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ROBOT CONTROL DEVICE

Foreign code F200010069
File No. 6010
Posted date May 15, 2020
Country WIPO
International application number 2018JP011704
International publication number WO 2019180916
Date of international filing Mar 23, 2018
Date of international publication Sep 26, 2019
Title ROBOT CONTROL DEVICE
Abstract 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.
Outline of related art and contending technology 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.
Scope of claims (In Japanese)[請求項1]
 ロボットを制御するロボット制御装置であって、
 作業者の動作をセンサで検出した結果に基づいて当該作業者のジェスチャを認識し、当該ジェスチャに基づいて、前記ロボットが動作を行うための動作指示を決定する作業支援装置と、
 前記作業支援装置が決定した動作指示に基づいて、前記ロボットの動作を制御するための情報を決定し、当該情報をサーボモータに出力するロボットコントローラと、
 前記作業支援装置が決定した動作指示に基づいて動く人間のアニメーションを、前記ロボットの動作として表示する動作表示装置と
を備える、ロボット制御装置。

[請求項2]
 請求項1に記載のロボット制御装置であって、
 前記作業支援装置は、ネットワークによって前記ロボットコントローラと接続されている、ロボット制御装置。

[請求項3]
 請求項1または請求項2に記載のロボット制御装置であって、
 前記ロボットが、特定の前記動作指示に基づく動作を完了したときに、当該動作の完了とテーブルで予め対応付けられた音をスピーカに出力させる、ロボット制御装置。

[請求項4]
 請求項1または請求項2に記載のロボット制御装置であって、
 前記ロボットが、特定の前記動作指示に基づく動作を開始するときに、当該動作の開始とテーブルで予め対応付けられた音をスピーカに出力させる、ロボット制御装置。

[請求項5]
 請求項1または請求項2に記載のロボット制御装置であって、
 前記ロボットが、特定の前記動作指示に基づく動作を完了したときに、当該動作の完了とテーブルで予め対応付けられた振動を振動デバイスに出力させる、ロボット制御装置。

[請求項6]
 請求項1または請求項2に記載のロボット制御装置であって、
 前記ロボットが、特定の前記動作指示に基づく動作を開始するときに、当該動作の開始とテーブルで予め対応付けられた振動を振動デバイスに出力させる、ロボット制御装置。

[請求項7]
 請求項1から請求項6のうちのいずれか1項に記載のロボット制御装置であって、
 前記作業支援装置は、
 前記動作指示を決定するための前記ジェスチャである特定の第1ジェスチャだけでなく、前記第1ジェスチャと異なる特定の第2ジェスチャと、作業者の動作から当該作業者の特定部位の移動を示す第3ジェスチャとを認識し、
 前記作業支援装置は、
 前記第2ジェスチャを認識した場合に、前記第1ジェスチャに基づく前記動作指示を決定する第1モードの代わりに、前記ロボットが前記第3ジェスチャの前記移動に基づく移動を行うための移動量を前記動作指示として決定する第2モードを行う、ロボット制御装置。

[請求項8]
 請求項7に記載のロボット制御装置であって、
 前記作業支援装置は、
 前記第3ジェスチャが示す前記移動と、予め設定された比例ゲインとに基づいて、前記ロボットの前記移動量を求める、ロボット制御装置。

[請求項9]
 請求項7に記載のロボット制御装置であって、
 前記第3ジェスチャが示す前記移動と、予め設定された積分ゲインとに基づいて、前記ロボットの前記移動量が求める、ロボット制御装置。
  • Applicant
  • ※All designated countries except for US in the data before July 2012
  • MITSUBISHI ELECTRIC CORPORATION
  • KYOTO UNIVERSITY
  • Inventor
  • FUJIMOTO Kenta
  • OKUDA, Haruhisa
  • MATSUNO, Fumitoshi
  • ENDO, Takahiro
IPC(International Patent Classification)
Specified countries 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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