JP7691820B2 - Robot system and control method thereof - Google Patents

Description

This disclosure relates to a robot system and a control method thereof.

An industrial robot control system is known that is capable of remotely checking safety when an industrial robot starts to operate, and aims to improve safety (see, for example, Patent Document 1).

In the industrial robot control system disclosed in Patent Document 1, when one of the first and second operating units is turned on while the other is turned on, the control device transitions the industrial robot from a stopped state to an operable state.

As a result, when multiple operators all turn on the control unit, the industrial robot can be switched from a stopped state to an operational state. This makes it possible to manage safety based on the consensus of multiple operators.

JP 2018-176330 A

However, the industrial robot control system disclosed in the above-mentioned Patent Document 1 does not state which of multiple operators will operate the industrial robot. For this reason, it is unclear whether the industrial robot is operated by an operator who can directly see the industrial robot, or by an operator in a remote location who cannot directly see the robot, and there is still room for improvement.

The present disclosure aims to provide a robot system and a control method thereof that, compared to the industrial robot control system disclosed in Patent Document 1, clarifies the subject of robot operation and can adequately ensure safety when the robot is operating.

In order to solve the above-mentioned conventional problems, the robot system according to the present disclosure includes a robot arranged in a first space, a first operation device arranged in the first space and configured to output operation information, a second operation device arranged in a second space that is a space isolated from the first space and configured to output the operation information, and a control device, the first operation device includes a first permission device configured to turn on/off permission for execution of the operation information from the second operation device to the control device, and the control device is configured to operate the robot based on the operation information input from the second operation device by the operation of the second operator when the first permission device permits execution of the operation information by the operation of the first operator, and to not operate the robot based on the operation information even if the operation information is input from the second operation device by the operation of the second operator when the first permission device does not permit execution of the operation information by the operation of the first operator.

This allows a first operator who is in the vicinity of the robot and can see the robot directly to operate the first permitter, thereby ensuring safety when the robot becomes operable.

When the first permission device permits execution of the operation information, the control device allows a second operator in a remote location who cannot directly see the robot to operate the operation device, thereby causing the robot to operate based on the input operation information. This makes it clear who is operating the robot, and ensures sufficient safety when the robot is operating.

In addition, the control method for a robot system according to the present disclosure includes a robot system including a robot disposed in a first space, a first operation device disposed in the first space and configured to output operation information, a second operation device disposed in a second space that is a space isolated from the first space and configured to output the operation information, and a control device, the first operation device including a first permission device configured to turn on/off permission to execute the operation information from the second operation device to the control device, and the control device is configured to operate the robot based on the operation information input from the second operation device by the operation of the second operator when the first permission device permits execution of the operation information by the operation of the first operator, and to not operate the robot based on the operation information input from the second operation device by the operation of the second operator when the first permission device does not permit execution of the operation information by the operation of the first operator.

This allows a first operator who is in the vicinity of the robot and can see the robot directly to operate the first permitter, thereby ensuring safety when the robot becomes operable.

When the first permission device permits execution of the operation information, the control device allows a second operator in a remote location who cannot directly see the robot to operate the operation device, thereby causing the robot to operate based on the input operation information. This makes it clear who is operating the robot, and ensures sufficient safety when the robot is operating.

The above objects, other objects, features, and advantages of the present disclosure will become apparent from the following detailed description of preferred embodiments, taken in conjunction with the accompanying drawings.

The robot system and control method disclosed herein can clearly define who is responsible for operating the robot, and can adequately ensure safety when the robot is operating.

FIG. 1 is a schematic diagram showing a schematic configuration of a robot system according to the first embodiment. FIG. 2 is a schematic diagram showing a schematic configuration of the robot system according to the first embodiment. FIG. 3 is a schematic diagram showing a schematic configuration of a robot in the robot system shown in FIGS. FIG. 4 is a flowchart showing an example of the operation of the robot system according to the first embodiment. FIG. 5 is a schematic diagram showing a schematic configuration of a robot system according to a first modification of the first embodiment. FIG. 6 is a schematic diagram showing a schematic configuration of a robot system according to the second embodiment. FIG. 7A is a flowchart showing an example of the operation of the robot system according to the second embodiment. FIG. 7B is a flowchart showing an example of the operation of the robot system according to the second embodiment. FIG. 8 is a schematic diagram showing a schematic configuration of a robot system according to the third embodiment. FIG. 9 is a schematic diagram showing a schematic configuration of a robot system according to a first modified example of the third embodiment. FIG. 10 is a schematic diagram showing a schematic configuration of a robot system according to the fourth embodiment. FIG. 11 is a schematic diagram showing a schematic configuration of a robot system according to a first modified example of the fourth embodiment. FIG. 12 is a schematic diagram showing a schematic configuration of a robot system according to the fifth embodiment. FIG. 13 is a schematic diagram showing a schematic configuration of a robot system according to the sixth embodiment. FIG. 14A is a flowchart showing an example of the operation of the robot system according to the sixth embodiment. FIG. 14B is a flowchart showing an example of the operation of the robot system according to the sixth embodiment. FIG. 15 is a schematic diagram showing a schematic configuration of a robot system according to a first modified example of the sixth embodiment. FIG. 16A is a flowchart showing an example of the operation of the robot system according to the first modification of the sixth embodiment. FIG. 16B is a flowchart showing an example of the operation of the robot system of the first modification in the sixth embodiment. FIG. 17 is a schematic diagram showing a schematic configuration of a robot system according to the seventh embodiment. FIG. 18 is a schematic diagram showing a schematic configuration of a robot system according to a first modification of the seventh embodiment. FIG. 19A is a flowchart showing an example of the operation of the robot system according to the first modification of the seventh embodiment. FIG. 19B is a flowchart showing an example of the operation of the robot system of the first modification in the seventh embodiment. FIG. 20 is a schematic diagram showing a schematic configuration of a robot system according to the eighth embodiment. FIG. 21 is a schematic diagram showing a schematic configuration of a robot system according to a first modification of the eighth embodiment. FIG. 22A is a flowchart showing an example of the operation of the robot system according to the first modification of the eighth embodiment. FIG. 22B is a flowchart showing an example of the operation of the robot system of the first modification in the eighth embodiment.

Below, embodiments of the present disclosure will be described with reference to the drawings. In all drawings, the same or equivalent parts are given the same reference numerals, and duplicated descriptions will be omitted. In addition, in all drawings, components for explaining the present disclosure are selected and illustrated, and other components may be omitted from the illustration. Furthermore, the present disclosure is not limited to the following embodiments.

(Embodiment 1)
Hereinafter, an example of a robot system according to the first embodiment will be described with reference to FIGS. 1 to 4. FIG.

[Robot system configuration]
1 and 2 are schematic diagrams showing a schematic configuration of a robot system according to the first embodiment.

As shown in Figs. 1 and 2, the robot system 300 according to the first embodiment includes a robot 101, a first operating device 110, a second operating device 210A, and a control device 190. The robot 101, the first operating device 110, and the control device 190 are disposed in the first space 100, and the second operating device 210A is disposed in the second space 200.

The first space 100 and the second space 200 are spaces separated from each other. The first space 100 and the second space 200 are isolated by a partition member 310.

The first space 100 may be a space adjacent to the robot 101 where the robot 101 can be seen directly. The second space 200 may be a space where the robot 101 cannot be seen directly, or a space where the robot 101 can be seen through a partition. For example, the partition member 310 may be configured such that a portion of the partition member 310 is made of a transparent member such as a glass plate, and an operator (second operator) can see inside the first space 100 from the outside (second space 200) through the transparent member. The operator in the first space 100 is referred to as the first operator, and the operator in the second space 200 is referred to as the second operator.

The first operating device 110 is configured to operate the robot 101. As the first operating device 110, for example, a known operating device such as a joystick, a keyboard, a numeric keypad, or a teach pendant can be used.

The first operating device 110 may also include a device configured to transmit force information detected by a force sensor provided on the end effector 12 of the robot 101 (described later) or audio information to the operator. Examples of such devices include a vibration motor, a speaker, and a mechanism for expanding and contracting the housing that constitutes the gripping unit.

The first operation device 110 may be configured to be portable and carried by an operator (first operator). The first operation device 110 and the robot 101 may be of a master-slave type. The first operation device 110 may be provided with a display (monitor, display). Furthermore, a plurality of robots 101 and a plurality of first operation devices 110 corresponding to the plurality of robots 101 may be provided.

The first operation device 110 also includes a first permitter 111 and an emergency stop device 112. The first permitter 111 is configured to turn on/off the permission to execute operation information from the second operation device 210A to the control device 190. When turning off the permission to execute operation information from the second operation device 210A to the control device 190, the first permitter 111 may be configured to prevent operation information from being input to the control device 190, or may be configured to prevent operation information from being output from the second operation device 210A, and the control device 190 may be configured to ignore the operation information input from the second operation device 210A.

The first permitter 111 may be configured, for example, as a switch. The first permitter 111 (first operating device 110) may be connected to the control device 190 by wire. The first permitter 111 may also be connected to the control device 190 by wireless communication via the first mobile communication terminal 121 or the first communication device, which will be described later. Furthermore, the first permitter 111 may be connected to the control device 190 by wireless communication via the first mobile communication terminal 121 or the first communication device and the communication network 320.

The emergency stop device 112 is configured to bring the robot 101 to an emergency stop by stopping the power supply to the robot 101. The emergency stop device 112 may be configured, for example, as a switch.

The emergency stop device 112 (first operating device 110) may be connected to the control device 190 by wire. The emergency stop device 112 may also be connected to the control device 190 by wireless communication via the first mobile communication terminal 121 or the first communication device, which will be described later. Furthermore, the emergency stop device 112 may be connected to the control device 190 by wireless communication via the first mobile communication terminal 121 or the first communication device and the communication network 320.

Also, as shown in FIG. 2, the first permitter 111 and the emergency stop device 112 may be arranged in one housing. For example, the first permitter 111 and the emergency stop device 112 may each be configured as an icon on the touch panel of a tablet terminal, and configured to be turned on/off by tapping the icon. It goes without saying that the first permitter 111 and the emergency stop device 112 may each be arranged in a different housing, and configured as a button-type switch.

The second operating device 210A is configured to operate the robot 101. As the second operating device 210A, for example, a known operating device such as a joystick, a keyboard, a numeric keypad, or a teach pendant can be used.

The second operating device 210A may also include a device configured to transmit force information detected by a force sensor provided on the end effector 12 of the robot 101 (described later) or audio information to the operator. Examples of such devices include a vibration motor, a speaker, and a mechanism for expanding and contracting the housing that constitutes the gripping unit.

The second operation device 210A may be configured to be portable and carried by the operator (second operator). The second operation device 210A and the robot 101 may be of a master-slave type. Furthermore, the second operation device 210A may be provided with a display device (monitor, display).

The robot system 300 according to the first embodiment may also include a plurality of second operating devices 210A, and the first permitter 111 may be configured to turn on/off the permission to execute operation information from the second operating device 210A selected by the first operator to the control device 190.

The robot 101 is configured to operate based on operation information input from the first operation device 110 or the second operation device 210A.

The configuration of the robot 101 will now be described in detail with reference to FIG. 3. Note that, in the following, a vertically articulated robot will be described as the robot 101, but other robots such as a horizontally articulated robot may also be used as the robot 101.

Figure 3 is a schematic diagram showing the general configuration of the robot in the robot system shown in Figures 1 and 2.

As shown in FIG. 3, the robot 101 is a multi-joint robot arm having a joint of multiple links (here, the first link 11a to the sixth link 11f), multiple joints (here, the first joint JT1 to the sixth joint JT6), and a base 15 that supports these.

At the first joint JT1, the base 15 and the base end of the first link 11a are connected to be rotatable around an axis extending in the vertical direction. At the second joint JT2, the tip end of the first link 11a and the base end of the second link 11b are connected to be rotatable around an axis extending in the horizontal direction. At the third joint JT3, the tip end of the second link 11b and the base end of the third link 11c are connected to be rotatable around an axis extending in the horizontal direction.

In addition, at the fourth joint JT4, the tip end of the third link 11c and the base end of the fourth link 11d are connected to be rotatable around an axis extending in the longitudinal direction of the fourth link 11d. At the fifth joint JT5, the tip end of the fourth link 11d and the base end of the fifth link 11e are connected to be rotatable around an axis perpendicular to the longitudinal direction of the fourth link 11d. At the sixth joint JT6, the tip end of the fifth link 11e and the base end of the sixth link 11f are connected to be torsionally rotatable.

A mechanical interface is provided at the tip of the sixth link 11f. An end effector 12 corresponding to the work content is removably attached to this mechanical interface.

Each of the first joint JT1 to the sixth joint JT6 is provided with a driver (drive motor) (not shown) as an example of an actuator that rotates the two members connected to each joint relative to one another. The driver may be, for example, a servo motor that is servo-controlled by the control device 190. Each of the first joint JT1 to the sixth joint JT6 is provided with a rotation sensor that detects the rotational position of the drive motor and a current sensor that detects the current that controls the rotation of the driver (not shown). The rotation sensor may be, for example, an encoder.

As shown in Figs. 1 and 2, a photographing device 120 and a first mobile communication terminal 121 may be disposed in the first space 100. The photographing device 120 may be installed in a partition member 310 that forms the first space 100, and may be held by a robot different from the robot 101.

The imaging device 120 is configured to capture images and/or videos and output the captured image information and/or video information to the control device 190. For example, a video camera may be used as the imaging device 120. The imaging device 120 may also be configured to be detachable from the first operating device 110. For example, an attachment member (mounting bracket) may be provided on the first operating device 110, and the imaging device 120 may be attached by the attachment member.

The photographing device 120 may be configured as a camera built into the first mobile communication terminal 121. In this case, the first mobile communication terminal 121 may be configured to be detachable from the first operating device 110. The first mobile communication terminal 121 may be a known mobile communication terminal, and may be configured as, for example, a smartphone.

In addition, a display device 220 and a second mobile communication terminal 222 may be arranged in the second space 200. The display device 220 is configured to display image information and/or video information captured by the imaging device 120. The display device 220 may be configured as a stationary display that is placed on a desk, floor, etc. for use. The display device 220 may also be configured as a head-mounted display or glasses that are worn by the operator for use.

The second mobile communication terminal 222 is configured to input various information (signals) output from the second operating device 210A to the control device 190 via the communication network 320 and the first mobile communication terminal 121. The second mobile communication terminal 222 may be configured as a smartphone.

Furthermore, a first communication device may be placed in the first space 100 instead of the first mobile communication terminal 121. The first communication device is configured to perform data communication with the communication network 320. A publicly known wireless communication device or wired communication device may be used as the first communication device.

Similarly, a second communication device may be placed in the second space 200 instead of the second mobile communication terminal 222. The second communication device is configured to perform data communication with the communication network 320. As the second communication device, a publicly known wireless communication device or wired communication device may be used.

In this case, various information (signals) output from the second operating device 210A may be input to the control device 190 via the second communication device, the communication network 320, and the first mobile communication terminal 121. Also, various information (signals) output from the second operating device 210A may be input to the control device 190 via the second communication device, the communication network 320, and the first communication device.

The control device 190 includes a processor 190a, a memory 190b, and an input device 190c. The processor 190a is composed of a microprocessor, a CPU, etc., and controls various operations of the robot system 300 by reading and executing software such as a basic program stored in the memory 190b.

The memory 190b stores information such as a basic program and various fixed data. The memory 190b does not need to be a single unit, and may be configured as multiple units (e.g., a random access memory and a hard disk drive). If the arithmetic processor 190a is configured as a microcomputer, at least a portion of the memory 190b may be configured as an internal memory of the microcomputer, or may be configured as an independent memory.

The input device 190c allows various parameters related to the control of the robot system 300 or other data to be input to the arithmetic processor 190a, and is composed of known input devices such as a keyboard, a touch panel, and a group of button switches.

The control device 190 may be configured with a single control device 190 that performs centralized control, or may be configured with multiple control devices 190 that cooperate with each other to perform distributed control. The control device 190 may also be configured with a microcomputer, an MPU, a PLC (Programmable Logic Controller), a logic circuit, etc.

[Operation and Effects of the Robot System]
Next, the operation and effects of the robot system 300 according to the first embodiment will be described in detail with reference to Figures 1 to 4. The following operation is executed by the arithmetic processor 190a of the control device 190 reading out a program stored in the memory 190b.

Figure 4 is a flowchart showing an example of the operation of the robot system according to the first embodiment.

As shown in FIG. 4, the calculation processor 190a of the control device 190 determines whether or not a control signal has been input from the first permission device 111 (step S10). If the calculation processor 190a of the control device 190 determines that a control signal has not been input from the first permission device 111 (No in step S10), it executes the process of step S10 again after, for example, 50 msec.

On the other hand, if the calculation processor 190a of the control device 190 determines that a control signal has been input from the first permission device 111 (Yes in step S10), it determines whether or not operation information has been input from the operation device 210 via the second mobile communication terminal 222, the communication network 320, and the first mobile communication terminal 121 (step S11).

If the calculation processor 190a of the control device 190 determines that operation information has not been input from the operation device 210 (No in step S11), it repeats the processing of steps S10 and S11 until operation information is input from the operation device 210.

On the other hand, if the calculation processor 190a of the control device 190 determines that operation information has been input from the operation device 210 (Yes in step S11), it determines whether the control signal input from the first permission device 111 in step S10 is a signal that turns on permission to execute the operation information from the operation device 210 to the control device 190 (step S12).

If the calculation processor 190a of the control device 190 determines in step S10 that the control signal input from the first permission device 111 is a signal that turns on the execution permission (Yes in step S12), it operates the robot 101 based on the operation information input in step S11 and ends the program.

On the other hand, if the calculation processor 190a of the control device 190 determines in step S10 that the control signal input from the first permission device 111 is not a signal that turns on the execution permission (No in step S12), it terminates the program without operating the robot 101 (step S14) based on the operation information input in step S11.

In this case, the arithmetic processor 190a of the control device 190 may cause the display device 220 to display, by the first permitter 111, that the permission to execute the operation information is off. Also, the arithmetic processor 190a of the control device 190 may cause the display device (display screen) of the second mobile communication terminal 222 to display, by the first permitter 111, that the permission to execute the operation information is off.

The robot system according to the first embodiment includes a robot arranged in a first space, a first operation device arranged in the first space and configured to output operation information, a second operation device arranged in a second space that is a space isolated from the first space and configured to output operation information, and a control device. The first operation device includes a first permission device configured to turn on/off permission for execution of the operation information from the second operation device to the control device. The control device is configured to operate the robot based on the operation information input from the second operation device by the operation of the second operator when the first permission device has permitted execution of the operation information by the operation of the first operator, and to not operate the robot based on the operation information input from the second operation device by the operation of the second operator when the first permission device has not permitted execution of the operation information by the operation of the first operator.

In addition, in the robot system according to the first embodiment, the robot system may further include a camera arranged in the first space, and a display device arranged in the second space and configured to display video information or image information captured by the camera.

In addition, in the robot system according to the first embodiment, the imaging device may be configured to be detachable from the first operating device.

In addition, in the robot system according to the first embodiment, the imaging device may be configured as the first mobile communication terminal.

In addition, in the robot system according to the first embodiment, the first operating device may be connected to the control device by a wire, and the second operating device may be configured to input operation information to the control device via the second mobile communication terminal, the communication network, the first mobile communication terminal, and the first operating device.

In addition, in the robot system according to the first embodiment, the control device may be configured to operate the robot based on the operation information input from the first operation device when the first permission device permits the execution of the operation information, even if the operation information is input from the second operation device, and when the operation information is input from the first operation device.

In addition, in the robot system according to the first embodiment, the robot system may include multiple robots and multiple first operating devices.

Furthermore, in the robot system according to the first embodiment, the robot system may include a plurality of second operation devices, and the first permission device may be configured to turn on/off permission to execute operation information from a selected second operation device to the control device.

The control method for the robot system according to the first embodiment includes a robot system including a robot arranged in a first space, a first operation device arranged in the first space and configured to output operation information, a second operation device arranged in a second space that is a space isolated from the first space and configured to output operation information, and a control device, the first operation device including a first permission device configured to turn on/off permission for execution of the operation information from the second operation device to the control device, and the control device is configured to operate the robot based on the operation information input from the second operation device by the operation of the second operator when the first permission device has permitted execution of the operation information by the operation of the first operator, and not to operate the robot based on the operation information input from the second operation device by the operation of the second operator when the first permission device has not permitted execution of the operation information by the operation of the first operator.

In addition, in the control method for the robot system according to the first embodiment, the robot system may further include a camera arranged in the first space, and a display device arranged in the second space and configured to display video information or image information captured by the camera.

In addition, in the control method for the robot system according to the first embodiment, the imaging device may be configured to be detachable from the first operating device.

In addition, in the control method for the robot system according to the first embodiment, the imaging device may be configured as the first mobile communication terminal.

In addition, in the control method of the robot system according to the first embodiment, the first operation device may be connected to the control device by a wire, and the second operation device may be configured to input operation information to the control device via the second mobile communication terminal, the communication network, the first mobile communication terminal, and the first operation device.

In addition, in the control method of the robot system according to the first embodiment, the control device may be configured to operate the robot based on the operation information input from the first operation device when the first permission device permits the execution of the operation information, even if the operation information is input from the second operation device, and the operation information is input from the first operation device.

In addition, in the control method for the robot system according to the first embodiment, the robot system may include multiple robots and multiple first operating devices.

Furthermore, in the control method for the robot system according to the first embodiment, the robot system may include a plurality of second operation devices, and the first permission device may be configured to turn on/off permission to execute operation information from a selected second operation device to the control device.

In the robot system 300 according to the first embodiment configured in this way, the first operator in the first space 100 can set the permission to execute the operation information to ON/OFF by operating the first permitter 111. In other words, the operable state of the robot 101 can be set to ON/OFF by the operation of the first operator.

Therefore, the first operator, who is in a position where he or she can see the robot 101, can check for safety and fully guarantee the safety of the robot 101 when it becomes operable.

In addition, in the robot system 300 according to the first embodiment, when the first operator permits the execution of the operation information, the control device 190 allows the second operator to operate the operation device 210 to operate the robot 101 based on the input operation information. This makes it clear that the subject of operation of the robot 101 is the second operator, and the safety of the robot 101 when it is operating can be adequately guaranteed.

Furthermore, in the robot system 300 according to the first embodiment, a second operator who is in a remote location and cannot directly see the robot 101 can operate the robot 101 without going to the remote location where the robot 101 is installed.

As a result, if the second operator is an experienced service technician, the service technician can remotely perform maintenance work such as zero point correction and teaching work for the robot 101.

[Modification 1]
Next, a description will be given of a modification of the robot system 300 according to the first embodiment. An example of a robot system according to the first modification of the first embodiment will be described below with reference to FIG.

Figure 5 is a schematic diagram showing the general configuration of a robot system according to variant 1 of the first embodiment.

As shown in FIG. 5, the robot system 300 of this modified example 1 has the same basic configuration as the robot system 300 of embodiment 1, but differs in that the first operating device 110 is configured to input operation information to the control device 190 via the first mobile communication terminal 121, the communication network 320, and the communication device 122, and the second operating device 210A is configured to input operation information to the control device 190 via the second mobile communication terminal 222, the communication network 320, and the communication device 122.

The communication device 122 is configured to perform data communication with the communication network 320. The communication device 122 may be a known wireless communication device or a wired communication device.

In the robot system of the first modification of the first embodiment, the first operating device is configured to input operation information to the control device via the first mobile communication terminal and the communication network, and the second operating device is configured to input operation information to the control device via the second mobile terminal and the communication network.

In addition, in the control method of the robot system of the first modified example of the first embodiment, the first operating device is configured to input operation information to the control device via the first mobile communication terminal and the communication network, and the second operating device is configured to input operation information to the control device via the second mobile terminal and the communication network.

The robot system 300 of this modified example 1, which is configured in this manner, achieves the same effects as the robot system 300 of embodiment 1.

(Embodiment 2)
Hereinafter, an example of a robot system according to the second embodiment will be described with reference to FIGS. 6 to 7B.

[Robot system configuration]
FIG. 6 is a schematic diagram showing a schematic configuration of a robot system according to the second embodiment.

As shown in FIG. 6, the robot system 300 according to the second embodiment has the same basic checkered pattern as the robot system 300 according to the first embodiment, but differs in that the second operation device 210A is provided with a lamp 211, and the control device 190 is configured to turn on the lamp 211 when the first permission device 111 permits the execution of the operation information. Note that the control device 190 may be configured to turn off the lamp 211 when the first permission device 111 does not permit the execution of the operation information.

[Operation and Effects of the Robot System]
Next, the operation and effects of the robot system 300 according to the second embodiment will be described in detail with reference to Figures 6 to 7B. Note that the following operation is executed by the arithmetic processor 190a of the control device 190 reading out a program stored in the memory 190b.

Figures 7A and 7B are flowcharts showing an example of the operation of the robot system according to the second embodiment.

As shown in FIG. 7A, the calculation processor 190a of the control device 190 determines whether or not a control signal has been input from the first permitter 111 (step S100). If the calculation processor 190a of the control device 190 determines that a control signal has not been input from the first permitter 111 (No in step S100), it determines whether or not operation information has been input from the first operation device 110 (step S101; see FIG. 7B).

If the calculation processor 190a of the control device 190 determines that no operation information has been input from the first operation device 110 (No in step S101), it executes the process of step S100 again after, for example, 50 msec.

On the other hand, if the calculation processor 190a of the control device 190 determines that operation information has been input from the first operation device 110 (Yes in step S101), it operates the robot 101 based on the operation information input from the first operation device 110 (step S102) and terminates the program.

As shown in FIG. 7A, when the calculation processor 190a of the control device 190 determines that a control signal has been input from the first permitter 111 (Yes in step S100), it determines whether operation information has been input from the second operation device 210A via the second mobile communication terminal 222, the communication network 320, the first mobile communication terminal 121, and the first operation device 110 (step S103).

If the calculation processor 190a of the control device 190 determines that operation information has not been input from the second operation device 210A (No in step S103), it repeats the processing of steps S100 and S103 until operation information is input from the second operation device 210A.

On the other hand, if the calculation processor 190a of the control device 190 determines that operation information has been input from the second operation device 210A (Yes in step S103), it determines whether the control signal input from the first permission device 111 in step S100 is a signal that turns on permission to execute the operation information from the second operation device 210A to the control device 190 (step S104).

If the calculation processor 190a of the control device 190 determines in step S100 that the control signal input from the first permission device 111 is not a signal that turns on execution permission (No in step S104), the calculation processor 190a ends the program without operating the robot 101 (step S105) even if operation information was input in step S103.

In this case, the arithmetic processor 190a of the control device 190 may cause the display device 220 to display, by the first permitter 111, that the permission to execute the operation information is off. Also, the arithmetic processor 190a of the control device 190 may cause the display device (display screen) of the second mobile communication terminal 222 to display, by the first permitter 111, that the permission to execute the operation information is off.

On the other hand, if the calculation processor 190a of the control device 190 determines in step S100 that the control signal input from the first permitter 111 is a signal that turns on the execution permission (Yes in step S104), it turns on the lamp 211 (step S106). This allows the second operator to easily understand that the execution permission for the operation information has been turned on by the first permitter 111.

Next, the arithmetic processor 190a of the control device 190 determines whether or not operation information has been input from the first operating device 110 (step S107). If the arithmetic processor 190a of the control device 190 determines that operation information has been input from the first operating device 110 (Yes in step S107), it operates the robot 101 based on the operation information input from the first operating device 110 (step S108), and ends the program.

In other words, when the first permitter 111 permits the execution of the operation information (Yes in step S104), even if the operation information is input from the second operation device 210A, when the operation information is input from the first operation device 110 (Yes in step S107), the calculation processor 190a of the control device 190 operates the robot 101 based on the operation information input from the first operation device 110 (step S108).

In other words, when the first permitter 111 permits the execution of the operation information (Yes in step S104) and operation information is input from the first operation device 110 (Yes in step S107), the operation information output from the second operation device 210A is not input to the control device 190, or even if it is input to the control device 190, the operation information is ignored.

On the other hand, if the arithmetic processor 190a of the control device 190 determines that no operation information has been input from the first operation device 110 (No in step S107), it operates the robot 101 based on the operation information input from the second operation device 210A (the operation information input in step S103) (step S108), and ends the program.

The robot system according to the second embodiment is the robot system according to the first embodiment (including the modified example), in which the second operation device is provided with a lamp, and the control device is configured to turn on the lamp when the first permission device permits the execution of the operation information.

In addition, in the robot system according to the second embodiment, the control device may be configured to operate the robot based on the operation information input from the first operation device when the first permission device permits the execution of the operation information, even if the operation information is input from the second operation device, and the operation information is input from the first operation device.

The control method for the robot system according to the second embodiment is the control method for the robot system according to the first embodiment (including the modified example), in which the second operation device is provided with a lamp, and the control device is configured to turn on the lamp when the first permission device permits the execution of the operation information.

In addition, in the control method for the robot system according to the second embodiment, the control device may be configured to operate the robot based on the operation information input from the first operation device when the first permission device permits the execution of the operation information, even if the operation information is input from the second operation device, and the operation information is input from the first operation device.

The robot system 300 according to the second embodiment, which is configured in this manner, achieves the same effects as the robot system 300 according to the first embodiment.

In addition, in the robot system 300 according to the second embodiment, the control device 190 is configured to turn on the lamp 211 when the first permitter 111 permits the execution of the operation information. This allows the second operator to easily understand that the permission to execute the operation information is on due to the first permitter 111.

Furthermore, in the robot system 300 according to the second embodiment, when the first permitter 111 permits the execution of the operation information, even if the operation information is input from the second operation device 210A, if the operation information is input from the first operation device 110, the control device 190 is configured to operate the robot 101 based on the operation information input from the first operation device 110.

This makes it clear that the first operating device 110 has a higher priority than the second operating device 210A. This makes it clear that the subject of operation of the robot 101 is the first operator, rather than the second operator, and this makes it possible to adequately guarantee safety when the robot 101 is operating.

(Embodiment 3)
Hereinafter, an example of a robot system according to the third embodiment will be described with reference to FIG.

Figure 8 is a schematic diagram showing the general configuration of a robot system according to the third embodiment.

As shown in FIG. 8, the robot system 300 according to the third embodiment has the same basic configuration as the robot system 300 according to the second embodiment, but differs in that the first operating device 110 is provided with a second permitter 132. Note that in the robot system 300 according to the third embodiment, the second operating device 210A is not provided with a second permitter.

The second permission device 132 is configured to permit automatic operation of the robot 101. The second permission device 132 is operated by the first operator to permit automatic operation of the robot 101, and the automatic operation of the robot 101 is executed by the control device 190.

The robot system according to the third embodiment is the robot system according to the first embodiment (including the modified example) or the second embodiment, in which the first operating device is provided with a second permitter configured to permit automatic operation of the robot, and the second operating device is not provided with a second permitter.

The control method for the robot system according to the third embodiment is the same as the control method for the robot system according to the first embodiment (including the modified example) or the second embodiment, except that the first operating device is provided with a second permitter configured to permit automatic operation of the robot, and the second operating device is not provided with a second permitter.

The robot system 300 according to the third embodiment, which is configured in this manner, achieves the same effects as the robot system 300 according to the first embodiment.

In addition, since the second permission device 132 is provided only in the first operation device 110, it is clear that the main operator in charge of operating the automatic operation of the robot 101 is the first operator, and the safety of the robot 101 during automatic operation can be adequately guaranteed.

[Modification 1]
Next, a description will be given of a modification of the robot system 300 according to the third embodiment. An example of a robot system according to a first modification of the third embodiment will be described below with reference to FIG.

Figure 9 is a schematic diagram showing the general configuration of a robot system according to variant 1 of the third embodiment.

As shown in FIG. 9, the robot system 300 of this modified example 1 has the same basic configuration as the robot system 300 of embodiment 3, but differs in that the second operating device 210A is also provided with a second permission device 232 that is configured to permit automatic operation of the robot 101.

The robot system 300 of this modified example 1 also differs from the robot system 300 of embodiment 3 in that the control device 190 is configured not to execute automatic operation of the robot 101 even if a signal permitting automatic operation of the robot 101 is input from the second permission device 232 provided in the second operation device 210A.

In the robot system of variant example 1 in this embodiment 3, the first operating device and the second operating device are each provided with a second permission device configured to permit automatic operation of the robot, and the control device is configured not to execute automatic operation of the robot even if a signal permitting automatic operation of the robot is input from the second permission device provided in the second operating device.

In addition, in the control method of the robot system of variant example 1 in this embodiment 3, the first operation device and the second operation device are each provided with a second permission device configured to permit automatic operation of the robot, and the control device is configured not to execute automatic operation of the robot even if a signal permitting automatic operation of the robot is input from the second permission device provided in the second operation device.

The robot system 300 of this modified example 1, which is configured in this manner, achieves the same effects as the robot system 300 of embodiment 3.

In addition, in the robot system 300 of this modified example 1, the second operation device 210A is also provided with a second permission device 232. This allows the same operation device to be used for the first operation device 110 and the second operation device 210A, thereby increasing the versatility of the operation device. Furthermore, by being able to use the same operation device, the manufacturing costs of the operation device can be reduced.

(Embodiment 4)
An example of a robot system according to the fourth embodiment will be described below with reference to FIG.

Figure 10 is a schematic diagram showing the general configuration of a robot system according to the fourth embodiment.

As shown in FIG. 10, the robot system 300 according to the fourth embodiment has the same basic configuration as the robot system 300 according to the second embodiment, but differs in that the first operating device 110 is provided with a first adjuster 141. Note that in the robot system 300 according to the fourth embodiment, the second operating device 210A is not provided with a first adjuster.

The first adjuster 141 is configured to adjust the motion speed of the robot 101. The first adjuster 141 adjusts the motion speed of the robot 101 by operation of the first operator, and the motion speed of the robot 101 is changed by the control device 190.

The robot system according to the fourth embodiment is a robot system according to any one of the first to third embodiments (including the modified examples), in which the first operating device is provided with a first adjuster configured to adjust the motion speed of the robot, and the second operating device is not provided with a first adjuster.

The control method for a robot system according to the fourth embodiment is a control method for a robot system according to any one of the first to third embodiments (including the modified examples), in which the first operating device is provided with a first adjuster configured to adjust the motion speed of the robot, and the second operating device is not provided with a first adjuster.

The robot system 300 according to the fourth embodiment, which is configured in this manner, achieves the same effects as the robot system 300 according to the first embodiment.

In addition, since the first adjuster 141 is provided only on the first operating device 110, it is clear that the main operator controls the operating speed of the robot 101, and safety during operation of the robot 101 can be adequately guaranteed.

[Modification 1]
Next, a modification of the robot system 300 according to the fourth embodiment will be described.

Below, an example of a robot system according to variant 1 of the fourth embodiment will be described with reference to FIG. 11.

Figure 11 is a schematic diagram showing the general configuration of a robot system according to variant 1 of the fourth embodiment.

As shown in FIG. 11, the robot system 300 of this modified example 1 has the same basic configuration as the robot system 300 of embodiment 4, but differs in that the second operating device 210A also has a first adjuster 242 that is configured to adjust the operating speed of the robot 101.

The robot system 300 of this modified example 1 also differs from the robot system 300 of embodiment 4 in that the control device 190 is configured not to change the motion speed of the robot 101 even when a signal for adjusting the motion speed of the robot 101 is input from the first adjuster 242 provided in the second operating device 210A.

In the robot system of variant 1 in this embodiment 4, the first operating device and the second operating device are each provided with a first adjuster configured to adjust the motion speed of the robot, and the control device is configured not to change the motion speed of the robot even if a signal to change the motion speed of the robot is input from the first adjuster provided in the second operating device.

In addition, in the control method of the robot system of variant example 1 in this embodiment 4, the first operating device and the second operating device are each provided with a first adjuster configured to adjust the motion speed of the robot, and the control device is configured not to change the motion speed of the robot even if a signal to change the motion speed of the robot is input from the first adjuster provided in the second operating device.

The robot system 300 of this modified example 1, which is configured in this manner, achieves the same effects as the robot system 300 of embodiment 4.

In addition, in the robot system 300 of this first modified example, the second operating device 210A is also provided with a first adjuster 242. This allows the same operating device to be used for the first operating device 110 and the second operating device 210A, thereby increasing the versatility of the operating device. Furthermore, being able to use the same operating device allows for a reduction in the manufacturing costs of the operating device.

(Embodiment 5)
Hereinafter, an example of a robot system according to the fifth embodiment will be described with reference to FIG.

Figure 12 is a schematic diagram showing the general configuration of a robot system according to the fifth embodiment.

As shown in FIG. 12, the robot system 300 according to the fifth embodiment has the same basic configuration as the robot system 300 according to the second embodiment, but differs in that the first operating device 110 further includes a first display 151, and the second operating device 210A further includes a second display 252.

In addition, in the robot system 300 according to the fifth embodiment, the first operating device 110 is configured to transmit a QR code (registered trademark) to the second operating device 210A via the first mobile communication terminal 121 and the communication network 320. The second operating device 210A is configured to display the received QR code on the second display 252, and the second mobile communication terminal 222 is configured to confirm the connection with the first mobile communication terminal 121 by reading the QR code displayed on the second display 252.

This allows the second operator to confirm that he or she is connected to the robot 101 that he or she is to operate. In particular, when there are multiple robots 101 and multiple first operating devices 110 corresponding to the multiple robots 101, the second operator can confirm that he or she is connected to the robot 101 that he or she is to operate.

Furthermore, in the robot system 300 according to the fifth embodiment, the second operation device 210A is configured to transmit a QR code to the first operation device 110 via the second mobile communication terminal 222, the communication network 320, and the first mobile communication terminal 121. The first operation device 110 is configured to display the received QR code on the first display 151, and the first mobile communication terminal 121 is configured to confirm the connection with the second mobile communication terminal 222 by reading the QR code displayed on the first display 151.

This allows the first operator to confirm that he or she is connected to the second operation device 210A of the second operator who is requesting the operation of the robot 101. In particular, when there are multiple second operation devices 210A, the first operator can confirm that he or she is connected to the second operation device 210A of the second operator who is requesting the operation of the robot 101.

A robot system according to the fifth embodiment is a robot system according to any one of the first to fourth embodiments (including the modified examples), in which the first operating device further includes a first display and the second operating device further includes a second display, the first operating device transmits a QR code to the second operating device via the first mobile communication terminal and the communication network, the second operating device displays the received QR code on the second display, and the second mobile communication terminal confirms the connection with the first mobile communication terminal by reading the QR code displayed on the second display.

In addition, in the robot system according to the fifth embodiment, the second operation device may be configured to transmit a QR code to the first operation device via the second mobile communication terminal, the communication network, and the first mobile communication terminal, the first operation device displays the received QR code on the first display, and the first mobile communication terminal confirms the connection with the second mobile communication terminal by reading the QR code displayed on the first display.

A method of controlling a robot system according to the fifth embodiment is configured in any one of the robot systems according to the first to fourth embodiments (including the modified examples), in which the first operation device further includes a first display, and the second operation device further includes a second display, the first operation device transmits a QR code to the second operation device via the first mobile communication terminal and the communication network, the second operation device displays the received QR code on the second display, and the second mobile communication terminal confirms connection with the first mobile communication terminal by reading the QR code displayed on the second display.

In addition, in the control method of the robot system according to the fifth embodiment, the second operation device may be configured to transmit a QR code to the first operation device via the second mobile communication terminal, the communication network, and the first mobile communication terminal, the first operation device displays the received QR code on the first display, and the first mobile communication terminal confirms the connection with the second mobile communication terminal by reading the QR code displayed on the first display.

(Embodiment 6)
[Robot system configuration]
Hereinafter, an example of a robot system according to the sixth embodiment will be described with reference to FIGS. 13 to 14B.

Figure 13 is a schematic diagram showing the general configuration of a robot system according to the sixth embodiment.

As shown in FIG. 13, the robot system 300 according to the sixth embodiment has the same basic configuration as the robot system 300 according to the second embodiment, but differs in that the first operating device 110 includes a first trigger switch 161.

The first trigger switch 161 is configured to permit the supply of power to the actuator of the robot 101. When the first operator operates (presses) the first trigger switch 161, the supply of power to the actuator of the robot 101 is permitted, and when the first operator stops pressing the first trigger switch 161 (releases the switch), the supply of power to the actuator of the robot 101 is stopped.

This allows the first operator to bring the robot 101 to an emergency stop by stopping the pressure on the first trigger switch 161.

[Operation and Effects of the Robot System]
Next, the operation and effects of the robot system 300 according to the sixth embodiment will be described in detail with reference to Fig. 13 to Fig. 14B. Note that the following operation is executed by the arithmetic processor 190a of the control device 190 reading out a program stored in the memory 190b.

Figures 14A and 14B are flowcharts showing an example of the operation of a robot system according to the sixth embodiment.

As shown in FIG. 14A, the calculation processor 190a of the control device 190 determines whether or not a control signal has been input from the first permitter 111 (step S200). If the calculation processor 190a of the control device 190 determines that a control signal has not been input from the first permitter 111 (No in step S200), it determines whether or not operation information has been input from the first operation device 110 (step S201; see FIG. 14B).

If the calculation processor 190a of the control device 190 determines that no operation information has been input from the first operation device 110 (No in step S201), it executes the process of step S200 again after, for example, 50 msec.

On the other hand, if the arithmetic processor 190a of the control device 190 determines that operation information has been input from the first operating device 110 (Yes in step S201), it operates the robot 101 based on the operation information input from the first operating device 110 (step S202) and terminates the program.

As shown in FIG. 14A, when the calculation processor 190a of the control device 190 determines that a control signal has been input from the first permitter 111 (Yes in step S200), it determines whether or not operation information has been input from the second operation device 210A via the second mobile communication terminal 222, the communication network 320, the first mobile communication terminal 121, and the first operation device 110 (step S203).

If the calculation processor 190a of the control device 190 determines that operation information has not been input from the second operation device 210A (No in step S203), it repeats the processing of steps S200 and S203 until operation information is input from the second operation device 210A.

On the other hand, if the calculation processor 190a of the control device 190 determines that operation information has been input from the second operation device 210A (Yes in step S203), it determines whether the control signal input from the first permission device 111 in step S200 is a signal that turns on permission to execute the operation information from the second operation device 210A to the control device 190 (step S204).

If the arithmetic processor 190a of the control device 190 determines in step S200 that the control signal input from the first permission device 111 is not a signal that turns on the execution permission (No in step S204), the arithmetic processor 190a ends the program without operating the robot 101 (step S205) even if operation information was input in step S203.

In this case, the arithmetic processor 190a of the control device 190 may cause the display device 220 to display, by the first permitter 111, that the permission to execute the operation information is off. Also, the arithmetic processor 190a of the control device 190 may cause the display device (display screen) of the second mobile communication terminal 222 to display, by the first permitter 111, that the permission to execute the operation information is off.

On the other hand, if the arithmetic processor 190a of the control device 190 determines in step S200 that the control signal input from the first permitter 111 is a signal that turns on the execution permission (Yes in step S204), it determines whether the first trigger switch 161 is pressed (step S206). In other words, the arithmetic processor 190a of the control device 190 determines whether the first trigger switch 161 has been operated by the first operator to permit the supply of power to the actuator of the robot 101.

When the arithmetic processor 190a of the control device 190 determines that the first trigger switch 161 is pressed (Yes in step S206), it permits the supply of power to the actuator of the robot 101 (step S207), operates the robot 101 based on the operation information input from the second operation device 210A (step S208), and ends the program.

On the other hand, if the arithmetic processor 190a of the control device 190 determines that the first trigger switch 161 is not pressed (No in step S206), it does not allow power supply to the actuator of the robot 101 (stops the power supply to the actuator of the robot 101; step S209) and ends the program.

In other words, when the first permitter 111 permits the execution of the operation information (Yes in step S204), if the arithmetic processor 190a of the control device 190 determines that the first trigger switch 161 has not been pressed (No in step S206), even if operation information has been input from the second operating device 210A, the arithmetic processor 190a does not permit the supply of power to the actuator of the robot 101 (stops the supply of power to the actuator of the robot 101; step S209).

This allows the first operator to bring the robot 101, which was operating based on the operation information from the second operation device 210A, to an emergency stop.

The robot system according to the sixth embodiment is a robot system according to any one of the first to fifth embodiments (including the modified examples), in which the first operating device includes a first trigger switch configured to permit the supply of power to the actuator of the robot, and the control device is configured to operate the robot based on the operating information input from the second operating device when the first permitter permits the execution of the operating information and the first trigger switch permits the supply of power to the actuator of the robot, and not to operate the robot based on the operating information even if the operating information is input from the second operating device when the first permitter permits the execution of the operating information but the first trigger switch does not permit the supply of power to the actuator of the robot.

The robot system 300 according to the sixth embodiment, which is configured in this manner, achieves the same effects as the robot system 300 according to the first embodiment.

In addition, in the robot system 300 according to the sixth embodiment, when the first permitter 111 permits the execution of the operation information and the first trigger switch 161 is pressed, the control device 190 operates the robot 101 based on the operation information input from the second operating device 210A.

This makes it clear that the first operating device 110 has a higher priority than the second operating device 210A. This makes it clear that the subject of operation of the robot 101 is the first operator, rather than the second operator, and this makes it possible to adequately guarantee safety when the robot 101 is operating.

Furthermore, in the robot system 300 according to the sixth embodiment, when the first permitter 111 permits the execution of operation information, even if operation information is input from the second operating device 210A, the control device 190 does not permit the supply of power to the actuator of the robot 101 (stops the supply of power to the actuator of the robot 101) if the first trigger switch 161 is not pressed.

This allows the first operator to bring the robot 101, which was operating based on the operation information from the second operating device 210A, to an emergency stop. This makes it possible to fully guarantee the safety of the robot 101 when it is operating.

[Modification 1]
Next, a description will be given of a modification of the robot system 300 according to the sixth embodiment. An example of a robot system according to a first modification of the sixth embodiment will be described below with reference to Figs. 15 to 16B.

[Robot system configuration]
FIG. 15 is a schematic diagram showing a schematic configuration of a robot system according to a first modified example of the sixth embodiment.

As shown in FIG. 15, the robot system 300 of this modified example 1 has the same basic configuration as the robot system 300 of embodiment 6, but differs in that the second operating device 210A includes a second trigger switch 262.

The second trigger switch 262 is configured to permit the supply of power to the actuator of the robot 101. When the second operator operates (presses) the second trigger switch 262, the supply of power to the actuator of the robot 101 is permitted, and when the second operator stops pressing the second trigger switch 262 (releases the switch), the supply of power to the actuator of the robot 101 is stopped.

This allows the second operator to also bring the robot 101 to an emergency stop by stopping the pressure on the second trigger switch 262.

[Operation and Effects of the Robot System]
Next, the operation and effects of the robot system 300 of the present modified example 1 will be described in detail with reference to Fig. 15 to Fig. 16B. Note that the following operation is executed by the arithmetic processor 190a of the control device 190 reading out a program stored in the memory 190b.

Figures 16A and 16B are flowcharts showing an example of the operation of a robot system of variant example 1 in embodiment 6.

As shown in Figures 16A and 16B, the operation of the robot system 300 of this modified example 1 is basically the same as the operation of the robot system 300 of embodiment 6, except that the processor 190a of the control device 190 executes the process of step S206A instead of the process of step S206.

Specifically, when the arithmetic processor 190a of the control device 190 determines in step S200 that the control signal input from the first permitter 111 is a signal that turns on the execution permission (Yes in step S204), the arithmetic processor 190a of the control device 190 determines whether the first trigger switch 161 and the second trigger switch 262 are pressed (step S206A). In other words, the arithmetic processor 190a of the control device 190 determines whether the first trigger switch 161 and the second trigger switch 262 have been operated by the first operator and the second operator, respectively, to permit the supply of power to the actuator of the robot 101.

When the arithmetic processor 190a of the control device 190 determines that the first trigger switch 161 and the second trigger switch 262 are pressed (Yes in step S206), it permits the supply of power to the actuator of the robot 101 (step S207), operates the robot 101 based on the operation information input from the second operation device 210A (step S208), and ends the program.

On the other hand, if the arithmetic processor 190a of the control device 190 determines that at least one of the first trigger switch 161 and the second trigger switch 262 is not pressed (No in step S206A), it does not allow the supply of power to the actuator of the robot 101 (stops the supply of power to the actuator of the robot 101; step S209) and ends the program.

In other words, when the first permitter 111 permits execution of the operation information (Yes in step S204), even if operation information has been input from the second operation device 210A, if the arithmetic processor 190a of the control device 190 determines that at least one of the first trigger switch 161 and the second trigger switch 262 has not been pressed (No in step S206A), the arithmetic processor 190a does not permit the supply of power to the actuator of the robot 101 (stops the supply of power to the actuator of the robot 101; step S209). This allows not only the first operator but also the second operator to make an emergency stop of the robot 101 that was operating based on the operation information from the second operation device 210A.

The robot system of the first modification of the sixth embodiment includes a second trigger switch configured to allow the second operating device to supply power to the actuator of the robot, and the control device is configured to operate the robot based on the operating information input from the second operating device when the first permitter permits the execution of the operating information and both the first trigger switch and the second trigger switch permit the supply of power to the actuator of the robot, and not to operate the robot based on the operating information even if the operating information is input from the second operating device when at least one of the first trigger switch and the second trigger switch does not permit the supply of power to the actuator of the robot even if the first permitter permits the execution of the operating information.

The control method for the robot system of the first modified example in the sixth embodiment includes a second operation device that is configured to permit the supply of power to the actuator of the robot, and the control device is configured to operate the robot based on the operation information input from the second operation device when the first permission device permits the execution of the operation information and both the first trigger switch and the second trigger switch permit the supply of power to the actuator of the robot, and not to operate the robot based on the operation information even if the operation information is input from the second operation device when at least one of the first trigger switch and the second trigger switch does not permit the supply of power to the actuator of the robot even if the first permission device permits the execution of the operation information.

The robot system 300 of this modified example 1, which is configured in this manner, achieves the same effects as the robot system 300 of embodiment 6.

In addition, in the robot system 300 of this modified example 1, when the first permitter 111 permits the execution of the operation information and the first trigger switch 161 and the second trigger switch 262 are pressed, the control device 190 operates the robot 101 based on the operation information input from the second operation device 210A.

As a result, the robot 101 is operated with the unanimous consent of the first operator and the second operator, so safety during operation of the robot 101 can be fully guaranteed.

Furthermore, in the robot system 300 of this modified example 1, when the first permitter 111 permits the execution of operation information, even if operation information is input from the second operation device 210A, if at least one of the first trigger switch 161 and the second trigger switch 262 is not pressed, the control device 190 does not permit the supply of power to the actuator of the robot 101 (stops the supply of power to the actuator of the robot 101).

This allows not only the first operator but also the second operator to bring the robot 101, which was operating based on operation information from the second operating device 210A, to an emergency stop. This makes it possible to fully guarantee the safety of the robot 101 when it is operating.

(Seventh embodiment)
An example of a robot system according to the seventh embodiment will be described below with reference to FIG.

[Robot system configuration]
FIG. 17 is a schematic diagram showing a schematic configuration of a robot system according to the seventh embodiment.

As shown in FIG. 17, the robot system 300 according to the seventh embodiment has the same basic configuration as the robot system 300 according to the first embodiment, but differs in that the first operating device 110 further includes a first display 151, and the second operating device 210A further includes a second display 252. The first display 151 and the second display 252 may be configured as a monitor or a display.

In the robot system 300 according to the seventh embodiment, the control device 190 is configured to display first information, which is information about the robot 101, on the first display 151. Here, the information about the robot 101 may be, for example, data detected by various sensors, such as an encoder and a temperature sensor, that are provided on the robot 101. The information about the robot 101 may be, for example, image information of an operation screen for operating the robot 101. The information about the robot 101 may be, for example, operation information (operation data) or program information (program data) input by the first operator operating the first operation device 110. The information about the robot 101 may be, for example, an error code.

Furthermore, in the robot system 300 according to the seventh embodiment, the control device 190 is configured to display the first information on the display device 220 and/or the second display 252 when the second operator inputs a command to display the first information from the second operating device 210A.

This allows information about the robot 101 to be shared between the first operator and the second operator. Therefore, the second operator can easily obtain the information required to perform maintenance work on the robot 101, and can easily grasp the status of the robot 101. Therefore, the second operator can easily perform maintenance work on the robot 101 from a remote location.

In the robot system 300 according to the seventh embodiment, a configuration including the first permission device 111 is adopted, but the present invention is not limited to this, and a configuration not including the first permission device 111 may also be adopted.

The robot system according to the seventh embodiment includes a robot disposed in a first space, a first operation device disposed in the first space and equipped with a first display, a second operation device disposed in a second space that is a space isolated from the first space and configured to output operation information, a display device disposed in the second space, and a control device, the control device being configured to display first information, which is information related to the robot, on the first display device, and configured to display the first information on the display device when a display command for the first information is input from the second operation device by operation of the second operator.

The robot system according to the seventh embodiment is the robot system according to the first to sixth embodiments (including the modified examples), further comprising a first operation device arranged in the first space and equipped with a first display, and a display device arranged in the second space, and configured to output operation information in the second space, the operation device being a second operation device, and the control device being configured to display first information, which is information relating to the robot, on the first display, and configured to display the first information on the display device when a display command for the first information is input from the second operation device by operation of the second operator.

Furthermore, in the robot system according to the seventh embodiment, the second operating device may include a second display, and the control device may be configured to display the first information on the display device and/or the second display when a display command for the first information is input from the second operating device by operation of the second operator.

A method of controlling a robot system according to the seventh embodiment of the present invention includes a robot system including a robot disposed in a first space, a first operation device disposed in the first space and equipped with a first display, a second operation device disposed in a second space that is a space isolated from the first space and configured to output operation information, a display device disposed in the second space, and a control device, the control device being configured to display first information, which is information related to the robot, on the first display device, and configured to display the first information on the display device when a display command for the first information is input from the second operation device by operation of the second operator.

The control method for the robot system according to the seventh embodiment is the same as the control method for the robot system according to the first to sixth embodiments (including the variations), except that the control method further includes a first operation device arranged in the first space and having a first display, and a display device arranged in the second space, and is configured to output operation information in the second space, the operation device being a second operation device, and the control device being configured to display first information, which is information related to the robot, on the first display, and configured to display the first information on the display device when a display command for the first information is input from the second operation device by operation of the second operator.

Furthermore, in the control method for the robot system according to the seventh embodiment, the second operating device may include a second display, and the control device may be configured to display the first information on the display device and/or the second display when a display command for the first information is input from the second operating device by operation of the second operator.

[Modification 1]
Next, a description will be given of a modification of the robot system 300 according to the seventh embodiment. An example of a robot system according to a first modification of the seventh embodiment will be described below with reference to Figs. 18 to 19B.

[Robot system configuration]
FIG. 18 is a schematic diagram showing a schematic configuration of a robot system according to a first modification of the seventh embodiment.

As shown in FIG. 18, the robot system 300 of this modified example 1 has the same basic configuration as the robot system 300 of embodiment 7, but differs in that the first operating device 110 is equipped with a third permitter 113.

The third permitter 113 is configured to turn on/off the permission to execute a command to display the first information from the second operating device 210A to the control device 190. The third permitter 113 may be configured, for example, as a switch. Furthermore, when the first display 151 is configured as a touch panel, the third permitter 113 may be configured as an icon.

When the third permission device 113 turns off the permission to execute a display command for the first information from the second operation device 210A to the control device 190, the third permission device 113 may be configured so that the display command is not input to the control device 190, or so that the second operation device 210A does not output a display command, or so that the control device 190 ignores the display command input from the second operation device 210A.

In addition, in the robot system 300 of this modified example 1, the control device 190 may be configured not to display the first information on the display device 220 and/or the second display device 252 if a display command is input from the second operating device 210A before a control signal is input from the third permission device 113.

Furthermore, the control device 190 may be configured to store the control signal (on/off information for permission to execute the command to display the first information) input from the third permission device 113 in the memory device 190b, and to determine whether or not to display the first information on the display device 220 and/or the second display device 252 based on the on/off information for permission to execute stored in the memory device 190b.

In this case, the control device 190 may be configured to update the on/off information stored in the memory 190b based on a control signal input from the third permission device 113.

[Operation and Effects of the Robot System]
Next, the operation and effects of the robot system 300 according to the first modification of the seventh embodiment will be described in detail with reference to Fig. 18 to Fig. 19B. Note that the following operation is executed by the arithmetic processor 190a of the control device 190 reading out a program stored in the memory 190b.

Figures 19A and 19B are flowcharts showing an example of the operation of a robot system of variant example 1 in embodiment 7.

As shown in FIG. 19A, the calculation processor 190a of the control device 190 determines whether or not a command (signal) to display the first information has been input from the second operating device 210A (step S300).

If the calculation processor 190a of the control device 190 determines that a command (signal) to display the first information has not been input from the second operating device 210A (No in step S300), it executes the process of step S300 again after, for example, 50 msec.

On the other hand, when the calculation processor 190a of the control device 190 determines that a command (signal) to display the first information has been input from the second operating device 210A (Yes in step S300), the calculation processor 190a of the control device 190 determines whether or not a control signal has been input from the third permission device 113 (step S301).

When the calculation processor 190a of the control device 190 determines that a control signal has been input from the third permission device 113 (Yes in step S301), it determines whether the control signal input from the third permission device 113 in step S301 is a signal that turns on permission to execute a command to display the first information from the second operating device 210A to the control device 190 (step S302).

On the other hand, if the calculation processor 190a of the control device 190 determines that a control signal has not been input from the third permission device 113 (No in step S301), it executes the process of step S305. The process from step S305 onwards will be described later.

If the calculation processor 190a of the control device 190 determines in the process of step S302 that the control signal input from the third permission device 113 in step S301 is a signal that turns on permission to execute a command to display the first information from the second operating device 210A to the control device 190 (Yes in step S302), it causes the display device 220 to display the first information (step S303) and terminates the program.

At this time, the arithmetic processor 190a of the control device 190 may store in the memory 190b a signal that turns on the permission to execute the command to display the first information (execution permission on information).

On the other hand, if the calculation processor 190a of the control device 190 determines in step S301 that the control signal input from the third permission device 113 is a signal that turns off the permission to execute the command to display the first information from the second operating device 210A to the control device 190 (No in step S302), it does not display the first information on the display device 220 (step S304) and terminates the program.

At this time, the arithmetic processor 190a of the control device 190 may store in the memory 190b a signal that turns off the permission to execute the command to display the first information (execution permission off information).

Also, as shown in Figures 19A and 19B, when the calculation processor 190a of the control device 190 determines that a control signal has not been input from the third permission device 113 (No in step S301), it determines whether on/off information for permission to execute the display command for the first information is stored in the memory device 190b (step S305).

When the calculation processor 190a of the control device 190 determines that on/off information for permission to execute the command to display the first information is stored in the memory 190b (Yes in step S305), it determines whether the information stored in the memory 190b is on information for permission to execute the command to display the first information (step S306).

When the calculation processor 190a of the control device 190 determines that the information stored in the memory device 190b is on information indicating permission to execute a command to display the first information (Yes in step S306), it causes the display device 220 to display the first information (step S307) and terminates the program.

On the other hand, if the calculation processor 190a of the control device 190 determines that the information stored in the memory 190b is off information for permission to execute the command to display the first information (No in step S306), it does not display the first information on the display device 220 (step S308) and terminates the program.

In addition, if the calculation processor 190a of the control device 190 determines in the processing of step S305 that the on/off information for permission to execute the display command for the first information is not stored in the memory device 190b (No in step S305), the calculation processor 190a does not display the first information on the display device 220 (step S308) and terminates the program.

The robot system of the first modification example of the seventh embodiment further includes a third permitter configured to turn on/off the permission for the execution of a command to display the first information from the second operating device to the control device, and the control device is configured to display the first information on the display device based on the command to display the first information input from the second operating device by the operation of the second operator when the third permitter permits the execution of the command to display the first information by the operation of the first operator, and not to display the first information on the display device based on the command to display the first information input from the second operating device by the operation of the second operator when the third permitter does not permit the execution of the command to display the first information by the operation of the first operator.

In addition, in the control method of the robot system of the first modification example in the seventh embodiment, the first operating device further includes a third permitter configured to turn on/off permission to execute a command to display the first information from the second operating device to the control device, and the control device is configured to display the first information on the display device based on the command to display the first information input from the second operating device by the operation of the second operator when the third permitter permits execution of the command to display the first information by the operation of the first operator, and not display the first information on the display device based on the command to display the first information input from the second operating device by the operation of the second operator when the third permitter does not permit execution of the command to display the first information by the operation of the first operator.

The robot system 300 of the present modified example 1, which is configured in this manner, achieves the same effects as the robot system 300 of embodiment 7.

In addition, in the robot system 300 of this modified example 1, a form in which the first information is displayed on the display device 220 is adopted, but this is not limited thereto, and the first information may be displayed on the display device 220 and/or the second display device 252.

(Embodiment 8)
An example of a robot system according to the eighth embodiment will be described below with reference to FIG.

[Robot system configuration]
FIG. 20 is a schematic diagram showing a schematic configuration of a robot system according to the eighth embodiment.

As shown in FIG. 20, the robot system 300 according to the eighth embodiment has the same basic configuration as the robot system 300 according to the seventh embodiment, but differs in that the control device 190 is configured to change the first information when a command to change the first information is input from the second operating device 210A by operation of the second operator.

Here, the change to the first information may be, for example, a change to operation information (operation data) or program information (program data), or may be the cancellation of an error code.

The robot system according to the eighth embodiment is the robot system according to the seventh embodiment, in which the control device is configured to change the first information when a command to change the first information is input from the second operating device through operation by the second operator.

The control method for the robot system according to the eighth embodiment is the same as the control method for the robot system according to the seventh embodiment, except that the control device is configured to change the first information when a command to change the first information is input from the second operating device by operation of the second operator.

The robot system 300 according to the eighth embodiment, which is configured in this manner, achieves the same effects as the robot system 300 according to the seventh embodiment.

In addition, in the robot system 300 according to the eighth embodiment, the control device 190 is configured to change the first information when a command to change the first information is input from the second operating device 210A by operation of the second operator.

This allows the second operator to easily perform maintenance work on the robot 101 from a remote location.

[Modification 1]
Next, a description will be given of a modification of the robot system 300 according to the eighth embodiment. An example of a robot system according to a first modification of the eighth embodiment will be described below with reference to Figs. 21 to 22B.

[Robot system configuration]
FIG. 21 is a schematic diagram showing a schematic configuration of a robot system according to a first modification of the eighth embodiment.

As shown in FIG. 21, the robot system 300 of this modified example 1 has the same basic configuration as the robot system 300 of embodiment 8, but differs in that the first operating device 110 is equipped with a fourth permitter 114.

The fourth permitter 114 is configured to turn on/off the permission to execute a command to change the first information from the second operating device 210A to the control device 190. The fourth permitter 114 may be configured, for example, as a switch. In addition, when the first display 151 is configured as a touch panel, the fourth permitter 114 may be configured as an icon.

The fourth permitter 114 may be configured so that when the permission to execute a change command for the first information from the second operating device 210A to the control device 190 is turned off, the change command is not input to the control device 190, the change command is not output from the second operating device 210A, and the control device 190 is configured to ignore the change command input from the second operating device 210A.

In addition, in the robot system 300 of this modified example 1, the control device 190 may be configured not to change the first information if a change command is input from the second operating device 210A before a control signal is input from the fourth permission device 114.

Furthermore, the control device 190 may be configured to store the control signal (on/off information for permission to execute the command to change the first information) input from the fourth permission device 114 in the memory device 190b, and to determine whether or not to change the first information based on the on/off information for permission to execute stored in the memory device 190b.

In this case, the control device 190 may be configured to update the on/off information stored in the memory 190b based on a control signal input from the fourth permission device 114.

[Operation and Effects of the Robot System]
Next, the operation and effects of the robot system 300 according to the first modification of the eighth embodiment will be described in detail with reference to Fig. 21 to Fig. 22B. Note that the following operation is executed by the arithmetic processor 190a of the control device 190 reading out a program stored in the memory 190b.

Figures 22A and 22B are flowcharts showing an example of the operation of a robot system of variant example 1 in embodiment 8.

As shown in FIG. 22A, the calculation processor 190a of the control device 190 determines whether or not a command (signal) to change the first information has been input from the second operating device 210A (step S400).

If the calculation processor 190a of the control device 190 determines that a command (signal) to change the first information has not been input from the second operating device 210A (No in step S400), it executes the process of step S400 again after, for example, 50 msec.

On the other hand, when the calculation processor 190a of the control device 190 determines that a command (signal) to change the first information has been input from the second operating device 210A (Yes in step S400), the calculation processor 190a of the control device 190 determines whether or not a control signal has been input from the fourth permission device 114 (step S401).

When the calculation processor 190a of the control device 190 determines that a control signal has been input from the fourth permitter 114 (Yes in step S401), it determines whether the control signal input from the fourth permitter 114 in step S401 is a signal that turns on the permission to execute a command to change the first information from the second operating device 210A to the control device 190 (step S402).

On the other hand, if the calculation processor 190a of the control device 190 determines that a control signal has not been input from the fourth enabler 114 (No in step S401), it executes the process of step S405. The process from step S405 onwards will be described later.

If the calculation processor 190a of the control device 190 determines in the process of step S402 that the control signal input from the fourth permission device 114 in step S401 is a signal that turns on permission to execute a command to change the first information from the second operating device 210A to the control device 190 (Yes in step S402), it changes the first information (step S403) and terminates the program.

At this time, the calculation processor 190a of the control device 190 may store in the memory 190b a signal that turns on the permission to execute the command to change the first information (execution permission on information).

On the other hand, if the calculation processor 190a of the control device 190 determines in step S401 that the control signal input from the fourth permission device 114 is a signal that turns off the permission to execute the command to change the first information from the second operating device 210A to the control device 190 (No in step S402), it does not change the first information (step S404) and ends the program.

At this time, the calculation processor 190a of the control device 190 may store in the memory 190b a signal that turns off the permission to execute the command to change the first information (execution permission off information).

Also, as shown in Figures 22A and 22B, if the calculation processor 190a of the control device 190 determines that a control signal has not been input from the fourth permission device 114 (No in step S401), it determines whether on/off information for permission to execute the change command for the first information is stored in the memory device 190b (step S405).

When the calculation processor 190a of the control device 190 determines that on/off information for permission to execute the first information change command is stored in the memory 190b (Yes in step S405), it determines whether the information stored in the memory 190b is on information for permission to execute the first information change command (step S406).

When the calculation processor 190a of the control device 190 determines that the information stored in the memory 190b is ON information for permission to execute a command to change the first information (Yes in step S406), it changes the first information (step S407) and terminates the program.

On the other hand, if the calculation processor 190a of the control device 190 determines that the information stored in the memory 190b is off information for permission to execute the command to change the first information (No in step S406), it does not change the first information (step S408) and terminates the program.

In addition, if the calculation processor 190a of the control device 190 determines in the processing of step S405 that the on/off information for permission to execute the command to change the first information is not stored in the memory 190b (No in step S405), the calculation processor 190a does not change the first information (step S408) and terminates the program.

The robot system of the first modification example in the eighth embodiment further includes a fourth permitter configured to turn on/off the permission for the execution of a command to change the first information from the second operating device to the control device, and the control device is configured to change the first information based on the command to change the first information input from the second operating device by the operation of the second operator when the fourth permitter permits the execution of the command to change the first information by the operation of the first operator, and not to change the first information based on the command to change the first information input from the second operating device by the operation of the second operator when the fourth permitter does not permit the execution of the command to change the first information by the operation of the first operator.

In the control method of the robot system of the first modification example in the eighth embodiment, the first operating device further includes a fourth permitter configured to turn on/off permission to execute a command to change the first information from the second operating device to the control device, and the control device is configured to change the first information based on the command to change the first information input from the second operating device by operation of the second operator when the fourth permitter permits execution of the command to change the first information by operation of the first operator, and not to change the first information based on the command to change the first information input from the second operating device by operation of the second operator when the fourth permitter does not permit execution of the command to change the first information by operation of the first operator.

The robot system 300 of the present modified example 1, which is configured in this manner, achieves the same effects as the robot system 300 of embodiment 7.

From the above description, many improvements or other embodiments of the present disclosure will be apparent to those skilled in the art. Therefore, the above description should be construed as merely illustrative and is provided for the purpose of teaching those skilled in the art the best mode of carrying out the present disclosure. Details of its structure and/or function may be substantially changed without departing from the present disclosure.

The robot system and control method disclosed herein are useful in the field of robotics, as they clarify who is responsible for operating the robot and can adequately ensure safety when the robot is in operation.

11a First link 11b Second link 11c Third link 11d Fourth link 11e Fifth link 11f Sixth link 12 End effector 15 Base 100 First space 101 Robot 110 First operation device 111 First permitter 112 Emergency stop device 113 Third permitter 114 Fourth permitter 120 Photography device 121 First portable communication terminal 122 Communication device 132 Second permitter 141 First adjuster 151 First display 161 First trigger switch 190 Control device 190a Arithmetic processor 190b Memory device 190c Input device 200 Second space 210A Second operation device 211 Lamp 220 Display device 222 Second portable communication terminal 232 Second permitter 242 First adjuster 252 Second display 262 Second trigger switch 300 Robot system 310 Partition member 320 Communication network JT1 First joint JT2 Second joint JT3 Third joint JT4 Fourth joint JT5 Fifth joint JT6 Sixth joint

Claims (3)

an industrial robot disposed in the first space;
a first operation device that is disposed in the first space and that receives an input of first operation information for operating the industrial robot from a first operator in the first space;
a second operation device that is disposed in a second space that is a space isolated from the first space and that receives an input of second operation information for operating the industrial robot from a second operator in the second space;
an imaging device that is disposed in the first space, is configured to be attachable to and detachable from the first operating device, and is configured as a first mobile communication terminal;
a first display device disposed in the second space and configured to display video information or image information captured by the image capture device;
A second mobile communication terminal configured to be detachable from the second operating device;
A control device,
the first operating device and the second operating device are capable of outputting the first operation information and the second operation information,
The first operating device is connected to the control device by a wire,
the second operation device is configured to input the second operation information to the control device via the second mobile communication terminal, a communication network, the first mobile communication terminal, and the first operation device;
the first operating device includes a first permitter configured to turn on/off permission for execution of the second operating information from the second operating device to the control device;
the control device is configured to receive the second operation information input from the second operation device by operation of the second operator when the first permitter permits execution of the second operation information by operation of the first operator, and to not receive the second operation information even if the second operation information is input from the second operation device by operation of the second operator when the first permitter does not permit execution of the second operation information by operation of the first operator,
The first operating device further includes a first display,
The second operating device further includes a second display,
The first operating device transmits a QR code (registered trademark) to the second operating device via the first mobile communication terminal and the communication network;
The second operation device displays the received QR code on the second display device,
A robot system, wherein the second mobile communication terminal is configured to confirm connection with the first mobile communication terminal by reading the QR code ( registered trademark) displayed on the second display. an industrial robot disposed in the first space;
a first operation device that is disposed in the first space and that receives an input of first operation information for operating the industrial robot from a first operator in the first space;
a second operation device that is disposed in a second space that is a space isolated from the first space and that receives an input of second operation information for operating the industrial robot from a second operator in the second space;
A control device,
the first operating device includes a first permitter configured to turn on/off permission for execution of the second operating information from the second operating device to the control device, and a first trigger switch configured to permit supply of power to a driver of the industrial robot,
the first operating device and the second operating device are capable of outputting the first operation information and the second operation information,
The control device includes:
when the first permitter permits execution of the second operation information by operation of the first operator, the second operation information input from the second operation device by operation of the second operator is received, and when the first permitter does not permit execution of the second operation information by operation of the first operator, even if the second operation information is input from the second operation device by operation of the second operator, the second operation information is not received;
When the first permitter permits execution of the second operation information and the first trigger switch permits the supply of power to a driver of the industrial robot, the industrial robot is operated based on the second operation information input from the second operating device, and when the first permitter permits execution of the second operation information but the first trigger switch does not permit the supply of power to a driver of the industrial robot, the industrial robot is not operated based on the second operation information even if the second operation information is input from the second operating device,
The second operating device includes a second trigger switch configured to allow power supply to a driver of the industrial robot;
The control device is configured to operate the industrial robot based on the second operation information input from the second operation device when the first permission device permits execution of the second operation information and both the first trigger switch and the second trigger switch permit power supply to a driver of the industrial robot, and to not operate the industrial robot based on the second operation information even if the second operation information is input from the second operation device when the first permission device permits execution of the second operation information and both the first trigger switch and the second trigger switch permit power supply to a driver of the industrial robot even if the first permission device permits execution of the second operation information but at least one of the first trigger switch and the second trigger switch does not permit power supply to a driver of the industrial robot. an industrial robot disposed in the first space;
a first operation device that is disposed in the first space and that receives an input of first operation information for operating the industrial robot from a first operator in the first space;
a second operation device that is disposed in a second space that is a space isolated from the first space and that receives an input of second operation information for operating the industrial robot from a second operator in the second space;
The first operating device is disposed in the first space and includes a second display; and
A second display device disposed in the second space; and
A control device,
the first operating device and the second operating device are capable of outputting the first operation information and the second operation information,
the first operating device includes a first permitter configured to turn on/off permission for execution of the second operating information from the second operating device to the control device;
The control device includes:
when the first permitter permits execution of the second operation information by operation of the first operator, the second operation information input from the second operation device by operation of the second operator is received, and when the first permitter does not permit execution of the second operation information by operation of the first operator, even if the second operation information is input from the second operation device by operation of the second operator, the second operation information is not received;
displaying first information, which is information related to the industrial robot, on the second display;
When a display command for the first information is input from the second operation device by an operation of the second operator, the first information is displayed on the second display device;
a change command for the first information is input from the second operation device by an operation of the second operator, the change command for the first information is changed,
The first operating device further includes a fourth permitter configured to turn on/off permission for execution of a change command for the first information from the second operating device to the control device,
The control device is configured to, when the fourth permitter permits execution of a command to change the first information through operation of the first operator, change the first information based on the command to change the first information input from the second operation device through operation of the second operator, and when the fourth permitter does not permit execution of the command to change the first information through operation of the first operator, not to change the first information based on the command to change the first information even if a command to change the first information is input from the second operation device through operation of the second operator.

Images