JP2021126760A - Universal design pendant - Google Patents

Abstract

To solve such a problem that an existing pendant for teaching or controlling a robot causes big differences to occur in usability depending on age, ability, status (whether person has qualification and level of skill) and the like of a person who operates the pendant.SOLUTION: A universal design pendant includes a control unit for outputting information to aspire provision of principles of universal design to a display part or externally outputting the information.SELECTED DRAWING: Figure 1

Description

The present invention relates to a universal design pendant, which is one of the constituents of a robot system and is a user-friendly pendant that teaches and controls a robot.

A typical robot portable operating device is a so-called pendant. Perhaps the most commonly used robot operating device on the factory floor is the pendant.
However, it is not easy to operate the pendant to teach or control the robot. Pendant makers are trying to develop easy-to-use pendants, but they are still not enough. Making a pendant that is easy for anyone to use is extremely difficult with conventional ideas and principles.
The prior art of a robot's portable operating device, that is, a robot's pendant, is typically disclosed in, for example, Patent Document 1 below.

Japanese Unexamined Patent Publication No. 2017-098423

It is possible to provide a universal design pendant that is not affected by the attributes of the operator and can pursue the best usability even with the hardware given at the manufacturing or production site, that is, the housing of a given pendant. This is a problem to be solved by the present invention.

The universal design pendant according to the present invention has the following configuration.
The invention of claim 1 is a portable and operable pendant that controls a robot.
A control unit having an input unit and a display unit, and referring to the information obtained from the input unit, for outputting or externally outputting information aiming at the realization of at least one or more universal design principles to the display unit. It is characterized by being provided.

The invention of claim 2 is the universal design pendant of claim 1, wherein the control unit includes an AI control unit, and the output to the display unit or the external output includes control information by AI. Here, the external output is an output to the outside of the universal design pendant, and is typically an output to a robot. Since it is the output of the universal design pendant to the outside, it is natural that this includes the communication output to the outside.

Claim 3

In the invention of claim 3, the AI control unit determines the number of universal design principles to be realized in the universal design pendant of claim 2.
The number of universal design principles to be realized may be configured to be manually input to the input unit. However, in the invention of claim 3, the AI control unit is an indispensable configuration. The number can be input manually or automatically, but the AI control unit determines the number to be realized.

The invention of claim 4 is the universal design pendant of claim 3, wherein the control unit refers to the given universal design information of the hardware of the pendant to reinforce the given universal design information or the said. Information that realizes universal design other than the given universal design information is output to the display unit or externally output.

The invention's effect

The universal design pendant of the present invention seeks to realize at least one of the seven principles of universal design. In addition, among the above seven principles, AI control will try to realize an appropriate number of principles depending on the situation. Also, if the pendant is already designed based on the universal design principle, the universal design principle and other principles can be further strengthened or reinforced. Therefore, it is possible to provide a pendant that is easy for anyone to use at the manufacturing or production site.

Block diagram showing the first embodiment of the present invention Block diagram showing a second embodiment of the present invention Block diagram showing a third embodiment of the present invention A block diagram showing an embodiment of AI control according to the present invention.

Embodiments of the present invention will be described below with reference to the drawings.

The principles or principles of universal design are the following seven items. For convenience, numbers are assigned from p1 to p7.
p1 Fair use (anyone can use it fairly).
Flexibility in using p2 (flexibility in using).
p3 Simple and intuitive use (easy to use and self-explanatory).
p4 Recognizable information (knowing the necessary information immediately).
p5 Tolerance to accidental or unintended failure (tolerance of inadvertent mistakes).
p6 Less physical effort (does not require excessive physical strain).
p7 Size and space for approach and use (sufficient size and space for use are secured).
In each of the following examples, the universal design pendant is referred to as a pendant.
FIG. 1 is a block diagram showing a first embodiment of the present invention. The main components of the robot system are the robot 8 and the pendant 1. Although not shown, the robot has a drive mechanism, that is, an arm. The so-called system controller of the robot is not shown, but it may be installed anywhere in the system. A more convenient method for carrying out the present invention is a method of incorporating the pendant 1 into the control unit 6.
In the present invention, an input unit is required. The input unit is a means for inputting information from the pendant 1 or its outside and outputting it to the control unit 6. The input unit may be singular or plural. Preferably, a plurality of them are provided. In FIG. 1, the input units are an input key 3a and a sensor input unit 3b. Although not shown, if the display unit 2 is a touch panel, the display unit 2 can also function as an input unit, which is a desirable embodiment.
The number of sensors electrically connected to the sensor input unit 3b may be singular or plural. FIG. 1 shows a case where the camera 4a is used as a sensor. The part where the sensor is provided is free. It may be built in the robot, it may be built in the pendant, or it may be provided independently outside the pendant 1 or the robot 8 as shown in FIG. Although a camera is not essential for carrying out the present invention, it is desirable to provide a camera 4a as one of the sensors that output a signal to an input unit.
The pendant 1 is a portable terminal device or operating device having an input function (input means) and an output function (display means). The pendant 1 always includes a display unit 2. Conventional technology is sufficient for the display unit itself. The present invention is characterized by a control unit that outputs information to the display unit.
The input key 3a may be any input means. For example, a mouse may be used, but a keypad that is easy to mount on a pendant is usually used.
In the present invention, the tablet type terminal is also regarded as a kind of pendant. That is, the display unit 2 may be formed on the touch panel, and the input key 3a may be provided on the display unit 2. In general, laptop computers are not pendants. However, a terminal that can be operated while being carried by an operator is a pendant as referred to in the present invention. For example, if you attach a strap to your laptop, it will be a pendant. Also, if you operate your laptop in a bag like a shoulder bag without attaching a strap, it is a pendant.
Routines and modules for performing control based on the principle of universal design are stored in the memory 7. The memory 7 may be provided in the control unit 6.
The control unit 6 causes the information from the input key 3a or the sensor input unit 3b to be input, interprets the information, extracts the necessary information from the memory 7, and obtains information that contributes to the realization of at least one of the principles of universal design. , Output to the display unit 2 or the robot 8. For example, help information designed based on the above principle p1 is displayed on the display unit 2. The robot 8 performs a simulated operation based on the above p1 and p2, or issues an alarm if an inappropriate command is given to the robot. The pendant 1 to the control unit 6 tried to realize the above p5.

FIG. 2 is a block diagram showing a second embodiment of the present invention.
As described above, the sensor 4 may be attached to the robot 8. The sensor 4 that can be used other than the camera is a detection switch, a microphone, a force sensor, a torque sensor, a force sensor, an acceleration sensor, an encoder, or the like. Of course, a motor (not shown) can also be used as a sensor. This is because the torque can be calculated from the motor current. The key operation information (operation history) of the input key 3a can also be used as sensor information.
1 and 2 show substantially the same embodiment, but the major difference is that the AI control unit 5 is provided in the control unit 6 in FIG. 2. The AI control unit 5 may be provided separately from the control unit 6. A plurality of memories 7 may be provided. That is, a storage unit (not shown) dedicated to the AI control unit 5 may be provided.
If the operator performs a predetermined key operation from the input key 3a, control by AI control and control without using AI can be appropriately performed.
The AI control unit 5 evaluates the skill level of the worker, the operation history, the work content, the evolution level of AI (learning degree and learning motivation), and the like, and realizes the principle of universal design by AI control as appropriate. That is, the information for that purpose is output to the display unit 2 and the robot 8.

FIG. 3 is a block diagram showing a third embodiment of the present invention.
This embodiment is a modification of the embodiment of FIG. The memory 7 is provided in the control unit 6, and the AI control unit 5 is provided separately from the control unit 6 by connecting to the control unit 6. Others are the same as in FIG.
The AI control execution determination unit 7 may be provided separately from the control unit 6. Further, the AI control execution determination unit 7 may be provided in the AI control unit 5.
The worker inputs the desired number of the seven principles of universal design to be implemented from the input key 3a. Normally, one of the numbers 1 to 4 is entered. The inventor has found that it is difficult or too costly to achieve many universal design principles at the same time, generally four or more. In other words, it may violate the principle of universal design. If the pendant 1 recommends and displays to the operator a complicated operation or operation in order to satisfy the four or more principles at the same time, it may violate the principles of p2 and p3, for example, and may also violate the principle of p4.
When, for example, the number 3 is input from the input key, the AI control unit 5 refers to the information in the memory 7 in cooperation with the control unit 6, and gives priority to the principle that seems to be highly feasible among the seven principles. Select only 3 to carry out. Workers do not have to worry about choosing principles.
For example, it is assumed that the operator inputs the number 7 from the input key 3a. The AI control unit 5 uses artificial intelligence technology to implement the universal design principles that can be implemented by referring to the information from the given environment, that is, from the input units (input key 3a and sensor input unit 3b). .. For example, if 3 can be realized, only 3 can be realized in the current environment and situation, but it is output to the display unit 2.
As in the first embodiment described above, a universal design-oriented pendant can be implemented without AI control. However, by mounting the AI control unit on the pendant as in the second or third embodiment, it is possible to provide a pendant that can realize the principle of universal design more flexibly.

FIG. 4 is a block diagram showing an embodiment of AI control according to the present invention. This is the fourth embodiment of the present invention.
The control unit 6 includes an AI control unit 5. The AI control unit 5 may be provided outside the control unit 6. The input unit 3 includes the above-mentioned input key 3a and the sensor input unit 3b.
The memory 7 stores information about the principles p1 to p7 of universal design. The AI control unit automatically determines which of the seven principles of universal design should be realized, which principle and which principle should be realized, using artificial intelligence technology.
In FIG. 4, the set principle a (q1) means a module for implementing the set principle a by artificial intelligence technology. The AI control unit synthesizes the module for realizing the principle 2 and the principle 2 by the AI technology, and stores it as, for example, q1. Each time a module that combines some of the seven principles of universal design is created, it is stored in memory 7 in sequence of q2, q3, and q4.
As the learning by the AI control unit 5 progresses, the AI control unit 5 will be able to automatically call the module of the set principle according to the information input via the input unit 3.

In the present invention, the hardware means something other than the program itself stored in the memory. The pendant housing, man-machine interface, electronic circuit board, electrical components, communication cable, etc. are hardware.
Whether or not these hardware are designed based on the principles of universal design is a design choice for those skilled in the art. If any one of these hardware is designed using at least one or more universal design principles, the invention of claim 4 of the present invention can be carried out. Programs that further reinforce the same principles of a given universal design of pendant hardware can be stored in the pendant's memory. It is also possible to store in memory a program that implements principles other than this principle by software. In addition to strengthening this principle, it is also possible to realize principles other than this principle. It can be implemented by mounting such a program in memory. These controls are controlled by the AI control unit 5 under the initiative.

By providing a means for executing AI control on the pendant and controlling the AI control means (AI control unit 5) to realize the principle of universal design, the operability and productivity of the robot pendant can be improved more than before. can.

1 Pendant 2 Display unit 3 Input unit 3a Input key 3b Sensor input unit 4 Sensor 4a Camera 5 AI control unit 5a Direct teaching module 5b Indirect teaching module 5c Control calculation unit 6 Control unit 7 Memory 8 Robot

Claims (4)

In a portable and operable pendant that controls the robot
Equipped with an input unit and a display unit
A universal feature is provided with a control unit for outputting or externally outputting information aimed at realizing at least one or more universal design principles to the display unit with reference to the information obtained from the input unit. Design pendant. The universal design pendant according to claim 1, wherein the control unit includes an AI control unit, and the output to the display unit or the external output includes control information by AI. The universal design pendant according to claim 2, wherein the AI control unit determines the number of universal design principles to be realized. The control unit refers to the given universal design information of the hardware of the pendant, and obtains information that reinforces the given universal design information or information that realizes a universal design other than the given universal design information. The universal design pendant according to claim 3, which outputs to the display unit or outputs to the outside.

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