SAFETY CONTROL DEVICE, SAFETY CONTROL METHOD AND PROGRAM

PROBLEM TO BE SOLVED: To provide a safety control device which can prevent contact between a robot and an operator based on motion prediction of the operator when the robot and the operator work in cooperation.SOLUTION: A safety control device includes: first prediction means which predicts motion of an operator based on information on a line of sight of the operator; distance calculation means which calculates a distance between the robot and the operator based on positional information of the robot and the operator; second prediction means which predicts the distance between the robot and the operator after a predetermined time based on predicted motion of the operator which is predicted and the distance between the robot and the operator; contact prediction means which generates a control signal in response to a result of prediction of whether the robot and the operator contact or not after the predetermined time according to a magnitude relationship between a previously stored reference value and the predicted distance between the robot and the operator: and output means which outputs the control signal generated by the contact prediction means to the robot.SELECTED DRAWING: Figure 1 【課題】ロボットと作業者とが協働して作業する際に、作業者の動作予測に基づいてロボットと作業者との接触を防止できる安全制御装置を提供する。【解決手段】作業者の視線情報に基づいて作業者の動作を予測する第１予測手段と、ロボットおよび作業者の位置情報に基づいてロボットと作業者との間の距離を計算する距離計算手段と、予測された作業者の予測動作と、ロボットと作業者との間の距離とに基づいて、所定時間後におけるロボットと作業者との間の距離を予測する第２予測手段と、予め格納された基準値と、ロボットと作業者との間の予測距離との大小関係によって、ロボットと作業者とが所定時間後に接触するか否かを予測した結果に応じた制御信号を生成する接触予測手段と、接触予測手段によって生成された制御信号をロボットに出力する出力手段とを備える安全制御装置とする。【選択図】 図１