ROBOT CONTROL DEVICE, ROBOT CONTROL SYSTEM, AND ROBOT CONTROL METHOD

Abstract

The robot control device (3) operates according to a control program and includes a look-ahead operation calculation unit (11) that looks ahead at the control program and calculates robot operation information, which is information defined in the control program, a display image generation unit (12) that generates a display image showing the robot operation information, a recognition processing unit (13) that identifies whether or not a detection signal received from the detection device (4) contains a human, and a display switching processing unit (15) that switches the display image between when the recognition processing unit (13) recognizes that the signal contains a human and when it does not. This makes it easier for people to understand the robot's operations that are related to human safety.

Description

[Technical field]

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

[0002] A robot controller controls the robot's movements according to a control program or commands from a user through a user interface. When a worker and a robot controlled by such a robot controller share a workspace, the worker's safety must be guaranteed. Methods have been proposed to help workers work safely near robots.

[0003] For example, in the display system for robots in Patent Document 1, when a branch command is found by looking ahead at the control program that controls the robot's operation, multiple predicted trajectories, which are the trajectories from the branch origin position to each target position for each branch destination, are generated as virtual images and displayed together with the robot. Furthermore, the thickness of the multiple predicted trajectories is changed depending on the possibility of the branch destination. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2018-051653 A Summary of the Invention [Problem to be solved by the invention]

[0005] However, in Patent Document 1, the predicted trajectory of the robot is merely displayed together with the branching possibility, making it difficult for a worker to quickly determine whether the predicted trajectory is important for human safety just by looking at it.

[0006] The present disclosure has been made in consideration of the above problems, and aims to provide a robot control device, a robot control system, and a robot control method that make it easy for people to understand the operations of a robot that relate to human safety. [Means for solving the problem]

[0007] The robot control device according to the present disclosure is a robot control device that operates according to a control program, and has a display interval setting unit that stores a display interval that can be changed by a user in a storage device, and is equipped with a look-ahead operation calculation unit that looks ahead at the control program and calculates robot operation information that shows the operation of the robot defined in the control program, a display image generation unit that generates a display image that shows the robot operation information and includes a robot position corresponding to the display interval, a recognition processing unit that recognizes whether or not a person is included in a detection signal received from a detection device that detects people and objects within the robot's operation area, and a display switching processing unit that adds a warning display to the display image when the recognition processing unit recognizes that a person is included, and does not add a warning display to the display image when it recognizes that a person is not included. The display switching processing unit adds a warning display in a more conspicuous manner than when an object collides with the robot if the person is likely to collide with the robot unless an avoidance action is taken. It is something.

[0008] A robot control system according to this disclosure includes a robot control device according to this disclosure, a robot controlled by the robot control device, a detection device that detects an area including the robot's operating area, and a display device that receives and displays a display image from the robot control device.

[0009] The robot control method disclosed herein includes the steps of: storing a display section in a storage device that can be changed by a user's setting; reading ahead a control program and calculating robot operation information that indicates the robot's operation defined in the control program; generating a display image that indicates the robot operation information, the display image including the position of the robot corresponding to the display section; recognizing whether or not a person is included in a detection signal received from a detection device that detects people and objects within the robot's operation area; and adding a warning display to the display image if it is recognized that a person is included, and not adding a warning display to the display image if it is recognized that a person is not included. Display Switching Steps and In the display switching step, when the person is likely to collide with the robot unless an avoidance action is taken, a warning display is added in a more conspicuous manner than when an object is likely to collide with the robot. It is something. Effect of the Invention

[0010] According to the present disclosure, the motion of a robot that is related to human safety can be controlled by a human. Depending on skill level It’ll be easier to grasp. [Brief description of the drawings]

[0011] [Figure 1] FIG. 1 is a schematic configuration diagram showing a robot control system according to a first embodiment. [Diagram 2] FIG. 1 is a functional block diagram of a robot control system according to a first embodiment. [Diagram 3] 4 is a flowchart of a process performed by the robot control device according to the first embodiment. [Figure 4] 13 is an example of displaying a warning when a person approaches the robot according to the first embodiment. [Diagram 5] FIG. 2 is a hardware configuration diagram for implementing the robot control device according to the first embodiment. [Figure 6] 4 is an example of a display image in which the robot operation information according to the first embodiment is expressed as a robot posture. [Figure 7] 3 is an example in which the projection surface of the display device according to the first embodiment is a conveyor belt. [Figure 8]2 shows an example in which an LED display, which is a display device, is incorporated in the base of the robot according to the first embodiment. [Figure 9] 13 is an example of displaying that the robot of the robot control system according to the first embodiment is stopped. [Figure 10] FIG. 11 is a functional block diagram of a robot control system according to a second embodiment. [Figure 11] 11 is a flowchart of a process performed by a robot control device according to the second embodiment. [Figure 12] FIG. 11 is a functional block diagram of a robot control system according to a third embodiment. [Figure 13] 13 shows an example of changing the character direction by the image direction changing unit according to the third embodiment. [Figure 14] FIG. 13 is a functional block diagram showing a robot control system according to a fourth embodiment. [Figure 15] FIG. 13 is a diagram for explaining a display section according to the fourth embodiment. [Figure 16] 13 is an example in which a display section is changed in the robot control system according to the fourth embodiment. [Figure 17] 13 shows an example of setting a display section in the robot control system according to the fourth embodiment. [Figure 18] 13 shows an example of setting a display section in the robot control system according to the fourth embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. In the drawings, the same reference numerals denote the same or corresponding parts.

[0013] Embodiment 1 1 is a schematic diagram showing a robot control system 100. The robot control system 100 includes a robot 1, a robot control device 3 that controls the operation of the robot 1, an imaging device 4 that detects people and objects such as a worker 2 in the operating area of ​​the robot 1, and a display device 5 that displays robot operation information (to be described later) in the actual working space.

[0014] The robot 1 is, for example, a six-axis vertical articulated robot, and the arms of each axis are driven by a motor mounted on each axis. The robot 1 is equipped with an encoder (not shown) that measures the current rotation angle of the motor. For example, the robot 1 grasps a workpiece 7 placed on a belt conveyor 6 and performs a task such as moving the workpiece in cooperation with an operator.

[0015] Here, an example will be described in which the robot 1 operates on a workpiece 7 placed on the belt conveyor 6, but the present invention is not limited to this. There may be a peripheral device such as a workbench other than the belt conveyor 6, and the robot 1 may perform an operation other than an operation on the workpiece 7.

[0016] The worker 2 is a co-worker who works in the same workspace as the robot 1. The worker 2 works on a workpiece 7 in the workspace that includes the motion area of ​​the robot 1. The imaging device 4 detects an area that includes the motion area of ​​the robot 1. In other words, the imaging device 4 is a detection device that detects people and objects that exist around the robot, and the imaging information captured by the imaging device 4 is a detection signal.

[0017] The robot controller 3 reads ahead the control program, and calculates robot operation information such as the operation start position, current position, destination position, operation path (trajectory), operation direction, operation speed, etc. of the robot 1 by referring to the positions of the arm and end effector of the robot 1. Here, information regarding the operation of the robot 1 defined in the control program is referred to as the robot operation information. The robot controller 3 also has a robot model having the arm length and rotation direction of each axis, and calculates the current feedback position, current feedback posture, current feedback speed, etc. of the end effector by acquiring the rotation angle of the motor sent from the encoder of the robot 1. The robot controller 3 generates an image showing the robot operation information to the worker 2, and transmits it to the display device 5.

[0018] The display device 5 is, for example, a projector, and is connected to the robot control device 3 wirelessly or by wire. The display device 5 displays an image showing the robot operation information received from the robot control device 3 on the workspace. In FIG. 1, the part surrounded by a dotted line is the display image. The display image includes the operation start position P1, current position Pc, destination position P2, operation path L1, operation direction, etc. of the end effector. The operation direction is represented by an arrow. The operation start position P1, current position Pc, destination position P2, operation path L1, operation direction, and operation speed are the robot operation information. The operation path L1 is the operation trajectory from the operation start position P1 to the destination position P2.

[0019] 2 is a functional block diagram of the robot control system 100 according to the embodiment 1. The robot control device 3 includes a robot control unit 10, a look-ahead operation calculation unit 11, a display image generation unit 12, a recognition processing unit 13, a determination processing unit 14, and a display switching processing unit 15.

[0020] The look-ahead motion calculation unit 11 looks ahead at the control program and obtains the target position P2 and the type of motion interpolation. The types of motion interpolation include an interpolation that moves the end effector on a straight line, an interpolation that moves on an arc, an interpolation that moves on a preset free curve, and the like, and it is also possible to specify other interpolation methods.

[0021] The look-ahead motion calculation unit 11 performs an interpolation process by calculating the command position P(t) of the end effector for each time t from the target position P2 of the control program and the type of motion interpolation. The look-ahead motion calculation unit 11 calculates a motion path L1 based on the command position P(t). The look-ahead motion calculation unit 11 calculates the motion path L1, motion start position P1, target position P2, current position Pc, motion speed, etc. as robot motion information, and transmits them to the display image generation unit 12, the recognition processing unit 13, and the robot control unit 10. Here, the motion start position P1 is the position where the interpolation to the target position P2 starts or the position obtained from the position where the robot is stopped.

[0022] The robot control unit 10 controls the movement of the robot 1 by driving the motors of each axis of the robot 1 based on the robot operation information acquired from the look-ahead operation calculation unit 11.

[0023] The recognition processing unit 13 receives imaging information from the imaging device 4, and acquires information including the positions and movements of objects such as machine tools, structures, and workpieces 7, and people such as workers 2. The recognition processing unit 13 recognizes whether or not a person is included in the imaging information. If a person is included, the recognition processing unit 13 analyzes, based on the imaging information, where the person is located and what kind of movement the person is making (e.g., direction of movement, speed of movement, etc.). The recognition processing unit 13 also analyzes where an object is located, etc. For example, model images of objects such as machine tools and structures and people are registered in advance, and analysis is performed by comparing the imaging information with the model images. The recognition processing unit 13 transmits the analysis results to the judgment processing unit 14.

[0024] The determination processing unit 14 determines whether or not the person and the robot 1 are approaching each other based on the robot operation information received from the look-ahead operation calculation unit 11 and the analysis result of the recognition processing unit 13. The determination of whether or not the person and the robot 1 are approaching each other is made, for example, by calculating the relative distance between the person and the robot 1 over time, and determining that they are approaching each other if the relative distance becomes shorter over time. The determination processing unit 14 transmits the determination result to the display switching processing unit 15.

[0025] The display image generation unit 12 generates a display image showing the robot operation information from the robot operation information obtained from the look-ahead operation calculation unit 11, and transmits it to the display switching processing unit 15. In the example of Fig. 1, display images of the operation start position P1, the current position Pc, the destination position P2, and the operation path L1 are generated.

[0026] The display switching processing unit 15 switches the display image based on the determination result of the determination processing unit 14. The display switching processing unit 15 switches the display image between the case where the recognition processing unit 13 recognizes that a person is included and the case where the recognition processing unit 13 recognizes that a person is not included. Specifically, if the determination processing unit 14 determines that a person is approaching in the movement direction of the robot 1, the display switching processing unit 15 changes the display image received from the display image generation unit 12 by adding a warning or the like, and transmits the changed display image to the display device 5.

[0027] 3 is a flowchart of the process performed by the robot control device 3 according to the first embodiment. First, the look-ahead operation calculation unit 11 of the robot control device 3 looks ahead at the control program to calculate robot operation information and transmits it to the display image generation unit 12 (step S1). Next, the display image generation unit 12 generates a display image based on the robot operation information and transmits it to the display switching processing unit 15 (step S2). Next, the recognition processing unit 13 acquires imaging information captured by the imaging device 4 (step S3).

[0028] Next, the recognition processing unit 13 analyzes the position of an object, whether there is a person, and if so, where the person is, as well as the direction and speed of the person's movement, from the imaging information, and transmits the analysis result to the determination processing unit 14 (step S4). If there is a person (step S4 Yes), the process proceeds to step S5, and if there is no person (step S4 No), the process proceeds to step S7. The determination processing unit 14 determines whether the person and the robot 1 are approaching each other from the received analysis result, and transmits the result to the display switching processing unit 15 (step S5).

[0029] If the person and the robot 1 are approaching each other (step S5: Yes), the display switching processing unit 15 transmits a display image with modifications such as adding a warning to the display device 5 (step S6). Specific modifications include, for example, adding a warning or changing the size of the characters, and if a display image other than the warning interferes with the warning, the warning is displayed with priority. If the person and the robot 1 are not approaching each other (step S5: No), the display switching processing unit 15 transmits the display image received from the display image generating unit 12 to the display device 5 as is (step S7).

[0030] Here, the order of steps S1 and S2 and steps S3 and S4 is not limited to this, and steps S3 and S4 may be performed before steps S1 and S2.

[0031] The display image indicated by the dotted line in Fig. 4 is an example in which the display image shown in Fig. 1 has been modified by the display switching processing unit 15. For example, the display switching processing unit 15 adds warning character 20 and a mark 21 indicating a warning, makes the size of the characters "P1" and "Pc" smaller than the warning character 20, and deletes the low-priority characters "P2" and "L1", and the arrow.

[0032] Fig. 5 is a hardware configuration diagram for realizing the robot control device 3. As shown in Fig. 5, a part or the whole of the robot control device 3 is specifically configured with a CPU 31 (Central Processing Unit), a storage device 32, an IO (INPUT OUTPUT) interface 33, etc.

[0033] The storage device 32 is composed of a ROM (Read Only Memory), an HDD (Hard Disk Drive), etc. The imaging device 4, the display device 5, and the robot 1 are connected wirelessly or by wire to the IO interface 33 of the robot control device 3. The storage device 32 stores a control program, model images of objects such as machine tools and structures and people used by the recognition processing unit 13, an arm model of the robot 1, etc. A series of processes of the robot control device 3 is realized by the CPU 31 executing the control program stored in the storage device 32.

[0034] As described above, according to this embodiment, the imaging device 4 obtains the situation around the robot 1 and detects whether or not there is a person, and if there is a person, the judgment processing unit 14 judges whether or not the person and the robot 1 are approaching based on the robot operation information and the movement of the person. If a person is approaching (danger is anticipated), the image generated by the display image generating unit 12 is changed and displayed, for example by adding a warning, so that the robot's operation related to human safety can be displayed in an easy-to-understand manner for the person.

[0035] Although the robot control system 100 has been described as having an imaging device 4, a distance sensor, a visual sensor, an infrared sensor, or a position receiver may be used instead of the imaging device 4. When a position receiver is used, the worker 2 only needs to carry a position transmitter while working. When the position receiver receives a position from the position transmitter of the worker 2, the recognition processing unit 13 can recognize that there is a person at that position. In this case as well, the same effect as described above can be achieved.

[0036] Also, while an example has been shown in which the recognition processing unit 13 performs analysis by matching with pre-registered images, people and objects may be identified from the amount of change in the acquired imaging information over time. When a distance sensor, visual sensor, or the like is used instead of the imaging device 4, people and objects are identified from the amount of change in the acquired sensor information over time. When an infrared sensor is used instead of the imaging device 4, a threshold value corresponding to a person's body temperature is registered in advance, and when the sensor output exceeds the threshold value, the recognition processing unit 13 is made to recognize that it is a person. In these cases as well, the same effects as those described above can be achieved.

[0037] In addition, in step S7 of Fig. 3, an example was shown in which the display image is sent as is when the person and the robot are not close to each other, but a change different from the change when the person and the robot are close to each other (step S6) may be made. In that case, a change that is less noticeable than the change in step S6 that draws the person's attention is made. Specifically, the change is made to make the color less noticeable, the text smaller, etc.

[0038] Furthermore, although the operation start position P1, current position Pc, destination position P2, operation path L1, and operation direction are displayed as the robot operation information, the posture of the robot 1 may be displayed as the robot operation information. FIG. 6 is an example of a display image in which the robot operation information is the posture of the robot 1. In this case, the display image generating unit 12 generates the posture of the robot after a certain time period using an arm model. In this way, the robot operation information can be recognized three-dimensionally by a person. In other words, the robot operation related to human safety can be displayed in a more easily understandable manner.

[0039] Although an example in which the display device 5 displays an image in space has been described, if the display device 5 is a projector, the image may be displayed on a determined projection surface. Fig. 7 shows an example in which the projection surface is a belt conveyor 6.

[0040] The display device 5 may be a head mounted display or an LED display. Fig. 8 shows an example in which an LED display as the display device 5 is built into the base of the robot 1. As robot operation information, the movement direction is displayed as a graphic form, and the movement speed is displayed as text.

[0041] Furthermore, when the robot 1 is stopped, in addition to adding a warning, a display may be displayed to the effect that the robot 1 is stopped. FIG. 9 shows an example in which the fact that the robot 1 is stopped is displayed. In actual work, the robot 1 may be temporarily stopped and restarted to continue its operation from the middle. If a person is within the operating range of the robot 1, there is a possibility that the robot 1 may collide with the robot 1 when it is restarted, or that the person may be surprised by the robot 1's operation and fall over. Therefore, by displaying the fact that the robot 1 is stopped and the trajectory of its operation after restart, it is possible to inform the person of the operation that is related to the safety of the person, even when the robot 1 is stopped, and that this is the operation of the robot 1 at the time of restart.

[0042] Furthermore, the worker 2 has been described as an example of a person, but it is also possible to detect people other than the worker 2, such as a commander or a visitor, and perform the same operation.

[0043] Embodiment 2 10 is a functional block diagram showing a robot control system 100 according to the second embodiment. Descriptions of the same parts as those in the first embodiment will be omitted.

[0044] A robot control system 100 according to the second embodiment will be described with reference to Fig. 10. The robot control system 100 according to the second embodiment differs from the robot control system 100 according to the first embodiment in that the determination processing unit 14 is replaced by a collision determination unit 16. The rest is the same as in the first embodiment.

[0045] The recognition processing unit 13 analyzes the imaging information to determine whether there is a person, where the person is, where an object is, the speed of the person or object, etc., and transmits the results to the collision determination unit 16. The collision determination unit 16 determines whether or not the person or object will collide with the robot 1 based on the robot operation information received from the look-ahead operation calculation unit 11 and the analysis results of the recognition processing unit 13. The collision determination unit 16 transmits the determination result to the display switching processing unit 15.

[0046] Fig. 11 is a flowchart of the process performed by the robot control device 3 according to the second embodiment. Compared to the flowchart in Fig. 3, it differs in that steps S5 and S6 are not included and steps S8 to S11 are added, but the rest is the same. Explanations of the same parts as in Fig. 3 will be omitted.

[0047] First, if step S4 is Yes, the collision determination unit 16 determines whether or not the person will collide with the robot 1 based on the analysis result of the recognition processing unit 13 (step S8). If it is determined that there will be a collision (step S8 Yes), the display switching processing unit 15 adds a warning to the display image and transmits it to the display device 5 (step S10). If there will be no collision (step S8 No), the display switching processing unit 15 transmits the display image as is (step S7).

[0048] If it is not determined in step S4 that a person is present (step S4 No), the collision determination unit 16 determines whether or not the object will collide with the robot 1 based on the analysis result of the recognition processing unit 13 (step S9). If the object will collide with the robot 1 (step S9 Yes), the display switching processing unit 15 adds a warning to the display image in a manner that is less noticeable than the warning in step S10 and transmits the warning to the display device 5 (step S11). If there will be no collision (step S9 No), the display switching processing unit 15 transmits the display image as is (step S7).

[0049] In step S10, the warning is made more noticeable by, for example, making the line thickness used for the warning thicker than that used for the warning when the object collides with the robot 1, making the font larger, or changing the color of the warning in step S11. Here, in step S10, not only the image may be changed but also a sound may be generated.

[0050] Thus, according to this embodiment, when a person is likely to collide with the robot 1 unless evasive action is taken, the display switching processing unit 15 adds a warning in a more conspicuous manner than when an object collides with the robot 1. This makes it easier for the worker 2 to understand the behavior of the robot 1, which has a large impact on safety, that is, when a person will collide with the robot 1 unless evasive action is taken.

[0051] During a collaborative operation between the robot 1 and the worker 2, the workpiece 7 that the worker 2 has been working on may end up being placed on the motion trajectory of the robot 1. According to this embodiment, the display switching processor 15 adds a warning when an object is about to collide with the robot 1, so that even in such a case, the worker 2 can take measures such as removing the workpiece 7 before the collision. In other words, interference between the object and the robot 1 can be prevented without temporarily stopping the operation, improving the work efficiency.

[0052] In this embodiment, the collision determination unit 16 is provided instead of the determination processing unit 14 of the first embodiment, but the collision determination unit 16 may be provided in addition to the determination processing unit 14. In that case, when it is determined that a person will collide with the robot, the display switching processing unit 15 displays an additional warning in a more noticeable manner than the warning when a person is approaching. This makes it possible to inform the worker of the operation of the robot 1 that is related to the safety of people by dividing it into safety-related levels.

[0053] Embodiment 3 Fig. 12 is a functional block diagram showing a robot control system 100 according to the third embodiment. The robot control system 100 according to the third embodiment will be described with reference to Fig. 12. The third embodiment is different from the first embodiment in that an image direction change unit 17 is added to the display switching processing unit 15, and the other configurations are the same. Descriptions of the same parts as those in the first embodiment will be omitted.

[0054] The image orientation change unit 17 acquires the position of the person from the recognition processing unit 13. The image orientation change unit 17 further changes the display image to which a warning or the like has been added so that it is easier to see from the acquired position. That is, the image orientation change unit 17 changes the orientation of the display image depending on the position of the person. FIG. 13 is an example in which the character orientation is changed by the image orientation change unit 17. The characters in the display image created by the display image generation unit 12 are rotated so that the position of the worker 2 faces forward.

[0055] This allows the worker 2 to easily understand the displayed image, and therefore makes it easier for the worker 2 to understand the robot's operations that are related to human safety.

[0056] Although an example in which the image direction changing unit 17 is added to the display switching processing unit 15 of the robot control system 100 of the embodiment 1 has been described, it may be added to the robot control system 100 of the embodiment 2 in a similar manner. In this case as well, it is possible to make it easier to understand the operation of the robot 1 that is related to human safety.

[0057] Embodiment 4 Fig. 14 is a functional block diagram showing a robot control system 100 according to the fourth embodiment. The robot control system 100 according to the fourth embodiment will be described with reference to Fig. 14. The robot control system 100 according to the fourth embodiment is different from the robot control system 100 according to the first embodiment in that the look-ahead operation calculation unit 11 is provided with a display interval setting unit 18, and other configurations are the same. Descriptions of the same parts as those in the first embodiment will be omitted.

[0058] The look-ahead motion calculation unit 11 has a display interval setting unit 18 that acquires a display interval of a display image. The display interval setting unit 18 has a storage device 32 such as a ROM (not shown), and stores the display interval acquired in advance from the worker 2 in the storage device 32. FIG. 15 is a diagram for explaining the display interval. In FIG. 15, the current position is Pc, the current time is Tc, the motion start position is P1, the start time is T1, the destination position is P2, and the time corresponding to the destination position is T2. The display interval is from a time Tc-Ts that is past the current time Tc by the past display interval Ts to a time Tc+Te that is future by the future display interval Te from the current time Tc. The display interval setting unit 18 stores the past display interval Ts and the future display interval Te in the storage device 32.

[0059] The look-ahead movement calculation unit 11 uses the past display section Ts and the future display section Te to calculate a changed display start position Ps corresponding to time Tc-Ts, a changed display end position Pe corresponding to time Tc+Te, and a movement trajectory of the robot 1 from the changed display start position Ps to the changed display end position Pe as robot movement information, and transmits it to the display image generation unit 12. The look-ahead movement calculation unit 11 calculates the position of the robot 1 corresponding to a time (Tc+Te) from the current time Tc to the future of the future display section Te as robot movement information.

[0060] The display image generating unit 12 generates a display image including the position of the robot 1 corresponding to a future time (Tc+Te) from the current time Tc by the future display section Te.

[0061] 16 is an example in which a display section is changed by the display image generating unit 12 according to the fourth embodiment. The display image includes a motion start position P1, a current position Pc, a motion path L1, a changed display start position Ps on a trajectory between the motion start position P1 and the current position Pc, a changed display end position Pe on a trajectory between the current position Pc and a destination position P2, a motion trajectory from the changed display start position Ps to the changed display end position Pe, and a motion direction.

[0062] 17 and 18 are examples of setting the display interval in the robot control system 100 according to the fourth embodiment. In FIG. 17, the display interval is set longer than in FIG. 18. The length of the display interval is determined according to the worker 2. For example, if the worker 2 is a beginner, it is difficult for the worker 2 to predict the robot's movements, so the display interval is made longer. Conversely, if the worker 2 is an expert, the worker 2 can predict the robot's movements, so the display interval is made shorter. In the example of FIG. 18, the changed display start position Ps is set to the same position as the current position Pc.

[0063] In this manner, in this embodiment, since the display interval can be set by the display interval setting unit 18, it is possible to change the display interval according to, for example, the level of proficiency of the worker 2. By making the display interval longer, even a worker 2 who has difficulty predicting the movements of the robot 1 can understand the movements of the robot, improving safety. Also, by shortening the display interval, the worker 2 can concentrate on the work, improving work efficiency.

[0064] Although an example of acquiring the past display section Ts and the future display section Te has been described here, the past display section Ts and the future display section Te may be set to the same value and one value may be acquired. The past display section Ts may be set to a fixed value and only the future display section Te may be acquired. In these cases, the same effects as those described above are achieved.

[0065] In addition, although an example in which the look-ahead operation calculation unit 11 of the robot control system 100 of the embodiment 1 is provided with the display interval setting unit 18 has been described, it may be provided in the robot control system 100 of the embodiment 2 or 3. In these cases, the same effects as those described above can be obtained.

[0066] The configurations shown in the above embodiments are examples of the contents of the present disclosure, and may be combined with other known technologies. It is also possible to combine the above embodiments, or to omit or modify parts of the configurations without departing from the gist of the present disclosure. [Explanation of symbols]

[0067] 1 robot, 2 worker, 3 robot control device, 4 imaging device, 5 display device, 6 conveyor belt, 7 workpiece, 10 robot control unit, 11 look-ahead operation calculation unit, 12 display image generation unit, 13 recognition processing unit, 14 judgment processing unit, 15 display switching processing unit, 16 collision judgment unit, 17 image direction change unit, 100 robot control system.

Claims

1. A robot control device that operates according to a control program, a display section setting unit that acquires a changeable display section from a user and stores the changeable display section in a storage device, and a look-ahead motion calculation unit that looks ahead at the control program and calculates robot motion information that indicates a robot motion defined in the control program; a display image generating unit that generates a display image showing the robot operation information, the display image including a position of the robot corresponding to the display section; a recognition processing unit that recognizes whether a person is included in a detection signal received from a detection device that detects people and objects within an operating area of ​​the robot; a display switching processing unit that switches the display image between a case where the recognition processing unit recognizes that the image includes a person and a case where the recognition processing unit recognizes that the image does not include a person; A robot control device comprising:

2. A robot control device as described in Claim 1, characterized in that the display interval is information regarding a length of time.

3. The recognition processing unit analyzes a position of the person, The robot control device according to claim 1 , wherein the display switching processing unit includes an image direction changing unit that changes the direction of the display image depending on the position of the person.

4. The robot control device according to any one of claims 1 to 3, a robot controlled by the robot control device; A detection device for detecting an area including a motion area of ​​the robot; a display device that receives and displays a display image from the robot control device; A robot control system comprising:

5. A step of acquiring from a user and storing in a storage device a changeable display section; A step of reading ahead a control program and calculating robot operation information indicating a robot operation defined in the control program; generating a display image showing the robot operation information, the display image including a position of the robot corresponding to the display section; A step of recognizing whether a person is included in a detection signal received from a detection device that detects people and objects within an operating area of ​​the robot; switching the displayed image depending on whether the image includes a person or not; A robot control method comprising:

Images