WO2019208228A1 - Sensor controller, robot system, sensor control method, and program - Google Patents

Sensor controller, robot system, sensor control method, and program Download PDF

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Publication number
WO2019208228A1
WO2019208228A1 PCT/JP2019/015700 JP2019015700W WO2019208228A1 WO 2019208228 A1 WO2019208228 A1 WO 2019208228A1 JP 2019015700 W JP2019015700 W JP 2019015700W WO 2019208228 A1 WO2019208228 A1 WO 2019208228A1
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WIPO (PCT)
Prior art keywords
movable machine
unit
sensor
control unit
signal
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PCT/JP2019/015700
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French (fr)
Japanese (ja)
Inventor
霄光 寧
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オムロン株式会社
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Publication of WO2019208228A1 publication Critical patent/WO2019208228A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/06—Safety devices

Definitions

  • the present invention relates to a sensor controller or the like that transmits a predetermined signal for stopping or avoiding the operation of a movable machine part of a robot system based on a detection result of a sensor.
  • Patent Document 1 discloses a distance sensor that monitors a dangerous area using a protective area on a movable machine part on which a tool is arranged.
  • Patent Document 1 The conventional technology as described above was able to stop the dangerous movement of the robot by detecting the intrusion of the object into the protection area and the dangerous area, and to make the robot make a detour.
  • the technique described in Patent Document 1 has a problem that an appropriate avoidance operation based on the position or direction of an intruding object cannot be performed. Specifically, there is a problem in that it cannot be executed by selecting whether to stop or avoid depending on whether the intruding object is near or far from the tool.
  • An object of one embodiment of the present invention is to provide a sensor controller that operates a robot system so as to increase productivity.
  • a sensor controller is a sensor controller that receives an input from a sensor unit attached to a movable machine unit of a robot system, and the sensor unit detects a three-dimensional position of an object, Intrusion of an object into the first monitoring area including the second monitoring area set around the end effector attached to the end of the movable machine section and the area farther from the end effector than the second monitoring area.
  • the sensor controller includes a signal control unit that detects and transmits a predetermined signal to a movable machine control unit that controls the operation of the movable machine unit based on a detection result by the sensor unit, and the signal control unit includes: When it is detected that the object has entered the second monitoring area, a signal for stopping the operation of the movable machine unit is sent to the movable machine. And transmitted to the control unit, when said first said object in the monitoring area is detected that has entered transmits a signal for operating the movable machine part so as to avoid said object to said movable machine control unit.
  • a robot system is a robot system including the sensor controller according to the one aspect and a movable machine control unit that controls an operation of the movable machine unit, wherein the movable machine control unit Receives the signal for stopping the operation of the movable machine part, stops the operation of the movable machine part, and receives the signal for operating the movable machine part to avoid the object, the movable machine part The avoidance operation may be executed.
  • a sensor control method is a sensor control method for receiving an input from a sensor unit attached to a movable machine unit of a robot system, wherein the sensor unit detects a three-dimensional position of an object.
  • a second monitoring region set around an end effector attached to an end of the movable machine unit, and an object with respect to the first monitoring region including a region farther from the end effector than the second monitoring region.
  • the sensor control method includes a signal control step of transmitting a predetermined signal to a movable machine control unit that controls an operation of the movable machine unit based on a detection result by the sensor unit, When the signal control step detects that the object has entered the second monitoring area, the signal control step outputs a signal for stopping the operation of the movable machine unit.
  • a step comprising:
  • a sensor controller that operates a robot system to increase productivity can be provided.
  • FIG. 2A schematically illustrates an example of an application scene of the robot system 1 according to the application example.
  • the robot system 1 according to this application example is a system that performs various operations by operating the movable machine unit 20.
  • the robot system 1 includes a movable machine unit 20, and a tool 21 and a plurality of sensors 221 are arranged on the movable machine unit 20.
  • the tool 21 is a tool (end effector) fixed to the end of the movable machine unit 20, and the robot system 1 executes various operations such as gripping and processing of materials using the tool 21.
  • an area where the robot system 1 performs various operations using the tool 21 is referred to as a work area. That is, the work area is set around the tool 21.
  • the tool 21 has, for example, the shape of a robot hand, and can grip a work target (workpiece).
  • the tool 21 may be configured to be replaceable depending on the purpose of work.
  • the plurality of sensors 221 is attached to the movable machine unit 20 on, for example, a plane perpendicular to the vertical axis thereof, and includes an area 2 set around the tool 21 and an area that is farther from the tool 21 than the area 2. 1 detects an intrusion of an object into 1.
  • the area monitored by each sensor 221 is set in a conical shape having the sensor as a vertex, and the plurality of areas set by the plurality of sensors 221 partially overlap each other. Of the areas monitored by the plurality of sensors 221, the distribution of area 1 and area 2 will be described later.
  • FIG. 2B is a schematic diagram illustrating an outline in which the movable machine unit 20 performs an avoidance operation in accordance with the position and direction of movement of the object.
  • the illustrated example shows a state where the user's hand approaches the tool 21 from the outside of the region monitored by the plurality of sensors 221.
  • the robot system 1 detects the position where the user's hand has entered and the three-dimensional space. Get the upper moving direction. Then, the avoidance direction is determined based on the position where the user's hand enters and the movement direction in the three-dimensional space, and the movable machine unit 20 is operated in the avoidance direction.
  • the robot system 1 operates (moves) the movable machine unit 20 so that the user's hand moves away from the position and moving direction where the user's hand has entered the area 1. That is, when the user's hand moves from the lower right side of the page to the upper left and moves toward the tool 21, the robot system 1 moves the movable machine unit 20 to the upper left side of the page so as to move away from the user's hand.
  • the robot system 1 according to the application example can operate the movable machine unit 20 so as to avoid the object based on the detection results of the plurality of sensors 221.
  • the robot system 1 stops the operation of the movable machine unit 20. That is, the robot system 1 according to this application example causes the movable machine unit 20 to perform an operation of avoiding the object when the intrusion of the object into the area 1 is detected, and detects the intrusion of the object into the area 2 of the movable machine unit 20. Stop operation.
  • area 1 includes a region farther from tool 21 than area 2, an object approaching tool 21 is first detected in area 1 and then further detected in area 2. In other words, the robot system 1 can execute avoidance and stop in stages according to the approach of the object.
  • FIG. 1 is a block diagram illustrating an example of a main configuration of the robot system 1.
  • the robot system 1 includes a storage unit 10, a movable machine unit 20, a control unit 30, and a sensor controller 40.
  • the storage unit 10 includes an operation program 11, and the movable machine unit 20 includes a tool 21 and a sensor unit 22.
  • the sensor unit 22 includes a plurality of sensors 221, the control unit 30 includes a movable machine control unit 31, and the sensor controller 40 includes a signal control unit 41.
  • the robot system 1 can operate the movable machine unit 20 in accordance with an instruction from the movable machine control unit 31.
  • the robot system 1 is an industrial robot that executes a manufacturing operation or the like by operating the movable machine unit 20 in accordance with, for example, the operation program 11.
  • the storage unit 10 can hold various data handled by the robot system 1.
  • the storage unit 10 includes at least an operation program 11.
  • the operation program 11 is a program in which processing necessary for the operation of the robot system 1 is described.
  • the operation program 11 is read by the movable machine control unit 31 of the control unit 30, and the movable machine control unit 31 can operate each unit according to the description content.
  • the movable machine unit 20 is a part used by the robot system 1 for work.
  • the movable machine unit 20 may be a flexible arm including a plurality of joint units, for example.
  • the movable machine unit 20 can operate according to the control of the movable machine control unit 31.
  • the tool 21 is a tool (end effector) attached to the end of the movable machine unit 20 for performing various operations.
  • the sensor unit 22 is attached to the movable machine unit 20 and detects the three-dimensional position of the object at predetermined detection intervals.
  • the sensor unit 22 includes two sensors 221, but the number of the sensors 221 may be one or three or more.
  • the sensor unit 22 detects an intrusion of an object into an area 2 (second monitoring area) set around the tool 21 and an area 1 (first monitoring area) including an area farther from the tool 21 than the area 2. Then, the detection result is transmitted to the sensor controller 40.
  • the sensor 221 is one of the sensors provided in the sensor unit 22 and monitors at least one of the area 1 and the area 2.
  • the sensor 221 may be any sensor as long as it can detect the three-dimensional position of the object.
  • an optical distance sensor that measures the distance to an object based on the ToF (Time of Flight) principle is used.
  • the sensor 221 is an optical distance sensor including a multi-pixel type light receiving unit having a plurality of light receiving elements.
  • the sensor 221 may be an optical distance sensor including a light receiving unit including at least a first light receiving element that monitors the area 1 and a second light receiving element that monitors at least the area 2.
  • the sensor 221 When the sensor 221 detects the intrusion of the object with the first light receiving element, the sensor 221 transmits to the outside that the object has entered the area 1 as a detection result. On the other hand, the sensor 221 detects the intrusion of the object with the second light receiving element. It may be transmitted to the outside as a detection result that an object has entered.
  • the control unit 30 controls each part of the robot system 1 in an integrated manner.
  • the control unit 30 can instruct the movable machine control unit 31 to operate the movable machine unit 20 according to the operation program 11.
  • the movable machine control unit 31 controls the operation of the movable machine unit. Specifically, the movable machine control unit 31 acquires a program related to the operation of the movable machine unit 20 from the operation program 11 in accordance with an instruction from the control unit 30, and operates the movable machine unit 20 using the acquired program. . When the movable machine control unit 31 receives the signal transmitted from the signal control unit 41 based on the detection result by the sensor unit 22, the operation of the movable machine unit 20 is switched according to the content of the received signal.
  • the movable machine control unit 31 When the movable machine control unit 31 receives a signal for stopping the operation of the movable machine unit 20 from the signal control unit 41, the movable machine control unit 31 stops the operation of the movable machine unit 20. On the other hand, when the movable machine control unit 31 receives a signal for operating the movable machine unit 20 so as to avoid an object that has entered the area 1 from the signal control unit 41, the movable machine unit 20 avoids the object. To work. The movable machine control unit 31 performs signal control on, for example, the detection position, the moving direction, and the speed of the object by the sensor unit 22 as a signal for operating the movable machine unit 20 so as to avoid the object that has entered the area 1. You may receive from the part 41. FIG. In this case, the movable machine control unit 31 may determine the avoidance direction and size (movement distance) from the object detection position and movement direction, and may determine the avoidance operation speed from the object speed.
  • the sensor controller 40 receives an input from the sensor unit 22 attached to the movable machine unit 20 of the robot system 1. When the sensor 221 included in the sensor unit 22 detects the entry of an object into the monitoring area, the sensor controller 40 receives the detection result via the sensor unit 22 and transmits the detection result to the signal control unit 41.
  • the sensor controller 40 may be configured integrally with the control unit 30.
  • the signal control unit 41 transmits a predetermined signal to the movable machine control unit 31 based on the detection result by the sensor unit 22. Specifically, the signal control unit 41 acquires the detection result of the sensor 221 via the sensor unit 22 and the sensor controller 40. If the acquired detection result indicates that an object has entered the area 1, the signal control unit 41 transmits a signal for operating the movable machine unit 20 to avoid the object to the movable machine control unit 31. . On the other hand, when the acquired detection result indicates that an object has entered the area 2, the signal control unit 41 transmits a signal for stopping the operation of the movable machine unit 20 to the movable machine control unit 31.
  • the signal control unit 41 When the signal control unit 41 receives a signal transmitted by the sensor unit 22 according to the detection result, the signal control unit 41 acquires information on the position of the object detected by the sensor unit 22 from the received signal.
  • the signal control unit 41 may calculate the moving direction and speed of the object using the past history regarding the measurement.
  • the past history may be stored in the signal control unit 41, may be stored in the storage unit 10, or may be acquired from the outside through communication or the like.
  • the moving direction of the object can be calculated from the temporal change in the position where the sensor unit 22 detected the object, that is, the amount of displacement from the position of the object detected in the previous measurement to the position detected in the current measurement. it can.
  • the signal control unit 41 is a signal for operating the movable machine unit 20 to avoid an object that has entered the area 1, for example, information indicating that the object exists in the area 1, a detection position of the object, and a moving direction , And the speed are transmitted to the movable machine control unit 31.
  • the speed of the object may be calculated from the amount of displacement of the position of the object, or may be a specified value appropriately set within a range that does not cause a problem in determining the avoidance speed.
  • the signal control unit 41 uses, as a signal for stopping the operation of the movable machine unit 20, for example, information indicating that the object exists in the area 2, a detection position of the object, a moving direction, and a speed as the movable machine control unit. 31.
  • FIG. 3 is a schematic diagram showing the area 1 and the area 2 monitored by the sensor unit 22 in the robot system 1 from the side.
  • FIG. 4 is a schematic diagram showing area 1 and area 2 monitored by the sensor unit 22 in the robot system 1 from above and below.
  • the area inside the dotted line including the tool 21 is the area 2 out of the cone indicating the area monitored by each of the plurality of sensors 221 attached to the movable machine unit 20.
  • the area outside the dotted line is the area 1 in the conical area. That is, the area 2 is set so as to surround the tool 21, and the area 1 is set so as to further surround the area 2.
  • the dotted line indicating the boundary between the area 1 and the area 2 is formed by a vertical axis passing through the center of the cone and a horizontal line provided at a predetermined distance from the tool 21 in the vertical direction. It is configured.
  • the area 2 may be set larger as the tool 21 is larger.
  • the control unit 30 transmits information on the type or size of the attached tool 21 to the signal control unit 41.
  • the signal control unit 41 sets the boundary between the area 2 and the area 1 according to the type or size of the tool 21.
  • the boundary between the area 1 and the area 2 may be set in consideration of factors other than the positional relationship with the tool 21. For example, when the tool 21 is hot or has a sharp shape, the boundary may be set so that the area 2 is in a wider range. In this case, the robot system 1 can appropriately stop or avoid the movable machine unit 20 according to the type or size of the tool 21.
  • FIG. 4 shows a case where area 1 and area 2 shown in FIG. 3 are viewed from above and below.
  • the monitoring area by each sensor 221 is a cone in FIG. 3, but is shown as a quadrangular pyramid divided into 4 ⁇ 4 areas in FIG.
  • each sensor 221 monitors each 4 ⁇ 4 area using a light receiving element corresponding to each area. That is, the sensor 221 monitors a region using a 4 ⁇ 4 light receiving element.
  • eight sensors 221 are arranged so as to surround the tool 21, and a monitoring region by the sensor 221 partially overlaps a monitoring region by another adjacent sensor 221.
  • each sensor 221 has a quadrangular pyramid shape, so that the size of the area changes according to the change in the vertical direction of the robot system 1. That is, the monitoring area indicated by the 4 ⁇ 4 area in FIG. 4 is enlarged or reduced according to the change in the vertical direction. For example, at a position closer to the sensor 221, the monitoring area does not overlap with the monitoring area by another adjacent sensor 221.
  • the 2 ⁇ 4 monitoring area arranged outside the dotted line is the area where the area 1 is monitored.
  • the 2 ⁇ 4 monitoring area arranged inside the dotted line indicates the area where the area 2 is monitored.
  • the sensor 221 includes a light receiving unit including a first light receiving element that monitors the area 1 and a second light receiving element that monitors the area 2. At this time, when one sensor 221 detects intrusion of an object in its own monitoring area, it outputs to the outside by distinguishing whether it is detected in Area 1 or Area 2 according to the detected position of the light receiving element. can do.
  • robot system 1 As shown in FIGS. 3 and 4, by setting area 1 outside area 2, robot system 1 according to this configuration example first avoids movable machine unit 20, and the object further moves to tool 21. When approaching, the movable machine part 20 can be stopped.
  • one sensor 221 includes a plurality of light receiving elements, and each of the plurality of sensors 221 monitors the area 1 and the area 2.
  • the present invention is not limited thereto.
  • a sensor 221 that monitors only area 1 and a sensor 221 that monitors only area 2 may be combined to perform monitoring similar to FIG.
  • the sensors 221 having only one light receiving element may be arranged in a 4 ⁇ 4 matrix so that the same monitoring as in FIG. 4 may be performed.
  • FIG. 5 is a flowchart illustrating an example of a flow of processing executed by the robot system 1. Note that the robot system 1 repeatedly executes a series of processes shown in the flowchart of FIG. 5 at every detection interval of the sensor unit 22.
  • the signal control unit 41 determines whether any of the plurality of sensors 221 included in the sensor unit 22 has detected the entry of an object into the area 2 (S1). When it is determined that no detection has been made (NO in S1), the signal control unit 41 determines whether any of the plurality of sensors 221 has detected an intrusion of an object into the area 1 (S2). On the other hand, when it determines with having detected in S1 (it is YES at S1), the signal control part 41 is a signal for stopping the operation
  • the signal control unit 41 refers to the past history stored in the storage unit 10 or the like, and determines whether or not the intrusion of the object has been detected in the previous measurement by the plurality of sensors 221 (S5: Signal control step). If it is determined that it has been detected (YES in S5), the signal control unit 41 calculates the moving direction of the object from the amount of displacement between the position detected in the previous measurement and the position detected in the current measurement, and further performs the measurement. The speed of the detected object is calculated using the time difference. And the information regarding the detected object exists in the area 1, and the position, moving direction, and speed of the detected object are transmitted to the movable machine control unit 31 (S6: signal control step). Thereafter, the process proceeds to S7.
  • the signal control unit 41 indicates that the detected object exists in the area 1 and information on the position of the detected object is a movable machine control unit. After transmitting to 31, the process proceeds to S7.
  • the movable machine control unit 31 uses the detected position of the object received from the signal control unit 41 as an avoidance operation.
  • the direction, magnitude, and speed of avoidance to be executed are determined (S7).
  • the movable machine control unit 31 may determine the avoidance direction and speed using the calculated moving direction and speed of the object. For example, the movable machine control unit 31 may move the movable machine unit 20 in a direction away from the detected position of the object. For example, the movable machine control unit 31 may move the movable machine unit 20 in the same direction as the detected moving direction of the object. Thereafter, the movable machine control unit 31 operates the movable machine unit 20 using the direction, size, and speed determined in S7, and executes avoidance (S8). Thereafter, the series of processing is terminated.
  • the robot system 1 stops the operation of the movable machine unit 20 when an object enters the area 2, and further moves so as to avoid the object when the object enters the area 1.
  • the machine unit 20 can be operated. Thereby, for example, when the robot system 1 and the user perform work within a limited work area, the user can be prevented from coming into contact with the movable machine unit 20 of the robot system 1.
  • the movable machine part 20 can be operated so as to avoid the user, the overall productivity can be improved without stagnation of the user's work. Thereby, there is an effect that the robot system 1 can be operated so as to increase productivity.
  • the movable machine control unit 31 is configured to operate the movable machine unit 20 in the avoidance direction determined based on the position, moving direction, and speed of the object that has entered the area 1.
  • the movable machine control unit 31 may be configured to operate the movable machine unit 20 toward a preset avoidance area, for example.
  • the avoidance area may be set in any way as long as it is a predetermined area where the user is unlikely to enter. For example, it may be set to a height that the user does not reach in the vertical direction.
  • the movable machine control unit 31 moves the movable machine unit 20 from the avoidance area. It is also possible to move to the position and resume the operation before avoidance.
  • the sensor unit 22 may include a sensor 221 that monitors the area 1 and a sensor 221 that monitors the area 2 separately.
  • a sensor controller (40) is a sensor controller that receives an input from a sensor unit (22) attached to a movable machine unit (20) of a robot system (1), and the sensor unit includes: A three-dimensional position of an object, a second monitoring region set around an end effector (tool 21) attached to an end of the movable machine unit, and the end effector more than the second monitoring region
  • a movable machine control unit that detects an intrusion of an object into a first monitoring region including a region with a long distance, and the sensor controller controls a predetermined signal based on a detection result by the sensor unit.
  • (31) includes a signal control unit, and when the signal control unit detects that the object has entered the second monitoring area, A signal for stopping the operation of the moving machine unit is transmitted to the movable machine control unit, and when it is detected that the object has entered the first monitoring area, the movable machine unit is set to avoid the object. It is the structure which transmits the signal for making it operate
  • the robot system stops the operation of the movable machine unit when an object enters the second monitoring area, and further avoids the object when the object enters the first monitoring area.
  • the part can be operated. Thereby, for example, when the robot system and the user perform work within a limited work area, the user can be prevented from coming into contact with the movable machine unit of the robot system.
  • a movable machine part can be operated so that a user may be avoided, the whole productivity can be improved, without stagnation of a user's work. Thereby, there is an effect that it is possible to provide a sensor controller capable of operating the robot system so as to increase productivity.
  • the second monitoring area is set so as to surround the end effector (tool 21), and the first monitoring area is The second monitoring area may be set so as to surround the periphery.
  • the robot system can further detect in the second monitoring area after detecting in the first monitoring area that the object has approached the periphery of the end effector.
  • the robot system can execute the avoidance and stop of the movable machine part in stages.
  • the sensor controller (40) detects that the object has entered the first monitoring area in the aspect 1 or 2, the position of the object and the position on the three-dimensional space are detected. It is good also as a structure which transmits the signal which shows the moving direction of this object to the said movable machine control part (31).
  • the robot system when an object enters the first monitoring area, the robot system can operate the movable machine unit so as to avoid the position where the object has entered and the moving direction in the three-dimensional space.
  • the sensor controller (40) according to aspect 4 of the present invention is the sensor controller (40) according to any one of the aspects 1 to 3, wherein the sensor unit (22) includes at least a first light receiving element that monitors the first monitoring region, and at least the first light receiving element. It is good also as a structure provided with the light-receiving part containing the 2nd light receiving element which monitors 2 monitoring area
  • the sensor controller when either of the first light receiving element and the second light receiving element detects an object, the sensor controller indicates that the intrusion of the object has been detected in the monitoring region corresponding to the detected light receiving element. Can be transmitted to the movable machine control unit.
  • the sensor controller (40) according to Aspect 5 of the present invention is the sensor controller according to any one of Aspects 1 to 4, wherein the sensor controller detects the object from a temporal change in the position where the sensor unit (22) detects the object.
  • the speed may be determined, and a signal indicating the determined speed may be transmitted to the movable machine control unit (31).
  • the sensor controller can transmit a signal indicating the speed of the object that has entered the monitoring area to the movable machine control unit.
  • the robot system can avoid the movable machine part at an operation speed higher than the speed of the object.
  • the sensor controller (40) according to the sixth aspect of the present invention is the sensor controller (40) according to any one of the first to fifth aspects, wherein the signal control unit (41) is configured according to the type or size of the end effector (tool 21). It is good also as a structure which changes the boundary of a 1st monitoring area
  • the robot system can appropriately stop or avoid the movable machine unit according to the type or size of the end effector.
  • a robot system includes the sensor controller (40) according to any one of aspects 1 to 6, and a movable machine control unit (31) that controls the operation of the movable machine unit (20).
  • the movable machine control unit receives the signal for stopping the operation of the movable machine unit, stops the operation of the movable machine unit, and avoids the object.
  • the avoidance operation may be executed by the movable machine unit.
  • the robot system (1) according to aspect 8 of the present invention is the robot system (1) according to aspect 7, in which the movable machine control unit (31) is arranged in a position of the object that has entered the first monitoring area or a moving direction in a three-dimensional space. Based on this, a configuration may be adopted in which a direction in which the avoidance operation is performed is determined.
  • the robot system can operate the movable machine unit in the avoidance direction determined based on the position or direction of the object that has entered the first monitoring area.
  • the movable machine part can be operated in a direction always away from the object.
  • the robot system (1) according to aspect 9 of the present invention is the robot system (1) according to aspect 7 or 8, wherein the movable machine control unit (31) operates at an operation speed according to the speed of the object determined by the sensor controller (40).
  • the movable machine unit (20) may be operated.
  • the robot system can operate the movable machine unit at an operation speed according to the speed of the object.
  • the operation speed of the movable machine unit is set to be larger than the speed of the object, and the object can be prevented from coming into contact with the movable machine unit.
  • a sensor control method is a sensor control method for receiving an input from a sensor unit (22) attached to a movable machine unit (20) of a robot system (1), wherein the sensor unit includes: A three-dimensional position of an object is detected, a second monitoring region set around an end effector (tool 21) attached to an end of the movable machine unit, and the end effector more than the second monitoring region.
  • a movable machine control unit that detects intrusion of an object into a first monitoring region including a far region, and the sensor control method controls a predetermined signal based on a detection result by the sensor unit to control an operation of the movable machine unit.
  • S5, S6 transmitting a signal for operating the movable machine part to the movable machine control part so as to avoid it.
  • the control block (signal control unit 41) of the sensor controller 40 may be realized by a logic circuit (hardware) formed in an integrated circuit (IC chip) or the like, or may be realized by software.
  • the sensor controller 40 includes a computer that executes instructions of a program that is software for realizing each function.
  • the computer includes, for example, one or more processors and a computer-readable recording medium storing the program.
  • the processor reads the program from the recording medium and executes the program, thereby achieving the object of the present invention.
  • a CPU Central Processing Unit
  • the recording medium a “non-temporary tangible medium” such as a ROM (Read Only Memory), a tape, a disk, a card, a semiconductor memory, a programmable logic circuit, or the like can be used.
  • a RAM Random Access Memory
  • the program may be supplied to the computer via an arbitrary transmission medium (such as a communication network or a broadcast wave) that can transmit the program.
  • an arbitrary transmission medium such as a communication network or a broadcast wave
  • one embodiment of the present invention can also be realized in the form of a data signal embedded in a carrier wave, in which the program is embodied by electronic transmission.
  • a sensor controller is a sensor controller that receives an input from a sensor unit attached to a movable machine unit of a robot system, and the sensor unit detects a three-dimensional position of an object, Intrusion of an object into the first monitoring area including the second monitoring area set around the end effector attached to the end of the movable machine section and the area farther from the end effector than the second monitoring area.
  • the sensor controller includes a signal control unit that detects and transmits a predetermined signal to a movable machine control unit that controls the operation of the movable machine unit based on a detection result by the sensor unit, and the signal control unit includes: When it is detected that the object has entered the second monitoring area, a signal for stopping the operation of the movable machine unit is sent to the movable machine. Transmitted to control unit, wherein when the first said object in the monitoring area is detected that has entered transmits a signal for operating the movable machine part so as to avoid said object to said movable machine control unit.
  • the robot system stops the operation of the movable machine unit when an object enters the second monitoring area, and further avoids the object when the object enters the first monitoring area.
  • the part can be operated. Thereby, for example, when the robot system and the user perform work within a limited work area, the user can be prevented from coming into contact with the movable machine unit of the robot system.
  • a movable machine part can be operated so that a user may be avoided, the whole productivity can be improved, without stagnation of a user's work. Thereby, there is an effect that it is possible to provide a sensor controller capable of operating the robot system so as to increase productivity.
  • the second monitoring region is set to surround the end effector, and the first monitoring region is set to further surround the second monitoring region. May be.
  • the robot system can further detect in the second monitoring area after detecting in the first monitoring area that the object has approached the periphery of the end effector. Thereby, for example, when an object enters only the first monitoring area, it is possible to cause the movable machine unit to perform only avoidance. Furthermore, when an object enters the second monitoring area from the first monitoring area, the operation can be stopped after causing the movable machine portion to avoid it. That is, the robot system can execute the avoidance and stop of the movable machine part in stages.
  • a signal indicating a position where the object has entered and a moving direction of the object in a three-dimensional space is movable. You may transmit to a machine control part.
  • the robot system can operate the movable machine unit so as to avoid the position where the object has entered and the moving direction in the three-dimensional space.
  • the sensor unit may include a light receiving unit including at least a first light receiving element that monitors the first monitoring region and a second light receiving element that monitors at least the second monitoring region. Good.
  • the sensor controller when one of the first light receiving element and the second light receiving element detects an object, the sensor controller has a predetermined value indicating that the intrusion of the object has been detected in the monitoring region corresponding to the detected light receiving element. The signal can be transmitted to the movable machine controller.
  • the sensor controller determines a speed of the object from a temporal change in a position where the sensor unit detects the object, and a signal indicating the determined speed is controlled by the movable machine. You may transmit to a part.
  • the sensor controller can transmit a signal indicating the speed of the object that has entered the monitoring area to the movable machine control unit. Thereby, for example, the robot system can avoid the movable machine part at an operation speed higher than the speed of the object.
  • the signal control unit may change a boundary between the first monitoring area and the second monitoring area according to the type or size of the end effector. According to this configuration, the robot system can appropriately stop or avoid the movable machine unit according to the type or size of the end effector.
  • a robot system is a robot system including the sensor controller according to the one aspect and a movable machine control unit that controls an operation of the movable machine unit, wherein the movable machine control unit Receives the signal for stopping the operation of the movable machine part, stops the operation of the movable machine part, and receives the signal for operating the movable machine part to avoid the object, the movable machine part The avoidance operation may be executed.
  • the movable machine control unit Receives the signal for stopping the operation of the movable machine part, stops the operation of the movable machine part, and receives the signal for operating the movable machine part to avoid the object, the movable machine part
  • the avoidance operation may be executed. According to this structure, there exists an effect similar to the said one side surface.
  • the movable machine control unit determines a direction in which the avoidance operation is performed based on a position of the object that has entered the first monitoring area or a moving direction in a three-dimensional space. May be.
  • the robot system can operate the movable machine unit in the avoidance direction determined based on the position or moving direction of the object that has entered the first monitoring area.
  • the movable machine part can be operated in a direction always away from the object.
  • the movable machine control unit may operate the movable machine unit at an operation speed corresponding to the speed of the object determined by the sensor controller.
  • the robot system can operate the movable machine unit at an operation speed corresponding to the speed of the object.
  • the operation speed of the movable machine unit is set to be larger than the speed of the object, and the object can be prevented from coming into contact with the movable machine unit.
  • a sensor control method is a sensor control method for receiving an input from a sensor unit attached to a movable machine unit of a robot system, wherein the sensor unit detects a three-dimensional position of an object.
  • a second monitoring region set around an end effector attached to an end of the movable machine unit, and an object with respect to the first monitoring region including a region farther from the end effector than the second monitoring region.
  • the sensor control method includes a signal control step of transmitting a predetermined signal to a movable machine control unit that controls an operation of the movable machine unit based on a detection result by the sensor unit, When the signal control step detects that the object has entered the second monitoring area, the signal control step outputs a signal for stopping the operation of the movable machine unit.
  • a step comprising: According to this structure, there exists an effect similar to the said one side surface.

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Abstract

Provided is a sensor controller that causes a robot system to operate so as to increase productivity. A sensor controller (40) comprises a signal control unit (41) that transmits a prescribed signal to a movable machine control unit (31) of a robot system (1) on the basis of detection results from a sensor unit (22). The signal control unit: transmits, to the movable machine control unit, a signal for stopping the operation of the movable machine unit if the sensor unit detects that an object has intruded into a second monitoring region set in the vicinity of an end effector (tool 21) attached to an end part of the movable machine unit (20); and transmits, to the movable machine control unit, a signal for causing the movable machine unit to operate so as to avoid the object if the sensor unit detects that the object has intruded into a first monitoring region which includes a region farther from the end effector than the second monitoring region.

Description

センサコントローラ、ロボットシステム、センサ制御方法、およびプログラムSensor controller, robot system, sensor control method, and program
　本発明はセンサの検知結果に基づいてロボットシステムの可動機械部が動作の停止または回避動作を実行するための所定の信号を送信するセンサコントローラ等に関する。 The present invention relates to a sensor controller or the like that transmits a predetermined signal for stopping or avoiding the operation of a movable machine part of a robot system based on a detection result of a sensor.
　限られた作業領域内でロボットシステムと人とが作業を実施する場合に、センサを用いてロボットシステムから人を防護するための技術が知られている。例えば、特許文献１には工具が配置された可動機械部品上で防護領域を用いて危険領域を監視する距離センサが開示されている。 A technique for protecting a person from a robot system using a sensor when a robot system and a person perform work in a limited work area is known. For example, Patent Document 1 discloses a distance sensor that monitors a dangerous area using a protective area on a movable machine part on which a tool is arranged.
日本国公開特許公報「特開２０１７－０７８７０７号公報（２０１７年４月２７日公開）」Japanese Patent Publication “Japanese Unexamined Patent Publication No. 2017-078707” (published on April 27, 2017)
　上述のような従来技術は、防護領域および危険領域に対する物体の侵入を検知してロボットの危険な動きを止めること、およびロボットに迂回させることが可能であった。しかしながら、特許文献１に記載の技術は、侵入した物体の位置または方向等に基づいた適切な回避動作を実施させることができないという問題があった。具体的には、侵入した物体が工具に近いか遠いかに応じて、停止か回避かを選択して実行することができないという問題があった。 The conventional technology as described above was able to stop the dangerous movement of the robot by detecting the intrusion of the object into the protection area and the dangerous area, and to make the robot make a detour. However, the technique described in Patent Document 1 has a problem that an appropriate avoidance operation based on the position or direction of an intruding object cannot be performed. Specifically, there is a problem in that it cannot be executed by selecting whether to stop or avoid depending on whether the intruding object is near or far from the tool.
　本発明の一態様は、生産性を高めるようロボットシステムを動作させるセンサコントローラを提供することを目的とする。 An object of one embodiment of the present invention is to provide a sensor controller that operates a robot system so as to increase productivity.
　本発明の一側面に係るセンサコントローラは、ロボットシステムの可動機械部に取り付けられたセンサ部からの入力を受け付けるセンサコントローラであって、前記センサ部は、対象物の３次元位置を検出し、前記可動機械部の端部に取り付けられたエンドエフェクタの周辺に設定した第２監視領域、および前記第２監視領域よりも前記エンドエフェクタからの距離が遠い領域を含む第１監視領域に対する物体の侵入を検知し、前記センサコントローラは、前記センサ部による検知結果に基づいて所定の信号を前記可動機械部の動作を制御する可動機械制御部に送信する信号制御部を備えており、前記信号制御部は、前記第２監視領域に前記物体が侵入したことを検知した場合は、前記可動機械部の動作を停止するための信号を前記可動機械制御部へ送信し、前記第１監視領域に前記物体が侵入したことを検知した場合は、該物体を回避するよう前記可動機械部を動作させるための信号を前記可動機械制御部へ送信する。 A sensor controller according to an aspect of the present invention is a sensor controller that receives an input from a sensor unit attached to a movable machine unit of a robot system, and the sensor unit detects a three-dimensional position of an object, Intrusion of an object into the first monitoring area including the second monitoring area set around the end effector attached to the end of the movable machine section and the area farther from the end effector than the second monitoring area. The sensor controller includes a signal control unit that detects and transmits a predetermined signal to a movable machine control unit that controls the operation of the movable machine unit based on a detection result by the sensor unit, and the signal control unit includes: When it is detected that the object has entered the second monitoring area, a signal for stopping the operation of the movable machine unit is sent to the movable machine. And transmitted to the control unit, when said first said object in the monitoring area is detected that has entered transmits a signal for operating the movable machine part so as to avoid said object to said movable machine control unit.
　本発明の一側面に係るロボットシステムは、前記一側面に係るセンサコントローラと、前記可動機械部の動作を制御する可動機械制御部と、を備えているロボットシステムであって、前記可動機械制御部は、前記可動機械部の動作を停止するための信号を受信すると該可動機械部の動作を停止させ、前記物体を回避するよう前記可動機械部を動作させるための信号を受信すると該可動機械部に回避動作を実行させてもよい。 A robot system according to one aspect of the present invention is a robot system including the sensor controller according to the one aspect and a movable machine control unit that controls an operation of the movable machine unit, wherein the movable machine control unit Receives the signal for stopping the operation of the movable machine part, stops the operation of the movable machine part, and receives the signal for operating the movable machine part to avoid the object, the movable machine part The avoidance operation may be executed.
　本発明の一側面に係るセンサ制御方法は、ロボットシステムの可動機械部に取り付けられたセンサ部からの入力を受け付けるセンサ制御方法であって、前記センサ部は、対象物の３次元位置を検出し、前記可動機械部の端部に取り付けられたエンドエフェクタの周辺に設定した第２監視領域、および前記第２監視領域よりも前記エンドエフェクタからの距離が遠い領域を含む第１監視領域に対する物体の侵入を検知し、前記センサ制御方法は、前記センサ部による検知結果に基づいて所定の信号を前記可動機械部の動作を制御する可動機械制御部に送信する信号制御ステップを有しており、前記信号制御ステップは、前記第２監視領域に前記物体が侵入したことを検知した場合は、前記可動機械部の動作を停止するための信号を前記可動機械制御部へ送信するステップと、前記第１監視領域に前記物体が侵入したことを検知した場合は、該物体を回避するよう前記可動機械部を動作させるための信号を前記可動機械制御部へ送信するステップと、を含む方法である。 A sensor control method according to an aspect of the present invention is a sensor control method for receiving an input from a sensor unit attached to a movable machine unit of a robot system, wherein the sensor unit detects a three-dimensional position of an object. A second monitoring region set around an end effector attached to an end of the movable machine unit, and an object with respect to the first monitoring region including a region farther from the end effector than the second monitoring region. Intrusion is detected, and the sensor control method includes a signal control step of transmitting a predetermined signal to a movable machine control unit that controls an operation of the movable machine unit based on a detection result by the sensor unit, When the signal control step detects that the object has entered the second monitoring area, the signal control step outputs a signal for stopping the operation of the movable machine unit. A step of transmitting to the control unit; and when detecting that the object has entered the first monitoring area, a signal for operating the movable machine unit to avoid the object is transmitted to the movable machine control unit. And a step comprising:
　本発明の一態様によれば、生産性を高めるようロボットシステムを動作させるセンサコントローラを提供することができる。 According to one embodiment of the present invention, a sensor controller that operates a robot system to increase productivity can be provided.
本発明の構成例に係るロボットシステムの要部構成を示すブロック図である。It is a block diagram which shows the principal part structure of the robot system which concerns on the structural example of this invention. 本発明の適用例に係るロボットシステムの概要を示す模式図であり、（ａ）はロボットシステムの適用場面の一例を模式的に例示し、（ｂ）は可動機械部が物体の侵入動作方向に応じて回避動作を実行する概要を示す。It is a schematic diagram which shows the outline | summary of the robot system which concerns on the application example of this invention, (a) typically illustrates an example of the application scene of a robot system, (b) is a movable machine part in the invasion operation direction of an object. The outline of executing the avoidance action accordingly is shown. 本発明の構成例に係るロボットシステムにおいてセンサ部が監視するエリア１およびエリア２を側面から示した模式図である。It is the schematic diagram which showed the area 1 and the area 2 which a sensor part monitors in the robot system which concerns on the structural example of this invention from the side. 本発明の構成例に係るロボットシステムにおいてセンサ部が監視するエリア１およびエリア２を上下方向から示した模式図である。It is the schematic diagram which showed the area 1 and the area 2 which a sensor part monitors in the robot system which concerns on the structural example of this invention from the up-down direction. 本発明の構成例に係るロボットシステムが実行する処理の流れの一例を示すフローチャートである。It is a flowchart which shows an example of the flow of the process which the robot system which concerns on the structural example of this invention performs.
　§１　適用例
　まず、図２の（ａ）を用いて、本発明が適用される場面の一例について説明する。図２の（ａ）は、適用例に係るロボットシステム１の適用場面の一例を模式的に例示する。本適用例に係るロボットシステム１は、可動機械部２０を動作させて各種作業を実行するシステムである。 §1 Application Example First, an example of a scene to which the present invention is applied will be described with reference to FIG. FIG. 2A schematically illustrates an example of an application scene of the robot system 1 according to the application example. The robot system 1 according to this application example is a system that performs various operations by operating the movable machine unit 20.
　図２に示されるとおり、ロボットシステム１は可動機械部２０を備えており、可動機械部２０には工具２１、および複数のセンサ２２１が配置されている。工具２１は可動機械部２０の端部に固定された道具（エンドエフェクタ）であり、ロボットシステム１は、工具２１を用いて材料の把持や加工といった各種作業を実行する。以下の説明において、ロボットシステム１が工具２１を用いて各種作業を実行する領域を作業領域と呼称する。すなわち、作業領域は、工具２１の周囲に設定される。工具２１は、例えばロボットハンドの形状を備えており、作業対象物（ワーク）を把持することができる。工具２１は、作業の目的に応じて交換可能な構成であってもよい。 2, the robot system 1 includes a movable machine unit 20, and a tool 21 and a plurality of sensors 221 are arranged on the movable machine unit 20. The tool 21 is a tool (end effector) fixed to the end of the movable machine unit 20, and the robot system 1 executes various operations such as gripping and processing of materials using the tool 21. In the following description, an area where the robot system 1 performs various operations using the tool 21 is referred to as a work area. That is, the work area is set around the tool 21. The tool 21 has, for example, the shape of a robot hand, and can grip a work target (workpiece). The tool 21 may be configured to be replaceable depending on the purpose of work.
　複数のセンサ２２１は可動機械部２０に、例えばその上下軸に垂直な平面上に取り付けられ、工具２１の周辺に設定したエリア２、およびエリア２よりも工具２１からの距離が遠い領域を含むエリア１に対する物体の侵入を検知する。図示の例において、個々のセンサ２２１が監視する領域はセンサを頂点とする円錐状に設定され、複数のセンサ２２１によって設定された複数の領域は、互いに一部が重畳している。複数のセンサ２２１が監視する領域のうち、エリア１およびエリア２の振り分けについては後述する。 The plurality of sensors 221 is attached to the movable machine unit 20 on, for example, a plane perpendicular to the vertical axis thereof, and includes an area 2 set around the tool 21 and an area that is farther from the tool 21 than the area 2. 1 detects an intrusion of an object into 1. In the illustrated example, the area monitored by each sensor 221 is set in a conical shape having the sensor as a vertex, and the plurality of areas set by the plurality of sensors 221 partially overlap each other. Of the areas monitored by the plurality of sensors 221, the distribution of area 1 and area 2 will be described later.
　図２の（ｂ）を用いて、本適用例に係るロボットシステム１が実行する回避動作について説明する。図２の（ｂ）は、可動機械部２０が物体の侵入した位置および移動方向に応じて回避動作を実行する概要を示す模式図である。 The avoidance operation performed by the robot system 1 according to this application example will be described with reference to FIG. FIG. 2B is a schematic diagram illustrating an outline in which the movable machine unit 20 performs an avoidance operation in accordance with the position and direction of movement of the object.
　図示の例は、ユーザの手が複数のセンサ２２１が監視する領域の外側から工具２１に向かって近づく状態を示している。複数のセンサ２２１の少なくともいずれかにおいて、エリア２よりも工具２１からの距離が遠いエリア１にユーザの手が侵入したことを検知すると、ロボットシステム１はユーザの手が侵入した位置および３次元空間上の移動方向を取得する。そして、ユーザの手が侵入した位置および３次元空間上の移動方向に基づいて回避方向を決定し、該回避方向に向けて可動機械部２０を動作させる。図示の例によれば、ロボットシステム１は、ユーザの手がエリア１に侵入した位置および移動方向から遠ざかるように、可動機械部２０を動作（移動）させる。すなわち、紙面右下からユーザの手が左上へ移動して工具２１に向かう場合、ロボットシステム１はユーザの手から遠ざかるように、可動機械部２０を紙面左上に移動させる。このようにして、適用例に係るロボットシステム１は、複数のセンサ２２１による検知結果に基づいて、物体を回避するよう可動機械部２０を動作させることができる。 The illustrated example shows a state where the user's hand approaches the tool 21 from the outside of the region monitored by the plurality of sensors 221. When at least one of the plurality of sensors 221 detects that the user's hand has entered the area 1 farther away from the tool 21 than the area 2, the robot system 1 detects the position where the user's hand has entered and the three-dimensional space. Get the upper moving direction. Then, the avoidance direction is determined based on the position where the user's hand enters and the movement direction in the three-dimensional space, and the movable machine unit 20 is operated in the avoidance direction. According to the illustrated example, the robot system 1 operates (moves) the movable machine unit 20 so that the user's hand moves away from the position and moving direction where the user's hand has entered the area 1. That is, when the user's hand moves from the lower right side of the page to the upper left and moves toward the tool 21, the robot system 1 moves the movable machine unit 20 to the upper left side of the page so as to move away from the user's hand. In this way, the robot system 1 according to the application example can operate the movable machine unit 20 so as to avoid the object based on the detection results of the plurality of sensors 221.
　図２の（ｂ）の状態からユーザの手が工具２１にさらに接近すると、複数のセンサ２２１の少なくともいずれかにおいて、エリア２にユーザの手が侵入したことを検知する。この場合、ロボットシステム１は、可動機械部２０の動作を停止させる。すなわち、本適用例に係るロボットシステム１は、エリア１に対する物体の侵入を検知すると可動機械部２０に該物体を回避する動作を実行させ、エリア２に対する物体の侵入を検知すると可動機械部２０の動作を停止させる。また、エリア１はエリア２よりも工具２１からの距離が遠い領域を含むので、工具２１に向かって近づく物体は、はじめにエリア１にて検知された後、エリア２にてさらに検知される。換言すれば、ロボットシステム１は、物体の接近に応じて回避と停止とを段階的に実行することができる。 When the user's hand further approaches the tool 21 from the state of FIG. 2 (b), it is detected by at least one of the plurality of sensors 221 that the user's hand has entered the area 2. In this case, the robot system 1 stops the operation of the movable machine unit 20. That is, the robot system 1 according to this application example causes the movable machine unit 20 to perform an operation of avoiding the object when the intrusion of the object into the area 1 is detected, and detects the intrusion of the object into the area 2 of the movable machine unit 20. Stop operation. In addition, since area 1 includes a region farther from tool 21 than area 2, an object approaching tool 21 is first detected in area 1 and then further detected in area 2. In other words, the robot system 1 can execute avoidance and stop in stages according to the approach of the object.
　ロボットシステム１において、停止より先に回避を実行するのはいくつかのメリットがある。可動機械部２０を停止させた場合、該可動機械部２０は直前までの動作に応じた惰性にしたがってわずかに移動する。このとき、可動機械部２０が周辺機器等に接触するおそれがあるので先に回避を実行することが好ましい。例えば、ロボットシステム１とユーザが、同じエリアで協働して作業を行う場合、ユーザの作業を妨げないよう可動機械部２０を回避させると、作業効率がよい。 In the robot system 1, performing avoidance before stopping has several advantages. When the movable machine part 20 is stopped, the movable machine part 20 moves slightly according to the inertia according to the operation immediately before. At this time, since there is a possibility that the movable machine unit 20 may come into contact with a peripheral device or the like, it is preferable to execute avoidance first. For example, when the robot system 1 and the user work together in the same area, work efficiency is good if the movable machine unit 20 is avoided so as not to hinder the user's work.
　§２　構成例
　以下、本発明の一実施形態について、図１、および図３～図５を用いて詳細に説明する。 §2 Configuration Example Hereinafter, an embodiment of the present invention will be described in detail with reference to FIG. 1 and FIGS.
　（ロボットシステムの構成）
　本発明の一態様に係るロボットシステム１の概要および構成について、図１を用いて説明する。図１は、ロボットシステム１の要部構成の一例を示すブロック図である。ロボットシステム１は、記憶部１０、可動機械部２０、制御部３０、およびセンサコントローラ４０を備えている。また、記憶部１０は動作プログラム１１を備えており、可動機械部２０は、工具２１およびセンサ部２２を備えている。センサ部２２は複数のセンサ２２１を含んでおり、制御部３０は可動機械制御部３１を備え、センサコントローラ４０は信号制御部４１を備えている。 (Robot system configuration)
An outline and a configuration of a robot system 1 according to one embodiment of the present invention will be described with reference to FIG. FIG. 1 is a block diagram illustrating an example of a main configuration of the robot system 1. The robot system 1 includes a storage unit 10, a movable machine unit 20, a control unit 30, and a sensor controller 40. The storage unit 10 includes an operation program 11, and the movable machine unit 20 includes a tool 21 and a sensor unit 22. The sensor unit 22 includes a plurality of sensors 221, the control unit 30 includes a movable machine control unit 31, and the sensor controller 40 includes a signal control unit 41.
　ロボットシステム１は、可動機械制御部３１の指示にしたがって可動機械部２０を動作させることができる。ロボットシステム１は、例えば動作プログラム１１にしたがって可動機械部２０を動作させることによって製造作業等を実行する産業用ロボットである。 The robot system 1 can operate the movable machine unit 20 in accordance with an instruction from the movable machine control unit 31. The robot system 1 is an industrial robot that executes a manufacturing operation or the like by operating the movable machine unit 20 in accordance with, for example, the operation program 11.
　記憶部１０は、ロボットシステム１にて扱う各種データを保持することができる。図示の例において、記憶部１０は、動作プログラム１１を少なくとも備えている。動作プログラム１１は、ロボットシステム１の動作に必要な処理が記述されたプログラムである。動作プログラム１１は制御部３０の可動機械制御部３１によって読み出され、可動機械制御部３１は記述内容にしたがって各部を動作させることができる。 The storage unit 10 can hold various data handled by the robot system 1. In the illustrated example, the storage unit 10 includes at least an operation program 11. The operation program 11 is a program in which processing necessary for the operation of the robot system 1 is described. The operation program 11 is read by the movable machine control unit 31 of the control unit 30, and the movable machine control unit 31 can operate each unit according to the description content.
　可動機械部２０は、ロボットシステム１が作業に用いる部位である。可動機械部２０は、例えば、複数の関節部を備えるフレキシブルアームであってもよい。可動機械部２０は、可動機械制御部３１の制御にしたがって動作することができる。 The movable machine unit 20 is a part used by the robot system 1 for work. The movable machine unit 20 may be a flexible arm including a plurality of joint units, for example. The movable machine unit 20 can operate according to the control of the movable machine control unit 31.
　工具２１は、可動機械部２０の端部に取り付けられた、各種作業を実行するための道具（エンドエフェクタ）である。 The tool 21 is a tool (end effector) attached to the end of the movable machine unit 20 for performing various operations.
　センサ部２２は、可動機械部２０に取り付けられ、所定の検出間隔ごとに対象物の３次元位置を検出する。図示の例において、センサ部２２は２つのセンサ２２１を備えているが、センサ２２１は１つであってもよいし３つ以上であってもよい。センサ部２２は、工具２１の周辺に設定したエリア２（第２監視領域）および該エリア２よりも工具２１からの距離が遠い領域を含むエリア１（第１監視領域）に対する物体の侵入を検知すると、検知結果をセンサコントローラ４０へ送信する。 The sensor unit 22 is attached to the movable machine unit 20 and detects the three-dimensional position of the object at predetermined detection intervals. In the illustrated example, the sensor unit 22 includes two sensors 221, but the number of the sensors 221 may be one or three or more. The sensor unit 22 detects an intrusion of an object into an area 2 (second monitoring area) set around the tool 21 and an area 1 (first monitoring area) including an area farther from the tool 21 than the area 2. Then, the detection result is transmitted to the sensor controller 40.
　センサ２２１は、センサ部２２に設けられたセンサの１つであり、エリア１およびエリア２の少なくともいずれかを監視する。センサ２２１は、対象物の３次元位置を検出することが可能なセンサであれば、どのようなセンサを用いてもよい。なお、以下の説明では、ＴｏＦ（Time of Flight）原理に基づいて対象物までの距離を計測する光学式距離センサを用いた場合について示す。例えばセンサ２２１は、複数の受光素子を有するマルチピクセル型の受光部を備える光学式距離センサである。この場合、センサ２２１は少なくともエリア１を監視する第１受光素子と、少なくともエリア２を監視する第２受光素子を含む受光部を備えている光学式距離センサであってもよい。センサ２２１は、第１受光素子で物体の侵入を検知した場合はエリア１に物体が侵入した旨を検知結果として外部に送信する一方、第２受光素子で物体の侵入を検知した場合はエリア２に物体が侵入した旨を検知結果として外部に送信してもよい。 The sensor 221 is one of the sensors provided in the sensor unit 22 and monitors at least one of the area 1 and the area 2. The sensor 221 may be any sensor as long as it can detect the three-dimensional position of the object. In the following description, an optical distance sensor that measures the distance to an object based on the ToF (Time of Flight) principle is used. For example, the sensor 221 is an optical distance sensor including a multi-pixel type light receiving unit having a plurality of light receiving elements. In this case, the sensor 221 may be an optical distance sensor including a light receiving unit including at least a first light receiving element that monitors the area 1 and a second light receiving element that monitors at least the area 2. When the sensor 221 detects the intrusion of the object with the first light receiving element, the sensor 221 transmits to the outside that the object has entered the area 1 as a detection result. On the other hand, the sensor 221 detects the intrusion of the object with the second light receiving element. It may be transmitted to the outside as a detection result that an object has entered.
　制御部３０は、ロボットシステム１の各部を統括して制御する。制御部３０は、動作プログラム１１にしたがって可動機械部２０を動作させるよう、可動機械制御部３１に指示することができる。 The control unit 30 controls each part of the robot system 1 in an integrated manner. The control unit 30 can instruct the movable machine control unit 31 to operate the movable machine unit 20 according to the operation program 11.
　可動機械制御部３１は、可動機械部の動作を制御する。具体的には、可動機械制御部３１は、制御部３０の指示にしたがって、動作プログラム１１から可動機械部２０の動作に関するプログラムを取得し、取得したプログラムを用いて当該可動機械部２０を動作させる。可動機械制御部３１は、センサ部２２による検知結果に基づいて信号制御部４１から送信された信号を受信すると、受信した信号の内容に応じて可動機械部２０の動作を切り替える。 The movable machine control unit 31 controls the operation of the movable machine unit. Specifically, the movable machine control unit 31 acquires a program related to the operation of the movable machine unit 20 from the operation program 11 in accordance with an instruction from the control unit 30, and operates the movable machine unit 20 using the acquired program. . When the movable machine control unit 31 receives the signal transmitted from the signal control unit 41 based on the detection result by the sensor unit 22, the operation of the movable machine unit 20 is switched according to the content of the received signal.
　可動機械制御部３１は、信号制御部４１から可動機械部２０の動作を停止するための信号を受信した場合、該可動機械部２０の動作を停止させる。一方、可動機械制御部３１は、信号制御部４１からエリア１に侵入した物体を回避するよう可動機械部２０を動作させるための信号を受信した場合、該物体を回避するよう該可動機械部２０を動作させる。可動機械制御部３１は、エリア１に侵入した物体を回避するよう可動機械部２０を動作させるための信号として、例えばセンサ部２２による該物体の検出位置、移動方向、および物体の速度を信号制御部４１から受信してもよい。この場合、可動機械制御部３１は、物体の検出位置および移動方向から回避の方向および大きさ（移動距離）を決定し、物体の速度から回避の動作速度を決定してもよい。 When the movable machine control unit 31 receives a signal for stopping the operation of the movable machine unit 20 from the signal control unit 41, the movable machine control unit 31 stops the operation of the movable machine unit 20. On the other hand, when the movable machine control unit 31 receives a signal for operating the movable machine unit 20 so as to avoid an object that has entered the area 1 from the signal control unit 41, the movable machine unit 20 avoids the object. To work. The movable machine control unit 31 performs signal control on, for example, the detection position, the moving direction, and the speed of the object by the sensor unit 22 as a signal for operating the movable machine unit 20 so as to avoid the object that has entered the area 1. You may receive from the part 41. FIG. In this case, the movable machine control unit 31 may determine the avoidance direction and size (movement distance) from the object detection position and movement direction, and may determine the avoidance operation speed from the object speed.
　センサコントローラ４０は、ロボットシステム１の可動機械部２０に取り付けられたセンサ部２２からの入力を受け付ける。センサコントローラ４０は、センサ部２２に含まれるセンサ２２１が監視領域に対する物体の侵入を検知した場合に、該センサ部２２を介して検知結果を受信し、信号制御部４１へ送信する。センサコントローラ４０は、制御部３０と一体に構成されてもよい。 The sensor controller 40 receives an input from the sensor unit 22 attached to the movable machine unit 20 of the robot system 1. When the sensor 221 included in the sensor unit 22 detects the entry of an object into the monitoring area, the sensor controller 40 receives the detection result via the sensor unit 22 and transmits the detection result to the signal control unit 41. The sensor controller 40 may be configured integrally with the control unit 30.
　信号制御部４１は、センサ部２２による検知結果に基づいて所定の信号を可動機械制御部３１に送信する。具体的には、信号制御部４１はセンサ２２１における検知結果をセンサ部２２およびセンサコントローラ４０を介して取得する。信号制御部４１は、取得した検知結果がエリア１に対する物体の侵入を示すものであった場合、該物体を回避するよう可動機械部２０を動作させるための信号を可動機械制御部３１へ送信する。一方、取得した検知結果がエリア２に対する物体の侵入を示すものであった場合、信号制御部４１は可動機械部２０の動作を停止するための信号を可動機械制御部３１へ送信する。 The signal control unit 41 transmits a predetermined signal to the movable machine control unit 31 based on the detection result by the sensor unit 22. Specifically, the signal control unit 41 acquires the detection result of the sensor 221 via the sensor unit 22 and the sensor controller 40. If the acquired detection result indicates that an object has entered the area 1, the signal control unit 41 transmits a signal for operating the movable machine unit 20 to avoid the object to the movable machine control unit 31. . On the other hand, when the acquired detection result indicates that an object has entered the area 2, the signal control unit 41 transmits a signal for stopping the operation of the movable machine unit 20 to the movable machine control unit 31.
　信号制御部４１は、センサ部２２が検知結果に応じて送信した信号を受信すると、受信した信号から、センサ部２２が検知した物体の位置に関する情報を取得する。信号制御部４１は、センサ部２２が直前の測定でも物体の侵入を検知していた場合は、該測定に関する過去の履歴を用いて、該物体の移動方向および速度を算出してもよい。ここで、過去の履歴は信号制御部４１に保存されていてもよいし、記憶部１０に保存されたものであってもよいし、通信等によって外部から取得したものであってもよい。なお、物体の移動方向は、センサ部２２が物体を検知した位置の時間的な変化、すなわち直前の測定で検知した物体の位置から今回の測定で検知した位置までの変位量から算出することができる。また、物体の速度は、物体の位置の変位量および測定の時間差（＝検出間隔）から算出することができる。 When the signal control unit 41 receives a signal transmitted by the sensor unit 22 according to the detection result, the signal control unit 41 acquires information on the position of the object detected by the sensor unit 22 from the received signal. When the sensor unit 22 has detected the intrusion of the object even in the immediately previous measurement, the signal control unit 41 may calculate the moving direction and speed of the object using the past history regarding the measurement. Here, the past history may be stored in the signal control unit 41, may be stored in the storage unit 10, or may be acquired from the outside through communication or the like. The moving direction of the object can be calculated from the temporal change in the position where the sensor unit 22 detected the object, that is, the amount of displacement from the position of the object detected in the previous measurement to the position detected in the current measurement. it can. Further, the speed of the object can be calculated from the displacement amount of the position of the object and the measurement time difference (= detection interval).
　信号制御部４１は、エリア１に侵入した物体を回避するよう可動機械部２０を動作させるための信号として、例えば該物体がエリア１に存在することを示す情報、該物体の検出位置、移動方向、および速度を可動機械制御部３１に送信する。物体の速度は、物体の位置の変位量等から算出したものであってもよいし、回避速度を決定する上で問題のない範囲で適当に設定した規定値であってもよい。 The signal control unit 41 is a signal for operating the movable machine unit 20 to avoid an object that has entered the area 1, for example, information indicating that the object exists in the area 1, a detection position of the object, and a moving direction , And the speed are transmitted to the movable machine control unit 31. The speed of the object may be calculated from the amount of displacement of the position of the object, or may be a specified value appropriately set within a range that does not cause a problem in determining the avoidance speed.
　信号制御部４１は、可動機械部２０の動作を停止するための信号として、例えば該物体がエリア２に存在することを示す情報、該物体の検出位置、移動方向、および速度を可動機械制御部３１に送信する。 The signal control unit 41 uses, as a signal for stopping the operation of the movable machine unit 20, for example, information indicating that the object exists in the area 2, a detection position of the object, a moving direction, and a speed as the movable machine control unit. 31.
　（エリア１およびエリア２の位置関係について）
　本構成例に係るロボットシステム１において、センサ部２２が監視を行うエリア１およびエリア２の位置関係について、図３および図４を用いて説明する。図３は、ロボットシステム１においてセンサ部２２が監視するエリア１およびエリア２を側面から示した模式図である。図４は、ロボットシステム１においてセンサ部２２が監視するエリア１およびエリア２を上下方向から示した模式図である。 (About the positional relationship between Area 1 and Area 2)
In the robot system 1 according to this configuration example, the positional relationship between the area 1 and the area 2 monitored by the sensor unit 22 will be described with reference to FIGS. 3 and 4. FIG. 3 is a schematic diagram showing the area 1 and the area 2 monitored by the sensor unit 22 in the robot system 1 from the side. FIG. 4 is a schematic diagram showing area 1 and area 2 monitored by the sensor unit 22 in the robot system 1 from above and below.
　図３において、可動機械部２０に取り付けられた複数のセンサ２２１のそれぞれが監視する領域を示す円錐のうち、工具２１を含む、点線の内側の領域がエリア２である。一方、円錐状の領域のうち、点線の外側の領域がエリア１である。すなわち、エリア２は工具２１の周囲を囲むように設定されており、エリア１は、エリア２のさらに周囲を囲むように設定されている。図示の例において、エリア１とエリア２との間の境界を示す点線は円錐の中心を通る上下軸と、工具２１から上下方向に所定の距離を置いて離れた位置に設けられた水平線とによって構成されている。 3, the area inside the dotted line including the tool 21 is the area 2 out of the cone indicating the area monitored by each of the plurality of sensors 221 attached to the movable machine unit 20. On the other hand, the area outside the dotted line is the area 1 in the conical area. That is, the area 2 is set so as to surround the tool 21, and the area 1 is set so as to further surround the area 2. In the illustrated example, the dotted line indicating the boundary between the area 1 and the area 2 is formed by a vertical axis passing through the center of the cone and a horizontal line provided at a predetermined distance from the tool 21 in the vertical direction. It is configured.
　可動機械部２０に取り付けられた工具２１の大きさに応じて、工具２１が大きいほど、エリア２を大きく設定してもよい。この場合、制御部３０は、取り付けられている工具２１の種類または大きさの情報を信号制御部４１に送信する。信号制御部４１は、工具２１の種類または大きさに応じて、エリア２とエリア１の境界を設定する。 Depending on the size of the tool 21 attached to the movable machine unit 20, the area 2 may be set larger as the tool 21 is larger. In this case, the control unit 30 transmits information on the type or size of the attached tool 21 to the signal control unit 41. The signal control unit 41 sets the boundary between the area 2 and the area 1 according to the type or size of the tool 21.
　なお、エリア１とエリア２との間の境界は、工具２１との位置関係以外の要素を考慮して設定してもよい。例えば、工具２１が高温の場合や尖った形状を備えている場合は、エリア２がより広い範囲となるように境界を設定してもよい。この場合、ロボットシステム１は工具２１の種類または大きさに応じて可動機械部２０を適切に停止または回避させることができる。 Note that the boundary between the area 1 and the area 2 may be set in consideration of factors other than the positional relationship with the tool 21. For example, when the tool 21 is hot or has a sharp shape, the boundary may be set so that the area 2 is in a wider range. In this case, the robot system 1 can appropriately stop or avoid the movable machine unit 20 according to the type or size of the tool 21.
　図４は、図３で示したエリア１およびエリア２について、上下方向から見た場合を示している。なお、個々のセンサ２２１による監視領域について、図３では円錐としたが、図４では４×４の領域に分割された四角錐として示している。図示の例において、個々のセンサ２２１は、４×４の領域のそれぞれを、各領域に対応する受光素子を用いて監視している。すなわち、センサ２２１は、４×４の受光素子を用いて領域を監視している。そして、図４では８つのセンサ２２１が工具２１を取り囲むように配置されており、センサ２２１による監視領域は、一部が隣接する別のセンサ２２１による監視領域と重畳している。なお、個々のセンサ２２１による監視領域は四角錐の形状をしているので、ロボットシステム１の上下方向の変化に応じて領域の大きさが変化する。すなわち、図４に４×４の領域で示した監視領域は、上下方向の変化に応じて拡大または縮小される。例えば、センサ２２１により近い位置では、監視領域が隣接する別のセンサ２２１による監視領域と重畳することがない。 FIG. 4 shows a case where area 1 and area 2 shown in FIG. 3 are viewed from above and below. The monitoring area by each sensor 221 is a cone in FIG. 3, but is shown as a quadrangular pyramid divided into 4 × 4 areas in FIG. In the illustrated example, each sensor 221 monitors each 4 × 4 area using a light receiving element corresponding to each area. That is, the sensor 221 monitors a region using a 4 × 4 light receiving element. In FIG. 4, eight sensors 221 are arranged so as to surround the tool 21, and a monitoring region by the sensor 221 partially overlaps a monitoring region by another adjacent sensor 221. Note that the monitoring area of each sensor 221 has a quadrangular pyramid shape, so that the size of the area changes according to the change in the vertical direction of the robot system 1. That is, the monitoring area indicated by the 4 × 4 area in FIG. 4 is enlarged or reduced according to the change in the vertical direction. For example, at a position closer to the sensor 221, the monitoring area does not overlap with the monitoring area by another adjacent sensor 221.
　図示の例では、個々のセンサ２２１が４×４の受光素子を用いて監視する４×４の領域のうち、点線の外側に配置された２×４の監視領域がエリア１を監視する領域を示し、点線の内側に配置された２×４の監視領域がエリア２を監視する領域を示す。換言すれば、センサ２２１は、エリア１を監視する第１受光素子と、エリア２を監視する第２受光素子を含む受光部を備えている。このとき１つのセンサ２２１は、自身の監視領域において物体の侵入を検知した場合に、検知した受光素子の位置に応じて、エリア１で検知したかエリア２で検知したかを区別して外部へ出力することができる。 In the example shown in the figure, among the 4 × 4 areas monitored by the individual sensors 221 using the 4 × 4 light receiving elements, the 2 × 4 monitoring area arranged outside the dotted line is the area where the area 1 is monitored. The 2 × 4 monitoring area arranged inside the dotted line indicates the area where the area 2 is monitored. In other words, the sensor 221 includes a light receiving unit including a first light receiving element that monitors the area 1 and a second light receiving element that monitors the area 2. At this time, when one sensor 221 detects intrusion of an object in its own monitoring area, it outputs to the outside by distinguishing whether it is detected in Area 1 or Area 2 according to the detected position of the light receiving element. can do.
　図３および図４で示したようにエリア１をエリア２の外側に設定することにより、本構成例に係るロボットシステム１は、可動機械部２０についてまずは回避を行わせ、物体が工具２１にさらに接近した場合は該可動機械部２０を停止させることができる。 As shown in FIGS. 3 and 4, by setting area 1 outside area 2, robot system 1 according to this configuration example first avoids movable machine unit 20, and the object further moves to tool 21. When approaching, the movable machine part 20 can be stopped.
　なお、図示の例では１つのセンサ２２１が複数の受光素子を備えており、複数のセンサ２２１のそれぞれがエリア１およびエリア２を監視する構成であったが、これに限定されなくてもよい。例えば、エリア１のみ監視するセンサ２２１とエリア２のみ監視するセンサ２２１とを組み合わせて図４と同様の監視を行わせてもよい。また、１つの受光素子しか持たないセンサ２２１を４×４の行列状に配置して図４と同様の監視を行わせてもよい。 In the illustrated example, one sensor 221 includes a plurality of light receiving elements, and each of the plurality of sensors 221 monitors the area 1 and the area 2. However, the present invention is not limited thereto. For example, a sensor 221 that monitors only area 1 and a sensor 221 that monitors only area 2 may be combined to perform monitoring similar to FIG. Alternatively, the sensors 221 having only one light receiving element may be arranged in a 4 × 4 matrix so that the same monitoring as in FIG. 4 may be performed.
　（処理の流れ）
　本構成例に係るロボットシステム１が実行する処理の流れについて、図５を用いて説明する。図５は、ロボットシステム１が実行する処理の流れの一例を示すフローチャートである。なお、ロボットシステム１は、図５のフローチャートに示す一連の処理について、センサ部２２の検出間隔ごとに繰り返し実行するものとする。 (Process flow)
A flow of processing executed by the robot system 1 according to this configuration example will be described with reference to FIG. FIG. 5 is a flowchart illustrating an example of a flow of processing executed by the robot system 1. Note that the robot system 1 repeatedly executes a series of processes shown in the flowchart of FIG. 5 at every detection interval of the sensor unit 22.
　まず、信号制御部４１は、センサ部２２に含まれる複数のセンサ２２１のいずれかがエリア２に対する物体の侵入を検知したか否かを判定する（Ｓ１）。検知しなかったと判定した場合（Ｓ１でＮＯ）、信号制御部４１は、複数のセンサ２２１のいずれかがエリア１に対する物体の侵入を検知したか否かを判定する（Ｓ２）。一方、Ｓ１にて検知したと判定した場合（Ｓ１でＹＥＳ）、信号制御部４１は可動機械部２０の動作を停止させるための信号（例えば検知した物体がエリア２に存在することを示す信号）を可動機械制御部３１へ送信し、可動機械制御部３１は、可動機械部２０の動作を停止させる（Ｓ３）。その後、一連の処理を終了する。 First, the signal control unit 41 determines whether any of the plurality of sensors 221 included in the sensor unit 22 has detected the entry of an object into the area 2 (S1). When it is determined that no detection has been made (NO in S1), the signal control unit 41 determines whether any of the plurality of sensors 221 has detected an intrusion of an object into the area 1 (S2). On the other hand, when it determines with having detected in S1 (it is YES at S1), the signal control part 41 is a signal for stopping the operation | movement of the movable machine part 20 (for example, signal which shows that the detected object exists in the area 2). Is transmitted to the movable machine control unit 31, and the movable machine control unit 31 stops the operation of the movable machine unit 20 (S3). Thereafter, the series of processing is terminated.
　Ｓ２において、信号制御部４１がエリア１に対する物体の侵入を検知したと判定した場合（Ｓ２でＹＥＳ）、信号制御部４１は、センサ部２２より受信した信号から、検知した物体の位置に関する情報を取得する（Ｓ４）。その後、処理はＳ５へ進む。一方、検知しなかったと判定した場合（Ｓ２でＮＯ）、一連の処理を終了する。 In S2, when it is determined that the signal control unit 41 has detected the intrusion of an object into the area 1 (YES in S2), the signal control unit 41 obtains information on the position of the detected object from the signal received from the sensor unit 22. Obtain (S4). Thereafter, the process proceeds to S5. On the other hand, if it is determined that no detection has been made (NO in S2), the series of processing ends.
　Ｓ５において、信号制御部４１は、記憶部１０等に保存された過去の履歴を参照して、複数のセンサ２２１による直前の測定でも物体の侵入を検知していたか否かを判定する（Ｓ５：信号制御ステップ）。検知していたと判定した場合（Ｓ５でＹＥＳ）、信号制御部４１は、直前の測定で検知した位置と今回の測定で検知した位置との変位量から物体の移動方向を算出し、さらに測定の時間差を用いて検知した物体の速度を算出する。そして、検知した物体がエリア１に存在すること、検知した物体の位置、移動方向、および速度に関する情報を可動機械制御部３１へ送信する（Ｓ６：信号制御ステップ）。その後、処理はＳ７へ進む。一方、直前の測定で検知していなかったと判定した場合（Ｓ５でＮＯ）、信号制御部４１は、検知した物体がエリア１に存在すること、および検知した物体の位置に関する情報を可動機械制御部３１へ送信した後、処理はＳ７へ進む。 In S5, the signal control unit 41 refers to the past history stored in the storage unit 10 or the like, and determines whether or not the intrusion of the object has been detected in the previous measurement by the plurality of sensors 221 (S5: Signal control step). If it is determined that it has been detected (YES in S5), the signal control unit 41 calculates the moving direction of the object from the amount of displacement between the position detected in the previous measurement and the position detected in the current measurement, and further performs the measurement. The speed of the detected object is calculated using the time difference. And the information regarding the detected object exists in the area 1, and the position, moving direction, and speed of the detected object are transmitted to the movable machine control unit 31 (S6: signal control step). Thereafter, the process proceeds to S7. On the other hand, if it is determined that it has not been detected in the previous measurement (NO in S5), the signal control unit 41 indicates that the detected object exists in the area 1 and information on the position of the detected object is a movable machine control unit. After transmitting to 31, the process proceeds to S7.
　Ｓ７において、可動機械制御部３１は、物体がエリア１に存在することを示す信号を受けとると、信号制御部４１から受信した、検知した物体の位置を用いて、可動機械部２０が回避動作として実行する回避の方向、大きさ、および速度を決定する（Ｓ７）。なお、Ｓ６で検知した物体の移動方向および速度を算出済みである場合、可動機械制御部３１は算出された物体の移動方向および速度を用いて回避の方向および速度を決定してもよい。例えば、可動機械制御部３１は、検知した物体の位置から離れる方向に可動機械部２０を移動させてもよい。例えば、可動機械制御部３１は、検知した物体の移動方向と同じ方向に可動機械部２０を移動させてもよい。その後、可動機械制御部３１は、Ｓ７で決定した方向、大きさ、および速度を用いて可動機械部２０を動作させ、回避を実行する（Ｓ８）。その後、一連の処理を終了する。 In S7, when the movable machine control unit 31 receives a signal indicating that the object exists in the area 1, the movable machine unit 20 uses the detected position of the object received from the signal control unit 41 as an avoidance operation. The direction, magnitude, and speed of avoidance to be executed are determined (S7). When the moving direction and speed of the object detected in S6 have been calculated, the movable machine control unit 31 may determine the avoidance direction and speed using the calculated moving direction and speed of the object. For example, the movable machine control unit 31 may move the movable machine unit 20 in a direction away from the detected position of the object. For example, the movable machine control unit 31 may move the movable machine unit 20 in the same direction as the detected moving direction of the object. Thereafter, the movable machine control unit 31 operates the movable machine unit 20 using the direction, size, and speed determined in S7, and executes avoidance (S8). Thereafter, the series of processing is terminated.
　以上の処理によって、本構成例に係るロボットシステム１はエリア２に物体が侵入した場合は可動機械部２０の動作を停止し、さらにエリア１に物体が侵入した場合は該物体を回避するよう可動機械部２０を動作させることができる。これにより、例えば限られた作業領域内でロボットシステム１とユーザとが作業を実施する場合に、ロボットシステム１の可動機械部２０にユーザが接触することを抑制できる。また、ユーザを回避するように可動機械部２０を動作させることができるので、ユーザの作業を停滞させることなく、全体の生産性を高めることができる。これにより、生産性を高めるようロボットシステム１を動作させることができるという効果を奏する。 With the above processing, the robot system 1 according to the present configuration example stops the operation of the movable machine unit 20 when an object enters the area 2, and further moves so as to avoid the object when the object enters the area 1. The machine unit 20 can be operated. Thereby, for example, when the robot system 1 and the user perform work within a limited work area, the user can be prevented from coming into contact with the movable machine unit 20 of the robot system 1. Moreover, since the movable machine part 20 can be operated so as to avoid the user, the overall productivity can be improved without stagnation of the user's work. Thereby, there is an effect that the robot system 1 can be operated so as to increase productivity.
　§３　変形例
　前記構成例において、可動機械制御部３１はエリア１に侵入した物体の位置、移動方向、および速度に基づいて決定した回避方向に可動機械部２０を動作させる構成であった。しかしながら可動機械制御部３１は、例えば予め設定された回避エリアに向けて可動機械部２０を動作させる構成であってもよい。ここで、回避エリアはユーザが立ち入る可能性が低い所定の領域であればどのように設定されてもよい。例えば上下方向についてユーザが届かない高さに設定されてもよい。また、回避エリアへの移動後に、所定時間が経過した後、またはエリア１に侵入した物体が移動して該エリア１から離れた場合、可動機械制御部３１は可動機械部２０を回避エリアから元の位置に移動させ、さらに回避前の動作を再開させてもよい。 §3 Modification In the above configuration example, the movable machine control unit 31 is configured to operate the movable machine unit 20 in the avoidance direction determined based on the position, moving direction, and speed of the object that has entered the area 1. However, the movable machine control unit 31 may be configured to operate the movable machine unit 20 toward a preset avoidance area, for example. Here, the avoidance area may be set in any way as long as it is a predetermined area where the user is unlikely to enter. For example, it may be set to a height that the user does not reach in the vertical direction. In addition, after a predetermined time has passed after moving to the avoidance area, or when an object that has entered the area 1 moves and leaves the area 1, the movable machine control unit 31 moves the movable machine unit 20 from the avoidance area. It is also possible to move to the position and resume the operation before avoidance.
　なお、センサ部２２は、エリア１を監視するセンサ２２１とエリア２を監視するセンサ２２１とを別々に備えてもよい。 The sensor unit 22 may include a sensor 221 that monitors the area 1 and a sensor 221 that monitors the area 2 separately.
　〔まとめ〕
　本発明の態様１に係るセンサコントローラ（４０）は、ロボットシステム（１）の可動機械部（２０）に取り付けられたセンサ部（２２）からの入力を受け付けるセンサコントローラであって、前記センサ部は、対象物の３次元位置を検出し、前記可動機械部の端部に取り付けられたエンドエフェクタ（工具２１）の周辺に設定した第２監視領域、および前記第２監視領域よりも前記エンドエフェクタからの距離が遠い領域を含む第１監視領域に対する物体の侵入を検知し、前記センサコントローラは、前記センサ部による検知結果に基づいて所定の信号を前記可動機械部の動作を制御する可動機械制御部（３１）に送信する信号制御部を備えており、前記信号制御部は、前記第２監視領域に前記物体が侵入したことを検知した場合は、前記可動機械部の動作を停止するための信号を前記可動機械制御部へ送信し、前記第１監視領域に前記物体が侵入したことを検知した場合は、該物体を回避するよう前記可動機械部を動作させるための信号を前記可動機械制御部へ送信する、構成である。 [Summary]
A sensor controller (40) according to an aspect 1 of the present invention is a sensor controller that receives an input from a sensor unit (22) attached to a movable machine unit (20) of a robot system (1), and the sensor unit includes: A three-dimensional position of an object, a second monitoring region set around an end effector (tool 21) attached to an end of the movable machine unit, and the end effector more than the second monitoring region A movable machine control unit that detects an intrusion of an object into a first monitoring region including a region with a long distance, and the sensor controller controls a predetermined signal based on a detection result by the sensor unit. (31) includes a signal control unit, and when the signal control unit detects that the object has entered the second monitoring area, A signal for stopping the operation of the moving machine unit is transmitted to the movable machine control unit, and when it is detected that the object has entered the first monitoring area, the movable machine unit is set to avoid the object. It is the structure which transmits the signal for making it operate | move to the said movable machine control part.
　前記の構成によれば、ロボットシステムは第２監視領域に物体が侵入した場合は可動機械部の動作を停止し、さらに第１監視領域に物体が侵入した場合は該物体を回避するよう可動機械部を動作させることができる。これにより、例えば限られた作業領域内でロボットシステムとユーザとが作業を実施する場合に、ロボットシステムの可動機械部にユーザが接触することを抑制できる。また、ユーザを回避するように可動機械部を動作させることができるので、ユーザの作業を停滞させることなく、全体の生産性を高めることができる。これにより、生産性を高めるようロボットシステムを動作させることができるセンサコントローラを提供できるという効果を奏する。 According to the above configuration, the robot system stops the operation of the movable machine unit when an object enters the second monitoring area, and further avoids the object when the object enters the first monitoring area. The part can be operated. Thereby, for example, when the robot system and the user perform work within a limited work area, the user can be prevented from coming into contact with the movable machine unit of the robot system. Moreover, since a movable machine part can be operated so that a user may be avoided, the whole productivity can be improved, without stagnation of a user's work. Thereby, there is an effect that it is possible to provide a sensor controller capable of operating the robot system so as to increase productivity.
　本発明の態様２に係るセンサコントローラ（４０）は、前記態様１において、前記第２監視領域は、前記エンドエフェクタ（工具２１）の周囲を囲むように設定されており、前記第１監視領域は、前記第２監視領域のさらに周囲を囲むように設定されている、構成としてもよい。 In the sensor controller (40) according to aspect 2 of the present invention, in the aspect 1, the second monitoring area is set so as to surround the end effector (tool 21), and the first monitoring area is The second monitoring area may be set so as to surround the periphery.
　前記の構成によれば、ロボットシステムは物体がエンドエフェクタの周囲に接近したことを、第１監視領域にて検知した後さらに第２監視領域にて検知することができる。これにより、例えば物体が第１監視領域にのみ侵入した場合は可動機械部に回避のみを行わせることができる。さらに物体が第１監視領域から第２監視領域に侵入した場合は可動機械部に回避を行わせた後、動作を停止させることができる。すなわち、ロボットシステムは可動機械部の回避および停止を段階的に実行させることができる。 According to the above configuration, the robot system can further detect in the second monitoring area after detecting in the first monitoring area that the object has approached the periphery of the end effector. Thereby, for example, when an object enters only the first monitoring area, it is possible to cause the movable machine unit to perform only avoidance. Furthermore, when an object enters the second monitoring area from the first monitoring area, the operation can be stopped after causing the movable machine portion to avoid it. That is, the robot system can execute the avoidance and stop of the movable machine part in stages.
　本発明の態様３に係るセンサコントローラ（４０）は、前記態様１または２において、前記第１監視領域に前記物体が侵入したことを検知した場合は、該物体が侵入した位置および３次元空間上の該物体の移動方向を示す信号を前記可動機械制御部（３１）へ送信する、構成としてもよい。 When the sensor controller (40) according to the aspect 3 of the present invention detects that the object has entered the first monitoring area in the aspect 1 or 2, the position of the object and the position on the three-dimensional space are detected. It is good also as a structure which transmits the signal which shows the moving direction of this object to the said movable machine control part (31).
　前記の構成によれば、ロボットシステムは第１監視領域に物体が侵入した場合は該物体が侵入した位置および３次元空間上の移動方向から回避するように可動機械部を動作させることができる。 According to the configuration described above, when an object enters the first monitoring area, the robot system can operate the movable machine unit so as to avoid the position where the object has entered and the moving direction in the three-dimensional space.
　本発明の態様４に係るセンサコントローラ（４０）は、前記態様１から３のいずれかにおいて、前記センサ部（２２）は、少なくとも前記第１監視領域を監視する第１受光素子と、少なくとも前記第２監視領域を監視する第２受光素子を含む受光部を備えている、構成としてもよい。 The sensor controller (40) according to aspect 4 of the present invention is the sensor controller (40) according to any one of the aspects 1 to 3, wherein the sensor unit (22) includes at least a first light receiving element that monitors the first monitoring region, and at least the first light receiving element. It is good also as a structure provided with the light-receiving part containing the 2nd light receiving element which monitors 2 monitoring area | regions.
　前記の構成によれば、センサコントローラは、第１受光素子および第２受光素子のいずれかが物体を検知すると、検知した受光素子に対応する監視領域にて物体の侵入を検知したことを示す所定の信号を可動機械制御部に送信することができる。 According to the above configuration, when either of the first light receiving element and the second light receiving element detects an object, the sensor controller indicates that the intrusion of the object has been detected in the monitoring region corresponding to the detected light receiving element. Can be transmitted to the movable machine control unit.
　本発明の態様５に係るセンサコントローラ（４０）は、前記態様１から４のいずれかにおいて、前記センサコントローラは、前記センサ部（２２）が前記物体を検知した位置の時間的な変化から該物体の速度を決定し、決定した該速度を示す信号を前記可動機械制御部（３１）へ送信する、構成としてもよい。 The sensor controller (40) according to Aspect 5 of the present invention is the sensor controller according to any one of Aspects 1 to 4, wherein the sensor controller detects the object from a temporal change in the position where the sensor unit (22) detects the object. The speed may be determined, and a signal indicating the determined speed may be transmitted to the movable machine control unit (31).
　前記の構成によれば、センサコントローラは、監視領域に侵入した物体の速度を示す信号を可動機械制御部へ送信できる。これにより、例えばロボットシステムは物体の速度以上の動作速度で可動機械部を回避させることができる。 According to the above configuration, the sensor controller can transmit a signal indicating the speed of the object that has entered the monitoring area to the movable machine control unit. Thereby, for example, the robot system can avoid the movable machine part at an operation speed higher than the speed of the object.
　本発明の態様６に係るセンサコントローラ（４０）は、前記態様１から５のいずれかにおいて、前記信号制御部（４１）は、前記エンドエフェクタ（工具２１）の種類または大きさに応じて、前記第１監視領域と前記第２監視領域との境界を変更する、構成としてもよい。 The sensor controller (40) according to the sixth aspect of the present invention is the sensor controller (40) according to any one of the first to fifth aspects, wherein the signal control unit (41) is configured according to the type or size of the end effector (tool 21). It is good also as a structure which changes the boundary of a 1st monitoring area | region and the said 2nd monitoring area | region.
　前記の構成によれば、ロボットシステムはエンドエフェクタの種類または大きさに応じて可動機械部を適切に停止または回避させることができる。 According to the above configuration, the robot system can appropriately stop or avoid the movable machine unit according to the type or size of the end effector.
　本発明の態様７に係るロボットシステムは、前記態様１から６のいずれかのセンサコントローラ（４０）と、前記可動機械部（２０）の動作を制御する可動機械制御部（３１）と、を備えているロボットシステムであって、前記可動機械制御部は、前記可動機械部の動作を停止するための信号を受信すると該可動機械部の動作を停止させ、前記物体を回避するよう前記可動機械部を動作させるための信号を受信すると該可動機械部に回避動作を実行させる、構成としてもよい。前記の構成によれば、前記態様１と同様の作用効果を奏する。 A robot system according to aspect 7 of the present invention includes the sensor controller (40) according to any one of aspects 1 to 6, and a movable machine control unit (31) that controls the operation of the movable machine unit (20). The movable machine control unit receives the signal for stopping the operation of the movable machine unit, stops the operation of the movable machine unit, and avoids the object. When the signal for operating is received, the avoidance operation may be executed by the movable machine unit. According to the said structure, there exists an effect similar to the said aspect 1. FIG.
　本発明の態様８に係るロボットシステム（１）は、前記態様７において、前記可動機械制御部（３１）は、前記第１監視領域に侵入した前記物体の位置または３次元空間上の移動方向に基づいて、前記回避動作を実行する方向を決定する、構成としてもよい。 The robot system (1) according to aspect 8 of the present invention is the robot system (1) according to aspect 7, in which the movable machine control unit (31) is arranged in a position of the object that has entered the first monitoring area or a moving direction in a three-dimensional space. Based on this, a configuration may be adopted in which a direction in which the avoidance operation is performed is determined.
　前記の構成によれば、ロボットシステムは第１監視領域に侵入した物体の位置または方向に基づいて決定した回避方向に可動機械部を動作させることができる。これにより、例えば物体から常に遠ざかる方向に可動機械部を動作させることができる。 According to the above configuration, the robot system can operate the movable machine unit in the avoidance direction determined based on the position or direction of the object that has entered the first monitoring area. Thereby, for example, the movable machine part can be operated in a direction always away from the object.
　本発明の態様９に係るロボットシステム（１）は、前記態様７または８において、前記可動機械制御部（３１）は、前記センサコントローラ（４０）が決定した前記物体の速度に応じた動作速度で前記可動機械部（２０）を動作させる、構成としてもよい。 The robot system (1) according to aspect 9 of the present invention is the robot system (1) according to aspect 7 or 8, wherein the movable machine control unit (31) operates at an operation speed according to the speed of the object determined by the sensor controller (40). The movable machine unit (20) may be operated.
　前記の構成によれば、ロボットシステムは物体の速度に応じた動作速度で可動機械部を動作させることができる。これにより、例えば可動機械部の動作速度を物体の速度以上の大きさとし、物体が可動機械部に接触することを抑制することができる。 According to the above configuration, the robot system can operate the movable machine unit at an operation speed according to the speed of the object. Thereby, for example, the operation speed of the movable machine unit is set to be larger than the speed of the object, and the object can be prevented from coming into contact with the movable machine unit.
　本発明の態様１０に係るセンサ制御方法は、ロボットシステム（１）の可動機械部（２０）に取り付けられたセンサ部（２２）からの入力を受け付けるセンサ制御方法であって、前記センサ部は、対象物の３次元位置を検出し、前記可動機械部の端部に取り付けられたエンドエフェクタ（工具２１）の周辺に設定した第２監視領域、および前記第２監視領域よりも前記エンドエフェクタからの距離が遠い領域を含む第１監視領域に対する物体の侵入を検知し、前記センサ制御方法は、前記センサ部による検知結果に基づいて所定の信号を前記可動機械部の動作を制御する可動機械制御部（３１）に送信する信号制御ステップ（Ｓ５、Ｓ６）を有しており、前記信号制御ステップは、前記第２監視領域に前記物体が侵入したことを検知した場合は、前記可動機械部の動作を停止するための信号を前記可動機械制御部へ送信するステップ（Ｓ３）と、前記第１監視領域に前記物体が侵入したことを検知した場合は、該物体を回避するよう前記可動機械部を動作させるための信号を前記可動機械制御部へ送信するステップ（Ｓ５、Ｓ６）と、を含む方法である。前記の構成によれば、前記態様１と同様の作用効果を奏する。 A sensor control method according to aspect 10 of the present invention is a sensor control method for receiving an input from a sensor unit (22) attached to a movable machine unit (20) of a robot system (1), wherein the sensor unit includes: A three-dimensional position of an object is detected, a second monitoring region set around an end effector (tool 21) attached to an end of the movable machine unit, and the end effector more than the second monitoring region. A movable machine control unit that detects intrusion of an object into a first monitoring region including a far region, and the sensor control method controls a predetermined signal based on a detection result by the sensor unit to control an operation of the movable machine unit. A signal control step (S5, S6) to be transmitted to (31), wherein the signal control step detects that the object has entered the second monitoring area. Transmits a signal for stopping the operation of the movable machine unit to the movable machine control unit (S3), and when detecting that the object has entered the first monitoring area, And a step (S5, S6) of transmitting a signal for operating the movable machine part to the movable machine control part so as to avoid it. According to the said structure, there exists an effect similar to the said aspect 1. FIG.
　〔ソフトウェアによる実現例〕
　センサコントローラ４０の制御ブロック（信号制御部４１）は、集積回路（ＩＣチップ）等に形成された論理回路（ハードウェア）によって実現してもよいし、ソフトウェアによって実現してもよい。 [Example of software implementation]
The control block (signal control unit 41) of the sensor controller 40 may be realized by a logic circuit (hardware) formed in an integrated circuit (IC chip) or the like, or may be realized by software.
　後者の場合、センサコントローラ４０は、各機能を実現するソフトウェアであるプログラムの命令を実行するコンピュータを備えている。このコンピュータは、例えば１つ以上のプロセッサを備えていると共に、上記プログラムを記憶したコンピュータ読み取り可能な記録媒体を備えている。そして、上記コンピュータにおいて、上記プロセッサが上記プログラムを上記記録媒体から読み取って実行することにより、本発明の目的が達成される。上記プロセッサとしては、例えばＣＰＵ（Central Processing Unit）を用いることができる。上記記録媒体としては、「一時的でない有形の媒体」、例えば、ＲＯＭ（Read Only Memory）等の他、テープ、ディスク、カード、半導体メモリ、プログラマブルな論理回路などを用いることができる。また、上記プログラムを展開するＲＡＭ（Random Access Memory）などをさらに備えていてもよい。また、上記プログラムは、該プログラムを伝送可能な任意の伝送媒体（通信ネットワークや放送波等）を介して上記コンピュータに供給されてもよい。なお、本発明の一態様は、上記プログラムが電子的な伝送によって具現化された、搬送波に埋め込まれたデータ信号の形態でも実現され得る。 In the latter case, the sensor controller 40 includes a computer that executes instructions of a program that is software for realizing each function. The computer includes, for example, one or more processors and a computer-readable recording medium storing the program. In the computer, the processor reads the program from the recording medium and executes the program, thereby achieving the object of the present invention. As the processor, for example, a CPU (Central Processing Unit) can be used. As the recording medium, a “non-temporary tangible medium” such as a ROM (Read Only Memory), a tape, a disk, a card, a semiconductor memory, a programmable logic circuit, or the like can be used. Further, a RAM (Random Access Memory) for expanding the program may be further provided. The program may be supplied to the computer via an arbitrary transmission medium (such as a communication network or a broadcast wave) that can transmit the program. Note that one embodiment of the present invention can also be realized in the form of a data signal embedded in a carrier wave, in which the program is embodied by electronic transmission.
　〔まとめ〕
　本発明の一側面に係るセンサコントローラは、ロボットシステムの可動機械部に取り付けられたセンサ部からの入力を受け付けるセンサコントローラであって、前記センサ部は、対象物の３次元位置を検出し、前記可動機械部の端部に取り付けられたエンドエフェクタの周辺に設定した第２監視領域、および前記第２監視領域よりも前記エンドエフェクタからの距離が遠い領域を含む第１監視領域に対する物体の侵入を検知し、前記センサコントローラは、前記センサ部による検知結果に基づいて所定の信号を前記可動機械部の動作を制御する可動機械制御部に送信する信号制御部を備えており、前記信号制御部は、前記第２監視領域に前記物体が侵入したことを検知した場合は、前記可動機械部の動作を停止するための信号を前記可動機械制御部へ送信し、前記第１監視領域に前記物体が侵入したことを検知した場合は、該物体を回避するよう前記可動機械部を動作させるための信号を前記可動機械制御部へ送信する。 [Summary]
A sensor controller according to an aspect of the present invention is a sensor controller that receives an input from a sensor unit attached to a movable machine unit of a robot system, and the sensor unit detects a three-dimensional position of an object, Intrusion of an object into the first monitoring area including the second monitoring area set around the end effector attached to the end of the movable machine section and the area farther from the end effector than the second monitoring area. The sensor controller includes a signal control unit that detects and transmits a predetermined signal to a movable machine control unit that controls the operation of the movable machine unit based on a detection result by the sensor unit, and the signal control unit includes: When it is detected that the object has entered the second monitoring area, a signal for stopping the operation of the movable machine unit is sent to the movable machine. Transmitted to control unit, wherein when the first said object in the monitoring area is detected that has entered transmits a signal for operating the movable machine part so as to avoid said object to said movable machine control unit.
　前記の構成によれば、ロボットシステムは第２監視領域に物体が侵入した場合は可動機械部の動作を停止し、さらに第１監視領域に物体が侵入した場合は該物体を回避するよう可動機械部を動作させることができる。これにより、例えば限られた作業領域内でロボットシステムとユーザとが作業を実施する場合に、ロボットシステムの可動機械部にユーザが接触することを抑制できる。また、ユーザを回避するように可動機械部を動作させることができるので、ユーザの作業を停滞させることなく、全体の生産性を高めることができる。これにより、生産性を高めるようロボットシステムを動作させることができるセンサコントローラを提供できるという効果を奏する。 According to the above configuration, the robot system stops the operation of the movable machine unit when an object enters the second monitoring area, and further avoids the object when the object enters the first monitoring area. The part can be operated. Thereby, for example, when the robot system and the user perform work within a limited work area, the user can be prevented from coming into contact with the movable machine unit of the robot system. Moreover, since a movable machine part can be operated so that a user may be avoided, the whole productivity can be improved, without stagnation of a user's work. Thereby, there is an effect that it is possible to provide a sensor controller capable of operating the robot system so as to increase productivity.
　前記一側面に係るセンサコントローラにおいて、前記第２監視領域は、前記エンドエフェクタの周囲を囲むように設定されており、前記第１監視領域は、前記第２監視領域のさらに周囲を囲むように設定されてもよい。この構成によれば、ロボットシステムは物体がエンドエフェクタの周囲に接近したことを、第１監視領域にて検知した後さらに第２監視領域にて検知することができる。これにより、例えば物体が第１監視領域にのみ侵入した場合は可動機械部に回避のみを行わせることができる。さらに物体が第１監視領域から第２監視領域に侵入した場合は可動機械部に回避を行わせた後、動作を停止させることができる。すなわち、ロボットシステムは可動機械部の回避および停止を段階的に実行させることができる。 In the sensor controller according to the one aspect, the second monitoring region is set to surround the end effector, and the first monitoring region is set to further surround the second monitoring region. May be. According to this configuration, the robot system can further detect in the second monitoring area after detecting in the first monitoring area that the object has approached the periphery of the end effector. Thereby, for example, when an object enters only the first monitoring area, it is possible to cause the movable machine unit to perform only avoidance. Furthermore, when an object enters the second monitoring area from the first monitoring area, the operation can be stopped after causing the movable machine portion to avoid it. That is, the robot system can execute the avoidance and stop of the movable machine part in stages.
　前記一側面に係るセンサコントローラにおいて、前記第１監視領域に前記物体が侵入したことを検知した場合は、該物体が侵入した位置および３次元空間上の該物体の移動方向を示す信号を前記可動機械制御部へ送信してもよい。この構成によれば、ロボットシステムは第１監視領域に物体が侵入した場合は該物体が侵入した位置および３次元空間上の移動方向から回避するように可動機械部を動作させることができる。 In the sensor controller according to the one aspect, when it is detected that the object has entered the first monitoring area, a signal indicating a position where the object has entered and a moving direction of the object in a three-dimensional space is movable. You may transmit to a machine control part. According to this configuration, when an object enters the first monitoring area, the robot system can operate the movable machine unit so as to avoid the position where the object has entered and the moving direction in the three-dimensional space.
　前記一側面に係るセンサコントローラにおいて、前記センサ部は、少なくとも前記第１監視領域を監視する第１受光素子と、少なくとも前記第２監視領域を監視する第２受光素子を含む受光部を備えてもよい。この構成によれば、センサコントローラは、第１受光素子および第２受光素子のいずれかが物体を検知すると、検知した受光素子に対応する監視領域にて物体の侵入を検知したことを示す所定の信号を可動機械制御部に送信することができる。 In the sensor controller according to the one aspect, the sensor unit may include a light receiving unit including at least a first light receiving element that monitors the first monitoring region and a second light receiving element that monitors at least the second monitoring region. Good. According to this configuration, when one of the first light receiving element and the second light receiving element detects an object, the sensor controller has a predetermined value indicating that the intrusion of the object has been detected in the monitoring region corresponding to the detected light receiving element. The signal can be transmitted to the movable machine controller.
　前記一側面に係るセンサコントローラにおいて、前記センサコントローラは、前記センサ部が前記物体を検知した位置の時間的な変化から該物体の速度を決定し、決定した該速度を示す信号を前記可動機械制御部へ送信してもよい。この構成によれば、センサコントローラは、監視領域に侵入した物体の速度を示す信号を可動機械制御部へ送信できる。これにより、例えばロボットシステムは物体の速度以上の動作速度で可動機械部を回避させることができる。 In the sensor controller according to the one aspect, the sensor controller determines a speed of the object from a temporal change in a position where the sensor unit detects the object, and a signal indicating the determined speed is controlled by the movable machine. You may transmit to a part. According to this configuration, the sensor controller can transmit a signal indicating the speed of the object that has entered the monitoring area to the movable machine control unit. Thereby, for example, the robot system can avoid the movable machine part at an operation speed higher than the speed of the object.
　前記一側面に係るセンサコントローラにおいて、前記信号制御部は、前記エンドエフェクタの種類または大きさに応じて、前記第１監視領域と前記第２監視領域との境界を変更してもよい。この構成によれば、ロボットシステムはエンドエフェクタの種類または大きさに応じて可動機械部を適切に停止または回避させることができる。 In the sensor controller according to the one aspect, the signal control unit may change a boundary between the first monitoring area and the second monitoring area according to the type or size of the end effector. According to this configuration, the robot system can appropriately stop or avoid the movable machine unit according to the type or size of the end effector.
　本発明の一側面に係るロボットシステムは、前記一側面に係るセンサコントローラと、前記可動機械部の動作を制御する可動機械制御部と、を備えているロボットシステムであって、前記可動機械制御部は、前記可動機械部の動作を停止するための信号を受信すると該可動機械部の動作を停止させ、前記物体を回避するよう前記可動機械部を動作させるための信号を受信すると該可動機械部に回避動作を実行させてもよい。この構成によれば、前記一側面と同様の作用効果を奏する。 A robot system according to one aspect of the present invention is a robot system including the sensor controller according to the one aspect and a movable machine control unit that controls an operation of the movable machine unit, wherein the movable machine control unit Receives the signal for stopping the operation of the movable machine part, stops the operation of the movable machine part, and receives the signal for operating the movable machine part to avoid the object, the movable machine part The avoidance operation may be executed. According to this structure, there exists an effect similar to the said one side surface.
　前記一側面に係るロボットシステムにおいて、前記可動機械制御部は、前記第１監視領域に侵入した前記物体の位置または３次元空間上の移動方向に基づいて、前記回避動作を実行する方向を決定してもよい。この構成によれば、ロボットシステムは第１監視領域に侵入した物体の位置または移動方向に基づいて決定した回避方向に可動機械部を動作させることができる。これにより、例えば物体から常に遠ざかる方向に可動機械部を動作させることができる。 In the robot system according to the one aspect, the movable machine control unit determines a direction in which the avoidance operation is performed based on a position of the object that has entered the first monitoring area or a moving direction in a three-dimensional space. May be. According to this configuration, the robot system can operate the movable machine unit in the avoidance direction determined based on the position or moving direction of the object that has entered the first monitoring area. Thereby, for example, the movable machine part can be operated in a direction always away from the object.
　前記一側面に係るロボットシステムにおいて、前記可動機械制御部は、前記センサコントローラが決定した前記物体の速度に応じた動作速度で前記可動機械部を動作させてもよい。この構成によれば、ロボットシステムは物体の速度に応じた動作速度で可動機械部を動作させることができる。これにより、例えば可動機械部の動作速度を物体の速度以上の大きさとし、物体が可動機械部に接触することを抑制することができる。 In the robot system according to the one aspect, the movable machine control unit may operate the movable machine unit at an operation speed corresponding to the speed of the object determined by the sensor controller. According to this configuration, the robot system can operate the movable machine unit at an operation speed corresponding to the speed of the object. Thereby, for example, the operation speed of the movable machine unit is set to be larger than the speed of the object, and the object can be prevented from coming into contact with the movable machine unit.
　本発明の一側面に係るセンサ制御方法は、ロボットシステムの可動機械部に取り付けられたセンサ部からの入力を受け付けるセンサ制御方法であって、前記センサ部は、対象物の３次元位置を検出し、前記可動機械部の端部に取り付けられたエンドエフェクタの周辺に設定した第２監視領域、および前記第２監視領域よりも前記エンドエフェクタからの距離が遠い領域を含む第１監視領域に対する物体の侵入を検知し、前記センサ制御方法は、前記センサ部による検知結果に基づいて所定の信号を前記可動機械部の動作を制御する可動機械制御部に送信する信号制御ステップを有しており、前記信号制御ステップは、前記第２監視領域に前記物体が侵入したことを検知した場合は、前記可動機械部の動作を停止するための信号を前記可動機械制御部へ送信するステップと、前記第１監視領域に前記物体が侵入したことを検知した場合は、該物体を回避するよう前記可動機械部を動作させるための信号を前記可動機械制御部へ送信するステップと、を含む方法である。この構成によれば、前記一側面と同様の作用効果を奏する。 A sensor control method according to an aspect of the present invention is a sensor control method for receiving an input from a sensor unit attached to a movable machine unit of a robot system, wherein the sensor unit detects a three-dimensional position of an object. A second monitoring region set around an end effector attached to an end of the movable machine unit, and an object with respect to the first monitoring region including a region farther from the end effector than the second monitoring region. Intrusion is detected, and the sensor control method includes a signal control step of transmitting a predetermined signal to a movable machine control unit that controls an operation of the movable machine unit based on a detection result by the sensor unit, When the signal control step detects that the object has entered the second monitoring area, the signal control step outputs a signal for stopping the operation of the movable machine unit. A step of transmitting to the control unit; and when detecting that the object has entered the first monitoring area, a signal for operating the movable machine unit to avoid the object is transmitted to the movable machine control unit. And a step comprising: According to this structure, there exists an effect similar to the said one side surface.
　本発明は上述した各実施形態に限定されるものではなく、請求項に示した範囲で種々の変更が可能であり、異なる実施形態にそれぞれ開示された技術的手段を適宜組み合わせて得られる実施形態についても本発明の技術的範囲に含まれる。 The present invention is not limited to the above-described embodiments, and various modifications are possible within the scope shown in the claims, and embodiments obtained by appropriately combining technical means disclosed in different embodiments. Is also included in the technical scope of the present invention.
　１　　ロボットシステム
　１０　記憶部
　１１　動作プログラム
　２０　可動機械部
　２１　工具（エンドエフェクタ）
　２２　センサ部
　２２１　センサ
　３０　制御部
　３１　可動機械制御部
　４０　センサコントローラ
　４１　信号制御部 DESCRIPTION OF SYMBOLS 1 Robot system 10 Memory | storage part 11 Operation program 20 Movable machine part 21 Tool (end effector)
DESCRIPTION OF SYMBOLS 22 Sensor part 221 Sensor 30 Control part 31 Movable machine control part 40 Sensor controller 41 Signal control part

Claims (11)

  1. 　ロボットシステムの可動機械部に取り付けられたセンサ部からの入力を受け付けるセンサコントローラであって、
    　前記センサ部は、
    　　対象物の３次元位置を検出し、
    　　前記可動機械部の端部に取り付けられたエンドエフェクタの周辺に設定した第２監視領域、および前記第２監視領域よりも前記エンドエフェクタからの距離が遠い領域を含む第１監視領域に対する物体の侵入を検知し、
    　前記センサコントローラは、前記センサ部による検知結果に基づいて所定の信号を前記可動機械部の動作を制御する可動機械制御部に送信する信号制御部を備えており、
    　前記信号制御部は、
    　　前記第２監視領域に前記物体が侵入したことを検知した場合は、前記可動機械部の動作を停止するための信号を前記可動機械制御部へ送信し、
    　　前記第１監視領域に前記物体が侵入したことを検知した場合は、該物体を回避するよう前記可動機械部を動作させるための信号を前記可動機械制御部へ送信する、ことを特徴とするセンサコントローラ。     A sensor controller that receives input from a sensor unit attached to a movable machine unit of a robot system,
    The sensor unit is
    Detect the 3D position of the object,
    Intrusion of an object into a first monitoring region including a second monitoring region set around an end effector attached to an end of the movable machine unit, and a region farther from the end effector than the second monitoring region Detect
    The sensor controller includes a signal control unit that transmits a predetermined signal to a movable machine control unit that controls the operation of the movable machine unit based on a detection result by the sensor unit,
    The signal controller is
    When it is detected that the object has entered the second monitoring area, a signal for stopping the operation of the movable machine unit is transmitted to the movable machine control unit,
    When it is detected that the object has entered the first monitoring area, a sensor for operating the movable machine unit to avoid the object is transmitted to the movable machine control unit. controller.
  2. 　前記第２監視領域は、前記エンドエフェクタの周囲を囲むように設定されており、
    　前記第１監視領域は、前記第２監視領域のさらに周囲を囲むように設定されている、ことを特徴とする請求項１に記載のセンサコントローラ。     The second monitoring area is set to surround the end effector,
    The sensor controller according to claim 1, wherein the first monitoring area is set so as to surround the second monitoring area.
  3. 　前記第１監視領域に前記物体が侵入したことを検知した場合は、該物体が侵入した位置および３次元空間上の該物体の移動方向を示す信号を前記可動機械制御部へ送信する、ことを特徴とする請求項１または２に記載のセンサコントローラ。 When it is detected that the object has entered the first monitoring area, a signal indicating the position where the object has entered and the moving direction of the object in a three-dimensional space is transmitted to the movable machine control unit. The sensor controller according to claim 1 or 2, characterized in that
  4. 　前記センサ部は、少なくとも前記第１監視領域を監視する第１受光素子と、少なくとも前記第２監視領域を監視する第２受光素子を含む受光部を備えている、ことを特徴とする請求項１から３のいずれか１項に記載のセンサコントローラ。 The said sensor part is provided with the light-receiving part containing the 1st light receiving element which monitors a said 1st monitoring area | region at least, and the 2nd light receiving element which monitors a said 2nd monitoring area | region at least. 4. The sensor controller according to any one of items 1 to 3.
  5. 　前記センサコントローラは、前記センサ部が前記物体を検知した位置の時間的な変化から該物体の速度を決定し、決定した該速度を示す信号を前記可動機械制御部へ送信する、ことを特徴とする請求項１から４のいずれか１項に記載のセンサコントローラ。 The sensor controller determines a speed of the object from a temporal change of a position where the sensor unit detects the object, and transmits a signal indicating the determined speed to the movable machine control unit. The sensor controller according to any one of claims 1 to 4.
  6. 　前記信号制御部は、前記エンドエフェクタの種類または大きさに応じて、前記第１監視領域と前記第２監視領域との境界を変更する、ことを特徴とする請求項１から５のいずれか１項に記載のセンサコントローラ。 The said signal control part changes the boundary of a said 1st monitoring area | region and a said 2nd monitoring area | region according to the kind or magnitude | size of the said end effector, The any one of Claim 1 to 5 characterized by the above-mentioned. The sensor controller according to item.
  7. 　請求項１から６のいずれか１項に記載のセンサコントローラと、
    　前記可動機械部の動作を制御する可動機械制御部と、を備えているロボットシステムであって、
    　前記可動機械制御部は、
    　　前記可動機械部の動作を停止するための信号を受信すると該可動機械部の動作を停止させ、
    　　前記物体を回避するよう前記可動機械部を動作させるための信号を受信すると該可動機械部に回避動作を実行させる、ことを特徴とするロボットシステム。     The sensor controller according to any one of claims 1 to 6,
    A movable machine control unit for controlling the operation of the movable machine unit, and a robot system comprising:
    The movable machine controller is
    When the signal for stopping the operation of the movable machine part is received, the operation of the movable machine part is stopped,
    A robot system characterized in that when a signal for operating the movable machine unit to avoid the object is received, the movable machine unit performs an avoidance operation.
  8. 　前記可動機械制御部は、前記第１監視領域に侵入した前記物体の位置または３次元空間上の移動方向に基づいて、前記回避動作を実行する方向を決定する、ことを特徴とする請求項７に記載のロボットシステム。 The said movable machine control part determines the direction which performs the said avoidance operation | movement based on the position of the said object which entered the said 1st monitoring area | region, or the moving direction in three-dimensional space. The robot system described in 1.
  9. 　前記可動機械制御部は、前記センサコントローラが決定した前記物体の速度に応じた動作速度で前記可動機械部を動作させる、ことを特徴とする請求項７または８に記載のロボットシステム。 The robot system according to claim 7 or 8, wherein the movable machine control unit operates the movable machine unit at an operation speed corresponding to the speed of the object determined by the sensor controller.
  10. 　ロボットシステムの可動機械部に取り付けられたセンサ部からの入力を受け付けるセンサ制御方法であって、
    　前記センサ部は、
    　　対象物の３次元位置を検出し、
    　　前記可動機械部の端部に取り付けられたエンドエフェクタの周辺に設定した第２監視領域、および前記第２監視領域よりも前記エンドエフェクタからの距離が遠い領域を含む第１監視領域に対する物体の侵入を検知し、
    　前記センサ制御方法は、前記センサ部による検知結果に基づいて所定の信号を前記可動機械部の動作を制御する可動機械制御部に送信する信号制御ステップを有しており、
    　前記信号制御ステップは、
    　　前記第２監視領域に前記物体が侵入したことを検知した場合は、前記可動機械部の動作を停止するための信号を前記可動機械制御部へ送信するステップと、
    　　前記第１監視領域に前記物体が侵入したことを検知した場合は、該物体を回避するよう前記可動機械部を動作させるための信号を前記可動機械制御部へ送信するステップと、を含むことを特徴とするセンサ制御方法。     A sensor control method for receiving an input from a sensor unit attached to a movable machine unit of a robot system,
    The sensor unit is
    Detect the 3D position of the object,
    Intrusion of an object into a first monitoring region including a second monitoring region set around an end effector attached to an end of the movable machine unit, and a region farther from the end effector than the second monitoring region Detect
    The sensor control method includes a signal control step of transmitting a predetermined signal to a movable machine control unit that controls the operation of the movable machine unit based on a detection result by the sensor unit,
    The signal control step includes
    If it is detected that the object has entered the second monitoring area, a step for transmitting a signal for stopping the operation of the movable machine unit to the movable machine control unit;
    And, when detecting that the object has entered the first monitoring area, transmitting a signal for operating the movable machine unit to avoid the object to the movable machine control unit. A characteristic sensor control method.
  11. 　請求項１から６のいずれか１項に記載のセンサコントローラとしてコンピュータを機能させるためのセンサ制御プログラムであって、前記信号制御部としてコンピュータを機能させるためのセンサ制御プログラム。 A sensor control program for causing a computer to function as the sensor controller according to any one of claims 1 to 6, wherein the sensor control program causes the computer to function as the signal control unit.
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