JPH0645113B2 - Robot - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION Field of the Invention The present invention relates to a voice-responsive robot. In particular, it is designed so that the robot body does not malfunction when the robot is instructed to operate by voice.

[Background of the Invention]

If the robot actuator is driven in response to the voice, the robot operation will be easier and more efficient. This is because part of the operation performed by the human hand is shouldered by the mouth.

However, there is a concern that the robot may malfunction due to voice or noise other than the operator. If the robot actually malfunctions, the arm or the like of the robot body may collide with a work or an obstacle around it, which is dangerous.

[Object of the Invention]

The present invention has been devised so as to respond to a voice only under a certain condition, thereby reducing the chance of malfunction.

[Outline of Invention]

The present invention uses both the means for driving the robot actuator in response to the voice and the means for stopping the driving of the robot actuator prior to this driving means.

Example of Invention

First, the embodiment shown in FIGS. 1 and 2 will be described. The illustrated robot is of a teaching and reproducing type, and includes a robot body 1, a control device 2, and a teaching box 3.

The robot body 1 includes an installation base 11, a swivel base 12, a pair of upper arms 13, 14, a forearm 15, and a two-degree-of-freedom wrist 16.
With a joint type, the position of a predetermined base point P related to the wrist 16 can be positioned three-dimensionally. If W in FIG. 1 is a welding torch, the base point P corresponds to the work target point of this torch. Reference numeral 17 denotes a robot actuator having a number corresponding to the number of degrees of freedom of the robot body 1, for example, an electric servomotor. Only three robot actuators 17 can be seen in FIG. Only one robot actuator 17 is shown in FIG. 2 and the other robot actuators 17 are omitted. Secondly, the parts belonging to the robot body 1 are a robot actuator 17, a power source 18 of, for example, three-phase AC 200V,
It is a driving force transmission path 19 that connects the two. The driving force transmission path 19 transmits driving force, that is, electric power,
It has nothing to do with the control system.

The control device 2 includes an operation control unit 21 and a voice recognition processing unit 25 shown in FIG. In FIG. 1, the control device 2 is shown in a small size for convenience of drawing, but it is actually a large size device and is installed at a fixed position. As is well known, the teaching work for the robot can be performed while observing the movement of the robot body 1 or while observing the work as a work target (not shown) and other aspects. For this reason, the operator needs to move around the robot body 1, and it is inconvenient to perform all operations on the control device 2 in the fixed position.

The teaching box 3 is of a portable type, such as an accessory to the control device 2, which is large enough to be held in one hand. The operator holds this in his hand to operate it, and sometimes moves around to proceed with teaching work. This box 3
A microphone 31 for receiving the voice of the operator, a switch 32 for turning the microphone 31 on and off, a monostable switch 33, various push buttons 39, and the like are arranged. Although the signal power source 34 is shown in the box 3 in FIG. 2, it may be disposed in the control unit 2. It is desirable that the microphone 31 has a strong directivity so that noise other than the voice of the operator is not input as much as possible. The voice signal S ₁ output from the microphone 31 is transmitted to the voice recognition processing unit 25. The monostable switch 33 is of a type that operates only when it is manually operated from the outside, and stops when the hand is released, returning to the original stable condition. In the embodiment shown in FIGS. 1 and 2, the monostable switch 33 is a normally open type which normally exhibits an open circuit characteristic, but a normally closed type can also be used. When the button of the monostable switch 33 is pressed to close it, a release signal S ₂ corresponding to the output voltage of the signal power supply 34 is generated. The release signal S ₂ is transmitted to the normally closed contact 20 on the drive transmission path 19 to close it. The voice signal recognition processing unit 25 includes a frequency analyzer 251.
A switching switch 252, a reference memory 253 for storing a reference voice pattern, an input memory 254 for storing an input voice pattern, and the above memories 253, 254.
The comparison unit 255 that compares the contents of the above and the determination unit 256 are included. Most of them are processed by a computer program used together with the operation control unit 21. S _{1 of} the voice signal input by the microphone 31 is analyzed by the frequency analyzer 251, and the strength pattern of the spread over time for each frequency component is temporarily stored in the input memory 25.
Remembered in 4. The storage content corresponding to the voice "sita" is illustrated in FIG. This memory content "Sita"
Are stored in the reference memory 253 in advance in substantially the same manner as the similar stored contents “W”, “Sita”, “Mae”,
[Ato] ... and the comparison unit 255 are sequentially compared, and the respective similarities are calculated by a predetermined method. Based on this calculation result, the determination unit 256 determines that the command given by voice is "sita" and outputs a signal corresponding to "sita" to the operation control unit 21. If the judgment criterion of the judgment unit 256 is strictly defined, only the voice of the person registered in the reference memory 253 can be input. On the other hand, even if the person's voice is inaccurately pronounced or there is noise in the surroundings, the determination unit 256
There are advantages and disadvantages because the probability of being judged as an error is high.

When teaching, it is necessary to actually move the robot body 1 by using the teaching box 3. It is a manual operation in a so-called teaching mode. At this time, Microphone 31
To use. Microphone 31 is not used in automatic operation in the regeneration mode. Hereinafter, a method of using the microphone 31 in the teaching mode will be described. Microphone 3
The switch 32 of 2 is thrown in. Next, monostable type switch 33
While pressing the button, the user speaks, for example, "Sita" toward the microphone 31. Along with this, the voice signal recognition processing section 25 transmits a signal of the instruction content corresponding to “sita” to the operation control section 21. The operation control unit 21 performs arithmetic processing such as predetermined coordinate conversion and drives each robot actuator 17. As described above, under the condition that the button of the monostable switch 33 is pushed, the normally open contact 20 of the driving force transmission line 19 is closed, so that each robot actuator 17 is actually driven. .
As a result, the robot body 1 moves so that the base point P in FIG. 1 shifts in the direction indicated by "Shita" in FIG. First
In the figure, the shifting direction of the base point P corresponding to the commands corresponding to "W", "Mae", and "At" other than "Sita" is also displayed.
In order to move the base point P in FIG. 1 toward the front side or the rear side of the paper, the user speaks "Migi" or "Hidari" toward the microphone 31. The above-described movement of the robot body 1 according to the voice is continuous.
Although not shown in FIG. 2, this is because the command given to the operation control unit 21 via the voice signal recognition processing unit 25 is held in the memory in the operation working unit 21. For example, if you say "Mita" after you say "Sita," the contents of the memory above will be rewritten, and the base point P in FIG. Replace When the hand is released from the monostable switch 33, the normally open switch 20 of the driving force transmission path 19 is opened and the movement of the base point P is stopped. If the teaching button 39 'of the various push buttons 39 is pressed under this situation, the position of the base point P at this time is stored in the corresponding memory of the operation control unit 21, and the automatic operation in the reproduction mode is performed later. Sometimes quoted. Buttons in the various buttons 39 are used to set various conditions such as the operating speed.

As is clear from the above description, the microphone 31, the voice signal recognition processing unit 25, and the operation control unit 2 in FIG.
Reference numeral 1 and the like function as drive means for driving the robot actuator 17 in response to a voice. Further, the monostable type switch 33, the normally open type switch 20 and the like function as means for stopping the driving of the robot actuator 17 in preference to the driving means responsive to the voice.

Various push buttons 39 on the teaching box 3 of FIG.
Is small in number. The number of commands that can be input by voice is reduced. This point is useful for reducing the size and weight of the box 3. However, the embodiment of this point may be modified as follows. It is a method in which the number of various push buttons 39 is not reduced so that it is possible to input even by using push buttons, assuming a situation where ambient noise is large and voice input is impossible. In this case, the benefits of making the box 3 smaller and lighter or simpler cannot be obtained, but even in this case, the benefits of using voice input remain. Since it can be used, it reduces the operator's burden of selecting the type of command by command,
This is because the operation is easy and efficient.

Next, another embodiment shown in FIGS. 3 and 4 will be described. It is to be noted that the parts common to those in FIG. 1 and FIG. This point is the same as in the other embodiments shown in FIG. In the embodiment shown in FIGS. 3 and 4, a monostable switch 33a of the interlocking type, which also serves as a switch for turning on and off the microphone 31, is used. Therefore, the microphone 31 is turned on only while the button of the monostable switch 33a is pressed, and the normally open switch 20 is closed and the driving force transmission path 19 is closed.

The embodiment shown in FIG. 5 is provided with a contact 32c which is interlocked with a switch 32b for turning on and off the microphone 31 and which opens when the switch 32a is turned on.
Is connected in parallel with the monostable switch 33.
Therefore, under the condition that the microphone 31 is off, the normally-open switch 20 is closed and the driving force transmission path 19 is closed, so that the teaching box 3 attached to the teaching box 3 is not affected by the sound. It is also possible to manually operate the robot by using the push button of. Therefore, it is convenient when the teaching work is unavoidably performed under the adverse environment where the surrounding noise is large. On the other hand, under the condition that the switch 32b of the microphone 31 is turned on, the contact 32
Since c is opened and the normally open type switch 20 is also opened, it becomes the same as that of FIG.

In the embodiment shown in FIG. 6, the normally open type monostable switch 33 is arranged in the path through which the output signal of the voice signal recognition processing section 25 is transmitted to the operation control 21a. Monostable switch 3
Reference numeral 41, which is arranged in the preceding stage of 3, is a memory for holding the content of the output signal of the voice signal recognition processing unit 25. Therefore, an instruction based on the voice equivalent to "sita" is held in the memory 41, and the monostable switch 33 is held.
As long as is closed, the operation control unit 21a continues to execute the command corresponding to "sita". The operation control unit 21a is the same as 21 of FIG. 2, but differs from that of 21 in that the part corresponding to the memory 41 is removed.
In any case, when the monostable switch 33 is released, it opens and the drive of the robot actuator 17 is stopped. Then, when the monostable switch 33 is closed again in order to input the next command by voice, it is troublesome that the previous command held in the memory 41 is executed again. In parallel with the initialization means 4
2, the contents of the memory 41 are initialized when the monostable switch 33 is opened.

The embodiment of FIG. 7 is similar to that of FIG. A different point is that the normally open switch 20 is opened by the release signal S ₂ and at the same time, the following two processes are performed.
One is to open the normally closed switch 259 arranged on the input line of the voice signal recognition processing unit 25a to block new input of the voice signal S ₁ . The other is the release signal S
₂ is transmitted to the operation control section 21b, the contents of the memory 210 corresponding to FIG. 6 shown therein are initialized, and the driving of the robot actuator 17 is stopped. In the embodiment shown in FIG. 8, the signal S ₃ is output through the interlocking switch 32a which also serves as the switch of the microphone 31 and another interlocking switch 20b. The switch 20b is interlocked with the switch 20a of the driving force transmission path 19 by an electric means, and these switches 20a and 20b are connected.
Both show normally open characteristics. In the illustrated state, the signal S ₃ is not actually output, but under this situation, the following occurs. One is to keep the normally open switch 258 arranged on the input line of the voice signal recognition processing unit 25b open and stop the function of the voice signal recognition processing unit 25b. The other is to initialize the contents of the memory 210 in the operation control unit 21c. Therefore, the memory 210 stores a command corresponding to "sita" based on voice, and the robot actuator 17
Even if is driven, the driving is stopped when the signal S ₃ is stopped. The most reliable method is to open the driving force transmission line 19 to stop the driving.
It is unsafe if the drive of the robot actuator 17 is immediately restarted when this is closed again. Therefore, if the operation control unit 21c is designed to restart driving, it is necessary to initialize at least the command of the memory 210 based on voice before the reclosing of the driving force transmission line 19. is there. On the other hand, under the condition that the signal S ₃ is actually output, the normally open switch 258 is closed, and the initialization function for the memory 210 is disabled.

Although some embodiments have already been described, these embodiments can be implemented in combination with each other as long as they do not conflict with each other. The microphone is attached to a portable box, but it is more effective if the microphone hanger is set on the operator's head so that the microphone is always in the mouth. In this case, since the portable box without the microphone can be moved away from the mouth, the operator's field of view is widened and the movement of the robot body can be easily seen. It is sufficient to add a fingertip to the monostable switch of the box at the time of voice input and check the presence by tactile sense.
There is no need to look down on the monostable switch. In addition, even if it happens, the frequency is low.

As already pointed out, in the present invention, the means for driving the robot actuator by voice and the means for stopping the driving preferentially thereto are used together. The priority here is the one in the ordinary sense, but the following two cases can be considered from the viewpoint of the operation procedure. One is the case where the drive stopping means is already functioning and cannot be driven by voice. It is, so to speak, a passive stopping effect. The other is a case where the driving robot actuator which is already driven by the voice is stopped by the drive stopping means. So to speak, it is a positive stopping effect. The significance of the passive stopping effect of the former is to reduce the chance of malfunction by making the monostable switch responsive to voice only under the condition that the switch is continuously operated. The operator operates the monostable switch only when he or she wants to input by voice. At that time, it is useless if accidental inadvertent voices or noises are mixed in, but at other times, the malfunction prevention function works, so the chance of malfunctions is relatively small. The switch for operating the drive stop means was made a monostable type, and the stop effect was always working because the operator forgets to set the stop function, which is one of the causes. This is to avoid the undesired situation of malfunction. On the other hand, the significance of the latter positive stopping effect is to more accurately command the driving stop timing to the robot actuator already driven by voice by using the monostable switch. For example, uttering "Tomare" and instructing to stop driving is one side, but make sure that the next voice does not follow "Le" of "Tomare" until you recognize the meaning of "Tomare". Since a processing time is required for a while, there is a concern that the drive stop timing may be delayed and the arm or wrist of the robot body may collide with the work. Therefore, it is inconvenient when trying to move the wrist close to the work closer to the work. It is also possible to bring the wrist etc. sufficiently close to the work by making it possible to stop the thing driven by voice with a monostable type switch.

〔The invention's effect〕

As described above, the present invention incorporates the predetermined drive stopping means by the monostable type switch in addition to the voice-actuated robot actuator driving means, whereby the robot actuator malfunctions. Less opportunity to
In addition, the robot actuator can be stopped at a more accurate timing.

[Brief description of drawings]

FIG. 1 is an explanatory view of the entire configuration showing an embodiment of a robot of the present invention, FIG. 2 is a circuit diagram of its essential part, and FIG. 3 is a front view showing a portable box of a robot according to another embodiment. Fig. 4 is a circuit diagram of the essential parts of a robot incorporating the box of Fig. 3,
FIGS. 5 to 8 are circuit diagrams of essential parts of a robot showing still another embodiment. In the figure, 31 is a microphone, 25, 25a and 25b are voice signal recognition processing units, 17 is a robot actuator,
33, 33a and 20b are monostable switches, 3 is a portable box, and 19 is a driving force transmission line.

Claims (2)

[Claims] Claim: What is claimed is: 1. A microphone including a voice signal recognition processing section connected to an output side thereof, a means for driving a robot actuator according to a voice given to the microphone, and a manually operable external means. A monostable switch that selectively opens a driving force transmission path for transmitting driving force to an actuator.When the monostable switch is in an open state, the driving means that responds to the voice is prioritized. A robot equipped with means for stopping the drive of the robot actuator. 2. A robot in which the microphone and the monostable switch according to claim 1 are mounted on a common portable box.