Operating range setting device, operating range setting method, and program

Abstract

This operating range setting device 1X comprises a first recognition means 15Xa, a second recognition means 15Xb, and an operating range setting means 17X. The first recognition means 15Xa recognizes the positions of multiple reference objects. The second recognition means 15Xb recognizes, among the multiple reference objects, multiple combinations of paired reference objects. The operating range setting means 17X sets an operating range for a robot on the basis of a line segment between the paired reference objects in the respective combinations.

Description

Technical Field

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[0001] The present disclosure relates to the technical field of an operating range setting device, an operating range setting method, and a recording medium for setting an operating range of a robot.

Background Art

[0002] A method for setting the range in which a robot operates has been proposed. For example, Patent Document 1 discloses an autonomous mobile robot that sets a restricted range for restricting the movement of the robot according to the installation position of a predetermined marker provided in the space where the robot moves. Further, Patent Document 2 discloses a control system for setting an operation prohibited area for a scalar robot.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0004] In setting the operating range of the robot according to Patent Document 1, there is a problem that it is necessary to set the marker to be recognized during the operation of the robot, and the installation location of the marker is limited to the surface of a fixed object such as a wall. Further, in Patent Document 2, there is a problem that it is limited to a method for setting an operating range for a robot with a fixed operating axis such as a scalar robot, and it cannot be applied to a robot with a complicatedly changing operating axis such as a vertical articulated robot.

[0005] One object of the present invention is to provide an operating range setting device, an operating range setting method, and a recording medium that can suitably set the operating range of a robot in view of the above problems.

Means for Solving the Problems

[0006] One embodiment of the operating range setting device is: A first recognition means for recognizing the positions of multiple reference objects, A second recognition means for recognizing multiple combinations of paired reference objects from the aforementioned multiple reference objects, For each of the above combinations, the plane passing through the line segment connecting the pair of reference objects and perpendicular to the reference plane, which is the installation surface on which the vertical articulated robot is installed, is defined as the safety plane, which is the plane that restricts the operating range of the vertical articulated robot. In the stage prior to the motion control of the vertical articulated robot, the vertical articulated robot setting The operation of the vertical articulated robot is restricted so as not to come into contact with the safety plane. Operating range setting means, This is an operating range setting device equipped with [a specific feature].

[0008] One aspect of the method for setting the operating range is: By computer, Recognizing the positions of multiple reference objects, From the aforementioned plurality of reference objects, multiple combinations of paired reference objects are recognized. For each of the above combinations, the plane passing through the line segment connecting the pair of reference objects and perpendicular to the reference plane, which is the installation surface on which the vertical articulated robot is installed, is defined as the safety plane, which is the plane that restricts the operating range of the vertical articulated robot. In the stage prior to the motion control of the vertical articulated robot, the vertical articulated robot setting The operation of the vertical articulated robot is restricted so as not to come into contact with the safety plane. , This is the method for setting the operating range.

[0009] One aspect of the program is: Recognizing the positions of multiple reference objects, From the aforementioned plurality of reference objects, multiple combinations of paired reference objects are recognized. For each of the above combinations, the plane passing through the line segment connecting the pair of reference objects and perpendicular to the reference plane, which is the installation surface on which the vertical articulated robot is installed, is defined as the safety plane, which is the plane that restricts the operating range of the vertical articulated robot. In the stage prior to the motion control of the vertical articulated robot, the vertical articulated robot setting The operation of the vertical articulated robot is restricted so as not to come into contact with the safety plane. It is a program that instructs a computer to perform a process. [Effects of the Invention]

[0010] The operating range of the robot can be suitably set.

Brief Description of the Drawings

[0011] [Figure 1] Shows the configuration of the robot management system. [Figure 2] Shows the hardware configuration of the operating range setting device. [Figure 3] It is an overhead view of the periphery of the robot when setting the operating range of the robot. [Figure 4] It is an example of a functional block showing an overview of the processing of the operating range setting device <( [Figure 5] It is an overhead view showing a second installation example. [Figure 6] It is an overhead view showing a third installation example. [Figure 7] It is an overhead view showing a fourth installation example. [Figure 8] It is an example of a flowchart executed by the operating range setting device in the first embodiment. [Figure 9] It is an overhead view showing an installation example in the third modification. [Figure 10] (A) It is an overhead view showing an installation example in the fourth modification. (B) It is an example of rule information. [Figure 11] It is an example of a display of the operating range setting screen. [Figure 12] It is an overhead view of the space for setting the operating range of the robot. [Figure 13] In the second embodiment, it is an overhead view showing an example of setting the operating range of a robot installed on the floor. [Figure 14] In the second embodiment, it is an overhead view showing an example of setting the operating range of a robot installed on the wall. [Figure 15] It is an example of a flowchart executed by the operating range setting device in the second embodiment. [Figure 16] It is a schematic configuration diagram of the operating range setting device in the third embodiment. [Figure 17]This is an example of a flowchart executed by the operating range setting device in the third embodiment. [Figure 18] This is a schematic diagram of the operating range setting device in the fourth embodiment. [Figure 19] In the fourth embodiment, this is an example of a flowchart executed by the operating range setting device. [Modes for carrying out the invention]

[0012] The following describes embodiments of the operating range setting device, operating range setting method, and recording medium with reference to the drawings.

[0013] <First Embodiment> (1) System Configuration Figure 1 shows the configuration of the robot management system 100 according to the first embodiment. The robot management system 100 mainly comprises a working range setting device 1, an input device 2, a display device 3, a camera (imaging means) 4, a robot control device 5, and a robot 6.

[0014] The operating range setting device 1 performs a process to set the operating range, which is the range in which the robot 6 can operate safely, before the robot control device 5 controls the operation of the robot 6. The operating range setting device 1 communicates data with the input device 2, display device 3, camera 4, and robot 6 via a communication network or by direct wireless or wired communication. For example, the operating range setting device 1 receives input information "S1" from the input device 2. The operating range setting device 1 also transmits display information "S2" to the display device 3 for displaying information to the user. The operating range setting device 1 also receives captured images "S3" generated by the camera 4 from the camera 4. Furthermore, the operating range setting device 1 supplies a setting signal "S4" related to the setting of the operating range of the robot 6 determined by the operating range setting device 1 to the robot control device 5. The operating range setting device 1 may be a personal computer, or it may be a portable terminal such as a smartphone or tablet terminal integrated with the input device 2 and the display device 3.

[0015] Input device 2 is an interface device that accepts user input (manual input), generates input information S1 based on the user input, and supplies the input information S1 to the operating range setting device 1. Input device 2 may be various user input interfaces such as a touch panel, buttons, keyboard, mouse, or voice input device. Display device 3 displays predetermined information based on display information S2 supplied from the operating range setting device 1. Display device 3 is, for example, a display or projector. Camera 4 generates captured image S3 and supplies the generated captured image S3 to the operating range setting device 1. Camera 4 is, for example, a camera fixed in a position that provides an overview of the operating range of robot 6.

[0016] The robot control device 5 exchanges signals with the robot 6 and controls the robot 6's movements. In this case, the robot control device 5 receives detection signals related to the state of the robot 6 and detection signals related to the operating environment of the robot 6 from the robot 6 or sensors installed elsewhere. The robot control device 5 also transmits control signals to the robot 6 to operate it. The robot control device 5 and the robot 6 exchange signals through direct communication via wired or wireless connections, or through communication via a communication network.

[0017] Furthermore, the robot control device 5 sets the operating range of the robot 6 based on the setting signal S4 supplied from the operating range setting device 1, and controls the robot 6 so that it operates within that operating range. For example, if a part of the robot 6 (for example, the end effector or joint of the robot arm) exceeds the set operating range, the robot control device 5 will perform an emergency stop on the robot 6. In addition to the operating range specified by the setting signal S4, the robot control device 5 may also define the operating range for the robot 6 by including the location of obstacles detected by sensors on the robot 6, and information restricting the operation of the robot 6 (for example, information on restricted areas) that is stored in the memory of the robot control device 5.

[0018] Robot 6 performs predetermined operations based on control signals supplied from robot control device 5. Robot 6 may be a vertical articulated robot, a horizontal articulated robot, an automated guided vehicle (AGV), or any other type of robot. Robot 6 may supply a status signal indicating the state of robot 6 to the operating range setting device 1. This status signal may be an output signal from a sensor that detects the state (position, angle, etc.) of the entire robot 6 or specific parts such as joints, or it may be a signal indicating the progress of the work (task) that robot 6 should perform. In addition to internal sensors for detecting the state of robot 6 (internal environment), robot 6 may be equipped with external sensors such as a camera and range sensor for sensing the outside of robot 6 (external environment).

[0019] Furthermore, if robot 6 is a mobile robot, the robot control device 5 or robot 6 may perform self-localization and environmental mapping by performing SLAM (Simultaneous Localization and Mapping), etc.

[0020] The configuration of the robot management system 100 shown in Figure 1 is an example, and various modifications may be made to this configuration. For example, the robot control device 5 may control the operation of multiple robots 6. In this case, the operating range setting device 1 generates a setting signal S4 related to the operating range common to the multiple robots 6. The robot control device 5 may also be configured as an integral part of the robot 6. Similarly, the robot control device 5 may be configured as an integral part of the operating range setting device 1. In this case, the functions of both the operating range setting device 1 and the robot control device 5 may be included in the robot 6. The operating range setting device 1 may also be composed of multiple devices. In this case, the multiple devices constituting the operating range setting device 1 exchange information necessary to execute pre-assigned processes with other devices via direct wired or wireless communication or communication via a network. In this case, the operating range setting device 1 functions as an operating range setting system.

[0021] Furthermore, the robot 6 does not necessarily have to be present when the operating range setting process is executed by the operating range setting device 1, and may be installed in a predetermined position after the operating range setting by the operating range setting device 1.

[0022] (2) Hardware configuration Figure 2 shows an example of the hardware configuration of the operating range setting device 1. The operating range setting device 1 includes a processor 11, memory 12, and interface 13 as hardware. The processor 11, memory 12, and interface 13 are connected via a data bus 10.

[0023] The processor 11 functions as a controller (arithmetic unit) that controls the entire operating range setting device 1 by executing a program stored in memory 12. The processor 11 is, for example, a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), or a TPU (Tensor Processing Unit). The processor 11 may be composed of multiple processors. The processor 11 is an example of a computer.

[0024] Memory 12 is composed of various volatile and non-volatile memories such as RAM (Random Access Memory), ROM (Read Only Memory), and flash memory. Memory 12 also stores a program for executing the processes performed by the operating range setting device 1. Some of the information stored in memory 12 may be stored in one or more external storage devices capable of communicating with the operating range setting device 1, or in a storage medium that is detachable from the operating range setting device 1.

[0025] Interface 13 is an interface for electrically connecting the operating range setting device 1 with other devices. These interfaces may be wireless interfaces such as network adapters for wirelessly transmitting and receiving data with other devices, or they may be hardware interfaces for connecting with other devices via cables, etc.

[0026] Note that the hardware configuration of the operating range setting device 1 is not limited to the configuration shown in Figure 2. For example, the operating range setting device 1 may include at least one of the input device 2, the display device 3, or an audio output device (not shown).

[0027] (3) Overview of operating range settings This section outlines the setting of the operating range of robot 6. In general terms, when the operating range setting device 1 recognizes a pair of columnar objects connected by a rope based on the captured image S3 generated by camera 4, it sets a plane determined by the positions of the pair of columnar objects as the plane that restricts the operating range of robot 6 (also called the "safety plane"). In other words, the safety plane is a plane that restricts the movement of robot 6 and defines the range in which robot 6 can operate safely.

[0028] Figure 3 is an overhead view of the area around robot 6 when its operating range is being set. As shown in Figure 3, multiple columnar objects 7 (7A-7D) and ropes 8 (8A-8D) connecting these columnar objects 7 are used to set the operating range of robot 6. Here, as an example, the operating range of robot 6 is enclosed by a combination of columnar objects 7 and ropes 8. Also, as an example, robot 6 is configured as a floor-standing vertical articulated robot. Furthermore, camera 4 is fixed in a position that includes at least robot 6, columnar objects 7, and ropes 8 in its shooting range.

[0029] In this case, as preparation for setting the operating range of the robot 6, the user first places a pair of columnar objects 7 at positions corresponding to both ends of the safety plane to be set, and provides a rope 8 connecting these two columnar objects 7. In this case, as shown in Figure 3, the space corresponding to the operating range of the robot 6 that the user wants to set is enclosed by the columnar objects 7 and the rope 8.

[0030] Next, the processing of the operating range setting device 1 after the installation of the columnar objects 7 and ropes 8 will be briefly explained. Based on the captured image S3 generated by the camera 4, the operating range setting device 1 recognizes the presence and position of the columnar objects 7, and also recognizes the presence of the ropes 8 connecting the pairs of columnar objects 7. Then, the operating range setting device 1 generates a safety plane for each pair of columnar objects 7 connected by the ropes 8. Here, the operating range setting device 1 generates safety planes based on columnar objects 7A and 7B connected by rope 8A, columnar objects 7B and 7C connected by rope 8B, columnar objects 7C and 7D connected by rope 8C, and columnar objects 7A and 7D connected by rope 8D. In this case, the operating range setting device 1 sets each safety plane to be perpendicular to the floor surface, which is the installation surface on which the columnar objects 7A to 7D are installed. Hereafter, the surface that serves as the reference for setting the safety plane (in this case, the floor) will be referred to as the "reference surface."

[0031] Thus, the columnar object 7 functions as a reference object for generating a safety plane, and the rope 8 functions as a second object for recognizing the pair of reference objects. The operating range setting device 1 then recognizes these objects and appropriately generates a safety plane that defines the operating range of the robot 6 desired by the user.

[0032] Herein, we will provide a supplementary explanation regarding the reference plane. In this embodiment, the operating range setting device 1 considers the coordinate plane formed by two axes of the coordinate system (also called the "robot coordinate system") that the robot control device 5 uses as a reference for controlling the robot 6 as the reference plane. This reference plane and coordinate plane are parallel to the installation surface (floor surface in Figure 3) on which the robot 6 is installed. Hereafter, the robot coordinate system will be assumed to be a three-dimensional coordinate system having coordinate axes "Xr", "Yr", and "Zr", with any two coordinate axes forming the reference plane being the Xr axis and Yr axis, and the coordinate axis perpendicular to these coordinate axes being the Zr axis. Therefore, the Xr-Yr coordinate plane of the robot coordinate system is parallel to the reference plane and is perpendicular to the direction in which the columnar object 7 extends (extension direction).

[0033] Here, if robot 6 is a mobile robot, the robot coordinate system may be an invariant coordinate system based on the initial position of robot 6 during operation, or it may be a relative coordinate system that moves in accordance with the movement of robot 6 (i.e., according to the position estimation result of robot 6). In both cases, the Xr-Yr coordinate plane is assumed to be parallel to the reference plane.

[0034] Furthermore, the reference plane (i.e., the Xr-Yr coordinate plane) is not limited to a plane parallel to the floor surface on which the robot 6 is installed, but may also be a horizontal plane perpendicular to the direction of gravity. In addition, if the robot 6 and the columnar object 7 are installed on a wall surface, the reference plane may be set to a plane parallel to the wall surface.

[0035] Furthermore, the columnar object 7 and rope 8 may be removed after the image S3 captured by the camera 4 is generated. In this case, the columnar object 7 and rope 8 will not be present when the robot 6 is in operation. Thus, the robot management system 100 can appropriately set the operating range of the robot 6 even when the columnar object 7 and rope 8 are removed to prevent them from becoming an obstacle to workers, etc., when the robot 6 is in operation.

[0036] (4) Functional Blocks Figure 4 shows an example of a functional block illustrating the processing overview of the operating range setting device 1. Functionally, the processor 11 of the operating range setting device 1 includes a recognition unit 15, a coordinate system transformation unit 16, a safety plane generation unit 17, and a setting unit 18. Figure 4 shows an example of data exchanged between each block, but is not limited to this. The same applies to the diagrams of other functional blocks described later.

[0037] The recognition unit 15 receives the captured image S3 generated by the camera 4 after the installation of the columnar object 7 and the rope 8 via the interface 13, and recognizes the columnar object 7 and the rope 8 based on the captured image S3. In this case, for example, if the recognition unit 15 detects user input indicating the completion of the installation of the columnar object 7 and the rope 8 via input information S1, it immediately starts the process of generating sensor coordinate system position information Isp and reference object pair information Ipa based on the captured image S3 acquired thereafter.

[0038] Here, the recognition unit 15 generates information indicating the position of the columnar object 7 in a coordinate system based on the camera 4 (also called the "sensor coordinate system") based on the captured image S3 (also called the "sensor coordinate system"). The sensor coordinate system is a three-dimensional coordinate system based on the orientation and installation position of the camera 4, and is a coordinate system that depends on the orientation and installation position of the camera 4. Furthermore, the recognition unit 15 generates information indicating the pair of columnar objects 7 connected by the rope 8 (also called the "reference object pair information Ipa"). The recognition unit 15 then supplies the generated sensor coordinate system position information Isp and reference object pair information Ipa to the coordinate system transformation unit 16. For information on how to generate the sensor coordinate system position information Isp, see "(5) Generation of sensor coordinate system position information This will be explained in the section, and the specific method for generating the reference object versus information Ipa will be explained in "(6) Generation of reference object-to-reference information This will be explained in detail in the section.

[0039] The coordinate system transformation unit 16 converts the sensor coordinate system position information Isp supplied from the recognition unit 15 into position information of a robot coordinate system (also called "robot coordinate system position information Irp") with the reference plane as the XY coordinate plane. The coordinate system transformation unit 16 then supplies the generated robot coordinate system position information Irp and reference object pair information Ipa to the safety plane generation unit 17. In this case, for example, information indicating parameters related to the translational movement of the coordinate system and the rotation of the roll angle, pitch angle, and yaw angle for converting the sensor coordinate system to the robot coordinate system (also called "coordinate system transformation information") is pre-stored in the memory 12, etc. The coordinate system transformation unit 16 then converts the sensor coordinate system position information Isp to robot coordinate system position information Irp by referring to this coordinate system transformation information. This coordinate system transformation information is pre-generated using a geometric method based on information regarding the orientation and installation position of the camera 4 and the orientation and installation position of the robot 6.

[0040] The safety plane generation unit 17 generates a safety plane, which is a virtual plane in the robot coordinate system, based on the robot coordinate system position information Irp and the reference object pair information Ipa, and supplies information about the generated safety plane (also called "safety plane information Ig") to the setting unit 18. In this case, the safety plane generation unit 17 recognizes a line segment (also called "reference line segment") connecting the positions on the Xr-Yr coordinate plane in the robot coordinate system, which are identified based on the robot coordinate system position information Irp, for the pair of columnar objects 7 indicated by the reference object pair information Ipa. Then, for each pair of columnar objects 7, the safety plane generation unit 17 generates a safety plane that passes through the recognized reference line segment and is perpendicular to the reference plane (i.e., the Xr-Yr coordinate plane). The generated safety plane is set to, for example, coincide with the reference line segment on the Xr-Yr coordinate plane of the reference line segment and extend infinitely in the Zr direction.

[0041] The setting unit 18 generates a setting signal S4 based on the safety plane information Ig supplied from the safety plane generation unit 17 and supplies the setting signal S4 to the robot control device 5 via the interface 13. In this case, the setting unit 18 supplies the robot control device 5 with a setting signal S4 that instructs the robot to set the operating range based on the safety plane indicated by the safety plane information Ig. In this case, after receiving the setting signal S4, the robot control device 5 determines the safety plane indicated by the setting signal S4 as the boundary surface of the robot 6's operating range and restricts the robot 6's operation so as not to come into contact with the safety plane.

[0042] Here, the components of the recognition unit 15, coordinate system transformation unit 16, safety plane generation unit 17, and setting unit 18 described in Figure 4 can be realized, for example, by the processor 11 executing a program. Alternatively, the necessary programs may be recorded on any non-volatile storage medium and installed as needed to realize each component. At least a portion of these components may be realized not only by software programs, but also by any combination of hardware, firmware, and software. Furthermore, at least a portion of these components may be realized using user-programmable integrated circuits, such as FPGAs (Field-Programmable Gate Arrays) or microcontrollers. In this case, the program composed of the above components may be realized using this integrated circuit. Also, at least a portion of each component may be composed of ASSPs (Application Specific Standard Produce), ASICs (Application Specific Integrated Circuits), or quantum computer control chips. Thus, each component may be realized by various hardware. The same applies to other embodiments described later. Furthermore, each of these components may be realized by the collaboration of multiple computers, for example, using cloud computing technology.

[0043] (5) Generation of sensor coordinate system position information Next, a specific example of how the recognition unit 15 generates sensor coordinate system position information Isp will be described.

[0044] In the first example, each columnar object 7 is provided with an AR marker, and the recognition unit 15 generates sensor coordinate system position information Isp by recognizing the AR markers attached to each columnar object 7 based on the captured image S3. In this case, the recognition unit 15 recognizes the three-dimensional position of the columnar object 7 to which the AR marker is attached by detecting the image region of the recognized AR marker from the captured image S3 and analyzing the said image region. In this case, prior information regarding the size of the AR marker and other features necessary for detection is stored in the memory 12, etc., and the recognition unit 15 performs the above processing by referring to this prior information. In this case, the recognition unit 15 may recognize the position of the recognized AR marker as the position of the columnar object 7 to which the AR marker is attached. Here, the AR marker may be placed at any surface position of the columnar object 7 that is not in the blind spot of the camera 4. Note that the Xr-Yr coordinate plane of the robot coordinate system is a plane perpendicular to the extension direction of the columnar object 7, and the generated safety plane does not depend on the height position of the AR marker on the columnar object 7.

[0045] In the second example, camera 4 is a stereo camera, and the recognition unit 15 acquires a 3D point cloud containing color information and 3D position information for each measurement point (pixel) from camera 4 as a captured image S3. In this case, the recognition unit 15 extracts measurement points that form each columnar object 7 from the 3D point cloud shown in the captured image S3, based on prior color information and / or shape information of the columnar objects 7, and generates position information indicating the representative position of each columnar object 7 (for example, the centroid position indicated by the measurement points extracted for each columnar object 7) as sensor coordinate system position information Isp.

[0046] In the third example, if the robot management system 100 has a range sensor such as a lidar in addition to the camera 4, it may generate sensor coordinate system position information Isp based on the output signal of the range sensor and the captured image S3. In this case, for example, the recognition unit 15 identifies the three-dimensional position of each columnar object 7 by recognizing the distance corresponding to each pixel in the region of each columnar object 7 detected in the captured image S3 based on the output signal of the range sensor.

[0047] According to these examples, the recognition unit 15 can suitably calculate the sensor coordinate system position information Isp for each columnar object 7.

[0048] (6) Generation of reference object-to-reference information Next, a specific example of the method for generating reference object-to-reference information Ipa by the recognition unit 15 will be described.

[0049] In this case, the recognition unit 15 extracts the image region of the rope 8 from the captured image S3 and recognizes the two columnar objects 7 located at both ends of the image region of the rope 8 as a pair of columnar objects 7. Thus, 3D positional information of the rope 8 is not essential for generating the reference object pair information Ipa, and the recognition unit 15 can recognize the pair of columnar objects 7 by recognizing the image region of the rope 8 in the captured image S3.

[0050] Here, we will explain specific examples of methods for extracting the image region of rope 8. In the first example, if feature information of rope 8, such as color and / or shape, is pre-stored in memory 12, the recognition unit 15 determines the image region of rope 8 by referring to this feature information. In this case, the recognition unit 15 extracts feature information (feature quantities) related to color, shape, etc., from each image region divided by region segmentation, etc., of the captured image S3, and determines the image region of rope 8 by determining the similarity between the extracted feature information and the feature information stored in memory 12. In the second example, a predetermined marker is attached to rope 8, and the recognition unit 15 detects the marker in the captured image S3 and extracts the image region of the object containing the detected marker as the image region of rope 8. In the third example, the image region of rope 8 is obtained by inputting the captured image S3 into an inference unit that infers the image region of rope 8. In this case, the inference unit is a learning model such as a neural network that has been trained to output information regarding the image region of rope 8 when the captured image S3 is input. In addition, the recognition unit 15 may identify the image region of the rope 8 based on any image recognition method such as template matching.

[0051] (7) Installation example Next, we will describe other installation examples (Installation Examples 2 to 4) other than the installation example of the robot 6 and columnar object 7 shown in Figure 3 (hereinafter referred to as "Installation Example 1").

[0052] Figure 5 is an overhead view showing a second installation example of the robot 6 and columnar objects 7. In the second installation example shown in Figure 5, there is a floor surface along the Xr-Yr coordinate plane, and there is a wall surface parallel to the Xr-Zr plane and perpendicular to the floor surface. The robot 6 is surrounded by columnar objects 7A to 7D and ropes 8A to 8C. In this case, the operating range setting device 1 generates safety planes corresponding to the pair of columnar objects 7A and 7B, the pair of columnar objects 7B and 7C, and the pair of columnar objects 7C and 7D.

[0053] On the other hand, since there is no rope 8 connecting columnar object 7A and columnar object 7D, the operating range setting device 1 does not generate a safety plane corresponding to the pair of columnar objects 7A and 7D. In this way, even when a safety plane is not set to completely enclose the robot 6, the operating range setting device 1 can suitably set the operating range of the robot 6.

[0054] Here, we will illustrate specific situations in which a rope 8 connecting columnar object 7A and columnar object 7D is not provided. For example, when robot 6 is a floor-mounted robot and there is sufficient usable clearance in the direction of the wall relative to the robot's range of motion. In this case, there is no need to provide a safety plane corresponding to the pair of columnar objects 7A and 7D, so a rope 8 connecting columnar objects 7A and 7D does not need to be provided. In another example, when robot 6 is a mobile robot and the space between the safety plane corresponding to the pair of columnar objects 7A and 7B and the wall, and the space between the safety plane corresponding to the pair of columnar objects 7C and 7D and the wall, is sufficiently narrow. In this case, the movement of robot 6 is substantially constrained so as not to come into contact with the wall, which is an obstacle, and there is no risk of it moving to the opposite side of these safety planes, so a rope 8 connecting columnar objects 7A and 7D does not need to be provided.

[0055] Figure 6 is an overhead view showing a third installation example of the robot 6 and columnar objects 7. In the third installation example shown in Figure 6, the robot 6 is, for example, a mobile robot, and it completely encloses area 50 where entry by the robot 6 is to be prohibited during robot operation. In this case, the operating range setting device 1 generates four safety planes that block area 50 from all directions based on the recognition results of the columnar objects 7A to 7D and ropes 8A to 8D. In this way, by installing the columnar objects 7 and ropes 8, it is also possible to exclude areas where entry by the robot 6 is to be prohibited during robot operation from the operating range of the robot 6.

[0056] Figure 7 is an overhead view showing a fourth installation example of the robot 6 and columnar objects 7. In the fourth installation example shown in Figure 7, the robot 6 is installed on the wall, while the columnar objects 7A to 7D are installed perpendicular to the floor. There is a rope 8A connecting columnar objects 7A and 7B, and a rope 8C connecting columnar objects 7C and 7D. Also, the Xr-Yr coordinate plane of the robot coordinate system is set to be parallel to the floor, as in the first to third installation examples, for example.

[0057] In this case, the operating range setting device 1 generates a safety plane that passes through a reference line segment identified by the pair of columnar objects 7A and 7B and is perpendicular to the floor surface, and a safety plane that passes through a reference line segment identified by the pair of columnar objects 7C and 7D and is perpendicular to the floor surface. In this way, the operating range setting device 1 can suitably set the operating range even for a robot 6 installed on a wall surface.

[0058] Furthermore, if the columnar object 7 can be installed perpendicular to the wall surface, the columnar object 7 may be installed on the wall surface. In this case, the robot 6 considers the wall surface perpendicular to the columnar object 7 as a reference plane and generates a safety plane perpendicular to the reference plane, passing through the reference line segment specified by the pair of columnar objects 7. In this case, the operating range setting device 1 can generate a safety plane so as to limit the operating range of the robot 6 in the height (vertical) direction, for example.

[0059] (8) Processing flow Figure 8 is an example of a flowchart executed by the operating range setting device 1 in the first embodiment.

[0060] First, the recognition unit 15 of the operating range setting device 1 acquires a captured image S3 from the camera 4 via the interface 13 after the columnar object 7 and rope 8 have been installed (step S11). Then, the recognition unit 15 recognizes the position of the columnar object 7 based on the captured image S3 acquired in step S11 (step S12). As a result, the recognition unit 15 generates sensor coordinate system position information Isp for each columnar object 7.

[0061] Then, the recognition unit 15 recognizes the rope 8 based on the captured image S3 acquired in step S11, and recognizes pairs of columnar objects 7 based on the recognition result of the rope 8 (step S13). In this case, the recognition unit 15 considers the two columnar objects 7 located at both ends of the rope 8 as a pair, and performs this process for the number of ropes 8. As a result, the recognition unit 15 generates reference object pair information Ipa.

[0062] Next, the coordinate system transformation unit 16 performs a coordinate system transformation on the sensor coordinate system position information Isp (step S14). In this case, for example, the coordinate system transformation unit 16 converts the sensor coordinate system position information Isp to robot coordinate system position information Irp based on coordinate system transformation information stored in advance in the memory 12 or the like.

[0063] Next, the safety plane generation unit 17 generates a safety plane that passes through the reference line segment connecting the pair of columnar objects 7 recognized in step S13 and is perpendicular to the reference plane (step S15). In this case, the safety plane generation unit 17 recognizes the reference line segment connecting the positions of each columnar object 7 indicated by the robot coordinate system position information Irp for each pair of columnar objects 7 indicated by the reference object pair information Ipa, and generates a safety plane for each of these reference line segments.

[0064] Then, the setting unit 18 outputs a setting signal S4 that instructs the setting of the safety plane generated by the safety plane generation unit 17 (step S16). In this case, the setting unit 18 supplies the setting signal S4 to the robot control device 5 via the interface 13. Subsequently, the robot control device 5 controls the robot 6 so that the robot 6 does not come into contact with the safety plane specified by the setting signal S4. Note that the columnar object 7 and the rope 8 may be removed when the robot 6 is being controlled.

[0065] (9) Variation The following modifications are suitable for the embodiments described above. The following modifications may be applied in combination to the embodiments described above.

[0066] (First variation) Camera 4 may also be a camera mounted on robot 6.

[0067] In this case, the robot 6 rotates 360 degrees while adjusting the elevation angle of the camera 4 so that the columnar object 7 is included in the field of view, thereby supplying multiple captured images S3 of the horizontal 360 degrees from the robot 6 to the operating range setting device 1. Based on these multiple captured images S3, the operating range setting device 1 generates sensor coordinate system position information Isp and reference object pair information Ipa. In this case, the operating range setting device 1 generates 3D measurement information (environment map) of the environment around the robot 6 by combining the multiple captured images S3, and performs recognition of the columnar object 7 and the rope 8 based on this 3D measurement information (i.e., generation of sensor coordinate system position information Isp and reference object pair information Ipa). Such 3D measurement information may be generated based on any SLAM technology, for example.

[0068] Thus, even if the camera 4 is mounted on the robot 6, the operating range setting device 1 can acquire the captured images S3 necessary for recognizing the columnar object 7 and the rope 8 by moving the robot 6 so that the camera 4 can capture images of the surrounding environment.

[0069] The robot management system 100 may be equipped with external sensors other than a camera that can detect the columnar object 7 and the rope 8, instead of the camera 4. In this case, the operating range setting device 1 generates sensor coordinate system position information Isp and reference object pair information Ipa based on the information generated by the external sensors. In this case, for example, model information representing models that mimic the columnar object 7 and the rope 8 is stored in the memory 12, and the operating range setting device 1 extracts the point cloud information of the columnar object 7 and the rope 8 included in the 3D point cloud information by, for example, matching the 3D point cloud information generated by the range sensor with the model information. In this way, even when external sensors other than a camera are used, the operating range setting device 1 can suitably perform the recognition process of the columnar object 7 and the rope 8.

[0070] (Second variation) The columnar object 7 does not need to be a column in the strict sense; it can be any object that extends approximately perpendicular to the installation surface. For example, the columnar object 7 may be a tapered object or a cone. Even in this case, the operating range setting device 1 can generate sensor coordinate system position information Isp indicating the position of the columnar object 7 on the reference plane based on the captured image S3, and can suitably perform the identification of the reference line segment and the generation of a safety plane.

[0071] Furthermore, the rope 8 does not need to be a string-like object; it may be a flat object such as tape. Even in this case, the operating range setting device 1 can suitably recognize the pair of columnar objects 7 by detecting the object in the captured image S3.

[0072] (Third variation) Instead of recognizing a pair of columnar objects 7 connected by a rope 8, the recognition unit 15 may recognize two columnar objects 7 that are in a predetermined positional relationship with respect to a predetermined object as a pair of columnar objects 7.

[0073] Figure 9 is an overhead view showing an example of the installation of the robot 6 and columnar objects 7 in the third modified example. In this case, cones 9 (9A to 9C) are provided between the pair of columnar objects 7. In this case, the recognition unit 15 applies arbitrary image recognition technology to the captured image S3 to recognize the three-dimensional position of cones 9A to 9C in the sensor coordinate system, similar to the columnar objects 7A to 7D. Based on the position information of the columnar objects 7A to 7D and the position information of cones 9A to 9C, the recognition unit 15 recognizes that cone 9A is located between columnar object 7A and columnar object 7B, cone 9B is located between columnar object 7B and columnar object 7C, and cone 9C is located between columnar object 7C and columnar object 7D. In this case, the recognition unit 15 recognizes that columnar object 7A and columnar object 7B, columnar object 7B and columnar object 7C, and columnar object 7C and columnar object 7D are each paired, and generates reference object pair information Ipa that shows these relationships.

[0074] Thus, in the example shown in Figure 9, a second object (a cone 9 in Figure 9), other than the columnar object 7 that serves as the reference object, is positioned in a predetermined positional relationship with the pair of columnar objects 7 to be combined (the second object is positioned between the pair of columnar objects 7). Even in this case, the operating range setting device 1 can appropriately recognize the pair of columnar objects 7 that generate the safety plane.

[0075] (Fourth variation) The columnar object 7 may be installed without the rope 8.

[0076] Figure 10(A) is an overhead view showing an example of the installation of the robot 6 and columnar objects 7 in the fourth modified example. In this case, each of the columnar objects 7A to 7D is attached with markers 14A to 14D. Here, markers 14A to 14D function as AR markers and are markers that can identify their respective identification numbers. Here, as an example, it is assumed that markers 14A to 14D are assigned sequential identification numbers "1" to "4".

[0077] Furthermore, the memory 12 of the operating range setting device 1 stores information indicating the rules for combinations of identification numbers to be considered as pairs (also called "rule information"). Figure 10(B) shows an example of rule information. Note that this rule information may be updated based on input information S1 supplied from the input device 2. In addition, the memory 12 stores information necessary to recognize markers 14A to 14D as AR markers.

[0078] The recognition unit 15 of the operating range setting device 1 detects markers 14A to 14D attached to columnar objects 7A to 7D, respectively, based on the captured image S3, and recognizes the identification numbers of each marker 14A to 14D. The recognition unit 15 also analyzes the image regions of markers 14A to 14D in the captured image S3 to recognize the three-dimensional positions of columnar objects 7A to 7D corresponding to each marker 14A to 14D, and generates sensor coordinate system position information Isp. Furthermore, the recognition unit 15 recognizes the paired columnar objects 7 based on the identification numbers of each marker 14A to 14D and the rule information shown in Figure 10(B), and generates reference object pair information Ipa. In this example, the recognition unit 15 generates reference object pair information Ipa specifying columnar object 7A and columnar object 7B, columnar object 7B and columnar object 7C, and columnar object 7C and columnar object 7D as pairs.

[0079] Thus, even when the rope 8 is not provided, the operating range setting device 1 can recognize the pair of columnar objects 7 that generate the safety plane. Alternatively, instead of the markers 14A to 14D being individually identifiable, the columnar objects 7A to 7D may be configured to be individually identifiable. In this case, the columnar objects 7A to 7D may have different colors, patterns, shapes, or sizes for each individual object.

[0080] (Fifth variation) The recognition unit 15 may recognize a pair of columnar objects 7 based on the input information S1 supplied from the input device 2.

[0081] Figure 11 shows an example of the display of the operating range setting screen that the recognition unit 15 displays on the display device 3 based on the display information S2 in the fifth modified example. The recognition unit 15 mainly provides a reference object display area 21, a pair designation area 22, and a confirmation button 23 on the operating range setting screen.

[0082] The recognition unit 15 displays the captured image S3 on the reference object display area 21. In this case, the recognition unit 15 assigns identification information "reference object A" to "reference object D" to the four columnar objects 7 detected from the captured image S3 by image recognition processing, and displays this identification information on the captured image S3 in association with each image area of ​​the four columnar objects 7. Alternatively, instead of displaying the captured image S3 on the reference object display area 21, the recognition unit 15 may display computer graphics that model the shooting range of the captured image S3 based on the captured image S3.

[0083] Furthermore, the recognition unit 15 displays a user interface on the pair designation area 22 for specifying a pair of columnar objects 7. Here, the recognition unit 15 displays two pull-down menus for each pair to be designated. Each pull-down menu allows the user to specify any combination of columnar objects 7 (reference object A to reference object D) as a pair.

[0084] Then, when the recognition unit 15 detects that the confirmation button 23 has been selected, it generates reference object pair information Ipa based on the input information S1 indicating the pair of columnar objects 7 specified in the pair designation area 22. In this way, the recognition unit 15 can suitably recognize the pair of columnar objects 7 that generate the safety plane based on user input.

[0085] (Sixth variation) The operating range setting device 1 may generate a safety plane based on a reference line segment obtained by translating a reference line segment set based on the robot coordinate system position information Irp by a predetermined distance. Hereafter, the reference line segment before translation will be called the "first reference line segment," and the reference line segment after translation will be called the "second reference line segment" or "second line segment."

[0086] Figure 12 is an overhead view of the space where the operating range of robot 6 is defined. In Figure 12, for ease of explanation, the rope 8 is not shown, and the first reference line segment 23A~23D and the second reference line segments 24Aa~24Da and 24Ab~24Db are clearly indicated. Here, as in the first installation example in Figure 3, columnar object 7A and columnar object 7B, columnar object 7B and columnar object 7C, columnar object 7C and columnar object 7D, and columnar object 7A and columnar object 7D are recognized as pairs.

[0087] As shown in Figure 12, the safety plane generation unit 17 of the operating range setting device 1 recognizes the first reference line segments 23A to 23D based on the robot coordinate system position information Irp of each columnar object 7A to 7D. Subsequently, the safety plane generation unit 17 sets the second reference line segments 24Aa to 24Da and 24Ab to 24Db, respectively, by translating the first reference line segments 23A to 23D by a distance "d" in both directions perpendicular to these line segments on the reference surface (in this case, the floor surface). In other words, the safety plane generation unit 17 sets second reference line segments 24Aa to 24Da by translating the first reference line segments 23A to 23D by a distance d so as to shrink the rectangular area formed by the first reference line segments 23A to 23D while maintaining a similar relationship, and sets second reference line segments 24Ab to 24Db by translating the first reference line segments 23A to 23D by a distance d so as to expand the rectangular area formed by the first reference line segments 23A to 23D while maintaining a similar relationship. In this case, for example, the safety plane generation unit 17 translates the first reference line segments 23A to 23D in both directions of perpendiculars drawn from the installation position of the robot 6 (e.g., a representative position such as the center of gravity) to the first reference line segments 23A to 23D, respectively. Furthermore, if the first reference line segment forms a closed region, the safety plane generation unit 17 may change the length of the second reference line segment from the length of the first reference line segment before translation so that the second reference line segment also forms a closed region.

[0088] In this case, for example, information about distance d is stored in memory 12, and the safety plane generation unit 17 sets the second reference line segments 24Aa to 24Da and 24Ab to 24Db from the first reference line segments 23A to 23D by referring to memory 12, etc.

[0089] The safety plane generation unit 17 then generates a safety plane that passes through the second reference line segments 24Aa to 24Da and 24Ab to 24Db, respectively, and is perpendicular to the reference plane (in this case, the floor). In this case, the safety plane based on the second reference line segments 24Aa to 24Da is set at a position that slides toward the robot 6 than the range determined by the positions of the columnar objects 7A to 7D. Therefore, in this case, the operating range setting device 1 can suitably set the operating range of the robot 6 so that the robot 6 operates more safely when the robot 6 is in operation. Furthermore, assuming that the installation position of the robot 6 shown in Figure 12 is outside the area enclosed by the columnar objects 7A to 7D, that is, assuming that the no-entry area for the robot 6 is enclosed by the columnar objects 7A to 7D, the safety plane generation unit 17 generates a safety plane based on the second reference line segments 24Ab to 24Db that expands the no-entry area. Therefore, even in this case, the operating range setting device 1 can suitably set the operating range of the robot 6 so that the robot 6 operates more safely when it is in operation.

[0090] (Seventh variation) The recognition unit 15 may generate position information of the columnar object 7 in the robot coordinate system instead of the sensor coordinate system position information Isp. In this case, the operating range setting device 1 does not need to include a coordinate system transformation unit 16.

[0091] <Second Embodiment> The second embodiment differs from the first embodiment in that, instead of generating a safety plane based on the positions of a pair of columnar objects 7, it generates a safety plane based on the positions of tape stretched across the floor or wall. In the second embodiment, the same reference numerals are used for components identical to those in the first embodiment, and their descriptions are omitted as appropriate.

[0092] Figure 13 is an overhead view showing an example of setting the operating range of the robot 6 installed on the floor in the second embodiment. In Figure 13, tapes 25 (25A to 25C) for setting the operating range of the robot 6 are attached to the floor surface. Here, as an example, the tapes 25 are attached to the floor surface so that the same safety plane as the second installation example in Figure 5 described in the first embodiment is generated.

[0093] In this case, the recognition unit 15 of the operating range setting device 1 detects tapes 25A to 25C based on the captured image S3 and generates sensor coordinate system position information Isp indicating the positions of both ends of tapes 25A to 25C. Specifically, the recognition unit 15, Tape 25A has two ends, 25Aa and 25Ab. Tape 25B has both ends 25Ba, 25Bb, and Tape 25C has 25Ca and 25Cb on both ends. The recognition unit 15 generates sensor coordinate system position information Isp indicating the position of each of the elements. The recognition unit 15 also generates reference object pair information Ipa for each of tapes 25A to 25C, specifying the positions of both ends as a pair.

[0094] Then, the coordinate system transformation unit 16 generates robot coordinate system position information Irp by transforming the coordinate system position information Isp of each sensor. The safety plane generation unit 17 generates reference line segments connecting the respective end positions of tapes 25A to 25C based on the robot coordinate system position information Irp and the reference object pair information Ipa, and generates a safety plane perpendicular to the reference plane based on each reference line segment. In this case, the safety plane generation unit 17, Safety plane based on the reference line segment connecting both ends 25Aa and 25Ab of tape 25A, A safety plane based on the reference line segment connecting both ends 25Ba and 25Bb of tape 25B, and Safety plane based on the reference line segment connecting the two ends 25Ca and 25Cb of tape 25C. Each of these will be generated.

[0095] As described above, the operating range setting device 1 according to the second embodiment can appropriately generate a safety plane corresponding to the position of the tape 25 set by the user by recognizing the tape 25 attached to the floor surface. In this case, the user can cause the operating range setting device 1 to set the desired operating range by performing the task of attaching the tape 25 to the floor surface according to the operating range they wish to set.

[0096] Here, a specific example of a method for generating sensor coordinate system position information Isp will be described. In the first example, the recognition unit 15 generates sensor coordinate system position information Isp based on the pixel position of each tape 25 identified based on the captured image S3 (i.e., the direction in which the tape 25 exists relative to the camera 4) and the position information of the floor surface. In this case, for example, the memory 12 accessible to the recognition unit 15 stores the position information in the sensor coordinate system of the floor surface (i.e., the reference surface) to which the tape 25 is attached. In the second example, both ends of the tapes 25A to 25C are fitted with AR markers for recognizing three-dimensional positions, similar to the columnar object 7 in the first embodiment, and the recognition unit 15 generates sensor coordinate system position information Isp by recognizing these AR markers. In the third example, the camera 4 is a stereo camera, and the recognition unit 15 generates sensor coordinate system position information Isp by identifying the measurement information corresponding to the tape 25 from the three-dimensional measurement information generated by the camera 4.

[0097] Figure 14 is an overhead view showing an example of setting the operating range of a robot 6 installed on a wall in the second embodiment. In Figure 14, the robot 6 is installed on a wall, and tape 25 (25X, 25Y) for setting the operating range of the robot 6 is attached to the wall surface. Here, a plane parallel to the wall surface is set as the reference plane, and the Xr axis and Yr axis are set to be parallel to the wall surface.

[0098] In this case, the recognition unit 15 of the operating range setting device 1 detects tape 25X and tape 25Y based on the captured image S3 and generates sensor coordinate system position information Isp indicating the positions of both ends of tape 25X and tape 25Y. The recognition unit 15 also generates reference object pair information Ipa, which designates the positions of both ends of tape 25X and tape 25Y as pairs of reference objects. The coordinate system transformation unit 16 then generates robot coordinate system position information Irp by transforming the sensor coordinate system position information Isp. The safety plane generation unit 17 generates reference line segments connecting the respective end positions of tape 25X and tape 25Y based on the robot coordinate system position information Irp and the reference object pair information Ipa, and generates a safety plane perpendicular to the reference plane based on each reference line segment.

[0099] Thus, the operating range setting device 1 according to the second embodiment can also suitably generate a safety plane at a position corresponding to the position of the tape 25 attached to the wall surface by recognizing the tape 25. Therefore, even when the robot 6 is installed on a wall, the user can suitably set the desired operating range with the operating range setting device 1.

[0100] Figure 15 is an example of a flowchart executed by the operating range setting device 1 in the second embodiment.

[0101] First, the recognition unit 15 of the operating range setting device 1 acquires a captured image S3 from the camera 4 via the interface 13 after the tape 25 is installed (step S21). Then, the recognition unit 15 recognizes the positions of both ends of the tape 25 based on the captured image S3 acquired in step S21 (step S22). As a result, the recognition unit 15 generates sensor coordinate system position information Isp for the positions of both ends of each tape 25.

[0102] Then, the coordinate system transformation unit 16 performs a coordinate system transformation of the sensor coordinate system position information Isp (step S23). In this case, for example, the coordinate system transformation unit 16 converts the sensor coordinate system position information Isp of the sensor coordinate system to the robot coordinate system position information Irp of the robot coordinate system based on coordinate system transformation information stored in advance in the memory 12 or the like.

[0103] Next, the safety plane generation unit 17 generates a safety plane that passes through a reference line segment connecting the ends of each tape 25 and is perpendicular to the reference plane (step S24). In this case, for each tape 25, the safety plane generation unit 17 recognizes the reference line segment connecting the ends of the tape 25 in the robot coordinate system indicated by the robot coordinate system position information Irp, and generates a safety plane based on that reference line segment. Then, the setting unit 18 outputs a setting signal S4 instructing the setting of the safety plane generated by the safety plane generation unit 17 (step S25).

[0104] Alternatively, instead of setting a reference line segment by recognizing the positions of both ends of the tape 25, the operating range setting device 1 may calculate an approximate straight line (line segment) that approximates the tape 25 and set this approximate line segment as the reference line segment. In this case, for example, the operating range setting device 1 determines an approximate straight line for each tape 25 that forms a line segment, based on the position of the tape in the sensor coordinate system in the captured image S3, using the least squares method or the like. Even in this embodiment, the operating range setting device 1 can suitably generate a safety plane for each tape 25 that forms a line segment.

[0105] <Third Embodiment> Figure 16 is a schematic diagram of the operating range setting device 1X in the third embodiment. As shown in Figure 16, the operating range setting device 1X includes a first recognition means 15Xa, a second recognition means 15Xb, and an operating range setting means 17X. The operating range setting device 1X may be composed of multiple devices.

[0106] The first recognition means 15Xa recognizes the positions of multiple reference objects. The second recognition means 15Xb recognizes multiple combinations of paired reference objects from the multiple reference objects. The first recognition means 15Xa and the second recognition means 15Xb can be, for example, the recognition unit 15 in the first embodiment.

[0107] The operating range setting means 17X sets the operating range of the robot based on the line segment connecting the pair of reference objects for each combination. The operating range setting means 17X can be, for example, the safety plane generation unit 17 and setting unit 18 in the first embodiment.

[0108] Figure 17 is an example of a flowchart executed by the operating range setting device 1X in the third embodiment. The first recognition means 15Xa recognizes the positions of multiple reference objects (step S31). The second recognition means 15Xb recognizes multiple combinations of paired reference objects from the multiple reference objects (step S32). The operating range setting means 17X sets the operating range of the robot based on the line segment connecting the paired reference objects for each combination (step S33).

[0109] According to the third embodiment, the operating range setting device 1X can suitably set the operating range of the robot based on a plurality of reference objects installed according to the desired operating range.

[0110] <Fourth Embodiment> Figure 18 is a schematic diagram of the operating range setting device 1Y in the fourth embodiment. As shown in Figure 18, the operating range setting device 1Y has a recognition means 15Y and an operating range setting means 17Y. Note that the operating range setting device 1Y may be composed of multiple devices.

[0111] The recognition means 15Y recognizes the position of a reference object. The recognition means 15Y can be, for example, the recognition unit 15 in the second embodiment.

[0112] The operating range setting means 17Y sets the operating range of the robot based on a line segment identified by a reference object. The operating range setting means 17Y can be, for example, the safety plane generation unit 17 and setting unit 18 in the second embodiment.

[0113] Figure 19 is an example of a flowchart executed by the operating range setting device 1Y in the fourth embodiment. The recognition means 15Y recognizes the position of the reference object (step S41). Then, the operating range setting means 17Y sets the operating range of the robot based on the line segment identified by the reference object (step S42).

[0114] According to the fourth embodiment, the operating range setting device 1Y can suitably set the operating range of the robot based on a reference object installed according to the desired operating range.

[0115] In each of the embodiments described above, the program can be stored using various types of non-transitory computer-readable medium and supplied to a computer, such as a processor. Non-transitory computer-readable mediums include various types of tangible storage mediums. Examples of non-transitory computer-readable mediums include magnetic recording media (e.g., flexible disks, magnetic tapes, hard disk drives), magneto-optical recording media (e.g., magneto-optical disks), CD-ROMs (Read Only Memory), CD-Rs, CD-R / Ws, and semiconductor memories (e.g., mask ROMs, PROMs (Programmable ROMs), EPROMs (Erasable PROMs), flash ROMs, and RAMs (Random Access Memory)). The program may also be supplied to the computer using various types of transient computer-readable mediums. Examples of transient computer-readable mediums include electrical signals, optical signals, and electromagnetic waves. Transitory computer-readable mediums can supply the program to the computer via wired communication channels such as electric wires and optical fibers, or via wireless communication channels.

[0116] Furthermore, some or all of the above embodiments may also be described as follows, but are not limited to these.

[0117] [Note 1] A first recognition means for recognizing the positions of multiple reference objects, A second recognition means for recognizing multiple combinations of paired reference objects from the aforementioned multiple reference objects, For each of the aforementioned combinations, a range of motion setting means sets the operating range of the robot based on the line segment connecting the pair of reference objects, A device for setting the operating range, equipped with the following features. [Note 2] The operating range setting device according to Appendix 1, wherein the operating range setting means sets a plane that passes through the line segment and is perpendicular to a reference plane used as a reference in the control of the robot as a safety plane that restricts the operating range. [Note 3] The operating range setting device according to claim 1, wherein the operating range setting means sets a plane perpendicular to the reference plane, passing through a second line segment obtained by translating the line segment in both directions perpendicular to the line segment on a reference plane used as a reference in the control of the robot, and the plane perpendicular to the reference plane, as a safety plane which is a plane that restricts the operating range. [Note 4] The operating range setting device according to any one of the appendices 1 to 3, wherein the first recognition means recognizes the position of the plurality of reference objects based on the detection result of a marker provided on each of the reference objects. [Note 5] The operating range setting device according to any one of the appendices 1 to 4, wherein the second recognition means recognizes the pair of reference objects based on the presence or absence of a second object connecting the pair of reference objects. [Note 6] The operating range setting device according to any one of the appendices 1 to 4, wherein the second recognition means recognizes two reference objects that are in a predetermined positional relationship with the second object as the pair of reference objects. [Note 7] The operating range setting device according to Appendix 5 or 6, wherein the second recognition means detects the second object based on the color of the second object or the presence or absence of a marker. [Note 8] The operating range setting device according to any one of the appendices 1 to 4, wherein the second recognition means recognizes the pair of reference objects based on input information specifying the pair of reference objects. [Note 9] The operating range setting device according to any one of the appendices 1 to 8, wherein the first recognition means recognizes the positions of the plurality of reference objects based on information generated by a sensor that includes the plurality of reference objects within its detection range. [Note 10] The aforementioned sensor is provided on the robot, The first recognition means is an operating range setting device according to Appendix 9, which moves the robot so that the plurality of reference objects are included in the detection range. [Note 11] The aforementioned sensor is a camera, a range sensor, or a combination thereof, as described in Appendix 9 or 10, for the operating range setting device. [Note 12] The operating range setting device according to any one of the appendices 9 to 11, further comprising a coordinate system transformation means for transforming the positions of the plurality of reference objects recognized by the first recognition means from a coordinate system based on the sensor to a coordinate system used as a reference in the control of the robot. [Note 13] The operating range setting device according to Appendix 2 or 3, wherein the reference object is a columnar object extending perpendicularly to the reference plane. [Note 14] The aforementioned reference object is a range-of-operation setting device as described in any one of the appendices 1 to 13, which is removed before the robot is put into operation. [Note 15] A recognition means for recognizing the position of a reference object, A range setting means for setting the robot's operating range based on the line segment specified by the aforementioned reference object, A device for setting the operating range, equipped with the following features. [Note 16] The operating range setting device according to claim 15, wherein the reference object is a tape attached to the floor or wall. [Note 17] By computer, Recognizing the positions of multiple reference objects, From the aforementioned plurality of reference objects, multiple combinations of paired reference objects are recognized. For each of the aforementioned combinations, the operating range of the robot is set based on the line segment connecting the pair of reference objects. How to set the operating range. [Note 18] Recognizing the positions of multiple reference objects, From the aforementioned plurality of reference objects, multiple combinations of paired reference objects are recognized. A recording medium containing a program that causes a computer to perform a process to set the operating range of a robot based on the line segment connecting the pair of reference objects for each of the aforementioned combinations. [Note 19] By computer, Recognize the position of the reference object, Based on the line segment specified by the aforementioned reference object, the operating range of the robot is set. How to set the operating range. [Note 20] Recognize the position of the reference object, Based on the line segment specified by the aforementioned reference object, a process is performed to set the operating range of the robot. A storage medium that contains programs to be executed by a computer.

[0118] Although the present invention has been described above with reference to embodiments, the present invention is not limited to the above embodiments. Various modifications to the structure and details of the present invention can be made that are understandable to those skilled in the art within the scope of the present invention. That is, the present invention naturally includes the full disclosure, including the claims, and various modifications and alterations that those skilled in the art could make in accordance with the technical idea. Furthermore, each disclosure of the above-mentioned patent documents and other references is incorporated herein by reference. [Explanation of Symbols]

[0119] 1, 1X, 1Y Operating Range Setting Device 2 Input devices 3 Display device 4. Camera (imaging means) 5. Robot control device 6 Robots 7, 7A~7D Columnar object 8, 8A~8D Rope 9, 9A~9C cones 14A~14D Marker 25, 25A~25C, 25X, 25Y Tapes 100 Robot Management Systems

Claims

1. A first recognition means for recognizing the positions of multiple reference objects, A second recognition means for recognizing multiple combinations of paired reference objects from the aforementioned multiple reference objects, For each of the aforementioned combinations, a plane passing through the line segment connecting the pair of reference objects and perpendicular to the reference plane, which is the installation surface on which the vertical articulated robot is installed, is set as a safety plane that restricts the operating range of the vertical articulated robot, in a step prior to the operation control of the vertical articulated robot, and an operating range setting means for restricting the operation of the vertical articulated robot so as not to come into contact with the safety plane, A device for setting the operating range, equipped with the following features.

2. The operating range setting device according to claim 1, wherein the operating range setting means sets a plane perpendicular to the reference plane, passing through a second line segment obtained by translating the line segment in both directions perpendicular to the line segment on the reference plane, and the plane perpendicular to the reference plane, as a safety plane which is a plane that restricts the operating range.

3. The operating range setting device according to claim 1 or 2, wherein the first recognition means recognizes the positions of the plurality of reference objects based on the detection results of markers provided on each of the reference objects.

4. The operating range setting device according to any one of claims 1 to 3, wherein the second recognition means recognizes the pair of reference objects based on the presence or absence of a second object connecting the pair of reference objects.

5. The operating range setting device according to any one of claims 1 to 3, wherein the second recognition means recognizes two reference objects that have a predetermined positional relationship with the second object as the pair of reference objects.

6. The operating range setting device according to claim 4 or 5, wherein the second recognition means detects the second object based on the color of the second object or the presence or absence of a marker.

7. The operating range setting device according to claim 1 or 2, wherein the reference object is a tape attached to the floor surface.

8. By computer, Recognizing the positions of multiple reference objects, From the aforementioned plurality of reference objects, multiple combinations of paired reference objects are recognized. For each of the above combinations, a plane passing through the line segment connecting the pair of reference objects and perpendicular to the reference plane, which is the installation surface on which the vertical articulated robot is installed, is set as a safety plane that restricts the operating range of the vertical articulated robot, in the stage prior to the operation control of the vertical articulated robot, and the operation of the vertical articulated robot is restricted so as not to come into contact with the safety plane. How to set the operating range.

9. Recognizing the positions of multiple reference objects, From the aforementioned plurality of reference objects, multiple combinations of paired reference objects are recognized. A program that, in the stage prior to the operation control of the vertical articulated robot, sets a plane that passes through the line segment connecting the pair of reference objects for each of the above combinations and is perpendicular to the reference plane which is the installation surface on which the vertical articulated robot is installed, as a safety plane which restricts the operating range of the vertical articulated robot, and causes the computer to execute a process to restrict the operation of the vertical articulated robot so as not to come into contact with the safety plane.

Images