Robot control device and computer readable medium
A robot control device that controls a robot that executes operations in the same area as an operator includes: an information acquisition unit that acquires information indicating a control state of the robot, information indicating an attitude of the operator, and information indicating a position of an operating target object in the operations; an estimating unit that estimates an operation in execution on the basis of respective pieces of information acquired by the information acquisition unit; a required time calculating unit that calculates a required time required until the operation in execution ends on the basis of the estimated operation in execution; an operation plan creating unit that creates an operation plan of the robot on the basis of the required time; and a control unit that controls the robot so as to execute operations according to the operation plan.
1. A robot control device that controls a robot that executes operations in the same area as an operator, the robot control device comprising:
an information acquisition unit that acquires information indicating a control state of the robot, information indicating an attitude of the operator, and information indicating a position of an operating target object in the operations;
an estimating unit that estimates an operation in execution on a basis of respective pieces of information acquired by the information acquisition unit;
a required time calculating unit that calculates a required time required until the operation in execution ends on a basis of the estimated operation in execution;
an operation plan creating unit that creates an operation plan of the robot on a basis of the required time; and
a control unit that controls the robot so as to execute operations according to the operation plan.
2. The robot control device according to claim 1 , further comprising:
an operation time recording unit that stores the estimated operation of the estimating unit and an operation time which is a time elapsed until the estimated operation ends after the estimated operation starts in correlation, wherein
the required time calculating unit reads an operation time corresponding to a calculation target operation of the required time from the operation time recording unit and calculates the required time on a basis of the read operation time.
3. The robot control device according to claim 2 , wherein the required time calculating unit calculates a time obtained by averaging the read operation times as the required time.
4. The robot control device according to claim 1 , wherein the information acquisition unit further acquires identification information for identifying the operator, and
the required time calculating unit calculates the required time required until the operation in execution ends on the basis of the estimated operation in execution and an operator specified on the basis of the acquired identification information.
5. The robot control device according to claim 1 , wherein the operation plan creating unit creates the operation plan so that the robot enters the same area after the required time of the operation by the operator has elapsed.
6. The robot control device according to claim 1 , wherein the operation plan creating unit creates the operation plan so that a period in which the robot and the operator are present in the same area decreases.
7. The robot control device according to claim 1 , wherein the operation plan creating unit creates the operation plan so that a waiting period of the operator decreases.
8. A non-transitory computer readable medium having recorded thereon a robot control program for causing a computer to function as a robot control device that controls a robot that executes operations in the same area as an operator, the robot control device comprising:
an information acquisition unit that acquires information indicating a control state of the robot, information indicating an attitude of the operator, and information indicating a position of an operating target object in the operations;
an estimating unit that estimates an operation in execution on a basis of respective pieces of information acquired by the information acquisition unit;
a required time calculating unit that calculates a required time required until the operation in execution ends on a basis of the estimated operation in execution;
an operation plan creating unit that creates an operation plan of the robot on a basis of the required time; and
a control unit that controls the robot so as to execute operations according to the operation plan.