JP2021154407A - Control device, method for controlling control device, information processing program and recording medium - Google Patents

Abstract

To return a robot to an origin position while controlling the robot to avoid collision with obstacles and the like without depending on a situation where the robot is located while suppressing the provision cost.SOLUTION: A robot control unit (10) controls a robot arm (30) to linearly return to an origin position after receiving an origin position returning instruction from an operator (OP) who has confirmed a determination result that 'a posture (PS) of the robot arm (30) is within a permissible range (RP)'.SELECTED DRAWING: Figure 1

Description

The present invention relates to a robot arm control device or the like having two or more degrees of freedom.

Conventionally, various attempts have been known to return a robot used at a production site or the like to the origin position. For example, Patent Documents 1 to 4 below disclose a method for returning the robot to the origin so that the arm and hand of the robot do not collide with peripheral devices and structures.

Japanese Unexamined Patent Publication No. 2014-34107 Japanese Unexamined Patent Publication No. 2019-84627 JP-A-2019-84652 JP-A-2018-144171

However, although the applicable situation is limited or the theoretical application range is wide in the conventional origin return method, the amount of information required for realization, the calculation load, etc. are enormous, and such realization cost is increased. Considering this, there is a problem that it may be difficult to actually apply it.

One aspect of the present invention is such that the robot can be returned to the origin position while avoiding a collision with an obstacle or the like, without depending on the situation in which the robot is placed, while suppressing the realization cost. The purpose is to.

In order to solve the above problems, the control device according to one aspect of the present invention is a control device for a robot arm having two or more degrees of freedom, and the posture of the robot arm does not cause a collision. A range in which the robot arm is predicted to be able to return to the origin is set in advance as a permitted range in a path that directs the position of the hand to the position of the hand in the origin posture, and the posture of the robot arm is set. When it is determined that the robot is within the permitted range, the robot notifies the user of the determination result, and the user who has been notified of the determination result by the notification unit gives an instruction to return to the origin. The arm is provided with a return instruction unit for returning to the origin by a path that linearizes the position of the hand from the posture determined to be within the permitted range to the position of the hand in the origin posture.

According to the above configuration, when the control device determines that "the posture of the robot arm is within the preset permission range", the control device notifies the user of the determination result. The user who was notified of the determination result said, "A collision may occur when the robot arm is returned to the origin by a path that actually directs the position of the hand to the position of the hand in the origin posture. Check if there is any. Then, when it is confirmed that "a collision does not occur when the robot arm is returned to the origin by a path that actually directs the position of the hand to the position of the hand in the origin posture", the user Gives the control device an instruction to return to the origin. When the user who has confirmed the actual situation with the notification of the determination result gives an "execution instruction for returning to the origin", the control device returns the robot arm to the origin. Specifically, the control device returns the robot arm to the origin by a path that makes the position of the hand orthogonal to the position of the hand in the origin posture from the posture determined to be within the permitted range.

That is, the control device takes a posture expected to be "a collision with an obstacle or the like can be avoided even if the position of the hand is returned to the origin by a path that makes the position of the hand orthogonal to the position of the hand in the origin posture". If it is determined that the result is taken, the user is notified to that effect. Then, the control device causes the user to confirm "whether the origin may actually be returned from that posture". In particular, the control device tells the user, "In the situation where the robot arm is actually currently placed, the position of the hand is directly changed from the posture currently taken by the robot arm to the position of the hand in the origin posture. Is it okay to return to the origin by the path to be made? " The control device returns to the origin by a path that linearizes the position of the hand from the posture currently taken by the robot arm to the position of the hand in the origin posture in the situation where the robot arm is actually currently placed. Wait for the user to confirm. Then, when the user performs the above-mentioned confirmation and instructs the control device to return to the origin, the control device returns the robot arm to the origin. Specifically, the control device returns the robot arm to the origin by a path that makes the position of the hand perpendicular to the position of the hand in the origin posture from the posture currently taken by the robot arm.

Here, the "situation in which the robot arm is actually currently placed" includes a "situation outside the robot arm" such as a physical space surrounding the robot arm. The "outside situation of the robot arm" includes the situation of the work surface, which is the work target of the robot arm, in addition to the situation of the wall surface, the structure, the equipment, etc. existing around the robot arm. When the work is placed around the robot arm (for example, the work is placed on the loading portion provided with the robot arm), the state (shape, size, Orientation, etc.) is also one of the "outside conditions of the robot arm". Similarly, for example, when the robot arm is gripping the work, the state of the gripped work is also one of the "external situations of the robot arm".

The "situation in which the robot arm is actually currently placed" includes "the situation of the robot arm itself" in addition to the "situation outside the robot arm". The usage status of the robot arm itself, the shape, size, operation state, and the like of the hand of the robot arm (the tip of the robot arm; the end effector) are examples of the “situation of the robot arm itself”. As an example of the "operating state of the hand", the "opening / closing state of the mechanism of the hand for gripping the work" can be mentioned.

As described above, the control device confirms by the user "whether the position of the hand may be returned to the origin by a path that makes the position of the hand orthogonal to the position of the hand in the origin posture from the posture currently taken by the robot arm". Notify the user of the opportunity of. That is, the control device is "in a situation where the robot arm is actually currently placed, a path that directs the position of the hand from the posture currently taken by the robot arm to the position of the hand in the origin posture. Let the user decide whether to return to the origin. The control device returns to the origin by a path that linearizes the position of the hand from the posture currently taken by the robot arm to the position of the hand in the origin posture in the situation where the robot arm is actually currently placed. It is up to the user to decide whether to let it. Therefore, the control device can reduce the amount of information and the calculation load required for the above-mentioned determination.

Further, the control device returns the robot arm to the origin by a path that makes the position of the hand perpendicular to the position of the hand in the origin posture from the current posture according to the instruction of the return to the origin by the user. The route of "directing the position of the hand from the current position to the position of the hand in the origin posture" is "a complicated conditional branching using various information in order to avoid a collision with an obstacle or the like". It is not a route that is specified as a result, but a route that is uniquely specified in advance. Therefore, the control device has an amount of information and a calculation load required for path calculation for returning the robot arm to the origin while avoiding collision with an obstacle or the like from the "posture currently taken by the robot arm". Can be reduced.

That is, the control device does not need to calculate "a path for returning to the origin while avoiding a collision with an obstacle or the like" by assuming every situation for every posture, and "collision with an obstacle or the like". The amount of information and the calculation load required to "return to the origin while avoiding" are small.

Further, the control device returns the robot arm to the origin according to the above-mentioned confirmation result and instruction by the user. The control device returns the robot arm to the origin according to the above-mentioned confirmation result and instruction by the user regardless of "the situation in which the robot arm is actually currently placed". The control device uses the confirmation result of the user related to "the situation in which the robot arm is actually currently placed", so that the robot arm can be moved independently of the situation in which the robot arm is placed. , It is possible to return to the origin while avoiding collision with obstacles and the like.

Therefore, the control device returns the robot arm to the origin position while suppressing the realization cost and avoiding a collision with an obstacle or the like without depending on the situation in which the robot arm is placed. It has the effect of being able to.

In the control device according to one aspect of the present invention, the permitted range may be updatable.

According to the above configuration, the permission range is updatable in the control device. Therefore, the control device uses the permitted range appropriately updated according to the situation in which the robot arm is placed to move the robot arm to the origin position while avoiding a collision with an obstacle or the like. It has the effect of being able to recover.

In the control device according to one aspect of the present invention, the permission range may be set by the user based on the design information of the robot arm.

According to the above configuration, in the control device, the permission range is based on the design information of the robot arm, for example, based on the three-dimensional CAD (Computer Aided Design) data of the robot arm and the data related to the control. And set by the user. For example, the user examines the mechanical engagement of the three-dimensional model of the robot arm, and sets the permission range based on the examination result.

Therefore, the control device has an effect of being able to determine whether or not the posture of the robot arm is within the permitted range preset by the user based on the design information of the robot arm.

The control device according to one aspect of the present invention returns the origin of the three-dimensional model of the robot arm from a certain posture by a path that makes the position of the hand orthogonal to the position of the hand in the origin posture. If it is determined that the collision does not occur, the permitted range may be set so as to include the certain posture.

According to the above configuration, the control device causes a collision when the three-dimensional model of the robot arm is returned to the origin from a certain posture by a path that makes the position of the hand orthogonal to the position of the hand in the origin posture. If it is determined that the occurrence does not occur, the following permission range is set. That is, the control device sets the permitted range including the certain posture.

Therefore, the control device has an effect that the permission range can be set so as to include the following postures whose safety has been verified by simulation or the like using the three-dimensional model of the robot arm. That is, the control device includes the posture in which "it is determined by simulation or the like that a collision does not occur when the position of the hand is returned to the origin by a path orthogonal to the position of the hand in the origin posture". It has the effect of being able to set the permission range.

In the control device according to one aspect of the present invention, the permitted range is a posture that allows the user to return to the origin by a path that makes the position of the hand orthogonal to the position of the hand in the origin posture without causing a collision. The robot arm may be manually moved to include a posture taken by the robot arm.

According to the above configuration, in the control device, the permission range is set to include the following postures in which the user manually moves the robot arm and causes the robot arm to take the following postures. That is, the permitted range is manually taken by the user on the robot arm as a posture in which the position of the hand can be returned to the origin by a path that makes the position of the hand orthogonal to the position of the hand in the origin posture without causing a collision. It is set to include the posture. For example, the permission range includes a posture taught by the user as a posture that "can return to the origin by a path that makes the position of the hand orthogonal to the position of the hand in the origin posture without causing a collision". , Set.

Therefore, the control device has an effect that the permission range can be set so as to include the following postures in which the user manually moves the robot arm and causes the robot arm to take the following postures. That is, the control device includes a posture "taken by the user as a posture capable of returning to the origin by a path that makes the position of the hand orthogonal to the position of the hand in the origin posture without causing a collision". It has the effect of being able to set the permitted range.

The control device according to one aspect of the present invention maintains (A) the operating state of the joint provided with the robot arm when the operating state of the joint is within the operating range corresponding to the permitted range. B) If the operating state of the joint is not within the operating range corresponding to the permitted range, an operating state control unit that allows the user to change the operating state may be further provided.

According to the above configuration, when the operating state of the joint included in the robot arm is within the operating range corresponding to the permitted range, the control device maintains the operating state, for example, so that the joint does not move. Lock the joint. Further, the control device allows the user to change the operating state when the operating state of the joint included in the robot arm is not within the operating range corresponding to the permitted range. For example, the user manually manually performs the robot arm. The joint is unlocked so that the posture of the robot can be changed.

Here, in general, for the user, the posture of the robot arm is changed to "how can the robot arm return to the origin by a path that makes the position of the hand orthogonal to the position of the hand in the origin posture without causing a collision". Is it possible to change? ”Is not easy to grasp.

Therefore, the control device controls the operating state of the joint so that the user can return to the origin by a path that makes the position of the hand orthogonal to the position of the hand in the origin posture without causing a collision. And supports changing the posture of the robot arm.

If the "posture in which the position of the hand can be returned to the origin by a path that makes the position of the hand perpendicular to the position of the hand in the origin posture without causing a collision" is referred to as the "via posture", the posture of the robot arm is changed to the transit posture. The following situations can be assumed when changing to. That is, in order to change the posture of the robot arm to the transit posture, it is not necessary to change the operating state of one of the joints provided by the robot arm, and it is necessary to change the operating state of another joint. It is possible to assume a situation such as there is.

In such a case, the control device prevents the operating state of the joint from being changed by the user, that is, maintains the operating state of the joint, for example, of the joint. The joint is locked so that the operating state is not changed. Further, the control device allows the user to change the operating state of the other joint, and locks the other joint so that the user can manually change the operating state of the other joint, for example. unlock.

Therefore, the control device manually changes the posture of the robot arm to "a posture in which the position of the hand can be returned to the origin by a path that makes the position of the hand orthogonal to the position of the hand in the origin posture without causing a collision". It has the effect of facilitating changes with.

The control device may notify the user of information indicating which of the joints of the robot arm is maintaining the operating state, for example, a joint that is locked so as not to move. The user may be notified of information indicating which is. Similarly, the control device may notify the user of information indicating which of the joints the robot arm is allowed to be changed by the user in the operating state, for example, locking. The user may be notified of information indicating which joint is being released.

Further, the control device may limit the operating state that can be manually changed by the user to a specific range for the joints included in the robot arm that are permitted to be changed by the user in the operating state. Specifically, the control device may limit the operating state that can be manually changed by the user for the other joint to a specific range. For example, the control device may limit the "joint angle" that can be changed by the user to a specific range, or may limit the "movement amount of the hand" that can be changed by the user to a specific range. In particular, in the control device, among the "changes to the operating state of the other joint" by the user, "the posture of the robot arm is brought closer to the above-mentioned transit posture", "change of joint angle", and "movement of hand". Only "change in quantity" may be allowed.

In other words, the control device is a change in which the user "changes the operating state of the other joint" so as to "set the operating state of the other joint within the operating range corresponding to the permitted range". May be accepted only. Then, the control device does not accept "changes that move the operating state of the other joint away from the operating range" by the user, and for example, the operation of the other joint is prevented so that the user cannot make such a change. You may control the state.

Among the joints included in the robot arm, the control device allows the user to change the operating state of the joint (for example, the unlocked joint) in a range of the operating state (joint angle) that can be changed. , The amount of movement of the hand, etc.) may be notified to the user. In particular, the control device may notify a desired operating state of the joint that is permitted to be changed by the user in the operating state so that the posture of the robot arm is within the permitted range, for example, a desirable "joint". The user may be notified of the “angle (rotation amount)”, the desired “hand movement amount”, and the like.

The control device according to one aspect of the present invention is a guidance operation that changes the posture of the robot arm from a posture that is not within the permitted range to a posture that is within the permitted range (that is, the above-mentioned “via posture”). May be executed while the user's permission continues. Further, the control device according to one aspect of the present invention may suspend the execution of the guidance operation when the permission is lost.

According to the above configuration, the control device executes a guidance operation for changing the posture of the robot arm from a posture not within the permitted range to the transit posture while the permission by the user continues. do. For example, the control device changes the posture of the robot arm from a posture that is not within the permission range to the transit posture while the permission by the user continues, and sets the position of the hand to "the hand's posture in the passage posture". Continue to change with a route that goes straight to the "position". Further, the control device interrupts the execution of the guidance operation when the permission is lost, and allows, for example, the user to manually change the posture of the robot arm.

Therefore, the control device efficiently and safely changes the posture of the robot arm by switching between the change of the posture by the guidance operation and the manual change of the posture by the user according to the presence or absence of the permission of the user. It has the effect of being able to change to a posture within the range.

In order to solve the above problems, the control method according to one aspect of the present invention is a control method for a robot arm control device having two or more degrees of freedom, and causes a collision with respect to the posture of the robot arm. A range in which it is predicted that the robot arm can be returned to the origin is set in advance as a permitted range by a path that makes the position of the hand orthogonal to the position of the hand in the origin posture. When it is determined that the posture of the robot is within the permitted range, there is a notification step for notifying the user of the determination result, and the user who has been notified of the determination result in the notification step gives an instruction to return to the origin. And a return instruction step of returning the robot arm to the origin by a path that makes the position of the hand orthogonal to the position of the hand in the origin posture from the posture determined to be within the permitted range. There is.

According to the above configuration, when the control method determines that "the posture of the robot arm is within the preset permission range", the control method notifies the user of the determination result. The user who was notified of the determination result said, "A collision may occur when the robot arm is returned to the origin by a path that actually directs the position of the hand to the position of the hand in the origin posture. Check if there is any. Then, when it is confirmed that "a collision does not occur when the robot arm is returned to the origin by a path that actually directs the position of the hand to the position of the hand in the origin posture", the user Gives the control method an instruction to return to the origin. For example, the user gives an execution instruction for returning to the origin to a control device that executes the control method. When the user who has confirmed the actual situation with the notification of the determination result gives an "execution instruction for returning to the origin", the control method causes the robot arm to return to the origin. Specifically, the control method returns the robot arm to the origin by a path that makes the position of the hand orthogonal to the position of the hand in the origin posture from the posture determined to be within the permitted range.

That is, the control method uses the robot arm in a posture that is expected to "avoid collision with an obstacle or the like even if the position of the hand is returned to the origin by a path that makes the position of the hand orthogonal to the position of the hand in the origin posture". If it is determined that the result is taken, the user is notified to that effect. Then, the control method causes the user to confirm "whether the origin may actually be returned from that posture". In particular, the control method tells the user, "In the situation where the robot arm is actually currently placed, the position of the hand is directly changed from the posture currently taken by the robot arm to the position of the hand in the origin posture. Is it okay to return to the origin by the path to be made? " The control method is "returning to the origin by a path that makes the position of the hand orthogonal to the position of the hand in the origin posture from the posture currently taken by the robot arm in the situation where the robot arm is actually currently placed. Wait for the user to confirm. Then, when the user performs the above-mentioned confirmation and instructs the control method to return to the origin, the control method causes the robot arm to return to the origin. Specifically, in the control method, the robot arm is returned to the origin by a path that makes the position of the hand perpendicular to the position of the hand in the origin posture from the posture currently taken by the robot arm.

Here, the "situation in which the robot arm is actually currently placed" includes a "situation outside the robot arm" such as a physical space surrounding the robot arm. The "outside situation of the robot arm" includes the situation of the work surface, which is the work target of the robot arm, in addition to the situation of the wall surface, the structure, the equipment, etc. existing around the robot arm. When the work is placed around the robot arm (for example, the work is placed on the loading portion provided with the robot arm), the state (shape, size, Orientation, etc.) is also one of the "outside conditions of the robot arm". Similarly, for example, when the robot arm is gripping the work, the state of the gripped work is also one of the "external situations of the robot arm".

The "situation in which the robot arm is actually currently placed" includes "the situation of the robot arm itself" in addition to the "situation outside the robot arm". The usage status of the robot arm itself, the shape, size, operation state, and the like of the hand of the robot arm (the tip of the robot arm; the end effector) are examples of the “situation of the robot arm itself”. As an example of the "operating state of the hand", the "opening / closing state of the mechanism of the hand for gripping the work" can be mentioned.

As described above, in the control method, the user confirms that "whether the position of the hand may be returned to the origin by a path that makes the position of the hand orthogonal to the position of the hand in the origin posture from the posture currently taken by the robot arm". Notify the user of the opportunity of. That is, the control method is "a path that directs the position of the hand from the posture currently taken by the robot arm to the position of the hand in the origin posture in the situation where the robot arm is actually currently placed. Let the user decide whether to return to the origin. The control method is "returning to the origin by a path that makes the position of the hand orthogonal to the position of the hand in the origin posture from the posture currently taken by the robot arm in the situation where the robot arm is actually currently placed. It is up to the user to decide whether to let it. Therefore, the control method can reduce the amount of information and the calculation load required for the above-mentioned determination.

Further, in the control method, the robot arm is returned to the origin by a path in which the position of the hand is orthogonal to the position of the hand in the origin posture from the current posture according to the instruction of the return to the origin by the user. The route of "directing the position of the hand from the current position to the position of the hand in the origin posture" is "a complicated conditional branching using various information in order to avoid a collision with an obstacle or the like". It is not a route that is specified as a result, but a route that is uniquely specified in advance. Therefore, in the control method, the amount of information and the calculation load required for path calculation for returning the robot arm to the origin while avoiding a collision with an obstacle or the like from the "posture currently taken by the robot arm". Can be reduced.

That is, in the control method, it is not necessary to calculate "a path for returning to the origin while avoiding a collision with an obstacle or the like" by assuming all situations for every posture, and "collision with an obstacle or the like is caused. The amount of information and the calculation load required to "return to the origin while avoiding" are small.

Further, in the control method, the robot arm is returned to the origin according to the above-mentioned confirmation result and instruction by the user. In the control method, the robot arm is returned to the origin according to the above-mentioned confirmation result and instruction by the user regardless of "the situation in which the robot arm is actually currently placed". The control method uses the confirmation result of the user related to "the situation in which the robot arm is actually currently placed" to control the robot arm without depending on the situation in which the robot arm is placed. , It is possible to return to the origin while avoiding collision with obstacles and the like.

Therefore, in the control method, the robot arm is returned to the origin position while avoiding a collision with an obstacle or the like, without depending on the situation in which the robot arm is placed, while suppressing the realization cost. It has the effect of being able to.

According to one aspect of the present invention, the robot can be returned to the origin position while avoiding a collision with an obstacle or the like, without depending on the situation in which the robot is placed, while suppressing the realization cost. It has the effect of being able to do it.

It is a figure which shows the main part structure of the robot control part which concerns on Embodiment 1 of this invention. It is a figure which shows the whole outline of the robot including the robot control part of FIG. It is a figure explaining the general problem that may occur when returning the robot arm to the origin, and the "posture via the robot arm" used by the robot control unit of FIG. It is a figure explaining the origin return of a robot arm when the hand of the robot arm of FIG. 2 has a hook shape. It is a figure explaining the origin return of a robot arm when the loading part provided with the transfer robot part of FIG. 2 is in a high position. FIG. 5 is a flow chart in which the robot control unit of FIG. 1 returns the robot arm to the origin directly from the transit posture after the operator manually changes the posture of the robot arm to the transit posture. It is a flow diagram in the case where the robot control unit of FIG. 1 changes the posture of the robot arm to the transit posture, and then returns the robot arm to the origin directly from the transit posture.

[Embodiment 1]
Hereinafter, embodiments according to one aspect of the present invention (hereinafter, also referred to as “the present embodiment”) will be described with reference to the drawings. The same or corresponding parts in the drawings are designated by the same reference numerals, and the description thereof will not be repeated. In the present embodiment, the robot control unit 10 included in the robot 1 will be described as a typical example of a “robot arm control device having two or more degrees of freedom”.

In the following description, "n", "p", "q", "x", and "y" each indicate an integer of "1" or more, and "p" and "q" are different from each other. It is assumed that "x" and "y" are integers different from each other.

Further, the robot arm 30 includes a plurality of axis AX (also referred to as “joint”), and includes, for example, six axis AX from axis AX (1) to axis AX (6). When it is not necessary to distinguish each of the axis AX (1), the axis AX (2), ..., And the axis AX (n) provided in the robot arm 30, it may be simply abbreviated as "axis AX". ..

Hereinafter, an example in which the robot control unit 10 returns the robot arm 30 to the origin will be described in detail. “Returning to the origin” means changing (returning) the posture PS of the robot arm 30 to the origin posture PS (0). That is. Further, the "origin posture PS (0)" is also referred to as a "basic posture", and is a posture PS (position) in a predetermined initial state of the robot arm 30. After returning the robot arm 30 to the origin, the robot 1 executes a pick operation and a place operation by the robot arm 30, and also executes the traveling of the transfer robot unit 40. Further, in the following description, "the posture of the robot arm 30 is changed by the path of" directing the position of the hand of the robot arm 30 from one position to another "" is described as "the posture of the robot arm 30". It may be abbreviated as "changing PS directly". For example, "returning the robot arm 30 to the origin orthogonally" means changing the posture PS of the robot arm 30 by the following route. That is, the position of the hand of the robot arm 30 is orthogonal to the "position of the hand in the transit posture PS (1) of the robot arm 30" to the "position of the hand in the origin posture PS (0)". Refers to changing the posture PS of. Further, "to make the position of the hand go straight from one position to another" means "to change the position of the hand from one position to another by the shortest path". The control of "changing the posture PS of the robot arm 30 by a path that linearizes the position of the hand of the robot arm 30 from one position to another" is "a straight line operation of the robot arm 30 (straight line in CP control). It is not limited to "operate" control. The control of "changing the posture PS of the robot arm 30 by a path that makes the position of the hand of the robot arm 30 orthogonal to another position" is "PTP control (control from point to point)". include. The "hand" of the robot arm 30 is sometimes referred to as the "tip portion" or "end effector" of the robot arm 30.

§1. Application Example In order to facilitate understanding of the robot control unit 10 (control device) according to one aspect of the present invention, first, an example of a scene to which the present invention is applied is specifically provided with the robot control unit 10. The outline of the robot 1 will be described with reference to FIGS. 2 and 3.

(Overview of control system)
FIG. 2 is a diagram showing an outline of the robot 1. The robot 1 includes a robot control unit 10, a robot arm control unit 20, a robot arm 30, and a transfer robot unit 40. The robot control unit 10 is communicably connected to each of the robot arm control unit 20 and the transfer robot unit 40, and the robot arm control unit 20 is communicably connected to the robot arm 30.

The robot 1 illustrated in FIG. 2 is a self-propelled transfer device provided with a robot arm 30, and specifically, is on a transfer robot unit 40 (traveling robot), which is also called an automated guided vehicle (AGV). An articulated robot arm 30 is mounted on the vehicle. The robot 1 enables unmanned transportation of an object to be transported (work) by automatically performing a pick operation and a place operation by the robot arm 30 and a movement by the transfer robot unit 40. For example, a factory or the like. Used in warehouses, etc.

The robot control unit 10 is a control device that controls the entire robot 1 in an integrated manner, controls the robot arm 30 via the robot arm control unit 20, and controls the transfer robot unit 40 to desire the robot 1. Drive to the designated position of.

The robot control unit 10 illustrated in FIG. 2 acquires operation state information which is information indicating “posture PS of the robot arm 30” and the like from the robot arm control unit 20, and obtains the posture PS currently taken by the robot arm 30. grasp. Further, for example, the robot control unit 10 transmits an origin return control signal to the robot arm control unit 20 to cause the robot arm control unit 20 to execute the origin return of the robot arm 30, that is, the robot arm control unit 20. Through this, the robot arm 30 is returned to the origin.

Here, the operation state information indicating the "posture PS of the robot arm 30" or the like is, for example, the angle (that is, the direction, the amount of rotation) and the size (that is, the direction) of each of the plurality of axes AX (joints) included in the robot arm 30. , Length, amount of movement of the hand). That is, when the robot arm 30 includes six axis AX from the axis AX (1) to the axis AX (6), a set of J1 to J6, each of which indicates an angle (rotation amount) of each of the six axis AX. By (combination), the posture PS of the robot arm 30 can be expressed. That is, when the robot arm 30 includes n shafts AX, the posture PS of the robot arm 30 is determined by a set (combination) of J1 to Jn, each of which indicates an angle (rotation amount) of each of the n shafts AX. Can be expressed. The robot arm 30 is also determined by the coordinates (X, Y, Z, Rx, Ry, Rz) of the tip portion (hand, end effector) of the robot arm 30 (that is, the position and angle of the hand in three-dimensional space). The posture PS can be expressed.

The robot arm control unit 20 controls the robot arm 30 according to an instruction from the robot control unit 10, for example, causing the robot arm 30 to pick a work, placing a work, or causing the robot arm 30 to perform a desired posture PS ( x) is taken. Further, the robot arm control unit 20 acquires information indicating “posture PS of the robot arm 30” and the like from the robot arm 30, and notifies the robot control unit 10 of the acquired information.

The robot arm control unit 20 illustrated in FIG. 2 acquires detection data indicating “posture PS of the robot arm 30” or the like from the robot arm 30, and transmits the acquired detection data to the robot control unit 10 by “the robot arm 30 It is transmitted as operation state information indicating "attitude PS" and the like.

When the robot arm control unit 20 receives the origin return control signal from the robot control unit 10, the robot arm 30 changes the posture PS of the robot arm 30 from the posture PS (x) currently taken by the robot arm 30 to the origin posture PS (0). Change directly to.

The detection data acquired by the robot arm control unit 20 from the robot arm 30 is, for example, the angle (that is, the direction, the amount of rotation), the size (that is, the length, and the hand) of each of the plurality of axes AX included in the robot arm 30. It is data indicating an operating state such as (movement amount). Although details will be described later, a measuring device such as an encoder is provided for each of the plurality of shafts AX included in the robot arm 30. Then, each of these measuring instruments measures the operating state of each of the plurality of axes AX, for example, the angle (that is, the direction, the amount of rotation) of each of the plurality of axes AX. The "operating state of each of the plurality of axes AX" measured by the measuring device is transmitted from the robot arm 30 to the robot arm control unit 20 as measurement data.

The robot arm 30 changes the posture PS according to the control by the robot control unit 10 (or the robot arm control unit 20) to perform various operations, for example, picking a work or moving while holding the work. Or place a work. The robot arm 30 is a multi-axis manipulator having two or more degrees of freedom, and is, for example, a robot arm having six degrees of freedom. The six degrees of freedom of the robot arm 30 may be three translational degrees and three rotation degrees, or the robot arm 30 may be a robot arm with six degrees of freedom having only a rotation axis. The tip portion of the robot arm 30 is also called a "hand (end effector)", and the shape, size, operating state, and the like can be appropriately changed according to the purpose of use of the robot arm 30. As an example of the "operating state of the hand", the "opening / closing state of the mechanism of the hand for gripping the work" can be mentioned.

The shaft AX included in the robot arm 30 is provided with a drive device such as a motor that changes the operating state of the shaft AX according to the control by the robot control unit 10 (or the robot arm control unit 20). Further, the shaft AX included in the robot arm 30 is provided with a measuring device (for example, an angle encoder) for measuring the operating state of the shaft AX.

The transfer robot unit 40 is a traveling robot that moves (that is, conveys) the robot arm 30, and moves according to a movement instruction (for example, a movement instruction to a designated position) from the robot control unit 10, that is, the robot control unit. Follow the instructions from 10 and stop. The transfer robot unit 40 may include a loading unit (loading platform) for mounting the work.

(Background of development of robots, especially robot control units)
Since the robot 1 is a robot having a high degree of freedom that can perform running and work transfer (pickup, movement, and place), the surrounding environment changes greatly, and the gripping state changes and the gripping state changes. The change in the cargo status is also large. Here, the "grasping state" includes "whether or not the robot arm 30 grips the work" and, when the robot arm 30 grips the work, "the shape and size of the gripping work". Also includes "Sa, orientation, etc." The "loaded state" is "whether or not the work is loaded (that is, placed) on the transfer robot unit 40" and when the work is loaded, " The shape, size, orientation, etc. of the loaded work are also included. The surrounding environment, the gripping state, and the loaded state described above are all elements of the "situation in which the robot arm 30 is placed".

As described above, with respect to the robot arm 30 included in the robot 1 which is a self-propelled transfer device, the "state in which the robot arm 30 is placed" easily changes, and the degree of change is large. Therefore, with respect to the robot arm 30 included in the robot 1, the robot arm 30 is fully automatically operated while avoiding collision (interference) with obstacles such as the robot 1, the work, and the surrounding wall surface from an arbitrary posture PS (x). It is practically difficult to return to the origin.

Here, the conventional method of automatically returning to the origin of a non-self-propelled robot (for example, the installation position is almost fixed) can be roughly classified into two types.

The first method limits the conditions under which the robot can automatically return to the origin, and for example, allows the robot to automatically return to the origin only in a specific surrounding environment and a specific movable range of the robot. However, as described above, the situation in which the robot arm 30 included in the robot 1 which is a self-propelled transfer device is placed changes easily, and the degree of change is large. The first method like this cannot be adopted.

The second method uses an expensive sensor so that the robot can automatically respond to the situation in which the robot is placed and return to the origin while avoiding collisions with obstacles. , A way to perform complex operations. However, such a second method requires a large amount of cost to realize, and the amount of information and the amount of calculation required for realization are enormous and not feasible.

(Overview of robot control unit)
Therefore, the developer of the robot 1 (particularly, the robot control unit 10) intervenes a confirmation work by the worker OP in the control related to the origin return operation of the robot arm 30, that is, a series of operations related to the origin return of the robot arm 30. Let the worker OP execute a part of the processing of. The robot control unit 10 notifies the operator OP of the determination result that "the posture PS of the robot arm 30 is within the permitted range RP", and then confirms whether or not the robot arm 30 returns to the origin. Waiting for an instruction from the person OP, the robot arm 30 is returned to the origin.

The robot control unit 10 has an inexpensive and simple design by having the operator OP confirm "whether or not the robot arm 30 returns to the origin" in the actual situation where the robot arm 30 is placed. 30 can be safely returned to the origin.

When the conventional control device returns the robot arm 30 to the origin from an arbitrary posture PS (x), the operation path of the robot arm 30 until the return to the origin is accurately performed for the worker OP around the robot arm 30. Predicting is not always easy. Therefore, it may be dangerous for the worker OP to return the robot arm 30 to the origin by the conventional control device without confirmation by the worker OP, and at least it is uneasy for the worker OP.

On the other hand, the robot control unit 10 makes the robot arm 30 the origin by "making the operator OP confirm" whether or not the robot arm 30 returns to the origin "in the actual situation where the robot arm 30 is placed". It is possible to improve the safety and reliability when restoring.

(Specific example of returning the origin of the robot arm by the robot control unit)
FIG. 3 is a diagram illustrating a problem that may occur when the robot arm 30 returns to the origin and the “via posture PS (1) of the robot arm 30” used by the robot control unit 10. As shown in FIG. 3, when the robot arm 30 is stopped in an emergency or teaching (teaching) is performed on the robot arm 30, the robot arm 30 takes a posture PS (2) different from the origin posture PS (0). .. Then, in order to start the robot arm 30 having a posture PS (2) different from the origin posture PS (0), "returning to the origin of the robot arm 30" is required.

When the posture PS of the robot arm 30 is "directly" changed (transitioned) from an arbitrary posture PS (2) during the transfer operation to the origin posture PS (0), the robot arm 30 moves to the surrounding ceiling. There is a possibility of colliding with obstacles such as a wall surface, a housing such as a transfer robot unit 40, and a work. That is, in FIG. 3, if the robot arm 30 is attempted to linearly return (transition) from the posture PS (2) to the origin posture PS (0), the robot arm 30 may collide with an obstacle or the like. , It is difficult to make a safe transition.

Further, as described above, the robot 1 (particularly, the robot arm 30) has a large degree of freedom, and the posture PS (x) that the robot arm 30 can take is various. The "posture PS (x) taken by the robot arm 30 at the time of returning the robot arm 30 to the origin" is indefinite, and it is difficult to predict all of this in advance.

Therefore, it is not easy to return the robot arm 30 included in the robot 1 which is a self-propelled transfer device to the origin from an arbitrary posture PS (x) by using a conventional robot control method (robot arm control method). No. Regarding the robot arm 30, in order to "enable the origin return to be performed in any posture PS", as in the conventional case, "for all possible posture PSs of the robot arm 30, a collision with an obstacle or the like is performed. It is not realistic to "set complicated conditions to avoid". In other words, depending on the posture PS of the robot arm 30 (that is, the operating state of each of the six axes AX), complicated conditions for avoiding a collision between the robot arm 30 and an obstacle or the like when returning to the origin are set. It's not easy to set up.

For example, when the operating states of the six axes AX of the robot arm 30: (J1, J2, J3, J4, J5, J6) are in a certain range A, the robot arm 30 is returned to the origin in the operation path p, and another When it is in the range B of, it is necessary to set a condition such as returning to the origin in the operation path q. Further, for example, when the coordinates of the hand of the robot arm 30: (X, Y, Z, Rx, Ry, Rz) are in a certain range C, the robot arm 30 is returned to the origin in the operation path x and another range. When it is in D, it is necessary to set a condition such as returning to the origin in the operation path y.

Therefore, the robot control unit 10 returns the robot arm 30 to the origin while avoiding a collision with an obstacle or the like, without depending on the situation in which the robot arm 30 is placed, while suppressing the realization cost. , The following "via posture PS (1)" is prepared in advance. That is, the robot control unit 10 is a posture PS in which it is predicted that the robot arm 30 can return to the origin linearly while avoiding a collision with an obstacle or the like with respect to the return to the origin of the robot arm 30. "Transit posture PS (1)" is prepared in advance. Specifically, the robot control unit 10 can directly return the robot arm 30 to the origin while avoiding a collision with an obstacle or the like information indicating the range of the transit posture PS (1). Information indicating the range of the posture PS predicted to be ") is stored in the storage unit 160 in advance. The posture PS predicted that "the robot arm 30 can be returned to the origin in a straight line while avoiding a collision with an obstacle or the like" is also referred to as a transit posture PS (1). In other words, the transit posture PS (1) is a posture PS in the range predicted that "the robot arm 30 can be returned to the origin in a straight line while avoiding a collision with an obstacle or the like". Further, the range of the transit posture PS (1), that is, the range of the posture PS predicted that "the robot arm 30 can be returned to the origin directly while avoiding a collision with an obstacle or the like" is defined. Also called "permission range RP".

When the robot control unit 10 determines that the posture PS of the robot arm 30 has become the transit posture PS (1), the robot control unit 10 notifies the worker OP of the determination result, waits for confirmation and instruction by the worker OP, and then waits for confirmation and instructions by the worker OP, and then the following Execute the process. That is, the robot control unit 10 directly changes the posture PS of the robot arm 30 from the transit posture PS (1) to the origin posture PS (0). In other words, the robot control unit 10 returns the robot arm 30 from the transit posture PS (1) to the origin by a path of "directing the position of the hand to the position of the hand in the origin posture PS (0)".

By returning to the origin directly from the transit posture PS (1), the robot control unit 10 describes the change of the posture PS of the robot arm 30 from the transit posture PS (1) to the origin posture PS (0). There is no need to set complicated conditions. That is, with respect to the control of "changing the posture PS of the robot arm 30 from the transit posture PS (1) to the origin posture PS (0)" by the robot control unit 10, the robot arm 30 collides with an obstacle or the like. No complicated conditions have been set to avoid it. Therefore, the robot control unit 10 can safely return the robot arm 30 to the origin while avoiding a collision with an obstacle or the like by simply setting simple conditions.

While the posture PS of the robot arm 30 is changed from "the posture PS (x) taken by the robot arm 30 at the time when the robot arm 30 is about to return to the origin" to the transit posture PS (1), the robot The control unit 10 monitors the posture PS of the robot arm 30. For example, the robot control unit 10 monitors the measured values of encoders provided on each of the plurality of axis AX provided in the robot arm 30 (that is, the operating state of each of the plurality of axis AX). Specifically, the robot control unit 10 determines "whether or not the posture PS of the robot arm 30 has become the transit posture PS (1)", that is, "the operating state of each of the plurality of axes AX is determined. Whether or not it is within the operating range RAP corresponding to the permitted range RP ”is determined.

Then, the robot control unit 10 notifies the operator OP of the result of the above determination. The robot control unit 10 may control the buzzer or the like to notify the worker OP by sound, or may control the indicator light or the like and notify the worker OP by light.

When the worker OP recognizes the determination result that "the posture PS of the robot arm 30 is within the permitted range RP", the worker OP confirms the situation, and if necessary, an obstacle existing around the robot arm 30 as appropriate. Will be removed. Then, when the safety is confirmed, the worker OP instructs the robot control unit 10 to execute the origin return operation, that is, gives the origin return instruction to the robot control unit 10. When the worker OP gives an instruction to return to the origin while determining that the posture PS of the robot arm 30 is within the permitted range RP, the robot control unit 10 causes the robot control unit 10 to take the posture currently taken by the robot arm 30. The PS is directly changed to the origin posture PS (0).

The permission range information (information indicating the permission range RP) stored in the storage unit 160 (particularly, the permission range table 161) in advance by the robot control unit 10 may be rewritable. By making the permission range information updatable, the permission range information can be changed according to changes in the situation in which the robot arm 30 is placed, such as the shape of the hand of the robot arm 30 and the height of the loaded portion of the transfer robot unit 40. Can be changed flexibly.

The permitted range RP is the range of the transit posture PS (1), and the transit posture PS (1) is the operating state of the plurality of axes AX (joints) included in the robot arm 30 and the operating state of the hand of the robot arm 30. It can be expressed by at least one of (that is, coordinates). Therefore, the permitted range RP includes the range of "the operating state of each of the plurality of axes AX of the robot arm 30 taking the transit posture PS (1)" and the robot taking the "passage posture PS (1)". It may be expressed as at least one of the range of "coordinates of the hand of the arm 30". In other words, the permitted range RP is the range of "the operating state of each of the plurality of axes AX" for the posture PS of the robot arm 30 to be the transit posture PS (1), and the "coordinates of the hand (operating state)". May be expressed as at least one of the ranges of. The range of "the operating state of each of the plurality of axes AX" and the range of "coordinates of the hand" for the posture PS of the robot arm 30 to become the transit posture PS (1) are called "moving range RAP". .. Further, the information indicating the operating range RAP is called "operating range information".

For example, when the robot arm 30 includes six axis AX from the axis AX (1) to the axis AX (6), the permitted range RP is the operating state of each of the six axis AX: (J1, J2, J3, J4). , J5, J6) may be expressed as a combination (set) of operating range RAPs. Specifically, in the permitted range RP, the operating range RAP (AX (1)), which is the operating range RAP for the axis AX (1), is the operating state of the axis AX (2): J2. The operating range RAP (AX (2)), which is the operating range RAP, may be set. Similarly, in the permitted range RP, the operating range RAP (AX (3)), RAP (AX (4)), RAP (AX (5)), which is the operating range RAP for each of J3, J4, J5, and J6, RAP (AX (6)) may be set.

In particular, in the permitted range RP, the maximum value J1_MAX and the minimum value J1_min may be set as the operating range RAP (AX (1)) of the operating state of the axis AX (1): J1. Similarly, in the permission range RP, the maximum value J2_MAX and the minimum value J2_min may be set as the operating range RAP (AX (2)) for the value of the axis AX (2): J2. That is, in the permitted range RP, the maximum value Jn_MAX and the minimum value Jn_min may be set as the operating range RAP (AX (n)) for the value: Jn of the axis AX (n) included in the robot arm 30. ..

The operating range RAPs of the plurality of axes AX included in the robot arm 30 may be designated independently of each other, or may be designated in association with each other. For example, even if the operating range RAP (p) of a certain axis AX (p) and the operating range RAP (q) of another axis AX (q) included in the robot arm 30 are designated independently of each other. good.

Further, when the value of a certain axis AX (p) included in the robot arm 30: Jp is "x", the operating range RAP (q) of another axis AX (q) is designated as the range A, and Jp is ". When it is "y", the operating range RAP (q) may be specified as a range B different from the range A. For example, when Jp is "x", the operating range RAP (q) is specified by the maximum value Jqx_MAX and the minimum value Jqx_min, and when Jp is "y", the operating range RAP (q) is the maximum value. It may be specified by Jqy_MAX and the minimum value Jqy_min.

The permitted range RP may be expressed as a combination (set) of operating range RAPs of the operating state (coordinates) of the hand of the robot arm 30: (X, Y, Z, Rx, Ry, Rz). That is, in the permitted range RP, "X", "Y", "Z", "Rx", "Ry", "Rz" indicating the coordinates of the hand: (X, Y, Z, Rx, Ry, Rz). The operating range RAP may be set for each of the above. Specifically, in the permission range RP, the operating range RAP (X), which is the operating range RAP for "X", and the operating range RAP (Y), which is the operating range RAP for "Y", are set. May be good. Similarly, in the permitted range RP, the operating range RAP (Z), RAP (Rx), RAP (Ry), RAP, which is the operating range RAP for each of “Z”, “Rx”, “Ry”, and “Rz”. (Rz) may be set.

In particular, in the permitted range RP, the maximum value X_MAX and the minimum value X_min may be set as the operating range RAP (X) with respect to "X", and as the operating range RAP (Y) with respect to "Y". , The maximum value Y_MAX and the minimum value Y_min may be set. The same applies to each of the operating ranges RAP (Z), RAP (Rx), RAP (Ry), and RAP (Rz).

The robot control unit 10 semi-automatically controls the origin return of the robot arm 30 (that is, the confirmation by the operator OP is used in the control related to the origin return), so that the robot arm 30 can safely return to the origin. Realized with low cost and simple design. The robot control unit 10 has a low-cost and simple design by utilizing the transit posture PS (1) prepared in advance and the confirmation by the operator OP, while avoiding a collision with an obstacle or the like. The robot arm 30 can be returned to the origin.

For example, in the example shown in FIG. 2, an example is shown in which the worker OP manually guides (changes) the posture PS of the robot arm 30 from the posture PS (2) to the transit posture PS (1). .. The posture PS (2) is a posture PS different from both the transit posture PS (1) and the origin posture PS (0).

Each of the plurality of axes AX of the robot arm 30 is equipped with a measuring device such as an encoder, and measures while the posture PS of the robot arm 30 is changed from the posture PS (2) to the transit posture PS (1). The device measures the operating state of each of the plurality of axes AX. The measurement result (measurement data) measured by the measuring device is transmitted from the robot arm 30 to the robot arm control unit 20 (1).

The robot arm control unit 20 transmits the measurement data acquired from the robot arm 30 to the robot control unit 10 as operation state information of each of the plurality of axes AX of the robot arm 30 (2). As described above, the operation state information transmitted by the robot arm control unit 20 to the robot control unit 10 may indicate the operation state of each of the plurality of axes AX of the robot arm 30, or the robot arm 30 may indicate the operation state of each of the plurality of axes AX. It may indicate the operating state (that is, coordinates) of the hand.

The robot control unit 10 monitors the posture PS of the robot arm 30 using the acquired operation state information, and specifically determines whether or not the posture PS of the robot arm 30 has become the transit posture PS (1). do. For example, the robot control unit 10 compares the operation range RAP corresponding to the permitted range RP, which is the range of the attitude PS recognized as the transit attitude PS (1), with the acquired operation state information, and makes the above determination. conduct.

When the robot control unit 10 determines that the posture PS of the robot arm 30 has become the transit posture PS (1), it controls a buzzer, an indicator light, and the like, and notifies the operator OP of the determination result (3). Upon recognizing the determination result notified from the robot control unit 10, the worker OP confirms the situation, and if necessary, removes obstacles existing around the robot arm 30 and the like. Then, when the safety is confirmed, the worker OP gives an origin return instruction (instruction for permitting the execution of the origin return) to the robot control unit 10 by a switch or the like (4).

If there is an origin return instruction from the worker OP while determining that "the posture PS of the robot arm 30 is the transit posture PS (1)", the robot control unit 10 causes the robot arm control unit 20 to return to the origin. The origin return control signal is transmitted to (5). Upon receiving the origin return control signal from the robot control unit 10, the robot arm control unit 20 transmits an arm drive signal corresponding to the origin return control signal to the robot arm 30 to return the robot arm 30 to the origin (6). Specifically, the robot arm control unit 20 orthogonally changes the posture PS of the robot arm 30 from the transit posture PS (1) currently taken by the robot arm 30 to the origin posture PS (0). Is transmitted to the robot arm 30. As a result, the posture PS of the robot arm 30 is directly changed from the transit posture PS (1) to the origin posture PS (0).

(Arrangement of robot control unit)
The contents described so far with reference to FIGS. 2 and 3 can be organized as follows. That is, the robot control unit 10 is a control device for the robot arm 30 having two or more degrees of freedom. In the robot control unit 10, the following permitted range RP is preset for the posture PS of the robot arm 30. That is, it is predicted that the robot arm 30 can be returned to the origin by a path that makes the position of the hand orthogonal to the position of the hand in the origin posture PS (0) without causing a collision with an obstacle or the like. The range of the posture PS is set as the permitted range RP. In other words, the range of the posture PS recognized as the transit posture PS (1) is preset as the permitted range RP. The robot control unit 10 includes a notification unit 130 and a return instruction unit 170. When the posture determination unit 120 determines that the attitude PS of the robot arm 30 is within the permitted range RP, the notification unit 130 notifies the operator OP (user) of the determination result. When the worker OP notified of the determination result by the notification unit 130 gives an instruction to return to the origin, the return instruction unit 170 causes the robot arm 30 to move the robot arm 30 into the posture PS determined to be within the permission range RP (that is, via). The origin is returned directly from the posture PS (1)).

According to the above configuration, when the robot control unit 10 determines that "the posture PS of the robot arm 30 is within the preset permission range RP", the robot control unit 10 notifies the operator OP of the determination result. .. The worker OP who was notified of the determination result said, "When the robot arm 30 is returned to the origin by a path that actually directs the position of the hand to the position of the hand in the origin posture PS (0), the robot arm 30 Check if there is a collision between the robot and an obstacle. " Then, when it is confirmed that "a collision does not occur when the robot arm 30 is returned to the origin by a path that actually directs the position of the hand to the position of the hand in the origin posture PS (0)", the operator confirms. The OP gives the robot control unit 10 an instruction to return to the origin. When the operator OP who confirmed the actual situation triggered by the notification of the judgment result that "the posture PS of the robot arm 30 is within the permitted range RP", there is a "execution instruction for returning to the origin", the robot control unit 10 executes the following processing. That is, the robot control unit 10 is a route that directs the robot arm 30 from the posture PS (1) determined to be within the permitted range RP to the position of the hand in the origin posture PS (0). , Return to origin.

That is, when the robot control unit 10 determines that the robot arm 30 is in the transit posture PS (1), which is expected to "avoid a collision with an obstacle or the like even if the robot arm 30 is returned to the origin directly". Notify the worker OP to that effect. Then, the robot control unit 10 "actually moves the robot arm 30 orthogonally from the posture PS (1) (that is, by a path that makes the position of the hand perpendicular to the position of the hand in the origin posture PS (0)). Ask the operator OP to confirm "Is it okay to return to the origin?" In particular, the robot control unit 10 asks the worker OP, "In the situation where the robot arm 30 is actually currently placed, can the robot arm 30 return to the origin directly from the posture PS currently taken?" Let me confirm. The robot control unit 10 confirms by the operator OP that "in the situation where the robot arm 30 is actually currently placed, the robot arm 30 may be returned to the origin directly from the posture currently taken". wait. Then, when the operator OP performs the above confirmation and instructs the robot control unit 10 to return to the origin, the robot control unit 10 returns the robot arm 30 to the origin. That is, the robot control unit 10 returns the robot arm 30 to the origin after waiting for the confirmation by the operator OP and the explicit origin return instruction after the confirmation. Specifically, the robot control unit 10 is a path that linearizes the position of the hand from the posture PS currently taken by the robot arm 30 to the position of the hand in the origin posture PS (0), in other words, linearly. , The robot arm 30 is returned to the origin.

Here, the "situation in which the robot arm 30 is actually currently placed" includes the "situation outside the robot arm 30" such as the physical space surrounding the robot arm 30. The "outside situation of the robot arm 30" includes the situation of the work surface, which is the work target of the robot arm 30, in addition to the situation of the wall surface, the structure, the equipment, etc. existing around the robot arm 30. When the work is placed around the robot arm 30 (for example, the work is placed on the loading portion provided with the robot arm 30), the state (shape, size, Orientation, etc.) is also one of the "outside conditions of the robot arm 30". Similarly, for example, when the robot arm 30 is gripping the work, the state of the gripped work is also one of the "external situations of the robot arm 30".

The "situation in which the robot arm 30 is actually currently placed" includes "the situation of the robot arm 30 itself" in addition to the "situation outside the robot arm 30". The usage status of the robot arm 30 itself, the shape, size, operation state, and the like of the hand (tip of the robot arm 30. End effector) of the robot arm 30 are examples of the “status of the robot arm 30 itself”. As an example of the "operating state of the hand", the "opening / closing state of the mechanism of the hand for gripping the work" can be mentioned.

As described above, the robot control unit 10 returns to the origin by a path in which the operator OP "directs the position of the hand from the posture PS currently taken by the robot arm 30 to the position of the hand in the origin posture PS (0). Notify the worker OP of the opportunity to confirm "may I let you do it?" That is, the robot control unit 10 asks the operator OP, "In the situation where the robot arm 30 is actually currently placed, can the robot arm 30 return to the origin directly from the posture PS currently taken?" Let me judge. The robot control unit 10 entrusts the operator OP to determine "whether the robot arm 30 can be returned to the origin directly from the posture currently taken in the situation where the robot arm 30 is actually currently placed". .. Therefore, the robot control unit 10 can reduce the amount of information and the calculation load required for the above-mentioned determination.

Further, the robot control unit 10 causes the robot arm 30 to "directly move the position of the hand from the current posture to the position of the hand in the origin posture PS (0)" in accordance with the instruction of returning to the origin by the operator OP. Return to the origin by the route. The route of "directing the position of the hand from the current position to the position of the hand in the origin posture PS (0)" is complicated by using various information in order to avoid a collision with an obstacle or the like. It is not a route that is "specified as a result of conditional branching", but a route that is uniquely specified in advance. Therefore, the robot control unit 10 calculates the amount of information required for path calculation for returning the robot arm 30 to the origin while avoiding collision with an obstacle or the like from the "posture currently taken by the robot arm 30". The load can be reduced.

That is, the robot control unit 10 calculates "a method of returning the robot arm 30 to the origin while avoiding a collision with an obstacle or the like (that is, safely)" assuming every situation for every posture PS. No need. Therefore, the robot control unit 10 can "safely return the robot arm 30 to the origin" even if the robot arm 30 has various possible postures PS and the robot arm 30 is placed in various situations. The amount of information required for the robot and the calculation load can be suppressed.

Further, the robot control unit 10 returns the robot arm 30 to the origin according to the above-mentioned confirmation result and instruction by the operator OP. The robot control unit 10 returns the robot arm 30 to the origin according to the above-mentioned confirmation result and instruction by the operator OP regardless of "the situation in which the robot arm 30 is actually currently placed". That is, the robot control unit 10 confirms the worker OP that "in the situation where the robot arm 30 is actually currently placed, the robot arm 30 may be returned to the origin directly from the posture PS currently taken". According to the result, the robot arm 30 is returned to the origin. The robot control unit 10 uses the confirmation result of the worker OP related to "the situation in which the robot arm 30 is actually currently placed", so that the robot does not depend on the situation in which the robot arm 30 is placed. The arm 30 can be safely returned to the origin.

Therefore, the robot control unit 10 returns the robot arm 30 to the origin position while suppressing the realization cost and avoiding a collision with an obstacle or the like without depending on the situation in which the robot arm 30 is placed. It has the effect of being able to make it.

§2. Configuration Example Next, the details of the robot control unit 10 whose outline has been explained so far will be described with reference to FIG.

FIG. 1 is a diagram showing a configuration example of the robot control unit 10. As functional blocks, the robot control unit 10 includes, for example, a state information acquisition unit 110, a posture determination unit 120, a notification unit 130, a user operation acquisition unit 140, a user operation determination unit 150, a storage unit 160, a return instruction unit 170, and an operating state. It includes a control unit 180 and a guidance operation instruction unit 190. In addition to the above-mentioned functional blocks, the robot control unit 10 may include a travel control unit or the like that specifies the position of the transfer robot unit 40 and controls the travel by the transfer robot unit 40. In order to ensure the simplicity of the description, the configuration of the robot control unit 10 which is not directly related to the present embodiment is omitted from the description and the block diagram. However, according to the actual situation of implementation, the robot control unit 10 may have these omitted configurations.

The above-mentioned functional block included in the robot control unit 10 is, for example, a storage device (storage unit 160) in which a CPU (central processing unit) or the like is realized by a ROM (read only memory), an NVRAM (non-Volatile random access memory), or the like. ) Can be read and executed in a RAM (random access memory) or the like (not shown). First, regarding each of the state information acquisition unit 110, the posture determination unit 120, the notification unit 130, the user operation acquisition unit 140, the user operation determination unit 150, the return instruction unit 170, the operation state control unit 180, and the guidance operation instruction unit 190. , The details will be explained.

(About functional blocks other than the storage unit)
The state information acquisition unit 110 acquires operation state information which is information indicating “posture PS of the robot arm 30” or the like from the robot arm control unit 20, and notifies the attitude determination unit 120 of the acquired operation state information. Specifically, the state information acquisition unit 110 collects measurement data measured by measurement devices provided on each of the plurality of axes AX of the robot arm 30 via the robot arm control unit 20 on a plurality of robot arm 30s. It is acquired as information indicating each operating state of the axis AX.

For example, the operating state information indicates the operating state of each of the six axes AX of the robot arm 30 (at least one of the joint angle (that is, the direction and the amount of rotation) and the amount of movement of the hand) (J1, J2, J3, J4, J5, J6). Further, for example, the operation state information indicates the coordinates (that is, the position and angle of the hand in the three-dimensional space) of the hand (tip portion, end effector) of the robot arm 30 (X, Y, Z, Rx, Ry). , Rz).

The posture determination unit 120 determines whether or not the attitude PS of the robot arm 30 is within the permission range RP, and outputs the determination result to the notification unit 130. Further, when the posture determination unit 120 determines that "the attitude PS of the robot arm 30 is within the permission range RP", the posture determination unit 120 outputs an origin return permission signal to the return instruction unit 170. Further, the posture determination unit 120 outputs the difference information calculated by the difference calculation unit 121 to each of the notification unit 130, the operation state control unit 180, and the guidance operation instruction unit 190. Specifically, the posture determination unit 120 executes the following three processes.

First, the posture determination unit 120 refers to the permission range table 161 of the storage unit 160 to acquire the permission range information, and in particular, obtains the operation range information corresponding to the operation state information acquired by the state information acquisition unit 110. get.

For example, if the operating state information is the operating state of each of the six axes AX: (J1, J2, J3, J4, J5, J6), the posture determination unit 120 describes the operating state of each of the six axes AX. The operating range information indicating the operating range RAP of is acquired. Specifically, the posture determination unit 120 acquires the operating state of the axis AX (1): the operating range RAP (AX (1)) specified in advance for J1, and the operating state of the axis AX (2). : Acquires the operation range RAP (AX (2)) specified in advance for J2. Similarly, the posture determination unit 120 is an operating range RAP for each of J3, J4, J5, and J6, which is an operating range RAP (AX (3)), RAP (AX (4)), RAP (AX (5)). ), RAP (AX (6)).

For example, if the operation state information is the operation state of the hand of the robot arm 30: (X, Y, Z, Rx, Ry, Rz), the posture determination unit 120 has "X", "Y", "Z". , "Rx", "Ry", "Rz", and acquire the operation range information indicating each operation range RAP. Specifically, the posture determination unit 120 acquires the operation range RAP (X) specified in advance for "X" and the operation range RAP (Y) specified in advance for "Y". .. Similarly, the posture determination unit 120 is an operating range RAP for each of “Z”, “Rx”, “Ry”, and “Rz”, that is, operating ranges RAP (Z), RAP (Rx), and RAP (Ry). , RAP (Rz) is acquired.

Secondly, the posture determination unit 120 determines "whether or not the posture PS of the robot arm 30 is within the permitted range RP" using the operation state information and the operation range information, in other words, "robot". Whether or not the posture PS of the arm 30 is in the transit posture PS (1) ”is determined.

Specifically, first, the difference calculation unit 121 included in the posture determination unit 120 determines "whether or not each of the plurality of operation states shown in the operation state information is within the corresponding operation range RAP". Next, the posture determination unit 120 uses the determination result of the difference calculation unit 121 for "each of the plurality of operation states shown in the operation state information", and "the attitude PS of the robot arm 30 is within the permission range RP". Whether or not it is determined. When the difference calculation unit 121 determines that the difference calculation unit 121 is "within the corresponding operation range RAP" for all of the "plurality of operation states shown in the operation state information", the attitude determination unit 120 determines that the posture PS of the robot arm 30 is , Within the permitted range RP ". When the difference calculation unit 121 determines that the difference calculation unit 121 is “not within the corresponding operation range RAP” for at least one of the “plurality of operation states shown in the operation state information”, the posture determination unit 120 determines that the “posture of the robot arm 30”. PS is not within the permitted range RP. " The details will be described below.

The difference calculation unit 121 determines "whether or not each of the plurality of operating states shown in the operating state information is within the corresponding operating range RAP", and for example, "a certain operating state (p) corresponds to". Whether or not it is within the operating range RAP (p) to be performed ”is determined. When it is determined that "a certain operating state (p) is not within the corresponding operating range RAP (p)", the difference calculation unit 121 further determines that "a certain operating state (p) and the corresponding operating range RAP (p)" The difference (difference) from the maximum value or the minimum value of p) is calculated.

For example, the difference calculation unit 121 determines whether or not the operating state of the axis AX (1): J1 is within the operating range RAP (AX (1)) in which the maximum value J1_MAX and the minimum value J1_min are set. Is it judged? If it is determined that "J1 is within the range of the operating range RAP (AX (1))", the difference calculation unit 121 outputs "0" as the difference between J1 and the operating range RAP (AX (1)). That is, the difference calculation unit 121 outputs "0" as "the difference between J1 and the operation range RAP (AX (1))", because the difference calculation unit 121 "J1 operates range RAP (AX (1)). 1) It is within the range of) ”.

If it is determined that "J1 is not within the operating range RAP (AX (1))", the difference calculation unit 121 outputs the difference between J1 and the operating range RAP (AX (1)). For example, "J1 is larger than the maximum value J1_MAX by" p "", the difference calculation unit 121 outputs "+ p" as the difference between J1 and the operating range RAP (AX (1)). For example, "J1 is smaller than the minimum value J1_min by" q "", the difference calculation unit 121 outputs "-q" as the difference between J1 and the operating range RAP (AX (1)). That is, the difference calculation unit 121 outputs a value other than "0" as the "difference between J1 and the operation range RAP (AX (1))", because the difference calculation unit 121 "J1 operates range RAP". (It is not within the range of AX (1)) ".

As described above, when the difference calculation unit 121 determines that the difference calculation unit 121 is "within the corresponding operation range RAP" for all of the "plurality of operation states shown in the operation state information", the posture determination unit 120 determines that the "robot arm 30". Attitude PS is within the permitted range RP. " In other words, the posture determination unit 120 outputs "0" as the difference from the corresponding operation range RAP for all of the "plurality of operation states shown in the operation state information". , "The posture PS of the robot arm 30 is within the permitted range RP".

For example, when the operation state information is (J1, J2, J3, J4, J5, J6), the posture determination unit 120 determines that "the attitude PS of the robot arm 30 is within the permitted range RP". In the following cases. That is, the operating range RAP (AX (1)), RAP (AX (2)), RAP (AX (3)), RAP (AX (4)) of each of J1, J2, J3, J4, J5, and J6. , RAP (AX (5)), RAP (AX (6)) are all "0".

For example, when the operation state information is (X, Y, Z, Rx, Ry, Rz), the posture determination unit 120 determines that "the attitude PS of the robot arm 30 is within the permitted range RP". In the following cases. That is, the operating ranges RAP (X), RAP (Y), RAP (Z), and RAP (Rx) of each of "X", "Y", "Z", "Rx", "Ry", and "Rz". , RAP (Ry), and RAP (Rz) are all "0".

Third, when the posture determination unit 120 determines that "the attitude PS of the robot arm 30 is within the permission range RP", the attitude determination unit 120 outputs the determination result to the notification unit 130 and returns the origin return permission signal. Output to the indicator 170. When the posture determination unit 120 determines that "the attitude PS of the robot arm 30 is not within the permitted range RP", the attitude determination unit 120 outputs the determination result to the notification unit 130. When it is determined that "the posture PS of the robot arm 30 is not within the permitted range RP", the posture determination unit 120 further uses the difference calculated by the difference calculation unit 121 as difference information in the notification unit 130 and the operation state control unit 180. , And output to each of the guidance operation instruction unit 190.

For example, when the difference calculation unit 121 outputs “+ p” as the difference between J1 and the operation range RAP (AX (1)), the posture determination unit 120 relates to the operation state of the axis AX (1): J1. "+ P" is output as the difference information. For example, when the difference calculation unit 121 outputs “−q” as the difference between J2 and the operation range RAP (AX (2)), the posture determination unit 120 sets the operation state of the axis AX (2): J2. "-Q" is output as the difference information.

As described above, the difference calculation unit 121 determines "whether or not it is within the corresponding operating range RAP" for each of the "plurality of operating states shown in the operating state information". In particular, the difference calculation unit 121 calculates the difference (difference) from the corresponding operating range RAP for each of the “plurality of operating states shown in the operating state information”.

The notification unit 130 is determined by the attitude determination unit 120 to "whether or not the attitude PS of the robot arm 30 is within the permitted range RP (in other words, whether or not the robot arm 30 is in the transit attitude PS (1)). The determination result of "" is notified to the worker OP. The notification unit 130 may control an audio output device such as a buzzer and a display device such as an indicator light to notify the operator OP of the above-mentioned determination result.

When notifying the operator OP of the determination result that "the posture PS of the robot arm 30 is not within the permitted range RP", the notification unit 130 further uses the difference calculated by the difference calculation unit 121 as the difference information. , The worker OP may be notified.

For example, when the difference calculation unit 121 outputs “+ p” as the difference between J1 and the operation range RAP (AX (1)), the notification unit 130 causes the notification unit 130 to output the difference related to the operating state of the axis AX (1): J1. "+ P" is output as information. For example, when the difference calculation unit 121 outputs “−q” as the difference between J2 and the operating range RAP (AX (2)), the notification unit 130 relates to the operating state of the axis AX (2): J2. "-Q" is output as the difference information.

The user operation acquisition unit 140 accepts the user operation and notifies the user operation determination unit 150 of the accepted user operation. The user operation received by the user operation acquisition unit 140 may be, for example, an operation of pressing the switch or stopping (opening) the pressing of the switch by the operator OP.

The user operation determination unit 150 specifies the content of the user operation received by the user operation acquisition unit 140, and according to the specified content, the content of the user operation received by the user operation acquisition unit 140 is set in each of the robot control units 10. Notify functional blocks.

For example, when the user operation determination unit 150 determines that the user operation received by the user operation acquisition unit 140 is the "origin return instruction", the user operation determination unit 150 transmits the "origin return signal" to the return instruction unit 170. The “origin return instruction” is a user operation given by the operator OP to instruct the robot control unit 10 to return to the origin of the robot arm 30. The worker OP notified by the notification unit 130 of the determination result that "the posture PS of the robot arm 30 is within the permitted range RP" confirms the situation in which the robot arm 30 is placed, and if necessary. , Remove obstacles and the like from the periphery of the robot arm 30. Then, when it is confirmed that "the robot arm 30 may be returned to the origin directly from the posture PS taken by the robot arm 30 when the notification unit 130 notifies the above-mentioned determination result". The worker OP gives the robot control unit 10 an instruction to return to the origin.

For example, when the user operation determination unit 150 determines that the user operation received by the user operation acquisition unit 140 is a "transition operation for transitioning to the manual mode", the user operation determination unit 150 notifies the operation state control unit 180 to that effect, and the operation state. The control unit 180 is made to execute the following processing. That is, the user operation determination unit 150 sends a lock signal or an unlock signal to the operation state control unit 180 to allow or prohibit the manual change of the posture PS of the robot arm 30 by the operator OP. To output to.

For example, when the user operation determination unit 150 determines that the user operation received by the user operation acquisition unit 140 is a "transition operation for transitioning to the automatic guidance mode", the user operation determination unit 190 makes the guidance operation instruction unit 190 "preparation for execution of the automatic guidance operation". Set to "state". Although the details will be described later, the “automatic guidance operation” is an operation (process) in which the guidance operation instruction unit 190 changes the posture PS of the robot arm 30 to the transit posture PS (1) via the robot arm control unit 20. Is.

For example, when the user operation determination unit 150 determines that the user operation received by the user operation acquisition unit 140 is an operation of "continuing to press the automatic guidance switch", the user operation determination unit 150 "permits the automatic guidance operation (particularly, the automatic guidance operation). Permission to continue execution) ”is transmitted to the guidance operation instruction unit 190. For example, when the user operation determination unit 150 determines that the user operation received by the user operation acquisition unit 140 is an operation of "stopping the pressing of the automatic guidance switch", the user operation determination unit 150 "disallows the automatic guidance operation (particularly, the automatic guidance operation). (Stop instruction) ”is transmitted to the guidance operation instruction unit 190.

When the return instruction unit 170 receives the origin return signal from the user operation determination unit 150 while receiving the origin return permission signal from the attitude determination unit 120, the return instruction unit 170 transmits the origin return control signal to the robot arm control unit 20. .. That is, the return instruction unit 170 starts from "the posture PS taken by the robot arm 30 when the notification unit 130 notifies the determination result that" the posture PS of the robot arm 30 is within the permitted range RP "." , The robot arm 30 is orthogonally returned to the origin.

The operation state control unit 180 controls the operation state of the axis AX of the robot arm 30 by using the difference information notified from the attitude determination unit 120, and specifically, the lock signal or the unlock signal is controlled by the robot arm. It is transmitted to the unit 20. The "lock signal" is a signal instructing the maintenance of the operating state of the shaft AX, in other words, a signal prohibiting the "worker OP from changing the operating state of the shaft AX". The "unlock signal" is a signal that allows the operator OP to change the operating state of the axis AX.

For example, in the difference information, "the difference (difference) between the operating state of a certain axis AX (p) included in the robot arm 30 and the corresponding operating range RAP (p) is" 0 "", the operating state. The control unit 180 outputs a lock signal for maintaining the operating state of the certain axis AX (p).

For example, in the difference information, "the difference between the operating state of a certain axis AX (p) and the corresponding operating range RAP (p) is not" 0 "", the operating state control unit 180 "is that certain." Outputs an unlock signal that allows "change of the operating state of the axis AX (p) by the operator OP".

In particular, the change in the operating state of a certain axis AX (p) by the operator OP changes the difference between the operating state of a certain axis AX (p) and the corresponding operating range RAP (p) to "0". The operation state control unit 180 controls the operation state of a certain axis AX (p) so as to be.

For example, when the difference between the operating state of a certain axis AX (p) and the corresponding operating range RAP (p) is "+ x", the operating state control unit 180 sets the operating state of the axis AX (p). Outputs the following unlock signal to control. That is, among the changes in the operating state of the axis AX (p) by the worker OP, only the changes that bring the above difference closer to "0" (in other words, the change that reduces "+ x" to "0") are allowed. The operation state control unit 180 outputs a lock signal.

For example, when the difference between the operating state of a certain axis AX (q) and the corresponding operating range RAP (q) is “−y”, the operating state control unit 180 controls the operating state of the axis AX (q). Outputs the following unlock signal to control. That is, among the changes in the operating state of the axis AX (q) by the worker OP, only the change that brings the above difference closer to "0" (in other words, the change that increases "-y" to "0") is permitted. The operation state control unit 180 outputs an unlock signal.

That is, the robot control unit 10 controls the operating state of the shaft AX (joint) included in the robot arm 30 (for example, the angle (direction, rotation amount), size (length, hand movement amount), etc.). It includes a control unit 180.

Specifically, the operation state control unit 180 maintains the operation state of the axis AX included in the robot arm 30 when the operation state of the axis AX is within the operation range RAP corresponding to the permission range RP. For example, in the operation state control unit 180, when the angle (rotation amount) of a certain axis AX (p) included in the robot arm 30 is within the operation range RAP (p), the worker OP tells the certain axis AX. It is prohibited to change the angle of (p).

Further, the operation state control unit 180 changes the operation state of the axis AX included in the robot arm 30 when the operation state of the axis AX is not within the operation range RAP corresponding to the permission range RP. Allow that. For example, in the operation state control unit 180, if the angle (rotation amount) of a certain axis AX (p) included in the robot arm 30 is not within the operation range RAP (p), the operator OP causes the operator OP to perform the certain axis AX. Allows the angle of (p) to be changed.

According to the above configuration, the robot control unit 10 states that "the operating state of the axis AX (p) included in the robot arm 30 is within the operating range RAP (p) corresponding to the permitted range RP". For example, the axis AX (p) is locked so that the axis AX (p) does not move. Further, the robot control unit 10 states that "the operating state of the axis AX (p) included in the robot arm 30 is not within the operating range RAP (p) corresponding to the permitted range RP", according to the worker OP in that operating state. Allow changes. For example, if the robot control unit 10 has an axis AX (p) indicating an operating state that is not within the operating range RAP (p), the operator OP can manually change the posture PS of the robot arm 30. The axis AX (p) is unlocked (in other words, unlocked).

Here, in general, for the worker OP, the posture PS of the robot arm 30 can be changed to "how can the posture PS allow the robot arm 30 to return to the origin directly without causing a collision (that is, the transit posture PS (1))". Is it not easy to grasp?

Therefore, the robot control unit 10 controls the operating state of the axis AX to support the worker OP to change the posture PS of the robot arm 30 to the transit posture PS (1).

For example, in order to change the posture PS of the robot arm 30 to the transit posture PS (1), it is not necessary to change the operating state of one axis AX (x), and it is not necessary to change the operating state of another axis AX (y). It is possible to assume that changes are necessary. In such a case, the robot control unit 10 prevents the operating state of the certain axis AX (x) from being changed by the operator OP, that is, maintains the operating state of the certain axis AX (x). For example, a certain axis AX (x) is locked so that the operating state is not changed. Further, the robot control unit 10 allows the operator OP to change the operating state of the other axis AX (y), and for example, the operator OP manually changes the operating state of the other axis AX (y). Unlock another axis AX (y) so that it can be done.

Therefore, the robot control unit 10 has an effect of facilitating the operator OP to manually change the posture PS of the robot arm 30 to the transit posture PS (1).

The robot control unit 10 (particularly, the notification unit 130) notifies the operator OP of information indicating which of the axis AX (joints) included in the robot arm 30 is the axis AX that maintains the operating state. You may. For example, the notification unit 130 may notify the operator OP of information indicating "which axis AX is locked so that the operation state control unit 180 does not move". Similarly, the notification unit 130 notifies the worker OP of information indicating "which of the axis AX provided in the robot arm 30 is the axis AX that is permitted to change the operating state by the worker OP". You may. That is, the notification unit 130 may notify the operator OP of information indicating "which axis AX the operation state control unit 180 has unlocked".

Further, in the robot control unit 10 (particularly, the operation state control unit 180), among the axis AX provided in the robot arm 30, the operator OP manually adjusts the axis AX that is permitted to be changed by the operator OP in the operation state. The operating state that can be changed may be limited to a specific range. For example, the operation state control unit 180 may limit the operation state that the operator OP can manually change with respect to the above-mentioned axis AX (y) (that is, the unlocked axis AX) to a specific range. As a specific example, the operation state control unit 180 limits the "joint angle (rotation amount)" that the operator OP can change to a specific range for the axis AX (y), or the "hand" that the operator OP can change. The amount of movement of the "movement amount" may be limited to a specific range. In particular, the operation state control unit 180 makes the posture PS of the robot arm 30 closer to the transit posture PS (1) in the "change to the operation state of the axis AX (y)" by the operator OP, "the angle of the joint". Only "change of" and "change of the amount of movement of the hand" may be allowed.

In other words, the operation state control unit 180 sets the operation state of the axis AX (y) to the operation range RAP corresponding to the permission range RP among the "changes to the operation state of the axis AX (y)" by the operator OP. Only "changes to be contained within y)" may be accepted. The operation state control unit 180 does not accept the change of "keeping the operation state of the axis AX (y) away from the operation range RAP (y)", for example, the axis AX so that the operator OP cannot make such a change. The changeable range of the operating state of (y) may be limited.

The robot control unit 10 (particularly, the notification unit 130) relates to an axis AX (for example, the above-mentioned axis AX (y)) that allows the operator OP to change the operating state among the axis AX provided in the robot arm 30. , The range of the changeable operating state may be notified to the worker OP. For example, the notification unit 130 notifies the worker OP of the desired operating state for setting the posture PS of the robot arm 30 within the permitted range RP for the axis AX that is permitted to change the operating state by the worker OP. You may. Specifically, the notification unit 130 notifies the operator OP of the desirable "joint angle (rotation amount)", desirable "hand movement amount", etc. regarding the above-mentioned operating state of the axis AX (y). May be good.

The guidance operation instruction unit 190 is in accordance with the "permission / rejection of the guidance operation (that is, the determination by the worker OP whether or not the execution of the guidance operation may be continued") notified from the user operation determination unit 150. The guidance operation is continued or the guidance operation is stopped.

For example, when the guidance operation instruction unit 190 is in the "execution preparation state of the automatic guidance operation" and the user operation determination unit 150 notifies "permission of the automatic guidance operation", the guidance operation instruction unit 190 executes the "automatic guidance operation". Start or continue execution. That is, the guidance operation instruction unit 190 transmits a guidance operation continuation signal of "changing the posture PS of the robot arm 30 to the transit posture PS (1)" to the robot arm control unit 20.

For example, when the guidance operation instruction unit 190 is in the "preparation state for execution of the automatic guidance operation" and the user operation determination unit 150 notifies that "the automatic guidance operation is not permitted", the guidance operation instruction unit 190 executes the "automatic guidance operation". To stop. That is, the guidance operation instruction unit 190 transmits a guidance operation stop signal "stop changing the posture PS of the robot arm 30" to the robot arm control unit 20.

That is, the guidance operation instruction unit 190 performs a guidance operation for changing the posture PS of the robot arm 30 from the posture PS (eg, the posture PS (2)) that is not within the permitted range RP to the transit posture PS (1). Execute while the permission by the worker OP continues. Further, the guidance operation instruction unit 190 interrupts the execution of the above-mentioned guidance operation when the permission from the worker OP is lost.

According to the above configuration, the robot control unit 10 "from the posture PS not within the permitted range RP (eg, posture PS (2)) to the posture PS within the permitted range RP (eg, via posture PS (1)). ), The guidance operation of "changing the posture PS of the robot arm 30" is executed while the permission by the worker OP continues. For example, the robot control unit 10 may perform a guidance operation of "changing the posture PS of the robot arm 30 from the posture PS (2) to the transit posture PS (1)" while the operator OP continues to permit the guidance operation. Run. Specifically, the robot control unit 10 changes the posture PS of the robot arm 30 from the posture PS (2) to the transit posture PS (1) while the permission by the worker OP continues, and changes the position of the hand to "1". Continue to change with a route that goes straight to the "position of the hand in the transit posture PS (1)". Further, the robot control unit 10 interrupts the execution of the guidance operation when the above-mentioned permission by the worker OP is lost, and for example, allows the worker OP to manually change the posture PS of the robot arm 30.

Therefore, the robot control unit 10 efficiently and safely traverses the posture PS of the robot arm 30 by switching between the change by the guidance operation and the manual change by the operator OP according to the permission of the operator OP. It has the effect of being able to change to posture PS (1).

(About the memory)
The storage unit 160 is a storage device that stores various data used by the robot control unit 10. The storage unit 160 includes (1) a control program, (2) an OS program, (3) an application program for executing various functions of the robot control unit 10, and (4). Various data to be read when the application program is executed may be stored non-temporarily. The above data (1) to (4) include, for example, ROM (read only memory), flash memory, EPROM (Erasable Programmable ROM), EEPROM (registered trademark) (Electrically EPROM), HDD (Hard Disc Drive), and the like. It is stored in a non-volatile storage device. The robot control unit 10 may include a temporary storage unit (not shown). The temporary storage unit is a so-called working memory that temporarily stores data used for calculation and calculation results in the process of various processes executed by the robot control unit 10, and is a volatile memory such as RAM (Random Access Memory). It consists of devices. Which data is stored in which storage device is appropriately determined from the purpose of use, convenience, cost, physical restrictions, and the like of the robot control unit 10. The storage unit 160 further stores the permission range table 161.

The permission range table 161 stores the permission range information indicating the permission range RP. Specifically, the operating state of each of the plurality of axes AX included in the robot arm 30, or the coordinates (operating state) of the hand. The operating range information indicating the operating range RAP for is stored.

Although the details will be described later, the permission range information (operating range information) stored in the permission range table 161 may be rewritable by the operator OP. In the following, first, the method of setting the permission range information, and more accurately, the method of determining the permission range RP (that is, the passage posture PS (1)) will be described in detail.

(How to determine the permitted range RP group (via appearance))
In the robot control unit 10, the permission range RP may be set by the operator OP based on the design information of the robot arm 30. According to the above configuration, in the robot control unit 10, the permission range RP is based on the design information of the robot arm 30, for example, the three-dimensional CAD (Computer Aided Design) data of the robot arm 30 and the data related to the control. Based on this, it is set by the worker OP. For example, the worker OP examines the mechanical engagement of the three-dimensional model of the robot arm 30, and sets the permission range RP based on the examination result.

Therefore, the robot control unit 10 can determine whether or not the posture PS of the robot arm 30 is within the permission range RP preset by the worker OP based on the design information of the robot arm 30. It works.

When the robot control unit 10 determines that "when the three-dimensional model of the robot arm 30 is returned to the origin directly from a certain posture PS (x), no collision occurs", the robot control unit 10 determines that the certain posture PS (x). ) May be included.

According to the above configuration, the robot control unit 10 determines that "when the three-dimensional model of the robot arm 30 is returned to the origin directly from a certain posture PS (x), no collision occurs". The permission range RP is set to include the certain posture PS (x).

Therefore, the robot control unit 10 has an effect that the permission range RP can be set so as to include the following posture PS whose safety has been verified by a simulation or the like using a three-dimensional model of the robot arm 30. That is, the robot control unit 10 includes the posture PS of the robot arm 30 that is determined by simulation or the like using a three-dimensional model of the robot arm 30 that "a collision does not occur even if the robot arm 30 is returned to the origin orthogonally". It has the effect of being able to set the permission range RP.

In the robot control unit 10, the permitted range RP is a posture PS in which the worker OP manually moves the robot arm 30 and causes the robot arm 30 to take the posture PS as a posture PS that "can return to the origin directly without causing a collision". It may be set to include PS (x).

According to the above configuration, in the robot control unit 10, the permitted range RP is set to the posture PS that "can safely and directly return to the origin", and the operator OP manually moves the robot arm 30 to the robot arm 30. It is set to include the posture PS (x). For example, the permission range RP is set to include the posture PS (x) taught by the worker OP as the posture PS that "can return to the origin directly without causing a collision".

Therefore, the robot control unit 10 includes the posture PS (x) in which the worker OP manually moves the robot arm 30 and causes the robot arm 30 to take the posture PS as the posture PS that "can safely and directly return to the origin". , It has the effect of being able to set the permitted range RP.

(General precautions regarding the waypoint (permitted range RP))
For example, when the coordinates of the hand in the origin posture PS (0) can be expressed as (X (0), Y (0), Z (0), Rx (0), Ry (0), Rz (0)). The coordinates of the hand of the robot arm 30: (X, Y, Z, Rx, Ry, Rz) generally have the following tendencies. That is, when returning to the origin from a certain posture PS (p), the (Rx (p), Ry (p), Rz (p)) in the certain posture PS (p) is preferably the origin posture PS ( It is desirable that it is closer to the hand (Rx (0), Ry (0), Rz (0)) in 0). When (Rx (p), Ry (p), Rz (p)) is close to (Rx (0), Ry (0), Rz (0)), the amount of wrist rotation required for returning to the origin can be suppressed. This is because the possibility of collision between the robot arm 30 (particularly the hand) and an obstacle or the like can be suppressed.

Therefore, when the coordinates of the hand in the transit posture PS (1) are expressed as (X (1), Y (1), Z (1), Rx (1), Ry (1), Rz (1)), The following points can be made regarding the transit posture PS (1) when returning to the origin from a certain posture PS (p).

That is, (X (1), Y (1), Z (1)) is "(X (p), Y (p), Z (p)) and (X (0), Y (0), It is desirable that it is on a straight line connecting Z (0)). (Rx (1), Ry (1), Rz (1)) is from "(Rx (p), Ry (p), Rz (p)) to (Rx (0), Ry (0), Rz (0). )) It is desirable that the angle (that is, the direction, the amount of rotation) is in the middle of adjusting (rotating) the angle.

(Example of transit posture that changes according to the situation in which the robot arm 30 is placed)
Here, the permission range information stored in the permission range table 161 may be appropriately updated according to the situation in which the robot arm 30 is placed. In other words, the way posture (1) of the robot arm 30 may be changed as appropriate according to the “situation in which the robot arm 30 is placed”. Hereinafter, it will be described with reference to FIGS. 4 and 5 that the transit posture (1) of the robot arm 30 can be appropriately changed according to the “situation in which the robot arm 30 is placed”.

FIG. 4 is a diagram illustrating the return to origin of the robot arm 30 when the hand (end effector) of the robot arm 30 has a hook shape. The origin posture PS (0) of the robot arm 30 whose hands are hook-shaped is, for example, the “posture PS for storing hook-shaped hands” illustrated in the center of the upper side of the paper in FIG.

When the robot arm 30 tries to change the posture PS of the robot arm 30 from each of the posture PS (2) on the lower left side of the paper in FIG. 4 to the origin posture PS (0) illustrated in FIG. 4, the robot arm 30 is conveyed. There is a possibility of collision with the robot unit 40 and the like. The two robot arms 30 (robot 1) illustrated on the lower left side of the paper in FIG. 4 are "robot arms 30 (robot 1) in the same posture PS (2)" illustrated from different angles. be.

On the other hand, from the transit posture PS (1) on the lower right side of the paper in FIG. 4, the robot arm 30 goes straight to the origin posture PS (0) while avoiding collision with the transfer robot unit 40 and the like. The posture PS of the robot arm 30 can be changed. The two robot arms 30 (robot 1) illustrated on the lower right side of the paper in FIG. 4 are "robot arms 30 (robot 1) in the same posture PS (1)" illustrated from different angles. Is.

Regarding the "robot arm 30 having a hook-shaped hand" shown in FIG. 4, the conditions of the transit posture PS (1) can be arranged as follows. That is, the condition of the transit posture PS (1) of the "robot arm 30 having a hook shape of the hand" is "to the position of the hand in the origin posture PS (0) without interfering with the hand and the transfer robot unit 40 or the like". , You can make your minions go straight. "

FIG. 5 is a diagram for explaining the return to origin of the robot arm 30 when the loaded portion provided by the transport robot unit 40 for placing the work is in a high position. The origin posture PS (0) of the robot arm 30 when the loaded portion is in a high position is, for example, "a posture PS in which the hand is arranged at a position higher than the loaded portion" illustrated in the center of the upper side of the paper in FIG. Become.

When the robot arm 30 tries to change the posture PS of the robot arm 30 from each of the posture PS (2) on the lower left side of the paper in FIG. 5 to the origin posture PS (0) illustrated in FIG. 4, the robot arm 30 is conveyed. There is a possibility of collision with the robot unit 40 (particularly, the loaded unit and the work) and the like. The two robot arms 30 (robot 1) illustrated on the lower left side of the paper in FIG. 5 are "robot arms 30 (robot 1) in the same posture PS (2)" illustrated from different angles. be.

On the other hand, from the transit posture PS (1) on the lower right side of the paper in FIG. 5, the robot arm 30 goes straight to the origin posture PS (0) while avoiding collision with the transfer robot unit 40 and the like. The posture PS of the robot arm 30 can be changed. The two robot arms 30 (robot 1) illustrated on the lower right side of the paper in FIG. 5 are "robot arms 30 (robot 1) in the same posture PS (1)" illustrated from different angles. Is.

Regarding the "robot arm 30 when the loaded portion is in a high position" shown in FIG. 5, the conditions of the transit posture PS (1) can be arranged as follows. That is, the condition of the transit posture PS (1) of the "robot arm 30 when the loaded portion is in a high position" is the "origin posture PS (0) without interfering with the hand, the loaded portion and the work". It is possible to make the hand go straight to the position of the hand. "

As described above with reference to FIGS. 4 and 5, not only the physical environment around the robot arm 30, but also the shape of the hand of the robot arm 30, the height of the loaded portion of the transfer robot portion 40, and the like are used. However, the transit posture PS (1) of the robot arm 30 is different. In other words, the range of the posture PS of the robot arm 30 recognized as the transit posture PS (1), that is, the permitted range RP differs depending on the situation in which the robot arm 30 is placed.

Therefore, the permission range RP may be appropriately changed according to the situation in which the robot arm 30 is placed, that is, the permission range RP can be updated in the robot control unit 10.

According to the above configuration, in the robot control unit 10, for example, the operator can appropriately update the permission range information (permission range RP) stored in the permission range table 161. Therefore, the robot control unit 10 moves the robot arm 30 to the origin position while avoiding a collision with an obstacle or the like by using the permission range RP that is appropriately updated according to the situation in which the robot arm 30 is placed. It has the effect of being able to recover.

§3. Operation example As described above, in the robot control unit 10, the posture PS of the robot arm 30 is within the permitted range RP (that is, the posture PS of the robot arm 30 is within the transit posture PS (1)). If it is determined, the following processing is executed. That is, the robot control unit 10 causes the worker OP to confirm whether or not the robot arm 30 returns to the origin (whether or not it is possible), and when the worker OP who confirms whether or not the robot arm 30 returns to the origin gives an instruction to return to the origin, the robot arm 30 receives the robot arm 30. The origin is returned directly from the transit posture PS (1).

Here, the method of changing the posture PS of the robot arm 30 (particularly, the posture PS (2) not within the permitted range RP) to the transit posture PS (1) is not particularly limited. That is, the worker OP may manually change the posture PS of the robot arm 30 from the posture PS (2) to the transit posture PS (1). Further, the robot control unit 10 (particularly, the guidance operation instruction unit 190) may change the posture PS of the robot arm 30 from the posture PS (2) to the transit posture PS (1). Hereinafter, using FIGS. 6 and 7, "the worker OP or the robot control unit 10 changes the posture PS (2) of the robot arm 30 to the transit posture PS (1), and then the robot control unit 10 changes. An example of "changing the transit posture PS (1) to the origin posture PS (0)" will be described.

(A case where the operator manually changes the posture of the robot arm to the transit posture)
In FIG. 6, after the operator OP manually changes the posture PS of the robot arm 30 to the transit posture PS (1), the robot control unit 10 returns the robot arm 30 to the origin directly from the transit posture PS (1). It is a flow diagram in the case of making it.

The posture determination unit 120 includes the operating states of the plurality of axes AX of the robot arm 30 (for example, joint angles (rotation amount), etc.) and the permission range RP (more accurately, permission) stored in the permission range table 161. The following determination is made using the operating range RAP) corresponding to the range RP. That is, the posture determination unit 120 determines whether or not the attitude PS of the robot arm 30 is within the permitted range RP. Then, the notification unit 130 notifies the worker OP of the determination result of the above-mentioned determination by the posture determination unit 120.

When the posture determination unit 120 determines that "the attitude PS of the robot arm 30 is outside the permitted range RP" (SRC10), the worker OP shifts the robot control unit 10 to, for example, the "manual mode". Perform a transition operation (SOP10). The "manual mode" is a mode in which the robot control unit 10 permits the operator OP to manually change the posture PS of the robot arm 30.

When the user operation determination unit 150 determines that "the user operation acquisition unit 140 has accepted the transition operation to the" manual mode "by the worker OP", the user operation determination unit 150 shifts the robot control unit 10 to the manual mode (SRC20). Since the worker OP can manually change the posture PS of the robot arm 30 while the robot control unit 10 is in the manual mode, the worker OP moves the robot arm 30 toward the transit posture PS (1). Induce (SOP20). That is, the worker OP manually changes the posture PS of the robot arm 30 so that the posture PS of the robot arm 30 becomes the transit posture PS (1).

While the robot control unit 10 is in the manual mode, the notification unit 130 may notify the operator OP of information indicating the transit posture PS (1) of the robot arm 30. For example, the notification unit 130 may display the transit posture PS (1) of the robot arm 30 as a reference image on a display screen on which the operator OP can be confirmed. Further, the notification unit 130 may notify the worker OP of information about the change necessary for changing the posture PS of the robot arm 30 to the transit posture PS (1). For example, the notification unit 130 asks, "In what direction and how much should the axis AX (joint) included in the robot arm 30 be rotated in order to change the posture PS of the robot arm 30 into the transit posture PS (1)?" May be notified to the worker OP. That is, the notification unit 130 notifies the worker OP of information assisting the worker OP who intends to change the posture PS of the robot arm 30 to the transit posture PS (1), and the robot arm 30 by the worker OP of the SOP 20. May assist in the guidance of.

The posture determination unit 120 monitors the posture PS of the robot arm 30 guided by the worker OP in the SOP 20, and "the posture PS of the robot arm 30 is within the permitted range RP recognized as the transit posture PS (1). Is there? ”(SRC30). That is, the posture determination unit 120 determines whether the “posture PS of the robot arm 30” manually changed by the worker OP is within the permitted range RP recognized as the transit posture PS (1).

The notification unit 130 notifies the worker OP of the determination result (determination result) by the attitude determination unit 120, and while the attitude PS of the robot arm 30 is outside the permitted range RP recognized as the transit attitude PS (1) ( NO in SRC30), the worker OP continues to guide SOP20.

When the posture determination unit 120 determines that "the posture PS of the robot arm 30 is within the permitted range RP recognized as the transit posture PS (1)" (YES in SRC30), the following processing is executed. That is, the posture determination unit 120 notifies the notification unit 130 of the determination result that "the attitude PS of the robot arm 30 is within the permitted range RP", causes the notification unit 130 to output the determination result, and returns. An origin return permission signal is output to the indicator 170 (SRC40). The notification unit 130 says, "The posture PS of the robot arm 30 manually guided by the worker OP has reached the transit posture PS (1) (that is, the posture PS of the robot arm 30 is within the permitted range RP)." Notify the worker OP of that. The notification unit 130 may control the buzzer or the like to notify the worker OP of the result of the determination by the posture determination unit 120 by sound, or control the indicator light or the like to notify the worker OP by light. May be good.

When the worker OP recognizes (recognizes) the determination result that "the posture PS of the robot arm 30 is within the permitted range RP" notified from the notification unit 130 (SOP30), the following confirmation (judgment) is performed. That is, the worker OP returns the origin from the posture PS currently taken by the robot arm 30 by "a path that makes the position of the hand orthogonal to the position of the hand in the origin posture PS (0) (that is, orthogonally). Is it okay? ”Is confirmed just in case. The worker OP performs the above-mentioned confirmation, and if necessary, removes obstacles existing around the robot arm 30 (SOP40).

Specifically, the worker OP first confirms "whether the robot arm 30 can be returned to the origin directly from the posture PS currently taken in the situation where the robot arm 30 is actually currently placed". .. Then, as a result of the above confirmation, the worker OP, for example, "when the robot arm 30 is returned to the origin directly from the posture PS currently taken, there is no possibility of a collision with an obstacle or the like." Judge. Further, as a result of the above confirmation, the worker OP, for example, "If the robot arm 30 is returned to the origin directly from the posture PS currently taken, a collision with an obstacle or the like may occur." If it is determined, the following work is performed. That is, the worker OP appropriately performs work such as removing obstacles existing around the robot arm 30.

Then, the worker OP executes the home return operation, that is, instructs the robot control unit 10 to execute the home return operation (SOP50).

When the user operation determination unit 150 determines that "the origin return operation by the worker OP has been accepted by the user operation acquisition unit 140", the user operation determination unit 150 outputs an origin return signal to the return instruction unit 170. When the return instruction unit 170 receives the origin return signal from the user operation determination unit 150 in a state where there is an origin return permission signal from the attitude determination unit 120, the return instruction unit 170 causes the robot arm 30 from the posture PS currently taken by the robot arm 30. Return to the origin directly.

Specifically, the return instruction unit 170 outputs the origin return control signal to the robot arm control unit 20, and the robot arm control unit 20 that receives the origin return control signal from the return instruction unit 170 sends the robot arm control unit 20 to the robot arm 30. , The home return operation is started (SRC50). The robot control unit 10 directly changes the posture PS of the robot arm 30 from the current posture PS (for example, the posture PS (1)) to the origin posture PS (0) via the robot arm control unit 20. This completes the return of the robot arm 30 to the origin (SRC60).

(Case where the robot control unit changes the posture of the robot arm to the via posture)
In FIG. 7, after the robot control unit 10 (particularly, the guidance operation instruction unit 190) changes the posture PS of the robot arm 30 to the transit posture PS (1), the robot arm 30 is orthogonal to the transit posture PS (1). It is a flow diagram when returning to the origin.

When the posture determination unit 120 determines that "the attitude PS of the robot arm 30 is outside the permitted range RP" (SRC10), the worker OP shifts the robot control unit 10 to, for example, the "automatic guidance mode". Perform a transition operation (SOP110). The "automatic guidance mode" is a mode in which the robot control unit 10 plays a central role in changing the posture PS of the robot arm 30 to the transit posture PS (1). In the "automatic guidance mode", the robot control unit 10 (particularly, the guidance operation instruction unit 190) is monitored by the worker OP (in other words, whether or not the guidance operation is permitted by the worker OP), and the posture PS of the robot arm 30 is PS. Is changed to the transit posture PS (1). In the "automatic guidance mode", the robot control unit 10 changes the posture of the robot arm 30 at a speed slower than the change speed when changing the posture of the robot arm 30 in a mode other than the "automatic guidance mode". May be good.

When the user operation determination unit 150 determines that "the user operation acquisition unit 140 has accepted the transition operation to the" automatic guidance mode "by the worker OP", the user operation determination unit 150 shifts the robot control unit 10 to the automatic guidance mode. As a result, the robot control unit 10 is ready for execution of the automatic guidance operation (SRC120).

While the robot control unit 10 is in the preparation state for executing the automatic guidance operation, the worker OP says, "When the robot control unit 10 starts executing the automatic guidance operation, the robot arm 30 interferes with an obstacle or the like (collision). ) Isn't it? ”Is visually judged (SOP120). That is, the worker OP confirms "whether the robot arm 30 does not interfere with obstacles or the like even if the robot control unit 10 starts changing the posture PS of the robot arm 30".

When it is determined that "the robot arm 30 interferes with an obstacle or the like when the execution of the automatic guidance operation is started" (YES in SOP120), the worker OP prevents the robot arm 30 from interfering with the obstacle or the like. The robot arm 30 is retracted manually (SOP130). Then, even when the execution of the automatic guidance operation is started, the operator OP presses the automatic guidance switch after the robot arm 30 is manually retracted so that the robot arm 30 does not interfere with obstacles or the like. (SOP140).

Further, when it is determined that "the robot arm 30 does not interfere with obstacles or the like when the execution of the automatic guidance operation is started" (NO in SOP120), the worker OP presses the automatic guidance switch (SOP140).

When the user operation determination unit 150 detects that "the worker OP has pressed the automatic guidance switch" while the robot control unit 10 is in the state of being ready to execute the automatic guidance operation, the robot control unit 10 causes the robot control unit 10 to perform. Execution of the automatic guidance operation is started (SRC130). That is, the user operation determination unit 150 determines "whether the automatic guidance switch is pressed by the worker OP", that is, "whether the worker OP instructs the continuation of execution of the automatic guidance operation". (SRC140). When the user operation determination unit 150 determines "whether the automatic guidance switch is pressed by the worker OP", the user operation determination unit 150 notifies the guidance operation instruction unit 190 of the determination result, that is, whether or not the guidance operation by the worker OP is permitted.

When the user operation determination unit 150 determines that "the worker OP has not pressed the automatic guidance switch" (NO in SRC140), the guidance operation instruction unit 190 stops the automatic guidance operation (SRC150). That is, the guidance operation instruction unit 190 interrupts the change of the posture PS of the robot arm 30 at the time when "the user operation determination unit 150 determines that the worker OP has not pressed the automatic guidance switch". Then, the user operation determination unit 150 shifts the robot control unit 10 to the automatic guidance mode, that is, the robot control unit 10 is in the execution preparation state of the automatic guidance operation (SRC120).

When it is determined by the user operation determination unit 150 that "the worker OP is pressing the automatic guidance switch (that is, the automatic guidance switch is continuously pressed)" (YES in SRC140), the posture determination unit 120 determines. Execute the following judgment. That is, the posture determination unit 120 determines "whether the attitude PS of the robot arm 30 changed by the guidance operation instruction unit 190 is within the permitted range RP recognized as the transit attitude PS (1)" (SRC160). .. That is, the posture determination unit 120 monitors the posture PS of the robot arm 30 during the guidance movement, and "permits that the posture PS of the robot arm 30 during the guidance movement is recognized as the transit posture PS (1). Is it within the range RP? " Further, the notification unit 130 notifies the worker OP of the result (determination result) of the determination by the posture determination unit 120 in the SRC 160. The determination by the posture determination unit 120 in the SRC 160 is the same as the determination executed by the attitude determination unit 120 in the SRC 30 of FIG.

When the attitude determination unit 120 determines that "the attitude PS of the robot arm 30 is outside the permitted range RP recognized as the transit attitude PS (1)" (NO in SRC160), the guidance operation instruction unit 190 automatically guides the robot arm 30. Continue operation (SRC170).

While the guidance operation instruction unit 190 is executing the automatic guidance operation, the operator OP monitors the robot arm 30 and "when the automatic guidance operation is continued, the robot arm 30 interferes with an obstacle or the like. Is it visually judged (SOP150).

When it is determined that the robot arm 30 does not interfere with obstacles or the like even if the automatic guidance operation is continued (NO at SOP150), the worker OP continues pressing the automatic guidance switch (SOP170), that is, guidance. The operation instruction unit 190 continues to execute the automatic guidance operation.

When it is determined that "the robot arm 30 interferes with an obstacle or the like when the automatic guidance operation is continued" (YES at SOP150), the operator OP releases the automatic guidance switch (SOP160), that is, the guidance operation instruction. The unit 190 interrupts the execution of the automatic guidance operation.

When the posture determination unit 120 determines that "the posture PS of the robot arm 30 is within the permitted range RP recognized as the transit posture PS (1)" (YES in SRC160), the posture determination unit 120 executes the following three processes (SRC180). ). First, the posture determination unit 120 notifies the notification unit 130 of the determination result that "the attitude PS of the robot arm 30 is within the permitted range RP", and causes the notification unit 130 to output the determination result. Second, the posture determination unit 120 outputs a home return permission signal to the return instruction unit 170. First, the posture determination unit 120 notifies the guidance operation instruction unit 190 of the above-mentioned determination result, and ends the execution of the automatic guidance operation by the guidance operation instruction unit 190.

The flow after SRC180 is the same as the flow after SRC40 in FIG. That is, when the notification unit 130 notifies the worker OP of the determination result that "the posture PS of the robot arm 30 is within the permitted range RP" (SRC180), the worker sets the SOP180 as SOP30, SOP40, of FIG. And SOP50 is carried out. Specifically, when the worker OP recognizes (recognizes) the determination result notified from the notification unit 130 (SOP30), the worker OP confirms the situation, and if necessary, an obstacle existing around the robot arm 30 as appropriate. Remove things, etc. (SOP40). After that, the worker OP executes the home return operation, that is, instructs the robot control unit 10 to execute the home return operation (SOP50). When the user operation acquisition unit 140 accepts the origin return operation by the operator OP and there is an origin return permission signal from the posture determination unit 120, the return instruction unit 170 passes the robot arm 30 via the robot arm control unit 20. To start the execution of the home return operation (SRC50). The return instruction unit 170 directly changes the posture PS of the robot arm 30 from the posture PS currently taken by the robot arm 30 to the origin posture PS (0) via the robot arm control unit 20. The return to origin of the robot arm 30 is completed (SRC60).

The processes executed by the robot control unit 10 which have been described with reference to FIGS. 6 and 7 can be organized as follows. That is, the control method executed by the robot control unit 10 is a control method of the control device of the robot arm 30 having two or more degrees of freedom. The "control method executed by the robot control unit 10" is abbreviated as "control method SRC" below.
In the control method SRC, the following permitted range RP is preset for the posture PS of the robot arm 30. That is, it is predicted that the robot arm 30 can be returned to the origin by a path that makes the position of the hand orthogonal to the position of the hand in the origin posture PS (0) without causing a collision with an obstacle or the like. The range of the posture PS is set as the permitted range RP. In other words, the range of the posture PS recognized as the transit posture PS (1) is preset as the permitted range RP. The control method SRC includes a notification step (SRC40, SRC180) and a return instruction step (SRC50). In the notification step, when there is a determination that "the posture PS of the robot arm 30 is within the permitted range RP", the operator OP (user) is notified of the determination result. In the return instruction step, when the worker OP notified of the determination result in the notification step gives an execution instruction to return to the origin, the robot arm 30 is placed in the posture PS determined to be within the permitted range RP (that is, via). The origin is returned directly from the posture PS (1)).

According to the above configuration, when the control method SRC determines that "the posture PS of the robot arm 30 is within the preset permission range RP", the control method SRC notifies the operator OP of the determination result. The worker OP who was notified of the determination result said, "When the robot arm 30 is returned to the origin by a path that actually directs the position of the hand to the position of the hand in the origin posture PS (0), the robot arm 30 Check if there is a collision between the robot and an obstacle. " Then, when it is confirmed that "a collision does not occur when the robot arm 30 is returned to the origin by a path that actually directs the position of the hand to the position of the hand in the origin posture PS (0)", the operator confirms. The OP gives the control method SRC an instruction to return to the origin. For example, the worker OP gives an execution instruction for returning to the origin to the control device that executes the control method SRC. When there is an "instruction to return to the origin" from the worker OP who confirmed the actual situation triggered by the notification of the judgment result that "the posture PS of the robot arm 30 is within the permitted range RP", the control method SRC Executes the following processing. That is, the control method SRC is a route that directs the robot arm 30 from the posture PS (1) determined to be within the permitted range RP to the position of the hand in the origin posture PS (0). Return to origin.

That is, when the control method SRC determines that the robot arm 30 is taking the transit posture PS (1), which is expected to "avoid a collision with an obstacle or the like even if the robot arm 30 is returned to the origin directly", the work is performed. Notify the person OP to that effect. Then, the control method SRC "actually, the robot arm 30 is set as the origin in a path that is orthogonal to the posture PS (1) (that is, the position of the hand is orthogonal to the position of the hand in the origin posture PS (0)). Ask the worker OP to confirm "Is it okay to return?" In particular, the control method SRC confirms to the worker OP, "In the situation where the robot arm 30 is actually currently placed, can the robot arm 30 return to the origin directly from the posture PS currently taken?" Let me. The control method SRC waits for the operator OP to confirm that "in the situation where the robot arm 30 is actually currently placed, the robot arm 30 may be returned to the origin directly from the posture currently taken". .. Then, when the operator OP performs the above confirmation and instructs the control method SRC to return to the origin, the control method SRC returns the robot arm 30 to the origin. That is, the control method SRC waits for the confirmation by the operator OP and the explicit origin return instruction after the confirmation, and then returns the robot arm 30 to the origin. Specifically, the control method SRC is a path that linearizes the position of the hand from the posture PS currently taken by the robot arm 30 to the position of the hand in the origin posture PS (0), in other words, linearly. The robot arm 30 is returned to the origin.

Here, the "situation in which the robot arm 30 is actually currently placed" includes the "situation outside the robot arm 30" such as the physical space surrounding the robot arm 30. The "outside situation of the robot arm 30" includes the situation of the work surface, which is the work target of the robot arm 30, in addition to the situation of the wall surface, the structure, the equipment, etc. existing around the robot arm 30. When the work is placed around the robot arm 30 (for example, the work is placed on the loading portion provided with the robot arm 30), the state (shape, size, Orientation, etc.) is also one of the "outside conditions of the robot arm 30". Similarly, for example, when the robot arm 30 is gripping the work, the state of the gripped work is also one of the "external situations of the robot arm 30".

The "situation in which the robot arm 30 is actually currently placed" includes "the situation of the robot arm 30 itself" in addition to the "situation outside the robot arm 30". The usage status of the robot arm 30 itself, the shape, size, operation state, and the like of the hand (tip of the robot arm 30. End effector) of the robot arm 30 are examples of the “status of the robot arm 30 itself”. As an example of the "operating state of the hand", the "opening / closing state of the mechanism of the hand for gripping the work" can be mentioned.

As described above, the control method SRC returns to the origin by a path in which the operator OP "directs the position of the hand from the posture PS currently taken by the robot arm 30 to the position of the hand in the origin posture PS (0). Notify the worker OP of the opportunity to confirm "Is it okay?" That is, the control method SRC determines to the operator OP "whether the robot arm 30 may be returned to the origin directly from the posture PS currently taken in the situation where the robot arm 30 is actually currently placed". Let me. The control method SRC entrusts the operator OP to determine "whether the robot arm 30 may be returned to the origin directly from the posture currently taken in the situation where the robot arm 30 is actually currently placed". Therefore, the control method SRC can reduce the amount of information and the calculation load required for the above-mentioned determination.

In addition, the control method SRC is a route that "directs the position of the hand to the position of the hand in the origin posture PS (0)" from the posture currently taken by the robot arm 30 according to the instruction of returning to the origin by the operator OP. Then, return to the origin. The route of "directing the position of the hand from the current position to the position of the hand in the origin posture PS (0)" is complicated by using various information in order to avoid a collision with an obstacle or the like. It is not a route that is "specified as a result of conditional branching", but a route that is uniquely specified in advance. Therefore, in the control method SRC, the amount of information and the calculation load required for path calculation for returning the robot arm 30 to the origin while avoiding a collision with an obstacle or the like from the "posture currently taken by the robot arm 30". Can be reduced.

That is, the control method SRC needs to calculate "a method of returning the robot arm 30 to the origin while avoiding a collision with an obstacle or the like (that is, safely)" assuming all situations for any posture PS. There is no. Therefore, the control method SRC is used to "safely return the robot arm 30 to the origin" even if the robot arm 30 has various possible postures PS and the robot arm 30 is placed in various situations. The amount of information required and the calculation load can be suppressed.

Further, the control method SRC returns the robot arm 30 to the origin according to the above-mentioned confirmation result and instruction by the operator OP. The control method SRC returns the robot arm 30 to the origin according to the above-mentioned confirmation result and instruction by the operator OP regardless of "the situation in which the robot arm 30 is actually currently placed". That is, the control method SRC is the confirmation result of the worker OP that "in the situation where the robot arm 30 is actually currently placed, the robot arm 30 may be returned to the origin directly from the posture PS currently taken". According to this, the robot arm 30 is returned to the origin. The control method SRC uses the confirmation result of the worker OP related to "the situation where the robot arm 30 is actually currently placed", and the robot arm does not depend on the situation where the robot arm 30 is placed. 30 can be safely returned to the origin.

Therefore, the control method SRC returns the robot arm 30 to the origin position while avoiding a collision with an obstacle or the like, without depending on the situation in which the robot arm 30 is placed, while suppressing the realization cost. It has the effect of being able to.

§4. Modification example So far, an example in which the robot arm 30 includes six axis AX from the axis AX (1) to the axis AX (6) has been described, but the robot arm 30 has six axis AX (joints). It is not essential that the robot arm 30 has two or more shafts AX. That is, the degree of freedom of the robot arm 30 may be 2 or more.

Further, although the example in which the robot 1 provided with the robot arm 30 is a self-propelled transfer device has been described, it is not essential that the robot 1 is a self-propelled transfer device, that is, the robot 1 includes the transfer robot unit 40. You don't have to. The robot arm 30 may be a manipulator fixed at a predetermined position or on a movable gantry.

Further, although an example in which the robot control unit 10 controls the robot arm 30 via the robot arm control unit 20 has been described, the robot control unit 10 controls the robot arm 30 via the robot arm control unit 20. Is not required. The robot control unit 10 may directly control the robot arm 30, or the robot control unit 10 and the robot arm control unit 20 may be integrally configured.

The present invention is not limited to the above-described embodiments, and various modifications can be made within the scope of the claims, and the embodiments obtained by appropriately combining the technical means disclosed in the different embodiments. Is also included in the technical scope of the present invention.

10 Robot control unit (control device)
30 Robot arm 130 Notification unit 170 Return instruction unit
AX axis (joint)
OP worker (user)
PS posture RAP operating range
RP permission range SRC40 notification step SRC180 notification step SRC50 return instruction step

Claims (10)

A robot arm control device with two or more degrees of freedom.
Regarding the posture of the robot arm, the range in which it is predicted that the robot arm can be returned to the origin by a path that makes the position of the hand orthogonal to the position of the hand in the origin posture without causing a collision is predetermined. It is set as a permission range and
When it is determined that the posture of the robot arm is within the permitted range, a notification unit that notifies the user of the determination result and a notification unit.
When the user who has been notified of the determination result by the notification unit gives an instruction to return to the origin, the position of the hand is set to the origin posture from the posture determined that the robot arm is within the permitted range. A control device including a return instruction unit for returning to the origin by a path orthogonal to the position of the hand. The control device according to claim 1, wherein the permission range is updatable. The control device according to claim 1 or 2, wherein the permission range is set by a user based on the design information of the robot arm. When it is determined that a collision does not occur when the three-dimensional model of the robot arm is returned to the origin by a path in which the position of the hand is orthogonal to the position of the hand in the origin posture from a certain posture, the above is determined. The control device according to claim 1 or 2, wherein the permission range is set so as to include a posture. The permitted range is a path in which the position of the hand is orthogonal to the position of the hand in the origin posture without causing a collision, and the user manually moves the robot arm so that the robot arm can return to the origin. The control device according to claim 1 or 2, which is set to include a posture taken in. Regarding the joint provided by the robot arm, (A) when the operating state of the joint is within the operating range corresponding to the permitted range, the operating state is maintained, and (B) the operating state of the joint is the permitted. The control device according to any one of claims 1 to 5, further comprising an operation state control unit that allows the user to change the operation state if it is not within the operation range corresponding to the range. A guidance operation for changing the posture of the robot arm from a posture not within the permitted range to a posture within the permitted range is executed while the permission by the user continues.
The control device according to any one of claims 1 to 6, wherein the execution of the guidance operation is interrupted when the permission is lost. A control method for a robot arm control device having two or more degrees of freedom.
Regarding the posture of the robot arm, the range in which it is predicted that the robot arm can be returned to the origin by a path that makes the position of the hand orthogonal to the position of the hand in the origin posture without causing a collision is predetermined. It is set as a permission range and
When it is determined that the posture of the robot arm is within the permitted range, a notification step for notifying the user of the determination result, and
When the user who has been notified of the determination result in the notification step gives an instruction to return to the origin, the robot arm is moved from the posture determined to be within the permitted range to the position of the hand as the origin posture. A control method including a return instruction step of returning to the origin by a path orthogonal to the position of the hand in the above. An information processing program for operating a computer as a control device according to any one of claims 1 to 7, and an information processing program for operating a computer as each part. A computer-readable recording medium on which the information processing program according to claim 9 is recorded.

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