JP2007264824A - Monitor software preparation device, monitor system, monitor software preparation method and monitor software preparation program - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a monitor software preparation device for preparing monitor software for further precisely monitoring a robot without increasing any load due to processing for monitoring a robot. <P>SOLUTION: This monitor software preparation device is provided with a control software acquiring means 100 for acquiring control software in which the operation of a robot is described; a monitor information storing means 110 in which the prescribed operation of the robot, monitor equipment identification information for identifying monitor equipment and monitor processing by each monitor equipment are stored in association with each other; a monitor equipment specification means 104 for specifying the monitor equipment identification information and the monitor processing associated with the operation of the robot described in the control software from the monitor information storing means 110; and a monitor software preparing means 120 for preparing monitor software in which the processing including the monitor processing by the monitor equipment is described based on the control software. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a monitoring software creation apparatus, a monitoring system, a monitoring software creation method, and a monitoring software creation program for monitoring the operation of a robot.

  Along with the improvement of robot technology, it is considered that multiple mobile robots and service robots are linked via a network and operated in places where an unspecified number of people exist such as shopping streets and exhibition halls (for example, “patents” Reference 1 ”). In such a robot coexisting with a general human, it is very important to detect the abnormality of the robot at an early stage and prevent an accident in advance.

  Robot abnormality detection technologies include those that operate inside the robot itself, such as hardware limiters such as limit switches, circuit limiters, control input monitoring of control software, and watchdog timers. In addition, there are devices that monitor the operation of the robot from outside the robot, such as behavior tracking by a monitoring camera, an RFID (Radio Frequency Identification) sensor, or the like.

  The operation of the robot is defined by application software. Techniques for finding abnormalities during execution of this software include method input / output value verification and exception handling mechanisms, and a policy-based verification routine insertion technique. Research is also being conducted on automatic verification software generation technology from software models.

  In addition, application software (hereinafter referred to as cooperation software) that allows multiple robots to perform network cooperation for autonomous robots equipped with unstable network devices such as wireless LANs and moving in a wide range of fields such as underground shopping streets and outdoors. The field of network robots that download and execute is attracting attention.

  There are many autonomous robots in the field, and even the same application software is downloaded to the optimal robot at the time of execution according to the position and operating status of the robot. In addition, many surveillance cameras and RFID sensors (hereinafter referred to as sensors) are arranged in the field, and these are connected to a stable network. The linked software is downloaded from the linked software control device on the network to each autonomous robot through the wireless network.

JP 2001-103666 A

  However, the cooperation software in such a situation may stop operation or may fail to cooperate due to a failure caused by the cooperation software itself, a robot-specific failure, or a network failure. These faults must be detected by a cooperative application server existing outside the robot for smooth service restoration.

  However, since verification using a conventional surveillance camera does not have information about the downloaded linked software, it cannot determine whether the detected robot operation is normal as the linked software operation.

  In addition, in the method of generating verification software when creating linked software, it is impossible to determine which verification method (service) of which sensor can be used during actual execution.

  Furthermore, in order to solve this problem, if all the sensors always monitor all robots and users and use that information to verify with a single verification server, the server load and network traffic will be significantly reduced. It will increase. In addition, when servers are distributed for each area, it becomes difficult to cope with cooperation across the areas.

  Self-diagnosis using a watchdog timer inside the robot has insufficient information to grasp the operating status of the network linkage software. Also, it is not effective against network failures. Similarly, verification at the time of software execution inside the robot is not effective when the hardware of the robot itself fails or when a network failure occurs.

  The present invention has been made in view of the above, and provides a monitoring software creation device that creates monitoring software capable of monitoring a robot more accurately without increasing a load due to a process of monitoring the robot. For the purpose.

  In order to solve the above-described problems and achieve the object, the present invention is a monitoring software creation device, which is control software acquisition means for acquiring control software describing the operation of a robot, and predetermined operation of the robot Monitoring information holding means for associating and holding monitoring device identification information for identifying a plurality of monitoring devices capable of monitoring the predetermined operation, and monitoring processing of the robot by each monitoring device, and the control software acquisition means Monitoring device identification means for identifying the monitoring device identification information and the monitoring process associated with the operation of the robot described in the control software acquired by the monitoring information holding means, and the control software acquisition means Based on the control software acquired by the monitoring device specified by the monitoring device specifying means Wherein the processing including that monitoring process is a monitoring software generating means for generating the described monitoring software.

  Another embodiment of the present invention is a monitoring system including a monitoring device that monitors a robot and a monitoring software creation device that creates monitoring software that controls the monitoring device, wherein the monitoring software creation device includes: Control software acquisition means for acquiring control software describing the operation of the robot, predetermined operation of the robot, monitoring device identification information for identifying a plurality of monitoring devices capable of monitoring the predetermined operation, and each monitoring device Monitoring information holding means for holding the robot monitoring process in association with each other, and the monitoring device identification information associated with the operation of the robot described in the control software acquired by the control software acquisition means Monitoring device specifying means for specifying the monitoring processing from the monitoring information holding means, and the control software. Monitoring software creating means for creating monitoring software in which processing including monitoring processing by the monitoring device specified by the monitoring device specifying means is described based on the control software acquired by the hardware acquisition means. To do.

  Another aspect of the present invention is a monitoring software creation method described in a control software acquisition step of acquiring control software describing a robot operation and the control software acquired by the control software acquisition means. The monitoring device identification information and the monitoring process associated with the operation of the robot are the monitoring device identification information for identifying the predetermined operation of the robot and a plurality of monitoring devices capable of monitoring the predetermined operation. And the monitoring device specifying step based on the control software acquired in the control software acquisition step, and the monitoring device specifying step that specifies from the monitoring information holding means that holds the monitoring processing of the robot by each monitoring device in association with each other The process including the monitoring process by the monitoring device specified by the means is described. And having a monitoring software creation step of creating a monitoring software.

  According to another aspect of the present invention, there is provided a monitoring software creation program for causing a computer to execute a monitoring software creation process, the control software obtaining step for obtaining control software describing the operation of the robot, and the control software obtaining means The monitoring device identification information and the monitoring process associated with the operation of the robot described in the control software acquired by the control software, the predetermined operation of the robot, and a plurality of the predetermined operations can be monitored. The monitoring device identification step for identifying the monitoring device identification information for identifying the monitoring device and the monitoring information holding unit that holds the monitoring processing of the robot by each monitoring device in association with each other, and the control acquired in the control software acquisition step Based on software, the monitoring device identification means And having a monitoring software creation step of creating a monitoring software process is described which includes a monitoring process by the specified monitoring equipment Ri.

  According to the monitoring software creation device of the present invention, the control software acquisition unit acquires the control software describing the robot operation, and the monitoring information holding unit can monitor the predetermined operation and the predetermined operation of the robot. Monitoring device identification information for identifying a plurality of monitoring devices and the robot monitoring process by each monitoring device are stored in association with each other, and the monitoring device specifying means is described in the control software acquired by the control software acquisition means The monitoring device identification information and the monitoring process associated with the robot operation are specified from the monitoring information holding means, and the monitoring software creating means is specified by the monitoring device specifying means based on the control software acquired by the control software acquisition means. The monitoring software that describes the process including the monitoring process by the monitored device In an effect that can be monitored without increasing the load of processing for monitoring the robot, the more accurately the robot.

  Further, according to the monitoring system of another aspect of the present invention, the control software acquisition unit acquires the control software in which the operation of the robot is described, and the monitoring information holding unit performs the predetermined operation of the robot and the predetermined operation. Control device identification information for identifying a plurality of monitoring devices that can be monitored for operation and robot monitoring processing by each monitoring device in association with each other, and the monitoring device identification unit acquires the control software acquired by the control software acquisition unit The monitoring device identification information and the monitoring process associated with the robot motion described in the above are identified from the monitoring information holding means, and the monitoring software creating means performs monitoring based on the control software acquired by the control software acquiring means. Create monitoring software that describes the process including the monitoring process by the monitoring device specified by the device specifying means. Since an effect that can be monitored without increasing the load of processing for monitoring the robot, the more accurately the robot.

  Further, according to the monitoring software creation method according to another aspect of the present invention, the control software in which the operation of the robot is described is acquired in the control software acquisition step, and the control software acquisition means is acquired in the monitoring device identification step. The monitoring device identification information and the monitoring process associated with the robot operation described in the control software are used to identify the predetermined operation of the robot and a plurality of monitoring devices that can monitor the predetermined operation. And the monitoring information holding means that holds the monitoring process of the robot by each monitoring device in association with each other, and in the monitoring software creation step, the monitoring device specifying means specifies the monitoring software based on the control software acquired in the control software acquisition step. Including monitoring processing by the monitored equipment Because creating the described monitoring software, without increasing the load of processing for monitoring the robot, an effect that can be monitored more accurately robot.

  Further, according to the monitoring software creation program according to another aspect of the present invention, the control software in which the operation of the robot is described is acquired in the control software acquisition step, and the control software acquisition means is acquired in the monitoring device specifying step. The monitoring device identification information and the monitoring process associated with the robot operation described in the control software are used to identify the predetermined operation of the robot and a plurality of monitoring devices that can monitor the predetermined operation. And the monitoring information holding means that holds the monitoring process of the robot by each monitoring device in association with each other, and in the monitoring software creation step, the monitoring device specifying means specifies the monitoring software based on the control software acquired in the control software acquisition step. Including monitoring processing by Since creating a monitoring software process is described, without increasing the load of processing for monitoring the robot, an effect that can be monitored more accurately robot.

  Hereinafter, embodiments of a monitoring software creation device, a monitoring system, a monitoring software creation method, and a monitoring software creation program according to the present invention will be described in detail with reference to the drawings. Note that the present invention is not limited to the embodiments.

  FIG. 1 is a diagram illustrating an overall configuration of a robot monitoring system 1 according to an embodiment. The robot monitoring system 1 includes a plurality of robots 30a and 30b, monitoring devices 20a to 20f that monitor the robots 30a and 30b, and a control monitoring device 10 that controls the monitoring devices 20a to 20f.

  The control monitoring device 10 monitors the monitoring device 20 and creates a monitoring program, that is, a monitoring program. Further, the control program for controlling the operations of the robots 30a and 30b is updated. The robots 30a and 30b are movable and perform operations such as human route guidance, for example. However, the range of movement is limited by obstacles such as stairs.

  Each of the monitoring devices 20a to 20f executes a monitoring process by a monitoring program created by the control monitoring device 10. That is, it monitors whether the robot 30 is operating normally. Specifically, the monitoring device 20 is a group of RFID readers embedded on a street surface of a city, a monitoring camera installed on a street light on a street corner, or the like. Each monitoring device 20 is connected to a highly reliable priority LAN. Further, the monitoring device 20 is connected by a wireless LAN.

  FIG. 2 is a block diagram illustrating a functional configuration of the control monitoring device 10. The control monitoring device 10 includes a control software acquisition unit 100, a position information extraction unit 102, a monitoring process identification unit 104, a monitoring information holding unit 110, a monitoring software creation unit 120, a monitoring software transmission unit 122, and control software. An update unit 130 and a control software transmission unit 132 are provided.

  The control software acquisition unit 100 acquires control software describing the operations of the robots A and B as the robots 30a and 30b from the outside. Here, the control software will be described with reference to FIGS. 3 and 4.

  FIG. 3 is a diagram illustrating an example of the control software. As described above, the control software describes the name of the robot that performs the operation and the operation by the robot. This control software is cooperation software realized by cooperation of a plurality of robots. The control software assumes a moving script format that moves between robots during execution of the software. Specifically, it is transmitted to the robot A by the line “go Robot A”, and the operation after the next line is executed on the robot A. Similarly, the line “go Robot B” is transmitted to the robot B, and the operation after the next line is continuously executed on the robot B.

  FIG. 4 is a diagram showing an operation state realized by the control software shown in FIG. First, when the robot A moves to the point (x1, y1), it performs the operation “action1”. Specifically, for example, the person is asked, “Where are you going?” Next, it moves to a point (x2, y2). Then, “action 2” is performed at the point (x2, y2). There is a staircase near the point (x2, y2), and the movement range of the robot A is limited to this point. Therefore, the subsequent processing is performed by the robot B. When the robot B moves to the point (x3, y3), it performs “action 1”. Thereafter, similarly, the operation is performed according to the control software shown in FIG.

Note that “actions” of robots other than those described above include the following.
・ Turn to humans ・ Talk to humans `` Please follow me '' ・ Confirm that humans are by your side with image recognition ・ Wave your hand ・ Turn your neck ・Talk to him ”Robot B is there.” Talk to humans ‘Arrive.

  The description returns to FIG. 2 again. The position information extraction unit 102 extracts position information from the control software. FIG. 5 is a diagram for describing position information extraction processing by the position information extraction unit 102. The position information extraction unit 102 extracts position information indicating a position where each action is performed. For example, in the control software shown in FIG. 3, the point (x1, y1) is extracted for “action 1” of the robot A. Note that the position information includes an action and a position corresponding to the action.

  Similarly, a point (x2, y2) is extracted for “action2”. A point (x3, y3) is extracted for “action1” of robot B, a point (x4, y4) is extracted for “action2”, and a point (x5, y5) is extracted for “action3”.

  The description returns to FIG. 2 again. The monitoring process specifying unit 104 specifies the monitoring process based on the position information extracted by the position information extracting unit 102. At this time, the monitoring information holding unit 110 is referred to. The monitoring information holding unit 110 holds the movement range of the robot 30 that can be monitored by each monitoring device 20. In addition, the robot operation that can be monitored by each monitoring device 20 and a monitoring process for monitoring this operation are held.

  FIG. 6 is a diagram schematically illustrating a data configuration of the monitoring range table 112 held by the monitoring information holding unit 110. The monitoring range table 112 shows the monitoring device name and the movement range of the robot that can be monitored by each monitoring device, that is, the monitoring range. Note that the monitoring range is represented by a plurality of points that form boundaries of the monitoring range.

  Thus, since the monitoring range table 112 holds the monitoring range of each monitoring device, the monitoring processing specifying unit 104 selects sensors that can be monitored based on the information in the monitoring range table 112 and the position information. Can be identified.

  Note that the method of expressing the monitoring range is not limited to the embodiment, and any method can be used as long as it can indicate a specific area on the terrain.

  FIG. 7 is a diagram for explaining a monitoring range for the sensor A shown in FIG. The monitoring range “rect (p1, p2, p3, p4)” shown in FIG. 6 indicates that the inside of the boundary line connecting the points (p1, p2, p3, p4) is the monitoring range of the sensor A. Similarly, the monitoring range of the sensor B is inside the boundary line connecting the points (p5 to p11).

  FIG. 8 is a diagram schematically illustrating a data configuration of the monitoring processing table 114 held by the monitoring information holding unit 110. The monitoring processing table 114 holds monitoring device names, target operations, and monitoring processing in association with each other. For example, the sensor A can monitor the operation “action 1” of the robot, and the monitoring process for performing this monitoring is “method A”.

  Thus, since the monitoring process table 114 holds the robot operations and monitoring processes that can be monitored by each sensor, the monitoring process specifying unit 104 corresponds to each operation by referring to the monitoring process table 114. The monitoring process to be performed can be specified.

  Furthermore, the target operation “general-purpose action 10” is a general-purpose operation performed by the control software. The monitoring processing table 114 also holds monitoring processing for such general-purpose operations. When there is no monitoring process for a predetermined operation, the robot can perform this general-purpose operation, and by monitoring this operation, it can be monitored whether or not the robot is operating normally.

  Here, “general-purpose action” includes, for example, a process in which a unique ID is emitted from a robot with an infrared LED, and this is observed with a surveillance camera. As described above, it is desirable that the “general-purpose action” is a process that does not hinder the operation necessary for the robot to provide a service to the user.

  The description returns to FIG. 2 again. The monitoring software creation unit 120 creates monitoring software including the monitoring process identified by the monitoring process identification unit 104. The monitoring software transmission unit 122 transmits the monitoring software created by the monitoring software creation unit 120 to each monitoring device 20. The control software update unit 130 appropriately updates the control software according to the monitoring process specified by the monitoring process specifying unit 104. The control software transmission unit 132 transmits the control software updated by the control software update unit 130 to each robot 30.

  FIG. 9 is software showing robot monitoring processing including monitoring software creation processing by the robot monitoring system 1. First, as a premise, it is determined that the route guidance is necessary for the person at the (x1, y1) point based on a request from the user or a situation determination by a computer using video such as a surveillance camera. Then, control software as shown in FIG. 3 is generated.

  When the generated control software is given as an input to the control monitoring device 10, the control monitoring device 10 initializes the monitoring software (step S100). Next, position information for each operation is extracted from the control software (step S102). Next, based on the information held by the monitoring information holding unit 110, the monitoring process specifying unit 104 searches for sensors that can monitor each action. When there are sensors that can be monitored (step S104, Yes), the monitoring process for the specified sensors is included in the monitoring software (step S110).

  On the other hand, when there are no sensors that can be monitored (No in step S104), the sensors that can monitor the general-purpose operation of the target robot are searched based on the information held by the monitoring information holding unit 110. If there are sensors that can monitor the general-purpose operation (step S106, Yes), the control software update unit 130 adds the general-purpose operation to the control software (step S108). Next, the process proceeds to step S110.

  If there is no sensor that can monitor the general-purpose operation in step S106 (No in step S106), the monitoring process for this action is not performed, and the process returns to step S104.

  When the above processing is completed for all operations in the control software (Yes in step S112), the created monitoring software is transmitted to each monitoring device 20 (step S114). When the control software is updated, the control software is further transmitted to the robot 30. This completes the monitoring process.

  As described above, in the robot monitoring system 1 according to the embodiment, a monitoring program including a monitoring process by the monitoring device included in the robot monitoring system 1 is generated based on the control program. The robot can be monitored according to the monitoring equipment.

  Hereinafter, a process for creating monitoring software for the control software shown in FIG. 3 will be described in detail. 10 is a diagram showing the relationship between the position information specified by the control software shown in FIG. 3 and the monitoring range of each sensor shown in FIG. That is, the point (x1, y1) where “action 1” is performed by the robot A is the monitoring range of the sensor A as the monitoring device. The point (x5, y5) is a monitoring range of the sensor B as a monitoring device. The point (x2, y2), the point (x3, y3), and the point (x4, y4) are the monitoring ranges of both the sensor A and the sensor B.

  The monitoring process specifying unit 104 first specifies the monitoring device that can monitor “action 1” of the robot A as the sensor A based on the monitoring range. Also, a monitoring device that can monitor “action 3” of the robot B is identified as the sensor B. Other operations can be monitored by any monitoring device.

  Furthermore, the monitoring process specifying unit 104 refers to the monitoring process table 114 and specifies the monitoring process for each operation. For example, although “action 1” can be monitored by the sensor B according to the monitoring process table 114, it is specified as the sensor A by the monitoring range, and therefore only the monitoring process of the sensor A is specified.

  FIG. 11 is a diagram for explaining processing for creating monitoring software for the control software shown in FIG. From the monitoring range table 112 and the monitoring processing table 114, “action 1” at the point (x1, y1) of the robot A in the control software is (x1, y1) is the monitoring range of the sensor A, and “action 1” is “ It can be seen that “methodA” can be monitored. Therefore, a “method A” procedure by the sensor A is added to the monitoring software.

  This means that it is possible to monitor that the robot A has completed the scheduled operation at the point (x1, y1) by monitoring by the monitoring process of the “method A” by the sensor A.

  For the “action 2” at the point (x2, y2) of the robot A, the point (x2, y2) is the monitoring range of both the sensor A and the sensor B. From the monitoring processing table 114, “action 2” is Since it can be seen that monitoring is possible only with “methodD” of sensor B, a procedure of “methodD” by sensor B is added to the monitoring software.

  Similarly, for “action 1” at the point (x3, y3) of the robot B, the procedure of “method A” by the sensor A is applied to the monitoring software for “action 2” at the point (x4, y4) of the robot B. Then, a “methodD” procedure by the sensor B is added to the monitoring software.

  For the “action 3” at the point (x5, y5) of the robot B, the monitoring process “method B” for “action 3” of the sensor A is specified from the monitoring process table 114. However, the point (x5, y5) is out of the monitoring range, and the sensor B does not have a monitoring process for “action 3” although the point (x5, y5) is in the monitoring range. For this reason, this operation at this point cannot be monitored.

  Therefore, by the process in step S108 shown in FIG. 9, “general action 10” by the sensor B whose monitoring range is the point (x5, y5) is added to the control software, and “methodF” by the sensor B that monitors “general action 10” is added. To the monitoring software.

  The general-purpose operation added here is desirably one that does not affect the operation described in the control software. For example, if a general-purpose operation related to voice output is performed during the operation of talking to the user, it is assumed that accurate contents cannot be transmitted to the user. Therefore, in this case, for example, it is desirable to add an independent operation that does not affect the operation of talking. For example, light emission from an infrared LED is desirable.

  If there is no “general-purpose action” that can be verified by existing sensors, the process moves to a process related to the next operation without adding a monitoring process. In the control software shown in FIG. 3, since there is no subsequent operation, the monitoring software is completed, and the monitoring software as shown in FIG. 11 is created. Also, as shown in FIG. 11, “general-purpose action” is added to the control software.

  FIG. 12 is a diagram illustrating a hardware configuration of the control monitoring device 10 according to the embodiment. The control monitoring device 10 controls, as a hardware configuration, each part of the control monitoring device 10 according to a ROM 52 that stores a monitoring program creation program for executing a monitoring program creation process in the control monitoring device 10 and a program in the ROM 52. A CPU 51, a RAM 53 that stores various data necessary for control of the control monitoring device 10, a communication I / F 57 that communicates by connecting to a network, and a bus 62 that connects each unit are provided.

  The above-described monitoring program creation program in the control and monitoring apparatus 10 is a file in an installable or executable format and is a computer-readable recording medium such as a CD-ROM, floppy (R) disk (FD), or DVD. May be recorded and provided.

  In this case, the monitoring program creation program is loaded on the main storage device by being read from the recording medium and executed by the control monitoring device 10, and each unit described in the software configuration is generated on the main storage device. It is like that.

  Further, the monitoring program creation program of the present embodiment may be provided by being stored on a computer connected to a network such as the Internet and downloaded via the network.

  As described above, the present invention has been described using the embodiment, but various changes or improvements can be added to the above embodiment.

1 is a diagram illustrating an overall configuration of a robot monitoring system 1 according to an embodiment. 2 is a block diagram showing a functional configuration of a control monitoring device 10. FIG. It is a figure which shows an example of control software. It is a figure which shows the mode of the operation | movement implement | achieved by the control software shown in FIG. It is a figure for demonstrating the positional information extraction process by the positional information extraction part. It is a figure which shows typically the data structure of the monitoring range table 112 which the monitoring information holding part 110 hold | maintains. It is a figure for demonstrating the monitoring range with respect to sensor A shown in FIG. It is a figure which shows typically the data structure of the monitoring process table 114 which the monitoring information holding | maintenance part 110 hold | maintains. This is software showing robot monitoring processing including control software creation processing by the robot monitoring system 1. It is a figure which shows the relationship between the positional information specified by the control software shown in FIG. 3, and the supervision range of each sensor shown in FIG. It is a figure for demonstrating the process which produces the monitoring software with respect to the control software shown in FIG. It is a figure which shows the hardware constitutions of the control monitoring apparatus 10 concerning embodiment.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Robot monitoring system 10 Control monitoring apparatus 20 Monitoring apparatus 30 Robot 51 CPU
52 ROM
53 RAM
57 Communication I / F
62 Bus 100 Control Software Acquisition Unit 102 Location Information Extraction Unit 104 Monitoring Process Identification Unit 110 Monitoring Information Holding Unit 112 Monitoring Range Table 114 Monitoring Processing Table 120 Monitoring Software Creation Unit 122 Monitoring Software Transmission Unit 130 Control Software Update Unit 132 Control Software Transmission Unit

Claims (11)

Control software acquisition means for acquiring control software describing the operation of the robot;
Monitoring information holding means for holding a predetermined operation of the robot, monitoring device identification information for identifying a plurality of monitoring devices capable of monitoring the predetermined operation, and monitoring processing of the robot by each monitoring device in association with each other; ,
Monitoring device specifying means for specifying from the monitoring information holding means the monitoring device identification information and the monitoring process associated with the operation of the robot described in the control software acquired by the control software acquisition means;
Based on the control software acquired by the control software acquisition means, comprising monitoring software creation means for creating monitoring software in which processing including monitoring processing by the monitoring device identified by the monitoring device identification means is described A monitoring software creation device characterized by the above. In the control software, an operation position where the operation of the robot is performed is further described.
The monitoring information holding means further holds a monitoring range indicating an area that can be monitored by each monitoring device in association with each monitoring device identification information,
In the monitoring information holding unit, the monitoring device identification unit associates the monitoring device identification information associated with the monitoring range including the operation of the robot and the operation position described in the control software, and the monitoring process. The monitoring software creation device according to claim 1, wherein the monitoring software creation device is specified. The monitoring device specifying means specifies the monitoring device identification information and the monitoring process for each of the plurality of operations when a plurality of operations of the robot are described in the control software,
The monitoring software creation device according to claim 1, wherein the verification software creation unit creates the monitoring software in which a plurality of monitoring processes identified by the monitoring device identification unit are described. The monitoring device held by the monitoring information holding unit for the control software when the monitoring device identification unit cannot identify the monitoring device identification information and the monitoring process associated with the operation of the robot Control software update means for adding an operation that can be monitored by the monitoring device identified by the identification information;
The monitoring software creating means describes the monitoring software described by the monitoring device identified by the monitoring device identification information held in the monitoring information holding means for the operation added by the control software updating means The monitoring software creation device according to any one of claims 1 to 3, wherein   5. The monitoring software creation device according to claim 4, wherein the control software update unit adds an operation that is possible for the monitoring device and that is independent of the operation described in the control software. . The robot includes an optical device;
The monitoring software creation apparatus according to claim 5, wherein the control software update unit adds a blinking operation of the optical device to the control software.   7. The monitoring software creation apparatus according to claim 1, wherein the monitoring information holding unit holds information for identifying a camera that photographs the robot as the monitoring device identification information. The robot includes an RFID (Radio Frequency Identification),
8. The monitoring software creation apparatus according to claim 1, wherein the monitoring information holding unit holds information for identifying an RFID reader as the monitoring device identification information. A monitoring system comprising a monitoring device for monitoring a robot and a monitoring software creation device for creating monitoring software for controlling the monitoring device,
The monitoring software creation device includes:
Control software acquisition means for acquiring control software describing the operation of the robot;
Monitoring information holding means for holding a predetermined operation of the robot, monitoring device identification information for identifying a plurality of monitoring devices capable of monitoring the predetermined operation, and monitoring processing of the robot by each monitoring device in association with each other; ,
Monitoring device specifying means for specifying from the monitoring information holding means the monitoring device identification information and the monitoring process associated with the operation of the robot described in the control software acquired by the control software acquisition means;
Monitoring software creating means for creating monitoring software in which processing including monitoring processing by the monitoring device specified by the monitoring device specifying means is described based on the control software acquired by the control software acquiring means. A characteristic surveillance system. A control software acquisition step for acquiring control software describing the operation of the robot;
The monitoring device identification information and the monitoring process that are associated with the operation of the robot described in the control software acquired by the control software acquisition means, the predetermined operation of the robot, and the predetermined operation A monitoring device identification step for identifying monitoring device identification information for identifying a plurality of monitoring devices that can be monitored, and a monitoring information holding unit that holds the monitoring processing of the robot by each monitoring device in association with each other;
And a monitoring software creation step of creating monitoring software in which processing including monitoring processing by the monitoring device specified by the monitoring device specifying means is described based on the control software acquired in the control software acquisition step. A method for creating monitoring software. A monitoring software creation program for causing a computer to execute monitoring software creation processing,
A control software acquisition step for acquiring control software describing the operation of the robot;
The monitoring device identification information and the monitoring process that are associated with the operation of the robot described in the control software acquired by the control software acquisition means, the predetermined operation of the robot, and the predetermined operation A monitoring device identification step for identifying monitoring device identification information for identifying a plurality of monitoring devices that can be monitored, and a monitoring information holding unit that holds the monitoring processing of the robot by each monitoring device in association with each other;
And a monitoring software creation step of creating monitoring software in which processing including monitoring processing by the monitoring device specified by the monitoring device specifying means is described based on the control software acquired in the control software acquisition step. A special monitoring software creation program.

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