JP2002333979A - Multi-processing method and multi-processing system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a multi-processing method and a multi-processing system for allowing a plurality of robots or the like to perform similar works with one controller for preparing and correcting an application program without increasing the cost. SOLUTION: The plurality of robots R are controlled by one controller 10 so that each work can be performed by each robot R. The control of a certain robot R is executed according to an application program obtained by copying the application program of another robot R in a configuration corresponding to the robot R.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

[0001] The present invention relates to a multi-processing method and a multi-processing system. More specifically, 1
The present invention relates to a multi-processing method and a multi-processing system in which a plurality of controlled elements, for example, a plurality of robots, are controlled by a single controller to perform respective operations.

[0002]

2. Description of the Related Art In recent years, with the rapid progress of semiconductor technology, the processing capability of a robot controller has been dramatically improved, and it has become possible to control a plurality of robots with one robot controller. .

FIG. 5 shows an example of a control device for controlling a plurality of robots with one controller (Japanese Patent Laid-Open No. Hei 8-18).
No. 5212).

[0004] The control device 100 is provided with a control program 101 for controlling each robot corresponding to each of a plurality of robots (not shown), and a multitask operating system 102 executes each control program 101 simultaneously. The hardware 103 is controlled as described above. The control device 100
In, the control program 101 is connected to the multitasking operating system 102 via the socket 104, and communicates with each other through the multitasking operating system 102.

As described above, even when a plurality of robots are controlled by one robot controller, an application program (control program) is prepared for each robot in principle. This is the same as the case of connection by 1.

Further, in a normal configuration in which a robot and a robot controller are connected one-to-one, when the operation of each robot is the same, if one application program can be directly applied to the control of each robot,
The one program is incorporated into the robot controller of each robot to operate all the robots.

[0007] In particular, in a robot with a built-in controller, for example, a clean robot for transporting a semiconductor-related work such as a semiconductor wafer or a liquid crystal panel in a clean room, a master controller is used to control each robot in an integrated manner. In general, when the operations of the robots are the same, it is also possible to operate such that one application program is incorporated in the master controller and controlled.

However, in a control system in which a plurality of robots are controlled by a single robot controller, when the controller CPU accesses a single memory space common to each task, the operation of each robot is the same. However, a separate application program must be created and used for each robot, which is inefficient. That is, if a plurality of robots are controlled by the same program, normal control cannot be performed because the variable data used in the program is overwritten when the task is switched.

To cope with this problem, it is possible to allocate memory space for each task corresponding to each robot. In this case, however, the system is modified so that the allocated memory space is managed for each task. Or special processing must be performed when data is transferred between tasks.
However, there is a problem that the management of the memory space is related to the basic specifications of the system, and the modification thereof is not so easy, so that such a measure causes a cost increase.

[0010]

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned problems of the prior art, and a plurality of robots and the like can be created and modified by one controller without increasing the cost of creating and modifying an application program. The main object of the present invention is to provide a multi-processing method and a multi-processing system that can perform similar tasks.

[0011]

According to a first aspect of the present invention, there is provided:
A multi-processing method in which a plurality of controlled elements are controlled by one controller to cause each controlled element to perform respective operations, wherein control of one controlled element controls application programs of another controlled element. The present invention relates to a multi-processing method which is performed by an application program copied in a form corresponding to an element.

In a first embodiment of the present invention, an application program includes a main routine, a subroutine that defines the operation contents of a controlled element called by the main routine, and a subroutine that defines the main routine and the subroutine by another controlled element. And a copy program for copying to the application program, and the subroutine call is preferably made using an argument. In that case,
More preferably, the argument is a string variable.

In the first embodiment of the present invention, each application program is executed using the same memory area of the controller.

According to a second aspect of the present invention, there is provided a multi-processing system in which a plurality of controlled elements are controlled by a single controller so that each controlled element performs an operation. The present invention relates to a multi-processing system characterized in that an application program of another controlled element is formed by an application program copied in a form corresponding to the controlled element.

In a second embodiment of the present invention, an application program includes a main routine, a subroutine that defines the operation content of a controlled element called by the main routine, and a subroutine that defines the main routine and the subroutine of another controlled element. And a copy program for copying to the application program, and the subroutine call is preferably made using an argument. In that case,
More preferably, the argument is a string variable.

In the second embodiment of the present invention, each application program is executed using the same memory area of the controller.

According to a third aspect of the present invention, there is provided an application program for causing a computer to function as a controller of a multi-processing system to cause a plurality of controlled elements to perform respective operations. A subroutine defining the operation content of the controlled element, and a copy program for copying the main routine and the subroutine to an application program of another controlled element, and the subroutine call is configured to be performed using an argument. An application program characterized by the following.

In the third embodiment of the present invention, it is preferable that the argument is a character string variable.

A fourth aspect of the present invention relates to a recording medium storing the application program.

Here, the controlled element is, for example, a robot.

[0021]

Since the present invention is configured as described above, if the operation contents of each controlled element are similar, only one application program is created and applied, and all the other controlled elements are controlled. Application program is automatically created.

Further, when modifying the program, it is sufficient to change only one application program, so that the modification and change of the program can be saved.

[0023]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described based on embodiments with reference to the accompanying drawings, but the present invention is not limited to only such embodiments.

FIG. 1 shows a schematic configuration of a multi-processing system (hereinafter simply referred to as a system) including one robot controller and a plurality of robots to which the multi-processing method according to one embodiment of the present invention is applied. This system A
For example, a single robot controller simultaneously controls a plurality of transfer clean robots that transfer semiconductor-related works such as semiconductor wafers and liquid crystal panels in a clean room, and performs similar tasks. Is done.

More specifically, the system A is composed of a plurality of robots R as controlled elements and one robot controller (hereinafter simply referred to as a controller) 10 for controlling the plurality of robots R. Thus, each robot R transfers a work from a previous process to a next process. The robot R includes, for example, a four-degree-of-freedom manipulator that drives a three-axis horizontal articulated arm (not shown) in the vertical direction, and a hand mounted on the arm for gripping a workpiece. It is assumed to be provided with.

FIG. 2 shows a more detailed configuration of the controller 10.

The controller 10 includes a program memory 11 as hardware for executing various processes,
A main storage device 12 and a CPU (Cent
(ral processing unit) 13 and an interface 14 as main components.

The program memory 11 has a ROM (Read On
ly memory) or an auxiliary storage device such as a hard disk, and stores and stores various programs such as an operating system 11a and an application program 11b.

The operating system 11a has various functions such as an operation function, an operation function, a work function and a sensor function of the robot R, and is a basic program for directly controlling the hardware of the controller 10. The operating system 11a is a multitasking operating system that controls the CPU 13 to simultaneously process a plurality of tasks.

That is, the operating system 11
In a, when one task is executed for several steps, the task is switched, and another task is executed for several steps. For example, all tasks, that is, at least a part of all the application programs 11b are executed within a predetermined time. It is managed to be.

The application program 11b
Is a program created to cause the robot R to perform a desired operation. The position data indicating a specific work position of each robot R is input by teaching or off-line teaching.

The main storage device 12 has a RAM (Random Acces
s Memory) and temporarily stores various programs to be processed by the CPU 13 and variable data. In this case, the CPU 13 processes all tasks using the same memory area 12a of the main storage device 12.

The CPU 13 performs arithmetic processing for executing various programs read from the auxiliary storage device into the main storage device 12, and the interface 14 controls the operation between the CPU 13 and each robot R under the control of the operating system 11a. It controls communication of control signals.

Hereinafter, the operation of the system A will be described with a specific example.

Now, as shown in FIG. 3, the first, second and third positions P ₁₁ provided for the _two robots R ₁ and R ₂ are respectively provided under the control of the common controller 10. , P ₁₂ , P ₁₃ and P ₂₁ , P ₂₂ , P ₂₃ are assumed to perform a predetermined operation.

Each of the robots R ₁ and R ₂ has its own position P ₁₁ ,
The timing of moving to P ₁₂ , P ₁₃ and P ₂₁ , P ₂₂ , P ₂₃ and performing the work is determined according to which of the start signals SIG input from the operating system 11 a to the application program 11 b is input.

[0037] That is, when the first activation signal SIG1 is input first robot R ₁ starts moving to the first position P _11, the second activation signal SIG2 is input first robot R ₁ second starts to move to the 2-position P _12, the third activation signal SIG3 is input first robot R ₁ starts moving to the third position P _13, also the 11th start signal SIG11 is input The second robot R ₂ is the first
Starts moving to position P _21, 12 start signal SI
When G12 is inputted second robot R ₂ starts to move to the second position P _12, the 13th start signal SIG13 is inputted second robot R ₂ starts to move to the third position P ₁₃ That is, the robots R ₁ and R ₂ operate in response to the activation signal SIG input from the operating system 11a.

FIG. 4 shows an example of the application program.

The drawing, for example, first an example of an application program 11b for controlling the robot R _1, the program 11b includes a main program (main routine) 21, the robot R to be called the main routine 21 And a copy program 23 for copying the main routine and the subroutine to an application program of another robot R.

Hereinafter, each procedure of the main routine 21 will be described.

(Procedure): The symbol constant "T" is assigned to the variable ".rno".
ASKNO ”is substituted for the value held. Here, the symbolic constant “TASKNO” holds a numerical value indicating a task to be executed (hereinafter referred to as a task number) as data. That is, when the application program 11b corresponding to the first robot R ₁ is executed,
The symbolic constant “TASKNO” holds, for example, the value 1 and the second
Application program 1 that corresponds to the robot R ₂
When 1b is executed, the value 2 is held.

(Procedure): Each numerical value 1,
Substituting 2 and 3 sequentially, and instructing to repeatedly execute the following (procedure).

(Procedure): Two-dimensional array "input [.rno, .n
o] ”is sequentially checked according to the instruction of the procedure whether the input signal SIG of the number corresponding to the data is input. Here, data is set in the two-dimensional array “input [.rno, .no]” as follows.

Input [1,1] = 1 input [1,2] = 2 input [1,3] = 3 input [2,1] = 11 input [2,1] = 12 input [3,1] = 13

Further, the symbol constant “ON” corresponds to the start signal SIG.
Numerical value that matches the number of 1, 2, 3, 11, 11, 1
2 or 13 is set. (Procedure): If there is a corresponding input signal SIG in the above (Procedure) check, using the character string variable "$ WORK", the character string array "$ NUM [.rno]" and the character string variable "$ PARA" Execute a subroutine call. That is, a subroutine call is executed according to the argument. Here, each variable and array are set as follows.

$ WORK = "work" $ NUM [1] = "1" $ NUM [2] = "2" $ PARA = ”(. Rno, .no)”

Therefore, the subroutine call executed in this procedure uses a character string such as "work1 (1,1)" or "work2 (2,2)", and uses a character string (1,1), (2,2) etc. are made as arguments.

(Procedure): As a result of executing (Procedure) and (Procedure) as described above, if there is no input of the corresponding signal SIG, the procedure returns to (Procedure) again. Thereby, monitoring of the signal input is continued.

Next, each procedure of the subroutine 22 will be described.

(Procedure): Using the data (.rno, .no) of the character string variable "$ PARA" attached at the time of the subroutine call of (Procedure) as an argument, the array "#pos [rob ,. po
s] ”to obtain the coordinate data of the work position,
The hand of the robot R is moved to this coordinate position by OVE.

The subroutine 22 includes a procedure for executing a predetermined operation (eg, gripping a workpiece, releasing gripping of a workpiece) after moving the hand to a designated coordinate position. A detailed description is omitted.

Next, each procedure of the copy program 23 will be described. These copying procedures are performed in advance before the operation by the system A starts.

[0053] (Procedure): main routine 2 of the first application program 11b corresponding to the robot R ₁
With duplicate each step of 1, to change its name to the second name for the robot R ₂ ".PROGRAM main2 ()". Also, with replicates of each procedure of the subroutine 22, the name ".PROGRAM work2 (.r of its name second robot R ₂
ob, .pos) ". Thereby, the first robot R ₁
And the application program 11b in use, since the second application program 11b for the robot R ₂ is recognized by the operating system 11a as a separate program, to distinguish the variable data even when processed in the same memory area 12a Will be handled.

As described above, in the system A,
(1) A new function for capturing information on a task to be executed is newly provided. (2) Variables used globally in each task are two-dimensionally arrayed by including task information.
(3) A subroutine call is performed using a character string including task information as an argument, and (4) each procedure of one robot R application program 11b is duplicated to be executed for all other robots R. Since a copy program for each application program 11b is provided, the controller 10 that processes each task in the same memory area 12a creates one application program 11b for the robot R and
By simply setting the value to 0, all other robots R can be controlled.

As described above, the present invention has been described based on the embodiments. However, the present invention is not limited to such embodiments, and various modifications can be made. For example, in the embodiment, the robot R is for conveyance, but can be applied to any other type of robot for welding. The controlled element is not limited to the robot, and can be applied to all elements that can be controlled by an application program.

[0056]

As described in detail above, according to the present invention,
If the operation content of each controlled element is similar, just create and apply one application program,
An excellent effect is obtained in that application programs for all other controlled elements are automatically created. Therefore, even when modifying the program, it is sufficient to change only one application program, so that an excellent effect that the modification and change of the program can be saved can be obtained.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a schematic configuration of a multi-processing system to which a multi-processing method according to an embodiment of the present invention is applied.

FIG. 2 is a block diagram showing a detailed configuration of a controller of the system.

FIG. 3 is a schematic diagram for explaining an operation example of the system.

FIG. 4 is a schematic diagram showing an example of an application program of the system.

FIG. 5 is a block diagram showing a schematic configuration of a system to which a conventional multi-processing method is applied.

[Explanation of symbols]

 A Multi-processing system R Robot 10 Controller 11a Operating system 11b Application program 12a Memory area 13 CPU

 ──────────────────────────────────────────────────続 き Continued on the front page F term (reference) 3C007 AS00 JS02 JS06 LS11 LV02 LV11 LV14 MT06 MT08 5B076 DD08 DD10 5B098 GA04 GC11 GC15 5H269 AB33 BB08 CC09 CC13 EE25 EE29 QB14

Claims (13)

[Claims] 1. A multi-processing method in which a plurality of controlled elements are controlled by a single controller to cause each controlled element to perform a respective operation, wherein control of one controlled element is controlled by another controlled element. A multi-processing method which is performed by an application program copied in a form corresponding to the controlled element. 2. An application program, comprising: a main routine; a subroutine defining operation contents of a controlled element called by the main routine; and a copy program for copying the main routine and the subroutine to an application program of another controlled element. 2. The method according to claim 1, wherein the subroutine call is performed using an argument. 3. The multi-processing method according to claim 2, wherein the argument is a character string variable. 4. The multi-processing method according to claim 1, wherein the execution of each application program is performed by using the same memory area of the controller. 5. The multi-processing method according to claim 1, wherein the controlled element is a robot. 6. A multi-processing system in which a plurality of controlled elements are controlled by a single controller to cause each controlled element to perform a respective task, wherein control of one controlled element is controlled by another controlled element. A multi-processing system comprising an application program copied in a form corresponding to the controlled element. 7. An application program, wherein a main routine, a subroutine defining the operation content of a controlled element called by the main routine, and a copy program for copying the main routine and the subroutine to an application program of another controlled element 7. The multi-processing system according to claim 6, wherein the subroutine call is performed using an argument. 8. The multiprocessing system according to claim 7, wherein the argument is a character string variable. 9. The multi-processing system according to claim 6, wherein each application program is executed using the same memory area of the controller. 10. The multi-processing system according to claim 6, wherein the controlled element is a robot. 11. An application program for causing a computer to function as a controller of a multi-processing system to cause a plurality of controlled elements to perform respective operations, wherein the application program includes a main routine;
A subroutine that defines the operation content of the controlled element; and a copy program that copies the main routine and the subroutine to an application program of another controlled element. The subroutine call is configured to be performed using an argument. An application program characterized by becoming. 12. The application program according to claim 11, wherein the argument is a character string variable. 13. A recording medium in which the application program according to claim 11 is stored.