CN-121989223-A - State determination device and state determination method

Abstract

The invention provides a state determination device and a state determination method capable of realizing proper control of a robot cooperating with an operator according to the state of a working environment. A state determination device according to the present invention includes a biological information acquisition unit that acquires biological information of an operator who performs an operation in cooperation with a robot that uses machine learning to control an operation of the operator in an operation environment, a line-of-sight position information acquisition unit that acquires line-of-sight position information based on a line of sight of the operator wearing a wearable device, and a determination unit that determines a state of the operation environment based on the line-of-sight position information and a change in the biological information of the operator when the line of sight of the operator falls on a predetermined device used in an operation of an object in the operation environment.

Inventors

• Saito Daiyo

Assignees

• 丰田自动车株式会社

Dates

Publication Date

20260508

Application Date

20251031

Priority Date

20241101

Claims (5)

1. 1. A state determination device is characterized by comprising: a biological information acquisition unit that acquires biological information of an operator who performs work in cooperation with the robot in the work environment; a sight line position information acquisition unit that acquires sight line position information based on the sight line of the worker wearing the wearable device, and And a determination unit that determines a state of the work environment based on the line-of-sight position information and a change in biological information of the worker when the line of sight of the worker falls on a predetermined device used for work of an object in the work environment.
2. 2. The state determination device according to claim 1, further comprising a control unit that controls the robot to stop operating when the determination unit determines that there is an abnormality in the work environment.
3. 3. The state determination device according to claim 1, wherein, The robot controls its own motion using machine learning based on an image captured by an imaging device attached to the robot.
4. 4. The state determination device according to claim 1, wherein, The biological information of the operator at least comprises the body temperature, the perspiration and the brain electricity of the operator.
5. 5. A state determination method executed by a state determination device, comprising the steps of: acquiring biological information of an operator who performs work in cooperation with a robot in a work environment; acquiring line-of-sight position information based on the line of sight of the worker wearing the wearable device, and When the line of sight of the operator falls on a predetermined device used in the work of the object in the work environment, the state of the work environment is determined based on the line of sight position information and the change in biological information of the operator.

Description

State determination device and state determination method Technical Field The present invention relates to a state determination device and a state determination method in a work environment. Background There is known a technique of acquiring biological information of an operator and causing an operation target device to execute emergency processing at the time of abnormality. Patent document 1 describes a technique related to an emergency processing system that causes an operation target device to execute emergency processing based on an abnormal state signal generated based on biological information that is a physical reaction of an operator to the operation target device. Patent document 1 Japanese patent application laid-open No. 2017-051350 Disclosure of Invention In the working environment, when an operator finds an abnormality by directing his/her line of sight to a predetermined device such as a production device, the biological information changes due to an increase in perspiration amount, an increase in body temperature, or the like. As in the technique described in patent document 1, the abnormality state is determined based on only the biological information of the operator, and the accuracy of determination of abnormality of the work environment cannot be sufficient. Therefore, when the robot and the worker cooperate with each other using a predetermined device, it is difficult for the robot to accurately search for a task corresponding to the condition of the work environment, and it is difficult to realize real-time control by the robot. The invention aims to provide a state judging device which can realize proper control on a robot cooperated with an operator according to the state of a working environment. A state determination device according to the present invention includes a biological information acquisition unit that acquires biological information of an operator who performs work in cooperation with a robot in a work environment, a line-of-sight position information acquisition unit that acquires line-of-sight position information based on a line of sight of the operator wearing a wearable device, and a determination unit that determines a state of the work environment based on the line-of-sight position information and a change in the biological information of the operator when the line of sight of the operator falls on a predetermined device used in work of an object in the work environment. Effects of the invention The present invention can provide a state determination device capable of appropriately controlling a robot that cooperates with an operator according to the state of a work environment. Drawings Fig. 1 is a diagram showing a schematic configuration of a work environment according to an embodiment of the present invention. Fig. 2 is a diagram showing a schematic configuration of a state determination system according to an embodiment of the present invention. Fig. 3 is a diagram showing a hardware configuration of a state determination device according to an embodiment of the present invention. Fig. 4 is a block diagram showing a functional configuration of a state determination device according to an embodiment of the present invention. Fig. 5 is a flowchart showing a state determination method executed by the state determination device according to an embodiment of the present invention. Detailed Description Hereinafter, embodiments will be described with reference to the drawings. Further, since the drawings are simplified, the technical scope of the embodiments cannot be narrowly interpreted based on the description of the drawings. The same reference numerals are given to the same elements, and duplicate descriptions are omitted. In the following embodiments, when the number of elements and the like (including the number, the numerical value, the amount, the range and the like) are mentioned, the number is not limited to a specific number, but may be a specific number or more, or may be the following, unless the number is particularly clear and the number is obviously limited to a specific number in principle. In the following embodiments, the constituent elements are not necessarily required, except for the cases where they are particularly clear and the cases where they are obviously considered to be necessary in principle. In the same manner, in the following embodiments, when referring to the shape, positional relationship, and the like of constituent elements and the like, the shapes and the like substantially similar or analogous to those of the elements and the like are included, except for the cases where they are particularly clear, the cases where they are not considered to be obvious in principle, and the like. This is also true for the above amounts and the like (including numbers, values, amounts, ranges, etc.). Embodiment(s) < Construction of working Environment 1 > Fig. 1 is a diagram showing a schematic configuration of a work environment 1 accordi