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ROBOT CONTROL DEVICE

外国特許コード F200010069
整理番号 6010
掲載日 2020年5月15日
出願国 世界知的所有権機関(WIPO)
国際出願番号 2018JP011704
国際公開番号 WO 2019180916
国際出願日 平成30年3月23日(2018.3.23)
国際公開日 令和元年9月26日(2019.9.26)
発明の名称 (英語) ROBOT CONTROL DEVICE
発明の概要(英語) The purpose of the present invention is to provide technology with which an operator can easily operate a robot. This robot control device for controlling a robot 9 comprises: a operation support device 2 which recognizes a gesture from an operator, and on the basis of said gesture, determines an action instruction in order for the robot 9 to perform an action; a robot controller 4 which, on the basis of the action instruction determined by the operation support device 2, controls the action of the robot 9; and an action display device 5, which displays an animation of a human that moves on the basis of the action instruction determined by the operation support device 2.
従来技術、競合技術の概要(英語) BACKGROUND ART
In recent years, a decrease in the production of the population of Japan and skill person's aging proceeds, the personnel can be reduced and manufacturing have been developed recently. Therefore, manufacturing personnel and can be participating in order to expand the skirts, remote from the home of the mechanism and for participating in manufacturing, a novice skill as soon as the need for wearing mechanism has been.
Are in the field of the manufacturing, assembly and the transport work is substituted by an automated robot has been advanced. Such an automated robot in order to cause the desired operation, the start of the working path, the intermediate, and ending of each scene change in the behavior of the robot, the robot position and posture (position, height and tilt) to define the necessary teaching.
In general the robot teaching work, (i) device control device connected to a person skilled with the teachings of using a dedicated teaching box, the robot hand is moved to the desired position and orientation, position and orientation data indicating the position and orientation of the robot on a program stored in advance, and stored in advance (ii) based on the position and orientation data, position and posture (trajectory) thereof satisfies a path for connecting the, a plurality of robot operation instruction to the servo motor control device (operation command) can be calculated, and the like. Such teachings, the work shape of the object becomes necessary for each, the robot in a variety of limited production of diversified products in order to perform the work with respect to an object shape, the plurality of teaching needs to be performed.
Using the teaching box for the purpose of teaching, the robot is taught in the above-described operation instruction as a method, several methods have been proposed. For example, using a gesture to a method for performing the robot operation instruction, or, the operation object is changed by making a gesture by a human when, in accordance with the teachings of the robot and the information obtained by sensing the state information on the basis of the system for changing the position information and the like. According to these systems, the operator when the operation instruction to the robot, the robot without having to know an interface peculiar to the robot can be operated directly.
For example, disclosed in Patent Document 1 of the method, the imaging information from the robot control unit detects a gesture of the operator, associated with the gesture control command in the robot, the robot control is performed corresponding to the control command, the display control unit in the robot control command to the operator. According to such a configuration, the operator, display of the robot by the control command, the robot checks whether or not the instruction is correctly transmitted is possible.
For example, disclosed in Patent Document 2 of the method, when the step of teaching, teaching of the robot using the sensory information acquired from the generated three-dimensional virtual world 3 based on an image, the robot operation is performed, the touch sensor of the robot and movement information from a camera, visual, tactile, and auditory sensory information such as acquired. Then, when the contents of the mimic step, based on the sensory information and motion information of the contents desired to mimic the operation of the robot. Thus, the operator, visual, tactile, auditory sensory information such as by performing operation with reference to, the operation corresponding to the various targets can be performed by the robot and the mimic.
  • 出願人(英語)
  • ※2012年7月以前掲載分については米国以外のすべての指定国
  • MITSUBISHI ELECTRIC CORPORATION
  • KYOTO UNIVERSITY
  • 発明者(英語)
  • FUJIMOTO Kenta
  • OKUDA, Haruhisa
  • MATSUNO, Fumitoshi
  • ENDO, Takahiro
国際特許分類(IPC)
指定国 National States: AE AG AL AM AO AT AU AZ BA BB BG BH BN BR BW BY BZ CA CH CL CN CO CR CU CZ DE DJ DK DM DO DZ EC EE EG ES FI GB GD GE GH GM GT HN HR HU ID IL IN IR IS JO JP KE KG KH KN KP KR KW KZ LA LC LK LR LS LU LY MA MD ME MG MK MN MW MX MY MZ NA NG NI NO NZ OM PA PE PG PH PL PT QA RO RS RU RW SA SC SD SE SG SK SL SM ST SV SY TH TJ TM TN TR TT TZ UA UG US UZ VC VN ZA ZM ZW
ARIPO: BW GH GM KE LR LS MW MZ NA RW SD SL SZ TZ UG ZM ZW
EAPO: AM AZ BY KG KZ RU TJ TM
EPO: AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR
OAPI: BF BJ CF CG CI CM GA GN GQ GW KM ML MR NE SN ST TD TG
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