JP2011161549A - Device for displaying robot movement track - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To find such a location that a movement track of a hand of a robot approaches a surface of an object possibly interfering with robot movement while an operator can know the movement track of the hand of the robot. <P>SOLUTION: While the movement track 24 of the hand of the robot is displayed in a conventional display format without any change from conventional devices, approach regions 31 and 32 containing approaching points are displayed distinctively from a region not containing the approaching point for surface figures 22 and 23 of the object, if the approaching point at a predetermined distance or shorter from the movement track 24 of the hand of the robot is present. <P>COPYRIGHT: (C)2011,JPO&amp;INPIT

Description

  The present invention relates to a robot motion trajectory display device that displays on the same screen an object surface figure of an object such as equipment or a workpiece existing around a robot and a motion trajectory of a specific location such as a hand of the robot on the same screen. .

  2. Description of the Related Art Conventionally, there is a configuration for displaying an operation trajectory of a specific portion such as a hand of a robot. By the way, conventionally, the operation locus of a specific part of the robot is simply displayed. Therefore, for example, in a configuration in which equipment is fixedly installed around the operation area of the robot or the workpiece is moved by the movement of the robot, the equipment or the work (hereinafter referred to as an object) performs the operation of the robot. Even if it exists at a position where it can be obstructed, the relative positional relationship between the movement locus of the specific part of the robot and the object is not notified. Therefore, the safety management for avoiding the trouble that the specific part of the robot touches the object is left to the judgment of the operator. Under such circumstances, a configuration is desired in which the relative positional relationship between the motion locus of a specific portion of the robot and the object is notified, and the worker can easily perform safety management.

  On the other hand, as a technique for notifying the relative positional relationship between the motion trajectory and the object, the motion trajectory at an arbitrary height of the vehicle (for example, the height of the bumper) is superimposed and displayed on the image captured by the in-vehicle camera. A configuration is disclosed in which a relative positional relationship between an operation locus of an arbitrary height of a vehicle and an object (for example, another vehicle or a wall) is notified (see, for example, Patent Document 1).

JP 2002-314991 A

  If the technology for notifying the relative positional relationship between the motion trajectory of an arbitrary height of the vehicle and the object disclosed in Patent Document 1 is applied to the configuration that displays the motion trajectory of a specific location of the robot, It is considered that it is possible to notify the relative positional relationship between the motion locus of the specific location and the object.

  In this case, it is assumed that the motion trajectory of the specific part of the robot is made thick so that the operator can easily determine the part where the motion trajectory of the specific part of the robot approaches the object. However, it is sufficiently anticipated that the movement locus of a specific part of the robot will approach the object at a plurality of places as well as one place, or that the movement locus of the specific part of the robot will approach the object. Therefore, in such a case, if the motion trajectory of a specific part of the robot is displayed thick, not only the part where the operator wants to confirm the motion trajectory approaches the object but also the part where it does not approach, Since it is displayed uniformly thick even when viewed from any direction, it becomes difficult to see due to overlapping motion trajectories.

  In addition, it is assumed that the movement locus of a specific part of the robot is divided into several sections and the color is changed. However, as the number of sections that are displayed in easy-to-see colors increases, there is naturally a limit to the number of colors. It must be displayed in color (similar colors), making it difficult to distinguish sections. In other words, due to the fact that the motion trajectory of a specific location of the robot is extremely complex compared to the motion trajectory of the vehicle, even if the motion trajectory of the specific location of the robot is thickened or the color is changed, the motion of the specific location of the robot It is only possible to display a screen in which it is not clear which part of the object the locus approaches. Moreover, there is a possibility that the original operation locus becomes difficult to see by thickening the operation locus or changing the color.

  The present invention has been made in view of the above-described circumstances, and an object of the present invention is to allow an operator to grasp the motion locus of a specific portion of the robot while the motion locus of the specific portion of the robot is An object of the present invention is to provide a robot motion trajectory display device capable of grasping a location approaching the surface of an object that can hinder the motion and easily performing safety management.

  According to the first aspect of the present invention, the display control means stores the movement locus of the specific part of the robot specified by the movement locus data stored in the movement locus data storage means and the object surface graphic data storage means. An operation locus display screen including the object surface graphic specified by the object surface graphic data being displayed on the same screen is displayed on the display means. The vector generating means is a vector extending from the sampling point to a certain distance in a plane direction orthogonal to the motion trajectory from each sampling point for each sampling point acquired at regular time intervals on the motion trajectory of a specific location of the robot. Are generated stepwise in the circumferential direction at a certain angle to generate a plurality of radial shapes, and the approach determining means generates the vector generated by the vector generating means and the object surface graphic data stored in the object surface graphic data storing means. Collation is performed to determine whether or not the vector and the object surface intersect, and it is determined whether or not the motion trajectory of the specific portion of the robot approaches a certain distance or less to the object surface. The approach point specifying unit is configured such that when the movement trajectory of the specific part of the robot approaches a certain distance or less to the object surface, the object surface whose distance from the movement trajectory of the specific part of the robot is equal to or less than the predetermined distance The upper point is specified as the approach point, and the approach sampling point specifying means specifies the sampling point whose approach point is specified by the approach point specifying means as the approach sampling point. The display control means operates by classifying an approach area that is an area including the approach point specified by the approach point specifying means on the object surface graphic and a non-access area that is an area not including the approach point. Display on the track display screen.

  As a result, the operation locus of the specific location of the robot is displayed in the conventional display form without any change, so that the operator can grasp the operation locus of the specific location of the robot with the same feeling as before. be able to. For object surface graphics, if there is an approach point that is less than a certain distance from the motion trajectory of a specific part of the robot, the approach area that includes the approach point and the non-access area that does not include the approach point are displayed separately. By doing so, the operator can grasp the location where the motion locus of the specific location of the robot approaches the object surface within a certain distance or less.

  In this case, the object surface graphic is displayed as a plane, whereas the motion trajectory of a specific part of the robot is displayed as a line, that is, the object surface graphic is displayed in an area sufficiently larger than the motion trajectory of the specific part of the robot. Therefore, the operator can grasp the region where the motion trajectory of the specific location of the robot approaches the object surface as a surface instead of a line, and the location where the motion trajectory of the specific location of the robot approaches a certain distance or less to the object surface. It is possible to grasp more reliably. As a result, the worker can easily perform safety management.

  According to the second aspect of the present invention, the closest approach point specifying means, when a plurality of approach points are specified by the approach point specifying means, is the approach that has the shortest distance from the approach sampling point among the plurality of approach points. The point is specified as the closest point, and the closest sampling point specifying unit specifies the approach sampling point whose closest point is specified by the closest point specifying unit as the closest sampling point. The display control means operates an index that specifies the distance and direction from the closest sampling point specified by the closest sampling point specifying means to the closest point specified by the closest approach point specifying means on the object surface graphic. Display on the track display screen.

  Thereby, the operator can also grasp the distance and direction in which the motion locus of the specific part of the robot is closest to the object surface. In other words, since the index for specifying the distance and direction from the closest sampling point to the closest point is displayed in only one place, the viewpoint in which the movement locus of the specific place of the robot and the index do not overlap by changing the viewpoint. By obtaining the direction (angle), the operator can intuitively grasp the location where the motion locus of the specific location of the robot is closest to the object surface.

  According to the invention described in claim 3, when the plurality of approach points are specified by the approach point specifying means, the grouping means sets adjacent approach points among the plurality of approach points as the same group while adjacent to each other. Group the approach points that do not match into different groups. Then, the display control means is grouped by the grouping means so that the adjacent approach points among the plurality of approach points are made into the same group while the approach points that are not adjacent to each other are made into different groups. When a group is generated, one surface area that includes an approach point belonging to one group among a plurality of groups in the object surface graphic and another area that includes an approach point belonging to another group The approaching area is divided and displayed on the motion trajectory display screen.

  As a result, for example, the motion trajectory of a specific part of the robot has a wave shape that alternately repeats a section close to a certain distance to the object surface and a section away from the object, and the motion trajectory of the specific part of the robot intermittently reaches the object surface. Even in the case of approaching, the operator can grasp the movement locus of a specific portion of the robot by distinguishing the portion where the movement locus approaches a certain distance or less to the object surface for each section.

  According to the invention described in claim 4, the duplication determination means is grouped so that adjacent approach points among a plurality of approach points are made into the same group, but non-adjacent approach points are not made into the same group. When a plurality of groups are generated by grouping by means, it is determined whether or not there is an approaching point that overlaps across the plurality of groups. The display control means distinguishes between the area including the overlapping approach points and the area not including the overlapping approach points when it is determined by the overlap determination means that there are overlapping approach points across a plurality of groups. To display it on the motion trajectory display screen.

  Thus, for example, even when the motion trajectory of a specific location of the robot overlaps by looping or the like (passes once through a location that has passed once), the operator can trace the motion trajectory of the specific location of the robot. It can be ascertained whether or not there are overlapping points that approach the object surface within a certain distance.

  According to the invention described in claim 5, the straddling determination unit is configured such that adjacent approach points specified by the approach point specifying unit straddle between one surface and another surface with the same object surface graphic. Determine if it exists. The display control means determines that the adjacent approach points are adjacent to each other when the adjacent determination points determine that the adjacent approach points exist on one surface and the other surface in the same object surface graphic. The included region is displayed on the motion trajectory display screen across one surface and the other surface.

  As a result, even if the motion trajectory of the specific location of the robot approaches across multiple surfaces, the operator can identify the location where the motion trajectory of the specific location of the robot approaches a certain distance or less to the object surface. It is possible to grasp over a plurality of surfaces.

  According to the sixth aspect of the present invention, the display means reproduces the motion trajectory display screen including the motion trajectory of the specific location of the robot and the object surface graphic on the same screen, and the motion trajectory of the specific location of the robot as a moving image. The playback section setting means is configured to display the moving image playback display screen at the same time, and the playback section setting means is a light source located on the most central side of the motion trajectory display screen in the approach area that includes the approach point specified by the approach point specifying means. The motion trajectory of a specific part of the robot corresponding to the approach area displayed on the most front side of the axis is set as a playback section. The video enlargement / reduction ratio setting means sets the enlargement / reduction ratio of the video displayed on the video playback display screen, and the playback speed setting means sets the video playback speed so that it is inversely proportional to the enlargement / reduction ratio set by the video enlargement / reduction ratio setting means. Set. Then, the display control means uses the playback speed setting means so that the motion trajectory of the specific part of the robot set as the playback section by the playback section setting means is inversely proportional to the scaling ratio set by the video scaling ratio setting means. Display on the video playback display screen at the set playback speed.

  This allows the operator to identify the robot by displaying the motion trajectory of the specific part of the robot corresponding to the approach area displayed on the most central side of the motion trajectory display screen and on the most front side of the optical axis. It can be grasped by a series of operations how the motion trajectory of the location approaches the approach area closest to the center of the motion trajectory display screen and closest to the optical axis. That is, in a situation where a plurality of approach areas are displayed on the motion trajectory display screen, the operator selects the approach area on which the moving image is to be displayed on the center side of the motion trajectory display screen and on the near side of the optical axis (the object surface side). It is common to change the viewpoint so that it is displayed on the screen (the purpose is not to change the viewpoint so that it is displayed on the end side of the motion trajectory display screen or on the back side of the optical axis (the back side of the object)). In view of the above, the operator can easily grasp how to approach the desired approach area. In this case, if it is assumed that the operator enlarges the movie in order to ascertain how the movement locus of a specific part of the robot approaches, the animation will be inversely proportional to the enlargement of the movie. By slowing down the playback speed, it is possible to display a video at a playback speed that is in line with the operator's intention to precisely view the location where the robot's specific movement is approaching. You can see the location precisely as you wish.

  According to the seventh aspect of the present invention, the display control means displays the motion trajectory moving image of the specific part of the robot set as the playback section by the playback section setting means with the same optical axis as the optical axis of the motion trajectory display screen. And a viewpoint having an optical axis perpendicular to the approach area, a viewpoint parallel to the approach area, and a viewpoint having an optical axis located in the middle of the motion trajectory and the approach area.

  As a result, the worker can first roughly grasp the movement of the specific part of the robot, and then can grasp how the specific part of the robot approaches from the viewpoint of the approaching area. The distance between the specific part of the robot and the approach area can be grasped, and it is easy to grasp how the specific part of the robot approaches without causing a sense of incongruity even if the viewpoints are sequentially switched in this way. be able to.

1 is an overall configuration diagram showing a first embodiment of the present invention. Functional block diagram Figure with the viewpoint changed in the direction from the XY plane Figure with the viewpoint changed in the direction from the ZX plane Figure with the viewpoint changed in the direction from the YZ plane 3 equivalent figure 4 equivalent diagram Figure equivalent to FIG. flowchart Fig. 9 equivalent Fig. 9 equivalent Fig. 9 equivalent The figure which shows the aspect which identifies the group of an approach point The figure which shows the movement locus | trajectory and approach determination area | region of the hand of a robot The figure which shows the aspect by which an approach area | region is displayed The perspective view which shows the aspect by which an approach area | region and an arrow are displayed 16 equivalent diagram 16 equivalent diagram Diagram showing the relationship between sampling time and angle The figure which shows the relation between the movement locus of the hand of the robot and the object FIG. 20 equivalent diagram FIG. 20 equivalent diagram The top view which shows the aspect by which an approach area | region and an arrow are displayed 3 equivalent figure 4 equivalent diagram Figure equivalent to FIG. Functional block diagram showing a second embodiment of the present invention The figure which shows the aspect by which a whole view window and a moving image view window are displayed Fig. 9 equivalent The figure which shows the mode where the animated picture is displayed 30 equivalent diagram 30 equivalent diagram 30 equivalent diagram

(First embodiment)
A first embodiment of the present invention will be described below with reference to FIGS. In the present embodiment, the target for displaying the motion trajectory at a specific location is described as, for example, a six-axis vertical articulated robot, but another type of robot may be used. As shown in FIG. 1, a simulator as a robot motion trajectory display device is mainly composed of a personal computer (hereinafter referred to as a personal computer) 1. The personal computer 1 is connected to a personal computer main body 2 with a display device 3 (display means in the present invention) composed of a liquid crystal display device capable of three-dimensional graphic display as an output device. A keyboard 4 and a mouse 5 are connected.

  As shown in FIG. 2, the personal computer main body 2 includes a CPU 6 (display control means, vector generation means, approach determination means, approach point specifying means, approach sampling point specifying means, closest approach point specifying means, closest approach sampling, as referred to in the present invention. Point identification means, grouping means, duplication judgment means, straddle judgment means), ROM 7, RAM 8, hard disk drive (HDD: Hard Disk Drive) 9 as mass storage device (operation trajectory data storage means in the present invention, object surface figure) Data storage means), an interface (I / F) 10 and the like, and the display device 3, the keyboard 4 and the mouse 5 are connected to the interface 10. Note that a touch panel or a touch pen may be employed as the input device instead of the keyboard 4 and the mouse 5.

  The hard disk 9 is provided with a data storage area 9a for storing various data and a program storage area 9b for storing various programs. In the data storage area 9a, robot graphic data 10a for specifying the position and shape of the robot that is the display target of the operation locus, and operation locus data 10b for specifying the operation locus of the hand of the robot (specific portion in the present invention) The object surface graphic data 10c for specifying the position and shape of the object surface are stored. The term “object” as used herein refers to equipment that is fixedly installed around the operation area of the robot, a work that is moved by the operation of the robot, or the like.

  In the program storage area 9b, a robot graphic display program 11a for displaying (drawing) a robot graphic for specifying the position and shape of the robot, an operation trajectory display program 11b for displaying an operation trajectory of the hand of the robot, An object surface graphic display program 11c for displaying an object surface graphic for specifying the position and shape of the object surface is stored, and the motion trajectory of the robot hand, which is a feature of the present invention, is less than a certain distance to the object surface. An approach determination program 11d for determining whether or not the vehicle approaches is stored. In addition to the above-described programs, the program storage area 9b may store a teaching program for performing teaching, a three-dimensional CAD program for designing a robot, and the like.

  When the CPU 6 determines that the operator has performed a display command operation with the keyboard 4 or the mouse 5, the CPU 6 reads the robot graphic data 10a from the data storage area 9a and executes the robot graphic display program 11a stored in the program storage area 9b. As a result, a display screen including a robot figure for specifying the position and shape of the robot is displayed, the operation locus data 10b is read from the data storage area 9a, and the operation locus display program 11b stored in the program storage area 9b is executed. By displaying the display screen including the movement locus of the robot's hand, the object surface graphic data 10c is read from the data storage area 9a, and the object surface graphic display program 11c stored in the program storage area 9b is executed. Includes object surface graphics that identify the position and shape of the surface. To display the display screen.

  In an initial state (a state immediately after the operator performs a display command operation with the keyboard 4 or the mouse 5), the CPU 6 is a perspective view as a three-dimensional image obtained by viewing the robot figure and the object surface figure from an appropriate viewpoint. To display. If the CPU 6 determines that the operator has performed a viewpoint changing operation to change the viewpoint so that the keyboard 4 or the mouse 5 displays on the XY plane, the robot figure 21 and the object surface figure 22 are shown in FIG. , 23 are displayed with the viewpoint changed in the direction from the XY plane, and it is determined that the operator has performed a viewpoint change operation for changing the viewpoint so that the keyboard 4 or the mouse 5 displays it on the ZX plane, for example. The robot figure 21 and the object surface figures 22 and 23 are displayed with the viewpoint changed in the direction from the ZX plane, and the viewpoint is changed so that the operator can display on the YZ plane with the keyboard 4 or the mouse 5, for example. If it is determined that the viewpoint changing operation is performed, the robot figure 21 and the object surface figures 22 and 23 are displayed with the viewpoint changed in the direction from the YZ plane as shown in FIG.

  Note that FIGS. 3 to 5 are postures when the robot starts to move, and the movement locus of the robot's hand is not displayed. However, the CPU 6 is in a posture where the robot is moving. Since there is an operation locus from the start of the operation, the operation locus 24 of the hand of the robot is displayed in addition to the robot graphic 21 and the object surface graphics 22 and 23 as shown in FIGS. Note that the display mode (line thickness, color, type, etc.) of the motion locus 24 of the robot hand can be arbitrarily set (selectable) by the operator. A screen on which the object surface graphics 22 and 23 and the motion locus 24 of the hand of the robot are displayed on the same screen is the motion locus display screen.

  Next, as an operation of the above-described configuration, a case where the CPU 6 executes the above-described approach determination program to perform an approach determination process that is a feature of the present invention will be described with reference to FIGS. 9 to 26. 9 to 12 show the approach determination process performed by the CPU 6 in a flowchart.

  For example, when the CPU 6 determines that the operator has performed an approach determination command operation with the keyboard 4 or the mouse 5, the CPU 6 executes the approach determination program 11d and starts the approach determination process. Note that the approach determination program 11d may be executed in response to the operator performing an approach determination command operation as in the present embodiment, or at the same time as the operation locus display program is executed as described above. May be automatically executed, that is, the approach determination process may be necessarily executed at the same time as displaying the movement locus of the hand of the robot.

  When starting the approach determination process, the CPU 6 first executes an approach point presence determination process for determining whether or not there is an approach point whose distance from the movement locus of the hand of the robot is equal to or less than a certain distance on the object surface. (Step S1). If the CPU 6 determines that an approach point exists on the object surface by executing the approach point presence determination process (“YES” in step S2), the CPU 6 determines an approach region in which the approach point is included in the object surface graphic. The approach area display process to be displayed is executed (step S3), and an arrow (an index referred to in the present invention) is displayed on the approach area so as to be superimposed on the closest point where the distance from the movement locus of the robot's hand is the shortest. A process is performed (step S4) and an approach determination process is complete | finished. On the other hand, when the CPU 6 has executed the approach point presence determination process, but determines that there is no approach point on the object surface (“NO” in step S2), the CPU 6 does not execute the approach region display process and the arrow display process. The approach determination process ends. Hereinafter, the approach point presence determination process, the approach area display process, and the arrow display process will be sequentially described.

(1) Approaching point presence determination process When the CPU 6 shifts from the approaching determination process and starts the approaching point presence determination process, the CPU 6 determines from the start point to the end point of the motion trajectory of the hand of the robot that has followed the robot from the start to the end of the operation. A process is set as an approach determination target section, and a process for determining whether or not there is an approach point having a distance to the object surface equal to or less than a certain distance for each sampling point having a certain time interval (sampling interval) is started (step S11). ). The sampling interval can be arbitrarily set (selected) by the operator.

  The CPU 6 first sets a sampling point on the robot motion start position (starting point) side as a determination target (step S12), and acquires motion trajectory data for specifying the position of the sampling point set as the determination target from the data storage area 9a. In addition to reading and acquiring, object surface graphic data for specifying the position and shape of the object surface at that time is read and acquired from the data storage area 9a (step S13). In this case, if there are a plurality of objects around the robot, the CPU 6 reads and acquires object surface graphic data from all of the plurality of objects from the data storage area 9a.

  Next, the CPU 6 sets an angle in the surface direction orthogonal to the motion trajectory of the robot's hand at the sampling point set as the determination target, and starts a process of determining whether or not there is an approach point for each angle (step) S14). The CPU 6 sets any one of the surface directions orthogonal to the motion trajectory of the hand of the robot as a determination target (step S15), generates a vector extending a certain distance in the direction of the angle set as the determination target, The generated vector is collated with the object surface graphic data (step S16). The constant distance of the vector can also be arbitrarily set (selected) by the operator. In other words, if the operator wants to perform an approach determination at a position close to the motion locus of the robot's hand, a short distance may be set as a constant vector distance, while a position far from the motion locus of the robot's hand. If it is desired to carry out the approach determination, a long distance may be set as the constant distance of the vector. Next, the CPU 6 determines whether or not the vector and the object surface intersect, and whether or not there is a point (region) on the object surface whose distance from the motion locus of the specific location of the robot is equal to or less than a certain distance. Is determined (step S17).

  Here, the CPU 6 determines that the vector and the object surface intersect, and determines that there is a point on the object surface whose distance from the motion locus of the specific location of the robot is equal to or less than a certain distance (“YES” in step S17). ]), A point on the object surface where the distance from the motion trajectory of a specific part of the robot is a certain distance or less is specified as an approach point, and a sampling point set as a determination target at that time is specified as an approach sampling point (Step S18). Next, the CPU 6 detects the object information that can identify the object where the approach point exists, the sampling point set as the determination target at that time, the angle set as the determination target at that time, and the determination target at that time Data including the distance from the set sampling point to the approach point is stored as approach point data, and the sampling point at that time is specified as the approach sampling point (step S19).

  Next, the CPU 6 advances the angle to be determined by a preset set angle (step S20), sets the next angle as a new determination target, and repeats the above-described steps S16 to S19. Execute. The setting angle can be arbitrarily set (selectable) by the operator. In other words, if the operator wants to make a close (fine) approach determination at one sampling point, the setting angle may be set narrower. On the other hand, at one sampling point, for example, considering the processing load. If it is desired to perform rough (sparse) approach determination, the set angle may be set wide.

  Next, when the CPU 6 determines that the process for determining whether or not there is an approach point for all angles with respect to the sampling point set as the determination target (step S21), the sampling point to be determined is advanced. (Step S22), the next sampling point is set as a new determination target, and the above-described steps S13 to S21 are repeatedly executed.

  When the CPU 6 determines that the process of determining whether or not there is an approach point with all sampling points as determination targets is completed (step S23), the CPU 6 ends the approach point presence determination process and returns to the approach determination process. . In other words, the CPU 6 executes the approach point presence determination process, so that any angle approaches each approach sampling determined that the approach point exists among all the sampling points from the start point to the end point of the movement locus of the robot hand. Save the approach point data indicating whether or not

(2) Approaching area display process When the CPU 6 determines that an approaching point exists on the object surface by executing the approaching point presence determination process, and shifts from the approaching determination process to start the approaching area display process, the approaching point presence process Based on the approach point data stored in the determination process, a process for displaying the approach area on the object surface graphic is started (step S31). The CPU 6 sets the approach sampling point on the operation start position (start point) side of the robot among the approach sampling points specified in the approach point presence determination process first (step S32), and the approach set as the determination target. The approach point data stored at the sampling point is acquired (step S33).

  Next, the CPU 6 immediately before all of the approach points formed by the approach sampling points that are the determination targets of this time (indicated by “n” in FIG. 13) (indicated by “n−1” in FIG. 13). It is determined whether or not there is an approach point adjacent to any one of the approach points formed by the approach sampling points as the determination target (step S34).

  Here, the CPU 6 is adjacent to any one of the approach points formed by the approach sampling point that is the previous determination target among all the approach points that are formed by the approach sampling point that is the current determination target. Is determined to be present ("YES" in step S34), the corresponding approach point (approach sampling as the determination target immediately before of all the approach points formed by the approach sampling points as the determination target this time) It is determined whether or not there is an approach point that is continuous with any approach point formed by the points) (step S35).

  When the CPU 6 determines that there is an approach point that is continuous with the corresponding approach point (“YES” in step S35), the approach sampling with the corresponding approach point including the consecutive approach point as the previous determination target. It identifies as the same group (same area | region) as the approach point formed by the point (step S36) (In FIG. 13, the approach points a, b, c, and d correspond). And CPU6 of the area | region where the approach point formed by the approach sampling point which made the color of the area | region in which an object surface figure also includes a corresponding approach point including a continuous approach point the 1st previous judgment object is contained The color is the same as that of the region that does not include the approach points, and is displayed separately.

  If the CPU 6 determines that there is no approach point that is continuous with the corresponding approach point (“NO” in step S35), the CPU 6 forms only the corresponding approach point as an approach sampling point that is the previous determination target. It identifies as the same group (same area | region) as the approach point made (step S37) (The approach point e respond | corresponds in FIG. 13). In this case, the CPU 6 also has the same color as that of the area including the approach point formed by the approach sampling point in which the color of the area including the corresponding approach point is the previous determination target in the object surface graphic. After that, the colors of the areas not including the approaching points are made different from each other to be displayed separately.

  On the other hand, the CPU 6 determines that an approach point adjacent to any one approach point formed by the approach sampling point that is the previous determination target among all the approach points formed by the approach sampling point that is the determination target this time. If it is determined that it does not exist (“NO” in step S34), it is determined whether or not there is an adjacent approach point among all the approach points formed by the approach sampling points that are the current determination targets (step S38). ). If the CPU 6 determines that there is an adjacent approach point among all the approach points formed by the approach sampling points as the determination target this time (“YES” in step S38), the adjacent approach points are set to the same group ( (Same area) (step S39) (the approach points f, g, and h correspond in FIG. 13). Then, the CPU 6 displays the object surface graphic by distinguishing the colors of the areas including adjacent approach points from the colors of the areas not including these approach points.

  Further, when the CPU 6 determines that there is no adjacent approach point among all the approach points formed by the approach sampling points set as the determination target (“NO” in step S38), the CPU 6 sets the determination target. Of all the approach points formed by the approach sampling points, approach points that are not adjacent to each other are specified as separate groups (step S40) (the approach point i corresponds in FIG. 13). Then, the CPU 6 displays the object surface graphic by distinguishing the color of the area including the approach points not adjacent to each other from the color of the area not including the approach points.

  When the CPU 6 specifies the group to which the approach point belongs according to the above-described procedure, the approach point specifying the group is excluded from the determination target (step S41), and all the approaches formed by the approach sampling points set as the current determination target. It is determined whether a group has been specified for the point (step S42). If the CPU 6 determines that the group is not specified for all the approach points formed by the approach sampling points that are the determination targets this time, that is, if there is an approach point that does not specify the group (NO in step S42). ”), The process returns to the above-described step S34, and the above-described steps S34 to S41 are repeatedly executed.

  On the other hand, if the CPU 6 determines that the group has been specified for all the approach points formed by the approach sampling points that are the current determination targets ("YES" in step S42), the CPU 6 advances the approach sampling points that are the determination targets ( In step S43), the next approach sampling point is set as a new determination target, and the above-described processing from steps S33 to S42 is repeated. Then, when the CPU 6 determines that the process of displaying the approach area based on the approach point data stored in the approach point presence determination process with all approach sampling points as determination targets is finished (step S44), the approach area display process To return to the approach determination process.

(3) Arrow display process When the CPU 6 shifts from the approach determination process and starts the arrow display process, the CPU 6 starts a process of displaying an arrow on the object surface graphic (step S51). The CPU 6 sets any group specified in the approach area display process as a determination target (step S52), and the approach point having the shortest distance from the sampling point among the approach points existing in the group set as the determination target. Is identified as the closest point, and the sampling point corresponding to the identified closest point is identified as the closest point sampling (step S53). Next, the CPU 6 displays an arrow from the closest sampling to the closest point on the object surface graphic. Next, the CPU 6 determines whether or not the approach area formed by the group to be determined this time overlaps with the approach area formed by another group (step S54).

  Here, if the CPU 6 determines that the approach area formed in the group to be determined this time overlaps with the approach area formed in another group ("YES" in step S54), the area in which the approach areas overlap. Is changed (step S55). Next, the CPU 6 advances the group to be determined (step S56), sets the next group as a new determination target, and repeatedly executes the above-described processing from steps S53 to S55. If the CPU 6 determines that the process of displaying an arrow for all groups as a determination target has ended (step S57), the CPU 6 ends the arrow display process and returns to the approach determination process.

  14 to 23 schematically show a form in which the approach region and the arrow are displayed on the object surface graphic by the CPU 6 executing the approach point determination process described above. As shown in FIG. 14, the CPU 6 advances a vector extending at a certain distance in the circumferential direction at a certain angle in the circumferential direction, for example, at every sampling point 1 to 4 in the movement locus of the hand of the robot. Thus, an approach determination region is formed by generating a plurality of radial shapes.

  Here, as shown in FIG. 15, for example, the CPU 6 determines that there are no approach points at the sampling points 1 and 2, but there are approach points at the sampling points 3 and 4. If it is determined that the approach point formed by 4 is adjacent to the approach point formed by the approach sampling point 3 that is one before, the approach sampling point that is one before and the approach point formed by the approach sampling point 4 3 is specified as the same group (same area), and the color of the area including the approach point formed by the sampling point 4 and the approach point formed by the sampling point 3 It is displayed differently from the color of the area that does not contain dots. For example, an area including the approach point is displayed in red, and an area not including the approach point is displayed in green (original object surface graphic color). In other words, the area displayed in green is an area away from the movement locus of the robot's hand by a certain distance, and the area displayed in red is a certain distance from the movement locus of the robot's hand. It is possible to grasp that the area is close to the following.

  Further, as shown in FIG. 16, for example, when the sampling point 4 is specified as the closest sampling point among the sampling points 3 and 4, the CPU 6 is formed by the approach point formed by these sampling points 4 and the sampling point 3. The color of the area including the approach point is displayed differently from the color of the area not including the approach point, and an arrow is displayed from the sampling point 4 specified as the closest sampling point to the closest point. . Note that the display mode of arrows (line thickness, color, type, etc.) can also be arbitrarily set (selected) by the operator. In this case, it is desirable to set a color that stands out from the approaching region by setting the advance color or the expansion color as the color of the arrow. In addition, since the arrow is also a line, it is desirable to set a color different from the color set with the motion locus of the robot hand in order to avoid confusion with the motion locus of the robot hand.

  In addition, as shown in FIG. 17, for example, when the CPU 6 specifies both the sampling point 3 and the sampling point 4 as the closest sampling points, the approaching point formed by the sampling points 4 and the approaching point formed by the sampling points 3. The color of the area including the point is displayed differently from the color of the area not including the approach point, and the sampling time is early among the sampling points 3 and 4 specified as the closest sampling point (starting point) An arrow is displayed from the sampling point 3 closer to the closest point. Furthermore, as shown in FIG. 18, when the CPU 6 determines that two closest points are formed at one sampling point 3, for example, the CPU 6 moves an arrow from the sampling point 3 to an approach point located in the middle of the two closest points. Display.

  FIG. 19 shows the relationship between the sampling time and the angle when the CPU 6 determines the presence of the approach point. The sampling time is advanced on the horizontal axis, and the angle is advanced on the vertical axis to determine the presence of the approach point. . Although the sampling interval is shown as constant in FIG. 19, the operation speed is increased at a location where the motion trajectory is a straight line, so the sampling interval is longer, and the operation speed is slower at a location where the motion trajectory is a curve. The interval is shortened.

  FIG. 20 shows a case where the movement locus of the robot hand has a wave shape that alternately repeats a section that approaches a certain distance or less to the object surface and a section that moves away from the object. In this case, the CPU 6 includes an approach point. It is determined that the areas are not adjacent to each other, group 1 and group 2 are identified as a plurality of groups, and an area including an approach point belonging to group 1 is distinguished from an area including an approach point belonging to group 2 These are displayed separately from areas not including the approach points. It should be noted that the color of the area including the approach point belonging to group 1 may be the same as or different from the color of the area including the approach point belonging to group 2.

  FIG. 21 shows a case where the movement locus of the robot's hand loops. In this case, the CPU 6 specifies an area where the group 1 and the group 2 overlap, and the area and group including the approach points belonging to the group 1. In addition to separating the area containing the approaching points belonging to 2 and displaying them separately from the area not containing these approaching points, only the area containing the approaching points belonging only to group 1, group 2 only The area including the approach points belonging to the area and the area including the approach points belonging to both the group 1 and the group 2 are displayed separately.

  FIG. 22 shows a case where the motion trajectory of the hand of the robot straddles a plurality of surfaces and approaches a certain distance or less to the object surface. In this case, the CPU 6 divides the group onto the surface 1 and the surface of the plurality of surfaces. The region including the approach points belonging to the group straddling the surface 1 and the surface 2 is displayed separately from the region not including these approach points.

  By performing the above-described processing, the CPU 6 displays an area that approaches a certain distance or less from the movement locus of the hand of the robot on the object surface graphic as an approach area as shown in FIG. An arrow indicating the closest distance and direction from the motion trajectory is displayed. That is, according to the present embodiment, as shown in FIGS. 24 to 26, the CPU 6 displays the approach area 31 and the arrow 32 for the object surface graphic 22 and displays the approach area 33 for the object surface graphic 23. And an arrow 34 are displayed. Thus, unlike the prior art shown in FIGS. 6 to 8 described above, it is possible to present to the worker an area approaching a certain distance or less from the motion locus of the robot hand, and from the motion locus of the robot hand. It is possible to present the closest distance and direction to the operator.

  As described above, according to the first embodiment, the movement locus 24 of the hand of the robot is configured to be displayed in the conventional display mode without any change, so that the worker can Can be grasped with the same feeling as in the past, and the object surface figures 22 and 23 can be approached if there is an approach point that is less than a certain distance from the motion locus 24 of the robot hand. Since the area including the points is set as the approach areas 31 and 33, and the approach areas 31 and 33 are displayed separately from the areas not including the approach points, the operator has the motion locus 24 of the hand of the robot. The location approaching the object surface can be grasped.

  That is, the motion trajectory formed three-dimensionally must be displayed on a two-dimensional plane, and the robot follows all the motion trajectories from the start point to the end point following a series of motions from the start to the end of the robot motion. After solving the problem of having to display in a narrow and limited space that is the motion area of the robot, the worker can grasp the location where the motion trajectory 24 of the robot's hand approaches the object surface. it can.

  In this case, the object surface graphics 22 and 23 are displayed as planes, whereas the robot's hand movement trajectory 24 is displayed as a line, that is, the object surface graphics 22 and 23 are more sufficient than the robot's hand movement trajectory 24. Therefore, the operator can grasp the area where the robot's hand movement locus 24 approaches a certain distance or less to the object surface as a surface instead of a line. It is possible to more surely grasp a location approaching a certain distance or less to the surface.

  In addition, since the arrows 32 and 34 for specifying the distance and direction from the motion locus 24 of the robot hand to the closest point are displayed, the operator can make the motion locus 24 of the robot hand closest to the object surface. It is also possible to grasp the distance and direction that is being performed. That is, since the arrows 32 and 34 for specifying the distance and direction from the movement locus 24 of the robot hand to the closest point are displayed at only one place for each approach region, the robot hand can be changed by changing the viewpoint. A viewpoint direction (angle) where the motion trajectory 24 and the arrow do not overlap can be obtained, and the operator can intuitively grasp the location where the motion trajectory 24 of the hand of the robot is closest to the object surface.

(Second Embodiment)
Next, a second embodiment of the present invention will be described with reference to FIGS. Note that description of the same parts as those of the first embodiment will be omitted, and different parts will be described. The second embodiment is characterized in that the motion trajectory of the hand of the robot is displayed as a moving image.

  As shown in FIG. 27, a personal computer main body 41 of a personal computer, which is a simulator as a robot motion trajectory display device, has a CPU 42 (display control means, vector generation means, approach determination means, approach point specifying means, approach sampling, and so on in the present invention. Point specifying means, closest approach point specifying means, closest approach sampling point specifying means, grouping means, overlap determination means, straddle determination means, playback section setting means, moving picture scaling ratio setting means, playback speed setting means), ROM 7, RAM 8, The hard disk 43 (the operation trajectory data storage means and the object surface graphic data storage means referred to in the present invention) and the interface (I / F) 10 and the like as a large-capacity storage device are configured. A keyboard 4 and a mouse 5 are connected.

  The hard disk 43 is provided with a data storage area 43a for storing various data and a program storage area 43b for storing various programs. The program storage area 43b operates with the robot graphic display program 11a described in the first embodiment. In addition to storing the trajectory display program 11b, the object surface graphic display program 11c, and the approach determination program 11d, a moving image reproduction display program 44 for displaying the motion trajectory of the hand of the robot as a moving image is stored. .

  As shown in FIG. 28, the CPU 42 can display the entire view window 45 (the operation trajectory display screen according to the present invention) and the moving image view window 46 (the moving image reproduction display screen according to the present invention) side by side on the display device 3. . The whole view window 45 is a window for displaying the motion locus 47 of the robot hand and the object surface graphics 48 and 49 as still images, and the moving image view window 46 displays the robot graphics 50 and the motion locus 47 of the robot hand. This is a window displayed by a moving image. The operator can change the viewpoint of the entire view window 45 by operating the keyboard 4 and the mouse 5. The CPU 42 displays the approach area 51 on the object surface graphic 48 and displays the approach area 52 on the object surface graphic 49 by executing the approach determination program described in the first embodiment.

  Next, a case where the CPU 42 executes the above-described moving image reproduction display program 44 to perform the moving image reproduction display processing, which is a feature of the present invention, will be described with reference to FIGS. FIG. 29 is a flowchart showing the moving image reproduction display process performed by the CPU. In this case, the operator performs a viewpoint changing operation for changing the viewpoint so that the approaching area in which the moving image is to be displayed is displayed on the center side of the motion trajectory display screen 45 and on the front side of the optical axis (the surface side of the object). 4 and the mouse 5, and then a moving image display command operation for displaying a moving image is performed with the keyboard 4 and the mouse 5. In FIG. 28, the approach region that the operator wants to display a moving image is the approach region 52 displayed on the object surface graphic 49.

  When the CPU 42 determines that the operator has performed a moving image display command operation with the keyboard 4 or the mouse 5, the CPU 42 executes the moving image reproduction display program 44 to start the moving image reproduction display process. Note that the moving image reproduction display program 44 may be executed when the operator performs a moving image display command operation as in the present embodiment, or the moving image reproduction is automatically performed after the above-described approach determination program 11d is executed. The display program 44 may be executed.

  When starting the moving image reproduction display process, the CPU 42 specifies the approach area displayed on the most central side and the front side of the optical axis among the approach areas displayed in the entire view window 45 (step S61). The motion locus 47 of the hand of the robot corresponding to the specified approach area is set as a playback section (step S62). In the case shown in FIG. 28, the CPU 42 specifies the approach area 51 displayed on the object surface graphic 48, and sets the motion trajectory 47 of the robot hand corresponding to the specified approach area 51 as a playback section. .

  Next, as shown in FIG. 30, the CPU 42 reproduces the moving image of the motion trajectory 47 of the robot's hand from a viewpoint having the same optical axis as the optical axis (current optical axis) of the entire view window 45 and displays the moving image view. It is displayed on the window 46 (step S63). 30 (a) to 30 (c) show an aspect in which the movement locus 47 of the hand of the robot approaches and moves away from the approach region 51 as time elapses, and has the same optical axis as the optical axis of the entire view window 45. Expressed in perspective. 30 is changed from the optical axis of the entire view window 45 shown in FIG. 28 at the timing at which the moving image of the movement locus 47 of the hand of the robot shown in FIG. ing.

  Next, when the CPU 42 finishes reproducing the moving image at the viewpoint having the same optical axis as the optical axis of the entire view window 45, the CPU 42 subsequently displays the moving image of the motion locus 47 of the robot hand as shown in FIG. The moving image is reproduced from a viewpoint having an optical axis orthogonal to 51 to be displayed on the moving image view window 46 (step S64). FIGS. 31A to 31C show the manner in which the movement locus 47 of the robot hand approaches and approaches the approaching region 51 as time elapses, with a viewpoint having an optical axis perpendicular to the approaching region 51. Yes.

  Next, when the CPU 42 finishes reproducing the moving image at a viewpoint having an optical axis orthogonal to the approaching region 51, subsequently, the moving image of the motion locus 47 of the robot hand is parallel to the approaching region 51, as shown in FIG. 32. In addition, the moving image is reproduced from a viewpoint having an optical axis located between the movement locus 47 and the approaching region 51 to be displayed on the moving image view window 46 (step S65). 32 (a) to 32 (c) show a state in which the motion trajectory 47 of the robot's hand approaches and approaches the approach region 51 as time elapses, and is parallel to the approach region 51 and the motion trajectory 47 and the approach region 51. And a viewpoint having an optical axis located in the middle.

  Then, the CPU 42 determines whether or not the operator has performed a reproduction stop command operation with the keyboard 4 or the mouse 5 during the reproduction of the moving locus 47 of the robot hand (step S66). If it is determined that the operator has not performed the playback stop command operation with the keyboard 4 or the mouse 5 (“NO” in step S66), the process returns to step S63 described above, and the processes after step S63 are repeated. That is, the CPU 42 reproduces the moving image from the viewpoint having the same optical axis as the optical axis of the entire view window 45 and is orthogonal to the approach area 51 while the operator does not perform the reproduction stop command operation with the keyboard 4 or the mouse 5. The moving image reproduction at the viewpoint having the optical axis and the moving image reproduction at the viewpoint having the optical axis that is parallel to the approaching region 51 and located between the motion locus 47 and the approaching region 51 are repeatedly executed. On the other hand, if CPU 42 determines that the operator has performed a playback stop command operation with keyboard 4 or mouse 5 ("NO" in step S66), video playback ends and video playback display processing ends.

  Further, when the CPU 42 determines that the operator has performed an enlargement / reduction ratio change command operation with the keyboard 4 or the mouse 5, as shown in FIG. 33, an operation locus 47 of the robot hand displayed on the moving image view window 46 is displayed. Change the video to the enlargement / reduction ratio specified by the operator. That is, the CPU 42 uses the keyboard 4 and the mouse 5 from the state in which the moving locus 47 of the robot hand is displayed at the reference magnification (display magnification = 100%) as shown in FIG. If it is determined that an enlargement / reduction ratio change command operation for changing the magnification to 2 times (display magnification = 200%) has been performed, as shown in FIG. 33B, the moving image that is the reference magnification is 4 times (vertically and horizontally 2 times each). Enlarge and display. In this case, the CPU 42 changes the playback speed to ½ times the reference playback speed that is the playback speed at the reference magnification.

  Further, the CPU 42 displays the moving locus 47 of the robot's hand at a reference magnification as shown in FIG. 33A, and the operator uses the keyboard 4 and the mouse 5 to increase the magnification by 4 (display magnification). If it is determined that the enlargement / reduction ratio change command operation to change to (= 400%) has been performed, as shown in FIG. 33 (c), the moving image which is the reference magnification is enlarged and displayed by 16 times (vertically and horizontally 4 times each). In this case, the CPU 42 changes the playback speed to 1/4 times the reference playback speed, which is the playback speed at the reference magnification. Note that the CPU 42 reproduces only the enlarged portion with the intention that the operator wants to check precisely without reproducing the portion outside the moving image view window 46 when the moving image is enlarged and displayed. Will do.

When the relationship between the above playback speed and display magnification is expressed as an arithmetic expression,
Playback speed = Reference playback speed / (Display magnification / 100)
Thus, according to the arithmetic expression in which the playback speed and the display magnification are inversely proportional, the time from when the robot appears on the screen until it disappears until it disappears, and the robot after the enlargement / reduction ratio is changed Since the time from when it appears on the screen until it disappears is substantially the same, even if the enlargement / reduction ratio is changed, the time required for confirmation by the operator does not change, and workability can be improved.

  As described above, according to the second embodiment, the motion trajectory 47 of the hand of the robot corresponding to the approach area 51 displayed on the most center side of the entire view window 45 and on the most front side of the optical axis is displayed as a moving image. Therefore, the operator can grasp how the movement locus 47 of the robot's hand approaches the approach area 51 by a series of movements. Further, in this case, even when the movie is enlarged to surely grasp how the movement locus 47 of the robot's hand approaches, the movie is inversely proportional to the enlarged movie. Since the playback speed is reduced, the moving image 47 can be displayed at a playback speed in line with the operator's intention to precisely see the location where the motion locus 47 of the robot's hand approaches. You can see exactly where you want to see precisely.

  Furthermore, the moving image of the motion locus 47 of the hand of the robot is converted into a viewpoint having the same optical axis as the optical axis of the entire view window 45, a viewpoint having an optical axis orthogonal to the approach area 51, and parallel to the approach area 51. 47 and the approach area 51 are displayed according to the order of viewpoints having an optical axis, so that the worker can first roughly grasp the movement of the hand of the robot, and then the robot It is possible to grasp how the hand of the hand approaches from the viewpoint from the approaching area 51, and then it is possible to grasp the sense of distance between the hand of the robot and the approaching area 51. However, it is possible to easily grasp how the hand of the robot approaches without causing discomfort.

(Other embodiments)
The present invention is not limited to the above-described embodiment, and can be modified or expanded as follows.
The part for displaying the motion trajectory is not limited to the hand of the robot but may be a joint or the like.
The process of displaying an arrow from the closest sampling point to the closest point may be executed as necessary.
As a method of distinguishing an area where an approach point is included in an object surface figure from an area where an approach point is not included, the color of both is not limited, and only an area including an approach point is blinked, for example. Alternatively, another method may be used.
The approach determination processing program may be recorded on a recording medium such as a CD-ROM, DVD-ROM, DVD-RAM, or USB memory, and the personal computer 1 may read the execution determination processing program from the recording medium and execute it.

In the drawings, 1 is a personal computer (robot movement locus display device), 3 is a display device (display means),
6 is a CPU (display control means, vector generation means, approach determination means, approach point specification means, approach sampling point specification means, closest approach point specification means, closest approach sampling point specification means, grouping means, overlap determination means, straddle determination Means), 9 is a hard disk (motion trajectory data storage means, object surface graphic data storage means), 42 is a CPU (display control means, vector generation means, approach determination means, approach point specifying means, approach sampling point specifying means, closest approach Point specifying means, closest sampling point specifying means, grouping means, overlap determination means, straddle determination means, playback section setting means, moving picture scaling ratio setting means, playback speed setting means), 43 is a hard disk (motion trajectory data storage means, (Object surface graphic data storage means), 45 is an entire view window (motion trajectory display screen), and 46 is a movie view window. It is a window (video playback display screen).

Claims (7)

Motion trajectory data storage means capable of storing motion trajectory data capable of specifying the motion trajectory of a specific location of the robot;
An object surface graphic data storage means capable of storing object surface graphic data capable of specifying an object surface graphic for specifying the position and shape of the object surface that can hinder the operation of the robot;
The motion trajectory of a specific part of the robot specified by the motion trajectory data stored in the motion trajectory data storage means and the object surface graphic specified by the object surface graphic data stored in the object surface graphic data storage means Display control means for causing the display means to display an operation trajectory display screen including the same on the same screen;
For each sampling point acquired at a certain time interval on the motion trajectory of a specific location of the robot, a vector extending from the sampling point to the surface direction orthogonal to the motion trajectory from the sampling point as a base point is constant in the circumferential direction. A vector generation means for generating a plurality of radial patterns by stepping in angles;
The vector generated by the vector generation means and the object surface graphic data stored in the object surface graphic data storage means are collated, and it is determined whether the vector and the object surface intersect to specify the robot. An approach determination means for determining whether or not the movement trajectory of the location approaches a certain distance or less to the object surface;
When the approach determination means determines that the motion trajectory of the specific location of the robot approaches a certain distance or less to the object surface, a point on the object surface whose distance from the motion trajectory of the specific location of the robot is equal to or less than a certain distance is determined. An approach point specifying means for specifying as an approach point;
An approach sampling point specifying means for specifying a sampling point whose approach point is specified by the approach point specifying means as an approach sampling point; and
The display control means classifies an approach area that is an area that includes an approach point specified by the approach point specifying means in an object surface graphic and a non-access area that is an area that does not include the approach point. An operation trajectory display device for a robot, characterized by being displayed on an operation trajectory display screen. The robot movement trajectory display device according to claim 1,
When a plurality of approach points are specified by the approach point specifying means, the closest approach point specifying means for specifying the approach point having the shortest distance from the approach sampling point among the plurality of approach points as the closest approach point;
The closest sampling point specifying means for specifying the closest sampling point as the closest sampling point specified by the closest approach point specifying means,
The display control means includes an index for specifying the distance and direction from the closest sampling point specified by the closest sampling point specifying means to the closest point specified by the closest approach point specifying means on the object surface graphic. An operation trajectory display device for a robot, characterized by being displayed on the operation trajectory display screen. In the robot movement trajectory display device according to claim 1 or 2,
When a plurality of approach points are specified by the approach point specifying unit, adjacent approach points among a plurality of approach points are grouped together, while non-adjacent approach points are grouped together. Grouping means to
The display control means is grouped by the grouping means so that adjacent approach points among a plurality of approach points are made into the same group while approach points that are not adjacent to each other are made into different groups. When a group is generated, an object surface figure is an area including an approach point belonging to one group of the plurality of groups and an approach point belonging to another group. An operation locus display apparatus for a robot, characterized in that it is displayed on the operation locus display screen while being distinguished from other approach areas. In the robot movement locus display device according to claim 3,
When a plurality of proximity points are grouped by the grouping means so that adjacent proximity points among the plurality of proximity points are made into the same group while proximity points that are not adjacent to each other are made into different groups. In addition, it is provided with a duplication judgment means for judging whether or not there is an approach point that overlaps across a plurality of groups,
The display control means, when it is determined by the overlap determination means that there are overlapping approach points across a plurality of groups, an area including overlapping approach points and an area not including overlapping approach points. A robot motion trajectory display device, characterized by being displayed on the motion trajectory display screen. The robot movement locus display device according to any one of claims 1 to 4,
A straddling determination means for determining whether adjacent approach points specified by the approach point specifying means exist on one surface and another surface in the same object surface graphic,
The display control means determines whether adjacent approach points are adjacent to each other when the stride determination means determines that the adjacent approach points exist on one surface and another surface in the same object surface graphic. A motion trajectory display device for a robot, characterized in that a region including the image is displayed on the motion trajectory display screen across one surface and another surface. The robot movement locus display device according to any one of claims 1 to 5,
The display means can simultaneously display an operation trajectory display screen including an operation trajectory of a specific part of a robot and an object surface graphic on the same screen and a moving image playback display screen for reproducing a motion trajectory of the specific part of the robot. Configured,
The robot corresponding to the approach area displayed on the most center side of the motion trajectory display screen and on the most front side of the optical axis in the approach area that is the area including the approach point specified by the approach point specifying means. A playback section setting means for setting a motion locus of a specific location as a playback section;
Video scaling ratio setting means for setting a scaling ratio of the video displayed on the video playback display screen;
Replay speed setting means for setting the replay speed of the moving image so as to be inversely proportional to the enlargement / reduction ratio set by the moving image enlargement / reduction ratio setting means,
The display control means sets the playback speed so that the moving image of the motion locus of the specific part of the robot set as the playback section by the playback section setting means is inversely proportional to the scaling ratio set by the moving picture scaling ratio setting means. An operation trajectory display device for a robot, wherein the moving image is displayed on the moving image reproduction display screen at a reproduction speed set by the means. The robot movement locus display device according to claim 6,
The display control means is configured to display a motion trajectory of a specific part of the robot set as a playback section by the playback section setting means, a viewpoint having the same optical axis as the optical axis of the operation trajectory display screen, and the contact area. A robot having a viewpoint having an optical axis orthogonal to each other, and displaying on the moving image reproduction display screen according to a sequence of viewpoints having an optical axis that is parallel to the approach area and located between the movement locus and the approach area. Motion trajectory display device.

Images