JP7739728B2 - Control device, rack, control system, control method and program - Google Patents

Description

The present invention relates to a control device, a rack, a control system, a control method, and a program.

As cases of collaboration between humans and robots increase, robots that collaborate with humans are being introduced. Cameras monitor the human and robot, and if there is a possibility of contact between the human and robot, the robot's movement is slowed down or stopped to ensure the safety of the worker. Patent Document 1 discloses attaching a camera to the frame on which the robot is installed.

Special Publication No. 2005-500597

If there is an obstacle that will affect the robot's movement, it is necessary to create a robot path (movement route) that will allow the robot to avoid the obstacle. After creating the robot's path, set the robot path in the robot controller that controls the robot, and check whether the robot operates to avoid the obstacle. If the robot cannot avoid the obstacle, change and recreate the robot's path, then set the robot path in the robot controller and check again whether the robot operates to avoid the obstacle. Changing the robot's path, setting the robot's path in the robot controller, and checking the robot's movement are repeated until the robot operates to avoid the obstacle. As such, if there is an obstacle that will affect the robot's movement, it takes time to set the robot's path in the robot controller.

The present invention was made in consideration of the above-mentioned circumstances, and its purpose is to provide technology that enables appropriate setting of a robot's movement path.

A control device according to one aspect of the present invention includes:
a control unit that controls the operation of the robot;
a setting unit that sets a first movement path of the robot in the control unit;
a determination unit that determines whether or not a distance between a position of an obstacle detected by a detection unit and a position of the first operation path set in the control unit is equal to or less than a predetermined distance;
Equipped with
when a distance between a position of the obstacle and a position of the first movement path set in the control unit is equal to or shorter than the predetermined distance, the setting unit sets, in the control unit, a second movement path of the robot, which has a distance from the position of the obstacle longer than the predetermined distance, instead of the first movement path set in the control unit;
The control unit controls the movement of the robot based on the first movement path set in the control unit, or controls the movement of the robot based on the second movement path set in the control unit.

When the distance between the position of the obstacle detected by the detector and the position of the first movement path set in the controller is equal to or less than a predetermined distance, a second movement path whose distance from the position of the obstacle is longer than the predetermined distance is set in the controller instead of the first movement path set in the controller. With this configuration, when there is an obstacle that affects the movement of the robot, the movement path can be appropriately set for the controller.

The first movement path may include a starting point and an end point of the robot's movement, and the setting unit may create the second movement path based on the position of the obstacle, the position of the starting point, and the position of the end point, and set the created second movement path in the control unit instead of the first movement path set in the control unit.

The device may include a memory unit in which a plurality of obstacle positions, a plurality of first movement paths, and a plurality of second movement paths are stored in association with each other, and the setting unit may select from the memory unit the second movement path associated with the obstacle position that matches or is close to the obstacle position detected by the detection unit and the first movement path that matches or is close to the first movement path set in the control unit, and set the selected second movement path in the control unit instead of the first movement path set in the control unit.

The robot and the detection unit may be provided on a movable rack. The robot and the detection unit may be provided on a movable rack, and the setting unit may create the second movement path each time the rack is moved to a predetermined location, and the position of the obstacle, the first movement path, and the created second movement path may be stored in the memory unit in association with each other.

A control device according to one aspect of the present invention may include a notification unit that notifies a user of information related to the second movement path. A control device according to one aspect of the present invention may also include a reception unit that receives approval from the user for the information related to the second movement path, and when the reception unit receives the user's approval, the setting unit may set the second movement path in the control unit instead of the first movement path set in the control unit.

The notification unit may report information regarding the operational efficiency of the robot when the robot's operation is controlled based on the second operational path set in the control unit. The setting unit may set a protection area for detecting intrusion of an object around at least a portion of the robot based on the first operational path set in the control unit, or may set the protection area around at least a portion of the robot based on the second operational path set in the control unit.

The present invention can also be understood as a control system that performs at least part of the above-mentioned processing, a control method that includes at least part of the above-mentioned processing, or a program for implementing such a method or a recording medium on which such a program is non-temporarily recorded. The present invention can also be understood as a portable rack that includes the above-mentioned control device, the above-mentioned robot, and the above-mentioned detection unit. The above-mentioned means and processing can be combined with each other to the greatest extent possible to form the present invention.

The present invention provides technology that enables appropriate setting of a robot's movement path.

FIG. 1 is a schematic diagram of the control system. FIG. 2 is a diagram showing a state before a plurality of racks are moved and a state after the plurality of racks are moved. FIG. 3 is a block diagram of the control device. FIG. 4 is a plan view of the robot. FIG. 5 is a plan view of the robot. FIG. 6 is a plan view of the robot. FIG. 7 is a hardware configuration diagram of the control device. FIG. 8 is a flowchart illustrating the processing flow of the control system according to the first embodiment. FIG. 9 is a flowchart illustrating the processing flow of the control system according to the second embodiment. FIG. 10 is a flowchart illustrating the processing flow of the control system according to the third embodiment.

<Application example>
FIG. 1 is a schematic diagram of a control system according to this embodiment. The control system of FIG. 1 grasps the movements of a worker 10 and controls the robot 1 in an environment where the robot 1 and a worker (human) 10 coexist, for example, in a production site such as a factory. The robot 1 of FIG. 1 is a vertical articulated robot and includes a base 11 and an arm 12 connected to the base 11. The robot 1 is not limited to a vertical articulated robot, and may be a robot employing another system, such as a horizontal articulated robot. An end effector (hand) for grasping an object is attached to the tip of the arm 12. The robot 1 further includes a servo motor for operating the arm 12.

A movable rack (housing) 2 is provided with a robot 1, a control device 3 that controls the robot 1, and a sensor 6 that serves as a detector for detecting the position of the robot 1 and the position of the worker 10. FIG. 2 shows the state of multiple racks 2 before and after relocation. FIG. 2 illustrates multiple racks 2, each of which can be moved. The rack 2 has a workbench 4 and a frame 5 attached to the workbench 4. A sensor 6 is attached to the top of the frame 5. In FIG. 1, the robot 1 and control device 3 are placed on the workbench 4. The base 11 of the robot 1 may be fixed to the workbench 4. The control device 3 controls the robot 1 via a wired or wireless connection. The above example illustrates the robot 1, control device 3, and sensor 6 installed on the rack 2. However, this example is not limiting. The robot 1 and sensor 6 may be installed on the rack 2, with the control device 3 separated from the rack 2. In other words, the control device 3 may be installed outside the rack 2.

Sensor 6 detects the position of robot 1 and worker 10 at regular or irregular intervals and sends information about the position of robot 1 and worker 10 to control device 3. Sensor 6 may also continuously detect the position of robot 1 and worker 10 and send information about the position of robot 1 and worker 10 to control device 3. The detection results (detection signals) of sensor 6 are sent to control device 3 via wire or wirelessly. Sensor 6 is a distance measurement sensor that measures the distance to an object. Sensor 6 may be RADAR (Radio Detection and Ranging), LiDAR (Light Detection and Ranging), or a 3D camera. Sensor 6 may also be a sensor system that combines at least two of RADAR, LiDAR, and a 3D camera.

The position of the robot 1 may be a position specified by three-dimensional coordinates (x coordinate, y coordinate, z coordinate). The position of the robot 1 may be a position specified by two-dimensional coordinates (x coordinate, y coordinate). The position of the robot 1 may be a relative position in a measurable area (detection range) 100 of the sensor 6. The measurable area 100 of the sensor 6 is also called a monitoring area. The position of the robot 1 may be the position of each part of the robot 1. For example, the position of the robot 1 may be the position of the tip of the arm 12, the position of an end effector attached to the tip of the arm 12, or the position of the base 11. The position of the worker 10 may be a relative position in a measurable area (detection range) 100 of the sensor 6. The measurable area 100 of the sensor 6 is also called a monitoring area. The position of the robot 1 may be a position of each part of the robot 1. For example, the position of the robot 1 may be the position of the tip of the arm 12, the position of an end effector attached to the tip of the arm 12, or the position of the base 11. The position of the worker 10 may be a relative position in a measurable area (detection range) 100 of the sensor 6. The position of the robot 1 ...
The position of the worker 10 may be a relative position in the measurable area 100 of the sensor 6. The position of the worker 10 may be a position specified by three-dimensional coordinates. The position of the worker 10 may be a position specified by two-dimensional coordinates. The position of the worker 10 may be the position of each part of the worker 10. For example, the position of the worker 10 may be the position of the hand, foot, or head of the worker 10.

As shown in FIG. 1, a protection area 20 is set between the robot 1 and the worker 10. The protection area 20 is a virtual three-dimensional area for detecting intrusion of the worker 10, and is set in at least a portion of the vicinity or periphery of a hazard source such as the robot 1. In FIG. 1, the protection area 20 is set in front of the robot 1, but the protection area 20 may also be set to the side or rear of the robot 1. Multiple protection areas 20 can also be set. The protection area 20 is determined in accordance with safety standards and taking into account the operating range of the robot 1. For example, if an object such as the worker 10 intrudes into the protection area 20, safety control such as slowing down or stopping the operation of the robot 1 is performed. The sensor 6 is positioned and the field of view of the sensor 6 is set so that the protection area 20 is included within the measurable area 100 of the sensor 6. Because the sensor 6 is attached to the rack 2, if the positioning of the sensor 6 and the field of view of the sensor 6 are adjusted at the location before the rack 2 is relocated, there is no need to adjust the positioning of the sensor 6 or set the field of view of the sensor 6 at the location where the rack 2 is relocated. In addition, the placement of the sensor 6 and the field of view of the sensor 6 may be readjusted at the new location of the rack 2.

Figure 3 is a block diagram of the control device 3. The control device 3 includes a robot controller 31, a setting unit 32, a determination unit 33, a notification unit 34 that notifies various types of information, a reception unit 35 that receives user input, and a memory unit 36 that stores various types of information and data.

The setting unit 32 sets the path (movement route) of the robot 1 in the robot controller 31. The robot controller 31 controls the movement of the robot 1 based on the set path of the robot 1. The robot controller 31 is an example of a control unit. The robot controller 31 also controls the start, stop, deceleration, and acceleration of the movement of the robot 1. Figure 4 is a plan view of the robot 1. Figure 4 shows the state in which the tip of the arm 12 of the robot 1 moves from the start point SP to the end point EP. The arm 12 before movement is shown by a solid line, and the arm 12 after movement is shown by a dotted line. Here, the path P1 from the start point SP to the end point EP is set as a straight line. The path P1 is an example of the first movement route of the robot 1. Setting the path P1 as a straight line minimizes the movement distance of the arm 12 of the robot 1, thereby increasing the movement efficiency of the robot 1. A protection area 20 is set near the path P1.

Each time the sensor 6 detects the position of the worker 10, the robot controller 31 determines whether an object, such as the worker 10, has entered the protection area 20. For example, the robot controller 31 determines whether an object, such as the worker 10, has entered the protection area 20 based on information about the position of the object, such as the worker 10, and information about the range of the protection area 20. If an object, such as the worker 10, has entered the protection area 20, the robot controller 31 slows down or stops the operation of the robot 1. The determination unit 33 may also determine whether an object, such as the worker 10, has entered the protection area 20 and transmit the determination result to the robot controller 31. The distance S1 in the planar direction of the protection area 20 may be a safety distance defined by a safety standard. The setting unit 32 creates a path for the robot 1 according to the work process of the robot 1 and sets the path for the robot 1 in the robot controller 31. The setting unit 32 may obtain a path for the robot 1 according to the work process of the robot 1 from an external device connected to the control device 3 and set the path for the robot 1 in the robot controller 31. The setting unit 32 may also store the path of the robot 1 in the memory unit 36.

The sensor 6 detects the position of an obstacle at regular or irregular intervals and sends information about the obstacle's position to the control device 3. Alternatively, the sensor 6 may continuously detect the position of an obstacle and send information about the obstacle's position to the control device 3. The position of the obstacle may be a position specified by three-dimensional coordinates. The position of the obstacle may be a position specified by two-dimensional coordinates. The position of the obstacle may be a relative position in the measurable area of the sensor 6. The determination unit 33 determines whether the distance between the position of the obstacle detected by the sensor 6 and the position of the path of the robot 1 set in the robot controller 31 is equal to or less than a predetermined distance. If the distance between the position of the obstacle detected by the sensor 6 and the position of the path of the robot 1 set in the robot controller 31 is equal to or less than the predetermined distance, the setting unit 32 sets another path of the robot 1 in the robot controller 31 instead of the path of the robot 1 set in the robot controller 31. The other path of the robot 1 is an example of a second operating path of the robot 1. The distance between the position of the obstacle and the position of the other path of the robot 1 is longer than the predetermined distance.

Figure 5 is a plan view of the robot 1. Figure 5 shows a path P1 set in the robot controller 31. The path P1 includes a starting point SP of the robot 1's movement, an ending point EP of the robot 1's movement, and a line connecting the starting point SP and the ending point SP. The determination unit 33 determines whether the distance between the position of the obstacle 11 detected by the sensor 6 and the position of the path P1 set in the robot controller 31 is equal to or less than a predetermined distance. The position of the obstacle 11 may be the center of the obstacle 11 or any position on the outer periphery of the obstacle 11. In the following, the position of the obstacle 11 refers to the center of the obstacle 11. The position of the path P1 includes the position of the starting point SP, the position of the ending point EP, and the position of the line connecting the starting point SP and the ending point SP. The determination unit 33 may create a circle C1 with a radius a predetermined distance from the center of the obstacle 11 and determine whether the path P1 intersects with the circle C1. If the path P1 intersects with the circle C1, the determination unit 33 determines that the distance between the position of the obstacle 11 and the position of the path P1 is less than or equal to a predetermined distance.

The setting unit 32 first sets a path P1 in the robot controller 31. For example, path P1 is a path of the robot 1 according to the work process of the robot 1. If the distance between the position of the obstacle 11 detected by the sensor 6 and the position of path P1 set in the robot controller 31 is less than a predetermined distance, the setting unit 32 sets path P2 in the robot controller 31 instead of path P1 set in the robot controller 31. Figure 5 shows path P2 set in the robot controller 31. As shown in Figure 5, the distance between the position of the obstacle 11 and the position of path P2 is longer than the predetermined distance (the radius of circle C1). Path P2 may be a curve, a line composed of multiple straight lines, or a line composed of one or more curves and one or more straight lines. Path P2 is an example of a second movement path of the robot 1.

If an obstacle 11 is not detected by the sensor 6, or if the distance between the position of the obstacle 11 detected by the sensor 6 and the position of the path P1 set in the robot controller 31 is longer than a predetermined distance, the path P1 set in the robot controller 31 is not changed. If the distance between the position of the obstacle 11 detected by the sensor 6 and the position of the path P1 set in the robot controller 31 is equal to or shorter than a predetermined distance, path P2 is set in the robot controller 31 instead of path P1 set in the robot controller 31. In this way, if an obstacle 11 that affects the operation of the robot 1 is present, the path of the robot 1 relative to the robot controller 31 can be appropriately set. The robot controller 31 controls the operation of the robot 1 based on the path of the robot 1 set in the robot controller 31. If path P1 is set in the robot controller 31, the robot controller 31 controls the operation of the robot 1 based on path P1. If path P2 is set in the robot controller 31, the robot controller 31 controls the operation of the robot 1 based on path P2.

The setting unit 32 sets at least one protection area 20 in spatial coordinates within the field of view of the sensor 6 to ensure safe operation of the robot 1 and worker 10. The protection area 20 may be a range specified by three-dimensional coordinates. The setting unit 32 sets the protection area 20 around the robot 1 based on the path of the robot 1 set in the robot controller 31. If path P1 is set in the robot controller 31, the setting unit 32 sets the protection area 20 around the robot 1 based on path P1. If path P2 is set in the robot controller 31, the setting unit 32 sets the protection area 20 around the robot 1 based on path P2. In Figure 5, the protection area 20 is set based on path P1 set in the robot controller 31. When the robot controller 31 controls the operation of the robot 1 based on path P1, the robot controller 31 detects an obstacle 11 in the protection area 20 and determines that the obstacle 11 has entered the protection area 20. In this case, the robot controller 31 slows down or stops the movement of the robot 1 based on path P1.

Figure 6 is a plan view of the robot 1. Figure 6 shows the path P2 set in the robot controller 31. Also in Figure 6, the protection area 20 is set based on the path P2 set in the robot controller 31. When the robot controller 31 controls the operation of the robot 1 based on the path P2, an obstacle 11 is present outside the protection area 20, and therefore the robot controller 31 determines that the obstacle 11 has not entered the protection area 20. In this case, the robot controller 31 continues to control the operation of the robot 1 based on the path P2. Even if there is an obstacle 11 that affects the operation of the robot 1, there is no need to repeatedly change the path of the robot 1, set the path of the robot 1 for the robot controller 31, and check the operation of the robot 1, thereby improving productivity.

For example, as shown in FIG. 2, when a rack 2 installed at location L1 is relocated to location L2, an obstacle 11 that was not present around location L1 may be present around location L2. In such a case, when the rack 2 is relocated to location L2, it may not be possible to control the operation of the robot 1 based on the path set in the robot controller 31 when the rack 2 was installed at location L1. According to this application example, even if the rack 2 is relocated to an arbitrary location and an obstacle 11 that affects the operation of the robot 1 is present at the new location, the path of the robot 1 can be appropriately set for the robot controller 31.

The above application examples are provided to aid in understanding the present invention and are not intended to limit the scope of the present invention.

First Embodiment
<System Configuration>
7 is a hardware configuration diagram of the control device 3. The control device 3 includes a CPU 301, a ROM 302, a RAM 303, a sensor IF 304, a display unit 305, an operation IF 306, and a communication IF 307. The ROM 302 stores a control program executed by the CPU 301. The ROM 302 also stores values such as various thresholds. The RAM 303 provides a work area when the CPU 301 executes the control program.

The sensor IF 304 processes the position information of the robot 1, the worker 10, and the obstacle 11 sent from the sensor 6, and transmits the information to the CPU 301. The display unit 305 is composed of an LCD or the like, and displays various information. The operation IF 306 accepts various instructions input from the worker 10 and sends the input information to the CPU 301. The operation IF 306 also
The CPU 301 may have a function of notifying the operator 10 by voice, lamp, or the like based on an instruction from the CPU 301. The display unit 305 and the operation IF 306 may be integrated together. The communication IF 307 performs wired or wireless communication between the CPU 301 and an external device.

As shown in FIG. 3, the control device 3 includes a robot controller 31, a setting unit 32, a determination unit 33, a notification unit 34, a reception unit 35, and a memory unit 36. The functions of each of these units are realized in software by programs stored in ROM 302. In other words, the CPU 301 loads and executes the necessary programs in RAM 303, and performs various calculations and controls each hardware resource, thereby providing the functions of each unit.

The processing flow of the control system according to the first embodiment will be described with reference to the flowchart in Figure 8. The flowchart in Figure 8 describes the case where rack 2 is moved from a first predetermined location (e.g., location L1 in Figure 2) to a second predetermined location (e.g., location L2 in Figure 2). At the first predetermined location, the setting unit 32 sets a first predetermined path in the robot controller 31. The first predetermined path may be path P1, or may be a path different from path P1. The first predetermined path is an example of a first operating path.

In step S101, the robot controller 31 and the determination unit 33 acquire detection results from the sensor 6, including information on the position of the obstacle 11. In step S102, the determination unit 33 determines whether the distance (first distance) between the position of the obstacle 11 detected by the sensor 6 and the position of the first predetermined path set in the robot controller 31 is equal to or less than a predetermined distance. If the distance between the position of the obstacle 11 and the position of the first predetermined path is equal to or less than the predetermined distance (step S102: YES), proceed to step S103. If the distance between the position of the obstacle 11 and the position of the first predetermined path is greater than the predetermined distance (step S102: NO), proceed to step S104.

In step S103, the setting unit 32 sets a second predetermined path in the robot controller 31, instead of the first predetermined path set in the robot controller 31. The second predetermined path is, for example, path P2, and the distance between the position of the obstacle 11 and the position of the second predetermined path is longer than a predetermined distance. The second predetermined path is an example of a second movement route. The setting unit 32 may create the second predetermined path based on the position of the obstacle 11 detected by the sensor 6 and the positions of the start point and end point included in the first predetermined path set in the robot controller 31. The setting unit 32 may set the created second predetermined path in the robot controller 31, instead of the first predetermined path set in the robot controller 31.

Furthermore, in step S103, the notification unit 34 may notify a user, such as the worker 10, of information regarding the second predetermined path. For example, the notification unit 34 may display information regarding the second predetermined path on the display unit 305. The information regarding the second predetermined path may be the position of the second predetermined path specified by three-dimensional coordinates, the position of the second predetermined path specified by two-dimensional coordinates, or image information indicating the position of the second predetermined path. This allows the user to confirm the information regarding the second predetermined path and determine whether the second predetermined path is acceptable. The reception unit 35 may receive user approval for the second predetermined path. If the reception unit 35 receives user approval for the second predetermined path, the setting unit 32 sets the second predetermined path in the robot controller 31 instead of the first predetermined path set in the robot controller 31.

In step S104, the setting unit 32 determines whether a third predetermined path can be set in the robot controller 31 instead of the first predetermined path set in the robot controller 31. The movement distance of the robot 1 from the start point position to the end point position in the third predetermined path is shorter than the movement distance of the robot 1 from the start point position to the end point position in the first predetermined path. Furthermore, the movement speed of the robot 1 from the start point position to the end point position in the third predetermined path is faster than the movement speed of the robot 1 from the start point position to the end point position in the first predetermined path. The movement distance of the robot 1 from the start point position to the end point position in the third predetermined path may be an initial value that minimizes the movement distance of the arm 12 of the robot 1. If the third predetermined path can be set in the robot controller 31, the setting unit 32 sets the third predetermined path in the robot controller 31 instead of the first predetermined path set in the robot controller 31. Setting the third predetermined path in the robot controller 31 improves the operating efficiency of the robot 1 and increases productivity. For example, the operating efficiency of the robot 1 is improved by shortening the travel distance of the robot 1 or increasing the travel speed of the robot 1. Improving the operating efficiency of the robot 1 shortens the work time and improves productivity. If the third predetermined path cannot be set in the robot controller 31, the first predetermined path set in the robot controller 31 is not changed. The notification unit 34 may notify the user of information regarding the third predetermined path. For example, the notification unit 34 may display information regarding the third predetermined path on the display unit 305. The reception unit 35 may receive user approval for the third predetermined path. When the reception unit 35 receives user approval for the third predetermined path, the setting unit 32 sets the third predetermined path in the robot controller 31 instead of the first predetermined path set in the robot controller 31.

In step S105, the setting unit 32 sets the protection area 20 around the robot 1 based on the predetermined path set in the robot controller 31. If a first predetermined path is set in the robot controller 31, the setting unit 32 sets the protection area 20 around the robot 1 based on the first predetermined path. If a second predetermined path is set in the robot controller 31, the setting unit 32 sets the protection area 20 around the robot 1 based on the second predetermined path. If a third predetermined path is set in the robot controller 31, the setting unit 32 sets the protection area 20 around the robot 1 based on the third predetermined path.

In step S106, the notification unit 34 notifies the user of information (change information) regarding the change to the predetermined path set in the robot controller 31. For example, the notification unit 34 may display the change information on the display unit 305. The notification unit 34 may also notify the user of information regarding the operating efficiency of the robot 1 when the operation of the robot 1 is controlled based on the second predetermined path set in the robot controller 31. For example, the operating efficiency of the robot 1 when the operation of the robot 1 is controlled based on the second predetermined path set in the robot controller 31 is lower than the operating efficiency of the robot 1 when the operation of the robot 1 is controlled based on the first predetermined path set in the robot controller 31. Therefore, when the operation of the robot 1 is controlled based on the second predetermined path set in the robot controller 31, the user can understand that productivity will decrease. The notification unit 34 may also notify the user of information regarding the operating efficiency of the robot 1 when the operation of the robot 1 is controlled based on the third predetermined path set in the robot controller 31. For example, the operational efficiency of the robot 1 when the operation of the robot 1 is controlled based on the third predetermined path set in the robot controller 31 is improved compared to the operational efficiency of the robot 1 when the operation of the robot 1 is controlled based on the first predetermined path set in the robot controller 31. Therefore, when the operation of the robot 1 is controlled based on the third predetermined path set in the robot controller 31, the user can understand that productivity will be improved.

Second Embodiment
The processing flow of the control system according to the second embodiment will be described with reference to the flowchart of FIG. 9 . The storage unit 36 stores the positions of multiple obstacles 11, multiple first predetermined paths, and multiple second predetermined paths in association with each other. Each time the processing shown in the flowchart of FIG. 8 or 9 is performed, the setting unit 32 stores the positions of the obstacles 11, the first predetermined paths, and the second predetermined paths in association with each other in the storage unit 36. Each time the processing shown in the flowchart of FIG. 8 or 9 is performed for one robot 1, the setting unit 32 may store the positions of the obstacles 11, the first predetermined paths, and the second predetermined paths in association with each other in the storage unit 36. Furthermore, each time the processing shown in the flowchart of FIG. 8 or 9 is performed for multiple robots 1, the setting unit 32 may store the positions of the obstacles 11, the first predetermined paths, and the second predetermined paths in association with each other in the storage unit 36. For example, the setting unit 32 may create a second predetermined path each time the rack 2 is moved to a predetermined location, and store the position of the obstacle 11, the first predetermined path, and the second predetermined path in correspondence with each other in the memory unit 36.

The flowchart in Figure 9 illustrates the case where rack 2 is moved from a first predetermined location (e.g., location L1 in Figure 2) to a second predetermined location (e.g., location L2 in Figure 2). At the first predetermined location, the setting unit 32 sets a first predetermined path in the robot controller 31. The first predetermined path may be path P1, or may be a path different from path P1.

In step S201, the robot controller 31 and the determination unit 33 acquire detection results from the sensor 6, including information on the position of the obstacle 11. In step S202, the determination unit 33 determines whether the distance (first distance) between the position of the obstacle 11 detected by the sensor 6 and the position of the first predetermined path set in the robot controller 31 is equal to or less than a predetermined distance. If the distance between the position of the obstacle 11 and the position of the first predetermined path is equal to or less than the predetermined distance (step S202: YES), proceed to step S203. If the distance between the position of the obstacle 11 and the position of the first predetermined path is greater than the predetermined distance (step S202: NO), proceed to step S207.

In step S203, the determination unit 33 determines whether the position of the obstacle 11 detected by the sensor 6 and the first predetermined path set in the robot controller 31 satisfy predetermined conditions. The predetermined conditions include that a position that matches or is similar to the position of the obstacle 11 detected by the sensor 6 is stored in the memory unit 36, and that a path that matches or is similar to the first predetermined path set in the robot controller 31 is stored. The determination unit 33 may determine, through machine learning using AI (artificial intelligence) technology, whether a position that matches or is similar to the position of the obstacle 11 detected by the sensor 6 is stored in the memory unit 36. The determination unit 33 may also determine, through machine learning using AI technology, whether a path that is similar to the first predetermined path set in the robot controller 31 is stored. The determination process in step S203 may be performed by the setting unit 32. If the position of the obstacle 11 detected by the sensor 6 and the first predetermined path set in the robot controller 31 satisfy the predetermined conditions (step S203: YES), proceed to step S204. If the position of the obstacle 11 detected by the sensor 6 and the first predetermined path set in the robot controller 31 do not satisfy the predetermined conditions (step S203: NO), proceed to step S206.

In step S204, the setting unit 32 selects from the memory unit 36 a second predetermined path associated with the position of the obstacle 11 that matches or is similar to the position of the obstacle 11 detected by the sensor 6, and the first predetermined path that matches or is similar to the first predetermined path set in the robot controller 31. In step S205, the setting unit 32 sets the selected second predetermined path in the robot controller 31, instead of the first predetermined path set in the robot controller 31. The subsequent processing in steps S206 to S209 is similar to the processing in steps S103 to S106, so a description of each processing step will be omitted.

When the position of the obstacle 11 detected by the sensor 6 matches or is close to the position of the obstacle 11 stored in the memory unit 36, and when the first predetermined path set in the robot controller 31 matches or is close to the first predetermined path stored in the memory unit 36, the second predetermined path associated with the position of the obstacle 11 and the first predetermined path can be used. This eliminates the need to create the second predetermined path, thereby reducing the time required to set the second predetermined path in the robot controller 31. For example, when relocating the rack 2 from location L1 to location L2 in FIG. 2 , the second predetermined path set in the robot controller 31 at the other location can be used. This reduces the time required to set the second predetermined path in the robot controller 31 at location L2.

Third Embodiment
The processing flow of the control system according to the third embodiment will be described with reference to the flowchart of FIG. 10 . The storage unit 36 stores the positions of multiple obstacles 11, multiple first predetermined paths, and multiple second predetermined paths in association with each other. The setting unit 32 stores the positions of the obstacles 11, the first predetermined paths, and the second predetermined paths in association with each other in the storage unit 36 each time the processing shown in any of the flowcharts of FIG. 8 to FIG. 10 is performed for one robot 1. The positions of the obstacles 11, the first predetermined paths, and the second predetermined paths may be stored in association with each other in the storage unit 36 each time the processing shown in any of the flowcharts of FIG. 8 to FIG. 10 is performed for multiple robots 1. Alternatively, the positions of the obstacles 11, the first predetermined paths, and the second predetermined paths may be stored in association with each other in the storage unit 36 each time the processing shown in any of the flowcharts of FIG. 8 to FIG. 10 is performed for multiple robots 1. For example, the setting unit 32 may create a second predetermined path each time the rack 2 is moved to a predetermined location, and store the position of the obstacle 11, the first predetermined path, and the second predetermined path in correspondence with each other in the memory unit 36.

The flowchart in Figure 10 illustrates the case where rack 2 is moved from a first predetermined location (e.g., location L1 in Figure 2) to a second predetermined location (e.g., location L2 in Figure 2). At the first predetermined location, the setting unit 32 sets a first predetermined path in the robot controller 31. The first predetermined path may be path P1, or may be a path different from path P1.

The processing in steps S301 to S305 is similar to that in steps S201 to S205, and the processing in steps S306 to S308 is similar to that in steps S103 to S105 or steps S206 to S208, so a description of each step will be omitted.

In step S309, the robot controller 31 and the determination unit 33 acquire detection results from the sensor 6, including information on the position of the obstacle 11. In step S310, the robot controller 31 determines whether or not the obstacle 11 is present within the protection area 20, based on the information on the position of the obstacle 11 and the information on the range of the protection area 20. The determination process in step S310 may be performed by the determination unit 33. If the obstacle 11 is present within the protection area 20 (step S310: YES), the process proceeds to step S311. If the obstacle 11 is not present within the protection area 20 (step S310: NO), the process proceeds to step S312.

In step S311, the notification unit 34 notifies the user of information regarding the position of the obstacle 11. For example, the notification unit 34 may display information regarding the position of the obstacle 11 on the display unit 305. The information regarding the position of the obstacle 11 may be a position specified by three-dimensional coordinates, a position specified by two-dimensional coordinates, or image information indicating the position of the obstacle 11. By notifying the user of the information regarding the position of the obstacle 11, the user can grasp the position of the obstacle 11. The user may take measures such as moving the position of the obstacle 11 or removing the obstacle 11 so that the obstacle 11 is located outside the protection area 20. The user may also change the installation location of the robot 1 on the rack 2 so that the obstacle 11 is located outside the protection area 20.

In step S312, the notification unit 34 notifies the user of information (change information) regarding the change of the predetermined path set in the robot controller 31. For example, the notification unit 34 may display the change information on the display unit 305. The notification unit 34 may also notify the user of information regarding the operational efficiency of the robot 1 when the operation of the robot 1 is controlled based on the second predetermined path set in the robot controller 31. For example, the operational efficiency of the robot 1 when the operation of the robot 1 is controlled based on the second predetermined path set in the robot controller 31 is lower than the operational efficiency of the robot 1 when the operation of the robot 1 is controlled based on the first predetermined path set in the robot controller 31. Therefore, when the operation of the robot 1 is controlled based on the second predetermined path set in the robot controller 31, the user can understand that productivity will decrease. The notification unit 34 may also notify the user of information regarding the operational efficiency of the robot 1 when the operation of the robot 1 is controlled based on the third predetermined path set in the robot controller 31. For example, the operational efficiency of the robot 1 when the operation of the robot 1 is controlled based on the third predetermined path set in the robot controller 31 is improved compared to the operational efficiency of the robot 1 when the operation of the robot 1 is controlled based on the first predetermined path set in the robot controller 31. Therefore, when the operation of the robot 1 is controlled based on the third predetermined path set in the robot controller 31, the user can understand that productivity will be improved.

The processes described above may be considered to be methods executed by a computer. Furthermore, a program for causing a computer to execute the processes described above may be provided to the computer via a network or from a computer-readable recording medium that non-temporarily stores data. By loading and executing the program into a computer, the computer can function as the control device 3. The processes described above may be performed by loading and executing the program into a computer, the computer can function as the control device 3.

<Additional Notes>
A control unit (31) for controlling the operation of the robot (1);
a setting unit (32) that sets a first movement path of the robot in the control unit (31);
a determination unit (33) that determines whether or not a distance between a position of the obstacle (11) detected by the detection unit (6) and a position of the first operation path set in the control unit (31) is equal to or less than a predetermined distance;
Equipped with
When the distance between the position of the obstacle (11) and the position of the first movement path set in the control unit (31) is equal to or shorter than the predetermined distance, the setting unit (32) sets a second movement path of the robot (1) in the control unit (31) instead of the first movement path set in the control unit (31);
The distance between the position of the obstacle (11) and the position of the second movement path is longer than the predetermined distance;
The control unit (31) controls the operation of the robot (1) based on the first movement path set in the control unit (31), or controls the operation of the robot (1) based on the second movement path set in the control unit (31).

1: Robot 2: Rack 3: Control device 4: Work table 5: Frame 6: Sensor 10: Worker 11: Obstacle 20: Protected area 31: Robot controller 32: Setting unit 33: Determination unit 34: Notification unit 35: Reception unit 36: Memory unit 100: Measurable area

Claims (12)

a control unit that controls the operation of the robot;
a setting unit that sets a first movement path of the robot in the control unit;
a determination unit that determines whether a distance between a position of an obstacle detected by a detection unit and a position of the first movement path set in the control unit is equal to or less than a predetermined distance, and that determines whether the position of the obstacle and the first movement path set in the control unit satisfy predetermined conditions ;
a storage unit in which the positions of the plurality of obstacles, the plurality of first movement paths, and the plurality of second movement paths of the robot are stored in association with each other;
Equipped with
the second movement path is located at a distance from the position of the obstacle that is longer than the predetermined distance;
when the distance between the position of the obstacle and the position of the first movement path set in the control unit is equal to or shorter than the predetermined distance and the position of the obstacle and the first movement path set in the control unit satisfy the predetermined condition , the setting unit selects, from the storage unit, the second movement path associated with the position of the obstacle that matches or is close to the position of the obstacle detected by the detection unit and the first movement path that matches or is close to the first movement path set in the control unit, and sets the selected second movement path in the control unit instead of the first movement path set in the control unit;
The control unit controls the movement of the robot based on the first movement path set in the control unit, or controls the movement of the robot based on the second movement path set in the control unit. the first movement path includes a start point of the movement of the robot and an end point of the movement of the robot;
2. The control device according to claim 1, wherein the setting unit creates the second movement path based on the position of the obstacle, the position of the start point, and the position of the end point, and sets the created second movement path in the control unit instead of the first movement path set in the control unit. The control device according to claim 1 or 2, wherein the robot and the detection unit are provided on a movable rack. the robot and the detection unit are provided on a movable rack,
The control device according to claim 1, wherein the setting unit creates the second movement path each time the rack is moved to a predetermined location, and stores the position of the obstacle, the first movement path, and the created second movement path in the memory unit in association with each other. The control device according to claim 1 , further comprising: a notification unit that notifies a user of information relating to the second movement path. a receiving unit that receives approval from the user for information about the second movement path;
The control device according to claim 5 , wherein, when the accepting unit accepts the user's approval, the setting unit sets the second movement path in the control unit instead of the first movement path set in the control unit. The control device according to claim 5 or 6, wherein the notification unit notifies information regarding the operation efficiency of the robot when the operation of the robot is controlled based on the second operation path set in the control unit. 8. The control device according to claim 1, wherein the setting unit sets a protection area for detecting intrusion of an object in at least a part of a periphery of the robot based on the first movement path set in the control unit, or sets the protection area in at least a part of a periphery of the robot based on the second movement path set in the control unit. A relocatable rack,
A control device according to any one of claims 1 to 8;
The robot;
The detection unit;
A rack comprising: A control device according to any one of claims 1 to 8;
The robot;
The detection unit;
A control system comprising: a control step of controlling the operation of the robot by a control unit;
a setting step of setting a first movement path of the robot in the control unit;
a determination step of determining whether a distance between a position of an obstacle detected by a detection unit and a position of the first movement path set in the control unit is equal to or less than a predetermined distance, and determining whether the position of the obstacle and the first movement path set in the control unit satisfy predetermined conditions;
Equipped with
In the setting step, if the distance between the position of the obstacle and the position of the first movement path set in the control unit is equal to or shorter than the predetermined distance and the position of the obstacle and the first movement path set in the control unit satisfy the predetermined condition , the second movement path associated with the position of the obstacle that matches or approximates the position of the obstacle detected by the detection unit and the first movement path that matches or approximates the first movement path set in the control unit is selected from a storage unit in which a plurality of positions of the obstacle, a plurality of first movement paths, and a plurality of second movement paths of the robot are stored in association with each other, and the selected second movement path is set in the control unit instead of the first movement path set in the control unit;
the second movement path is located at a distance from the position of the obstacle that is longer than the predetermined distance;
In the control step, the movement of the robot is controlled based on the first movement path set in the control unit, or the movement of the robot is controlled based on the second movement path set in the control unit. A program for causing a computer to execute each step of claim 11.