Robot system, robot control method, robot control program, and robot control device

Abstract

This robot system includes a plurality of robot control devices for controlling coordinated operations of robots, and controls the coordinated operations performed between a leader robot that gives operation instructions and at least one follower robot that operates by receiving the operation instructions, wherein, when coordinated input of the follower robot is in an OFF state, the robot system determines whether or not the coordinated input of the leader robot enters an OFF state within a certain period of time, and if it is determined that the coordinated input of the leader robot has not entered the OFF state within the certain period of time, outputs a notification indicating that the coordinated operation with the follower robot is in an error state.

Description

Robot system, robot control method, robot control program, and robot control device

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

[0002] Patent Document 1 discloses a robot including a first robot and a second robot. In the automatic driving mode, the first robot and the second robot can cooperate to execute a predetermined operation. In the operation of the first robot and the second robot in the predetermined operation, while synchronizing the first robot and the second robot, a special operation is set to make the operation mode of the first robot different from the operation mode of the second robot. The scene includes a first scene corresponding to the operation mode of the first robot in the special operation, and a second scene corresponding to the operation mode of the second robot in the special operation, where at least some safety-related parameters are different from those in the first scene. When executing the special operation, the reference target for the first robot is the first scene, and the reference target for the second robot is the second scene. A robot control system is described.

[0003] Japanese Patent Application Laid-Open No. 2024-57965

[0004] In view of the above-described conventional circumstances, the present disclosure is devised to provide a robot system, a robot control method, a robot control program, and a robot control device that distinguish whether the connection between robots is in a safe state or an unsafe state in the cooperation between robots.

[0005] This disclosure provides a robot system comprising a plurality of robot control devices for controlling a robot, wherein the robot control devices control a coordinated operation performed between a leader robot that gives instructions for an operation and at least one follower robot that operates in response to those instructions, and when the coordinated input of the follower robot is in the OFF state, the robot control device determines whether the coordinated input of the leader robot has turned OFF within a certain period of time, and if it is determined that the coordinated input of the leader robot has not turned OFF within the certain period of time, the robot control device outputs a notification indicating that the coordinated operation between the leader robot and the follower robot is in an error state.

[0006] Furthermore, this disclosure provides a robot control method for a robot system comprising a plurality of robot control devices that control the cooperative input of robots, the method controlling cooperative operation between a leader robot that gives instructions for operation and at least one follower robot that operates in response to the instructions for operation, determining whether the cooperative input of the leader robot turned OFF within a certain period of time if the cooperative input of the follower robot is OFF, and outputting a notification indicating that the cooperative operation between the leader robot and the follower robot is in an error state if it is determined that the cooperative input of the leader robot did not turn OFF within the certain period of time.

[0007] Furthermore, this disclosure provides a robot control program that is executed by a plurality of robot control devices, each having at least one processor and controlling the cooperative input of robots, and which causes the plurality of robot control devices to execute the following steps: controlling a cooperative operation performed between a leader robot that gives instructions for an operation and at least one follower robot that operates in response to the instructions for the operation; determining whether the cooperative input of the leader robot turned OFF within a certain period of time if the cooperative input of the follower robot is OFF; and outputting a notification that the cooperative operation between the leader robot and the follower robot is in an error state if it is determined that the cooperative input of the leader robot did not turn OFF within the certain period of time.

[0008] Furthermore, this disclosure provides a robot control device for controlling robots, which controls a coordinated operation performed between a leader robot that gives instructions for an operation and at least one follower robot that operates in response to the instructions for the operation, and when the coordinated input of the follower robot is in the OFF state, it determines whether the coordinated input of the leader robot has turned OFF within a certain period of time, and if it determines that the coordinated input of the leader robot has not turned OFF within the certain period of time, it outputs a notification indicating that the coordinated operation between the leader robot and the follower robot is in an error state.

[0009] According to this disclosure, in robot-to-robot cooperation, it is possible to distinguish whether the connection between robots is in a safe state or an unsafe state.

[0010] A schematic diagram showing the overall robot system according to this embodiment. A block diagram showing the configuration of the robot system according to this embodiment. A diagram illustrating an example of switching between cooperation groups that perform inter-robot cooperation. A flowchart showing an example of the procedure for switching between cooperation groups that perform inter-robot cooperation in the robot system.

[0011] (Background to this Disclosure) Conventionally, there are robot control systems that control multiple robots in a coordinated manner (see Patent Document 1). In conventional coordinated control between robots, the robot that commands the coordinated movement (hereinafter referred to as the "leader robot") was set to be able to operate even if there was no robot that was the coordinating partner and would receive the command for the coordinated movement and perform the action (hereinafter referred to as the "follower robot"). As a result, in conventional robot control systems, no errors occurred even if the follower robot turned OFF to accept input for the coordinated movement while the coordinated movement was active.

[0012] However, with the above-described settings, the robot control system had the problem of not being able to distinguish and recognize whether the acceptance of cooperative motion input was turned OFF in a safe state due to operator operation, or whether it was turned OFF in an unsafe state due to a broken wire or the like. Therefore, the present invention provides a robot system, a robot control method, and a robot control program that can recognize whether the follower robot is in a safe or unsafe state when the acceptance of cooperative motion input is turned OFF.

[0013] Hereinafter, with reference to the drawings as appropriate, each embodiment specifically disclosing the configuration and operation of the robot system, robot control method, robot control program, and robot control device relating to this disclosure will be described in detail. However, unnecessarily detailed explanations may be omitted. For example, detailed explanations of already well-known matters or redundant explanations of substantially identical configurations may be omitted. This is to avoid the following explanation becoming unnecessarily verbose and to facilitate understanding by those skilled in the art. The accompanying drawings and the following explanation are provided to enable those skilled in the art to fully understand this disclosure and are not intended to limit the subject matter described in the claims.

[0014] First, the robot system 100 according to this embodiment will be described with reference to Figures 1 and 2, respectively. Figure 1 is a schematic diagram showing the overall structure of the robot system 100 according to this embodiment. Figure 2 is a block diagram showing the configuration of the robot system 100 according to this embodiment. It goes without saying that the robot system 100 shown in Figure 1 is just one example and is not limited thereto.

[0015] The robot system 100 is a system for controlling robots used in various applications such as product production by welding, product repair welding, and product inspection. The robot system 100 includes each of a plurality of robots 1, each of a plurality of robot control devices 2, and at least one Programmable Logic Controller (hereinafter referred to as "PLC") 4. The robot system 100 groups a robot 1, a robot control device 2, and a teach pendant 3 together, and the PLC 4 and the robot control devices 2 included in each of the plurality of groups are communicated together.

[0016] The robot system 100 may include a physical switch that can communicate with a connector (not shown) provided by the robot control device 2. In such a case, the physical switch may be capable of performing the same functions as the PLC 4.

[0017] Robot 1 is connected to robot control device 2 in a communication manner to send and receive data. Robot 1 is controlled and driven by robot control device 2.

[0018] The robot control device 2 is connected to the robot 1, the teach pendant 3, the PLC 4, and another robot control device 2 capable of controlling another robot 1, enabling communication between them to send and receive data. The robot control device 2 includes a communication unit 20, a processor 21, a memory 22, and a Light Emitting Diode (hereinafter referred to as "LED") 23.

[0019] The communication unit 20 transmits and receives data between the robot 1, the teach pendant 3, the PLC 4, and another robot control device 2 capable of controlling another robot 1. The communication unit 20 outputs data received from the robot 1, the teach pendant 3, the PLC 4, or the other robot control device 2 to the processor 21. The communication unit 20 also transmits data output from the processor 21 to the robot 1, the teach pendant 3, the PLC 4, or the other robot control device 2.

[0020] The processor 21 is configured using, for example, a Central Processing Unit (hereinafter referred to as "CPU") or a Field Programmable Gate Array (hereinafter referred to as "FPGA"), and works in cooperation with the memory 22 to perform various processes and controls. Specifically, the processor 21 refers to the programs and data held in the memory 22 and executes those programs to realize the functions of the robot control device 2.

[0021] Furthermore, the processor 21 has a safety circuit that can stop the operation of the robot 1. The processor 21 is connected to other robot control devices 2 via Controller Area Network (CAN) communication and sends and receives information regarding the cooperative input status of robots 1 in its own group and other groups. The safety circuit monitors the connection status of robots 1 in robot-to-robot cooperation based on the cooperative input status of robots 1 belonging to the group performing cooperative operation (hereinafter referred to as the "cooperative group").

[0022] Memory 22 includes, for example, Random Access Memory (hereinafter referred to as "RAM"), which serves as work memory used when executing various processes of the processor 21, and Read Only Memory (hereinafter referred to as "ROM"), which stores a program that defines the various processes performed by the processor 21 and the data used during the execution of that program. Data or information generated or acquired by the processor 21 is temporarily stored in RAM. Data or information generated or acquired by the processor 21 is temporarily stored in ROM. This program includes a robot control program for stopping inter-robot coordination or switching between groups performing coordinated operations.

[0023] LED 23 is controlled by the processor 21 to light up and notify the user of an error by the color of its light or by its blinking. The error referred to here indicates that the input acceptance for the cooperative operation of a follower robot included in a group of multiple robots performing cooperative operation (hereinafter referred to as a "cooperative group") has been unintentionally turned OFF, resulting in an unsafe state for the cooperative operation. For example, LED 23 lights up green during normal operation and lights up red and blinks when an error occurs. Note that LED 23 is not a required component and may be omitted.

[0024] The teach pendant 3 is connected to the robot control device 2 for data communication. The teach pendant 3 accepts input operations from the user to control the robot 1. The user uses the teach pendant 3 to perform cooperative input assignments, etc.

[0025] The teach pendant 3 also has an input unit 30 and a display unit 31 such as a display or touch panel. If an error occurs, the teach pendant 3 displays the error notification transmitted from the robot control device 2 on the display unit 31 to notify the user of the error.

[0026] The PLC 4 is communicated with each of the multiple robot control devices 2. The PLC 4 is capable of receiving user input and performs data transmission and reception based on the input user input. The PLC 4 controls the coordinated operation of multiple robots 1 via the multiple robot control devices 2. The PLC 4 includes a communication unit 40, a processor 41, and a memory 42.

[0027] The communication unit 40 performs data transmission and reception with multiple robot control devices 2. The communication unit 40 outputs the data received from each robot control device 2 to the processor 41. The communication unit 40 also transmits the data output from the processor 41 to each robot control device 2.

[0028] The processor 41 is configured, for example, using a CPU or FPGA, and works in cooperation with the memory 42 to perform various processes and controls. Specifically, the processor 41 refers to the programs and data held in the memory 42 and executes those programs to realize the functions of the PLC 4.

[0029] The memory 42 includes, for example, RAM as work memory used when executing each process of the processor 41, and ROM which stores a program that defines the various processes performed by the processor 41 and the data used during the execution of that program. Data or information generated or acquired by the processor 41 is temporarily stored in RAM. Data or information generated or acquired by the processor 41 is temporarily stored in ROM.

[0030] The communication referred to in this disclosure may be any wired or wireless communication. Wireless communication as referred to herein may be communication via a wireless Local Area Network (LAN) such as Wi-Fi®, Bluetooth Low Energy (hereinafter referred to as "BLE"), or communication via Internet of Things (IoT) network communication or protocol such as Matter, Z-Wave, or ZigBee.

[0031] Here, in the robot system 100, among multiple groups of robots 1 with cooperative input between robots 1 turned ON, there exist leader robots and follower robots as roles for robot 1 in cooperative operation. In the robot system 100, one robot 1 among the multiple robots 1 is set as the leader robot, and at least one of the other robots 1 is set as a follower robot. Note that in this disclosure, the robot system 100 is shown as an example in which there is one follower robot.

[0032] The robot system 100 coordinates the operation of multiple groups, including leader robots and follower robots. The robot system 100 coordinates the operation of these multiple groups of robots 1, for example, by having robots 1 set as follower robots follow robot 1 set as leader robot. As a result, each robot 1 in the robot system 100 references the same autonomous driving scene, and the movements of the robots 1 are synchronized.

[0033] Next, we will explain how to switch between cooperation groups that perform inter-robot cooperation. Figure 3 is a diagram illustrating an example of switching between cooperation groups that perform inter-robot cooperation. Figure 4 is a flowchart showing an example of the operation procedure for switching between cooperation groups that perform inter-robot cooperation in robot system 100.

[0034] The robot system 100 shown in Figure 3 includes, as an example, three groups: Group 1 to Group 3. In the initial robot-to-robot coordination, the robot system 100, which includes the three groups, performs coordinated operation as a cooperative group in which robot 1 of Group 1 is the leader robot LR1 and robot 1 of Group 2 is the follower robot FR1. Subsequently, it performs coordinated operation as a cooperative group in which robot 1 of Group 2 is the leader robot LR2 and robot 1 of Group 3 is the follower robot FR2.

[0035] Therefore, in the explanation of Figure 4, an example of a collaborative group switching operation procedure will be described when implementing the example of a group switching operation procedure shown in Figure 3. In Figure 4, the term "before switching" refers to the time before the collaborative group switching operation is performed. Also, the term "after switching" refers to the time after the collaborative group switching operation has been performed. Furthermore, the process shown in Figure 4 is mainly executed by a safety circuit (not shown) provided in the processor 21 of each robot control device 2 included in the collaborative group.

[0036] Based on the control commands transmitted from the PLC 4, the multiple robot control devices 2 included in the coordinating group turn on the coordinating input. The robot control devices 2 corresponding to group 1 and group 2 perform the coordinating operation between the robots with the coordinating input turned on for the robot 1 of their own group (leader robot LR1 or follower robot FR1) (St1).

[0037] The robot control device 2 determines whether the current cooperative input of robot 1 (follower robot FR1) is in the OFF state (St2).

[0038] If the robot control device 2 determines in step St2 that the cooperative input of robot 1 (follower robot FR1) is not in the OFF state (St2, NO), it causes robot 1 in its group to continue cooperative operation with other robots (St3).

[0039] On the other hand, if the robot control device 2 determines in step St2 that the cooperative input of robot 1 (follower robot FR1) is in the OFF state (St2, YES), it determines whether or not the cooperative input of leader robot LR1 has turned OFF within a certain time (St4).

[0040] In step St4, if the robot control device 2 determines that the cooperative input of robot 1 (leader robot LR1) did not turn OFF within a certain time (St4, NO), it determines that an unsafe state error has occurred in both leader robot LR1 and follower robot FR1, as the cooperative input was determined not to be OFF. The robot control device 2 notifies the user of the error by lighting or flashing LED 23 in a predetermined color (St5). The robot control device 2 also stops the robot 1 in its group (leader robot LR1 or follower robot FR1) (St5).

[0041] Incidentally, the robot control device 2 may notify the occurrence of an error by transmitting it to the teach pendant 3 connected communicably (St5). The teach pendant 3 displays an error screen (not shown) for notifying the occurrence of an error on the display unit 31 based on the control command transmitted from the robot control device 2, and notifies the user of the occurrence of the error.

[0042] On the other hand, in step St4, when the robot control device 2 determines that the inter-robot cooperative input of the leader robot LR1 has become OFF within a certain period of time (St4, YES), it determines that the cooperation between the robots of robot 1 in the cooperative group has been safely invalidated (stopped) (St6). If the robot control device 2 simply invalidates (stops) the inter-robot cooperation of a plurality of robots 1, it may end the operation here.

[0043] That is, in the cooperative group, when the cooperative input of the leader robot becomes OFF after the cooperative inputs of all follower robots have become OFF, the robot control device 2 recognizes that the cooperative operation of the cooperative group has ended in a safe state.

[0044] When the robot control device 2 receives a cooperative group switching command from the PLC 4 (St7), it starts preparations for starting the next inter-robot cooperative operation. Specifically, when the robot control device 2 receives a cooperative group switching command, it starts a robot switching operation in order to execute a cooperative operation in which the robot 1 of group 2 is the leader robot LR2 and the robot 1 of group 3 is the follower robot FR2.

[0045] The robot control device 2 determines whether the cooperative input of the robot 1 operating as the leader robot LR2 after the robot switching is in the ON state (St8).

[0046] In step St8, when the robot control device 2 determines that the cooperative input of the robot 1 operating as the leader robot LR2 is not in the ON state (St8, NO), it continues the state in which the inter-robot cooperative operation after the switching for the robot 1 in the cooperative group is invalidated (stopped) (St9).

[0047] When the robot control device 2 determines in step St8 that the cooperative input of the robot 1 (leader robot LR2) is in the ON state (St8, YES), it determines whether the cooperative input of the robot 1 (follower robot FR2) has become ON within a certain period of time (St10).

[0048] When the robot control device 2 determines in step St10 that the cooperative input of the robot 1 (follower robot FR2) has not become ON within a certain period of time (St10, NO), it determines that an error in an unsafe state has occurred between the leader robot LR2 and the follower robot FR2. The robot control device 2 lights or blinks the LED 23 in a predetermined color to notify the user of the occurrence of the error (St11). Also, the robot control device 2 stops the robot 1 (leader robot LR2 or follower robot FR2) of its own group (St11).

[0049] When the robot control device 2 determines in step St10 that the cooperative input of the robot 1 (follower robot FR2) has become ON within a certain period of time (St10, YES), it determines that the switching to the cooperative group after switching has been completed (St12).

[0050] That is, in the cooperative group, when the cooperative input of the leader robot LR2 becomes ON and then the cooperative inputs of all the follower robots FR2 become ON, the robot control device 2 recognizes that the switching of the cooperative group has been completed in a safe state.

[0051] Thus, the robot system 100 in the present disclosure can determine whether the connection of the robot 1 in the cooperative state is in a safe state or an unsafe state when a plurality of robots execute a cooperative operation. Also, when the robot system 100 determines that the connection of the robot 1 in the cooperative state is in an unsafe state, it stops the operation of the robot 1 in the cooperative group and can notify the user of a notification indicating that the connection between the robots is in an unsafe state.

[0052] (Supplementary Note) By the description of each of the above embodiments, the following technology is disclosed.

[0053] (Technology 1) A robot system 100 comprising a plurality of robot control devices 2 for controlling a robot 1, wherein the robot control devices 2 control a coordinated operation performed between a leader robot LR1 that gives instructions for operation and at least one follower robot FR1 that operates in response to the instructions for operation, and when the coordinated input of the follower robot FR1 is in the OFF state, the robot control devices 2 determine whether the coordinated input of the leader robot LR1 has turned OFF within a certain period of time, and when it is determined that the coordinated input of the leader robot LR1 has not turned OFF within the certain period of time, the robot system 100 outputs a notification indicating that the coordinated operation between the follower robot FR1 and the leader robot LR1 is in an error state.

[0054] As a result, the robot system 100 can recognize that the collaborative operation of the collaborative group has safely ended when the collaborative input of the leader robot is turned OFF after the collaborative input of all follower robots in the collaborative group has turned OFF. Furthermore, when multiple robots are performing a collaborative operation, the robot system 100 can determine whether the connection of robot 1, which is in a collaborative state, is in a safe or unsafe state. If the robot system 100 determines that the connection of robot 1, which is in a collaborative state, is in an unsafe state, it can output a notification indicating that an error state has occurred, thereby stopping the operation of robot 1 in the collaborative group and notifying the user that the connection between the robots is in an unsafe state.

[0055] (Technical 2) The robot control device 2, when it determines that the cooperative input of the leader robot LR1 has turned OFF within a certain period of time, receives input of switching information to switch from robot-to-robot cooperation between the leader robot LR1 and the follower robot FR1 to robot-to-robot cooperation between a new leader robot LR2 and a new follower robot FR2, when the cooperative input of the new leader robot LR2 is ON, determines whether the cooperative input of the new follower robot FR2 has turned ON within a certain period of time, and when it determines that the cooperative input of the new follower robot LR2 has not turned ON within a certain period of time, outputs a notification that the cooperative operation with the new follower robot FR2 is in an error state, as described in (Technical 1).

[0056] As a result, the robot system 100 can only accept a command to switch a cooperative group if the cooperative group has completed its cooperative operation in a safe manner. Furthermore, when a cooperative group starts coordinating, the robot system 100 can recognize that the cooperative group has safely switched over if the cooperative input of all follower robots FR2 is turned ON after the cooperative input of the leader robot LR2 is turned ON.

[0057] (Technical 3) The robot control device 2 continues the cooperative operation when the cooperative input of the follower robot FR1 is not in the OFF state, the robot system 100 as described in (Technical 1).

[0058] As a result, the robot system 100 can continue the coordinated operation without terminating it as long as the coordinated input of the follower robot FR1 is in the ON state.

[0059] (Technical 4) A robot control method performed by a robot system 100 comprising a plurality of robot control devices 2 for controlling the cooperative input of a robot 1, the method comprising: controlling the cooperative operation performed between a leader robot LR1 that gives instructions for operation and at least one follower robot FR1 that operates in response to the instructions for operation; determining whether the cooperative input of the leader robot LR1 turned OFF within a certain period of time if the cooperative input of the follower robot FR1 is OFF; and outputting a notification indicating that the cooperative operation between the leader robot LR1 and the follower robot FR1 is in an error state if it is determined that the cooperative input of the leader robot LR1 did not turn OFF within the certain period of time.

[0060] As a result, the robot system 100 can recognize that the collaborative operation of the collaborative group has safely ended when the collaborative input of the leader robot is turned OFF after the collaborative input of all follower robots in the collaborative group has turned OFF. Furthermore, when multiple robots are performing a collaborative operation, the robot system 100 can determine whether the connection of robot 1, which is in a collaborative state, is in a safe or unsafe state. If the robot system 100 determines that the connection of robot 1, which is in a collaborative state, is in an unsafe state, it can output a notification indicating that an error state has occurred, thereby stopping the operation of robot 1 in the collaborative group and notifying the user that the connection between the robots is in an unsafe state.

[0061] (Technical 5) A robot control program that is executed by a plurality of robot control devices 2, each having at least one processor 21, which control the cooperative input of a robot 1, and which causes the plurality of robot control devices 2 to execute: a step of controlling a cooperative operation performed between a leader robot LR1 that gives instructions for operation and at least one follower robot FR1 that operates in response to the instructions for operation; a step of determining whether the cooperative input of the leader robot LR1 has turned OFF within a certain period of time if the cooperative input of the follower robot FR1 is OFF; and a step of outputting a notification that the cooperative operation between the leader robot LR1 and the follower robot FR1 is in an error state if it is determined that the cooperative input of the leader robot LR1 has not turned OFF within the certain period of time.

[0062] As a result, the robot control device 2 can recognize that the collaborative operation of the collaborative group has safely ended when the collaborative input of the leader robot is turned OFF after the collaborative input of all follower robots in the collaborative group has been turned OFF. Furthermore, when multiple robots are performing a collaborative operation, the robot control device 2 can determine whether the connection of robot 1, which is in a collaborative state, is in a safe or unsafe state. If the robot control device 2 determines that the connection of robot 1, which is in a collaborative state, is in an unsafe state, it can output a notification indicating that an error state has occurred, thereby stopping the operation of robot 1 in the collaborative group and notifying the user that the connection between the robots is in an unsafe state.

[0063] (Technical 6) A robot control device 2 for controlling a robot 1, which controls a coordinated operation performed between a leader robot LR1 that gives instructions for operation and at least one follower robot FR1 that operates in response to the instructions for operation, and when the coordinated input of the follower robot FR1 is in the OFF state, it determines whether the coordinated input of the leader robot LR1 has turned OFF within a certain period of time, and when it is determined that the coordinated input of the leader robot LR1 has not turned OFF within the certain period of time, it outputs a notification indicating that the coordinated operation between the follower robot FR1 and the leader robot 1 is in an error state.

[0064] As a result, the robot control device 2 can recognize that the collaborative operation of the collaborative group has safely ended when the collaborative input of the leader robot is turned OFF after the collaborative input of all follower robots in the collaborative group has been turned OFF. Furthermore, when multiple robots are performing a collaborative operation, the robot control device 2 can determine whether the connection of robot 1, which is in a collaborative state, is in a safe or unsafe state. If the robot control device 2 determines that the connection of robot 1, which is in a collaborative state, is in an unsafe state, it can output a notification indicating that an error state has occurred, thereby stopping the operation of robot 1 in the collaborative group and notifying the user that the connection between the robots is in an unsafe state.

[0065] Although various embodiments have been described above with reference to the attached drawings, this disclosure is not limited to such examples. It will be clear to those skilled in the art that various modifications, alterations, substitutions, additions, deletions, and equivalents can be conceived within the scope of the claims, and these will also be understood to fall within the technical scope of this disclosure. Furthermore, the components of the various embodiments described above can be combined arbitrarily without departing from the spirit of the invention.

[0066] This disclosure is useful as a presentation of a robot system, a robot control method, a robot control program, and a robot control device that distinguish whether the connection between robots is in a safe state or an unsafe state in robot-to-robot cooperation.

[0067] 1 Robot 2 Robot control unit 3 Teach pendant 4 PLC 20, 40 Communication unit 21, 41 Processor 22, 42 Memory 23 LED 30 Input unit 31 Display unit 100 Robot system LR1, LR2 Leader robot FR1, FR2 Follower robot

Claims

1. A robot system comprising a plurality of robot control devices for controlling robots, wherein the robot control devices control cooperative operations performed between a leader robot that gives instructions for operation and at least one follower robot that operates in response to those instructions; when the cooperative input of the follower robot is in the OFF state, the robot control device determines whether the cooperative input of the leader robot has turned OFF within a certain period of time; and if it is determined that the cooperative input of the leader robot has not turned OFF within the certain period of time, the robot system outputs a notification indicating that the cooperative operation between the leader robot and the follower robot is in an error state.

2. The robot control device, if it determines that the cooperative input of the leader robot is OFF within a certain period of time, receives input of switching information to switch from robot-to-robot cooperation between the leader robot and the follower robot to robot-to-robot cooperation between a new leader robot and a new follower robot; if the cooperative input of the new leader robot is ON, it determines whether the cooperative input of the new follower robot has turned ON within a certain period of time; and if it determines that the cooperative input of the new follower robot has not turned ON within a certain period of time, it outputs a notification indicating that the cooperative operation with the new follower robot is in an error state, the robot system according to claim 1.

3. The robot control device continues the cooperative operation when the cooperative input of the follower robot is not in the OFF state, according to claim 1.

4. A robot control method performed by a robot system comprising a plurality of robot control devices for controlling the cooperative input of robots, the method comprising: controlling a cooperative operation performed between a leader robot that gives instructions for an operation and at least one follower robot that operates in response to the instructions for the operation; determining whether the cooperative input of the leader robot turned OFF within a certain period of time if the cooperative input of the follower robot is OFF; and outputting a notification indicating that the cooperative operation between the leader robot and the follower robot is in an error state if it is determined that the cooperative input of the leader robot did not turn OFF within the certain period of time.

5. A robot control program, which is executed by a plurality of robot control devices, each having at least one processor and controlling the cooperative input of robots, comprising the steps of: controlling a cooperative operation between a leader robot that gives instructions for an operation and at least one follower robot that operates in response to the instructions for the operation; determining whether the cooperative input of the leader robot has turned OFF within a certain period of time if the cooperative input of the follower robot is OFF; and outputting a notification indicating that the cooperative operation between the leader robot and the follower robot is in an error state if it is determined that the cooperative input of the leader robot has not turned OFF within the certain period of time.

6. A robot control device for controlling robots, which controls a coordinated operation performed between a leader robot that gives instructions for an operation and at least one follower robot that operates in response to the instructions for the operation, and when the coordinated input of the follower robot is in the OFF state, it determines whether the coordinated input of the leader robot has turned OFF within a certain period of time, and if it determines that the coordinated input of the leader robot has not turned OFF within the certain period of time, it outputs a notification indicating that the coordinated operation between the leader robot and the follower robot is in an error state.

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