Robot operation apparatus and robot operation program product

Patent metadata

Field	Value
Publication number	US-9857962-B2
Application number	US-201615075699-A
Country	US
Kind code	B2
Filing date	Mar 21, 2016
Priority date	Mar 19, 2015
Publication date	Jan 2, 2018
Grant date	Jan 2, 2018

Abstract

A robot operation apparatus comprising: a touch panel that receives input of a touch operation and a movement operation from a user; an operation detector that detects the touch operation and the movement operation to the touch panel; and a behavior command generator that generates a behavior command operating a robot based on a detection result of the operation detector. The behavior command generator performs a behavior speed determination process that determines a behavior speed of the robot based on an operation speed of the movement operation, when the operation detector detects the movement operation to an operation graphic provided on the touch panel.

First claim

What is claimed is:

1. A robot operation apparatus comprising:
a touch panel that receives input of a touch operation and a movement operation from a user;
an operation detector that detects the touch operation and the movement operation to the touch panel; and
a behavior command generator that generates a behavior command operating a robot based on a detection result of the operation detector,
wherein:
the behavior command generator calculates, as a behavior speed determination process, an operation speed of the movement operation when the operation detector detects the movement operation to an operation graphic drawn on the touch panel, and
the behavior command generation further determines, as the behavior speed determination process, a behavior speed of the robot based on the operation speed calculated of the movement operation.

2. The robot operation apparatus according to claim 1 , wherein:
the behavior command generator
determines a behavior direction of the robot to a positive direction when an operation direction of the movement operation is a positive direction with respect to a rotation circumferential direction of the operation graphic, and
determines the behavior direction of the robot to a negative direction when the operation direction of the movement operation is a negative direction with respect to the rotation circumferential direction of the operation graphic.

3. The robot operation apparatus according to claim 1 , wherein:
the operation graphic includes a plurality of selection areas to which behavior modes of the robot provided by driving axes or combinations of the driving axes of the robot are allocated; and
the behavior command generator determines a behavior mode to which a selection area receiving the touch operation is allocated to a behavior mode of the robot when the operation detector detects the touch operation with respect to the selection area.

4. The robot operation apparatus according to claim 1 , further comprising:
a display that displays a graphic; and
a display controller that controls display contents of the display,
wherein:
the display controller performs an operation graphic display process that displays the operation graphic on the display.

5. The robot operation apparatus according to claim 4 , wherein:
the operation graphic display process includes displaying the operation graphic on the display by rotating the operation graphic in accordance with a movement of a present position by the movement operation.

6. The robot operation apparatus according to claim 1 , wherein:
the behavior speed determination process determines the behavior speed of the robot based on an angular speed of the movement operation around a rotation center provided on the operation graphic.

7. The robot operation apparatus according to claim 6 , wherein:
the behavior speed determination process includes determination that the movement operation within an invalid area is invalid when the operation detector detects the movement operation to the invalid area provided in a vicinity of the rotation center on the operation graphic.

8. The robot operation apparatus according to claim 1 , wherein:
the behavior speed determination process determines the behavior speed of the robot based on a circumferential speed of the movement operation with respect to a rotation center provided on the operation graphic.

9. The robot operation apparatus according to claim 1 , wherein:
the behavior speed determination process includes a speed reduction process that gradually decreases the behavior speed of the robot in a period when a subsequent movement operation is not received after input of the movement operation has ended.

10. The robot operation apparatus according to claim 9 , wherein:
the behavior speed determination process further includes a speed maintenance process that maintains the behavior speed of the robot immediately before the input of the movement operation ends in a predetermined period after the input of the movement operation has ended and before the speed reduction process starts.

11. The robot operation apparatus according to claim 10 , wherein:
in a case where the subsequent movement operation is input during the speed maintenance process based on a previous movement operation,
the behavior command generator
maintains the behavior speed of the robot at the operation speed of the previous movement operation when the operation speed of the subsequent movement operation falls within a predetermined range for the operation speed of the previous movement operation, and
determines the behavior speed of the robot based on the operation speed of the subsequent movement operation when the operation speed of the subsequent movement operation falls out of the predetermined range for the operation speed of the previous movement operation.

12. The robot operation apparatus according to claim 9 , wherein:
the behavior command generator performs a stop process that stops the robot when the touch operation has been performed to the operation graphic for a predetermined period or longer during motion of the robot.

13. The robot operation apparatus according to claim 12 , wherein:
the behavior command generator performs correction that shifts the robot to a position of the robot at which the touch operation is performed, when the robot shifts from the position at which the touch operation for execution of the stop process is performed.

14. A robot operation program product that is stored in a non-transitory computer readable storage medium and includes a command that causes a computer to:
calculate an operation speed of a movement operation when an operation detector detects the movement operation to an operation graphic drawn on the touch panel; and
determine a behavior speed of a robot based on the operation speed calculated of the movement operation,
wherein the computer is embedded in a robot operation apparatus, the robot operation apparatus including:
a touch panel that receives input of a touch operation and the movement operation from a user,
the operation detector that detects the touch operation and the movement operation to the touch panel, and
a behavior command generator that generates a behavior command operating a robot based on a detection result by the operation detector.

15. A robot operation apparatus comprising:
a touch panel that receives input of a touch operation and a movement operation from a user;
an operation detector that detects the touch operation and the movement operation to the touch panel; and
a behavior command generator that generates a behavior command operating a robot based on a detection result of the operation detector,
wherein:
the behavior command generator performs a behavior speed determination process that determines a behavior speed of the robot based on an operation speed of the movement operation, when the operation detector detects the movement operation to an operation graphic drawn on the touch panel;
the operation graphic has a predetermined shape and has a rotation center so as to be operated in a rotation circumferential direction around the rotation center; and
the behavior command generator determines a behavior direction of the robot to a predetermined direction when the operation graphic is operated around the rotation center in a predetermined direction of the rotation circumferential direction.

Assignees

• Denso Wave Inc

Inventors

• Yui Daisuke
• Kanada Motoki
• Sugano Atsuko
• Touma Hirota

Classifications

• G05B2219/36162

  Pendant control box · CPC title

• B25J9/1656

  characterised by programming, planning systems for manipulators · CPC title

• G06F3/0416 Primary

  Control or interface arrangements specially adapted for digitisers · CPC title

• G06F3/0486

  Drag-and-drop · CPC title

• G06F3/0488

  using a touch-screen or digitiser, e.g. input of commands through traced gestures · CPC title