ROBOT CONTROLLER AND ROBOT CONTROL SYSTEM

A robot controller that can accurately determine whether a collaborative robot is in either a collaborative state or a non-collaborative state. The robot controller includes: an acquisitor acquiring a prescribed detection range from a detection device detecting the human present in the detection range; a range determinator determining whether the detection range acquired by the acquisitor includes a set range set for a collaborative robot collaborating with the human so as to include a predetermined range regarding the robot; a speed determinator determining a magnitude relationship between an operating speed of the collaborative robot and a first speed; and a collaborative state determinator determining whether the collaborative robot is in either the collaborative state of being operable with the human or the non-collaborative state of not being operable therewith when the human enters the predetermined range, based on determination results of the range determinator and speed determinator.

CROSS-REFERENCE TO RELATED APPLICATION

This application is based upon and claims the benefit of priority from Japanese Patent Application No. 2022-090750 filed on Jun. 3, 2022, the contents all of which are incorporated herein by reference.

FIELD

The present invention relates to a robot controller and a robot control system that control an operation of a collaborative robot.

BACKGROUND

There is a conventionally known robot control system that includes a detection device and a robot controller. The detection device detects a human present within a prescribed detection range from a collaborative robot that operates collaboratively with the human within a collaborative range. The collaborative range is a range located at a predetermined distance from the robot and in which the human can be present. The robot controller controls the operation of the collaborative robot in accordance with the detection results made by the detection device. The collaborative robot operates by reducing its operating speed when the human is present within the collaborative range. It is noted that the detection range is normally set on the detection device in such a manner as to include, within its own range, the entire collaborative range.

In this regard, Japanese Patent Application Publication (JP-A) No. 2019-058990 discloses a configuration in which a controller sequentially predicts an operating area of a robot until a given time, validates the detection result of a sensor in an area including the predicted operating area, and restricts the operation of the robot when detecting the entry of a human within this area, for which the detection result of the sensor is validated.

In the technology described in JP-A No. 2019-058990, in a case where a human enters the detection range, the controller reduces the operating speed of the collaborative robot to a predetermined speed or temporarily stops the operation of the collaborative robot itself until the human enters the collaborative range. Here, the detection range is usually set on the detection device to be wider than the collaborative range by a distance that the human can move in the time it takes to reduce the operating speed of the collaborative robot to the predetermined speed.

However, the technology described in JP-A No. 2019-058990 does not allow the controller to grasp the detection range set on the detection device. For this reason, there is a problem that the technology cannot determine with high accuracy whether the operating state of the collaborative robot is either a collaborative state or a non-collaborative state. The collaborative state is a state in which the collaborative robot can operate with a human when the human may enter a predetermined range (e.g., the collaborative range) regarding the collaborative robot (hereinafter simply referred to a collaborative state). The non-collaborative state is a state in which the collaborative robot cannot operate with a human when the human may enter the predetermined range (e.g., the collaborative range) (hereinafter simply referred to the non-collaborative state).

The present invention has been made in view of the problems described above, and an object of the present invention is to provide a robot controller and a robot control system that can determine with high accuracy whether the operating state of a collaborative robot is either the collaborative state or the non-collaborative state.

SUMMARY

To solve the above-mentioned problems, a robot controller of the present invention includes: an acquisitor acquiring a prescribed detection range from a detection device detecting a human present in the detection range; a range determinator determining whether or not the detection range acquired by the acquisitor includes a set range that is set for a collaborative robot so as to include a predetermined range regarding the collaborative robot collaborating with the human; a speed determinator determining a magnitude relationship between an operating speed of the collaborative robot and a first speed; and a collaborative state determinator determining whether an operating state of the collaborative robot is either a collaborative state or a non-collaborative state in accordance with determination results of the range determinator and the speed determinator, the collaborative state being a state in which the collaborative robot is operable with the human when the human enters the predetermined range, the non-collaborative state being a state in which the collaborative robot is not operable with the human when the human enters the predetermined range.

The collaborative state determinator determines that the operating state is the collaborative state when the determination result of the range determinator is an affirmative determination that the detection range includes the set range and the speed determinator determines that the operating speed is lower than or equal to the first speed.

The speed determinator further determines a magnitude relationship between the operating speed and a second speed that is lower than the first speed, and the collaborative state determinator determines that the operating state is the collaborative state when the speed determinator indicates that the operating speed is lower than or equal to the second speed.

The predetermined range is a predetermined collaborative range from the collaborative robot, and the range determinator sets the set range in accordance with a time during which the operating speed is reduced from the first speed to the second speed, a third speed regarding a moving speed of the human, and the collaborative range.

The predetermined range is an operating range in which the collaborative robot operates, and the range determinator sets the set range in accordance with a time during which the operating speed is reduced from the first speed to the second speed, a third speed regarding the moving speed of the human, and the operating range.

A robot control system of the present invention includes: a collaborative robot collaborating with a human; an acquisitor acquiring a prescribed detection range from a detection device detecting the human present in the detection range; a range determinator determining whether or not the detection range acquired by the acquisitor includes a set range that is set for the collaborative robot so as to include a predetermined range regarding the collaborative robot; a speed determinator determining a magnitude relationship between an operating speed of the collaborative robot and a first speed; and a collaborative state determinator determining whether an operating state of the collaborative robot is either a collaborative state or a non-collaborative state in accordance with determination results of the range determinator and the speed determinator, the collaborative state being a state in which the collaborative robot is operable with the human when the human may enter the predetermined range, the non-collaborative state being a state in which the collaborative robot is not operable with the human when the human may enter the predetermined range.

According to the present invention, the robot controller and the robot control system can determine with high accuracy whether the operating state of the collaborative robot is either the collaborative state or the non-collaborative state.

DETAILED DESCRIPTION

Hereinafter, embodiments of the present invention (hereinafter referred to as the “present embodiment”) will be described with reference to the accompanying drawings. To make the understanding of the description easier, the same component and step are denoted by the same reference characters as much as possible in each drawing, and a duplicated description thereof is omitted.

First Embodiment

First, a first embodiment will be described.

Configuration

FIG.1is a diagram schematically showing a configuration of a robot control system1according to the first embodiment. As shown inFIG.1, the robot control system1mainly includes, for example, a robot controller10, a collaborative robot20, and a detection device30.

The robot controller10is a device that acquires information transmitted from the detection device30and controls the operation of the collaborative robot20in accordance with the acquired information. For the collaborative robot20, the robot controller10sets a collaborative range A1, which is a range surrounding the collaborative robot20, and a deceleration range A2, which is wider than the collaborative range A1by a predetermined distance. From the information transmitted from the detection device30, the robot controller10acquires a detection range A3set on the detection device30to detect whether or not a human40is present therein. The robot controller10calculates an operating speed of the collaborative robot20based on information transmitted from the collaborative robot20. Further, the robot controller10determines whether the collaborative robot20is in either the collaborative state or the non-collaborative state, based on the detection range A3, the deceleration range A2, and the operating speed of the collaborative robot20, and then outputs the determination result to the outside so that the human40can recognize it. It is noted that the robot controller10sets the collaborative range A1to include an entire range in which an articulated arm22included in the collaborative robot20can reach when the collaborative robot20operates. In the first embodiment, the collaborative state is a state in which the collaborative robot20is operable with the human40when the human40may enter the predetermined range regarding the collaborative robot20(collaborative range A1in the first embodiment). The non-collaborative state is a state in which the collaborative robot20is not operable with the human40when the human40may enter the predetermined range (collaborative range A1in the first embodiment).

The collaborative robot20is a robot that performs a predetermined processing operation on a workpiece (not shown) or the like in accordance with the operation control of the robot controller10. The collaborative robot20is disposed with the detection device30in a space where the human40may be present so as to perform the operation. As is well known, the collaborative robot20operates (cooperates) with the human40who is present in the same space without being enclosed by a fense or the like. The collaborative robot20mainly includes, for example, a base21and the articulated arm22.

The detection device30is, for example, an area sensor. The detection device30sets the detection range A3and detects whether or not the human40is present within the set detection range A3. The detection device30is disposed with the collaborative robot20in the space where the human40may be present to perform the operation. The detection device30transmits information about the detection range A3(location, size, or the like) and the detection result to the robot controller10.

FIG.2is a diagram showing a circuit configuration of the robot control system1shown inFIG.1. As shown inFIG.2, the robot controller10mainly includes, for example, an acquisitor11, a range determinator12, a speed determinator13, a collaborative state determinator14, an outputter15, an inputter16, a controller17, and a memory100.

The memory100stores therein information required to determine whether or not the detection range A3is correctly set on the detection device30. Specifically, the memory100stores therein, for example, speed information110, collaborative range information111, and time information112.

The speed information110is information about the operating speed of the collaborative robot20. For example, the speed information110includes: a second speed v2, which is an operating speed at which the collaborative robot20can operate even when the human40is present within the collaborative range A1; a first speed v1, which is an operating speed of the collaborative robot20that is faster than the second speed v2 and can be reduced to the second speed v2 until the human40reaches inside of the collaborative range A1from the outer periphery of the deceleration range A2; and a third speed v3 regarding the moving speed of the human40. Here, the third speed v3 is a speed which is made faster by a predetermine margin than the maximum moving speed vm that can be achieved by the human40when the human40moves on his/her own without using a vehicle or other means of movement.

The collaborative range information111is information about the range including the collaborative robot20. The collaborative range information111includes, for example, information (location, size, or the like) about the collaborative range A1and information (location, size, or the like) about the deceleration range A2.

The time information112is information about the time taken for the collaborative robot20to reduce its operating speed. The time information112includes, for example, a deceleration time is that is taken for the collaborative robot20to reduce its operating speed from the first speed v1 to the second speed v2.

The acquisitor11acquires the information (location, size, or the like) about the detection range A3from the detection device30that detects the human40present in the detection range A3. The acquisitor11transmits the acquired information about the detection range A3to the range determinator12. The acquisitor11acquires, from the detection device30, the detection result about whether or not the human40is present within the detection range A3. The acquisitor11transmits the acquired detection result to the controller17.

The range determinator12determines whether or not the detection range A3acquired by the acquisitor11includes a set range that is set for the collaborative robot20so as to include the predetermined range regarding the collaborative robot20. In the first embodiment, the predetermined range is the collaborative range A1. Furthermore, in the first embodiment, the set range is the deceleration range A2. Specifically, in the first embodiment, the set range is the deceleration range A2. The range determinator12determines whether or not the detection range A3transmitted from the acquisitor11includes the entire deceleration range A2(set range) included in the collaborative range information111stored in the memory100. The range determinator12outputs the result of this determination to the collaborative state determinator14.

The range determinator12sets the deceleration range A2(set range) in accordance with the deceleration time ts, the third speed v3 and the collaborative range A1(predetermined range). Specifically, the range determinator12reads out the deceleration time ts and the third speed v3 from the memory100and multiplies the deceleration time ts by the third speed v3. The range determinator12sets the deceleration range A2(set range) such that the outer periphery of the deceleration range A2is located far from the outer periphery of the collaborative range A1(predetermined range) at least by a distance obtained by the multiplication result. The range determinator12stores the set deceleration range A2(set range) in the memory100.

The speed determinator13determines the magnitude relationship between the operating speed of the collaborative robot20and the first speed v1. Specifically, the speed determinator13calculates an operating speed of the collaborative robot20based on position information about a position detector25as transmitted from the position detector25of the collaborative robot20. Subsequently, the speed determinator13determines the magnitude relationship between the first speed v1 and the calculated operating speed of the collaborative robot20by reading out the first speed V1 from the memory100. The speed determinator13also determines the magnitude relationship between the second speed v2 and the calculated operating speed of the collaborative robot20by reading out the second speed v2 from the memory100. The speed determinator13outputs each determination result to the collaborative state determinator14.

Based on the determination results of the range determinator12and the speed determinator13, the collaborative state determinator14determines whether the operating state of the collaborative robot20is either the collaborative state or the non-collaborative state. Specifically, the collaborative state determinator14determines that the operating state of the collaborative robot20is the collaborative state when the determination result of the range determinator12is an affirmative determination that the detection range A3includes the above-mentioned set range and the speed determinator13determines that the operating speed of the collaborative robot20is lower than or equal to the first speed v1. In addition, the collaborative state determinator14determines that the operating state of the collaborative robot20is the collaborative state also when the speed determinator13indicates that the operating speed of the collaborative robot20is lower than or equal to the second speed v2.

The relationship between the deceleration range A2and the detection range A3shown when the collaborative robot20is in the collaborative state will be described with reference toFIG.1. InFIG.1, the detection range A3is set on the detection device30so as to include the entire deceleration range A2. Assuming that the operating speed of the collaborative robot20is lower than or equal to the first speed v1, the collaborative state determinator14determines that the operating state of the collaborative robot20is the collaborative state because the detection range A3includes the set range (deceleration range A2) as shown inFIG.1.

Returning toFIG.2, the collaborative state determinator14determines that the operating state of the collaborative robot20is the non-collaborative state when the determination result of the range determinator12is a negative determination that the detection range A3does not include the above-mentioned set range. Further, the collaborative state determinator14determines that the operating state of the collaborative robot20is the non-collaborative state also when the determination result of the range determinator12is the above-mentioned affirmative determination but the speed determinator13determines that the operating speed of the collaborative robot20is higher than the first speed v1. The collaborative state determinator14outputs the determination result to the controller17and the outputter15.

An example of the relationship between the deceleration range A2and the detection range A3shown when the collaborative robot20is in the non-collaborative state will be described with reference toFIG.3.FIG.3is a diagram schematically showing the relationship between the detection range A3and the deceleration range A2when the detection range A3is set inappropriately in the robot control system1shown inFIG.1. InFIG.3, the detection range A3is set on the detection device30not to include a part of the deceleration range A2. The collaborative state determinator14determines that the operating state of the collaborative robot20is the non-collaborative state because the detection range A3does not include a part of the deceleration range A2(set range) as shown inFIG.3.

Returning toFIG.2, the outputter15outputs the determination result of the collaborative state determinator14. The outputter15indicates to the human40whether the operating state of the collaborative robot20is either the collaborative state or the non-collaborative state, for example, by displaying the determination result of the collaborative state determinator14using a display, a lamp, etc. or indicating it with sound through a speaker, or the like. The outputter15may be simply an output terminal. In this case, the outputter15outputs the determination result of the collaborative state determinator14to an external device different from the robot controller10(such as a control system, a display, a lamp, or a speaker, not shown, of facilities such as a factory where the collaborative robot20is disposed).

The inputter16receives a command input thereto by an operation of the human40and outputs the received command to the controller17. The inputter16is, for example, an input device called a teaching pendant, a keyboard, a switch, a mouse, or the like. The inputter16may be simply an input terminal. In this case, the inputter16receives a command input from the external input device different from the robot controller10(such as a teaching pendant, a keyboard, a switch, or a mouse, not shown) and outputs the received command to the controller17.

The controller17controls the operation of the collaborative robot20in accordance with either the detection result transmitted from the detection device30or the command output from the inputter16. Specifically, when receiving a command to start or stop the operation of the collaborative robot20from the inputter16, the controller17starts or stops the operation of the collaborative robot20in accordance with the command. When receiving a command to change the operating speed of the collaborative robot20from the inputter16, the controller17changes the operating speed of the collaborative robot20in accordance with the command. When receiving, from the inputter16, a command to provide information about the collaborative robot20and the robot controller10(operating speed and operating time of the collaborative robot20, the speed information110, the collaborative range information111, the time information112, etc.), the controller17outputs the received information about the collaborative robot20and the robot controller10to the outputter15in accordance with the command.

The operation of the controller17when the collaborative state determinator14determines that the operating state of the collaborative robot20is the collaborative state will be described below. The controller17restricts the operation of the collaborative robot20such that the operating speed of the collaborative robot20is reduced to the second speed v2 when the detection result transmitted thereto from the detection device30indicates that the human40is present within the detection range A3.

The operation of the controller17when the collaborative state determinator14determines that the operating state of the collaborative robot20is the non-collaborative state will be described below. The controller17restricts the operation of the collaborative robot20so as to stop the operation of the collaborative robot20when the detection result transmitted thereto from the detection device30indicates that the human40is present within the detection range A3.

The collaborative robot20includes, for example, the position detector25. In the collaborative robot20, the operation of the articulated arm22is controlled in accordance with the operation control performed by the controller17of the robot controller10.

At least one position detector25is provided in the articulated arm22of the collaborative robot20. The position detector25detects the position of the position detector25itself in a space where the collaborative robot20is disposed, and transmits the detected position information to the speed determinator13of the robot controller10.

The detection device30mainly includes, for example, a memory31, a detector32, a controller33, and an inputter/outputter34.

The memory31stores therein information about the detection range A3for detecting whether or not the human40is present within the detection range A3. Specifically, the memory31stores therein, for example, detection range information310.

The detection range information310is information about the detection range A3. The detection range information310includes, for example, information (location, size, or the like) about the detection range A3.

The detector32determines whether or not the human40is present within the detection range A3stored in the memory31. The detector32transmits the detection result to the acquisitor11of the robot controller10via the controller33.

The controller33controls the operation of the detection device30in accordance with the command output from the inputter/outputter34. Specifically, when receiving a command to start or stop a detection operation of the detection device30from the inputter/outputter34, the controller33starts or stops the detection operation of the detection device30in accordance with the command. When the detection device30performs the detection operation, the controller33receives, from the detector32, the detection result of whether or not the human40is present within the detection range A3, and transmits the received detection result to the acquisitor11of the robot controller10.

When receiving a command to set or change the location and size of the detection range A3from the inputter/outputter34, the controller33sets or changes the position and size of the detection range A3in accordance with the command and stores the set or changed contents in the memory31. When receiving, from the inputter/outputter34, a command to provide information about the detection device30(detection range information310, detection result and the like), the controller33outputs the information about the detection device30to the inputter/outputter34in accordance with the command.

The inputter/outputter34is an interface for receiving the operation performed by the human40or showing information to the human40by means of screen display, with sound, or the like. The inputter/outputter34includes, for example, a keyboard, a switch, and/or a mouse as an input interface. The inputter/outputter34includes, for example, a display, a lamp, and/or a speaker as an output interface. The inputter/outputter34receives a command input by the human40and outputs the received command to the controller33. The inputter/outputter34indicates, to the human40, information about the detection device30output from the controller33(detection range information310, the detection result, and the like) by outputting it on the screen or with sound.

The inputter/outputter34may be simply an input/output terminal. In this case, the inputter/outputter34receives a command input from the external device different from the detection device30(such as a keyboard, a switch, a mouse, or a computer system, not shown) and outputs the received command to the controller33. The inputter/outputter34outputs the information about the detection device30(detection range information310, detection result, and the like) to the external device (such as a display, a lamp, a speaker, or a computer system, not shown) different from the detection device30.

Series of Processes

The circuit configuration of the robot controller10has been described above. Next, a series of processes performed by the robot controller10will be described in detail.FIG.4is a flowchart showing the series of processes performed by the robot controller10shown inFIG.1.

The speed determinator13in the robot controller10determines the magnitude relationship among the operating speed of the collaborative robot20, the first speed v1, and the second speed v2. If the speed determinator13determines that the operating speed of the collaborative robot20is lower than or equal to the first speed v1 and higher than the second speed v2, the process proceeds to step SP12. On the other hand, if the speed determinator13determines that the operating speed of the collaborative robot20is lower than or equal to the second speed v2 or is higher than the first speed v1, the process proceeds to step SP20.

The range determinator12in the robot controller10sets the deceleration range A2(set range). Specifically, the range determinator12in the robot controller10reads out the deceleration time is and the third speed v3 from the memory100and multiplies the deceleration time is by the third speed v3. Further, the range determinator12in the robot controller10sets the deceleration range A2(set range) such that the outer periphery of the deceleration range A2is located far from the outer periphery of the collaborative range A1(predetermined range) at least by a distance obtained by the multiplication result. The range determinator12stores the set deceleration range A2(set range) in the memory100. Then, the process proceeds to step SP14.

The range determinator12in the robot controller10determines whether or not the detection range A3includes the deceleration range A2(set range). If the range determinator12determines that the detection range A3includes the deceleration range A2(set range), the process proceeds to step SP16. On the other hand, if the range determinator12determines that the detection range A3does not include the deceleration range A2(set range), the process proceeds to step SP18.

The collaborative state determinator14in the robot controller10determines that the operating speed of the collaborative robot20is in the collaborative state. Then, the process proceeds to step SP26.

The collaborative state determinator14in the robot controller10determines that the operating speed of the collaborative robot20is in the non-collaborative state. Then, the process proceeds to step SP26.

If the speed determinator13determines, in the process of step SP20, that the operating speed of the collaborative robot20is lower than or equal to the second speed v2, the process proceeds to step SP22. On the other hand, if the speed determinator13determines, in the process of step SP20, that the operating speed of the collaborative robot20is higher than the second speed v2, the process proceeds to step SP24.

The collaborative state determinator14in the robot controller10determines that the operating speed of the collaborative robot20is in the collaborative state. Then, the process proceeds to step SP26.

The collaborative state determinator14in the robot controller10determines that the operating speed of the collaborative robot20is in the non-collaborative state. Then, the process proceeds to step SP26.

The outputter15in the robot controller10outputs the operating state of the collaborative robot20that has been determined by the collaborative state determinator14, to the outside or the human40. Then, the series of processes shown inFIG.4is ended.

Effects

As described above, in the first embodiment, the robot controller10determines whether or not the detection range A3includes the deceleration range A2(set range) set for the collaborative robot20, and determines the magnitude relationship between the operating speed of the collaborative robot20and the first speed v1. Further, based on each determination result, the robot controller10determines whether the operating state of the collaborative robot20is either the collaborative state or the non-collaborative state. Therefore, the robot controller10can determine with high accuracy whether the operating state of the collaborative robot20is either the collaborative state or the non-collaborative state.

In the first embodiment, the robot controller10determines that the operating state of the collaborative robot20is the collaborative state when the detection range A3includes the deceleration range A2(set range) and the operating speed of the collaborative robot20is lower than or equal to the first speed v1. Therefore, the robot controller10can determine the operating state of the collaborative robot20based on whether or not the setting of the detection range A3and the operating speed of the collaborative robot20are appropriate.

In the first embodiment, the robot controller10determines that the operating state of the collaborative robot20is the collaborative state when the operating speed of the collaborative robot20is lower than or equal to the second speed v2. Therefore, the robot controller10can determine that the operating state of the collaborative robot20is the collaborative state when the operating speed of the collaborative robot20is lower than or equal to the second speed v2, regardless of the setting of the detection range A3.

In the first embodiment, the robot controller10sets the deceleration range A2(set range) for the collaborative robot20in accordance with the deceleration time ts, the third speed v3 regarding the movement of the human40, and the collaborative range A1(predetermined range). Therefore, the robot controller10can set the deceleration range A2for the collaborative robot20in consideration of the movement speed of the human40.

Second Embodiment

Subsequently, a second embodiment will be described. In the second embodiment described below, the same component as that in the first embodiment is denoted by the same reference character, and thus its description will be omitted.

Configuration

FIG.5is a diagram schematically showing a configuration of a robot control system1according to the second embodiment. As shown inFIG.5, in the second embodiment, the robot control system1of the second embodiment differs from the robot control system1of the first embodiment only in that the set range is changed from the deceleration range A2to a deceleration range A5, and further that the predetermined range is changed from the collaborative range A1to an operating range A4where the collaborative robot20operates. That is, in the second embodiment, the predetermined range is the operating range A4. Further, in the second embodiment, the set range is the deceleration range A5.

In the second embodiment, the collaborative state is a state in which the collaborative robot20is operable with the human40when the human40may enter the predetermined range regarding the collaborative robot20(operating range A4in the second embodiment). The non-collaborative state is a state in which the collaborative robot20is not operable with the human40when the human40may enter the predetermined range (operating range A4in the second embodiment).

The operation of the robot controller10in the second embodiment will be described. For the collaborative robot20, the robot controller10sets the operating range A4(predetermined range), which is a part of the collaborative range A1where the articulated arm22of the collaborative robot20operates, as well as the deceleration range A5(set range), which is wider than the operating range A4by a predetermined distance. From the information transmitted from the detection device30, the robot controller10acquires the detection range A3set on the detection device30. The robot controller10calculates an operating speed of the collaborative robot20in accordance with information transmitted from the collaborative robot20. Further, the robot controller10determines whether the collaborative robot20is in either the collaborative state or the non-collaborative state, based on the detection range A3, the deceleration range A5(set range), and the operating speed of the collaborative robot20, and then outputs the determination result to the outside so that the human40can recognize it. However, the robot controller10may output the determination result about whether the collaborative robot20is in either the collaborative state or the non-collaborative state to an external device different from the robot controller10(such as a control system, a display, a lamp, or a speaker, not shown, of facilities, including a factory where the collaborative robot20is disposed).

In the second embodiment, the collaborative range information111stored in the memory100further includes information about the operating range A4(location, size, or the like) and information about the deceleration range A5(location, size, or the like).

In the second embodiment, the range determinator12sets the deceleration range A5(set range) in accordance with the deceleration time ts during which the operating speed of the collaborative robot20is reduced from the first speed v1 to the second speed v2, the third speed v3 regarding the moving speed of the human40, and the operating range A4. Specifically, the range determinator12reads out the deceleration time ts and the third speed v3 from the memory100and multiplies the deceleration time ts by the third speed v3. The range determinator12sets the deceleration range A5(set range) such that the outer periphery of the deceleration range A5is located far from the outer periphery of the operating range A4(predetermined range) at least by a distance obtained by the multiplication result. The range determinator12stores the set deceleration range A5(set range) in the memory100.

Effects

As described above, in the second embodiment, the range determinator12of the robot controller10sets the deceleration range A5(set range) in accordance with the operating range A4(predetermined range) where the collaborative robot20operates, the deceleration time ts, and the third speed v3. Therefore, the robot controller10can set the deceleration range A5(set range) for the collaborative robot20in consideration of the operating range A4where the collaborative robot20operates.

Modification

The present invention is not limited to the embodiment described above. That is, the above embodiments that are modified in design as appropriate by a person skilled in the art may be included in the scope of the present invention as long as they have the features of the present invention. Furthermore, respective elements included in the above embodiments and modifications mentioned later can be combined to the extent technically possible, and these combinations may be included in the scope of the present invention as long as they have the features of the present invention.

For example, the controller17may reduce the moving speed of the collaborative robot20to the second speed v2 when receiving the detection result that is transmitted from the detection device30indicating that the human40is present within the detection range A3. Thereafter, the controller17may accelerate the operating speed of the collaborative robot20to the predetermined speed of lower than or equal to the first speed v1 if the detection result transmitted from the detection device30shows that the human40is not present within the detection range A3. With this configuration, the robot controller10can efficiently operate the collaborative robot20in accordance with whether or not the human40is present within the detection range A3.

The robot controller10may transmit, to the detection device30, the information about the deceleration range A2including the collaborative range information111so as to be able to use this information when the detection device30sets the detection range A3. With this configuration, the robot controller10can assist in setting the detection range A3of the detection device30.

InFIGS.1,3, and5, the collaborative range A1, the deceleration ranges A2and A5, the operating range A4, and the detection range A3are depicted as the areas on the plane horizontal to a mounting surface of the collaborative robot20, but they are not limited to this. The collaborative range A1, the deceleration ranges A2and A5, the operating range A4, and the detection range A3include not only the areas on the plane horizontal to the mounting surface of the collaborative robot20, but also a range of the space in all directions where the collaborative robot20can be provided.