JP2002215214A - Method and unit for control - Google Patents

Abstract

PROBLEM TO BE SOLVED: To efficiently control multiple operating machines. SOLUTION: When specific operation is performed by multiple machines 4, this control unit 2 controls the respective machines according to an initial operation plan made before the operation and this control unit 2 is equipped with an operation plan generation part 5 which decides the state of a stop, takes proper repair measures, and makes an operation plan minimizing the total operation time needed for the remaining specific operation even when one of the machines 4 stops not as specified in the initial operation plan and an operation control part 14 which controls the respective machines 4 according to the operation plan generated by the operation plan generation part 5.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control method and a control apparatus, and more particularly, to a plurality of machines for performing predetermined operations such as welding, cutting, deburring, etc., in the same area, such as assembly or processing. And a control method for controlling the control.

[0002]

2. Description of the Related Art Normally, NC machine tools, automatic welding equipment, etc.
When a plurality of machines are used at the same time to perform an operation, a dedicated control device is generally used for one target machine.

[0003] In this type of control device, there is almost no need to consider the mutual interference of a plurality of machines during operation. Also, in most cases, a method of avoiding interference can be easily found even if it is taken into consideration.

[0004] This is because the work area performed by an NC machine tool or an automatic welding device is not so large, and
This is because the operating range of one machine is also limited, and mutual interference by a plurality of machines does not affect work efficiency.

[0005] Further, the operation itself of the NC machine tool, the automatic welding device, and the like is performed by a linear operation such as a vertical direction and a horizontal direction,
This is because a complicated operation such as a turning operation in a single plane is not involved, and a method for avoiding interference can be found relatively easily.

[0006] As a slightly complicated case, even in an automobile assembly line where a plurality of robots are arranged at high density in the same place, the working operation of the robots themselves can be considered in advance by examining the work operation of the robots themselves. It is possible to find an arrangement place where mutual interference between the two is reduced.

[0007] Even if the robots interfere with each other during the operation, since the interference range between the robots is not large, it is possible to avoid the interference by simulating the operation between the robots in advance. It is possible to consider the method in advance.

[0008] Therefore, the focus of this type of conventionally used control device is to study in advance to generate an optimal robot program. In addition, it lacks the function of group control of multiple robots, and because it is a teaching playback type control method, it is not possible to respond flexibly to changes in work conditions due to disturbances such as primary stop, Only the initial program was played.

[0009]

However, such a conventional control device has the following problems.

[0010] That is, in the welding process in heavy industry such as shipbuilding, the work to be welded is a large number of workpieces of various types and a small number, the area to be welded is large, and the welding shape is complicated. In addition, a plurality of differently arranged workpieces must be simultaneously welded using a plurality of welding robots.

Accordingly, the operating range of one welding robot is increased. In addition, since the welding work needs to be performed cooperatively by a plurality of welding robots on the same work, the operating ranges of the robots may overlap with each other.

Furthermore, even if the workpieces to be welded are the same, the degree of mutual interference between the welding robots changes only by the arrangement of the workpieces, so that the method of avoiding interference differs according to the arrangement conditions of the workpieces. .

For this reason, the work route of the welding robot is inevitably complicated like a maze. As a result, even when mutual interference of the welding robots occurs, it is difficult to find a method of avoiding the mutual interference of the robots only by looking at the work path planned in advance by the operator.

In addition, there is also a need for a control device for a plurality of robots that can respond in real time to changes in work conditions due to disturbances such as a temporary stop, which cannot be realized with a conventional teaching playback type robot. ing.

As described above, a control device for controlling a welding robot or the like used in heavy industry, such as shipbuilding,
Unlike the case of controlling the simple operation as already described in the related art, there is a problem that extremely difficult work involving various complicated factors must be optimized.

The present invention has been made in view of such circumstances, and when controlling a plurality of work machines that cooperatively perform the same work, even if the work is in progress, the present invention is effective in accordance with the work situation. An object of the present invention is to provide a control method and a control device capable of efficiently controlling a plurality of work machines by successively formulating a simple work plan and continuing work based on the work plan.

[0017]

Means for Solving the Problems In order to achieve the above object, the present invention takes the following measures.

That is, according to the first aspect of the present invention, in the control method for controlling each machine when a predetermined work is performed by a plurality of machines, the operation in the work of any one of the machines is out of the operation plan. In the event of a stop, based on the situation of the stop, avoid interference between the operations of each machine and plan multiple interference avoidance methods for places where interference may occur, including when interference occurs. Further, a work operation plan that minimizes the time required for the predetermined work performed by each machine is created, and each machine is controlled based on the work operation plan.

Therefore, in the control method according to the first aspect of the present invention, by taking the above-described means, even if there is a machine that has been stopped unplanned, the remaining work is performed based on the stopped state. A work operation plan that minimizes the time can be formulated, and each machine can be controlled based on the work operation plan.

According to a second aspect of the present invention, in the control method of the first aspect, the work operation plan is created by using a genetic algorithm.

Therefore, in the control method according to the second aspect of the present invention, the work operation plan is created by using a genetic algorithm, so that even if the parameters for determining the work operation plan increase, the work operation plan can be relatively controlled. A work operation plan can be formulated in a short time.

According to a third aspect of the present invention, in the control method according to the first aspect of the present invention, a work priority is set for each machine based on a work operation plan, and each machine is controlled based on the work priority. In the method, including at the timing of the predetermined work, including the case where the interference of the operation of each machine occurs, by sequentially changing the work priority of a plurality of machines, for a machine with a high work priority, A work operation plan is planned so as to minimize the total work time required for a predetermined work while performing interference avoidance processing based on the interference avoidance method so that the remaining work time is preferentially operated so as to minimize the work time. Then, each machine is controlled based on the work operation plan.

Therefore, in the control method according to the third aspect of the present invention, by taking the above-described measures, a machine having a high priority is not always kept waiting due to interference under a constantly changing situation. Each machine can be controlled to operate preferentially.

According to a fourth aspect of the present invention, in the control method for controlling each machine when a predetermined work is performed by a plurality of machines, the interference of each machine is reduced at a place where the interference of the operation of each machine is predicted. As a method of avoiding, a plurality of avoiding operation plans are generated, and each machine is controlled based on the avoiding operation plan.

Therefore, in the control method according to the fourth aspect of the present invention, when the interference of the operation of each machine is predicted, the interference can be avoided by controlling each machine based on the avoidance operation plan.

According to a fifth aspect of the present invention, in the control method for controlling each machine when a predetermined work is performed by a plurality of machines, when interference between operations of the machines occurs,
Selection of avoidance action, change of work execution direction, pause,
One of the alternative tasks is selected to perform interference avoidance processing.

Therefore, in the control method according to the fifth aspect of the present invention, as a method for avoiding interference, any one of selection of avoiding operation, switching of the work execution direction, and temporary stop can be performed.

According to a sixth aspect of the present invention, in the control method for controlling each machine when a predetermined work is performed by a plurality of machines, when the operations of the machines interfere with each other, the work is started to avoid the interference. Alternatively, a work operation plan for controlling the work start timing for each child work constituting the work is prepared, and each machine is controlled based on the work operation plan.

Therefore, in the control method according to the sixth aspect of the present invention, by taking the above measures, even when interference occurs between the operating machines, the interference time can be minimized. .

According to a seventh aspect of the present invention, in a control method for controlling each machine when a predetermined operation is performed by a plurality of machines, an operation simulation of each machine is performed based on an operation plan of each machine. As a result, the operation of any one of the machines interferes,
If it is determined that a deadlock, which is a state in which the operation cannot be continued, is reached, among the machines determined to be the cause of the deadlock, a machine having a lower work priority is replaced with a machine before the deadlock. Then, a work operation plan for temporarily stopping at a position where a deadlock can be avoided is prepared, and each machine is controlled based on the work operation plan.

Therefore, in the control method according to the seventh aspect of the present invention, deadlock can be avoided in advance by taking the above measures.

According to the invention of claim 8, in a control method for controlling each machine when a predetermined work is performed by a plurality of machines, an operation simulation of each machine is performed based on an operation plan of each machine, and the operation simulation is performed. As a result, the operation of any one of the machines interferes,
If it is determined that a deadlock, which is a state in which the operation cannot be continued, is reached, among the machines determined to be the cause of the deadlock, a machine having a lower work priority is replaced with a machine before the deadlock. Then, a work operation plan for moving to a retreat position where a deadlock can be avoided is prepared, and each machine is controlled based on the work operation plan.

Therefore, in the control method according to the present invention, deadlock can be avoided in advance by taking the above measures.

According to a ninth aspect of the present invention, in a control method for controlling each machine when a predetermined work is performed by a plurality of machines, a work priority is set for each machine, and each machine is set based on the work priority. If there is a work that can be performed by a machine with a lower work priority among predetermined works performed by a machine with a higher work priority, this work is The work operation plan is changed so as to be executed by a low machine, and each machine is controlled based on the changed work operation plan.

Therefore, in the control method according to the ninth aspect of the present invention, by taking the above-described means, the work priorities can be assigned to the respective machines, and the load on the machines having the higher work priorities can be reduced. .

According to a tenth aspect of the present invention, in the control method for controlling each machine when a predetermined operation is performed by a plurality of machines, when interference between operations of the machines occurs,
If the suspension time during which one of the machines waits for interference avoidance is longer than a predetermined time and the predetermined work can be divided into a plurality of works, the predetermined work is Create a work operation plan that divides the work into predetermined work,
Each machine is controlled based on this work operation plan.

Therefore, in the control method according to the tenth aspect of the present invention, by taking the above measures, the standby time can be shortened as much as possible, and the working efficiency can be improved.

According to the eleventh aspect of the present invention, in the control method for controlling each machine when a predetermined work is performed by a plurality of machines, when one of the machines breaks down during the predetermined work, the plurality of machines are controlled. Of the other machines, other than the failed machine, substitute the remaining work of the failed machine.

Therefore, in the control method according to the eleventh aspect of the present invention, by taking the above measures, even if one of the plurality of machines fails, the other machine can back up the malfunction. it can.

In the twelfth aspect of the present invention,
In the control method according to any one of the above aspects, each machine is a welding device.

Therefore, in the control method according to the twelfth aspect, the first to eleventh aspects can be applied to a plurality of welding apparatuses.

According to a thirteenth aspect of the present invention, there is provided a control device for controlling each machine based on an initial work operation plan formulated before the work when a predetermined work is performed by a plurality of machines. Even if the operation in the operation of any machine stops other than the initial work operation plan,
A work operation plan creating means for determining an outage situation, performing an appropriate recovery measure, and drafting a work operation plan that minimizes the total work time required for the remaining predetermined work, and a work operation plan creating means Work operation control means for controlling each machine based on the work operation plan generated by the computer.

Therefore, in the control device according to the thirteenth aspect of the present invention, by taking the above-described means, even if there is a machine that has been stopped out of the operation plan, the remaining work is performed based on the stopped state. A work operation plan that minimizes the time can be formulated, and each machine can be controlled based on the work operation plan.

According to a fourteenth aspect of the present invention, in the control device according to the thirteenth aspect, the work operation control means includes a task management means for managing execution of a predetermined work, and a task monitoring means for monitoring the execution status of the predetermined work. Means and task control means for controlling execution of a predetermined task.

Therefore, in the control device according to the fourteenth aspect of the present invention, execution management, monitoring, and control of a predetermined operation can be performed.

According to a fifteenth aspect of the present invention, in the control device according to the fourteenth aspect, the task management means is capable of operating a machine for performing a predetermined operation based on the work operation plan created by the work operation plan creation means. Operation preparation confirmation means for confirming whether or not the machine is in a state, and in the event of interference between the operations of the respective machines, at an arbitrary timing of the predetermined work, so that the operation of the machine having a long remaining work time is prioritized. A first interference prediction for executing an operation simulation of each machine in accordance with a predetermined work order established by a machine priority setting means for performing an interference avoidance process on a low priority machine and a work operation plan creating means; Means, an assigned machine number, an operation number, a sub-operation number,
Task data storage means for storing a task management queue in which a start waiting time, a start time, and an end time are registered, and data necessary for machine operation in the task control means based on the task management queue stored in the task data storage means. If the operation simulation results in a situation where interference cannot be avoided, the work time of the other machines is longer than the work time of the machine with the largest load. If at least one of the operations of the machine with the maximum load becomes longer than a predetermined time for the suspension time for the purpose of avoiding interference, the work operation plan creation means re-executes the operation plan. Make a plan.

Therefore, in the control device according to the fifteenth aspect, the operation simulation can be performed after confirming the operating state of the machine and executing the interference avoiding process in consideration of the work priority. Further, as a result of the operation simulation, when it is determined that the work operation plan is not appropriate according to the above-described determination, the operation plan can be re-planned. And machine control based on it.

According to a sixteenth aspect of the present invention, in the control device according to the fourteenth aspect, the task monitoring means temporarily suspends the machine executing the work during execution of the work controlled by the task control means. In this case, a pause setting unit is provided for identifying the cause of the pause, estimating the time required for restoring the pause, and setting an interference area for suspension until the suspension is restored.

Therefore, in the control device according to the sixteenth aspect of the present invention, even when the machine performing the work is temporarily stopped, an interference area for temporary stop is provided, and the machine is evacuated there. it can.

According to a seventeenth aspect of the present invention, in the control device according to the fifteenth aspect, the task monitoring means performs the task for each machine based on the work number stored in the task data storage means. A second interference predicting unit that performs an interference check simulation up to the time when the work of the machine in the front row of the management queue is completed based on the progress of the work of the other machine; At the time of occurrence, among the plurality of interference avoidance processes, an interference avoidance unit that selects an interference avoidance process based on the state of interference, and an interference avoidance process selected by the interference avoidance unit, A third interference prediction unit that performs an interference check on the child work, and a machine operation instruction based on a result of the interference check performed by the third interference prediction unit. The stop command, and a machine operation instruction selection means for selecting a deadlock evacuation instructions.

Therefore, in the control device according to the seventeenth aspect of the present invention, in the execution stage, the interference between the work and the sub work can be checked, and the operation content can be selected based on the result.

According to an eighteenth aspect of the present invention, in the control device according to the seventeenth aspect, the task monitoring means operates as an interference check simulation by the second interference prediction means or an interference check method by the third interference prediction means. Interference area setting means for setting an interference area around the operation area, and interference area updating means for deleting an interference area from the work start position to the current position of each machine as the work of each machine progresses.

Therefore, in the control device according to the eighteenth aspect, an interference area can be set around the work operation area.

According to a nineteenth aspect of the present invention, in the control device according to the seventeenth aspect, based on the task allocation result obtained by allocating the remaining work of each machine at an arbitrary timing of the predetermined work based on the initial work operation plan, Task route optimization means for optimizing a task route including a task execution sequence, a task execution direction, and a task start time, and a plurality of machines based on a basic operation data group necessary to execute a predetermined task. Task allocation processing means for dividing the work, and work operation simulation means for performing an operation simulation for evaluating the degree of optimization of the work execution order, the work execution direction, and the work start time determined by the task route optimization means , The task managing means is configured to perform the first interference prediction when the task operation of the machine controlled by the task controlling means ends. If the time difference from the simulation time obtained by the operation simulation performed by the step is equal to or greater than a predetermined value, or if the machine that is performing the work controlled by the task control means pauses unplanned, the time difference Alternatively, the suspension time, which is the suspension time, and the interference area information at the time of the suspension are received from the task monitoring means, and the priority of each machine is reset based on the execution status information. Performs the interference check simulation repeatedly while performing the interference avoiding process at the interference occurrence location based on the priority of each machine reset by the task monitoring means, and the interference avoiding means is performed by the first interference predicting means. As a result of the interference check simulation, the task route optimized by the task route optimization Evaluate the optimized degree, when it is determined that it is necessary to re-plan a task path, the task route optimization means, to optimize the tasks pathways for work remaining.

Therefore, in the control device according to the nineteenth aspect of the present invention, it is possible to optimize the task path including the task execution sequence, the task execution direction, and the task start time, and perform the operation simulation based on the optimized task path. it can. Then, the interference avoiding means can be selected according to the result of the operation simulation, and the operation simulation can be performed again in consideration of the selected interference avoiding means.

According to a twentieth aspect of the present invention, there is provided a control device for controlling each machine based on an initial work operation plan drafted before the work when the predetermined work is performed by a plurality of machines. Data read processing means for reading a basic operation data group necessary for execution, coordinate conversion processing means for converting work coordinates of a work based on the arrangement position of a work to be subjected to a predetermined work, and data read processing means Task allocation processing means for dividing a predetermined operation into a plurality of machines based on the basic operation data group read by the operation coordinates and the operation coordinates converted by the coordinate conversion processing means,
A task plan processing unit that formulates a work operation plan that minimizes the total work time required for the predetermined work divided by the task allocation processing unit, and a plurality of work operation plans based on the work operation plan formulated by the task plan processing unit. Operation program generation processing means for generating an operation program of the machine.

Therefore, in the control device according to the twentieth aspect of the present invention, by taking the above measures, even when interference occurs between the operating machines, the interference time can be minimized. .

According to a twenty-first aspect of the present invention, in the control device according to the twentieth aspect, the task allocation processing means performs a work that can be performed by each machine on the basis of an operation range of each machine with respect to the work placement position. Initial task allocating means for allocating to machines, and at any timing of predetermined work, detecting the remaining work time of each machine, setting the priority for each machine in the order of longest remaining work time, and setting the remaining work time In the predetermined work assigned to the high-priority machine at the time of detection,
If there is work that can be performed on lower priority machines,
A first task for changing the work assigned by the initial task allocating means so that the low-priority machine performs the work.
Task assignment changing means, if one of the machines fails during the work of the predetermined work, an initial setting is made so that a plurality of machines capable of carrying out the remaining work of the failed machine perform the work. A second task assignment changing unit for changing the work assigned by the task assignment unit.

Therefore, in the control device according to the twenty-first aspect of the present invention, by taking the above measures, it is possible to reduce the load on a machine having a high work priority. Also,
If any one of the plurality of machines fails, the other machines can back them up.

According to a twenty-second aspect of the present invention, in the control device according to the twentieth aspect, the task plan processing means determines that working in cooperation of a plurality of machines is an efficient task. Is provided with a cooperative task determination processing means for determining a machine to work in cooperation.

Therefore, in the control device according to the twenty-second aspect, when it is efficient that a plurality of machines work in cooperation, it is possible to determine a machine that works in cooperation.

According to a twenty-third aspect of the present invention, in the control device according to the twentieth aspect, the task plan processing means allocates the remaining work of each machine at an arbitrary timing of a predetermined work based on the initial work operation plan. Task route optimization means for determining the optimal work execution order, work execution direction, and work start time from the task allocation results, and the work execution order, work execution direction,
First work operation planning means for performing an operation simulation for evaluating the degree of optimization of the work start time, and a plurality of avoiding operations as a method of avoiding interference at a place where interference between operations of each machine is predicted. When the operation of each machine interferes with the second work operation planning means for generating the
In order to avoid interference, the third work operation planning means for changing the work start timing of the work or the work start timing of each child work constituting the work, and the operation of one of the machines interferes with each other, If a deadlock occurs, in which the operation cannot be continued, the machine determined to be the cause of the deadlock is temporarily moved to a position where the deadlock can be avoided before the deadlock. In the case where the operation of the fourth work operation planning means to be stopped and the operation of any one of the machines interferes with each other and leads to a deadlock where the operation cannot be continued,
Fifth work operation planning means for moving the machine determined to be the cause of the deadlock to a retreat position where the deadlock can be avoided before the deadlock, and A sixth work operation planning means for preliminarily selecting a work spatially distant from the predetermined work as an alternative work, assuming that interference between the operations of the machines will occur when the predetermined work is performed; When a temporary stop occurs in a work operation of another machine due to a work operation of one of the plurality of machines, it is determined that the stop time is longer than a predetermined time, and a plurality of Task dividing means for dividing a work operation of any one of the machines into a plurality of predetermined works.

Therefore, in the control device according to the twenty-third aspect of the present invention, by taking the above measures, it is possible to avoid deadlock in advance. Further, the waiting time can be shortened as much as possible, and the working efficiency can be improved.

According to a twenty-fourth aspect of the present invention, in the control device according to the twenty-third aspect, in the task plan processing means, when the work execution order affects the quality of the target work, the work execution order has priority. If the work execution direction affects the quality of the target work, priority is set for the work execution direction, and the work execution sequence, work execution method, and work determined by the task route optimization unit. By using the evaluation index of the start time, the optimal task execution order and task execution direction are determined by the task route optimizing means.

Therefore, in the control device according to the twenty-fourth aspect, the work priority can be set according to a factor that affects the quality of the work.

According to the twenty-fifth aspect of the present invention, when a predetermined operation is performed by a plurality of machines, each of the machines is controlled, and the operation of any one of the machines is stopped outside the operation plan. In this case, based on the state of the stoppage, a work operation plan is created that avoids interference between the operations of the machines and reduces the work time required for a predetermined operation, and controls each machine based on the work operation plan. A work start time, a work location, and a work at each work location of a predetermined work assigned to each machine based on work information necessary to perform the work assigned to each machine. Initial work operation for creating at least one initial work operation plan, which is work information data including a combination of an order, a work direction for each work site, and a work waiting time until the work of each work site is started. A planning unit, the initial working operation plan created by the initial working operation plan creating means,
A work operation plan creating means for creating a first predetermined number of new work operation plans created by changing at least one of the work start time, the work sequence, and the work direction; For each of the first predetermined number of work operation plans, an operation simulation of a predetermined operation is performed, and based on predetermined evaluation conditions, the operation time is evaluated by the operation time evaluation unit and the operation time evaluation unit. From the first predetermined number of work operation plans evaluated by the work time evaluation means based on the work time,
A work operation plan extracting means for extracting a second predetermined number of work operation plans smaller than the first predetermined number, and a work operation for storing the second predetermined number of work operation plans extracted by the work operation plan extraction means Created by changing at least one of a work start time, a work sequence, a work direction, and a work wait time from a plan storage means and a second predetermined number of work movement plans stored in the work movement plan storage means. A work operation plan recreating means for creating again a first predetermined number of new work operation plans to be created, and a predetermined work operation for each of the first predetermined number of work operation plans created by the work operation plan recreating means. A working time reevaluating means for performing an operation simulation and evaluating the working time based on predetermined evaluation conditions; and a working time based on the working time evaluated by the working time reevaluating means. First evaluated by the evaluation unit
A second predetermined number of work operation plans are extracted from the predetermined number of work operation plans, and at least one of the extracted work operation plans satisfies a predetermined evaluation criterion. Outputs a work operation plan that satisfies a predetermined evaluation criterion, and if none of the extracted work operation plans satisfies the predetermined evaluation criterion, the extracted second predetermined number of work operation plans Work operation plan re-extraction means for storing the work operation plan in the work operation plan storage means, and machine control means for controlling each machine based on the work operation plan output by the work operation plan re-extraction means.

Therefore, in the control device according to the twenty-fifth aspect, as described above, the work operation plan is formulated by applying the concept of the genetic algorithm, thereby increasing the parameter for determining the work operation plan. Even in this case, a work operation plan can be formulated in a relatively short time.

According to a twenty-sixth aspect of the present invention, in the control device according to the twenty-fifth aspect, at least one of the work operation plan creating means and the work operation plan re-creating means is provided for each work site assigned to each machine. A new work operation plan is created by randomly crossing the work order.

Therefore, in the control device according to the twenty-sixth aspect, by creating a work operation plan by applying the crossover processing of the genetic algorithm, even if the parameters for determining the work operation plan increase. Thus, a work operation plan can be formulated in a relatively short time.

According to a twenty-seventh aspect of the present invention, in the control device of the twenty-fifth or twenty-sixth aspect, at least one of the work operation plan creating means and the work operation plan re-creating means is assigned to each machine. A new work operation plan is created by randomly selecting each work location and reversing the work direction of the selected work location.

Therefore, in the control device according to the twenty-seventh aspect, by creating a work operation plan by applying the random processing of the genetic algorithm, even if the parameter for determining the work operation plan is increased. Thus, a work operation plan can be formulated in a relatively short time.

According to the twenty-eighth aspect of the present invention,
In the control device according to any one of the seventh to seventh aspects, each machine is a welding device.

Therefore, in the control apparatus according to the twenty-eighth aspect, the inventions according to the thirteenth to twenty-seventh aspects can be applied to a plurality of welding apparatuses.

[0074]

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

An embodiment of the present invention will be described with reference to FIGS.

FIG. 1 is an overall configuration diagram showing an example of a control device to which a control method according to an embodiment of the present invention is applied.

That is, the control apparatus to which the control method according to the present embodiment is applied includes a CAD / CAM system 1, a multi-robot control apparatus 2, each robot control apparatus 3,
And a work machine 4 controlled by each robot control device 3.

The CAD / CAM system 1 is based on the premise that robot operation data for each welding line for a target work is generated and transmitted to the multi-robot control device 2. In recent years, such a CAD / CAM system 1 (offline programming system) has become widespread, and has become an indispensable function for using robots in high-mix low-volume production.

In the CAD / CAM system 1, the posture of the welding robot 21, the tip position information of the welding torch 22, and the command sequence necessary for the welding operation are generated for each divided operation pattern of each task. . In the present embodiment, each work machine 4 provided in each robot control device 3 includes a welding robot 21,
A case where a welding operation is performed by the plurality of welding robots 21 will be described as an example.

As shown in FIG. 2, the operation of the welding robot 21 is as follows: approach to the welding portion, sensing of the start end, sensing of the end, welding of the start, main welding of the intermediate portion, welding of the end, and welding from the welding portion. The basic operation consists of the retraction, the auxiliary operation such as wire cutting and nozzle cleaning after the retraction after the welding is completed, and the air cutting operation meaning movement to the next welding line portion.

In some cases, the end sensing operation may be omitted, the auxiliary operation may be separately performed before welding, or the welding operation may be repeated. It is divided into two.

The CAD / CAM system 1
For each of the operations classified into (1) and (2), the posture of the welding robot 21 and the tip position information of the welding torch 22 and the command sequence necessary for the welding operation are calculated. Since such information is processed as data of a welding operation unit, it is hereinafter referred to as “welding line information”.

The multi-robot control device 2 reads the robot operation data (task data) for each welding line information unit for each task as the work operation plan creating unit 5. Then, the read data is stored in the task generation database 7 for each work. As a matter of course, addition, correction,
Deletion is also possible. The multi-robot control device 2 further includes a data read processing unit 6, a coordinate conversion processing unit 8, a task allocation processing unit 9, a task plan processing unit 10, a motion program generation It includes a processing unit 11, a data output processing unit 12, and a task management unit 15 and a task monitoring unit 17 as a work operation control unit 14.

The data read processing unit 6 has an input / output interface for receiving data from the CAD / CAM system 1 which is a so-called higher-order system, and also has an operation for forming a task from the robot controller 3 positioned as a lower-order system. It also has an interface for reading teaching data for patterns.

The coordinate conversion processing section 8 calculates a deviation between the installation position of the workpiece and a virtual installation position on the CAD / CAM system 1, and corrects the deviation of the welding line information based on the calculation result.

FIG. 3 is a plan view showing an example of the work 24 to be welded by the welding robot 21.
No. 4 assumes a case in which a plurality of mounting members 27 are automatically welded to a panel (base material) 26 having an opening 25 and assembled.

The welding platen 28 is a work table for arranging or fixing the work 24, and the area boundary line 29 is a basic operation area R of each welding robot 21 (R1 to R10).
This is a dividing line for dividing 1 to R10.

As shown in FIG. 3, the operation range of the robot is divided by an area boundary line 29 having an overlap area 30 of a certain motion. Therefore, the assignment of the task is uniquely determined by the area boundary line 29. In the case of a task existing within the area boundary, there is a task that can be processed by any welding robot 21. For such a task, the task allocation processing unit 9 performs leveling processing such that the load on the welding robot 21 having the maximum load is minimized.

In the example of FIG. 3, the area boundary line 29 of the welding robot 21 positioned adjacent to the left and right has an overlap area 30 having a width of about 1.3 m, but is almost fixed.
On the other hand, for the welding robots 21 vertically adjacent to each other, an overlap area of about 7.5 m exists, and the load can be leveled. In a robot using a trackless bogie, a clear boundary region does not exist, but it is sufficient to recognize that the entire operation range of the robot is the overlap region 30.

Further, regarding the welding line straddling the region boundary line 29, the welding line is divided. In other words, the task is divided into two or more tasks. The execution of such task division processing in the higher-order CAD / CAM system 1 has already been described in Japanese Patent Application Laid-Open No. H10-187223, but such processing is performed in the multi-robot control device 2. Implementation is a feature of the present invention. This is because when the task is divided in the CAD / CAM system 1, the arrangement of the work 24 is fixed, but if it can be implemented in the multi-robot control device 2,
This is because the task division can be performed on the arbitrarily placed work 24, so that the flexibility of the work on site is greatly improved.

On the other hand, the task allocation processing section 9 predicts the remaining work time of each welding robot 21 in the task management section 15 while the task work by the plurality of welding robots 21 is in progress, and has a maximum load at that time. Welding robot 21
If it is predicted that will change, the task division is changed.

In this case, first, paying attention to the welding robot 21 having the maximum load, it is confirmed whether or not there is a welding line task that can be reassigned to the adjacent welding robot 21. For tasks that can be completely reassigned, the adjacent welding robot 2
Welding robot 2 that can be assigned to 1 and is adjacent
When the allocation is changed to 1, the task allocation is changed when the remaining work time of the welding robot 21 whose allocation has been changed does not become the maximum.

On the other hand, when a plurality of welding lines can be assigned to a plurality of adjacent welding robots 21, the assignment is changed from the welding robot 21 having a short remaining work time. In addition, task division is performed for a task that can be changed if the task is divided.

Although there is a task whose assignment can be changed to the adjacent welding robot 21, when the assignment is changed to the adjacent welding robot 21, the welding robot 21 whose assignment has been changed is changed.
If the remaining work time becomes the maximum, attention is paid to the adjacent welding robot 21 and it is checked whether or not there is a task that can be reassigned to the welding robot 21 adjacent to the adjacent welding robot 21. By repeating such processing, task assignment change processing is performed.

Further, the extent to which the task allocation is changed in one task division change process can be determined when the welding robot 21 having the maximum load is no longer the welding robot 21 having the maximum load, or transition can be made. When there are no more tasks, end the task assignment change.

As shown below, the task plan processing section 10 performs (a) an optimized route calculation process, (b) an alternative task generation process, (c) an inter-task movement motion route data generation process,
(D) Interference avoidance path generation processing, (e) deadlock retreat operation path data generation processing, and (f) reverse task path data generation processing. Each of these will be described below.

(A) Optimized path calculation processing The task plan processing unit 10 is disclosed in Japanese Patent Application No. 2000-311056.
As described in the publication, a task operation path for each welding robot 21 is determined.

(B) Alternative task generation processing At least one alternative task is selected for each task constituting the task operation path obtained in the above-described (a) optimization path calculation processing. As for the selection method, the work area of the work machine 4 is divided into four equal parts, and attention is paid to the actual work part of the work, and a task at a diagonal position of the area including the work is selected as an adjacent work machine. A task that does not cause interference when viewed spatially with the task No. 4 and has not been performed so far is selected. If there is no corresponding task, a task with a small work time difference in the area is selected.

(C) Inter-task movement operation route data generation processing Next, the task plan processing unit 10 generates movement operation data connecting the tasks for both the task operation path and the alternative task path.

(D) Interference Avoidance Path Generation Processing Further, the task plan processing unit 10 generates a path for avoiding interference when the robot interference area wraps in a moving operation (air cut operation) connecting the tasks. I do. As an example, as shown in FIG.
In the operation act2 corresponding to the long side of the right triangle formed by the operation act2, the operation act21, and the operation act22 of (R1), the operation act2 interferes with the operation act2 of the adjacent welding robot 21 (R2). However, the interference can be avoided by performing the operation act21 and the operation act22 instead of the operation act2 of the welding robot 21 (R1). The interference avoidance path generated in this way is used as a subtask when interference occurs. In other operations, a similar interference avoidance path can be generated, but cannot be applied to an operation that requires tracing a welding line such as a welding operation.

(E) Deadlock evacuating operation route data generation processing If the robot interference area laps in the operation constituting the task and any of the welding robots 21 stops at the lap, a deadlock occurs. Possibilities arise. When such a deadlock occurs, one of the welding robots 21 must be evacuated. Such an operation is usually performed by an operator determining the state of the welding robot 21 and manually retracting the welding robot 21 to an appropriate position. In the present embodiment, the task plan processing unit 10 automates the processing by automatically generating an evacuation route in advance.

Various methods of generating such a retreat route can be considered depending on the characteristics of the target work, the axis configuration of the welding robot 21, and the like. As a safe and simple method, a method of backing the route followed by the task operation without change is used. It is assumed that an evacuation route is generated. The safe retreat position is outside the interference lap area between the welding robots 21.

(F) Reverse Task Path Data Generation Processing Further, the task plan processing unit 10 generates operation path data in which the operation direction of the forward task operation path is reversed.
Since the data read from the CAD / CAM system 1 is arranged in the order of the operation start point, the intermediate point, and the end point, this processing reverses the arrangement together with the teaching point information. Since the operation pattern code is output for each teaching point, the operation pattern code is also converted.

When the task operation path for each welding robot 21 is determined, the operation program generation processing section 11 generates a robot operation program for each task. In this process, an operation program is generated using a parametric parameter for an operation pattern code read from the CAD / CAM system 1 and specified for each operation section constituting a task. The basic operation pattern program is specific to the welding robot 21 and is described in a language (data string) specific to each welding robot 21. In the present invention, assuming that a plurality of robots of different types are under control, by having this operation pattern database for each type of robot, it is possible to cope with various robots only by changing this part. The feature is that it did.

Further, the operation program generation processing section 11
Generate interference area data for each subtask. Furthermore, a robot operation program is generated so that interference avoidance or a save operation when a deadlock occurs can be selected as a subtask.

The data output processing unit 12 manages the welding line operation program, the substitute operation program, the interference avoidance operation program, the robot priority, and the interference area data, which are the robot operation programs generated by the operation program generation processing unit 11, in the task management. Transfer to unit 15.

The task management section 15 performs (a) operation preparation confirmation, (b) robot priority setting,
(C) interference avoidance simulation (first interference prediction means), (d) registration in a task management queue (task data storage means), and (e) data conversion / data transmission.

(A) Operation preparation confirmation The task management section 15 acquires various programs executable for the target work 24 from the data output processing section 12. Next, the welding robot 2 required for the work of the work 24
It is checked whether or not 1 is in a operable state based on information output from the task monitoring unit 17. In particular,
It is checked whether the welding robot 21 is in the program operation mode, whether there is no interlock such as a temporary stop or an emergency stop, and whether a robot mechanism (not shown) of each welding robot 21 is at the standby position. If the target welding robot 21 cannot be used due to a failure or the like, a request is made to the task plan processing unit 10 to re-plan, including whether or not the work can be performed by the substitute welding robot 21.

(B) Setting of Robot Priority The task management unit 15 does not pose a problem immediately after the operation of the welding robot 21 is started.
When 1 is in the pause state, it is determined which operation of the welding robot 21 is given priority. As the initial value, the robot priority obtained by the optimization path calculation process performed by the task plan processing unit 10 is used. After starting the robot work, the welding robot 2
1 work time may be delayed, so the task management unit 1
5 calculates the remaining work time of the welding robot 21 at the end timing of the task work, and changes the priorities of the welding robots 21 in descending order of the remaining work time.

In this case, the task completion time is calculated for the temporarily stopped welding robot 21 based on the estimated recovery time. As a result of this calculation, the welding robot 21 with the maximum load
If is changed, change the task assignment. A task assignment change request for that purpose is output to the task assignment processing unit 9.

(C) Interference Avoidance Simulation The task management unit 15 simulates the operation simulation of all tasks using the interference area data corresponding to the task operation program output from the data output processing unit 12 for each welding robot 21. Implement and confirm the existence of robot mutual interference. In this case, the interference area is subdivided into sub-task levels as shown in FIG. 2, and the interference area is set for each sub-task. For example, in the case of a welding line operation program, it is classified into six, namely, air cut, approach, sensing, welding, retract, and evacuating air cut (only when evacuating air cut is necessary). Set.

Further, one interference area may be set by grouping a plurality of subtasks. When interference occurs in the above-described interference avoidance simulation, an appropriate interference avoidance process is selected from the interference avoidance processes previously obtained by the work operation plan creating unit 5. As the interference avoiding means, an appropriate one is selected from the following three. 1) The welding robot 21 having a low priority is temporarily stopped in subtask units to avoid interference. 2) Replacement of task execution direction 3) Selection of interference avoidance operation This interference avoidance operation can be selected by selecting another route as described in (d) interference avoidance route generation processing, or (e) deadlock. There is a case where the evacuation operation is selected as described in the evacuation operation route data generation processing.

Then, as a result of the interference avoidance simulation, it is determined whether or not the work operation plan needs to be redone. The criterion is one of the following. B) When a situation occurs in which interference cannot be avoided. B) When the working time of the other machine is longer than the working time of the machine with the maximum load. C) When the suspension time of the machine with the maximum load exceeds a predetermined time.

For the method of the interference simulation,
At the time when the interference occurs, basically, one of the above-described interference avoidance processes is selected for the robot with a low priority, and the timing of the simulation is returned to the time before the interference avoidance process is executed. Perform the simulation again. As described above, at the time of occurrence of interference, an interference avoidance process is sequentially selected, and a simulation is repeatedly executed, thereby generating an operation path including interference avoidance.

FIG. 5 shows a processing flow of the repetitive simulation processing in the operation path generation including the interference avoidance. In step S41,
When the interference avoidance simulation is started, the tasks are selected in the order of the data output from the data output processing unit 12, that is, in order from the task with the earliest start time (S42).
If there is no task to select, the simulation process ends (S43).

Next, as for the task selected in step S42, the subtasks constituting the task are sequentially selected (S44). Then, when all the sub-tasks constituting the task have been selected in step S44, the process returns to step S42 and proceeds to the next task selection. Further, for the subtask selected in step S44, an interference check with an adjacent robot is performed using the above-described interference area data (S45).

As a result of the interference check in step S45, if no interference occurs, it is determined that there is no problem, and the process returns to step S44 to select the next subtask. on the other hand,
If the interference areas overlap with the adjacent robot, that is, if interference occurs, one of the above-described interference avoidance methods is selected (S46).

By the above processing, the interference avoiding method in the case where the interference occurs is determined. However, the robot operation in the time zone near the time of the interference occurrence is changed by the selected interference avoiding method. The interference check simulation must be restarted. This is because, if the subtask operation for which the interference check simulation has already been performed is changed to the interference avoidance operation by the interference avoidance process, new interference may occur due to the selected interference avoidance operation. . Therefore, for the task for which the interference avoidance processing has been selected, the backtracking processing for returning the simulation time is performed to perform the interference check again (S47). As a result of this processing, the task plan processing unit 10 returns to the task order including the corresponding interference avoidance processing in the data order output from the data output processing unit 12.
The processing is reversed, and the subsequent simulation processing is repeatedly executed (S42). When the suspension is selected as the interference avoidance method, the start time of the corresponding subtask is set to be delayed by the suspension time.

As described above, by performing an interference avoidance simulation capable of sequentially taking measures when interference occurs, it is possible to avoid interference in accordance with the latest robot operation status.

(D) Registration in Task Management Queue In the above-described interference avoidance simulation, if there is no need to redo the work operation plan, all tasks that have passed the interference check simulation are assigned to the task management queue 1.
Register in 6. Since these registered tasks include the selected interference avoidance operation, the interference avoidance subtask is also registered.

Whether to register all tasks that have passed the interference check simulation in the task management queue 16 or to register only tasks for a predetermined working time in the task management queue 16 is a problem due to the processing capability of the computer. ,
Either may be used. FIG. 6 shows a data configuration example of the task management queue 16.

On the other hand, if it is determined that the work operation plan needs to be redone, only the tasks up to the time when the first interference occurs in the simulation are registered in the task management queue, and the remaining tasks are processed in the task planning process. It is not registered because a request is made to the unit 10 for replanning.

The registration in the task management queue 16 is performed sequentially from the one with the earliest task start time, and the one with the same time is changed from the task of the welding robot 21 with a high priority to the task of the welding robot 21 with a low priority. To be registered sequentially.

(E) Data Conversion / Data Transmission Further, the task management section 15 converts the task program in the task management queue 16 into NC data as required, and transfers it to each robot control device 3 side. Note that this N
The C data conversion may not be performed by the task management unit 15, but may be performed by the operation program generation processing unit 11 or the robot control device 3.

As for the data transmission, not all the tasks registered in the task management queue 16 are transmitted at once, but a method of sequentially transmitting data according to the progress of the task work may be employed.

The task monitoring unit 17 includes a task selection unit, an interference check simulation unit, a subtask selection unit, an interference check unit (third interference prediction unit), a machine operation instruction selection unit, a pause monitoring unit, and a simulation time deviation confirmation unit. Consists of

(F) Task Selection In addition, the task management unit 15 selects the selected welding robot 2
Regarding the task 1, among tasks registered in the task management queue 16, a task that has not been executed and has the earliest task start time is selected. Therefore, the task management queue 16
Are arranged in an easy-to-manage order because the task execution numbers are assigned in ascending order of task start time.

(G) Interference Check Simulation The purpose of this interference check simulation is to avoid interference even when some unexpected state occurs in the task execution stage that is different from the state assumed in the interference avoidance simulation. What to do.

The difference from the above-described interference avoidance simulation is that an interference check simulation with the other welding robots 21 is performed only within the execution time range of the selected task. It is possible. The interference avoidance method is the same as that of the interference avoidance simulation, and an alternative task selection process is added.

In the present interference check simulation, when interference occurs, the following interference avoidance processing is selected. In the simulation, if the occurrence of interference can be detected in advance, the interference is avoided by the following processing.
The tasks to be subjected to the interference are only the tasks of the welding robot 21 that are currently being executed, and an interference check simulation is performed on the operation until the task is completed.

1) Temporary stop of any welding robot 21 The welding robot 21 having a lower robot priority is temporarily stopped at the start of a subtask in which interference occurs. The timing may be adjusted by changing the operation speed. However, if the operation cannot be temporarily stopped by the welding robot 21 on the lower priority side, the welding robot 21 on the higher priority side is temporarily stopped.

The advantage of adjusting the timing by changing the motion speed without pausing is that when the start position of the motion is in the boundary area or the interference area of the motion interferes with another robot, the task planning is not completed. Processing unit 1
This is the case where it is already known at 0 and leaving the position after starting the operation reduces the degree of influence on the robot mutual interference. However, depending on the type of task or the type of motion, it may not be possible to execute the task.

When the occurrence of a deadlock is predicted (when the welding robot 21 on the lower priority side is temporarily stopped in the lap area of the interference area), it cannot be temporarily stopped, so that the priority is higher. Is temporarily stopped. When the occurrence of deadlock is predicted by temporarily stopping the welding robot 21 having a low priority, one of the welding robots 21 is temporarily stopped at a position where deadlock can be avoided regardless of the priority. If deadlock cannot be avoided, other avoidance measures are attempted.

When the suspension is selected as the interference avoidance processing, the execution is performed only when the suspension time is within the allowable range, and when the suspension time exceeds the allowable range, it is determined that the selected task is not appropriate. , Task plan processing unit 10
Ask for re-planning.

Next, a method of calculating the permissible suspension time will be described below for two cases a) and b). B) Set the permissible limit value at a predetermined ratio to the task work time. This is the case where, for example, 150% of the task work time is set as an allowable limit value for the task.

(B) The difference between the total working time of the machine with the maximum load and the total working time of the own machine is defined as a margin time, and the marginal time is defined as a time allowed by the ratio of each task work time as a suspension allowable time. The total allowable suspension time from the task to the task at the time of the suspension is defined as the permissible limit value. However, in this method, the machine in charge of the maximum load operation cannot be stopped at all, so that a certain margin time proportional to the total operation time is set for the maximum load machine.

As a judgment of the temporary stop processing, first, if the allowable range of the item (b) is allowable, the image forming apparatus is temporarily stopped.

2) Changing the Task Execution Direction If there is no problem in working from any direction, such as welding, the task execution method is changed. The operation simulation is executed again by using the task operation path program in the reverse order created in advance. In the case of this avoidance method, since the time until the task completion does not change, there is no need to worry about the timing of the optimization path being shifted. This avoidance process is likely to avoid deadlock.

The feature of this avoidance process is that if the interference is resolved by changing the task execution direction, no time lag occurs at the time of task completion, so that there is no other effect. However, by changing the task direction such as welding work,
This cannot be selected when the operation time needs to be changed. 3) Selection of interference avoidance operation If the above-described interference avoidance operation program can be selected, select it. In this case, the interference check simulation is performed again. The selection of the interference avoiding means is effective when new interference with the adjacent welding robot 21 does not occur, but can be applied only to a limited subtask such as air cut.

The following alternative task selection is also an effective means for avoiding interference, in particular, for avoiding deadlock. However, if an alternative task is selected, the optimized path that has been obtained is broken. Re-planning by the task plan processing unit 10 is required.

4) Selection of Alternative Task When the above-mentioned suspension time exceeds a predetermined allowable range or when an unavoidable deadlock occurs, an alternative task is selected and a similar interference check simulation is performed. .

As for the selection of the interference avoiding means, since the optimum selection order differs depending on the characteristics derived from the robot configuration and the target work configuration, the selection order and priority are arbitrarily set in the system. Make it configurable.

An example of the interference avoiding operation as described above will be specifically described with reference to FIGS.

First, in the case as shown in FIG. 7, 1) the welding robot 21 (R1) having a high priority is changed from act1 to ac shown in FIG.
As a result of performing the interference check simulation to execute the task consisting of t3, if act3 interferes with act2 of the preceding welding robot 21 (R2), R1
Since the priority is higher, R2 is temporarily stopped at the current position G.

2) Operation act2 of welding robot 21 (R2)
In the case of a subtask that cannot be paused halfway, such as welding, the welding robot 21 (R2) moves to the position H that is the end point of the subtask. On the other hand, while the welding robot 21 (R2) moves from the position G to the position H, the welding robot 21 (R1) ends the operation act1 and reaches the position B. In this case, the welding robot 21 (R1) operates ac
At time t2, due to the lap of the interference area, the vehicle is temporarily stopped at the position B even though the priority is high.

3) When the welding robot 21 (R2) reaches the position H, the operation act2 of the welding robot 21 (R1) is performed.
There is interference, and since the operation act3 of the welding robot 21 (R2) has no interference, the operation is permitted despite the low priority, and the operation act3 is started.

An interference check simulation involving the interference avoidance operation as described above is performed. Welding robot 2
In the case of a subtask in which act2 of 1 (R2) cannot be temporarily stopped, the welding robot 21 (R1) having a higher priority eventually has to be temporarily stopped. In this example, the task execution direction is switched by the welding robot 21 (R1).
This is effective in reducing the pause time of the game. If the temporary stop time of the welding robot 21 (R1) is longer than a predetermined allowable time, an alternative task is selected.
That is, in conclusion, the welding robot 21 at the position B
(R1) is temporarily stopped, the task direction is switched (reverse direction), and the welding robot 21 is moved at the position D.
(R1) is temporarily stopped, or an alternative task is selected.

On the other hand, the interference avoiding operation in the case where a deadlock occurs will be described with reference to the case of FIG. 8 as an example. 1) There is no interference in the execution of the operation act1 of the welding robot 21 (R1). R1) starts operation act1.

2) Operation act2 of welding robot 21 (R1)
The welding robot 21 (R2)
Has not completed the operation act2, so the welding robot 21
The operation act2 of (R1) is started. Welding robot 21 (R
2) When the welding robot 21 (R
The operation act3 of 2) is the operation ac of the welding robot 21 (R1).
Because it interferes with t2, it pauses at position H.

3) However, welding robot 21 (R1)
When the operation act2 of the welding robot 21 (R1) is completed and reaches the position C, the operation act3 of the welding robot 21 (R1) becomes the welding robot 21 (R
Interference with 2) occurs, and both robots temporarily stop. A so-called deadlock occurs.

4) As such a deadlock elimination method, the preceding welding robot 21 (R2) is moved to the current position G.
, A means for evacuating from position H to position F, and a means for temporarily stopping welding robot 21 (R1) at position B are selected.

5) As a method of judging which means to select, if act2 of the welding robot 21 (R2) can be temporarily stopped, it is temporarily stopped at the position G. If it is difficult to temporarily stop and the evacuation operation is possible, the welding robot 21 (R
2) is retracted from position H to position F. If neither a temporary stop nor a retreat operation can be selected, the welding robot 21 (R1) is temporarily stopped at the position B despite the high priority. If the pause time of the welding robot 21 (R1) is long, the task direction is switched or an alternative task is selected.

In such a case, it can be easily understood that switching of the task direction does not cause deadlock.

In the example of the interference avoiding operation shown in FIG.
The figure shows a case where the operation act2 of the welding robot 21 (R1) interferes with the operation act2 of the welding robot 21 (R2). In this case, the interference is avoided by dividing and substituting the operation act2 of the welding robot 21 (R1) into the operation act21 and the operation act22.

Further, in the example of the interference avoiding operation shown in FIG. 9, the welding robot 21 (R2) performs the operation
At the position H, the robot temporarily stops due to interference with the welding robot 21 (R1). However, since this interference is resolved immediately before the welding robot 21 (R1) reaches the point C, the subsequent operation act3 is performed.

On the other hand, when reaching the position C, the welding robot 21 (R1) temporarily stops due to interference with the welding robot 21 (R2). However, when the interference is resolved without falling into the deadlock state, the subsequent operation, operation act3, is performed.

As described above, if an interference check simulation is performed before executing a task including a plurality of subtasks, an appropriate interference avoidance process can be selected during the operation up to the completion of the task, which is effective.

The basic processing contents of the task monitoring unit 17 are as described above. In addition to the above, further, selection of a subtask at a subtask level, interference check considering the priority of the welding robot 21 and output of an operation command are performed. Processing is also performed. This prevents mutual interference between the robots in the event of an emergency.

The task monitoring unit 17 constantly monitors whether the subtask being executed has ended, and updates the subtask information in the task management queue 16 when the operation of the subtask ends. Then, based on the updated information, a subtask is selected, and a next task is selected.

Note that a subtask is a unit operation constituting a task. The task selected by the task selection described above finally enters the execution stage. The selection of the subtask means that the task monitoring unit 17 selects the task, the first subtask of the executable task in which an appropriate interference avoidance operation is selected in the interference check simulation, and the task that is already being executed. The task is to select an unexecuted subtask or a suspended subtask among tasks in order of the robot with the highest priority.

Since the state of these subtasks is set in the task management queue 16 each time, the task management queue 16 is referred to for selecting a subtask. The subtask selection process is performed by the task monitoring unit 17 at the time of completion of the subtask and at the time of return from the suspension during execution of the subtask.

Further, the task monitoring unit 17 checks the selected subtask for interference with the adjacent welding robot 21 using the interference area data. The difference from the task level interference check simulation is that only the interference between the subtask to be executed and the subtask being executed by the adjacent welding robot 21 is checked. Real-time simulation is realized by limiting the interference check range. As a method of avoiding interference in the event of occurrence of interference, any one of the welding robots 21 is temporarily stopped. Also,
When a deadlock state occurs due to the temporary stop processing, the deadlock is detected by this processing, and some display is performed to request the intervention of the operator.

Hereinafter, the specific processing for avoiding interference at the subtask level will be described with reference to FIG.

When the welding robot 21 (R5) selects the subtask to perform the subtask operation and sets the interference area, the welding robot 21 (R6) has already started the subtask operation and the interference area is set. The welding robot 21 (R5) and the welding robot 21
The interference area of (R6) overlaps, and the possibility of occurrence of interference is detected. At this time, if the subtask operation type of the welding robot 21 (R6) is a welding operation, the welding operation cannot be interrupted.
Does not output a robot operation permission command to

However, welding robot 21 (R6)
If the operation is other than the above, by temporarily stopping the operation, it is possible to eliminate the lap of the interference area. Therefore,
Welding robot 21 (R5), welding robot 21 (R6)
Compare priorities. If the welding robot 21 (R5)
Is higher than the welding robot 21 (R6), a temporary stop command is output to the welding robot 21 (R6) to stop the welding robot 21 (R6). At this time, the interference area is changed to an operation area corresponding to the temporary stop state as shown by the welding robot 21 (R7). Of course, no operation permission command is output to the welding robot 21 (R5).

Since the process of updating the interference area is performed as a preparation work in the interference check processing, the interference area of the welding robot 21 (R6) is changed at the time of the next interference check.

Then, in the next subtask selection processing, as a result of comparing the selectable welding robot 21 (R5) with the welding robot 21 (R6), the welding robot 21 (R5) having a higher priority is selected, and the subtask interference is selected. Set the area again. In the example shown in FIG.
Since the interference area of (R5) and the interference area of welding robot 21 (R6) no longer overlap, welding robot 21
An operation instruction is issued to (R5). At this time, if the interference area of the welding robot 21 (R5) wraps with the interference area of the welding robot 21 (R6) in the pause state, no operation permission is given to the welding robot 21 (R5). In this case, a so-called deadlock state occurs. In this case, in the next subtask selection process, a restart permission instruction is again executed to the temporarily stopped welding robot 21 (R6).

As another concept for checking the interference between the welding robot 21 (R5) and the welding robot 21 (R6), it is predicted that the interference area of the welding robot 21 (R6) will disappear in the future, and Since it is possible to give the operation permission of (2), in the operation other than the welding operation, if the arrival time of both welding robots 21 to the interference area is more than a certain distance (a sufficiently safe time), the operation is performed 1) Should the welding robot 21 (R6) temporarily stop, a time lag occurs and the welding robots 21 may collide with each other. 2) In the case of welding operation In the case where the welding robot 21 temporarily stops due to interference between the welding robots 21,
Since the arc breaks, it is necessary to perform a bead joining process at that portion.

On the other hand, in the air cut operation, there is no particular harm caused by the temporary stop.
Only the current position of 1 may be set as the interference area and may be changed every moment. However, as a result, a deadlock state occurs in which both (a plurality of) welding robots 21 are temporarily stopped due to interference. To avoid the deadlock, the above-described robot evacuation program is executed. However, the intervention of the operator is necessary, and it may take a long time. For such a reason, it is effective to set the entire area necessary for the subtask operation as the interference area.

As described above, when interference occurs due to the interference check at the subtask level, the task monitoring unit 1
7 temporarily stops any of the welding robots 21 and issues a temporary stop command when the corresponding welding robot 21 is operating. If a deadlock occurs due to the interference check at the subtask level, an operator intervenes.

When a deadlock occurs, the operator executes a prepared evacuation program,
The welding robot 21 is manually moved to the standby position. When the save program is selected, the operation instruction of the program is issued.

On the other hand, if no interference has occurred or interference has been avoided by the interference check at the subtask level, an operation instruction is issued to the subtask. This is also performed by the task monitoring unit 17 and transmitted to the task control unit 19, which executes the subtask of the welding robot 21.

The task control unit 19 on the robot control device 3 side
Acquires the operation command issued by the task monitoring unit 17 of the multi-robot control device 2 and starts the operation of the welding robot 21. On the other hand, the operation of the welding robot 21 for which the temporary stop command has been issued is temporarily stopped.
There are two types of such temporary stop of the welding robot 21, one for the purpose of avoiding interference, and the other is an unexpected stop due to the occurrence of a trouble. Is detected by an error code or the like.

In the case of suspension for the purpose of avoiding interference, the time until restoration can be calculated by simulation, so that it is not necessary to estimate the time until restoration. The recovery time is estimated and registered in the task management queue 16 of the task management unit 15.

Further, the task control unit 19 controls the welding robot 2
When 1 temporarily stops, only the minimum area occupied by the welding robot 21 is reset as the interference area.
This process prevents the temporarily stopped welding robot 21 from occupying an unnecessary interference area.

When the cause of the temporary stop due to the trouble is resolved, the operator presses a robot restart button (not shown). This signal is transmitted from the task control unit 19 to the task management unit 15 via the task monitoring unit 17,
As a result, the state of the subtask in the task management queue 16 is changed to the executable state. In the task monitoring unit 17,
When a subtask is selected, interference of the subtask is checked based on this information.

Further, at the time when the task operation is completed, the task management unit 15 compares the scheduled operation with the scheduled end time in the simulation registered in the task management queue 16 as illustrated in FIG. If the time lag is not large as a result of the comparison, the timing with the simulation is corrected by shifting all subsequent task start times by the lag time. On the other hand, if the deviation time is long, an unexecuted interference avoidance simulation is performed except for the task currently being executed. Furthermore, when it is determined that the task route needs to be optimized as a result of the interference avoidance simulation,
It requests the task plan processing unit 10 to replan the optimization path.

Next, the operation of the control device to which the control method according to the present embodiment configured as described above is applied will be described with reference to the processing flowchart shown in FIG.

(S1) CAD / CAM System Robot operation data for each welding line for the work 24 is generated in the CAD / CAM system 1 and downloaded to the multi-robot control device 2. CAD /
In the CAM system 1, the posture of the welding robot 21, the tip position information of the welding torch 22, and a command sequence necessary for the welding operation are generated for each of the divided operation patterns of each task.

(S2) Data Read Processing The robot operation data (task data) for each welding line generated in step S1 is read into the data read processing unit 6 for each task. The read data is stored in the task generation database 7 for each work. If necessary, task data is added, modified, or deleted from the data once read.

(S3) Data Change Processing (S3a) Reading of Work Reference Point Position shift of the work 24 randomly placed on the welding platen 28 from the arrangement of the work 24 on the CAD / CAM system 1. Correction is made. Therefore, the work 24
The welding torch 22 of the welding robot 21 is moved to a reference position of at least two points (three points in the case of a three-dimensional work), or the installation position data of the work 24 is detected by a sensor such as a camera. 2 is taken into the coordinate transformation processing unit 8.

(S3b) Coordinate Conversion Processing The coordinate conversion processing unit 8 calculates the shift between the installation position of the work 24 and the virtual installation position on the CAD / CAM system 1 to obtain the position shift of the task data. Is corrected. That is, coordinate conversion processing is performed.

(S4) Task Assignment Processing (S4a) Task Division Processing As shown in FIG. 3, the operation range of the welding robot 21 is divided by an area boundary line 29 having an overlap area 30 of a certain operation. I have. Therefore, the assignment of the task is uniquely determined by the area boundary line 29. In the case of the task existing in the overlap area 30, there is a task that can be processed by any welding robot 21. For such a task, a leveling process in which the load on the welding robot 21 having the maximum load is minimized is performed in the task allocation processing unit 9.

(S4b) Task division change processing While the task work by the multi-robot control device 2 is in progress, the task monitoring unit 17 predicts the remaining work time for each welding robot 21, and furthermore, the maximum load is reduced at that time. If it is predicted that the welding robot 21 having the change will occur, the task allocation processing unit 9 performs a task division change process.

(S5) Task Planning Processing (S5a) Optimized Path Calculation Processing According to the processing described in Japanese Patent Application No. 2000-311056, the task planning processing section 10 determines the task operation path for each welding robot 21. It is determined. Since this is a work start in which the task start timing is shifted for each welding robot 21, time data to be delayed for each welding robot 21 is transferred to the task management unit 15. In addition, as a processing result, the welding robot 2 having a long remaining work time
The robot priorities are determined in order from 1.

(S5b) Alternative Task Generation Processing Next, for each task constituting the task operation path obtained in step S5a, the task plan processing unit 10
, At least one alternative task is selected.

(S5c) Inter-task movement operation route data generation processing The task plan processing unit 10 generates movement operation data connecting the tasks for both the task operation route and the alternative task route.

(S5d) Interference avoidance path generation processing Further, a movement operation for connecting the tasks (air cut operation)
In the case where the robot interference area wraps in, a path for avoiding the interference is generated by the task plan processing unit 10.

(S5e) Deadlock evacuating operation route data generation processing Further, when the robot interference areas overlap in the operation constituting the task, and when any of the welding robots 21 stops in the overlap area 30, In this case, a deadlock may occur. Since such a deadlock occurrence location can be predicted in advance, the task plan processing unit 10 generates a standby position moving path for avoiding the deadlock.

(S5f) Reverse Task Path Data Generation Processing Further, a task operation path in which the operation direction of the forward task operation path is reversed is generated by the task plan processing unit 10.

(S6) Operation Program Generation Process Next, when the task operation path for each welding robot 21 is determined, the operation program generation processing unit 11 generates a robot operation program for each task. Further, the interference area data performed by the task management unit 15 is also generated for each subtask. Further interference avoidance,
Alternatively, the evacuation operation at the time of occurrence of a deadlock is also generated as a robot operation program so that it can be selected as a subtask.

(S7) Data Output Process The welding line operation program, the substitute operation program, the interference avoidance operation program, the robot priority, and the interference area data, which are the robot operation programs generated by the operation program generation processing section 11 in step S6, are The data is transferred from the data output processing unit 12 to the task management unit 15.

Steps S1 to S described above
The processing up to 7 is performed by the work operation plan creation unit 5 of the multi-robot control device 2. The processing described below is processing performed by the work operation control unit 14 of the multi-robot control device 2 after the start of robot work.

(S8) Operation preparation confirmation The multi-robot control device 2 is
Is obtained for the work 24, and it is confirmed that the task management information is also obtained. Next, whether the welding robot 21 required for the work of the work 24 is in a operable state is checked based on information from the task monitoring unit 17.

If the target welding robot 21 cannot be used due to a failure or the like, the alternative welding robot 21
Request the task plan processing unit 10 to re-plan, including whether the work cannot be performed.

(S9) Robot Priority Setting Although there is no problem immediately after the operation of the welding robot 21 is started,
As the work proceeds, if the related welding robot 21 is temporarily stopped due to the robot mutual interference as described above, the task management unit 15 determines which operation of the welding robot 21 is given priority. . As the initial value, the robot priority obtained in the optimization path calculation processing performed by the task plan processing unit 10 is used. Since the work time of the welding robot 21 may be delayed due to the temporary stop after the work of the welding robot 21 is started, the remaining work time of the welding robot 21 is calculated at the end timing of the task work, and the welding robot having a large remaining work time is calculated. The priority is changed in order from 21.

(S10) Interference Check Simulation (First Interference Prediction Means) Further, the task management unit 15 uses the interference area data corresponding to the task operation program downloaded for each welding robot 21 to execute all the tasks. A motion simulation is performed, and the presence or absence of robot mutual interference is confirmed.

When interference occurs in the simulation for avoiding interference, an appropriate interference avoiding process is selected.
The interference avoidance simulation is restarted. Then, the task up to the interference occurrence time is registered in the task management queue 16 so as to be executed as it is, and the rest is returned to step S5 and the task plan processing unit 10 is requested to replan.

Tasks which have no problem in the interference check at the task management level are finally entered into the execution stage by the task management unit 15 by the task management queue 16.
Registered in. When the time difference between the simulation and the actual task completion time becomes greater than or equal to a predetermined value, such as when a pause occurs, an interference avoidance simulation is performed each time.

(S11) Registration in Task Management Queue The task program to be executed by each welding robot 21 is
The task management unit 15 registers the information in a list called a task management queue 16. This registration is performed sequentially from the one with the earliest task start time. At the same time, the data is arranged from the robot task with the higher priority to the robot task with the lower priority.

(S12) Data Conversion / Data Transmission The task program registered in the task management queue 16 is converted into NC data by the task management unit 15 as necessary, and further transferred to each robot control device 3.

(S13) Task Selection First, information on the welding robot 21 that has not executed a task or that has completed the task work is transmitted from each robot control device 3 to the task monitoring unit 17, so that task management is performed. In the part 15, the plurality of empty welding robots 21
Among them, the welding robot 21 having the higher priority is selected first.

Next, with respect to the selected welding robot 21, among the tasks registered in the task management queue 16, the task that has not been executed and has the earliest task start time is selected by the task monitoring unit 17. .

(S14) Interference Check Simulation (Second Interference Prediction Means) To check for interference prediction at the task execution level, 2
There are two stages: a task level at which interference check is performed for all the subtasks constituting the task before the start of the task, and a subtask level at which interference check is performed before the start of the subtask for each subtask constituting the task. .

The task management unit 15 performs an interference check simulation on the selected task as second interference prediction means using the above-described interference area. Then, in the simulation, if the occurrence of interference can be detected in advance, as described above, 1) temporary stop of one of the robots, 2) replacement of the task execution direction, 3) selection of the interference avoidance operation, and 4) alternative task Selection of,
The interference is avoided by any of the processes.

(S15) Selection of Subtask The subtask is selected by the task monitoring unit 17, and the first subtask of the executable task in which an appropriate interference avoidance operation has been selected in the interference check simulation, and the already executed subtask Among the tasks in the state, the unexecuted subtasks or the subtasks returned from the temporary stop are selected in order of the welding robot 21 with the highest priority.

The states of these subtasks are registered in the task management queue 16 each time, so that the task management queue 16 is also referred to when selecting a subtask. The subtask selection process is performed by the task monitoring unit 17 when the subtask is completed and when the subtask returns from the suspended state.

(S16) Interference Check at Subtask Level (Third Interference Avoiding Means) Further, the task monitoring unit 17 uses the interference area data for the selected subtask to communicate with the adjacent welding robot 21. An interference check is performed.

As a method for avoiding interference in the event that interference occurs, one of the welding robots 21 is temporarily stopped. When a deadlock occurs due to the temporary stop processing, a deadlock is detected by the task monitoring unit 17 and some display is displayed on the display unit (not shown) of the task monitoring unit 17 to request the intervention of the operator. Done through.

(S17) Robot Operation Command If no interference has occurred as a result of the interference check at the subtask level performed in step S16, the task monitoring unit 17 issues an operation command to the subtask. This operation command is transmitted to the task control unit 19, and the welding robot 21 executes a subtask.

(S18) Robot temporary stop command If an interference check occurs in the subtask-level interference check performed in step S16, one of the welding robots 21 is temporarily stopped by the task monitoring unit 17.

(S19) Deadlock Occurrence If a deadlock has occurred by the interference check at the subtask level performed in step S16, an attempt is made to avoid the deadlock by an operator operation as shown in step S20.

(S20) Evacuation Program Selection If a deadlock occurs in step S19, the operator executes a preparatory evacuation program or manually moves the welding robot 21 to the evacuation position. You.

(S21) Task Execution The operation command issued by the task monitoring unit 17 is transmitted to the task control unit 19 of each robot control device 3, whereby the operation of the welding robot 21 is started. On the other hand, the welding robot 21 to which the temporary stop command has been issued temporarily stops.

(S22) Temporary stop detection of subtask There are two types of temporary stop by the welding robot 21, one for the purpose of avoiding interference and the other for temporary stop due to trouble occurrence. Which pause has occurred is detected by an error code or the like.

(S23) Estimation of recovery time In the case of a temporary stop for the purpose of avoiding interference, the time until recovery can be calculated by simulation, so that it is not necessary to estimate the time until recovery. In the case of suspension, the recovery time is estimated by the task control unit 19 and registered in the task management queue 16 of the task management unit 15.

(S24) Change of Interference Area Setting When the welding robot 21 temporarily stops, the task monitoring unit 17 resets only the minimum area occupied by the welding robot 21 as an interference area.

(S25) Subtask restart request At the stage where the cause of the temporary stop due to the trouble is resolved, the restart button of the welding robot 21 is pressed by the operator's operation, and the welding robot 21 is restarted. This restart signal is sent from the task control unit 19 to the task monitoring unit 1.
7, the status of the subtask in the task management queue 16 is changed to an executable state. Then, when the subtask is selected, the task monitoring unit 17 issues an operation instruction of the subtask.

The task monitoring unit 17 constantly monitors whether or not the interference state has been avoided for the subtask temporarily stopped due to the interference. The portions that have passed are excluded from the interference area.

(S26) Subtask Operation Completion The task monitoring unit 17 always monitors whether the subtask being executed has ended, and when the work of the subtask ends, the subtask information in the task management queue 16 is updated. Then, a subtask is selected based on the updated information, and the next subtask is selected.

(S27) Termination of Task Operation The task monitoring unit 17 always monitors whether the subtask being executed has ended, and when the work of the last subtask constituting the task is completed, the task information in the task management queue 16 is updated. Is done. Then, the next task is performed based on the updated information.

(S28) Confirmation of Time Deviation from Simulation Further, when the task operation is completed, the task monitoring section 17 compares the task operation with the scheduled end time registered in the task management queue 16. If the time lag from the simulation is greater than or equal to a predetermined value, an interference avoidance simulation (S10) is performed.

As described above, in the control apparatus to which the control method according to the present embodiment is applied, the above-described operation is used to control a plurality of welding robots 21 that cooperate in a complicated welding operation. In addition, even during work, an efficient work plan can be sequentially formulated according to the work situation.

That is, even when the plurality of welding robots 21 are temporarily stopped due to disturbance or the like, the operation can be returned to the operation according to the operation situation. Alternatively, even when the operations of the plurality of welding robots 21 interfere with each other, a temporary stop is performed to avoid the interference, or an optimal evacuation route that avoids the interference is determined, and the evacuation is performed according to the evacuation route. This can avoid interference.

In order to shorten the remaining work time as much as possible according to the work situation, the work priority of the welding robot 21 is changed, and the load of the welding robot 21 having a high work load is reduced. The work plan can be changed.

Further, even in the event that a certain welding robot 21 breaks down, it is possible to select a welding robot 21 which can perform an alternative operation and to cause the welding robot 21 to perform the remaining operations.

As a result, it is possible to realize a control method and a control device capable of efficiently controlling the plurality of welding robots 21.

In this embodiment, the welding robot 2
Although the present invention has been described with respect to the case of controlling No. 1, the present invention is applied to general assembly work, for example, distribution, tacking, welding, distortion removal, and general processing work, for example, cutting, drilling, cutting, painting. Alternatively, there is a wide range of applications, such as a member handling operation and, in some cases, a disassembling operation.

When a robot is controlled by the control device of the present invention, the robot is not restricted by its operating range, and the same algorithm can be applied to an autonomous traveling (trackless) robot. , Can be used for a wide range of applications.

Note that tasks described in the embodiment of the present invention include:
A subtask is a work or a child work referred to in the claims.

As described above, the preferred embodiments of the present invention have been described with reference to the accompanying drawings, but the present invention is not limited to such configurations. Within the scope of the technical idea described in the claims, those skilled in the art can come up with various modified examples and modified examples, and these modified examples and modified examples are also within the technical scope of the present invention. It is understood that it belongs to.

[0232]

As described above, according to the present invention,
In the case of controlling a plurality of work machines that perform the same work in cooperation, even during the work, an efficient work plan can be sequentially formulated according to the work situation.

Further, by continuing the work based on the work plan, a control method and a control device capable of efficiently controlling a plurality of work machines can be realized.

[Brief description of the drawings]

FIG. 1 is an overall configuration diagram showing an example of a control device to which a control method according to an embodiment of the present invention is applied.

FIG. 2 is a schematic diagram of a classification of welding operations performed by a welding robot.

FIG. 3 is a plan view showing an example of a work to be welded by a welding robot.

FIG. 4 is an operation area diagram of each welding robot showing an example of an interference avoidance route;

FIG. 5 is a flowchart showing a flow of an iterative simulation process in generating an operation path including interference avoidance;

FIG. 6 is a data configuration diagram showing an example of a task management queue.

FIG. 7 is an operation area diagram of each welding robot showing an example of an interference avoidance route.

FIG. 8 is an operation area diagram of each welding robot showing an example of an interference avoidance route.

FIG. 9 is an operation area diagram of each welding robot showing an example of an interference avoidance route.

FIG. 10 is an operation area diagram of each welding robot for explaining the setting of an interference area.

FIG. 11 is a processing flowchart showing an operation of a control device to which the control method according to the embodiment is applied.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... CAD / CAM system 2 ... Multi-robot control device 3 ... Robot control device 4 ... Work machine 5 ... Work operation plan creation part 6 ... Data reading processing part 7 ... Task generation database 8 ... Coordinate transformation processing part 9 ... Task allocation processing Unit 10: Task plan processing unit 11: Operation program generation processing unit 12: Data output processing unit 14: Work operation control unit 15: Task management unit 16: Task management queue 17: Task monitoring unit 19 ... Task control unit 21: Welding robot Reference numeral 22: welding torch 24: workpiece 25: opening 26: panel 27: mounting member 28: welding platen 29: area boundary line 30: overlap area

Claims (28)

[Claims] 1. A control method for controlling each machine when a predetermined work is performed by a plurality of machines, wherein when an operation in the work of any one of the machines stops outside an operation plan, Based on the state of the stop, to avoid interference between the operations of the respective machines,
A plurality of interference avoidance methods are planned for locations where interference may occur, including when interference occurs, and work operations that minimize the time required for the predetermined work performed by each machine A control method, wherein a plan is created, and each of the machines is controlled based on the work operation plan. 2. The control method according to claim 1, wherein the work operation plan is created using a genetic algorithm. 3. The control method according to claim 1, wherein a work priority is set for each of the machines based on the work operation plan, and the respective machines are controlled based on the work priorities. At this time, the work priority of the plurality of machines is sequentially changed at an arbitrary timing of the predetermined work including the case where interference of the operations of the respective machines occurs, whereby the work priority of the plurality of machines is higher. For the machine, so as to operate preferentially so that the remaining work time is minimized, while performing interference avoidance processing based on the interference avoidance method, while minimizing the total work time required for the predetermined work. A control method, wherein the work operation plan is prepared, and the respective machines are controlled based on the work operation plan. 4. A control method for controlling each machine when a predetermined work is performed by a plurality of machines, wherein the interference of each machine is avoided at a place where interference of the operation of each machine is predicted. As a method, a control method characterized by generating a plurality of avoidance operation plans and controlling each of the machines based on the avoidance operation plans. 5. A control method for controlling each machine when a predetermined work is performed by a plurality of machines, wherein, when interference between the operations of the machines occurs, selection of an avoidance operation and a work execution direction are performed. A control method characterized by performing any one of interference replacement processing among replacement, suspension, and selection of an alternative task. 6. A control method for controlling each machine when a predetermined work is performed by a plurality of machines, wherein when the operations of the machines interfere with each other, the operation is started or performed to avoid the interference. A work operation plan for controlling work start timing for each sub work constituting the work, and controlling each machine based on the work operation plan. 7. A control method for controlling each machine when a predetermined work is performed by a plurality of machines, comprising: simulating an operation of each machine based on an operation plan of each machine;
The operation of any one of the machines interferes with each other,
If it is determined that the deadlock is a state in which the operation cannot be continued, among the machines determined to be the cause of the deadlock, a machine with a low work priority is assigned to the deadlock. A control method comprising: preparing a work operation plan for temporarily stopping at a position where the deadlock can be avoided, and controlling each machine based on the work operation plan. 8. A control method for controlling each machine when a predetermined operation is performed by a plurality of machines, comprising: simulating an operation of each machine based on an operation plan of each machine;
The operation of any one of the machines interferes with each other,
If it is determined that the deadlock is a state in which the operation cannot be continued, among the machines determined to be the cause of the deadlock, a machine with a low work priority is assigned to the deadlock. A control method, wherein a work operation plan for moving to a retreat position capable of avoiding the deadlock is drawn up before reaching, and each machine is controlled based on the work operation plan. 9. A control method for controlling each machine when a predetermined work is performed by a plurality of machines, wherein a work priority is set for each machine, and each machine is controlled based on the work priority. If there is a work that can be performed by a machine with a low work priority among predetermined works performed by a machine with a high work priority, the work is performed with a low work priority. A control method, wherein a work operation plan is changed so as to be executed by a machine, and each machine is controlled based on the changed work operation plan. 10. A control method for controlling each machine when a predetermined work is performed by a plurality of machines, wherein, when operation interference between the machines occurs, one of the machines is operated to avoid the interference. A work operation plan for dividing the predetermined work into a plurality of predetermined works when the pause time for waiting is longer than a predetermined time and the predetermined work can be divided into a plurality of works; Planning
A control method comprising controlling each of the machines based on the work operation plan. 11. A control method for controlling each of the machines when a predetermined operation is performed by a plurality of machines, wherein when any one of the machines fails during the predetermined operation, A control method, wherein any of the machines other than the failed machine is substituted for the remaining work of the failed machine. 12. The control method according to claim 1, wherein each of the machines is a welding device. 13. A control device for controlling each of the machines based on an initial work operation plan drafted before the work when performing a predetermined work by a plurality of machines, the control device comprising: Even in the case where the operation of the machine operation stops other than the initial operation operation plan, the state of the stop is determined, an appropriate recovery action is performed, and the total operation time required for the remaining predetermined operation is minimized. Work operation plan creating means for drafting such a work operation plan, and work operation control means for controlling each machine based on the work operation plan generated by the work operation plan creation means. Control device. 14. The control device according to claim 13, wherein the work operation control unit includes: a task management unit that manages execution of the predetermined work; and a task monitoring unit that monitors an execution status of the predetermined work. And a task control means for controlling execution of the predetermined work. 15. The control device according to claim 14, wherein the task management unit is in a state where a machine that performs a predetermined operation based on a work operation plan created by the work operation plan creation unit is in a workable state. Operation preparation confirmation means for confirming whether or not, when interference between the operations of the respective machines has occurred, so as to give priority to the operation of the machine having a long remaining work time, at an arbitrary timing of the predetermined work, Machine priority setting means for performing interference avoidance processing on low-priority machines; and first interference prediction for performing an operation simulation of each machine in accordance with a predetermined work order established by the work operation plan creating means. Means, based on the result of the operation simulation performed by the first interference prediction means, the assigned machine number, the operation number,
A sub-work number, a start wait time, a start time, and a task data storage unit that stores a task management queue in which an end time is registered; based on the task management queue stored in the task data storage unit, the task control unit Data conversion / transmission means for transmitting data necessary for machine operation, wherein, as a result of the operation simulation, when a situation in which interference cannot be avoided occurs, the work load of the other machine is longer than the work time of the maximum load machine. If the working time is longer, among the operations of the maximum load machine, at least one of the cases where the accumulation of the suspension time for the purpose of avoiding the interference is equal to or longer than a predetermined time, A control device, wherein the work operation plan creation means makes an operation plan again. 16. The control device according to claim 14, wherein the task monitoring unit is configured to stop the machine executing the work while the work controlled by the task control unit is temporarily stopped. Comprises a pause setting means for identifying a cause of the pause, estimating a time required for restoration of the suspension, and setting an interference area for suspension until the suspension is restored. Characteristic control device. 17. The control device according to claim 15, wherein the task monitoring means performs the task management for each machine based on the work number stored in the task data storage means. A second interference prediction unit that performs an interference check simulation up to the time when the work of the machine in the front row of the queue is completed based on the progress of the work of the other machine; At the time of occurrence, among the plurality of interference avoiding processes, an interference avoiding unit that selects an interference avoiding process based on the state of the interference, and an interference avoiding process selected by the interference avoiding unit is in an execution stage. A third interference prediction unit that performs an interference check on the sub-work of the operation, and based on a result of the interference check performed by the third interference prediction unit , The operation command of the machine, the pause command, the control device being characterized in that a mechanical operation instruction selection means for selecting a deadlock evacuation instructions. 18. The control device according to claim 17, wherein said task monitoring means is a work operation area as an interference check simulation by said second interference prediction means or an interference check method by said third interference prediction means. Interference area setting means for setting an interference area in the periphery, and interference area updating means for deleting an interference area from a work start position to a current position of each machine as the work of each machine progresses. Characteristic control device. 19. The control device according to claim 17, wherein, based on the initial work operation plan, at an arbitrary timing of the predetermined work, a task execution order is determined from a task allocation result in which remaining work of each machine is allocated. A task route optimizing means for optimizing a task route including a task execution direction and a task start time; and a plurality of the predetermined machines provided to the plurality of machines based on a basic operation data group necessary for executing the predetermined task. Task allocation processing means for dividing the work, and work operation simulation means for performing an operation simulation for evaluating the degree of optimization of the work execution order, the work execution direction, and the work start time determined by the task route optimization means. The task management means, at the time when the task operation of the machine controlled by the task control means ends. If the time difference from the simulation time obtained by the operation simulation performed by the first interference prediction means is equal to or greater than a predetermined value, or if the machine that is performing the work controlled by the task control means is stopped unplanned. When the time difference, or the pause time is the time of the pause, the interference area information at the time of the suspension is received from the task monitoring means, based on the execution status information, the priority of each machine The first interference prediction unit performs the interference check simulation repeatedly while performing the interference avoiding process at the interference occurrence location based on the priority of each machine reset by the task monitoring unit, The interference avoiding means is a result of the interference check simulation performed by the first interference predicting means. Evaluating the degree of optimization of the task path optimized by the task path optimizing means, and determining that re-planning of the task path is necessary, A control device characterized by optimizing a task route relating to work. 20. A control device for controlling each of the machines based on an initial work operation plan drafted before the work when performing a predetermined work by a plurality of machines, the control device comprising: Data read processing means for reading a basic operation data group necessary for the operation, coordinate conversion processing means for converting the work coordinates of the work based on the arrangement position of the work to be subjected to the predetermined work, and the data read processing means A task allocation processing unit that divides the predetermined work into the plurality of machines based on the basic operation data group read by the operation unit and the work coordinates converted by the coordinate conversion processing unit; A task plan processing means for drafting a work operation plan that minimizes the total work time required for the predetermined work; Based on the planning has been working operation plan in section, the control apparatus characterized by comprising an operation program generating means for generating a plurality of machine operation program. 21. The control device according to claim 20, wherein the task allocation processing means performs, based on an operation range of each machine, a work that can be performed by each machine with respect to an arrangement position of the work. An initial task allocating means for allocating to the machines, and detecting a remaining work time of each machine at an arbitrary timing of the predetermined work, setting a priority for each machine in ascending order of the remaining work time, and If there is a work that can be performed by a low-priority machine among predetermined works assigned to a high-priority machine at the time when the work time is detected, this work is transferred to the low-priority machine. First task allocation changing means for changing the work allocated by the initial task allocating means so as to be executed; and when one of the machines breaks down during the predetermined work. And a second task allocation changing means for changing the work allocated by the initial task allocating means to cause a plurality of machines capable of performing the remaining work of the failed machine to perform the work. Control device. 22. The control device according to claim 20, wherein, if the task planning processing means determines that working in cooperation of a plurality of machines is an efficient work, A control device comprising a cooperative task determination processing means for determining a machine that performs a cooperative operation. 23. The control device according to claim 20, wherein the task plan processing means allocates the remaining work of each machine at an arbitrary timing of the predetermined work based on the initial work operation plan. A task route optimization unit that determines an optimal work execution sequence, a work execution direction, and a work start time from the assignment result; and an optimization of the work execution sequence, the work execution direction, and the work start time determined by the task route optimization unit. A first work operation planning means for performing an operation simulation for evaluating the degree of activation, and a method for generating a plurality of avoidance operations as a method of avoiding interference at a place where interference of operation between the respective machines is predicted. 2, when the operations of the respective machines interfere with each other, the operation start timing of the operation or the operation A third work operation planning means for changing the operation start timing of each child tasks constituting the work, the operation of any machine between among the machine interfere with each other,
If a deadlock that is a state in which the operation cannot be continued is reached, the machine determined to be the cause of the deadlock can be avoided before the deadlock. A fourth work operation planning means for temporarily stopping at a position, and an operation of any one of the machines interferes with each other;
If a deadlock that is a state in which the operation cannot be continued is reached, the machine determined to be the cause of the deadlock can be avoided before the deadlock. Fifth work operation planning means for moving to the retreat position, and when preparing a work operation plan, assuming that interference between the operations of the machines will occur when the predetermined work is performed, A sixth work operation planning means for selecting in advance a work spatially distant from the work as an alternative work; and a work operation of any one of the plurality of machines, and When a pause occurs in the operation, it is determined that the stop time is longer than a predetermined time, and the work operation of any one of the plurality of machines is divided into a plurality of predetermined works. Control device is characterized in that a task division means. 24. The control device according to claim 23, wherein in the task planning processing means, when the work execution order affects the quality of the target work,
A priority is set in the work execution order, and when the work execution direction affects the quality of the target work, a priority is set in the work execution direction and determined by the task route optimization unit. The task route optimizing means determines an optimal task execution sequence and task execution direction by using the task execution order, task execution method, and task start time as evaluation indexes. apparatus. 25. When each of the machines is controlled when a predetermined operation is performed by a plurality of machines, and when the operation in the operation of any one of the machines is stopped outside the operation plan, Based on the status of the stoppage, a work operation plan is created that avoids interference between the operations of the machines and reduces the work time required for the predetermined work, and based on the work operation plan, A control device for controlling, based on work information necessary to perform the work assigned to each machine, the work start time of the predetermined work assigned to each machine, the work location, the The initial work operation plan, which is work information data composed of a combination of the work order of each work place, the work direction of each work place, and the work waiting time until the work of each work place is started, is reduced. At least one of an initial work operation plan creating unit that creates at least one of the work start time, the work sequence, and the work direction from an initial work operation plan created by the initial work operation plan creation unit; A work operation plan creating means for creating a first predetermined number of new work operation plans created by changing the above, and the first work operation plan created by the work operation plan creating means
For each of a predetermined number of work operation plans, an operation simulation of the predetermined work is performed, and based on predetermined evaluation conditions,
A work time evaluation unit that evaluates the work time, based on the work time evaluated by the work time evaluation unit, from the first predetermined number of work operation plans evaluated by the work time evaluation unit , The first
Work operation plan extraction means for extracting a second predetermined number of work operation plans smaller than the predetermined number of work operation plans, and the second operation work plan extraction means
A work operation plan storage means for storing a predetermined number of work operation plans; and a work start time, the work sequence, and the work from the second predetermined number of work operation plans stored in the work operation plan storage means. A work operation plan recreating means for creating again the first predetermined number of new work operation plans created by changing at least one of a direction and the work waiting time; and the work operation plan recreating means For each of the first predetermined number of work operation plans created by the above, a work simulation of the predetermined work is performed, and a work time reevaluation unit that evaluates the work time based on the predetermined evaluation condition; Based on the work time evaluated by the work time reevaluation means, from among the first predetermined number of work operation plans evaluated by the work time reevaluation means The second predetermined number of work operation plans are extracted, and when the work time of at least one of the extracted work operation plans satisfies a predetermined evaluation criterion, the predetermined evaluation criterion is satisfied. And outputting the extracted second predetermined number of work operation plans if none of the extracted work operation plans satisfies the predetermined evaluation criterion. A work operation plan re-extraction unit to be stored in the work operation plan storage unit; and a machine control unit that controls each machine based on the work operation plan output by the work operation plan re-extraction unit. Characteristic control device. 26. The control device according to claim 25, wherein at least one of the work operation plan creating unit and the work operation plan re-creating unit performs an operation at each of the work locations assigned to each of the machines. A controller that creates the new work operation plan by randomly intersecting the order. 27. The control device according to claim 25, wherein at least one of the work operation plan creating unit and the work operation plan re-creating unit is provided with at least one of each of the machines assigned to each of the machines. A control device, wherein a new work operation plan is created by randomly selecting a work place and reversing the work direction of the selected work place. 28. Any one of claims 13 to 27
The control device according to claim 1, wherein each of the machines is a welding device.