JP2012245577A - Robot control system, robot system, and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a robot control system that generates a movement path of a robot based on an entry-inhibition area that is set in association with movable part of a peripheral device to prevent a part and the like falling from a hand of the robot from entering the movable part, and to provide a robot system, a program and the like.SOLUTION: The robot control system includes: a processing unit 120; a memory storage unit 110; and a robot control unit 170 for controlling the robot 30 based on the processed result processed by the processing unit 120. The memory storage unit 110 stores design information and installation information of the peripheral device having the movable part. The processing unit 120 includes: an entry-inhibition area setting unit 122 for setting the entry-inhibition area of a workpiece while making the entry-inhibition area correspond to the movable part of the peripheral device based on the design information and the installation information of the peripheral device; and a path computing unit 124 for computing path information of an end point of an arm 320 of the robot 30 based on the information of the set entry-prohibition area.

Description

  The present invention relates to a robot control system, a robot system, a program, and the like.

  Many manufacturing lines are in operation that combine parts pick and place with an industrial robot or the like (operations for placing parts in an intended position or posture) to realize parts conveyance. For the purpose of reducing the work time and work space required for this pick-and-place operation, processing is automated by a robot arm equipped with a robot hand. Pick and place operations include “grip operation” that grips the parts you want to align and place with the robot hand, “transport operation” that transports the parts that the robot hand grips, and the intended position / This is realized by combining three types of “release operation” of releasing in a posture.

  In such a pick-and-place operation, there is a case where an unintentional dropout of a part gripped during the “conveying operation” from the robot hand may occur. At this time, the dropped parts collide with the movable part of the peripheral device installed in the robot arm working space and the joint part of the other robot arm, or the dropped part is moved to the movable part of the peripheral device or other robot arm. A case of biting at the joint portion occurs. Accordingly, there is a problem that the safe operation of the peripheral device and other robot arms is hindered.

  In order to deal with such a problem, Patent Document 1 uses a mechanism in which an elastic member covered with a seal member expands and contracts by a slider operation to prevent something from entering through a gap between the slider and the slider cover. A technique is disclosed. In Patent Literature 2, foreign objects are prevented from entering the robot by allowing the movable work table to be freely inserted into the cover. In Patent Document 3, the contact between the joint mechanism and something is suppressed by changing the gap of the cover covering the joint mechanism in accordance with the operation of the joint mechanism.

JP-A-6-126682 JP 2002-66868 A JP 2006-346664 A

  In the method of Patent Document 1, the gap between the slider and the slider cover is not completely closed. For this reason, in pick and place work for small parts, if the part falls off unintentionally during the transport operation, the case where the part falls between the slider and the slider cover or the gap between the slider and the slider cover. There are cases in which a missing part enters the robot arm.

  In the method of Patent Document 2, when a foreign object is located in the gap between the cover and the movable work table, the foreign object is caught and a case where the safe operation of the robot cannot be realized occurs.

  In the method of Patent Document 3, the mechanism for changing the gap of the cover covering the joint mechanism according to the situation is complicated, and the calculation for operating it is also large. In particular, this calculation needs to be performed in real time depending on the situation.

  According to some aspects of the present invention, by generating the movement path of the robot based on the intrusion prohibited area set for the movable part of the peripheral device, a part or the like dropped from the robot hand becomes the movable part. It is possible to provide a robot control system, a robot system, a program, and the like that prevent entry.

  One aspect of the present invention includes a processing unit that performs processing related to robot control, a storage unit that stores information related to control of the robot, a robot control unit that controls the robot based on processing results of the processing unit, The storage unit has a movable unit and stores design information and installation information of a peripheral device arranged around the robot, and the processing unit stores the design information and the installation of the peripheral device. Based on the information, an intrusion prohibition area setting unit for setting a work intrusion prohibition area in association with the movable part of the peripheral device, and based on the set information on the intrusion prohibition area, the robot arm The present invention relates to a robot control system including a route calculation unit that calculates route information of an endpoint.

  In one aspect of the present invention, a work intrusion prohibited area is set in association with a movable part of a peripheral device, and path information of an end point of a robot arm is generated based on the set intrusion prohibited area. Therefore, it becomes possible to suppress the biting of the parts by the movable part by a method different from the use of the cover member.

  In the aspect of the invention, the path calculation unit may set a part dropout range of the workpiece, and the route information may be calculated based on the set part dropout information and the entry prohibition area information. You may calculate.

  Accordingly, processing can be performed based on the part dropout range corresponding to the drop path of the dropout part and the entry prohibition area, and it can be determined whether or not the dropout part enters the movable part.

  Moreover, in one aspect of the present invention, the route calculation unit sets the part dropout range at each relay point of a plurality of relay points set between the start position and the target position of the workpiece conveyance, The route information may be calculated by performing an interference check between the set part dropout range and the intrusion prohibited area.

  Accordingly, the calculation amount can be reduced by setting the relay point, and the route information can be calculated by an easy process of checking the interference between the part dropout range and the intrusion prohibited area.

  In addition, the path calculation unit, at least one part dropout range of the part dropout range set in each relay point included in the first route of the end point of the arm interferes with the intrusion prohibition area, When all the component dropout ranges set at each relay point included in the second path of the end point of the arm do not interfere with the intrusion prohibited area, the second path is set to the end point of the arm. May be selected as the movement route.

  As a result, it is possible to select a route that does not interfere with the component dropout range and the entry prohibition region from among the plurality of routes.

  In the aspect of the invention, the route calculation unit may set the part dropout range based on the speed information and the moving direction information of the endpoint.

  As a result, it is possible to set the part dropout range using information on inertia.

  In the aspect of the invention, the path calculation unit may set the part dropout range based on the work drop time information obtained from the position information of the end point.

  Thereby, it becomes possible to obtain | require fall time information based on the positional information in the position made into object, and can set the component dropping range appropriately.

  In the aspect of the invention, the storage unit may store the design information of the workpiece, and the path calculation unit may set the part dropout range based on the design information of the workpiece.

This makes it possible to set the part dropout range based on information such as the dimensions of the workpiece. In one aspect of the present invention, the storage unit stores design information and installation information of the robot, The route calculation unit may calculate the route information based on the design information and the installation information of the robot.

  As a result, it becomes possible for the robot itself to generate route information that does not interfere with peripheral devices or the like.

  Further, in one aspect of the present invention, the intrusion prohibition region setting unit includes information on a rotation axis of the rotation mechanism and the movable unit when the movable unit of the peripheral device is a movable unit having a rotation mechanism. The intrusion prohibited area may be set based on position information.

  As a result, as an example of the design information and installation information of the peripheral device, it is possible to perform processing using information on the rotation axis of the rotation mechanism.

  In one aspect of the present invention, the intrusion prohibition region setting unit includes information on a translation direction of the translation mechanism, and information on the translation unit when the movable unit of the peripheral device is a movable unit having a translation mechanism. The intrusion prohibited area may be set based on position information.

  As a result, as an example of the peripheral device design information and installation information, it is possible to perform processing using information on the translation direction of the translation mechanism.

  In one aspect of the present invention, the intrusion prohibition area setting unit sets the intrusion prohibition area based on installation position information of the cover member when the movable part of the peripheral device has a cover member. May be.

  As a result, by using the cover member in combination, it is possible to reduce the intrusion prohibited area, and to widen the selection range of the movement route.

  Another aspect of the present invention relates to a robot system including the robot control system according to any one of claims 1 to 10 and the robot controlled by the robot control system.

  In another aspect of the present invention, a processing unit that performs processing related to robot control, a storage unit that stores information related to control of the robot, and a robot that controls the robot based on processing results of the processing unit The computer functions as a control unit, the storage unit has a movable unit, stores design information and installation information of a peripheral device arranged around the robot, and the processing unit stores the information on the peripheral device. Based on the design information and the installation information, in association with the movable part of the peripheral device, based on the intrusion prohibition area setting unit that sets the intrusion prohibition area of the work, and the information of the set intrusion prohibition area, And a path calculation unit that calculates path information of an end point of the robot arm.

2 is an example of a robot and peripheral devices used in the present embodiment. The system configuration example of this embodiment. 2 is a detailed system configuration example of the present embodiment. The example of the invasion prohibition area | region provided in the movable part of a belt conveyor. FIGS. 5A to 5D are views for explaining the shape of the intrusion prohibited area. 6A is a flowchart for explaining the entry prohibition area (rotation) setting process, and FIGS. 6B and 6C are setting examples of the entry prohibition area (rotation) in the work space. The figure explaining the method of calculating | requiring a movable part vector from design information and installation information. The example of the intrusion prohibition area | region provided in the movable part of an automatic stage. FIG. 9A is a flowchart for explaining the entry prohibition area (translation) setting process, and FIGS. 9B and 9C are examples of setting the entry prohibition area (translation) in the work space. The figure explaining the method of calculating | requiring a movable part vector from design information and installation information. An example of an intrusion prohibited area provided in a joint part of a robot. The example of the invasion prohibition area | region at the time of using a cover member. FIG. 13A is a flowchart for explaining the movement path calculation process, and FIGS. 13B and 13C are examples of the current position and the target position of the robot in the work space. 14A and 14B show examples of route relay position candidates set in the work space. FIG. 15A and FIG. 15B show an example of a part dropout range in the work space and an example of a calculated movement route. The flowchart for demonstrating a movement path | route calculation process. The figure explaining the setting method of a component dropout range. The flowchart for demonstrating the control processing of a general robot. FIG. 19A and FIG. 19B are diagrams for explaining the reason why the intrusion prohibited area has a truncated cone shape.

  Hereinafter, this embodiment will be described. In addition, this embodiment demonstrated below does not unduly limit the content of this invention described in the claim. In addition, all the configurations described in the present embodiment are not necessarily essential configuration requirements of the present invention.

1. A method of this embodiment Many manufacturing lines are realized that realize parts conveyance by combining pick and place operations by an industrial robot. The pick and place operation is realized by combining three types of operations, “gripping operation”, “conveying operation”, and “release operation”, and the component gripped during the “conveying operation” is the robot hand. The case where it falls out of is considered.

  If a dropped part falls on the floor without colliding with another object, or stays on a non-structurally sensitive object, etc., it is collected by some means (for example, by the user himself). However, the operation of the production line can be continued by causing the pick and place operation to be performed on another part. However, some devices used in the production line have parts that greatly affect the operation by biting the dropped parts such as movable parts of peripheral devices and joint parts of robot arms.

  In Patent Document 1 to Patent Document 3 described above, a method is proposed in which a cover member is provided mainly at a joint portion of a robot to protect a portion that may bite a drop-off component. However, in Patent Document 1 and Patent Document 2, a deterrent effect such as biting of parts is not sufficient due to restrictions on the installation range and installation position of the cover member. Patent Document 3 proposes a method of changing the gap of the cover member covering the joint mechanism in accordance with the operation of the joint mechanism. However, the mechanism for changing the gap of the cover member is complicated, and its operation The calculation for is also heavy. In particular, since it is necessary to change the gap of the cover member according to the operation of the joint mechanism, it is difficult to perform arithmetic processing in advance unless the operation of the robot is known in advance. Sex is required.

  Therefore, the present applicant proposes a technique for suppressing the biting of parts and the like by appropriately calculating the moving path of the robot, not from the viewpoint of protecting the movable part by the cover member. In the present embodiment, the “robot movement path” is a movement path of the end point of the robot arm (the tip position of the arm on which the hand or the like is installed). When the hand is set with respect to the end point of the arm (330 in FIG. 1, which will be described later), it is almost synonymous with the movement path of the hand. Hereinafter, the terms “movement path of the robot” or “movement path” are used in the same meaning. Further, this does not prevent the movement route generation method and the protection method using the cover member from being used together in this embodiment, and this example will be described later with reference to FIG.

  Specifically, an intrusion prohibition area as shown in RB1 of FIG. 4 is set in association with a portion in the peripheral device where there is a risk of component biting. At the same time, when a part is dropped, a part dropout range (falling range) representing an area where the part may drop is set. This is, for example, as shown in FIG. 17, and at a certain candidate position (candidate position of the relay point on the movement route), when the part moves at a given speed from the immediately preceding relay point to the candidate position, The range reflects the direction of motion. For example, when a part falls off while the robot hand is moving in a certain direction, the part does not fall directly below, but falls at a speed in the same direction as the movement direction of the robot hand due to inertia. That is, the part dropout range is an area corresponding to the drop path of the dropout part (it is not necessary to be the drop path itself).

  Therefore, by checking for interference (for example, overlap) between the intrusion prohibited area and the part dropout range, it is possible to generate a movement path in which it is not assumed that the movable part set with the intrusion prohibited area bites the part. . Specifically, if there is an interference between the intrusion prohibition area and the part dropout range, if there is a part dropout at the candidate position of the moving path at that time, the possibility of part biting cannot be denied. Thus, the candidate position is not adopted as a relay point of the movement route. On the other hand, if the intrusion prohibited area does not interfere with the part dropout range as a result of the check, the candidate position may be adopted as a relay point.

  In this way, by searching for a relay point between the current position of the robot and the target position, a target movement route can be generated.

  Hereinafter, a system configuration example will be described, and then an intrusion prohibited area setting method will be described. Thereafter, a method for calculating a movement route including a method for setting a part dropout range will be described.

2. System Configuration Example A configuration example of a production line including a robot controlled by the robot control system according to this embodiment and peripheral devices will be described with reference to FIG. The production line includes a robot 30, a belt conveyor 60, an automatic stage 70 (single-axis conveyance device), and an information processing device 10 (not shown in FIG. 1). However, the production line is not limited to the configuration shown in FIG. 1, and various modifications such as omitting some of these components or adding other components are possible. The robot 30 includes an arm 320 and a hand 330, and performs processing in accordance with an operation instruction from the information processing apparatus 10. For example, the workpiece placed on the belt conveyor 60, the automatic stage 70, or the like is processed. The production line may include an imaging device that detects information related to the position, posture, and the like of the workpiece. Since it is only necessary to be able to detect the position and orientation of the workpiece, a technique other than acquisition of the captured image (for example, three-dimensional scanning using a laser or the like) may be used.

  A specific configuration will be described with reference to FIG. The information processing apparatus 10 includes a storage unit 110, a processing unit 120, a display unit 150, an external I / F unit 160, and a robot control unit 170.

  The storage unit 110 stores a database and serves as a work area for the processing unit 120 and the like, and its function can be realized by a memory such as a RAM or an HDD (hard disk drive). The storage unit 110 stores design information 112, installation information 114, control information 116, and intrusion prohibited area information 118. However, the storage unit 110 is not limited to the configuration shown in FIG. 2, and various modifications such as omitting some of these components or adding other components are possible. Specific examples of each information will be described later with reference to FIG.

  The processing unit 120 performs various processes based on data from the storage unit 110, information received by the external I / F unit 160 from the imaging device or the robot 30, and the like. The function of the processing unit 120 can be realized by hardware such as various processors (CPU and the like), ASIC (gate array and the like), a program, and the like.

  The processing unit 120 includes an intrusion prohibited area setting unit 122 and a route calculation unit 124. The processing unit 120 is not limited to the configuration of FIG. 2, and various modifications such as omitting some of these components or adding other components are possible. The intrusion prohibited area setting unit 122 performs intrusion prohibited area setting processing. A specific example of the intrusion prohibited area to be set will be described later with reference to FIGS. 5 (A) to 5 (D) and the like. The route calculation unit 124 calculates a movement route that suppresses the biting of a component or the like at the movable part of the peripheral device. Specifically, a part dropout range is set, and a route is calculated by performing an interference check between the set part dropout range and the entry prohibition area set by the entry prohibition area setting unit 122. Details will be described later.

  The display unit 150 is for displaying various display screens and can be realized by, for example, a liquid crystal display or an organic EL display.

  The external I / F unit 160 is an interface for performing input from the user to the information processing apparatus 10 and receiving information from the imaging apparatus 20 and the robot 30. Regarding input from the user, etc., it may be constituted by a switch, a button, a keyboard, a mouse, or the like.

  The robot control unit 170 controls each part of the robot (such as the arm 320 and the hand 330) based on the processing result in the processing unit 120. Specifically, control is performed by transmitting a control signal to the robot 30 via the external I / F unit 160.

  The robot 30 includes an arm 320 and a hand 330.

  Next, the information processing apparatus 10 (excluding the display unit 150 and the external I / F unit 160) will be described in detail with reference to FIG.

  As shown in FIG. 3, the design information 112 includes robot design information 1121, conveyor design information 1123, automatic stage design information 1125, and part design information 1127. The robot design information 1121 is information determined at the time of designing the robot, such as the arm dimensions of the robot 30, the hand dimensions, and the angles that the joint can take. Similarly, the conveyor design information 1123 is information determined at the time of designing the belt conveyor 60, and includes information on the dimensions of each part of the belt conveyor 60, the position of the movable part in the entire belt conveyor 60, the rotation axis of the movable part (rotating mechanism), and the like. It is. The automatic stage design information 1125 is information such as the dimensions of the automatic stage and the moving direction of the movable part (translation mechanism). The part design information 1127 is information such as the shape and dimensions of the part.

  The installation information 114 includes robot installation information 1141, conveyor installation information 1143, and automatic stage installation information 1145. These are information indicating where the robot 30, the belt conveyor 60, and the automatic stage 70 are installed in the work space. Specifically, it is represented by the coordinates of the position and direction in the reference coordinate system on the virtual space corresponding to the work space.

  The control information 116 includes robot state information 1161, robot path information 1162, conveyor state information 1163, automatic stage state information 1165, and part dropout range information 1167. The robot state information 1161, the conveyor state information 1163, and the automatic stage state information 1165 are information representing the states of the robot 30, the belt conveyor 60, and the automatic stage 70, respectively. Here, the state may be, for example, the rotational direction or translational direction of the movable part, the movement speed of the movable part, or the like. In the case of a robot, since it is possible to know at what angle and at what speed each joint is rotating, it is possible to know the posture and moving direction of the robot. The robot route information 1162 is information on the movement route calculated so far in the route calculation unit 124, information on candidate positions of relay points arranged on the work space, and the like. The component dropout range information 1167 stores information related to the component dropout range calculated by the component dropout range calculation unit 1241. As will be described later, the part dropout range varies depending on the part design information, the moving speed of the robot, the moving direction, and the like. If the capacity of the storage unit 110 is sufficiently secured, the information of the part dropout range calculated in the past is stored as the part dropout range information 1167 so that the same parts can be transported in the same situation later. This eliminates the need for recalculation.

  The intrusion prohibition region setting unit 122 includes an intrusion prohibition region (rotation) setting unit 122-1 when the movable unit is a rotation mechanism, and an intrusion prohibition region (translation) setting unit 122- when the movable unit is a translation mechanism. 2 is included. Similarly, the intrusion prohibited area information 118 also includes intrusion prohibited area (rotation) information 118-1 and intrusion prohibited area (translation) information 118-2.

  In addition, the storage unit 110 may store target position and orientation information 119 that is information regarding the target position of the robot and the posture of the robot at the target position. For example, this may be set by the user via the external I / F unit 160 or may be set autonomously by the processing unit 120.

3. Intrusion Prohibited Area Setting Method Next, an intrusion prohibited area set for the movable part of the peripheral device will be described. First, after describing the intrusion prohibition region with respect to the movable portion having the rotation mechanism, the intrusion prohibition region with respect to the movable portion having the translation mechanism will be described. Then, a modification is demonstrated.

3.1 Invasion prohibition area set for movable part having rotating mechanism The movable part of the belt conveyor 60 is actually a drive motor, and this movable part is movable and movable part vector VB1 and movable as shown in FIG. It is expressed as a part vector VB2. The direction of the movable part vector VB1 or VB2 represents the direction of the rotation axis in the movable part having the rotation mechanism, and the rotation direction around the rotation axis becomes the rotation direction of the movable part.

  The intrusion prohibited area is set corresponding to the movable part vector. An example of the setting is shown in FIG. Since the intrusion prohibition region only needs to be set so as to cover a portion of the movable portion exposed to the outside, the minimum exposure of the movable portion, such as the shaded region indicated by RB′1 in FIG. It is conceivable to set a planar area covering the part.

  However, as will be described later, it is assumed that the part dropout range for performing the interference check with the intrusion prohibited area is set to an area corresponding to the part drop path, but does not necessarily completely include the drop path. . Therefore, in the case where only the minimum entry prohibition area (for example, RB′1) is provided, even if there is no interference with the part dropout range, in actual operation, the dropout part is bitten by the movable part. The possibility of happening cannot be denied. For this reason, the invasion prohibited area is set as an area having a spatial extent. For example, a frustoconical region as shown in RB1 to RB4 may be set. Although not shown in FIG. 1, it is assumed that there are movable parts on the back side of the belt conveyor in FIG. 4, and movable part vectors VB3 and VB4 are set for the movable parts.

  The shape of the intrusion prohibited area is not limited to the truncated cone shown in FIGS. 4 and 5B. For example, as shown in FIG. 5A, a cylindrical intrusion prohibited area may be set. The wider the intrusion prohibition area, the more effective the suppression of parts biting by moving parts.However, interference with the part dropout range is more likely to occur. Become. For this reason, if the intrusion prohibition area is too wide, there is no path for the robot to move to the target position, otherwise the movement path will be too long, or the robot must take a posture that places a load on the robot. I won't get it. That is, there is a trade-off between the ease of generation of the robot movement path and the effect of suppressing the biting of the parts, so it is desirable to set the intrusion prohibited area according to the actual situation. Therefore, in the present embodiment, a planar area having a minimum extent such as the above-described RB′1 to RB′4 may be used as an intrusion prohibited area, and is limited to a spatial extent. It is not something.

  Details of the process of setting the intrusion prohibited area for the movable part having the rotation mechanism will be described with reference to the flowchart of FIG. When this process is started, first, the design information 112 of the belt conveyor 60 and the automatic stage 70 is acquired (S101). Here, the reason why the information of the automatic stage 70 is also acquired is that a motor having a rotation mechanism is used to generate a translational movement in the automatic stage 70. However, the intrusion prohibited area setting process for the motor is the same as the process for the belt conveyor 60, and a detailed description thereof will be omitted.

Specifically, the conveyor design information 1123 and the automatic stage design information 1125 are acquired from the design information 112. This is information such as the dimensions of the belt conveyor 60 as described above, and it can be seen where the rotation mechanism is provided with respect to the reference position of the belt conveyor 60. A specific example is shown in FIG. What is obtained from the design information is the position and direction of the rotation axis in the xyz coordinate system provided at the reference position of the belt conveyor 60 indicated by A1 in FIG. In other words, the position _{p M} of the start point of each of the movable portions vector VB1～VB4, can obtain the direction _{n M} of the vector. p _M and n _M are vectors each consisting of three values corresponding to the three axes of xyz.

  Next, the installation information 114 of the belt conveyor 60 and the automatic stage 70 is acquired (S102). Specifically, the conveyor installation information 1143 and the automatic stage installation information 1145 are acquired. From the installation information 114, it is possible to know in which position in the work space and in what posture the belt conveyor 60 and the like are installed. A specific example is shown in FIG. What is obtained from the installation information 114 is the installation position T of the belt conveyor 60 and the installation directions ω and θ in the XYZ coordinate system provided at the reference position of the work space indicated by A2 in FIG. Note that ω is a vector representing the direction of the rotation axis on which the belt conveyor 60 can rotate on the installation position T, and θ is a scalar representing the actual rotation angle.

When the design information 112 and the installation information 114 are acquired, information on the rotational motion axis of the movable part vector in the work space is calculated (S103). This is calculated by performing the following equations (1) and (2) on p _M and n _M obtained in S101.

P _M = Rp _M + T (1)
N _M = Rn _M + T (2)
Here, R is a matrix represented by each element of ω and θ, and is shown in FIG. Thereby, the position of each movable part vector VB1-VB4 with respect to the reference position of the work space can be obtained as P _M , and the direction as N _M.

  Then, an intrusion prohibited area is set using a predetermined shape as shown in FIG. 4 for the determined movable part vector (S104), and information on the set intrusion prohibited area (intrusion prohibited area regarding rotation) is intruded. The prohibited area (rotation) information 118-1 is stored (S105). An example of setting the intrusion prohibited area in the work space is shown in FIGS. FIG. 6B is a view of the work space viewed horizontally, and FIG. 6C is a view of the work space viewed from above.

3.2 Invasion Prohibition Area Set for Movable Part Having Translation Mechanism FIG. 1 shows movable part vectors VC1 and VC2 representing the direction of translational motion in the automatic stage 70. FIG. The automatic stage 70 is a uniaxial conveying device as described above, and translates components placed on the automatic stage 70 in the positive or negative direction of a certain motion axis. Therefore, the intrusion prohibition region may be set so as to cover the movable part around the movable part vector VC1 or the like (here, one direction is VC1 and the opposite direction of VC1 is VC2).

  An example of the setting is shown in FIG. For example, a planar area as indicated by shading as RC ′ in FIG. 8 may be set. Further, for the same reason as in the case of the rotation mechanism, a spatially wide three-dimensional region may be set. Specifically, a rectangular parallelepiped region may be set as shown in FIGS. 8 and 5C, or a quadrangular pyramid region may be set as shown in FIG. 5D. . The larger the size of the area, the more effective the suppression of parts biting can be expected, but the robot's movement path is limited, so it is necessary to set it appropriately according to the situation as with the rotating mechanism It is the same.

Details of the process of setting the intrusion prohibited area for the movable part having the translation mechanism will be described with reference to the flowchart of FIG. When this process is started, first, design information 112 of the automatic stage 70 is acquired (S201). Specifically, the automatic stage design information 1125 is acquired from the design information 112. As a result, the position where the translation mechanism is provided relative to the reference position of the automatic stage 70 can be known. A specific example is shown in FIG. What is obtained from the design information is the position and direction of the translation mechanism in the coordinate system provided at the reference position of the automatic stage 70. In other words, the position _{p M} of the start point of each of the movable portions vector VC1～VC2, can obtain the direction _{n M} of the vector. p _M and n _M are vectors each consisting of three values corresponding to the three axes of xyz.

  Next, the installation information 114 of the automatic stage 70 is acquired (S202). Specifically, the automatic stage installation information 1145 is acquired. From the installation information 114, it is possible to know in which position in the work space and in what posture the automatic stage 70 is installed. A specific example is shown in FIG. What is obtained from the installation information 114 is the installation position T of the automatic stage 70 and the installation directions ω and θ in the XYZ coordinate system provided at the reference position of the work space indicated by B2 in FIG.

When the design information 112 and the installation information 114 are acquired, information on the translational motion axis of the movable part vector in the work space is calculated (S203). This is the same as the example of the rotation mechanism, and is calculated by performing the calculations of the above formulas (1) and (2) for p _M and n _M. This makes it possible to determine the position of movable parts vector VC1~VC2 respect to the reference position of the work space _{P M,} the direction _{N M.}

  Then, an intrusion prohibited area is set using a predetermined shape as shown in FIG. 8 for the determined movable part vector (S204), and information on the set intrusion prohibited area (intrusion prohibited area for translation) is intruded. The prohibited area (translation) information 118-2 is stored (S205). An example of setting the intrusion prohibited area in the work space is shown in FIGS.

3.3 Modification A modification will be described. In the above description, the intrusion prohibited area is set to the peripheral device (for example, the belt conveyor 60 and the automatic stage 70), but it is not necessary to be limited to this. For example, an intrusion prohibited area may be set for the robot 30 as shown in FIG.

  As shown in FIG. 1, a joint may exist on the arm 320 of the robot. In that case, the posture of the arm is changed by rotating around a certain rotation axis. Therefore, the rotation axis may be set as the movable part vector VR. Specifically, VR1 to VR6 in FIG.

  Information on the movable part vectors VR1 to VR6 is stored in the robot design information 1121. After that, a method similar to the setting of the intrusion prohibited area in the rotation mechanism described above may be used. Specifically, by using the robot installation information 1141 together, the positions and directions of the movable part vectors VR1 to VR6 in the work space are obtained, and the entry prohibition areas RR1 to RR6 are set corresponding to the obtained positions and information. To do. The intrusion prohibited areas RR1 to RR6 are cylindrical in the example of FIG. 11, but are not limited to this, as described above.

  Further, as described above, this embodiment does not hinder the adoption of a method of protecting with a cover member. An example in which a cover member is used in accordance with the method of this embodiment is shown in FIG. FIG. 12 shows an example of an automatic stage 70 having a translation mechanism. Here, it is assumed that the cover member CV is installed on the translation mechanism. In that case, even if a part falls off on the cover member CV, the movable portion is not damaged, and therefore it is not necessary to set an entry prohibition area for the area protected by the cover member CV. Therefore, compared with the entry prohibition area (RC in FIG. 8 and the like) set when there is no cover member CV, the area protected by the cover member CV and the area having a spatial extent corresponding to the protected area A region that is as narrow as that may be used as an intrusion prohibited region. Specifically, it can be considered that an area indicated by RC2 in FIG. By doing in this way, since the invasion prohibition area can be narrowed compared with the case where there is no cover member CV, the range of selection of the movement path of the robot is widened, and movement path generation is facilitated.

4). Robot Movement Route Calculation Method Details of the movement route calculation processing will be described with reference to the flowchart of FIG. When this process is started, information on the intrusion prohibited area is first acquired (S301, S302). Specifically, the route calculation unit 124 reads the information stored in the intrusion prohibited area (rotation) information 118-1 in S105 and the information stored in the intrusion prohibited area (translation) information 118-2 in S205. Become.

  Next, the current position of the robot 30 is acquired from the robot installation information 1141 and the robot state information 1161 (S303). At the same time, the target position of the robot 30 is acquired from the target position / orientation information 119 (S304). Specific examples are shown in FIGS. 13B and 13C. FIG. 13B is a view of the work space viewed horizontally, and FIG. 13C is a view of the work space viewed from above. In this example, it is assumed that the robot located on the side of the automatic stage 70 is moved onto the belt conveyor 60. Note that the shaded portions in FIGS. 13B and 13C are intrusion prohibited areas (RB1 to 4, RC, and RD).

  Thereafter, the component design information 1127 used for the subsequent component dropout range calculation is read from the storage unit 110 (S305). The part design information 1127 stores information such as the dimension and shape of the part.

  Then, as shown in FIGS. 14A and 14B, route relay position candidates that are candidates for the relay position (relay point) of the movement route are arranged on the work space (S306). For example, the route relay position candidates are arranged at equal intervals in the horizontal direction and the vertical direction.

  The part dropout range is calculated based on the part design information 1127 acquired in S305, and the route from the current position of the robot 30 to the target position is calculated as a line connecting the route relay position candidates (S307, S308). Details of this processing will be described later with reference to the flowchart of FIG. When the path from the current position to the target position is calculated, the path is stored as path information in the storage unit 110 as robot path information 1162 (S309).

  Next, the component dropout range calculation and route relay position candidate selection processing in S307 and S308 will be described with reference to FIG. When this process is started, first, the current position of the robot 30 is set as the start position of the route (S401). Similarly, the target position of the robot 30 is set as the path end position (S402). Then, the route start position is set to the route current position (S403). Here, the current path position represents a position that is currently focused on in the movement path of the robot 30. Then, it is determined whether the route current position is the route end position (that is, whether the route search to the target position is completed) (S404). If Yes in S404, it means that the route has been properly searched up to the target position, so that the route generation is successful (S418), and the process is terminated. In the case of No, it means that the search is in progress, so the processing from S405 is continued.

  In the case of No in S404, a plurality of route relay position candidates heading for the route end position as seen from the current route position are selected (S405). That is, a plurality of candidates for the next relay position are selected from the current route position. Then, the number of selected candidates is set to N (S406), and the parameter i is set to 0 (S407).

  Then, it is determined whether i <N is satisfied (S408), and in the case of No, as will be described later, none of the N candidates are verified, so that there is no appropriate one. The generation is determined to have failed (S419), and the process is terminated. In the case of Yes in S408, there are route relay position candidates that have not been verified yet, so the candidates are verified.

  Specifically, the height information is acquired for the i-th candidate among the N route relay position candidates (S409). Then, based on the acquired height information, when a part has dropped out in the route relay position candidate, a drop time representing a time required to fall to the floor is calculated (S410). At the same time, the speed of the robot 30 (specifically, the robot's hand 330) is acquired from the current route position toward the i-th route relay position candidate (S411). Based on the drop time and the hand speed, the part dropout range at the i-th route relay position candidate is calculated (S412).

  The part dropout range will be described in detail with reference to FIG. First, based on the part design information 1127 acquired in S305, C1 that is the dimension of the part to be transported using the robot 30 is acquired. Then, a range C2 including C1 is set. In S410, the fall time is obtained from the height information of the route relay position candidate. As an easy-to-understand example, the fall distance C3 is a distance to the floor or until it collides with something, and the time required for free fall by the fall distance may be the fall time. However, the fall distance is not limited to the distance to the floor, and a shorter distance may be set. Then, C4 is obtained from the product of the speed of the robot hand and the drop time, and the component dropout distance C5 is obtained as a combined vector of C3 and C4. When the component drop-off distance C5 is obtained, an area having the same size as C2 around the tip of the vector of C5 is set as an offset component inclusion range C6. Since the component dropout range may include C2, C6 and the region between C2 and C6, the region C7 including C2 and C6 eventually becomes the component dropout range.

  Accordingly, since the part dropout range in S412 is obtained, it is confirmed whether or not the part dropout range and the entry prohibition area overlap (S413). It is determined whether or not they overlap (S414). If No, that is, if they overlap, it is determined that the i-th route relay position candidate is inappropriate, i is incremented (S415), and the process returns to S408. The next route relay position candidate is confirmed. In the case of Yes in S414, since the i-th route relay position candidate is considered to be appropriate, the i-th route relay position candidate is registered as the route relay position (S416), and the registered route relay position is used as the current route. The position is set (S417). Then, returning to S404, it is determined whether or not the updated route current position is the route end position. If it is not the route end position, the processing from S405 is performed again. Examples of the robot movement path set in this way are shown in FIGS. 15 (A) and 15 (B).

  Further, the actual control process of the robot 30 after the route is determined will be described with reference to the flowchart of FIG. When this process is started, first, the rotational speed gain of each joint is acquired (S501). The number of steps of the route is acquired from the robot route information 1162 (S502), and the execution step index N is initialized (S503). Then, it is determined whether N is smaller than the number of path steps (S504). If No, it is determined that all steps have been completed, and the angles of the joints in the robot state information 1161 are updated (S505).

  In the case of Yes in S504, the target angle of each joint in the Nth step is acquired from the robot path information 1162 (S506), and the absolute value Δ of the difference between the current angle of each joint and the target angle is calculated (S507). . Then, it is determined whether Δ is larger than the allowable angle difference (S508). If No, the angle difference is within the allowable range, so N is incremented (S509), and the process returns to S504. The process proceeds to the next execution step. If YES in S508, the rotational speed of each joint is calculated (S510), each joint is rotated according to the rotational speed (S511), and the current angle of each joint is updated (S512). Then, the process returns to S507, Δ is calculated, and it is determined again whether or not it is within the tolerance in S508.

  The above is the details of the route calculation processing. Here, the parts dropout range and the entry prohibition region will be supplemented. As described above, when setting the component dropout range, C1 to C7 shown in FIG. 17 are sequentially set. At this time, the fall distance of C3 does not necessarily need to be the distance to the floor or to collide with something, as described above, it may be a shorter distance. As this reason, when setting as mentioned above, there is a possibility that the part dropout range may become too wide. As described in the description of the intrusion prohibited area, if the part dropout range is wide, the effect of suppressing the biting of the parts is increased compared to the case where the part dropout area is narrow, but the movement path of the robot 30 is limited. The That is, taking a part dropout range more than necessary may cause a movement path of the robot 30 not to be generated.

  In other words, it is desirable to set an appropriate area after considering the intrusion prohibition area and the size of the part dropout area in an interlocked manner. The reason why the intrusion prohibited area was explained as a spatially wide area instead of a flat area was also because it was assumed that the falling distance of the parts dropout range was shorter than the distance to the floor etc. It is given as. If the part dropout range can be set as an area that completely includes the dropout path of the dropout part, it is sufficient to set a minimum planar area as the entry prohibition area. However, for that purpose, the moving speed of the robot 30 assumed at the time of route design (that is, when the part dropout range is set) matches the speed at the time of actual work, etc., and the fall distance C3 is set to the floor or the like. Even if it is a distance, it is difficult to realize.

  Therefore, it is necessary to assume that the part dropout range does not necessarily include the fall path of the dropout part, and for this reason, the intrusion prohibited area may be set as a three-dimensional area with more margin than the plane. desirable. If this is the case, since the improvement in the deterrent effect such as part biting is ensured on the intrusion prohibited area side, there is no need to excessively increase the part dropout range, so the fall distance in FIG. 17C3 is larger than the distance to the floor etc. That means it can be short.

  In addition, there is a reason for making the intrusion prohibited area a truncated cone (or a quadrangular pyramid). This is because, as shown in FIG. 19 (A), when moving in the horizontal direction, the falling parts have a speed in the moving direction, and therefore, as shown in C7 of FIG. A range will be set. However, in the columnar intrusion prohibition region RB as shown in FIG. 5A, interference does not occur depending on the size of the component dropout range, so that intrusion of components from an oblique direction cannot be suppressed. In this respect, the above-described problem can be avoided if the intrusion prohibited area is enlarged in an oblique direction as shown in FIG. As an example of the enlargement in the oblique direction, a truncated cone may be set instead of a cylinder.

  In the above embodiment, as shown in FIGS. 2 and 3, the robot control system includes the processing unit 120 that performs processing related to robot control, the storage unit 110 that stores information related to robot control, and the processing unit 120. And a robot controller 170 that controls the robot 30 based on the processing result. And the memory | storage part 110 memorize | stores the design information (for example, conveyor design information 1123 etc.) and installation information (for example, conveyor installation information 1143 etc.) of the peripheral device which has a movable part. The processing unit 120 includes an intrusion prohibited area setting unit 122 and a route calculation unit 124. The intrusion prohibition area setting unit 122 sets a work intrusion prohibition area in association with the movable part of the peripheral device based on the design information and installation information of the peripheral device. The route calculation unit 124 calculates the route information of the end point of the arm 320 of the robot 30 based on the information of the intrusion prohibited area.

  Here, the peripheral devices are, for example, the belt conveyor 60 and the automatic stage 70 shown in FIG. 1, and the belt conveyor 60 has a movable part of a rotation mechanism, and the automatic stage 70 has a movable part of a translation mechanism. . For example, the movable part may be expressed as a vector (VB1, VB2, etc.) representing the rotation axis if it is a rotation mechanism, or may be expressed as a vector (VC1, VC2, etc.) representing the translational movement direction if it is a translation mechanism. Good. Further, the route information may be information on the movement route itself of the robot, or information corresponding to the movement route.

  Thus, after setting the work entry prohibition area in association with the movable portion, the movement path of the end point of the arm 320 of the robot 30 based on the set entry prevention area (as described above, the robot movement path is appropriately set. Or called a movement route). Therefore, since the moving path of the robot can be generated so that the part does not enter the area that greatly affects the operation of the apparatus and the production line by biting the part (work) like the movable part of the peripheral device, Peripheral devices and the like can be protected from a viewpoint different from the method using the cover member. In the method using the cover member, a gap is generated in the cover member, so that there is a limit to the effect of suppressing the biting of the parts, or processing with a high load that requires real-time performance is required. On the other hand, in the method according to the present embodiment, the robot 30 can behave in such a way that parts do not fall on the movable part in the first place. Further, since the route calculation can be performed in advance before actually operating the robot, the problem of real-time property can be avoided.

  In addition, the route calculation unit 124 sets a part dropout range corresponding to the fallen range of the dropped workpiece, and calculates route information based on the set part dropout range information and the entry prohibition area information.

  This makes it possible to perform processing based on the part dropout range corresponding to the range where the workpiece falls and the entry prohibition area, which is an area where workpiece entry is not desirable, so whether the dropped workpiece falls on the movable part. It can be determined whether or not. Then, by generating route information based on the determination, it is possible to prevent biting of the dropped workpiece into the movable part. Specifically, the route information determined that the possibility that the work will drop with respect to the movable part is low is adopted. Specifically, the processing based on the part dropout range and the intrusion prohibition area can be considered by checking the overlap of the two areas and determining that the dropout part falls on the movable part if they overlap. However, it is not necessary to be limited to overlap. For example, when the minimum value of the distance between the part dropout range and the entry prohibition area is smaller than a given threshold, it is determined that the dropout part can fall on the movable part. Also good.

  Further, the route calculation unit 124 sets a part dropout range at each relay point of the plurality of relay points set between the workpiece transfer start position and the target position, and sets the part dropout range and the intrusion prohibited area. Route information may be calculated by performing an interference check.

  Here, for example, the relay points may be arranged at equal intervals in the horizontal direction and the vertical direction as shown in FIGS. 14A and 14B, but the present invention is not limited to this. .

  Thereby, it becomes possible to calculate route information using a relay point. That is, as shown in FIGS. 15A and 15B, a part dropout range is set for the relay point, and if the set part dropout range and the intrusion prohibition area do not interfere with each other, the relay point is set. Adopt as a travel route. Actually, several route relay position candidates are set as shown in the flowchart of FIG. 16, and the determination is performed one by one. Here, by taking a certain distance between each relay point, it is possible to reduce the number of parts dropout range setting processing and interference check processing with the intrusion prohibited area, and to reduce the processing load. However, if the distance between relay points is too large, the number of candidates for the movement route decreases, and it is necessary to set an appropriate value. In the interference check, for example, it is only necessary to determine whether or not there is an overlap of regions, and it is possible to easily determine the overlap between two spatially spreading regions using an existing method.

  In addition, the route calculation unit 124 interferes with at least one component dropout range among the component dropout ranges set at each relay point included in the first route of the robot 30 and the intrusion prohibition region. The second path may be selected as the movement path of the robot 30 when all the part dropout ranges set at each relay point included in the second path do not interfere with the intrusion prohibited area.

  Thereby, when there are a plurality of route candidates in calculating the movement route of the robot 30, it is possible to select a route in which the part dropout range and the intrusion prohibited area do not interfere among the plurality of routes. Specifically, for example, as shown in the flowchart of FIG. 16, a plurality of route relay position candidates are set in the direction from the current route position to the target position, and the part dropout range set for each route relay position candidate; A process of checking the interference with the intrusion prohibited area and selecting a route relay position candidate that does not interfere with them may be performed.

  Further, the route calculation unit 124 may set the part dropout range based on the speed information and the movement direction information of the endpoint.

  As a result, it is possible to consider the influence of the speed information of the end point and the information of the moving direction, that is, the influence of inertia on the part dropout range. Even if the work being transported by the hand 330 (assuming that the hand is attached to the end point) of the robot 30 is dropped during transportation, it does not fall directly below the drop-off point. For example, if the workpiece is being transported in the horizontal direction, the workpiece that drops and falls has a horizontal speed, and as a result, it falls in an oblique direction rather than directly below. This corresponds to the vector C4 in FIG. Specifically, in the process of offsetting the component inclusion range by the combined vector C5 of the fall distances C3 and C4 (C6) and setting the range including the original component inclusion ranges C2 and C6 as the component dropout range C7, The vector C4 for obtaining the vector C5 is obtained by multiplying the end point velocity vector (speed information and movement direction information) by a coefficient.

  Further, the path calculation unit 124 may set the part dropout range based on the workpiece fall time information obtained from the end point position information.

  As a result, as information on the position where the part dropout range is obtained (for example, the position of the target relay point), for example, information on the time taken to obtain the height information from the floor or the like at that position and fall to the floor or the like is obtained. Can be obtained. As described above, the movement of the drop-off component is obtained as a combination of the effect of free fall and the effect of inertia. Then, the movement distance due to the influence of inertia can be obtained by multiplying the speed generated by the inertia by the movement time. Here, since the motion until it collides with the floor or the like is considered as a problem, the motion time to be obtained is nothing but the fall time required to fall to the floor or the like. The falling distance (the distance to the floor or the like) corresponds to the vector C3 in FIG. 17, and the speed obtained by multiplying the velocity by the inertia described above by the dropping time corresponds to C4. Specifically, in the process of offsetting the component inclusion range by the combined vector C5 of the fall distances C3 and C4 (C6) and setting the range including the original component inclusion ranges C2 and C6 as the component dropout range C7, The fall distance C3 is obtained from the depth information, and the coefficient applied to the end point velocity vector C4 is obtained as the fall time. As described above, the fall distance may not be the distance to the floor or the like but may be set to a shorter distance.

  Further, the path calculation unit 124 may set the part dropout range based on the work design information (part design information 1127 in FIG. 3).

  This makes it possible to set a part dropout range from the part design information 1127. The part dropout range corresponds to the range in which the dropped part falls and collides, so it is natural that the larger part becomes larger and the smaller part becomes smaller. Therefore, information such as part dimensions is acquired from the part design information 1127, and the acquired information is reflected in the part dropout range. Specifically, in the process of offsetting the component inclusion range C2 by the combined vector C5 of the fall distances C3 and C4 (C6) and setting the range including the original component inclusion ranges C2 and C6 as the component dropout range C7, The component inclusion range C2 is obtained from the component design information 1127 (C1). In addition, by using the idea of the component inclusion range, it is not necessary to make the fine shape of the component a problem, and the processing can be facilitated.

  The storage unit 110 stores design information (robot design information 1121) and installation information (robot installation information 1141) of the robot 30. Then, the route calculation unit 124 may calculate route information based on the design information and installation information of the robot 30.

  Thereby, it becomes possible to avoid the collision between the robot 30 itself and the peripheral device. In the present embodiment, the relationship between the drop-off component and the movable part of the peripheral device has been described. However, the movement path of the robot 30 cannot be calculated by itself, and the robot 30 itself must not collide with the peripheral device. There is. In this embodiment, since the robot design information 1121 and the robot installation information 1141 are stored, the dimensions of the robot 30 and the installation position in the work space can be known by using these information. The problem of whether the collision with the robot 30 is the whole peripheral device or the movable part of the peripheral device may be either. In the former case, an interference check may be performed between the peripheral device design information (conveyor design information 1123, etc.) and the installation information (conveyor installation information 1143, etc.) and the area of the peripheral device itself. May perform an interference check with an intrusion prohibited area or the like.

  The intrusion prohibition area setting unit 122 sets the intrusion prohibition area based on the information about the rotation axis of the rotation mechanism and the position information of the movable part when the movable part of the peripheral device is a movable part having a rotation mechanism. May be.

  As a result, information on the movable part having the rotation mechanism as shown in the belt conveyor 60 of FIG. 1 is set as a movable part vector (VB1 etc.) representing the rotation axis of the rotation mechanism, and the set movable part vector is set. Based on this, it is possible to set an intrusion prohibited area. As described above, the intrusion prohibition area is determined based on the design information and installation information of the peripheral device, and represents an example of a specific data format. For example, it is conceivable that the starting point of the movable part vector is the point exposed to the outside among the points on the rotation axis, and the radius of the rotating mechanism is expressed by the magnitude of the movable part vector. In this case, in the case of the cylinder in FIG. 5A, the center of the circle corresponding to the bottom surface and the top surface passes through the movable part vector or the extension line of the movable part vector, and the center of the bottom surface and the start point of the movable part vector coincide with each other. As an example, a method of setting the size of the upper surface so as to match the size of the movable part vector is given. The starting point of the rotation axis information (movable part vector) of the rotating mechanism is determined by installation information (conveyor installation information 1143, etc.) that is position information of the movable part, and a specific calculation formula is shown in FIG. It is as follows.

  The intrusion prohibition area setting unit 122 sets an intrusion prohibition area based on the translation direction information of the translation mechanism and the position information of the movable part when the movable part of the peripheral device is a movable part having a translation mechanism. May be.

  Thereby, information on the movable part having the translation mechanism as shown in the automatic stage 70 etc. in FIG. 1 is set as a movable part vector (VC1 etc.) representing the translation direction (translational movement direction) of the translation mechanism, It is possible to set the intrusion prohibited area based on the set movable part vector. As described above, the intrusion prohibition area is determined based on the design information and installation information of the peripheral device, and represents an example of a specific data format. For example, the starting point of the movable part vector may be the center of a translation mechanism (a rectangle having a spread in the translation direction and a direction orthogonal thereto), and the length in the translation direction may be expressed by the magnitude of the movable part vector. It is done. In that case, in the case of the rectangular parallelepiped in FIG. 5C, a method of setting the center of the bottom surface and the start point of the movable part vector to coincide with each other and the length in the translation direction to coincide with the magnitude of the movable part vector is given as an example. It is done. In that case, since the width and height of the rectangular parallelepiped cannot be set only from the movable part vector, it is conceivable to hold other information or use a predetermined value. The starting point of the translation direction information (movable part vector) of the translation mechanism is determined by installation information (automatic stage installation information 1145, etc.) that is position information of the movable part, and a specific calculation formula is shown in FIG. That's right. In this embodiment, it may be sufficient to set the movable part vector in only one direction (for example, only one of VC1 and VC2). However, there is a misunderstanding that the translation direction is only one direction. In order to prevent this, the movable part vector is drawn in both directions in which translational motion is possible.

  Further, the entry prohibition area setting unit 122 may set the entry prohibition area based on the installation position information of the cover member when the movable part of the peripheral device has the cover member.

  Thereby, as shown in FIG. 12, it becomes possible to narrow an intrusion prohibition area | region by using a cover member, and can expand the breadth of selection of the movement path | route of a robot. When the cover member is installed, a part of the intrusion prohibited area when the cover member is not installed is reduced. Various methods for setting the reduction area are conceivable. For example, as shown in FIG. 12, assuming a case where a falling part falls freely, the area directly above the installed cover member may be reduced, and the intrusion prohibited area may be set to RC2.

  The present embodiment also relates to a robot system including the above-described robot control system and a robot controlled by the robot control system.

  As a result, the robot control apparatus described above controls the robot 30 to realize a robot system that operates in cooperation.

  In the present embodiment, the processing unit 120 that performs processing related to robot control, the storage unit 110 that stores information related to robot control, and the robot control unit 170 that controls the robot 30 based on the processing result in the processing unit 120. As it relates to programs that make computers work. And the memory | storage part 110 memorize | stores the design information (for example, conveyor design information 1123 etc.) and installation information (for example, conveyor installation information 1143 etc.) of the peripheral device which has a movable part. The processing unit 120 includes an intrusion prohibited area setting unit 122 and a route calculation unit 124. The intrusion prohibition area setting unit 122 sets a work intrusion prohibition area in association with the movable part of the peripheral device based on the design information and installation information of the peripheral device. The route calculation unit calculates the route information of the end point of the arm 320 of the robot 30 based on the information of the intrusion prohibited area.

  As a result, it is possible to realize a program for performing processing for controlling the robot in software. The program is recorded in the information storage medium 180. Here, as the information storage medium 180, various recording media that can be read by the information processing apparatus 10, such as an optical disk such as a DVD or a CD, a magneto-optical disk, a hard disk (HDD), a memory such as a nonvolatile memory or a RAM, and the like. Can be assumed. For example, as shown in FIG. 2, a case where the program is stored in various recording media that can be read by an information processing apparatus such as a PC and executed by the processing unit 120 can be considered.

  Although the present embodiment has been described in detail as described above, it will be easily understood by those skilled in the art that many modifications can be made without departing from the novel matters and effects of the present invention. Accordingly, all such modifications are intended to be included in the scope of the present invention. For example, a term described at least once together with a different term having a broader meaning or the same meaning in the specification or the drawings can be replaced with the different term in any part of the specification or the drawings. Further, the configuration and operation of the robot control system, the robot system, and the like are not limited to those described in this embodiment, and various modifications can be made.

CV cover member, RB1-RB4 invasion prohibited area, RR1-RR6 intrusion prohibited area,
VB1-VB4 movable part vector (rotation), VC1-VC2 movable part vector (translation),
VR1-VR6 movable part vector (robot),
10 Information processing device, 20 Imaging device, 30 Robot, 60 Belt conveyor,
70 automatic stage, 110 storage unit, 112 design information, 114 installation information,
116 control information, 118 intrusion prohibited area information,
119 target position and orientation information, 120 processing unit, 122 intrusion prohibition region setting unit,
124 path calculation unit, 150 display unit, 160 external I / F unit,
170 robot controller, 180 information storage medium, 320 arm, 330 hand,
1121 Robot design information, 1123 Conveyor design information,
1125 automatic stage design information, 1127 parts design information,
1141 Robot installation information, 1143 Conveyor installation information,
1145 Automatic stage setting information, 1161 Robot state information,
1162 Robot path information, 1163 Conveyor status information,
1165 Automatic stage status information, 1167 Parts dropout range information,
1241 Part dropout range calculation unit

Claims (13)

A processing unit that performs processing related to the control of the robot;
A storage unit for storing information related to the control of the robot;
A robot control unit that controls the robot based on a processing result of the processing unit;
Including
The storage unit
It has a movable part, stores design information and installation information of peripheral devices arranged around the robot,
The processor is
Based on the design information and the installation information of the peripheral device, an intrusion prohibition region setting unit that sets an intrusion prohibition region of a work in association with the movable part of the peripheral device;
And a path calculation unit that calculates path information of an end point of the robot arm based on the set information on the intrusion prohibited area. In claim 1,
The route calculation unit
A robot control system, wherein a part dropout range of the workpiece is set, and the route information is calculated based on the set part dropout information and the entry prohibition area information. In claim 2,
The route calculation unit
The component dropout range is set at each relay point of a plurality of relay points set between the workpiece transfer start position and the target position, and interference check between the set component dropout range and the intrusion prohibited area is performed. A robot control system characterized in that the route information is calculated. In claim 3,
The route calculation unit
At least one component dropout range among the component dropout ranges set at each relay point included in the first route of the end point of the arm interferes with the intrusion prohibition region, and the end point of the end point of the arm The second path is selected as the movement path of the end point of the arm when all the part dropout ranges set in each relay point included in the second path do not interfere with the intrusion prohibited area. Characteristic robot control system. In any of claims 2 to 4,
The route calculation unit
The robot control system characterized in that the part dropout range is set based on speed information and movement direction information of the end point. In any of claims 2 to 5,
The route calculation unit
The robot control system characterized in that the part dropout range is set on the basis of the workpiece fall time information obtained from the position information of the end point. In any one of Claims 2 thru | or 6.
The storage unit
Storing design information of the workpiece;
The route calculation unit
The robot control system characterized in that the part dropout range is set based on the design information of the workpiece. In any one of Claims 1 thru | or 7,
The storage unit
Storing design information and installation information of the robot;
The route calculation unit
The robot control system characterized in that the route information is calculated based on the design information and the installation information of the robot. In any one of Claims 1 thru | or 8.
The intrusion prohibited area setting unit
When the movable part of the peripheral device is a movable part having a rotation mechanism, the intrusion prohibition region is set based on information on a rotation axis of the rotation mechanism and position information of the movable part. Robot control system. In any one of Claims 1 thru | or 9,
The intrusion prohibited area setting unit
When the movable part of the peripheral device is a movable part having a translation mechanism, the intrusion prohibited region is set based on information on a translation direction of the translation mechanism and position information on the movable part. Robot control system. In any one of Claims 1 thru | or 10.
The intrusion prohibited area setting unit
When the movable part of the peripheral device has a cover member, the intrusion prohibition area is set based on installation position information of the cover member. The robot control system according to any one of claims 1 to 11,
The robot controlled by the robot control system;
A robot system characterized by including: A processing unit that performs processing related to the control of the robot;
A storage unit for storing information related to the control of the robot;
As a robot controller that controls the robot based on the processing result of the processor,
Make the computer work,
The storage unit
It has a movable part, stores design information and installation information of peripheral devices arranged around the robot,
The processor is
Based on the design information and the installation information of the peripheral device, an intrusion prohibition region setting unit that sets an intrusion prohibition region of a work in association with the movable part of the peripheral device;
And a path calculation unit that calculates path information of an end point of the arm of the robot based on the set information on the intrusion prohibited area.

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