WO2017090141A1

WO2017090141A1 - Process planning device

Info

Publication number: WO2017090141A1
Application number: PCT/JP2015/083170
Authority: WO
Inventors: 貴弘岩田; 中須　信昭; 義輝勝村; 大毅梶田
Original assignee: 株式会社日立製作所
Priority date: 2015-11-26
Filing date: 2015-11-26
Publication date: 2017-06-01

Abstract

The purpose of the present invention is to provide a device whereby it is possible to flexibly allocate work processes in accordance with working conditions, and in accordance with the progress of work, in a robot-cell-based production system in which workers and robots work in cooperation with each other. In order to accomplish this purpose, the process planning device according to the present invention comprises: a work process monitoring unit which acquires progress status of each of a plurality of work processes; a device state monitoring unit which detects a state change (if any) associated with the progress of each work process on the basis of the acquired progress status of the work process; a device connection configuration planning unit which selects a resource that has become available as a result of a state change, and determines a connection configuration; a work process planning unit which calculates one or more work processes that are to be newly allocated to resources; a robot job generation unit which generates robot jobs for operating one or more robots in each robot cell in accordance with each work process; a manual work instruction generation unit which generates manual work instructions for specifying the work to be performed by each worker in accordance with each work process; and a work process switching unit which checks the progress of each process and switches between robot jobs and manual work instructions, generated as a result of replanning each process.

Description

Process planning device

The present invention relates to a process planning apparatus in a robot cell system.

As a background art in this technical field, there is JP 2014-37031 A (Patent Document 1). Patent Document 1 discloses that in a production system in which a robot and an operator share a work process to produce a product, the robot performs at least a part of the worker's work on an object on which the worker is not working. The point to share is described.
Further, there is JP 2012-168848 A (Patent Document 2). Patent Document 2 provides a production line management system that monitors the operating state of a production line and clarifies the degree of influence related to the progress of the entire production line when a trouble is detected, and notifies the related parties. Points are listed.

JP 2014-37031 A JP 2012-168848 A

In the above-mentioned Patent Document 1, since only the unworked state of the person, the work assumed by the person and the robot are the same, and all the recovery of the work process is assigned to the adjacent robot, the work ability assigned to the person and the robot is It is not assumed that they will be different. Therefore, it is impossible to prevent a reduction in equipment operation rate due to process reassignment in the entire system.

Further, in Patent Document 2, it is not assumed that the detected state is used for re-planning the process sharing of the production line. Therefore, it is impossible to prevent the equipment operation rate from being lowered by reflecting the detected state in the process plan of the apparatus.

In production systems in which workers and robots work in concert, requirements that affect the facility operating rate of the entire system include, for example, temporary delays due to work mistakes in workers' work processes, and continuous fatigue due to fatigue. It can be considered that the work speed is improved by the learning effect accompanying the work delay and the skill of the same work. Further, in the robot work process, there may be a continuous work stagnation due to a temporary delay or failure due to work retry, a device degeneration operation associated with a partial abnormality in the robot cell device, or the like.

Therefore, the present invention is a production system composed of a robot cell in which an operator and a robot work in cooperation with each other, and detects changes in the states of both the operator and the robot in the system during the work process. And a process planning apparatus capable of flexibly performing work process allocation according to work status and progress for the purpose of planning work processes in consideration of the robot's work ability and operating status.

In order to solve the above-described problems, the present invention is, as an example, a process planning apparatus connected to a production facility in which a robot and a worker work in cooperation with each other. It can be used in place of the work process monitoring unit that acquires the process progress status, the device status monitoring unit that determines that a status change has occurred in the process progress from the acquired process progress status, and the robot cell in which the status change has occurred A device connection configuration planning unit that selects a resource and determines a connection configuration, a work process planning unit that calculates a work process to be newly assigned to the resource according to the determined connection configuration, and operates the robot in the robot cell according to the calculated work process A robot job generation unit that generates a robot job to be performed, and a human work for instructing the work contents of the worker according to the calculated work process A human work instruction generation unit that generates instructions and a work process switching that switches the process by calculating the switching timing of the robot job and the human work instruction generated by the process re-planning with reference to the process progress obtained by the work process monitoring unit It is set as the structure which has a part.

According to the present invention, in a production system composed of robot cells, even if it is determined that the contents of the original process plan cannot be continued due to a state change that occurs in the execution of the work process between the operator and the robot, the work process Therefore, it is possible to prevent the facility operation rate from being lowered by planning the subsequent work process during the work process and smoothly switching the work process without stopping the entire system.

It is a figure which shows an example of the process planning apparatus in Example 1. FIG. It is a figure which shows an example of the production system comprised by the apparatus connected to the process planning apparatus in Example 1. FIG. 6 is a diagram illustrating an example of a device status notification information management table in Embodiment 1. FIG. 6 is a diagram illustrating an example of a device status notification data configuration table in Embodiment 1. FIG. It is a figure which shows an example of the product information management table in Example 1. FIG. It is a figure which shows an example of the resource information management table in Example 1. It is a figure which shows an example of the production plan information management table in Example 1. FIG. It is a figure which shows an example of the robot work plan information management table in Example 1. FIG. It is a figure which shows an example of the human work plan information management table in Example 1. FIG. It is a figure which shows an example of the flowchart of the state monitoring in Example 1. FIG. It is a figure which shows an example of the flowchart of the work process plan in Example 1. FIG. It is a figure which shows an example of the flowchart of the work process switching in Example 1. FIG. It is a figure which shows an example of a part of flowchart of work process switching in Example 1. FIG. It is a figure which shows an example of a part of flowchart of work process switching in Example 1. FIG. It is a figure which shows an example of the process plan apparatus output screen in Example 1. FIG. It is a figure which shows an example of the robot cell apparatus human work instruction | indication output screen in Example 1. FIG. It is a figure which shows an example of the hardware constitutions of the process planning apparatus in Example 1. FIG. It is a figure which shows an example of the production system structure of the robot cell and operator in Example 1. FIG. It is a figure which shows an example of the production system structure of the robot cell and operator in Example 2. FIG.

Embodiments of the present invention will be described below with reference to the drawings.

In this embodiment, an example will be described in which a work process is planned in the case where a state change to an abnormal state in which the device operation cannot be continued in the robot cell device in the production system occurs.

First, an example of the configuration in the present embodiment will be described with reference to FIGS.

FIG. 1 is a diagram showing a configuration of a process planning apparatus in the present embodiment. In FIG. 1, the process planning apparatus 100 includes a storage unit 110, a calculation unit 120, a communication unit 130, an input unit 140, and an output unit 150.

The storage unit 110 includes an apparatus state storage area 111, a production plan storage area 112, a product information storage area 113, a robot resource storage area 114, a human resource storage area 115, and a process plan storage area 116.

The device state storage area 111 includes notification information such as the state change content detected by the workers and robots constituting the production system including the process planning device 100, and the next process content related to the time information and notification information when the notification is received. And related information such as are stored in association with each other.

Here, FIG. 3 is a diagram showing a device status notification information management table 300 stored in the device status storage area 111. The device status notification information management table 300 includes a resource ID 300a, a process ID 300b, a product ID 300c, a notification status ID 300d, a notification time 300e, a current process completion scheduled time 300f, a next process completion 300g, and a next process completion scheduled time 300h. And having. The information 300a to 300d in FIG. 3 is stored based on the information 400a to 400d in the apparatus status notification data configuration table 400 in FIG.

The production plan storage area 112 stores product information such as product IDs and product names of products produced by a production system including the process planning device 100 and production plan information such as the number of products produced and the production completion deadline in association with each other. Is done.

Here, FIG. 7 is a diagram showing a production plan information management table 700 stored in the production plan storage area 112. The production plan information management table 700 has a product ID 700a, a product name 700b, a production quantity 700c, and a production management deadline 700d.

The product information storage area 113 is product information such as the product ID and product name of the product produced by the production system including the process planning device 100, the process ID of the work process necessary for producing the product, the process work content, etc. Are stored in association with each other.

Here, FIG. 5 is a diagram showing a product information management table 500 stored in the product information storage area 113. The product information management table 500 has a product ID 500a, a product name 500b, a process ID 500c, and a process content 500d.

The robot resource storage area 114 stores resource information such as the resource ID and resource name of the robot and the work process contents and work that can be performed on the target resource regarding the robot among the work resources constituting the production system including the process planning device 100. The resource capability information such as the standard time spent and the resource operation information such as the current operation status in the production system are stored in association with each other.

The human resource storage area 115 relates to the worker among the work resources constituting the production system including the process planning device 100, resource information such as the resource ID and resource name of the worker, and details of the work process that can be performed on the target resource. Resource capability information such as standard time spent for work and resource operation information such as the current operation status in the production system are stored in association with each other.

Here, FIG. 6 is a diagram showing a resource information management table 600 stored in the robot resource storage area 114 and the human resource storage area 115. The resource information management table 600 includes a resource ID 600a, a resource name 600b, an executable process 600c, a standard work time 600d, and a current operation status 600e.

The process plan storage area 116 includes resource information such as resource IDs and resource names of work resources constituting the production system including the process planning apparatus 100, and a robot for operating the process IDs and processes of the work processes assigned to the resources. Process assignment information such as job ID of job and work instruction ID for work instruction to worker, timing for switching between robot job and work instruction content, timing for starting operation according to switched robot job and work instruction Are stored in association with each other. Further, a robot job program associated with the robot job ID and a human work instruction diagram associated with the work instruction ID are stored together.

Here, FIG. 8 is a diagram showing a robot work plan information management table 800 stored in the process plan storage area 116. The robot work plan information management table 800 has a resource ID 800a, a resource name 800b, an allocation process ID 800c, a robot job ID 800d, a job switching timing 800e, and an execution start timing 800f.
Here, FIG. 9 is a diagram showing a human work plan information management table 900 stored in the process plan storage area 116. The human work plan information management table 900 has a resource ID 900a, a resource name 900b, an allocation process ID 900c, a work instruction ID 900d, and an execution start timing 900e.

The computing unit 120 includes a device state monitoring unit 121, a device connection configuration planning unit 122, a work process planning unit 123, a robot job generation unit 124, a human work instruction generation unit 125, a work process monitoring unit 126, a work And a process switching unit 127.

The apparatus state monitoring unit 121 monitors the state in the work process transmitted from the robot cell connected to the process planning apparatus 100 and the worker, and stores the transmitted state in the apparatus state storage area 111. The status of the work process detected by the monitored resource depends on the completion of the process per unit of work while the work resource of the robot cell and the worker performs the work process, or a change in the work state in the middle is there. When the device state monitoring unit 121 detects a change in the state to be monitored, the device state monitoring unit 121 instructs the device connection configuration planning unit 122 to request reconfiguration of resource connections.

The device connection configuration planning unit 122 receives the reconfiguration request from the device state monitoring unit 121 as input, resource information to participate in the current process plan stored in the process plan storage region 116, the robot resource storage region 114, and the person From the currently available resource information stored in the resource storage area 115, a resource to be re-planned for the work process is selected. The device connection configuration planning unit 122 instructs the work process planning unit 123 to request re-planning of work processes to be allocated to resources.

The work process planning unit 123 configures the production plan information stored in the production plan storage area 112 and the product stored in the product information storage area 113 with the re-planning request from the device connection configuration planning unit 122 as an input. The work process and the work process that can be executed by the resources stored in the robot resource storage area 114 and the human resource storage area 115 are input, and the work process assigned to the resource to be replanned is planned. The work process assignment results are stored in the robot resource storage area 114 and the human resource storage area 115, respectively.

The robot job generation unit 124 performs processing according to the assigned work process for all the robot cells to which the work process is assigned by the work process planning unit 123 in the process plan information stored in the process plan storage area 116. A robot job necessary for operating the robot is generated.

The human work instruction generation unit 125 includes, for all workers assigned the work process in the work process plan unit 123, out of the process plan information stored in the process plan storage area 116. A human work instruction necessary for instructing the operation of the worker is generated.

The work process monitoring unit 126 includes a robot cell connected to the process planning apparatus 100 and a state in the work process transmitted from the worker at a timing after the work process re-planning in the work process planning unit 123 is performed. The completion of the process per work unit is monitored while the work resource of the robot cell and the worker performs the work process. When the completion of the process is detected, the work process switching unit 127 is instructed to switch to the work process after the re-planning.

The work process switching unit 127 receives the work process switching request from the work process monitoring unit 126 as input, and assigns the contents of the re-planned work process to the resource detected by the work process monitoring unit 126 and the connection configuration. From the progress status of the work process of the resource before and after, the necessity of switching the work process and the operation for the work target work immediately before the switch are determined, and the work process is switched.

The communication unit 130 includes a device status receiving unit 131, a device connection configuration transmitting unit 132, a robot job transmitting unit 133, and a human work instruction transmitting unit 134.

The apparatus state receiving unit 131 is a functional unit for receiving the state change content detected and transmitted by the apparatus state monitoring unit 121 during the operation of the robot or the worker by the process planning apparatus 100.

Here, FIG. 4 is a diagram showing a device status notification data configuration table 400 received by the device status receiving unit 131. The device status notification data configuration table 400 includes a resource ID 400a, a process ID 400b, a product ID 400c, and a notification status ID 400d.

The device connection configuration transmission unit 132 uses the device connection configuration planning unit 122 to change the device connection configuration of resources used in the planned process from among the workers and robot resources connected to the process planning device 100 to the robot and the worker. It is a functional part for transmitting to.

The robot job transmission unit 133 stores the contents generated as the robot job created by the robot job generation unit 124 in the robot cell for the work contents assigned to the robot among the work processes planned by the work process planning unit 123. It is a functional part for transmitting.

The manual work instruction transmission unit 134 uses the content generated as the manual work instruction generated by the manual work instruction generation unit 125 for the work content assigned to the worker among the work processes planned by the work process planning unit 123. This is a functional unit for transmitting to the worker.

The input unit 140 accepts input contents from the user to the process planning apparatus 100.

The output unit 150 presents output contents from the process planning device 100 to the user.

FIG. 2 is a diagram showing a connection configuration of the production system 200 including the process planning apparatus 100 in the first embodiment. In FIG. 2, the production system 200 includes a process planning device 100, a control device 211, robot cell devices 221 to 223, workers 231 to 232, and communication paths 241 to 242.

The control device 211 transmits the robot job transmitted from the process planning device 100 to the robot cell devices 221 to 223, or controls the operation of the robot job in the robot cell devices 221 to 223.

The robot cell devices 221 to 223 perform operations such as product assembly according to the process in accordance with a robot job transmitted from the control device 211 or whose operation is controlled. In addition, in cooperation with the workers 231 to 232, delivery of processes is performed according to processes such as product assembly.

The workers 231 to 232 perform work such as product assembly according to the process in accordance with a human work instruction transmitted from the control device 211. In addition, the communication paths 241 to 242 are used to carry out operations such as product assembly in accordance with the processes in cooperation with the robot cell apparatuses 221 to 223. The communication paths 241 to 242 are connected to the apparatuses or workers connected to the production system 200. This is for transmitting / receiving robot jobs and human work instructions, and for transmitting / receiving state change contents detected by the apparatus or worker.

The robot cell devices 221 to 223 include devices for detecting the state of the work process. These are various sensors for detecting a change in the state of the work at the time of completion of the process per work unit or in the middle. Further, the workers 231 to 232 are provided with a device for detecting the state of the work process. These are various sensors for detecting a change in the state of the work at the time of completion of the process per work unit or in the middle.

Note that the number of control devices connected to the production system 200 and the connection configuration are not limited to the configuration shown in FIG. Further, the number of robot cell devices connected to the production system 200 and the connection configuration are not limited to the configuration shown in FIG. Further, the correspondence relationship between the number of workers and the robot cell apparatus is not limited to the configuration shown in FIG. In addition, the type of communication path and the communication format constituting the production system 200 are not particularly limited. Further, the process planning device 100, the control device 211, and the robot cell devices 221 to 223 may not be configured as independent devices. For example, the functions of the process planning device 100 and the control device 211 may be provided in the same device, or the functions of the control device 211 and the robot cell device 221 may be provided in the same device. May be.

Next, an example of processing in this embodiment will be described with reference to FIGS.

FIG. 10 is a diagram showing a flowchart of state monitoring. 10, in step S1001, the state of the work process according to the apparatus state notification data configuration table 400, which is transmitted from the resource of the robot and the worker who is performing the work process in the production system 200 in the process planning apparatus 100. To get.

In step S1002, with reference to the notification status ID 400d of the device status notification data configuration table 400, it is determined from the contents whether the resource that transmitted the status can be used continuously. The status of the work process according to the acquired device status notification data configuration table 400 is stored in the device status storage area 111 according to the device status notification information management table 300. If it can be used continuously, that is, it is normal, the flow is terminated and the monitoring of the work process in S1001 is continued again. If continuous use is not possible, that is, if there is an abnormality, the process proceeds to step S1003.

In step S1003, among the resources determined to be unusable in S1002, it is determined that an emergency stop measure is required such that abnormal operation of the robot cell device affects the entire production system or the worker. An emergency stop is instructed to the specified resource.
In step S1004, if there is a resource determined to be unusable in S1002, the apparatus connection configuration planning unit 122 is requested to reconfigure the work resource and the work process planning unit 123 is requested to re-plan the work process.

Through the above steps, the robot cell device operating in the production system and the status change of the worker are acquired, it is judged whether the resource constituting the process plan can be changed, the work resource is reconfigured, and the work process is replanned. Can be requested.

FIG. 11 shows a flowchart of the work process plan. In FIG. 11, in step S1101, the work process planning unit 123 refers to the production plan information management table 700 and acquires production plan information at the time of process planning.

In step S1102, a resource configuration obtained by excluding resources determined to be unusable by the device state monitoring unit 121 from the connection resources configuring the current process plan is set as an input condition. Execute the plan and calculate work process allocation to each resource.

If it is determined in step S1103 that the process plan is possible in step S1101, the process proceeds to step S1106. If it is determined in S1101 that process planning is not possible, the process proceeds to S1104.

When it is determined in step S1104 that the process plan calculated in S1102 is impossible, the device connection configuration planning unit 122 refers to the resource information management table 600 and currently operates all the resources configuring the production system 200. Obtain resource information that can be used to reconfigure work resources from the situation.

In step S1105, the work process planning unit 123 uses a resource that combines the resource configuration in S1102 and the resource information in S1104 as an input condition, and the work process planning unit 123 implements the process plan to Calculate the allocation.

In step S1106, the resource information selected for the connection configuration in the process plan calculated in S1105 is stored in the resource information management table 600, and the robot cell apparatus and the operator determined in the process plan calculated in S1105 are stored. The work process assignment information is stored in the robot work plan information management table 800 and the human work plan information management table 900. In step S1107, the robot job generation unit 124 starts the robot from the work process assigned to the robot cell apparatus in S1105. Generate a robot job to operate. Here, the robot job is generated from model information such as a 3D-CAD model attached to product information stored in the product information storage area 113 and a 3D-CAD model attached to robot information stored in the robot resource storage area 114. It is automatically generated using the positional relationship between the models that can be extracted and the constraint relationship on the model.

In step S1108, the human work instruction generating unit 125 generates a human work instruction for guiding the work process of the worker from the work process assigned to the worker in S1105. Here, the generation of the robot job is automatically performed using the positional relationship between the models that can be extracted from the model information such as the 3D-CAD model attached to the product information stored in the product information storage area 113, the constraint relationship on the model, and the like. Generate automatically.

Through the above steps, the robot cell device operating in the production system and the change in the state of the worker, the use resource is determined by reconfiguring the work resource, and the work on the robot cell device and the worker's work resource is re-planned. It is possible to generate a process job assignment and a robot job and a human work instruction for executing the process assignment.

Here, the robot job for operating the robot may be generated as one robot job for all the work processes assigned to the target robot, or divided into single work processes. It may be generated.
FIG. 12 is a diagram showing a flowchart of work process switching. In FIG. 12, in step S1201, the work process assigned to the robot cell currently participating in the work process and the resource of the worker is acquired from the process plan storage area.

In step S1202, the work process assigned to the robot cell and the operator's resource to be participated by re-planning the work process shown in FIG. 11 is acquired from the process plan storage area 116.

In step S1203, from the resource information acquired in S1201 and S1202, the robot cell apparatus is prepared to start the operation among resources scheduled to newly participate in the work process by re-planning.

In step S1204, the work process monitoring unit 126 acquires a process completion notification notified in units of a single work process from the robot cell and the worker's resources.

In step S1205, it is determined whether the resource that issued the notification acquired in S1204 is to be used continuously even in the re-planned work process. When using continuously, it progresses to S1206. When not using continuously, it progresses to S1207.

Step S1206 is a flow in the case where the resource that issued the notification in S1205 is continuously used even in the re-planned work process.

Here, FIG. 13 is a diagram showing a detailed flowchart of step S1206 in the flowchart of the work process switching in FIG. In FIG. 13, in the resource that issued the notification in step S1301, the process to be performed next to the notified process can be performed with the resource of the next process allocated in the current work plan, or It is determined whether the resource of the next process to be allocated in the rescheduling can be executed after the process has been switched. If the above condition is met, the process proceeds to S1302. If not, the process proceeds to S1303.

In step S1302, the work being processed is continued by delivering the work in progress to the robot cell apparatus or the worker in charge of the next work process.

In step S1303, the work in progress is delivered and forcibly discharged to finish the work process for the work. The reason is that if the next process resource assigned in the current work plan cannot be implemented, the next process work cannot be delivered in advance, and a delay will occur. If the next process resource has been switched and cannot be implemented, the robot cell device or the worker in charge of the next work process will not be in a standby state, so that a workpiece cannot be delivered, and a delay will occur. Therefore, in order to prevent the entire production line from being delayed, the work in progress is delivered and forcibly discharged to finish the work process for the work.

In step S1304, since the work being worked is discharged from its own resource, switching to the work process assigned to the target resource is performed by re-planning the work process.

Referring back to FIG. 12, step S1207 is a flow in the case where the resource that issued the notification in S1205 is not continuously used even in the re-planned work process.

FIG. 14 is a diagram showing a detailed flowchart of step S1207 in the flowchart of the work process switching in FIG. In FIG. 14, in the resource that issued the notification in step S1401, it is determined whether the process to be performed next to the notified process can be performed with the resource of the next process allocated in the current work plan. To do. If the above condition is met, the process proceeds to S1402. If not, the process proceeds to S1403.

In step S1402, the work being processed is continued by delivering the work in progress to the robot cell apparatus or the worker in charge of the next work process.

In step S1403, the work in progress is delivered and forcibly discharged to finish the work process for the work.

In step S1404, since the work being worked is discharged from its own resource, the target resource is removed from the work process by re-planning the work process.

Referring back to FIG. 12, in step S1208, notifications from all resources before switching to the re-planning process are acquired, and it is determined whether the process switching for all resources has been completed. When the process switching of all resources is completed, the flow is completed. If the process switching of all resources has not been completed, the process returns to S1204.

Through the above steps, the robot cell device and the human work instruction for executing the work process for the work resource of the robot cell device and the worker by the re-planning of the work process are used for the use resource determined by the reconfiguration of the work resource. Switching can be performed.

If generation time is required for robot job generation and human work instruction generation in S1107 and S1108 of FIG. 11, the process switching timing may be determined in consideration of the generation time at the time of switching the work process. . Further, in the determination of whether or not the work process needs to be switched in S1205 in FIG. 12, when the number of remaining products is smaller than the threshold with respect to the production plan specified in the production plan information management table 700, that is, when the remaining production is small. Alternatively, the necessity of switching the work process may be determined by comparing the work process switching time and the work process execution time.

Next, an example of output in this embodiment will be described with reference to FIGS.

FIG. 15 is a diagram showing a process planning apparatus output screen 1500 displayed to the user via the output unit 150 of the process planning apparatus 100. In FIG. 15, 1500 a is a part that shows an overall outline of the resources constituting the production system 200.

1500b is a part showing the overall situation in the production system 200 when production is performed according to the process plan generated by the process planning apparatus 100.

Based on the contents described above, the user of the process planning apparatus 100 can grasp the operation status of the entire production system 200.

1500c is a part showing an individual outline of one resource constituting the production system 200. For example, the user of the process planning apparatus 100 displays the outline by selecting one from the resources configuring the system at 1500 a via the input unit 140.

1500d is a part for selecting the robot of the selected resource. For example, when a plurality of robots are arranged in the robot cell of the selected resource, the robot can be selected via the input unit 140.

1500e is a part that displays the operation status of the resource selected in 1500d. For example, a moving image acquired in real time by a camera or a moving image created by simulation can be displayed.

1500 f is a portion that displays the progress status of the work process assigned to the resource selected in 1500 d. For example, it is possible to display a progress situation in which the work process is expressed by a Gantt chart or the like.

1500 g is a portion that displays the sensor state detected by the resource selected in 1500 d. For example, the resource status is displayed by displaying the device status notification data configuration table 400 as shown in FIG. 3 transmitted from the resources constituting the production system 200 to the process planning device 100 in time series. Can do.

As described above, the user of the process planning apparatus 100 can grasp the individual operation status regarding one selected resource constituting the production system 200.

FIG. 16 is a diagram showing a robot cell apparatus man work instruction output screen 1600 displayed to an operator who works in cooperation with the robot cell apparatus via the output unit of the robot cell apparatus. In FIG. 16, reference numeral 1600a is a part showing an individual outline of the robot cell apparatus that works in cooperation with the worker. The same content as 1500c can be displayed.

1600b is a part for selecting a robot of the robot cell apparatus that works in cooperation with the worker. For example, the same content as 1500d can be displayed.

1600c is a portion that displays the operation status of the robot cell device that works in cooperation with the worker. For example, the same content as 1500e can be displayed.

1600d is a part that displays the progress status of the work process assigned to the resource of the robot cell apparatus that works in cooperation with the worker. For example, the same contents as 1500f can be displayed.

1600e is a part that displays the sensor state detected by the robot cell device that works in cooperation with the worker. For example, the same content as 1500 g can be displayed.

Based on the contents described above, an operator who works in cooperation with the robot cell apparatus can grasp the operation status of the robot cell apparatus.

1600f is a part indicating the content of the work instruction to the worker who works in cooperation with the robot cell device.

1600 g is a part that graphically displays a work instruction drawing of a work process assigned to the worker. For example, it is possible to display a moving image obtained by photographing an actual work process, a moving image created by simulation, etc., and graphically support the work contents when the worker performs the assigned work process. be able to.

1600h is a portion for displaying a work instruction guide for the work process assigned to the worker. For example, the part name used in the work process, the part placement location, and the like can be displayed, and the work contents can be supported in a list format when the work process assigned by the worker is performed.

Based on the contents described above, the user of the process planning apparatus 100 grasps the operation status regarding the robot cell and the contents of the work instruction for the worker with respect to the worker working in cooperation with the robot cell apparatus of the production system 200. It becomes possible.

Here, FIG. 18 is a diagram showing a production system configuration of the robot cell and the worker. A production facility composed of the process planning device 100, the control device 211, the robot cell devices 221 to 223, and the workers 231 to 232 shown in FIG. ˜1803 can be configured by arranging them in order in series. The worker who works in cooperation with the robot cell can be constituted by a worker such as a worker 1811 in charge of the

robot cell devices

1801 and 1802 and a worker 1812 in charge of the robot cell device 1803.

According to the present embodiment described above, when a state change to an abnormal state in which the device operation cannot be continued in the robot cell device in the production system occurs, notification is obtained from the robot cell and the operator. Re-planning of work processes, switching to re-planned work processes triggered by notification of completion of work processes of robot cells and workers, and instructions for performing switched work processes to robot cells and workers can do.

In this embodiment, an example of a configuration in which a robot cell and an operator constituting a production system are connected in parallel as shown in FIG. 19 will be described.

The processing in the present embodiment is different from that shown in FIGS. 10 to 14 in the first embodiment in the following points. Only the steps that have changed from Example 1 are shown below.

In FIG. 11, in step S1102, the resource configuration excluding resources determined to be unusable by the device state monitoring unit 121 for the line including the resource in which the state change is detected is set as an input condition. The planning unit 123 executes a process plan and calculates work process allocation to each resource. In S1105, for all the resources of the robot cells and workers that constitute the parallel line, in addition to the resources that combine the resource configuration in S1102 and the resource information in S1104, the human correspondence to the lines and robot cells, Using the movement time between human lines as an input condition, the work process planning unit 123 executes the process plan and calculates the assignment of the work process to each resource. For example, a constraint condition that a person cannot be assigned a plurality of work steps at the same time is given in FIG.

Then, in FIG. 12, in the flow of the work process plan of FIG. 11, a line whose work assignment has been changed by the process re-planning is set as a work process switching target.

FIG. 19 is a diagram showing a production system configuration of a robot cell and an operator. A production facility composed of the process planning device 100, the control device 211, the robot cell devices 221 to 223, and the workers 231 to 232 shown in FIG. 2 in which the robot and the workers work together is, for example, a robot cell device 1901. ˜1903 arranged in order in series and the arrangement arranged in series in order of robot cell devices 1904 ˜1906 can be configured as an arrangement arranged in parallel. In addition, the workers who work in cooperation with the robot cell are configured by personnel such as an operator 1911 who is in charge of the

robot cell devices

1901 and 1902 and 1904 and 1905 and an operator 1912 who is in charge of the

robot cell devices

1903 and 1906. be able to.
According to the embodiment described above, in the configuration in which the robot cell and the worker configuring the production system are connected in parallel, the re-planning of the work process and the work process for the production system including the robot cell and the worker are performed. It is possible to instruct execution of the switched work process to the robot cell and the operator.

In the present embodiment, an example of production plan information will be described in which a plurality of types of products to be produced by the robot cell and the worker are included in the production system.

11, in S1101, the work process planning unit 123 refers to the production plan information management table 700 and acquires production plan information related to a plurality of types of products that are production targets at the time of the process plan. In S1108, in the work process assigned to the worker, a human work instruction is generated so that it is possible to recognize which of the production targets each of which is a plurality of work processes. For example, the work instruction drawing 1600g or the work instruction guide 1600h in FIG. 16 displays information related to the product to be worked on in a graphical display or list format to guide the worker.

Then, in S1206 and S1207 in FIG. 12, and in S1302, S1303 in FIG. 13 and S1302 and S1303 in FIG. 14, notification of process completion is first given in S1204 in FIG. Using the acquired information as an input, the work process is switched (S1304) or the resource is removed from the work process (S1404). For this reason, all other products that are being produced are subject to forced discharge.

According to the present embodiment described above, in a production plan in which there are a plurality of types of products targeted by the robot cell and the worker constituting the production system, the production system constituted by the robot cell and the worker is used. It is possible to instruct execution of the switched work process to the robot cell and the operator, and to re-plan the work process, switch to the work process.

Here, FIG. 17 is a diagram illustrating a hardware configuration of the process planning apparatus. The process planning apparatus 100 includes a central processing unit CPU (Central Processing Unit) 1701, a memory 1702, an external storage device 1703 such as a hard disk device HDD (Hard Disk Drive), and an input device 1704 such as a keyboard, a mouse, and a barcode reader. And a general computer 1700 including an output device 1705 such as a display and a communication device 1706 that communicates with other computers via a communication network such as the Internet or a dedicated line, or a network system including a plurality of the computers 1700 Can be realized. For example, the storage unit 110 can be realized by the CPU 1701 using the memory 1702 or the external storage device 1703, and the arithmetic unit 120 loads a predetermined program stored in the external storage device 1703 into the memory 1702 and the CPU 1701 The communication unit 130 can be realized by the CPU 1701 using the communication device 1706, the input unit 140 can be realized by the CPU 1701 using the input device 1704, and the output unit 150. Can be realized by the CPU 1701 using the output device 1705. The programs and data arranged in the storage unit 110, the calculation unit 120, and the external storage device 1703 may be arranged in advance in the computer 1700, or may be acquired by reading from an external storage medium or downloading by communication. Also good.

Further, in the production system configuration shown in FIGS. 18 and 19, a dedicated machine in charge of only a specific work may be included instead of the robot cell device. In this case, the configuration of the feasible process shown in the resource information management table in FIG. 6 is different only from that of the general-purpose machine, and the functions in the embodiment can be provided with the configuration shown in the embodiment.

As described above, according to the present embodiment, based on the contents of the state change that has occurred in the worker or robot in the production system, from the work resources of the worker and the robot in the production system to which the apparatus is connected. Therefore, it is possible to select a production resource that satisfies the production target and to plan the work process of each resource. As a result, it is possible to realize a work process plan that suppresses a decrease in the facility operation rate of the production system.

In addition, this invention is not limited to the above-mentioned Example, Various modifications are included. For example, the above-described embodiments have been described in detail for easy understanding of the present invention, and are not necessarily limited to those having all the configurations described. Further, a part of the configuration of one embodiment can be replaced with the configuration of another embodiment, and the configuration of another embodiment can be added to the configuration of one embodiment. Further, it is possible to add, delete, and replace other configurations for a part of the configuration of each embodiment. Each of the above-described configurations, functions, processing units, processing means, and the like may be realized by hardware by designing a part or all of them with, for example, an integrated circuit. Each of the above-described configurations, functions, and the like may be realized by software by interpreting and executing a program that realizes each function by the processor. Information such as programs, tables, and files for realizing each function can be stored in a recording device such as a memory, a hard disk, or an SSD (Solid State Drive), or a recording medium such as an IC card, an SD card, or a DVD.

DESCRIPTION OF SYMBOLS 100 ... Process planning apparatus, 110 ... Memory | storage part, 111 ... Apparatus state storage area, 112 ... Production plan storage area, 113 ... Product information storage area, 114 ... Robot resource storage area, 115 ... Human resource storage area, 116 ... Process plan Storage area 120... Arithmetic unit 121 121 device state monitoring unit 122. Device connection configuration planning unit 123. Work process planning unit 124. Robot job generation unit 125 125 human work instruction generation unit 126. , 127 ... work process switching unit, 130 ... communication unit, 131 ... device status reception unit, 132 ... device connection configuration transmission unit, 133 ... robot job transmission unit, 134 ... human work instruction transmission unit, 140 ... input unit, 150 ... Output unit, 200 ... Production system, 211 ... Control device, 221 to 223 ... Robot cell device, 231 to 232 ... Worker, 300 ... Device Status notification information management table, 400 ... device status notification data configuration, 500 ... product information management table, 600 ... resource information management table, 700 ... production plan information management table, 800 ... robot work plan information management table, 900 ... human work plan Information management table 1500 ... Process planning device output screen 1600 ... Robot cell device man work instruction output screen

Claims

In the process planning device connected to the production facility where the robot and the worker work in cooperation,
A work process monitoring unit for obtaining a process progress state of the work process from the apparatus constituting the production facility;
An apparatus state monitoring unit that determines that a state change has occurred in the process progress from the acquired process progress state; and
An apparatus connection configuration planning unit that selects a resource that can be used in place of the robot cell in which the state change has occurred and determines a connection configuration;
According to the determined connection configuration, a work process planning unit that calculates a work process to be newly allocated to a resource;
A robot job generation unit for generating a robot job for operating the robot in the robot cell according to the calculated work process;
A human work instruction generating unit for generating a human work instruction for instructing the work content of the worker according to the calculated work process;
A work process switching unit that calculates a switching timing of the robot job and the human work instruction generated by re-planning the process with reference to the process progress obtained by the work process monitoring unit, and switches the process;
A process planning apparatus comprising:
The process planning device according to claim 1,
Status notification content from operating workers and robots connected to the process planning device,
From the resource information of operable workers and robots connected to the process planning device, production plan information and product information stored in the process planning device,
A process planning apparatus for calculating a work process plan so as to satisfy product production plan information.
The process planning device according to claim 1,
In the case where the apparatus state monitoring unit detects the occurrence of an abnormality in which all of the robots in the robot cell that operate in cooperation with the worker cannot continuously operate,
Resources used by the apparatus connection configuration planning unit from among resources of operable workers and robots connected to the process planning apparatus, excluding the robot cell including the robot that has detected the abnormality that cannot be continuously operated. Select
The process planning apparatus, wherein the work process planning unit calculates a work process plan so as to satisfy product production information for each resource of the selected worker and robot.
The process planning device according to claim 1,
In the case where the apparatus state monitoring unit detects the occurrence of an abnormality in which a part of the robot in the robot cell that operates in cooperation with the operator cannot continuously operate,
The apparatus connection configuration planning unit selects resources to be used from the resources of the operable workers and robots connected to the process planning apparatus, excluding the robot that has detected the abnormality that cannot be continuously operated.
The process planning apparatus, wherein the work process planning unit calculates a work process plan so as to satisfy product production information for each resource of the selected worker and robot.
The process planning device according to claim 1,
In the case where it is detected that the device state monitoring unit is a working time that is lower than a predetermined threshold compared with an estimated standard time for an operator operating in cooperation with the robot in the robot cell,
Resources used by the device connection configuration planning unit among the resources of operable workers and robots connected to the process planning device, reflecting information on the working time detected in the estimated standard time of the worker Select
The process planning apparatus, wherein the work process planning unit calculates a work process plan so as to satisfy product production information for each resource of the selected worker and robot.
The process planning device according to claim 1,
In the case where it is detected that the device state monitoring unit is a working time that exceeds a predetermined threshold compared with an assumed standard time for an operator who operates in cooperation with the robot in the robot cell,
The device connection configuration planning unit selects the resource to be used from the resources of the worker and the robot connected to the process planning device, reflecting the information of the working time detected in the estimated standard time of the worker. ,
The process planning apparatus, wherein the work process planning unit calculates a work process plan so as to satisfy product production information for each resource of the selected worker and robot.
The process planning device according to claim 1,
In the calculation of the work process in the work process planning unit, when the robot cell and the worker constituting the system are configured to be connected and connected in parallel, the work process plan so as to satisfy the product production plan information. Process planning apparatus characterized by calculating
The process planning device according to claim 1,
In the calculation of the work process in the work process planning unit, the production plan information of the product is obtained when the robot cell constituting the system and the production plan information such that there are a plurality of types of products to be produced by the operator. A process planning apparatus for calculating a work process plan so as to satisfy.
The process planning device according to claim 1,
By means of resources of an operator or robot connected to the process planning device,
The state change detected in the work process in which the resource is being executed,
at least,
A resource ID for uniquely identifying a resource in the system;
A process ID for identifying the execution unit of the work process assigned to the resource;
A product ID for identifying the target of the work;
As state change notification information consisting of a notification status ID for specifying the state change content that has occurred,
A process planning apparatus, wherein the process planning apparatus receives the status change from the detected resource.
The process planning device according to claim 1,
According to the work process plan planned for each resource of the worker and the robot in the work process plan section,
Taking into account the completion status of the work process from the resource that is being worked on by the work process monitoring unit, taking into account the progress status of the work process of the resource that works adjacently
When the work process monitoring unit receives a completion report from the robot, it performs an instruction to switch to the robot job generated by the robot job generation unit,
When the work process monitoring unit receives a completion report from an operator, the process planning apparatus performs an instruction to switch to the human work instruction generated by the human work instruction generation unit.