Robot system
A robot system includes a robot installed such that the working space thereof is within a first area, an image acquisition unit that sequentially acquires images of the vicinity of a boundary of the first area and a second area that are adjacent to each other with the boundary therebetween, a monitoring-area setting unit that sets a monitoring area in a space adjacent to the boundary in the second area in the images acquired by the image acquisition unit, an object detecting unit that detects a moving object in the monitoring area set by the monitoring-area setting unit by processing the images acquired by the image acquisition unit, and a controller that performs control so as to restrict the operation of the robot when the moving object is detected by the object detecting unit.
1. A robot system comprising:
a robot installed such that the working space thereof is within a first area;
an image acquisition unit that sequentially acquires images of the vicinity of a boundary of the first area and a second area that are adjacent to each other with the boundary therebetween;
a monitoring-area setting unit that sets, in the images acquired by the image acquisition unit, a monitoring area in each of a space in the first area adjacent to the boundary and in a space in the second area adjacent to the boundary;
an object detecting unit that detects a moving object in the monitoring area in the second area set by the monitoring-area setting unit by processing the images acquired by the image acquisition unit; and
a controller that performs control of the robot,
wherein when the moving object is detected by the object detecting unit, the controller performs control so as to restrict an operation of the robot located in the monitoring area in the first area and not to restrict the operation of the robot not located in the monitoring area in the first area.
2. The robot system according to claim 1 , wherein the monitoring-area setting unit sets the monitoring area in the first area based on a distance the moving object moves from when it is detected by the object detecting unit to when the operation restriction of the robot by the controller is completed.
3. The robot system according to claim 1 , wherein the image acquisition unit is a three-dimensional camera that acquires three-dimensional images.
4. The robot system according to claim 1 , wherein
the image acquisition unit comprises a three-dimensional camera that acquires three-dimensional images, and
the monitoring-area setting unit sets the monitoring area in the first area based on a distance the moving object moves from when it is detected by the object detecting unit to when the operation restriction of the robot by the controller is completed and based on the three-dimensional images acquired by the image acquisition unit.
5. The robot system according to claim 4 , wherein the monitoring-area setting unit sets the monitoring area in the first area from the surface of the moving object in the monitoring area in the second area detected by the three-dimensional image acquisition unit to a position offset to the first area side by the distance the moving object moves.
6. The robot system according to claim 1 , wherein the controller performs control so as to slow down the robot in the monitoring area set in the first area when the moving object is detected by the object detecting unit.
7. A robot system comprising:
a robot installed such that a working space thereof is within a first area;
a camera that sequentially acquires images of the vicinity of a boundary of the first area and a second area that are adjacent to each other with the boundary therebetween; and
a processor comprising hardware, the processor being configured to:
set, in the images acquired by the camera, a monitoring area in each of a space in the first area adjacent to the boundary and in a space in the second area adjacent to the boundary,
detect a moving object in the monitoring area in the set second area by processing the images acquired by the camera, and
in response to the moving object being detected, performing control so as to restrict an operation of the robot located in the monitoring area in the first area and not to restrict the operation of the robot not located in the monitoring area in the first area.