Robot system using a vision sensor

A robot system including a robot which is provided in a robot operating section and a robot controller which controls the operation of the robot in the robot operating section, comprising:

• an imaging unit for imaging a predetermined section which includes at least a portion of the robot operating section;
• an image processing unit which processes images taken by the imaging unit;
• an entry request unit which is to be operated when a person requests to enter the predetermined section;
• and
• a signal output unit which, in a case where the person has requested through the entry request unit to enter the predetermined section, outputs depending on a processing result of the image processing unit an entry permission signal indicating that the person is permitted to enter the predetermined section;
• wherein if the image processing unit detects that the robot has reached a stopping position taught in advance after the person requested to enter the predetermined section, at least one of an instruction to stop the robot and an instruction to stop a portion of the robot system which is necessary to enable the person to enter therein is outputted, and the signal output unit outputs the entry permission signal.