US 11,858,140 B2
Robot system and supplemental learning method
Hitoshi Hasunuma, Kobe (JP); Takuya Shitaka, Kakogawa (JP); Takeshi Yamamoto, Kobe (JP); and Kazuki Kurashima, Kakogawa (JP)
Assigned to KAWASAKI JUKOGYO KABUSHIKI KAISHA, Kobe (JP)
Appl. No. 17/058,770
Filed by KAWASAKI JUKOGYO KABUSHIKI KAISHA, Kobe (JP)
PCT Filed May 24, 2019, PCT No. PCT/JP2019/020697
§ 371(c)(1), (2) Date Nov. 25, 2020,
PCT Pub. No. WO2019/225746, PCT Pub. Date Nov. 28, 2019.
Claims priority of application No. 2018-100520 (JP), filed on May 25, 2018; and application No. 2018-245459 (JP), filed on Dec. 27, 2018.
Prior Publication US 2021/0197369 A1, Jul. 1, 2021
Int. Cl. B25J 9/16 (2006.01); B25J 13/08 (2006.01)
CPC B25J 9/163 (2013.01) [B25J 9/1697 (2013.01); B25J 9/1602 (2013.01); B25J 9/1679 (2013.01); B25J 13/08 (2013.01)] 19 Claims
OG exemplary drawing
 
1. A robot system comprising:
a robot configured to work based on an operation command;
a state detection sensor configured to detect and output a state value that indicates progress of work of the robot;
a control unit configured to function as
a learning control unit that outputs a calculation operation force based on the state value detected by the state detection sensor by using a model, the model being constructed by machine learning of a work state, a next work state associated with the work state, and at least one set of the state value and the operation force associated with the state value; and
a determination unit that outputs a determination result indicating whether or not the work of the robot can be continued under the control of the learning control unit based on the state value detected by the state detection sensor;
an operation device configured to be operated by an operator, the operation device being configured to detect and output an operator operation force that is an operation force applied by the operator;
an input device configured to accept an input of the work state by the operator and outputting the input; and
a switching device that receives the operator operation force applied by the operator in order to move the robot, the switching device being configured to convert the operator operation force into the operation command when the operator operation force is selected, and convert the calculation operation force into the operation command when the calculation operation force is selected, and output the operation command, wherein
the control unit is further configured to function as an additional learning unit that additionally learns the work state, the next work state associated with the work state, and at least one set of the state value and the operation force associated with the state value and updating the model based on the determination result indicating that the work of the robot cannot be continued, the work state output by the input device, the operator operation force output by the operation device for resolving a state in which the work cannot be continued, and the state value detected by the state detection sensor.