JP2015080842A - Instruction output device, robot, robot system, instruction output method, program, and layout sheet - Google Patents

Abstract

PROBLEM TO BE SOLVED: To easily create an actual layout of a work site (for example, a cell line) where a robot conducts work.SOLUTION: An instruction output device includes: a work content acquisition part which acquires a work content on which a robot is instructed based; a layout generation part which generates layout information showing a layout of a work region of the robot according to the acquired work content; and a layout output part which outputs the actual size layout on the basis of the generated layout information.

Description

  The present invention relates to a teaching output device, a robot, a robot system, a teaching output method, a program, and a layout sheet.

  In Patent Document 1, a three-dimensional model of a peripheral object (table, work, etc.) is laid out in advance in an offline system together with a three-dimensional model such as a robot, a teaching point of a robot is defined on a target part, and the information is used as a teaching operation panel. On the screen. Further, in Patent Document 1, a selection designation teaching point on a model image is moved to a position corresponding to the selection designation teaching point on a camera image, and the position is set as a position and orientation of a correction teaching point of the selection designation teaching point. .

JP 2004-265041 A

  By the way, as in Patent Document 1, in order to automatically correct the teaching points taught offline according to the actual layout, the actual layout needs to be somewhat similar to the planned layout. is there. Therefore, the user needs to work in advance to adjust the actual layout to some extent accurately.

  However, in practice, it is not easy to adjust the actual layout to match the layout taught offline. For example, deciding how to move the workpiece to achieve the layout displayed on the screen requires considerable skill.

  Therefore, an object of the present invention is to easily construct an actual layout of a site (for example, a cell line) where a robot performs work.

  A first aspect of the present invention for solving the above-described problem is a teaching output device, which is a work content acquisition unit that acquires work content to be taught to a robot, and according to the acquired work content A layout generation unit that generates layout information indicating a layout of a work area of the robot; and a layout output unit that outputs an actual layout based on the generated layout information. Thereby, since the actual layout of the work area of the robot is output, the user can easily construct an actual layout.

  The work content acquisition unit acquires a place where a work object included in the work content is arranged, the layout generation unit generates layout information including the location, and the layout output unit calculates the location. The actual layout shown may be output. Thereby, the layout of the place where the work object is arranged is specifically taught, so that the user can easily and accurately construct the actual layout.

  The work content acquisition unit acquires auxiliary information related to the work object or the location, the layout generation unit generates layout information including auxiliary information related to the work target or the location, and the layout output unit includes A layout indicating auxiliary information related to the work object or the location may be output in association with the location. Thereby, since auxiliary information is taught in addition to the layout of the place where the work object is arranged, the user can construct an actual layout more easily and accurately.

  The layout generation unit may determine the color of the location according to the color of the work object, and the layout output unit may cause the location to output a layout in which the color of the location is drawn. Good. As a result, the image processing for the work object placed on the layout and the recognition by the user are improved.

  The layout output unit may output a layout in which a predetermined mark used for checking the presence or position of the work object placed at the place is drawn at the place. Thereby, it is possible to simplify the image processing and the presence / position check of the work object by the user.

  In the teaching output device, an image acquisition unit that acquires a captured image including the work area, first layout image data generated based on the generated layout information, and the acquired captured image A layout check unit that checks a layout by collating with the second layout image data generated in this way. Thereby, it is possible to easily determine whether or not the layout has been correctly performed.

  The layout output unit may cause a printer to print a layout sheet laid on the work area. Thus, the layout is taught to the user simply by laying out the layout sheet without modifying the work table.

  The layout output unit may cause the projector to project a layout on the work area. As a result, various types of layouts can be quickly handled.

  The layout output unit may display a layout on a display incorporated in a work table having the work area. As a result, various types of layouts can be quickly handled.

  According to a second aspect of the present invention for solving the above problem, there is provided a robot, a work content acquisition unit for acquiring work content taught to the robot, and the acquired work content A layout generation unit that generates layout information indicating a layout of a work area of the robot; and a layout output unit that outputs an actual layout based on the generated layout information. Thereby, since the actual layout of the work area of the robot is output, the user can easily construct an actual layout.

  A third aspect of the present invention for solving the above problem is a robot system, a work content obtaining unit for obtaining work content taught to the robot, and the obtained work content. And a layout generation unit that generates layout information indicating a layout of the work area of the robot, a layout output unit that outputs an actual size layout based on the generated layout information, and the robot A work content output unit for outputting the work content. Thereby, since the actual layout of the work area of the robot is output, the user can easily construct an actual layout.

  According to a fourth aspect of the present invention for solving the above-described problem, there is provided a teaching output method, a work content obtaining step for obtaining work content to be taught to a robot, and depending on the obtained work content A layout generation step of generating layout information indicating a layout of the work area of the robot, and a layout output step of outputting an actual size layout based on the generated layout information. Thereby, since the actual layout of the work area of the robot is output, the user can easily construct an actual layout.

  A fifth aspect of the present invention for solving the above problem is a program, a work content acquisition unit for acquiring work content to be taught to a robot, and depending on the acquired work content, A computer is caused to function as a layout generation unit that generates layout information indicating a layout of a work area of a robot, and a layout output unit that outputs an actual size layout based on the generated layout information. Thereby, since the actual layout of the work area of the robot is output, the user can easily construct an actual layout.

  A sixth aspect of the present invention for solving the above-described problem is a layout sheet, where the work object included in the work content performed by the robot is arranged, and the work associated with the place And auxiliary information related to the object or the place. Thereby, since the layout of the work area of the robot is specifically taught, the user can easily and accurately construct the actual layout.

It is a figure which shows an example of schematic structure of the robot system which concerns on embodiment of this invention. It is a figure which shows an example of a layout sheet. It is a figure which shows an example of a function structure of a teaching output apparatus. It is a figure which shows an example of the data structure of a work program. It is a figure which shows an example of the data structure of object information. It is a figure which shows an example of the data structure of layout information. It is a figure which shows an example of the hardware constitutions which implement | achieve the function of a teaching output apparatus. It is a flowchart which shows an example of a layout production | generation process. It is a flowchart which shows an example of a layout check process.

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

  FIG. 1 is a diagram illustrating an example of a schematic configuration of a robot system according to an embodiment of the present invention. The robot system 1 includes a robot 2 and a teaching output device 4. The robot 2 includes a control device 3.

  The robot 2 is controlled by the control device 3 and performs a desired work. For example, the robot 2 is disposed in the vicinity of the work table T and performs work in a predetermined work area on a layout sheet 6 (detailed in FIG. 2) laid on the work table T. Although the work content of the robot 2 is not particularly limited, for example, a work of manufacturing the finished product H by fitting the work E into the work A using the tool C is conceivable.

  The robot 2 includes a body part 20, an arm 21, a hand 22, a leg part 24, a head part 25, and an imaging device 26.

  The arm 21 is provided on the trunk portion 20. The arm (also referred to as “manipulator”) 21 includes one or more joints (also referred to as “rotating shafts”) 21 a and one or more arm members (also referred to as “links”) 21 b.

  The joint 21a is provided with an actuator (not shown) for operating them. The actuator includes, for example, a servo motor and an encoder. The encoder value output by the encoder is used for feedback control of the robot 2 by the control device 3.

  A force sensor 21 c is provided at the tip of the arm 21. The force sensor is a sensor that detects a force and a moment received as a reaction force to the force generated by the robot 2. As the force sensor, for example, a six-axis force sensor that can simultaneously detect six components, ie, a force component in the translational three-axis direction and a moment component around the three rotation axes, can be used. The force sensor is not limited to six axes, and may be, for example, three axes.

  By linking each rotation axis, the position of interest (also referred to as “end point”) set at the tip of the arm 21 or the like is freely moved within a predetermined movable range or is directed in a free direction. be able to. Note that the position of the end point is not limited to the tip of the arm, and may be set to the tip of the end effector, for example.

  The arm 21 can be said to be a kind of manipulator. The manipulator is a mechanism that moves the position of the end point, and is not limited to an arm and can take various forms.

  The hand 22 is provided at the tip of the arm 21. The hand 22 includes, for example, a plurality of fingers, and can hold or release the work object with at least two fingers. The hand 22 may be detachable from the tip of the arm 21.

  The hand 22 can be said to be a kind of end effector. The end effector is a member for gripping, lifting, lifting, adsorbing, or processing a work object. The end effector can take various forms such as a hand, a hook, and a suction cup. Further, a plurality of end effectors may be provided for one arm.

  The configuration of the robot 2 is not limited to the illustrated example. For example, FIG. 1 shows an example in which the number of joints is six (six axes), but the number of joints (also referred to as “number of axes”) and the number of links may be increased or decreased. In addition, the shape, size, arrangement, structure, and the like of various members such as joints, links, and hands may be changed as appropriate.

  Two imaging devices 26 are provided on the head 25. The imaging device 26 has, for example, a CCD (Charge Coupled Device), a CMOS (Complementary Metal Oxide Semiconductor), and the like, and captures a work area on the work table T to generate stereo image data.

  The control device 3 controls the entire robot 2. For example, the control device 3 generates a control command for operating the robot 2 based on a work program output from the teaching output device 4, and operates the robot 2 by driving an actuator according to the generated control command. In addition, the control device 3 causes the imaging device 26 to perform imaging, and outputs the acquired captured image to the teaching output device 4.

  The teaching output device 4 generates a work program indicating work contents to be executed by the robot 2 in accordance with a user operation. The teaching output device 4 teaches the robot 2 by outputting the generated work program to the control device 3. In addition, the teaching output device 4 generates layout information that teaches a user an area where a work target such as a work or a tool is to be placed based on the generated work program. Further, the teaching output device 4 causes the printing device 5 to print the layout sheet 6 (detailed in FIG. 2) based on the generated layout information. The teaching output device 4 checks the actual layout on the layout sheet 6 by collating the image data output from the imaging device 26 of the robot 2 with the image data generated based on the layout information. . The teaching output device 4 will be described in detail later.

  The configuration of the robot system 1 described above is the main configuration in describing the features of the present embodiment, and is not limited to the above configuration example. Further, the configuration of a general robot system is not excluded.

  For example, the installation position of the imaging device 26 is not particularly limited, and may be provided at the distal end portion or the trunk portion of the arm 21 of the robot 2 or may be installed outside the robot 2 such as a ceiling or a wall. . Further, for example, in addition to the imaging device 26, another imaging device may be provided. For example, the control device 3 may be provided separately from the robot 2 and connected to the robot 2 from the outside. For example, the control device 3 and the teaching output device 4 may be integrated.

  Next, the layout sheet 6 will be described.

  In the present embodiment, the user creates the layout sheet 6 by the teaching output device 4 in advance of performing work area layout according to the work content of the robot 2. Further, the user lays the created layout sheet 6 on the work table T, and arranges work objects such as workpieces and tools according to the contents taught in the layout sheet 6, that is, performs work area layout.

  FIG. 2 is a diagram illustrating an example of a layout sheet. The layout sheet 6 is a rectangular sheet and is printed by the printing device 5 (see FIG. 1). The layout sheet 6 can be a sheet-like print medium made of a material such as paper or resin. The actual size of the layout sheet 6 is determined in advance in consideration of the size of the upper surface of the work table T, the size of the work area of the robot 2, and the like. Accordingly, the image data used for printing the layout sheet 6 corresponds to the actual size.

  On the layout sheet 6, an arrangement frame 61, an auxiliary information frame 62, an existence check mark 63, a positioning mark 64, and a collation mark 65 are drawn.

  The arrangement frame 61 indicates an area where work objects such as works, tools, and finished products related to work should be placed. In the example of FIG. 2, the arrangement frame 61 a indicates an area where the work A is placed, the arrangement frame 61 b indicates an area where the work E is placed, the arrangement frame 61 c indicates an area where the tool C is placed, and the arrangement frame 61 d is The area where the finished product H is placed is shown.

  The color in the arrangement frame 61 (also referred to as “background color”) is determined according to the color of the work object to be placed. For example, when the color of the object is a dark color, the color of the arrangement frame 61 can be a bright color. In the example of FIG. 2, the arrangement frame 61b has a dark color.

  The auxiliary information frame 62 is arranged in association with the arrangement frame 61. In the example of FIG. 2, auxiliary information frames 62a to 62d are associated with the arrangement frames 61a to 61d by lines. In the auxiliary information frame 62, auxiliary information related to the associated arrangement frame 61 is shown.

  The auxiliary information is, for example, the name of the arrangement frame 61, an explanatory note, and the like. The name, description, etc. of the work object placed in the arrangement frame 61 may be shown. The auxiliary information may include a figure. In the auxiliary information frame 62a, the name “location B” of the arrangement frame 61a and the description thereof are described. In the auxiliary information frame 62b, the name “place F” of the arrangement frame 61b and its description are described. In the auxiliary information frame 62c, the name “tool C” of the arrangement frame 61c and its description (including drawings) are described. In the auxiliary information frame 62d, the name “location I” of the arrangement frame 61d and its description are described.

  The existence check mark 63 is shown in the arrangement frame 61. As will be described later, whether or not the work object is placed in the arrangement frame 61 can be determined based on whether or not the existence check mark 63 can be recognized in the image data captured by the imaging device 26. Further, the user can also confirm whether or not the work object is placed in the arrangement frame 61 based on whether or not the presence check mark 63 can be visually recognized. In the example of FIG. 2, the existence check mark 63 is shown in the arrangement frame 61c, but it may be shown in another arrangement frame.

  The positioning mark 64 is shown in the arrangement frame 61. As will be described later, whether or not the work object is placed at the correct position can be determined based on whether or not the positioning mark 64 can be recognized in the image data captured by the imaging device 26. Further, the user can also confirm whether or not the work object is correctly placed in the arrangement frame 61 based on whether or not the positioning mark 64 is visible. In the example of FIG. 2, the positioning mark 64 is shown in the arrangement frame 61c. However, it may be shown in another arrangement frame.

  The verification marks 65 are shown in the vicinity of the four corners of the layout sheet 6. As will be described later, image processing is performed so that the matching mark 65 in the layout sheet 6 included in the captured image matches the matching mark 65 in the image data of the layout sheet 6 generated based on the layout information. The actual layout is checked.

  Of course, the layout sheet shown in FIG. 2 is merely an example, and other configurations may be used as long as the efficiency and accuracy of layout work are improved. For example, the shape of the frame, the size of the frame, the position of the mark, the shape of the mark, etc. are not limited. Further, the shape of the layout sheet itself is not limited to a rectangular shape. Further, for example, the arrangement frame is not limited to the frame format as long as it can indicate the position and range of the region where the work object is to be placed. Further, for example, the auxiliary information frame is not limited to the frame format as long as it can indicate which arrangement frame the auxiliary information is associated with.

  Next, the functional configuration of the teaching output device 4 relating to the layout sheet will be described.

  FIG. 3 is a diagram illustrating an example of a functional configuration of the teaching output device. The teaching output device 4 includes a work program generation unit (may be referred to as a “work content acquisition unit” or “work content output unit”) 40, a layout generation unit 41, a layout output unit 42, and an image acquisition unit 43. A layout check unit 44, a work program storage unit 45, an object information storage unit 46, and a layout information storage unit 47.

  The work program generation unit 40 receives input of work contents from the user via an input device or the like.

  In the present embodiment, the work content (also referred to as “user command”) input by the user includes a target work of the robot and parameters necessary for the work. Further, the user command can be in a rough format such as “move XO from XS to XE”. “Move XO from XS to XE” means that the object XO is moved from the location XS to the location XE. Here, the object XO, the place XS, and the place XE displayed in capital letters are parameters that can be changed, and the user can set any value as a parameter according to the target work. In the object XO, for example, data specifying the name, shape, etc. of the object is set. In the place XS and the place XE, for example, data specifying the name, position, range, etc. of the place is set. A plurality of user instructions may be input, or the execution order of each user instruction may be specified.

  In the present embodiment, a plurality of user instruction libraries are prepared in advance. Therefore, the user can easily create a user command by selecting one or more user commands from the library according to the work content of the robot and setting parameters for each selected user command.

  Further, the work program generation unit 40 generates an operation command group (also referred to as “scenario”) that realizes the user command based on the input user command.

  In the present embodiment, the scenario is composed of one or more operation commands that can be interpreted by the control device 3. A scenario is composed of robot motion units necessary to realize a user command. Of course, a plurality of scenarios may be generated for one user command.

  For example, when the user instruction is “move XO from XS to XE”, the scenario includes the operation instruction “move to XS”, “grasp XO”, the operation instruction “move from XS to XE”, and the operation instruction “release XO”. Is generated. The operation command “move to XS” means that the position of the end point is moved to the location XS. The operation command “grasp XO” means that the object XO is gripped by the hand. The operation command “move from XS to XE” means that the position of the end point is moved from the location XS to the location XE. The operation command “release XO” means to release the object XO gripped by the hand. Parameters included in each operation command are set by a user command.

  In this embodiment, a plurality of scenario libraries are prepared in advance. Scenario libraries corresponding to user commands are prepared in advance, each of which is composed of one or more operation commands. Accordingly, the work program generation unit 40 selects a scenario library corresponding to the user command, and easily sets a scenario interpretable by the control device 3 by setting a parameter of the operation command included in the selected library. Can be generated.

  The work program generation unit 40 associates the input user command (work content) with the scenario (operation command) generated based on the user command, and stores it in the work program storage unit 45. In this way, a work program is generated.

  FIG. 4 is a diagram illustrating an example of the data structure of the work program. As shown in FIG. 4, for each work content, the work program includes a process number 451 indicating the execution order of the work content, a work content 452 indicating the work content, and an operation command corresponding to the work content. A work record associated with an operation command 453 indicating the above is stored. In the work content 452, the value of each parameter included in the user command is set together with information specifying the user command. In the operation instruction 453, the value of each parameter included in the operation instruction is set together with information specifying the operation instruction.

  Returning to the description of FIG. Further, the work program generation unit 40 outputs the generated scenario to the control device 3. For example, the work program generation unit 40 refers to the work program stored in the work program storage unit 45, reads out the operation commands 453 in the order of the process numbers indicated by the process numbers 451, and outputs them to the control device 3. The work program generation unit 40 may further convert the generated scenario into a control command that can be interpreted by the control device 3 and then output it to the control device 3.

  The control device 3 receives the scenario from the teaching output device 4 and stores it in a storage device or the like. Further, the control device 3 generates a control command based on the stored scenario, and controls the operation of the arm and the hand. For the control such as the movement of the arm, for example, position control for moving the end point from the specified start position to the end position can be used. The control device 3 may acquire the current state of the robot 2 (for example, the angle of the joint, the position of the hand, the output value of a sensor such as a force sensor). In addition, the control device 3 controls the imaging device 26 to perform imaging, and based on the captured image, the current state of the environment around the robot 2 (for example, the position and posture of the object, the position and range of the obstacle, etc.) ) May be specified. Since the process of controlling the robot based on the taught work program can be realized using a general technique, a detailed description is omitted. Not limited to position control, visual servo control for operating the robot based on the current image and the target image, and force control such as impedance control may be used.

  In addition, the work program generation unit 40 receives object information from the user via an input device or the like, and stores it in the object information storage unit 46. The object information is used to generate layout information that defines the configuration of the layout sheet 6. Information relating to each object is set in the object information. The object is, for example, an element such as a work object or a place specified as a parameter of a user command.

  FIG. 5 is a diagram illustrating an example of the data structure of the object information. As shown in FIG. 5, the object information stores an object record in which an object name 461 of the object and an attribute 462 of the object are associated with each object.

  The object name 461 is, for example, the name of the work object specified by the parameters (“part A”, “part E”, “finished product H”, “tool C”, “tool C. operation unit G”), The name of the place specified by the parameter (“tool C. place D”, “place B”, “place F”, “place I”). “Tool C. Operation unit G” means “Operation unit G of tool C” when the tool C itself has the operation unit G. “Tool C. place D” means “place D on tool C” when tool C itself has a place D on which an object is placed.

  The attribute 462 is information about the object. For example, the description about the object, the color of the object, the method of holding the object, the size of the object, the grip information indicating the grip position when the robot grips the object, etc. This includes items such as explanation images and settings to be made for objects. Further, the attribute 462 includes an item indicating a position of the area where the object is arranged and a hint regarding the size of the area (also referred to as “placement hint”).

  The user can arbitrarily set the attribute 462 of each object included in the object information. The user knows the contents of the work program of the robot, and may set object information in order to create a layout sheet that teaches a layout according to the contents of the work program.

  Returning to the description of FIG. The layout generation unit 41 indicates the arrangement of work objects included in the work program based on the work program stored in the work program storage unit 45 and the object information stored in the object information storage unit 46. Layout information is generated and stored in the layout information storage unit 47. This layout generation process will be described in detail later.

  FIG. 6 is a diagram illustrating an example of a data structure of layout information. The layout information is generated and stored for each work program. As shown in FIG. 6, the layout information includes, for each area (corresponding to the arrangement frame 61 in FIG. 2), an area ID 471 that is identification information of the area, a name 472 of the area, and the area. An area record in which a definition 473 indicating the position, size, color, presence / absence of a mark (existence check mark 63, positioning mark 64) on the layout sheet 6 and related information 474 indicating an explanation of the area is associated Stored.

  Returning to the description of FIG. The layout output unit 42 generates image data corresponding to the actual size of the layout sheet 6 based on the layout information stored in the layout information storage unit 47 and causes the printing apparatus 5 to output the image data. Thereby, the layout sheet 6 is printed. The processing for generating the image data of the layout sheet 6 will be described in detail later.

  The image acquisition unit 43 issues an instruction to the control device 3, causes the imaging device 26 to capture a work area in a state where the layout is actually performed using the layout sheet 6, and acquires a captured image.

  The layout check unit 44 collates the actual layout included in the captured image acquired by the image acquisition unit 43 with the layout model generated based on the layout information stored in the layout information storage unit 47, Check if the layout of is correct. The layout check process will be described in detail later.

  The work program storage unit 45 stores a work program. The object information storage unit 46 stores object information. The layout information storage unit 47 stores layout information.

  FIG. 7 is a diagram illustrating an example of a hardware configuration for realizing the function of the teaching output device.

  The teaching output device 4 includes, for example, a calculation device 91 such as a CPU (Central Processing Unit), a main storage device 92 such as a RAM (Random Access Memory), and a HDD (Hard Disk Drive) as shown in FIG. An auxiliary storage device 93, a communication interface (I / F) 94 for connecting to a communication network by wire or wireless, an input device 95 such as a mouse, keyboard, touch sensor, and touch panel, and a display device 96 such as a liquid crystal display It can be realized by a computer 90 including a read / write device 97 that reads and writes information from and on a portable storage medium such as a DVD (Digital Versatile Disk).

  For example, the functions such as the work program generation unit 40, the layout generation unit 41, the layout output unit 42, the image acquisition unit 43, and the layout check unit 44 can execute predetermined programs loaded from the auxiliary storage device 93 or the like into the main storage device 92. This is realized by the execution of the arithmetic unit 91. Functions such as the work program storage unit 45, the object information storage unit 46, and the layout information storage unit 47 are realized by the arithmetic device 91 using the main storage device 92 or the auxiliary storage device 93, for example. The communication function with the robot 2 and the printing device 5 is realized by the arithmetic device 91 using the communication I / F 94, for example. The predetermined program may be installed from, for example, a storage medium read by the read / write device 97 or may be installed from the network via the communication I / F 94.

  The control device 3 can be realized by, for example, a controller board including an arithmetic device, a storage device, various circuits, and the like.

  The functional configuration of the teaching output device 4 described above is classified according to main processing contents in order to make the configuration of the teaching output device 4 easy to understand. The present invention is not limited by the way of classification and names of the constituent elements. The configuration of the teaching output device 4 can be classified into more components depending on the processing content. Moreover, it can also classify | categorize so that one component may perform more processes. Further, the processing of each component may be executed by one hardware or may be executed by a plurality of hardware.

  Further, the functions and processing sharing of the teaching output device 4 and the control device 3 are not limited to the example described. For example, at least a part of the functions of the teaching output device 4 may be included in the control device 3 and realized by the control device 3. Further, for example, at least a part of the functions of the control device 3 may be included in the teaching output device 4 and realized by the teaching output device 4.

  Next, the operation realized by the teaching output device 4 will be described.

  FIG. 8 is a flowchart illustrating an example of the layout generation process. The work program and the object information are stored in the work program storage unit 45 and the object information storage unit 46, respectively.

  First, the layout generation unit 41 refers to the work program storage unit 45 and acquires one work content (step S10). In step S <b> 10, the layout generation unit 41 acquires the work content 452 associated with the process having the smallest process number 451 among the unacquired work contents 452.

  Then, the layout generation unit 41 determines whether or not a location related to the component is referenced in the work content acquired in step S10 (step S20). For example, when the work content is “move [part A] from [place B] to [tool C. place D]”, it can be determined that the place B related to the part A is referenced.

  When the location related to the component is referred to (Y in step S20), the layout generation unit 41 refers to the object information storage unit 46 and acquires information related to the component and information related to the location of the component (step S30). . For example, the layout generation unit 41 acquires the corresponding attribute 462 from the object information storage unit 46 using the name of the place specified in S20 as a key. For example, the layout generation unit 41 acquires the corresponding attribute 462 from the object information storage unit 46 using the name of the component specified in step S20 as a key.

  Then, the layout generation unit 41 generates area information regarding the location of the component (step S40). For example, the layout generation unit 41 adds one area record to the layout information storage unit 47. The layout generation unit 41 sets identification information for uniquely identifying an area in the area ID 471. In addition, the layout generation unit 41 sets the name of the place specified in step S20 as the name 472.

  In addition, the layout generation unit 41 sets the placement hint included in the location attribute 462 acquired in step S <b> 30 in the definition 473. In addition, the layout generation unit 41 determines the color of the region based on the color of the component included in the component attribute 462 acquired in step S <b> 30 and sets it in the definition 473. The correspondence between the color of the component and the color of the area may be defined in advance and stored in a storage device or the like. The color of the region may be a color that is easy to recognize by distinguishing components from the background in image processing, for example. It is good also as a color which a user distinguishes components from a background and is easy to recognize.

  In addition, the layout generation unit 41 sets the explanatory text included in the location attribute 462 acquired in step S30 in the related information 474. The layout generation unit 41 may set the description information, the description image, and other information included in the acquired component attribute 462 in the related information 474.

  When the location regarding the part is not referred to (N in Step S20), or after Step S40, the layout generation unit 41 determines whether or not the tool is referred to in the work content acquired in Step S10 ( Step S50). For example, when the work content is “move [part A] from [place B] to [tool C. place D]”, it can be determined that the tool C is referenced.

  When the tool is referred to (Y in step S50), the layout generation unit 41 refers to the object information storage unit 46 and acquires information regarding the tool (step S60). For example, the layout generation unit 41 acquires the corresponding attribute 462 from the object information storage unit 46 using the name of the tool specified in step S50 as a key.

  Then, the layout generation unit 41 generates area information about the tool (step S70). For example, the layout generation unit 41 adds one area record to the layout information storage unit 47. The layout generation unit 41 sets identification information for uniquely identifying an area in the area ID 471. In addition, the layout generation unit 41 sets the name of the tool identified in step S50 as the name 472.

  In addition, the layout generation unit 41 sets the placement hint included in the tool attribute 462 acquired in step S 60 in the definition 473. In addition, the layout generation unit 41 determines the color of the region based on the color of the component included in the tool attribute 462 acquired in step S60 and sets the region color in the definition 473. The correspondence between the tool color and the area color may be defined in advance and stored in a storage device or the like. The color of the region may be a color that is easy to recognize by distinguishing the tool from the background by image processing, for example. It is good also as a color which a user distinguishes a tool from a background and is easy to recognize.

  Further, the layout generation unit 41 sets the explanatory text included in the tool attribute 462 acquired in step S60 in the related information 474. The layout generation unit 41 may set an explanation image included in the tool attribute 462 and other information in the related information 474. In addition, the layout generation unit 41 may specify a place (such as a place on the tool) related to the tool acquired in step S60 and set an explanatory text included in the attribute 462 of the place in the related information 474.

  When the tool is not referred to (N in step S50), or after step S70, the layout generation unit 41 determines whether or not a location not related to the part or tool is referenced in the work content acquired in step S10. Is determined (step S80). For example, when the work content is “Move [finished product H] from [tool C. place D] to [place I]”, it can be determined that a place I that is not related to parts or tools is referenced.

  When a location not related to a part or tool is referred to (Y in step S80), the layout generation unit 41 refers to the object information storage unit 46 and acquires information regarding the location (step S90). For example, the layout generation unit 41 acquires the corresponding attribute 462 from the object information storage unit 46 using the name of the place specified in step S80 as a key.

  Then, the layout generation unit 41 generates area information regarding a place that is not related to a part or tool (step S100). For example, the layout generation unit 41 adds one area record to the layout information storage unit 47. The layout generation unit 41 sets identification information for uniquely identifying an area in the area ID 471. In addition, the layout generation unit 41 sets the name of the place identified in step S80 as the name 472.

  In addition, the layout generation unit 41 sets the placement hint included in the location attribute 462 acquired in step S <b> 90 in the definition 473. In addition, the layout generation unit 41 sets the explanatory text included in the location attribute 462 acquired in step S90 in the related information 474.

  When a location not related to a part or tool is not referred to (N in step S80), or after step S100, the layout generation unit 41 refers to the work program storage unit 45 and determines whether there is a next process. Is determined (step S110). In step S110, the layout generation unit 41 determines whether there is unacquired work content 452. If there is work content for the next process, the layout generation unit 41 returns the process to step S10.

  When there is no work content of the next process (N in step S110), the layout generation unit 41 synthesizes layout information (step S120). Here, an area record is added to the layout information storage unit 47 in step S40, S70, or S100 for each work content of each process. Therefore, a plurality of area records having the same contents may be included. Therefore, the layout generation unit 41 collects a plurality of area records having the same name 472 among the area records included in the layout information into one area record.

  In addition, the layout generation unit 41 arranges the corresponding arrangement frame 61 in the area of the image of the predetermined layout sheet 6 according to the position and size of the area indicated by the arrangement hint included in the definition 473 of each area record. Then, the layout generation unit 41 determines whether the arrangement frames 61 do not overlap each other. When the arrangement frames 61 overlap, the layout generation unit 41 eliminates the duplication by moving the position of any one of the arrangement frames 61 or the plurality of arrangement frames 61. After adjusting the position of each arrangement frame 61 in this way, the layout generation unit 41 updates the definition 473 of the arrangement frame 61 whose position is changed.

  Then, the layout output unit 42 outputs the layout (step S130). For example, the layout output unit 42 acquires the layout information synthesized in step S120 from the layout information storage unit 47. Further, the layout output unit 42 draws an image of a predetermined layout sheet 6 and draws a frame and a mark in the layout sheet based on each area record.

  That is, the layout output unit 42 draws the arrangement frame 61 based on the position and size of the area indicated by the definition 473. In addition, the color in the arrangement frame 61 is drawn based on the color indicated by the definition 473. If the definition 473 instructs to draw the existence check mark 63, the existence check mark 63 is drawn in the arrangement frame 61. When the definition 473 instructs to draw the positioning mark 64, the positioning mark 64 is drawn in the arrangement frame 61.

  Further, the layout output unit 42 draws the auxiliary information frame 62 in association with each arrangement frame 61 so as not to overlap with each arrangement frame 61. Further, the name of the arrangement frame is drawn in the auxiliary information frame 62 based on the name 472. In addition, based on the related information 474, an explanatory note, an explanatory image, and the like are drawn in the auxiliary information frame 62.

  Further, the layout output unit 42 draws a matching mark 65 at a predetermined position of the image on the layout sheet 6.

  The layout output unit 42 outputs the image data of the layout sheet 6 generated as described above to the printing apparatus 5 and causes it to be printed. And the process of the flowchart shown in FIG. 8 is complete | finished.

  The layout generation unit 41 may generate image data of the layout sheet 6 including the arrangement frame 61 and the auxiliary information frame 62 based on the area record and display the image data on the display device 96. In addition, the layout generation unit 41 may receive editing from the user via the input device 95 such as the definition of each frame and the content of related information, and update the layout information.

  As described above, layout information corresponding to the work content is generated, and a layout sheet 6 as shown in FIG. 2 is printed. The user can lay out the printed layout sheet 6 on the work table T and easily and accurately lay out the object while referring to the description of the layout sheet 6.

  FIG. 9 is a flowchart showing an example of the layout check process. The flowchart of FIG. 9 is started in accordance with a user instruction, for example, in a state where the layout sheet 6 is laid on the work table T and the layout is actually performed. At this time, the teaching output device 4 may receive information for identifying the layout sheet 6 (layout information) to be checked from the user via the input device or the like.

  First, the layout check unit 44 acquires layout information corresponding to the layout sheet 6 designated by the user from the layout information storage unit 47 (step S210).

  Then, the layout check unit 44 generates a layout model (step S220). For example, the layout check unit 44 generates a three-dimensional model of a layout sheet including an arrangement frame and an auxiliary information frame based on the layout information acquired in step S210. Note that the layout sheet may be represented as a two-dimensional plane having no height. In addition, the layout check unit 44 synthesizes a three-dimensional model of a work target such as a part or tool stored in advance in a storage device or the like with the generated three-dimensional model to generate image data of the three-dimensional layout model. Since the related information 474 of the layout information includes information on the parts and tools placed in the placement frame, the three-dimensional CAD model of the parts and tools can be synthesized in the corresponding placement frame. In addition, since a general image processing technique can be used for the process which produces | generates a three-dimensional model, detailed description is abbreviate | omitted.

  Then, the image acquisition unit 43 issues an instruction to the control device 3, causes the imaging device 26 to capture the environment (including the work area) of the robot 2, and acquires a stereo image (step S230).

  Then, the layout check unit 44 generates three-dimensional (having a depth direction) image data based on the stereo image acquired in step S240 (step S240). Since a general technique can be used for the process of generating the three-dimensional image data from the stereo image, description thereof is omitted.

  Then, the layout check unit 44 applies the image data (first layout image data) of the 3D layout model generated in step S220 to the 3D image data (second layout image data) generated in step S240. Alignment is performed (step S250). For example, the layout check unit 44 makes the positions of the four-dimensional matching marks 65 of the layout sheet 6 included in the image data of the three-dimensional layout model coincide with the positions of the matching marks 65 recognized from the three-dimensional image data. Perform translation, rotation, enlargement, reduction, etc. of the 3D layout model. It can be said that this process specifies the position and orientation of the layout sheet 6 in the three-dimensional image. Thereby, the position and orientation of the arrangement frame and the like described in the layout sheet 6 are also specified.

  The layout check unit 44 may display on the display device 96 at least one of the image data and the 3D image data of the 3D layout model that has been aligned as described above.

  Then, the layout check unit 44 collates the 3D layout model with the 3D image (step S260). It can be said that this process collates the layout in the three-dimensional layout model with the layout in the three-dimensional image.

  Then, the layout check unit 44 determines, for each arrangement frame on the layout sheet 6, whether or not an object recognized from the three-dimensional image is within the reference range from the arrangement frame (step S270). For example, when an object protrudes beyond a predetermined distance from the arrangement frame, it is determined that the object is not within the reference range. If the object is not within the reference range in any one of the arrangement frames, the process proceeds to step S290.

  When the position of the object is within the reference range in all the arrangement frames (Y in step S270), the layout check unit 44 determines whether the tool is correctly arranged (step S280). For example, the layout check unit 44 determines whether or not the existence check mark 63 can be recognized in the arrangement frame in which the tool on the three-dimensional image is to be placed. If the existence check mark 63 can be recognized, it is determined that no tool is arranged. For example, when the existence check mark 63 can be recognized, the layout check unit 44 determines whether or not the positioning mark 64 can be recognized within the arrangement frame in which the tool on the three-dimensional image is to be placed. If the positioning mark 64 can be recognized, it is determined that the tool is not placed at the correct position. In any one of the arrangement frames, if the tool is not arranged or the tool is not arranged correctly, the layout check unit 44 advances the process to step S290.

  If the object is not within the reference range from the placement frame (N in step S270) or the tool is not placed correctly (N in step S280), the layout check unit 44 notifies the user to that effect. (Step S290), the process of the flowchart shown in FIG. For example, the layout check unit 44 displays on the display device or the like that the object is not within the reference range from the arrangement frame or that the tool is not arranged correctly. Information indicating an arrangement frame in which the object is not within the reference range may be displayed. Information indicating an arrangement frame in which no tool is arranged may be displayed. Information indicating an arrangement frame in which tools are not correctly arranged may be displayed. In addition, information indicating the problematic arrangement frame may be displayed together with the three-dimensional layout model or the three-dimensional image.

  If the tools are correctly arranged (Y in step S280), the layout check unit 44 identifies an obstacle (S300), and ends the process of the flowchart shown in FIG. For example, the layout check unit 44 determines whether or not an object can be recognized outside the range of each arrangement frame on the three-dimensional image. If the object can be recognized, the object is determined as an obstacle and recorded. For example, the layout check unit 44 sends information on the obstacle to the control device 3. For example, when the position control is performed according to the scenario, the control device 3 corrects the path along which the endpoint moves to a path that avoids the obstacle.

  As described above, it is checked whether the actual layout is correct. In addition, since the actual layout check result is displayed, the user can easily grasp whether or not the layout has been correctly performed and can correct the layout. After correcting the layout, the user can cause the teaching output device 4 to execute the layout check process shown in FIG. 9 again.

  Each processing unit in the flowchart described above is divided according to the main processing contents in order to facilitate understanding of the processing of the teaching output device 4. The present invention is not limited by the way of dividing the processing unit or the name. The processing of the teaching output device 4 can be divided into more processing units according to the processing contents. Moreover, it can also divide | segment so that one process unit may contain many processes.

  The embodiment of the present invention has been described above. According to the present embodiment, an actual layout of a site (for example, a cell line) where the robot performs work can be easily constructed.

  In the above embodiment, the layout sheet 6 is printed, but the output mode of the layout sheet 6 is not limited to this. For example, the layout output unit 42 may output the image data of the layout sheet 6 to the projector so that the actual layout sheet 6 is projected onto the work table T (the work table T serves as a screen). Further, for example, a display device may be incorporated in the work table T so that the display area overlaps the upper surface of the work table T, and the actual layout sheet 6 may be displayed. Even if the output mode is changed as described above, the user can easily and accurately lay out the object.

  In the above embodiment, the teaching output device 4 has the image acquisition unit 43 and the layout check unit 44. However, the image acquisition unit 43 and the layout check unit 44 may be omitted. That is, the teaching output device 4 may have a function of outputting a layout by the layout output unit 42, and the output layout may be checked visually by the user.

  As mentioned above, although this invention was demonstrated using embodiment, the technical scope of this invention is not limited to the range as described in the said embodiment. It will be apparent to those skilled in the art that various modifications or improvements can be made to the above embodiment. In addition, it is apparent from the scope of the claims that the embodiments added with such changes or improvements can be included in the technical scope of the present invention. Various aspects of the provided aspects of the invention can also be employed. The present invention may be provided, for example, as a robot system having a robot, a control device, and a teaching output device separately, or as a robot or control device in which the function of the teaching output device is included in the robot or the control device. May be provided. The present invention can also be provided as a method for outputting a teaching, a program for a device for outputting a teaching, a storage medium storing the program, and a layout sheet.

1: Robot system 2: Robot 3: Control device 4: Teaching output device 5: Printing device 6: Layout sheet 20: Body 21: Arm 21a: Joint 21b: Arm member 21c: Force sensor 22: Hand 24: Leg 25: head 26: imaging device 40: work program generation unit 41: layout generation unit 42: layout output unit 43: image acquisition unit 44: layout check unit 45: work program storage unit 46: object information storage unit 47: layout information Storage unit 61 (61a, 61b, 61c, 61d): Arrangement frame 62 (62a, 62b, 62c, 62d): Auxiliary information frame 63: Presence check mark 64: Positioning mark 65: Collation mark 90: Computer 91: Computing device 92 : Main storage device 93: Auxiliary storage device 94: Communication I / F
95: Input device 96: Display device 97: Read / write device 451: Process number 452: Work content 453: Operation command 461: Object name 462: Attribute 471: Area ID
472: Name 473: Definition 474: Related information

Claims (14)

A work content acquisition unit for acquiring the work content taught to the robot;
A layout generation unit that generates layout information indicating a layout of a work area of the robot according to the acquired work content;
A layout output unit for outputting an actual layout based on the generated layout information;
A teaching output device comprising: The teaching output device according to claim 1,
The work content acquisition unit acquires a place where a work object included in the work content is arranged,
The layout generation unit generates layout information including the location,
The layout output unit outputs an actual layout indicating the location,
A teaching output device. The teaching output device according to claim 2,
The work content acquisition unit acquires auxiliary information related to the work object or the place,
The layout generation unit generates layout information including auxiliary information related to the work object or the place,
The layout output unit outputs a layout indicating auxiliary information related to the work object or the location in association with the location;
A teaching output device. The teaching output device according to claim 2 or 3,
The layout generation unit determines the color of the place according to the color of the work object,
The layout output unit causes the place to output a layout in which the color of the place is drawn;
A teaching output device. The teaching output device according to claim 2 or 3,
The layout output unit causes the place to output a layout in which a predetermined mark used for checking the presence or position of the work object placed at the place is drawn.
A teaching output device. The teaching output device according to any one of claims 1 to 5,
An image acquisition unit for acquiring a captured image including the work area;
Layout check for checking layout by collating first layout image data generated based on the generated layout information and second layout image data generated based on the acquired captured image And
A teaching output device comprising: The teaching output device according to any one of claims 1 to 6,
The layout output unit causes a printer to print a layout sheet laid on the work area;
A teaching output device. The teaching output device according to any one of claims 1 to 6,
The layout output unit causes a projector to project a layout onto the work area;
A teaching output device. The teaching output device according to any one of claims 1 to 6,
The layout output unit displays the layout on a display built in a work table with the work area;
A teaching output device. A robot,
A work content acquisition unit for acquiring the work content taught to the robot;
A layout generation unit that generates layout information indicating a layout of a work area of the robot according to the acquired work content;
A layout output unit for outputting an actual layout based on the generated layout information;
A robot characterized by comprising: With robots,
A work content obtaining unit for obtaining work content taught to the robot;
A layout generation unit that generates layout information indicating a layout of a work area of the robot according to the acquired work content;
A layout output unit for outputting an actual layout based on the generated layout information;
A work content output unit for outputting the work content to the robot;
A robot system characterized by comprising: A work content acquisition step for acquiring the work content taught to the robot;
A layout generation step for generating layout information indicating a layout of a work area of the robot according to the acquired work content;
A layout output step for outputting an actual layout based on the generated layout information;
A teaching output method comprising: A work content acquisition unit for acquiring the work content taught to the robot;
A layout generation unit that generates layout information indicating a layout of a work area of the robot according to the acquired work content;
Based on the generated layout information, as a layout output unit for outputting an actual layout,
A program characterized by operating a computer. A place where work objects included in the work performed by the robot are placed;
Auxiliary information related to the work object or the location, associated with the location;
A layout sheet characterized by showing.

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