JP2023048560A - Server device and operation terminal - Google Patents

Abstract

To provide a server device that facilitates conveying supporter's intention to an operator.SOLUTION: A server device 1 capable of being connected to a robot control device 2 for controlling a manipulator 4 includes: a first reception part for receiving an image of the manipulator 4 filmed by an imaging terminal 5; and a first transmission part for transmitting an image received by the first reception part and additional information added to the image to the robot control device 2.SELECTED DRAWING: Figure 1

Description

The present invention relates to a server device and an operation terminal.

Conventionally, there is a system in which an electronic conference is held between a worker terminal used by a worker at a work site such as a factory and a supporter terminal used by a supporter who supports the worker (see Patent Document 1 below). In this system, images captured by cameras at the work site can be displayed on each terminal participating in the electronic conference.

Japanese Patent No. 6471434

When a supporter issues an instruction to a worker in the system of Patent Literature 1, for example, the operator can issue the instruction to the worker by voice while watching a video of the work site. However, the supporter's intention may not be well conveyed to the worker only by issuing instructions by voice.

SUMMARY OF THE INVENTION Accordingly, it is an object of the present invention to provide a server device and an operation terminal that can easily convey the intention of a supporter to a worker.

A server device according to an aspect of the present invention is a server device connectable to a control device that controls an industrial robot, the server device comprising: a first receiving unit that receives an image of the industrial robot captured by a first terminal; a first transmission unit configured to transmit the image received by the first reception unit and the additional information added to the image to the control device;

According to this aspect, when the image of the industrial robot at the work site is received from the first terminal, the image of the industrial robot and the additional information added to the image of the industrial robot are sent to the industrial robot. It can be sent to the controller that controls the robot. Therefore, it is possible to present the additional information added to the image of the industrial robot to the worker working at the work site.

In the above aspect, when a connection request to the control device is received, the image received by the control unit that controls communication between the second terminal that transmitted the connection request and the control device; A second transmission section for transmitting to the second terminal and a second reception section for receiving the additional information from the second terminal may be further provided.

According to this aspect, the image of the industrial robot received from the first terminal at the work site is transmitted to the second terminal connected via the server device from a location different from the work site, and the second terminal is used for the industrial robot. It becomes possible to receive the additional information added to the image of the robot and present it to the worker at the work site.

In the above aspect, the first transmission unit may transmit the image received by the first reception unit and the additional information for the image to the first terminal as well.

According to this aspect, it is possible to transmit the image of the industrial robot and the additional information thereon to the first terminal that captures the image of the industrial robot at the work site.

An operation terminal according to another aspect of the present invention is an operation terminal capable of operating an industrial robot, and is added to the image of the industrial robot taken by the first terminal and the image by the second terminal. An output unit for outputting additional information is provided.

According to this aspect, it is possible to output the image of the industrial robot photographed at the work site by the first terminal and the additional information added to the image of the industrial robot by the second terminal. Therefore, it is possible to present the additional information added to the image of the industrial robot at the second terminal, which is different from the first terminal at the work site, to the worker working at the work site.

The above aspect may further include a receiving unit that receives an image of the industrial robot and additional information added to the image from a control device that controls the industrial robot.

According to this aspect, it is possible to receive the image of the industrial robot and the additional information from the control device that controls the industrial robot and present them to the worker at the work site.

ADVANTAGE OF THE INVENTION According to this invention, the server apparatus and operation terminal which can make it easy to convey a supporter's intention to a worker can be provided.

It is a figure which illustrates the structure of the robot control system containing the teaching pendant and server apparatus as an operation terminal which concerns on this invention. FIG. 3 is a diagram illustrating configurations of a robot control device, a teaching pendant, and a manipulator; It is a figure which illustrates the structure of a server apparatus. FIG. 4 is a conceptual diagram for explaining an example of operations in the robot control system;

Preferred embodiments of the present invention will be described with reference to the accompanying drawings. It should be noted that, in each figure, the same reference numerals have the same or similar configurations. Also, since the drawings are schematic, the dimensions and proportions of each component are different from the actual ones.

FIG. 1 is a diagram illustrating the configuration of a robot control system including a teaching pendant and a server device as operation terminals according to the present invention. The robot control system 100 includes, for example, a server device 1, a robot control device (control device) 2, a teaching pendant (operation terminal) 3, a manipulator (industrial robot) 4, and a photographing terminal (first terminal) 5. , and a remote terminal (second terminal) 6 .

The server device 1 can be connected to the robot control device 2, the photographing terminal 5, and the remote terminal 6 via networks Na, Nb, and Nc, respectively. Networks Na, Nb, and Nc are, for example, the Internet, LANs, leased lines, telephone lines, mobile communication networks, Bluetooth (registered trademark), WiFi (Wireless Fidelity), other communication lines, combinations thereof, or the like. may be used, and may be wired or wireless.

The robot control device 2 is connected to the teaching pendant 3 and the manipulator 4 via, for example, communication cables. The connection is not limited to a wired line such as a communication cable, and may be connected by a wireless line.

The photographing terminal 5 is a terminal capable of photographing moving images and still images of the manipulator 4 at the work site where the manipulator 4 is installed. As the photographing terminal 5, for example, a smartphone can be used, but a digital camera or a portable terminal with a digital camera may also be used. Portable terminals include, for example, portable terminals such as tablet terminals, personal digital assistants (PDAs), and notebook PCs (personal computers).

The remote terminal 6 is a terminal located at a place away from the work site where the manipulator 4 is installed (a place different from the work site). As the remote terminal 6, for example, a PC, a notebook PC, a tablet terminal, a smart phone, or the like can be used. The remote terminal 6 is operated by, for example, a supporter (remote operator) who remotely gives advice, messages, and the like to workers at the work site.

Each configuration of the robot control device 2, the teaching pendant 3, and the manipulator 4 will be described with reference to FIG.

The manipulator 4 is an industrial robot that performs arc welding according to welding conditions set by the robot controller 2 . The manipulator 4 has, for example, an articulated arm 41 provided on a base member fixed to the floor of a factory or the like, and a welding torch 42 connected to the tip of the articulated arm 41 .

The welding conditions include, for example, data items such as welding conditions, welding start position, welding end position, arc discharge time, welding distance, welding torch posture, and welding torch moving speed. Welding conditions include data items such as welding current, welding voltage, welding speed, wire feed speed, and work thickness.

The robot control device 2 is a control unit that controls the operation of the manipulator 4, and includes, for example, a control section 21, a storage section 22, a communication section 23 and a welding power source section 24.

The control unit 21 implements various functions by causing the processor to execute a predetermined program stored in the storage unit 22 . Various functions include, for example, a function of controlling the manipulator 4 and the welding power source section 24 according to instructions from the teaching pendant 3 .

The storage unit 22 stores various programs and various information necessary for executing processing in the robot control device 2 .

The communication unit 23 controls communication with the teaching pendant 3 and the manipulator 4 connected via a communication cable, and communication with the server device 1 connected via the network Na.

The welding power supply unit 24 supplies a welding current, a welding voltage, and the like to the manipulator 4 according to predetermined welding execution conditions, for example, in order to generate an arc between the tip of the welding wire and the work. Note that the welding power supply unit 24 may be provided separately from the robot control device 2 .

The teaching pendant 3 is an operation terminal for an operator to teach the operation of the manipulator 4, and includes a control section 31, a storage section 32, a communication section 33, an input section 34 and an output section 35, for example.

The control unit 31 implements various functions by causing the processor to execute a predetermined program stored in the storage unit 32 . The various functions include, for example, a function of transmitting teaching data for teaching the operation of the manipulator 4 to the robot control device 2 in accordance with the operation instructions of the operator.

The storage unit 32 stores various programs and information necessary for executing processing in the teaching pendant 3 .

The communication unit 33 controls communication with the robot control device 2 connected via a communication cable.

The input unit 34 has, for example, a plurality of keys, generates an input signal according to the operation of each key, and outputs the input signal to the control unit 31 .

The output unit 35 includes, for example, a display and a speaker. The display may be a touch panel, and in that case, for example, it has both a function as a display unit that displays information about the manipulator 4 and a function as an input unit that receives input of operation instructions for the manipulator 4.

The configuration of the server device 1 will be described with reference to FIG. The server device 1 is a server that connects the remote terminal 6 and the photographing terminal 5 to the robot control device 2 and the teaching pendant 3 and mediates the exchange of information between these devices. The server device 1 includes, for example, a control unit 11, a storage unit 12, and a communication unit 13.

The control unit 11 implements various functions by causing the processor to execute a predetermined program stored in the storage unit 12 . Various functions include, for example, a function of controlling connection and communication between the remote terminal 6 or the photographing terminal 5 and the robot control device 2 and the teaching pendant 3 . Specifically, the control unit 11 controls connection and communication between the remote terminal 6 and the robot control device 2 when receiving a connection request to the robot control device 2 from the remote terminal 6 .

The storage unit 12 stores various programs and various information necessary for executing processing in the server device 1 .

The communication unit 13 controls communication with the robot control device 2, the imaging terminal 5, and the remote terminal 6, which are connected via the networks Na, Nb, and Nc. The communication unit 13 functions as a receiving unit and a transmitting unit, for example, as shown in (1) to (4) below.

(1) Receive an image of the manipulator 4 photographed by the photographing terminal 5 (first receiving section). The image of the manipulator 4 may be a moving image or a still image.

(2) Transmits the image of the manipulator 4 received in (1) above to the remote terminal 6 (second transmission unit).

(3) Receive additional information written by the remote terminal 6 to the image of the manipulator 4 transmitted in (2) above (second receiving unit). Additional information includes, for example, advice and messages for workers.

(4) Transmits the image of the manipulator 4 received in (1) above and the additional information received in (3) above to the robot control device 2 (first transmission unit).

An example of the operation of the robot control system 100 described above will be described with reference to FIG. In this operation, it is assumed that a worker working at the work site operates the teaching pendant 3 and the photographing terminal 5, and a supporter who is away from the work site operates the remote terminal 6. The operator who operates the teaching pendant 3 and the operator who operates the imaging terminal 5 may be the same person or different persons.

First, the server device 1 connects the photographing terminal 5 to the robot control device 2 and the teaching pendant 3 (step S1). When connecting the photographing terminal 5 to the robot control device 2 and the teaching pendant 3, it is preferable to authenticate the legitimacy of the photographing terminal 5 using a known authentication technique before connecting.

Subsequently, the photographing terminal 5 photographs the manipulator 4 according to the operation instruction of the worker at the work site (step S2).

Subsequently, the photographing terminal 5 transmits the image of the manipulator 4 to the server device 1 (step S3). Thereby, the server device 1 receives the image of the manipulator 4 .

Subsequently, the server device 1 transmits the image of the manipulator 4 to the remote terminal 6 (step S4). Thereby, the remote terminal 6 receives the image of the manipulator 4 .

Here, it is assumed that the remote terminal 6, the robot control device 2, and the teaching pendant 3 are connected via the server device 1 before executing step S4. On the screen of the remote terminal 6 connected to the robot control device 2 and the teaching pendant 3, for example, the same screen as the screen displayed on the teaching pendant 3 can be displayed. The screens displayed on the teaching pendant 3 include, for example, a screen for setting welding execution conditions, a screen for setting an operation program for operating the manipulator 4, and the like.

Upon receiving the image of the manipulator 4 from the server device 1 , the remote terminal 6 displays the received image of the manipulator 4 on the screen of the remote terminal 6 . At this time, only the received image of the manipulator 4 may be displayed on the screen of the remote terminal 6, or a screen displaying the received image of the manipulator 4 and a screen displayed on the teaching pendant 3 may be displayed. They may be displayed side by side.

Subsequently, the remote terminal 6 transmits to the server device 1 additional information A written by the support person in the image of the manipulator 4 received from the server device 1 (step S5). In FIG. 4, as the additional information A, a line surrounding the manipulator 4 is written.

Subsequently, the server device 1 combines the image of the manipulator 4 received from the photographing terminal 5 with the additional information A received from the remote terminal 6, and transmits the synthesized image to the robot control device 2 (step S6).

Subsequently, the robot control device 2 causes the display of the teaching pendant 3 to display the image obtained by synthesizing the additional information A with the image of the manipulator 4 received in step S6 (step S7). In FIG. 4 , in addition to the manipulator 4 , a line surrounding the manipulator 4 as additional information A is displayed on the display of the teaching pendant 3 .

As described above, according to the server device 1 according to the embodiment, the image of the manipulator 4 received from the photographing terminal 5 at the work site is transmitted to the remote terminal 6 located at a location different from the work site, and the remote terminal 6 can receive the additional information A added to the image of the manipulator 4 , synthesize the additional information A with the image of the manipulator 4 , and transmit it to the robot control device 2 .

Further, according to the teaching pendant 3 according to the embodiment, an image of the manipulator 4 photographed by the photographing terminal 5 at the work site is added to the image of the manipulator 4 by the remote terminal 6 located at a location different from the work site. An image synthesized with the additional information A can be received from the robot control device 2, and the synthesized image can be displayed on the display.

Therefore, according to the robot control system 100 including the server device 1 and the teaching pendant 3 according to the embodiment, the additional information A added to the image of the manipulator 4 at a location different from the work site can be transmitted to the worker working at the work site. can be presented to

Therefore, according to the robot control system 100 including the server device 1 and the teaching pendant 3 according to the embodiment, it is possible to easily convey to the worker the intention of the supporter who is in a place different from the work site.

[Variation]
It should be noted that the present invention is not limited to the embodiments described above, and can be implemented in various other forms without departing from the gist of the present invention. Therefore, the above-described embodiment is merely an example in all respects, and should not be construed as limiting.

For example, in the above-described embodiment, additional information is written to the image of the manipulator 4, but the writing of additional information is not limited to this. Any information can be added to the image of the manipulator 4 . For example, the supporter may input voice and add the voice to the image of the manipulator 4 as additional information. In this case, the robot control device 2 receives the image of the manipulator 4 and the audio as additional information from the server device 1, displays the image of the manipulator 4 on the display of the teaching pendant 3, and transmits the audio as additional information to the teaching pendant. It is sufficient to output from the 3 speaker.

In the above-described embodiment, the remote terminal 6 adds (writes) the additional information to the image of the manipulator 4, but the remote terminal 6 is not the only one that adds the additional information. For example, the server device 1 may add additional information. In this case, for example, a touch panel display and a microphone are connected to the server apparatus 1, an image of the manipulator 4 is displayed on the touch panel display, and the operator of the server apparatus 1 is allowed to write additional information or input voice. , additional information can be added.

Furthermore, in the above-described embodiment, the server device 1 transmits to the robot control device 2 the image obtained by synthesizing the image of the manipulator 4 with the additional information A, but the transmission destination is not limited to the robot control device 2 . For example, the synthesized image may be further transmitted to the photographing terminal 5 .

DESCRIPTION OF SYMBOLS 1... Server apparatus, 2... Robot control apparatus, 3... Teaching pendant, 4... Manipulator, 5... Shooting terminal, 6... Remote terminal, 11... Control part, 12... Storage part, 13... Communication part, 21... Control part, DESCRIPTION OF SYMBOLS 22... Storage part, 23... Communication part, 24... Welding power supply part, 31... Control part, 32... Storage part, 33... Communication part, 34... Input part, 35... Output part, 41... Articulated arm, 42... Welding Torch, 100...Robot control system

Claims (5)

A server device connectable to a control device that controls an industrial robot,
a first receiving unit that receives an image of the industrial robot captured by a first terminal;
a first transmission unit configured to transmit the image received by the first reception unit and additional information added to the image to the control device;
A server device comprising a control unit that, when receiving a connection request to the control device, controls communication between the second terminal that has transmitted the connection request and the control device;
a second transmission unit that transmits the image received by the first reception unit to the second terminal;
a second receiving unit that receives the additional information from the second terminal;
The server device according to claim 1, further comprising: The first transmission unit transmits the image received by the first reception unit and the additional information for the image to the first terminal,
3. The server device according to claim 1 or 2. An operation terminal capable of operating an industrial robot,
an output unit that outputs an image of the industrial robot captured by a first terminal and additional information added to the image by a second terminal;
operating terminal. further comprising a receiving unit that receives an image of the industrial robot and additional information added to the image from a control device that controls the industrial robot;
The operation terminal according to claim 4.

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