sounds, etc. The input / output unit 34 is configured to include, for example, a keyboard, switches, a mouse, etc. as an input interface. The input / output unit 34 is also configured to include, for example, a display, lamps, speakers, etc. as an output interface. The input / output unit 34 receives commands input by person 40 and outputs the received commands to the control unit 33. The input / output unit 34 also shows person 40 information related to the detection device 30 (such as detection range information 310 and detection results) output from the control unit 33 by outputting this information as a screen display or sound.

[0050] The input / output unit 34 may simply be an input / output terminal. In this case, the input / output unit 34 receives commands from an external device different from the detection device 30 (such as a keyboard, switch, mouse, or computer system; not shown) and outputs the received commands to the control unit 33. The input / output unit 34 also outputs information related to the detection device 30 (such as detection range information 310 and detection results) to an external device different from the detection device 30 (such as a display, lamp, speaker, or computer system; not shown).

[0051] The circuit configuration of the robot control device 10 has been described above. Next, the sequence of processing steps of the robot control device 10 will be explained in detail. Figure 4 is a flowchart showing the sequence of processing steps of the robot control device 10 as shown in Figure 1.

[0052] (Step SP10) The robot control device 10 uses a speed determination unit 13 to determine the relationship between the operating speed of the collaborative robot 20 and the first speed v1 and the second speed v2. On the other hand, if the speed determination unit 13 determines that the operating speed of the collaborative robot 20 is less than or equal to the first speed v1 and faster than the second speed v2, the process proceeds to step SP12. On the other hand, if the speed determination unit 13 determines that the operating speed of the collaborative robot 20 is less than or equal to the second speed v2, or faster than the first speed v1, the process proceeds to step SP20.

[0053] (Step SP12) The robot control device 10 sets the deceleration range A2 (set range) using the range determination unit 12. Specifically, the robot control device 10 reads the deceleration time ts and the third velocity v3 from the storage unit 100 using the range determination unit 12, and multiplies the deceleration time ts by the third velocity v3. Furthermore, the robot control device 10 sets the deceleration range A2 (set range) using the range determination unit 12 such that the outer perimeter of the cooperative range A1 (predetermined range) is at least as far as the result of the multiplication, and stores the set deceleration range A2 (set range) in the storage unit 100. Then, the process moves on to the process of step SP14.

[0054] (Step SP14) The robot control device 10 uses a range determination unit 12 to determine whether the detection range A3 includes the deceleration range A2 (set range). If the range determination unit 12 determines that the detection range A3 includes the deceleration range A2 (set range), the process proceeds to step SP16. If the range determination unit 12 determines that the detection range A3 does not include the deceleration range A2 (set range), the process proceeds to step SP18.

[0055] (Step SP16) The robot control device 10 determines, using the cooperation state determination unit 14, that the operating speed of the cooperative robot 20 is in a cooperative state. Then, the process proceeds to step SP26.

[0056] (Step SP18) The robot control device 10 determines, using the cooperation state determination unit 14, that the operating speed of the cooperative robot 20 is in a non-cooperative state. Then, the process proceeds to step SP26.

[0057] (Step SP20) On the other hand, if the speed determination unit 13 determines in step SP10 that the operating speed of the collaborative robot 20 is less than or equal to the second speed v2, the process proceeds to step SP22. On the other hand, if the speed determination unit 13 determines in step SP10 that the operating speed of the collaborative robot 20 is faster than the second speed v2, the process proceeds to step SP24.

[0058] (Step SP22) The robot control device 10 determines, using the cooperation state determination unit 14, that the operating speed of the cooperative robot 20 is in a cooperative state. Then, the process proceeds to step SP26.

[0059] (Step SP24) The robot control device 10 determines, using the cooperation state determination unit 14, that the operating speed of the cooperative robot 20 is in a non-cooperative state. Then, the process proceeds to step SP26.

[0060] (Step SP26) The robot control device 10 outputs the operating status of the collaborative robot 20, as determined by the collaborative state determination unit 14, to an external source or to a person 40 via the output unit 15. Then, the series of processes shown in Figure 4 are completed.

[0061] <Effects> In the first embodiment described above, the robot control device 10 determines whether the detection range A3 includes the deceleration range A2 (set range) set for the collaborative robot 20, and determines the relationship between the operating speed of the collaborative robot 20 and the first speed v1. Furthermore, the robot control device 10 determines whether the operating state of the collaborative robot 20 is a collaborative state or a non-collaborative state according to each determination result. Therefore, the robot control device 10 can accurately determine whether the operating state of the collaborative robot 20 is a collaborative state or a non-collaborative state.

[0062] Furthermore, in the first embodiment, the robot control device 10 determines that the collaborative robot 20 is in a collaborative state when the detection range A3 includes the deceleration range A2 (set range) and the operating speed of the collaborative robot 20 is less than or equal to the first speed v1. Therefore, the robot control device 10 can determine the operating state of the collaborative robot 20 according to whether the setting of the detection range A3 and the operating speed of the collaborative robot 20 are appropriate.

[0063] Furthermore, in the first embodiment, the robot control device 10 determines that the operating state of the collaborative robot 20 is a collaborative state when the operating speed of the collaborative robot 20 is less than or equal to the second speed v2. Therefore, the robot control device 10 can determine that the operating state of the collaborative robot 20 is a collaborative state regardless of the setting of the detection range A3, as long as the operating speed of the collaborative robot 20 is less than or equal to the second speed v2.

[0064] Furthermore, in the first embodiment, the robot control device 10 sets a deceleration range A2 (set range) for the collaborative robot 20 according to the deceleration time ts, the third velocity v3 related to the movement of the person 40, and the collaborative range A1 (predetermined range). Therefore, the robot control device 10 can set the deceleration range A2 for the collaborative robot 20 while taking into account the movement speed of the person 40.

[0065] ---Second Embodiment--- Next, a second embodiment will be described. In the second embodiment shown below, components identical to those in the first embodiment are denoted by the same reference numerals, and their descriptions are omitted.

[0066] <Structure> Figure 5 is a schematic diagram of the configuration of the robot control system 1 according to the second embodiment. As shown in Figure 5, in the second embodiment, the setting range is changed from the deceleration range A2 to the deceleration range A5, and the predetermined range is changed from the cooperation range A1 to the operating range A4, which is the range in which the cooperative robot 20 operates. Except for these differences, there is no difference in configuration between the robot control system 1 in the first embodiment and the robot control system 1 in the second embodiment. That is, in the second embodiment, the predetermined range is the operating range A4. Also, in the second embodiment, the setting range is the deceleration range A5.

[0067] In the second embodiment, the cooperative state is a state in which the person 40 can operate together with the collaborative robot 20 when the person 40 can enter a predetermined range (operating range A4 in the second embodiment) related to the collaborative robot 20. The non-cooperative state is a state in which the person 40 cannot operate together with the collaborative robot when the person 40 can enter a predetermined range (operating range A4 in the second embodiment).

[0068] The operation of the robot control device 10 in the second embodiment will now be described. The robot control device 10 sets an operating range A4 (predetermined range) for the collaborative robot 20, which is the range in which the articulated arm 22 of the collaborative robot 20 operates within the collaborative range A1, and a deceleration range A5 (set range) which is a range that is a predetermined distance wider than the operating range A4. The robot control device 10 also acquires the detection range A3 set in the detection device 30 from the information transmitted from the detection device 30. The robot control device 10 also calculates the operating speed of the collaborative robot 20 according to the information transmitted from the collaborative robot 20. Furthermore, the robot control device 10 determines whether the state of the collaborative robot 20 is a collaborative state or a non-collaborative state according to the detection range A3, the deceleration range A5 (set range), and the operating speed of the collaborative robot 20, and outputs the result of the determination to the outside so that a person 40 can confirm it. The robot control device 10 may also output the determination result of whether the collaborative robot 20 is in a collaborative state or a non-collaborative state to an external device other than the robot control device 10 (such as a control system, display, lamps, or speaker of a facility such as a factory where the collaborative robot 20 is located; not shown).

[0069] In the second embodiment, the cooperative range information 111 stored in the memory unit 100 further includes information about the operating range A4 (such as its position and size) and information about the deceleration range A5 (such as its position and size).

[0070] In the second embodiment, the range determination unit 12 sets the deceleration range A5 (set range) according to the deceleration time ts, which is the time it takes for the operating speed of the collaborative robot 20 to decrease from a first speed v1 to a second speed v2, the third speed v3, which is the movement speed of the person 40, and the operating range A4. Specifically, the range determination unit 12 reads the deceleration time ts and the third speed v3 from the storage unit 100 and multiplies the deceleration time ts by the third speed v3. The range determination unit 12 sets the deceleration range A5 (set range) such that the outer edge of the operating range A4 (predetermined range) is at least as far as the result of the multiplication, and stores the set deceleration range A5 (set range) in the storage unit 100.

[0071] <Effects> In the second embodiment described above, the robot control device 10 sets a deceleration range A5 (set range) according to the operating range A4 (predetermined range), which is the range in which the collaborative robot 20 operates, the deceleration time ts, and the third velocity v3, using the range determination unit 12. Therefore, the robot control device 10 can set a deceleration range A5 (set range) for the collaborative robot 20, taking into account the operating range A4, which is the range in which the collaborative robot 20 operates.

[0072] ---Revised Version--- It should be noted that the present invention is not limited to the embodiments described above. That is, any design modifications made to the above embodiments by those skilled in the art are also included within the scope of the present invention, as long as they retain the features of the present invention. Furthermore, the elements of the above embodiments and the modifications described later can be combined to the extent that it is technically possible, and any combination thereof is also included within the scope of the present invention, as long as it retains the features of the present invention.

[0073] For example, if the detection result transmitted from the detection device 30 indicates that a person 40 is within the detection range A3, and the control unit 17 reduces the operating speed of the collaborative robot 20 to a second speed v2, then if the detection result transmitted from the detection device 30 indicates that there is no person 40 within the detection range A3, the control unit 17 may accelerate the operating speed of the collaborative robot 20 to a predetermined speed of first speed v1 or less. With this configuration, the robot control device 10 can efficiently operate the collaborative robot 20 according to whether or not a person 40 is within the detection range A3.

[0074] Furthermore, the robot control device 10 may transmit information regarding the deceleration range A2 included in the cooperation range information 111 to the detection device 30 so that the detection device 30 can use it when setting the detection range A3. With this configuration, the robot control device 10 can assist the detection device 30 in setting the detection range A3.

[0075] In Figures 1, 3, and 5, the collaboration range A1, deceleration ranges A2 and A5, operating range A4, and detection range A3 are depicted as ranges on a plane horizontal to the installation surface of the collaborative robot 20, but are not limited to this. The collaboration range A1, deceleration ranges A2 and A5, operating range A4, and detection range A3 are not only ranges on a plane horizontal to the installation surface of the collaborative robot 20, but also ranges in all directions within the space in which the collaborative robot 20 is installed. [Explanation of Symbols]

[0076] 1...Robot control system, 10...Robot control device, 11...Acquisition unit, 12...Range determination unit, 13...Speed ​​determination unit, 14...Cooperative state determination unit, 15...Output unit, 20...Collaborative robot, 30...Detection device, 40...Person, A1...Cooperative range (predetermined range), A2...Deceleration range (set range), A3...Detection range, A4...Operation range (predetermined range), A5...Deceleration range (set range)

Claims

1. An acquisition unit that acquires the detection range from a detection device that detects a person within a predetermined detection range, A range determination unit determines whether the detection range acquired by the acquisition unit includes a set range that is set for the collaborative robot so as to include a predetermined range relating to a collaborative robot that works with a human, A speed determination unit that determines the relationship between the operating speed of the collaborative robot and the first speed, A collaborative state determination unit determines, according to the determination results of the range determination unit and the speed determination unit, whether the operating state of the collaborative robot is a collaborative state in which the collaborative robot can operate together with a person when a person can enter the predetermined range, or a non-collaborative state in which the collaborative robot cannot operate together with a person when a person can enter the predetermined range. A robot control device characterized by comprising the following features.

2. The robot control device according to claim 1, wherein the cooperative state determination unit determines that the operating state is the cooperative state when the determination result of the range determination unit is an affirmative determination that the detection range includes the set range, and the speed determination unit determines that the operating speed is less than or equal to the first speed.

3. The speed determination unit further determines the relationship between the operating speed and the second speed, which is slower than the first speed. The robot control device according to claim 2, characterized in that the cooperative state determination unit determines that the operating state is the cooperative state when the speed determination unit indicates that the operating speed is less than or equal to the second speed.

4. The aforementioned predetermined range is a predetermined collaboration range from the collaborative robot, The robot control device according to claim 3, wherein the range determination unit sets the set range according to the time it takes for the operating speed to decelerate from the first speed to the second speed, the third speed relating to the speed of human movement, and the cooperative range.

5. The aforementioned predetermined range is the operating range in which the collaborative robot operates. The robot control device according to claim 3, characterized in that the range determination unit sets the set range according to the time it takes for the operating speed to decelerate from the first speed to the second speed, the third speed relating to the speed of human movement, and the operating range.

6. Collaborative robots that work with humans, A detection unit that acquires the detection range from a detection device that detects a person within a predetermined detection range; a range determination unit that determines whether the detection range acquired by the acquisition unit includes a set range that is set for the collaborative robot so as to include a predetermined range relating to the collaborative robot; a speed determination unit that determines the relationship between the operating speed of the collaborative robot and a first speed; and a collaborative state determination unit that determines, according to the determination results of the range determination unit and the speed determination unit, whether the operating state of the collaborative robot is a collaborative state in which the collaborative robot can operate together with a person when a person can enter the predetermined range, or a non-collaborative state in which the collaborative robot cannot operate together with a person when a person can enter the predetermined range. A robot control system characterized by comprising the following features.

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