Control device

A control device for controlling a robot provided with a sensor, the control device comprising:

• a sensor coordinate storage unit configured to store coordinate system information related to a preset sensor coordinate system of the sensor;
• a sensor setting storage unit configured to store setting information related to communication with the sensor;
• a sensor data reception unit configured to receive sensor data detected by the sensor based on the setting information;
• a sensor physical quantity computation unit configured to calculate a physical quantity from the sensor data;
• an axis angle detection unit configured to detect an angle of each of a plurality of axes included in the robot;
• a sensor physical quantity estimation unit configured to estimate a physical quantity related to the sensor through a forward transformation using the angles of the respective axes detected by the axis angle detection unit and a coordinate transformation of the sensor coordinate system;
• and
• a sensor value anomaly determination unit configured to compare the physical quantity calculated from the sensor data against the physical quantity estimated by the sensor physical quantity estimation unit, and determine that the sensor data reception unit is receiving sensor data from a sensor provided on another robot if a difference between the calculated physical quantity and the estimated physical quantity is greater than a preset threshold.

A control device for controlling a robot among a plurality of robots each provided with a sensor, the control device comprising:

• a sensor coordinate storage unit configured to store coordinate system information related to a preset sensor coordinate system of the sensor provided on the robot to be controlled;
• a sensor data reception unit configured to receive sensor data detected by each of the sensors provided on the respective robots including the robot to be controlled;
• an axis angle detection unit configured to detect an angle of each of a plurality of axes included in the robot to be controlled;
• a sensor value estimation unit configured to estimate sensor values to be detected by the sensor of the robot to be controlled, through a forward transformation using the angles of the respective axes detected by the axis angle detection unit and a coordinate transformation of the sensor coordinate system;
• and
• an appropriate sensor determination unit configured to compare, for each of the sensors provided on the respective robots, values of the sensor data from the sensor against the sensor values estimated by the sensor value estimation unit, and determine that the sensor is provided on a robot other than the robot to be controlled if a difference between the sensor data and the estimated sensor values is greater than a preset threshold.

A control device for controlling a robot among a plurality of robots each provided with a sensor, the control device comprising:

• a sensor coordinate storage unit configured to store coordinate system information related to a preset sensor coordinate system of the sensor provided on the robot to be controlled;
• a sensor data reception unit configured to receive sensor data detected by each of the sensors provided on the respective robots including the robot to be controlled;
• a sensor physical quantity computation unit configured to calculate a physical quantity from the sensor data from each of the sensors provided on the respective robots;
• an axis angle detection unit configured to detect an angle of each of a plurality of axes included in the robot to be controlled;
• a sensor physical quantity estimation unit configured to estimate a physical quantity related to the sensor of the robot to be controlled, through a forward transformation using the angles of the respective axes detected by the axis angle detection unit and a coordinate transformation of the sensor coordinate system;
• and
• an appropriate sensor determination unit configured to compare, for each of the sensors provided on the respective robots, the physical quantity calculated from the sensor data from the sensor against the physical quantity estimated by the sensor physical quantity estimation unit, and determine that the sensor is provided on a robot other than the robot to be controlled if a difference between the physical quantity calculated from the sensor data and the estimated physical quantity is greater than a preset threshold.