JP2022124766A - Display device - Google Patents

Abstract

To provide a display device from which a user can readily grasp movement trajectories and a speed of a robot.SOLUTION: A display device includes a display part 10 to which a control unit inputs information relating to a position and a speed of each part of a robot R and which can display movement trajectories of a first part of the robot. The movement trajectory 50 has a visual feature indicating speed information when the first part moves.SELECTED DRAWING: Figure 3

Description

The present invention relates to display devices.

For example, Patent Literature 1 describes a motion trajectory display device that displays a motion trajectory of a robot.

Japanese Patent No. 5445191

By using the motion trajectory display device as described above, the user can grasp how the robot moves. However, simply displaying the motion trajectory as described above does not allow the user to grasp at what speed the robot is moving.

SUMMARY OF THE INVENTION It is therefore an object of the present invention to provide a display device that allows a user to easily grasp the movement trajectory and speed of a robot.

One aspect of the display device of the present invention includes a display section capable of displaying the movement trajectory of the first part of the robot. The movement trajectory has visual features indicating speed information when the first portion moves.

According to one aspect of the present invention, the movement trajectory and speed of the robot can be easily grasped by the display device.

FIG. 1 is a perspective view showing the display device of the first embodiment. FIG. 2 is a block diagram showing the configuration of the display device according to the first embodiment. FIG. 3 is a diagram showing an example of a movement trajectory and an example of an arrow indicating a velocity vector according to the first embodiment. FIG. 4 is a diagram showing another example of the movement trajectory, another example of the arrow indicating the velocity vector, and one example of the stop display mark according to the first embodiment. FIG. 5 is a diagram showing an example of a corrected movement trajectory. FIG. 6 is a perspective view showing the display device of the second embodiment.

<First Embodiment>
As shown in FIG. 1, the display device 100 of this embodiment is a transmissive head-mounted display. The user wears the display device 100 on the head and observes the robot R through the transmissive display section 10 of the display device 100 .

The robot R shown in FIG. 1 is a six-axis robot. The robot R has a base portion B, a first arm portion A1, a second arm portion A2, a joint portion J, and an end effector E. The first arm portion A1 is connected to the base portion B. As shown in FIG. The second arm portion A2 is connected via a joint portion J to the first arm portion A1. The end effector E is attached to the distal end portion of the second arm portion A2.

As shown in FIG. 2, the robot R has a drive section M, a detection section S, and a control section C. As shown in FIG. For example, a plurality of drive units M are provided. The plurality of driving portions M includes a driving portion M that drives the first arm portion A1 with respect to the base portion B, a driving portion M that drives the second arm portion A2 with respect to the first arm portion A1, and an end effector E to the second arm A2. The drive unit M is, for example, a servomotor. The detector S detects the output of the driver M. As shown in FIG. The detector S is, for example, an encoder capable of detecting rotation of a servomotor. The detection unit S is provided for each of the plurality of driving units M, for example. The control section C controls the driving section M. In this embodiment, the control unit C controls the output of the drive unit M based on the detection result of the detection unit S, and controls the movement of the robot R.

1, 3, 4, and 5 in this embodiment show an X-axis, a Y-axis orthogonal to the X-axis, and a Z-axis orthogonal to both the X-axis and the Y-axis. ing. The Z-axis indicates the vertical direction. The Y axis indicates the front-rear direction of the user wearing the display device 100, and indicates the direction in which the user observes the robot R. As shown in FIG. The X-axis indicates the left-right direction of the user.

As shown in FIG. 2 , the display device 100 includes a display section 10 , a calculation section 20 , an operation section 30 and a storage section 40 . The calculation unit 20 performs various calculations. In this embodiment, information about the position and speed of each part of the robot R is input from the control part C to the calculation part 20 . Based on the information input from the control unit C, the calculation unit 20 causes the display unit 10 to display a movement trajectory 50, an arrow 60 indicating a velocity vector, and a stop display mark 70, which will be described later.

The operation unit 30 is operated by the user of the display device 100 . A user can perform various operations of the display device 100 by operating the operation unit 30 . The operation unit 30 may be a button or the like provided on the main body of the display device 100, or may be a remote controller provided separately from the main body of the display device 100, or may be displayed on the display unit 10. It may be a graphical user interface (GUI: Graphical User Interface). The calculation result of the calculation unit 20 is saved in the storage unit 40 .

The display unit 10 is arranged in front of the user wearing the display device 100 . In this embodiment, the display unit 10 is a transmissive display unit that transmits at least part of light. The display unit 10 is composed of, for example, a half mirror. A user wearing the display device 100 can visually recognize the scenery in front of them through the display unit 10 . A signal is input to the display unit 10 from the calculation unit 20 . As shown in FIG. 1 , the display unit 10 can display a movement trajectory 50 , an arrow 60 indicating a velocity vector, and a stop display mark 70 based on signals input from the calculation unit 20 .

A movement trajectory 50 is a movement trajectory of the first part of the robot R. As shown in FIG. The first part is the end effector E in this embodiment. The first part can be arbitrarily selected from the parts of the robot R. The user can select which part of the robot R is to be the first part by operating the operation unit 30, for example. As shown in FIGS. 3 to 5, the movement trajectory 50 of this embodiment is the movement trajectory of the representative point EP of the end effector E. As shown in FIGS. The user can start drawing the movement trajectory 50 of the first part by operating the operation unit 30, for example. The movement trajectory 50 is, for example, drawn in real time as the first part moves. In the present embodiment, the movement trajectory 50 is displayed superimposed on the scenery including the robot R that is visible through the display unit 10 . More specifically, the movement trajectory 50 is displayed superimposed on the position where the end effector E, which is the first part, has moved in the scene viewed by the user.

The movement trajectory 50 has visual features that indicate speed information when the end effector E moves. In this embodiment, the visual features include the color of the trajectory 50 and the thickness of the trajectory 50 . In the present embodiment, the movement locus 50 is displayed in a color closer to black in areas where the movement speed of the end effector E is faster, and is displayed in a color closer to white in areas where the movement speed of the end effector E is slower. In the present embodiment, the movement locus 50 is displayed thinner in portions where the movement speed of the end effector E is faster, and is displayed thicker in portions where the movement speed of the end effector E is slower.

FIG. 3 shows the movement locus 50A of the end effector E when the robot R in the posture shown in FIG. In FIG. 3, the posture of the robot R before it moves is virtually indicated by a chain double-dashed line. The movement trajectory 50</b>A has a first trajectory portion 51 , a second trajectory portion 52 and a third trajectory portion 53 . The first trajectory portion 51, the second trajectory portion 52, and the third trajectory portion 53 are connected in this order. The second trajectory portion 52 is the movement trajectory of the end effector E temporally later than the first trajectory portion 51 . The third trajectory portion 53 is the movement trajectory of the end effector E temporally later than the second trajectory portion 52 .

The color of the second trajectory portion 52 is closer to black than the color of the first trajectory portion 51 . The thickness of the second locus portion 52 is thinner than the thickness of the first locus portion 51 . That is, in the moving locus 50A, the moving speed of the end effector E that has moved along the second locus portion 52 is higher than the moving speed of the end effector E that has moved along the first locus portion 51. It is shown.

The color of the third trajectory portion 53 is closer to black than the color of the second trajectory portion 52 . The thickness of the third locus portion 53 is thinner than the thickness of the second locus portion 52 . That is, in the moving locus 50A, the moving speed of the end effector E that has moved along the path along the third locus portion 53 is higher than the moving speed of the end effector E that has moved along the path along the second locus portion 52. It is shown.

FIG. 4 shows the movement locus 50B of the end effector E when the robot R, which is in the laterally tilted posture shown in FIG. 3, moves in the rising direction to the standing posture shown in FIG. In FIG. 4, the posture of the robot R before it moves is virtually indicated by a chain double-dashed line. The movement trajectory 50</b>B has a first trajectory portion 54 , a second trajectory portion 55 , a third trajectory portion 56 , and a fourth trajectory portion 57 . The first trajectory portion 54, the second trajectory portion 55, the third trajectory portion 56, and the fourth trajectory portion 57 are connected in this order. The second trajectory portion 55 is the movement trajectory of the end effector E temporally later than the first trajectory portion 54 . The third trajectory portion 56 is the movement trajectory of the end effector E temporally later than the second trajectory portion 55 . The fourth trajectory portion 57 is the movement trajectory of the end effector E temporally later than the third trajectory portion 56 .

The color of the second trajectory portion 55 is closer to black than the color of the first trajectory portion 54 . The thickness of the second trajectory portion 55 is thinner than the thickness of the first trajectory portion 54 . That is, in the moving locus 50B, the moving speed of the end effector E that has moved along the second locus portion 55 is higher than the moving speed of the end effector E that has moved along the first locus portion 54. It is shown.

The second locus portion 55 has a first portion 55a, a second portion 55b, a third portion 55c, a fourth portion 55d, and a fifth portion 55e. The first portion 55a, the second portion 55b, the third portion 55c, the fourth portion 55d, and the fifth portion 55e are connected in this order. The first portion 55 a is connected to the first locus portion 54 . The second portion 55b is the locus of movement of the end effector E temporally later than the first portion 55a. The third portion 55c is the locus of movement of the end effector E temporally later than the second portion 55b. The fourth portion 55d is the movement trajectory of the end effector E temporally later than the third portion 55c. The fifth portion 55e is the locus of movement of the end effector E temporally later than the fourth portion 55d. The length of the first portion 55a, the length of the second portion 55b, the length of the third portion 55c, the length of the fourth portion 55d, and the length of the fifth portion 55e are the lengths of the first locus portion 54. , the length of the third locus portion 56 and the length of the fourth locus portion 57 .

The color of the first portion 55a, the color of the third portion 55c, and the color of the fifth portion 55e are the same. The thickness of the first portion 55a, the thickness of the third portion 55c, and the thickness of the fifth portion 55e are the same. That is, in the movement trajectory 50B, the movement speed of the end effector E that has moved along the first portion 55a, the movement speed of the end effector E that has moved along the third portion 55c, and the movement speed along the fifth portion 55e It is shown that the moving speed of the end effector E that has moved along the same path is the same as that of the end effector E.

The color of the second portion 55b and the color of the fourth portion 55d are the same as each other. The thickness of the second portion 55b and the thickness of the fourth portion 55d are the same. That is, in the movement trajectory 50B, the moving speed of the end effector E that has moved along the path along the second portion 55b and the moving speed of the end effector E that has moved along the path along the fourth portion 55d are the same. is shown.

The color of the second portion 55b and the color of the fourth portion 55d are closer to black than the colors of the first portion 55a, the third portion 55c and the fifth portion 55e. The thickness of the second portion 55b and the thickness of the fourth portion 55d are thinner than the thickness of the first portion 55a, the thickness of the third portion 55c and the thickness of the fifth portion 55e. That is, in the movement trajectory 50B, the moving speed of the end effector E that has moved along the path along the second portion 55b and the fourth portion 55d becomes is greater than the moving speed of the end effector E that has moved.

The color of the third locus portion 56 is closer to black than the colors of the first portion 55a, the third portion 55c, and the fifth portion 55e. The color of the third locus portion 56 is the same as the color of the second portion 55b and the color of the fourth portion 55d. The thickness of the third locus portion 56 is thinner than the thickness of the first portion 55a, the thickness of the third portion 55c, and the thickness of the fifth portion 55e. The thickness of the third locus portion 56 is the same as the thickness of the second portion 55b and the thickness of the fourth portion 55d. That is, in the movement trajectory 50B, the movement speed of the end effector E that has moved along the path along the third trajectory portion 56 becomes It is shown that it was greater than the movement speed of effector E. In the moving locus 50B, the moving speed of the end effector E that has moved along the path along the third locus portion 56 is the same as the moving speed of the end effector E that has moved along the path along the second portion 55b and the fourth portion 55d. It is shown that there was

The color of the fourth trajectory portion 57 is closer to white than the color of the third trajectory portion 56 . The thickness of the fourth trajectory portion 57 is thicker than the thickness of the third trajectory portion 56 . That is, in the moving locus 50B, the moving speed of the end effector E that has moved along the path along the fourth locus portion 57 is lower than the moving speed of the end effector E that has moved along the path along the third locus portion 56. It is shown. The color of the fourth locus portion 57 is the same as the color of the first portion 55a, the color of the third portion 55c, and the color of the fifth portion 55e. The thickness of the fourth locus portion 57 is the same as the thickness of the first portion 55a, the thickness of the third portion 55c, and the thickness of the fifth portion 55e. That is, in the movement trajectory 50B, the movement speed of the end effector E that has moved along the path along the fourth trajectory portion 57 becomes It is shown that it was the same as the movement speed of effector E.

Like the second trajectory portion 55 in the movement trajectory 50B, the time period between the portion indicating that the moving speed of the end effector E was relatively high and the portion indicating that the moving speed of the end effector E was relatively small is relatively short. , there is a possibility that vibration occurred when the end effector E moved and the movement locus 50B was not displayed correctly. In this embodiment, the calculation unit 20 has a function of correcting and displaying such a portion of the movement locus 50B. Specifically, the computing unit 20 averages the speed of the end effector E during the movement period indicated by the second trajectory portion 55, and visually displays the movement trajectory of the end effector E during the movement period as information on the averaged speed. It is displayed as a trajectory having features.

In a movement trajectory 50C shown in FIG. 5, the movement trajectory 50B shown in FIG. 4 is replaced with a second trajectory portion 58 in which the second trajectory portion 55 has the above-described averaged speed information as a visual feature. It is a moving trajectory 50 . Unlike the second trajectory portion 55, the second trajectory portion 58 has the same color and the same thickness throughout. The color of the second locus portion 58 is, for example, closer to black than the colors of the first portion 55a, the third portion 55c, and the fifth portion 55e, and the colors of the second portion 55b and the fourth portion 55d. Closer to white than color. The thickness of the second locus portion 58 is, for example, thinner than the thickness of the first portion 55a, the thickness of the third portion 55c, and the thickness of the fifth portion 55e, and the thickness of the second portion 55b and the thickness of the fourth portion. Thicker than the thickness of 55d.

The display mode of the display device 100 in this embodiment includes a correction display mode in which a trajectory such as the second trajectory portion 55 shown in FIG. First, it includes a non-correction display mode in which the second trajectory portion 55 shown in FIG. 4 is displayed as it is. A user of the display device 100 can switch between the correction display mode and the non-correction display mode by operating the operation unit 30 . In other words, the operation unit 30 can display the movement trajectory 50 of the end effector E in a predetermined movement period, a display having averaged speed information as a visual feature, and a display having speed information before averaging as a visual feature. It is possible to switch between the display having as a characteristic feature. In the correction display mode, when the calculation unit 20 determines that the end effector E is vibrating from the information on the moving speed of the end effector E input from the control unit C of the robot R, the averaging process described above is automatically performed. Then, the movement trajectory 50 having the averaged speed information as a visual feature is displayed on the display unit 10 .

The arrow 60 shown in FIGS. 3-5 indicates the current velocity vector of the second part of the robot R. FIG. In this embodiment, the second part of the robot R includes an end effector E, which is the first part, and a joint J. That is, in this embodiment, the same part of the robot R can be used as the first part and the second part. The second part can be arbitrarily selected from the parts of the robot R. The user can select which part of the robot R is to be the second part by operating the operation unit 30, for example.

Arrow 61 shown in FIG. 3 and arrow 62 shown in FIGS. 4 and 5 are arrow 60 indicating the current velocity vector of end effector E. As shown in FIG. Arrows 61 and 62 are displayed at positions within the display section 10 corresponding to the current position of the end effector E. FIG. Arrows 61 and 62 are displayed on the display unit 10 with the representative point EP of the end effector E as a starting point as seen from the user wearing the display device 100 . The arrow 63 shown in FIGS. 4 and 5 is the arrow 60 indicating the current velocity vector of the joint J. As shown in FIG. Arrow 63 is displayed at a position within display 10 corresponding to the current position of joint J. FIG. The arrow 63 is displayed on the display unit 10 with the representative point JP of the joint J as a starting point as seen from the user wearing the display device 100 . Thus, in this embodiment, the display unit 10 can display the arrow 60 indicating the current velocity vector of the second part of the robot R at a position corresponding to the current position of the second part.

The direction of the arrow 60 indicating the velocity vector indicates the direction of the velocity vector. Arrow 60 has a visual feature that indicates the magnitude of the velocity vector. Visual features of the arrow 60 of this embodiment include the color of the arrow 60 and the length of the arrow 60 . In this embodiment, the arrow 60 is displayed in a color closer to black as the magnitude of the velocity vector at the second portion is larger, and is displayed in a color closer to white as the magnitude of the velocity vector at the second portion is smaller. In this embodiment, when displaying the same magnitude of velocity, the color of the arrow 60 and the color of the movement track 50 are the same. In the present embodiment, the arrow 60 is displayed longer as the magnitude of the velocity vector at the second portion is larger, and is displayed shorter as the magnitude of the velocity vector at the second portion is smaller.

The color of arrow 61 shown in FIG. 3 is closer to black than the colors of arrows 62 and 63 shown in FIG. The color of arrow 62 is closer to black than the color of arrow 63 . The length of arrow 61 shown in FIG. 3 is longer than the length of arrow 62 and arrow 63 shown in FIG. The length of arrow 62 is longer than the length of arrow 63 . That is, the magnitude of the velocity vector of the end effector E in FIG. 3 is greater than the magnitude of the velocity vector of the end effector E in FIG. 4 and the magnitude of the velocity vector of the joint J in FIG. The magnitude of the velocity vector of the end effector E in FIG. 4 is greater than the magnitude of the velocity vector of the joint J in FIG.

The stop display mark 70 is a mark indicating that the first part of the robot R was stopped. The stop display mark 70 is displayed at a position on the movement trajectory 50 corresponding to the position where the first part was stopped. FIG. 4 shows a stop display mark 71 and a stop display mark 72 displayed on the movement locus 50B of the end effector E. As shown in FIG. In this embodiment, the stop indication marks 71 and 72 are circular. The stop display marks 71 and 72 are translucent, for example. A stop display mark 71 and a stop display mark 72 are displayed on the first locus portion 54 . The stop display mark 71 is displayed at the end of the first trajectory portion 54 on the side where drawing is started. The stop display mark 72 is displayed in the middle portion of the first trajectory portion 54 .

In the present embodiment, the larger the stop display mark 70 is displayed, the longer the first part is stopped. That is, the stop display marks 71 and 72 shown in FIG. 4 are displayed larger as the end effector E is stopped longer. The stop indication mark 71 has a circular shape with an outer diameter larger than that of the stop indication mark 72 . That is, the time during which the end effector E is stopped at the position where the stop display mark 71 is displayed is longer than the time during which the end effector E is stopped at the position where the stop display mark 72 is displayed. In the present embodiment, the calculation unit 20 does not display the stop display mark 70 at the position corresponding to the position of the first part when the time during which the first part is stopped is longer than or equal to the predetermined time.

According to this embodiment, the display device 100 includes the display unit 10 capable of displaying the movement trajectory 50 of the first part of the robot R. FIG. The movement trajectory 50 has visual characteristics indicating speed information when the first portion of the robot R moves. Therefore, by viewing the movement trajectory 50, the user of the display device 100 can grasp the speed of the first part of the robot R when it moves along with the movement trajectory. Thereby, the user can easily grasp the movement locus and speed of the robot R. Therefore, by looking at the display unit 10, the user can easily visually grasp when the first part of the robot R moves at a slow speed. Therefore, it is easy to create an operation program for the robot R that improves the part where the movement of the first portion of the robot R is slow. Thus, for example, if the end effector E is used as the first part as in the present embodiment, the operation program of the robot R can be improved, and the work time of the work performed by the end effector E can be shortened. In addition, since it is possible to easily grasp the location where the first part of the robot R moves at a high speed, the safety of the operating environment of the robot R can be improved by, for example, not placing other objects near locations where the robot R moves fast. can be easily dealt with.

Also, according to the present embodiment, the visual feature indicating the speed information on the movement trajectory 50 includes the color of the movement trajectory 50 . Therefore, the user can more easily grasp the speed of the first part of the robot R by looking at the color of the movement trajectory 50 written on the display unit 10 . By appropriately selecting the color of the movement trajectory 50 according to the purpose of grasping the speed of the robot R, the speed of the robot R can be grasped more appropriately for each purpose. For example, as described above, when it is desired to grasp the location where the movement of the first portion of the robot R is small, the color of the movement locus 50 is made more emphasized as the speed of the first portion of the robot R decreases. As a result, it is possible to more easily grasp the location of the first portion of the robot R where the speed is low. Further, for example, when it is desired to grasp the location where the first portion of the robot R moves more rapidly as described above, the color of the movement locus 50 is made more emphasized as the speed of the first portion of the robot R increases. As a result, it is possible to more easily grasp the location of the first portion of the robot R where the speed is high.

Also, according to the present embodiment, the visual feature indicating the speed information of the movement trajectory 50 includes the thickness of the movement trajectory 50 . Therefore, the user can more easily grasp the speed of the first part of the robot R by looking at the thickness of the movement trajectory 50 written on the display unit 10 . Further, by appropriately selecting the thickness of the movement trajectory 50 according to the purpose of grasping the speed of the robot R, the speed of the robot R can be grasped more appropriately for each purpose. In the present embodiment, the moving trajectory 50 is displayed thicker as the moving speed of the first portion decreases. Therefore, it is possible to more easily grasp the portion of the first portion of the robot R where the speed is low. On the other hand, for example, by displaying the portion of the movement trajectory 50 in which the speed of movement of the first part is high is thicker, it becomes easier to grasp the position of the robot R where the speed of the first part is high. When the thickness of the movement trajectory 50 is used as a visual feature indicating speed information in this way, even when the movement trajectories 50 overlap, it is easy to prevent the visual feature indicating speed information from being hidden. Therefore, speed information can be more easily grasped from the movement locus 50 .

Further, according to the present embodiment, the display unit 10 displays the stop display mark 70 indicating that the first part of the robot R has stopped corresponding to the position on the movement trajectory 50 where the first part was stopped. It can be displayed at the position where Therefore, it is possible to easily grasp the position where the first part of the robot R has stopped. Further, in the case where the movement trajectory 50 is displayed thicker as the movement speed of the first part is lower, for example, if the stop display mark 70 is not displayed, the movement trajectory 50 is displayed when the first part is stopped. If the thickness becomes too large, there is a risk that the movement trajectory 50 will become difficult to see. On the other hand, by displaying the stop display mark 70 separately from the movement trajectory 50 at the position where the first portion stops, it is possible to prevent the movement trajectory 50 from becoming too thick. Therefore, it is possible to prevent the movement locus 50 from becoming difficult to see.

Further, according to the present embodiment, the larger the stop display mark 70 is displayed, the longer the first portion of the robot R has been stopped. Therefore, the user can easily grasp the length of time during which the first part of the robot R has stopped by looking at the stop display mark 70 . In addition, in the present embodiment, when the time period during which the first part is stopped is equal to or longer than the predetermined time, the calculation unit 20 does not display the stop display mark 70 at the position corresponding to the position of the first part. Therefore, it is possible to prevent the stop display mark 70 from becoming unnecessarily large. As a result, it is possible to prevent the movement trajectory 50 from becoming difficult to see due to the stop display mark 70 .

Further, according to the present embodiment, the calculation unit 20 averages the speed of the first part in the predetermined movement period, and calculates the movement trajectory 50 of the first part in the predetermined movement period as information on the averaged speed. The trajectory is displayed as a visual feature. Therefore, even if the robot R vibrates and the movement trajectory 50 is difficult to display correctly, the movement trajectory 50 whose speed information is corrected by averaging can be displayed on the display unit 10 . As a result, even if the robot R vibrates, the speed of the first portion of the robot R can be preferably grasped from the movement trajectory 50 . In addition, by adopting the averaging process for correcting the movement trajectory 50, the processing load when correcting the movement trajectory 50 by the calculation unit 20 can be reduced compared to the case of adopting other correction means. Further, in many cases, the user does not need to have a very high grasp accuracy when grasping the speed of the robot R from the movement trajectory 50 . Therefore, it is possible to easily correct the movement locus 50 using the averaging process, and prevent the user from having difficulty in grasping the speed.

Further, according to the present embodiment, the display device 100 displays the movement trajectory 50 of the first part in the predetermined movement period, and the display having the averaged speed information as a visual feature. It further comprises an operation unit 30 that can be switched between a display having information on the previous speed as a visual feature. Therefore, for example, when it is desired to grasp the location where the robot R is vibrating, the movement trajectory 50 having speed information before averaging as a visual feature is displayed on the display unit 10, thereby causing the robot R to vibrate. It is possible to easily grasp the location where the

Further, according to the present embodiment, the display unit 10 can display the arrow 60 indicating the current velocity vector of the second part of the robot R at the position corresponding to the current position of the second part. Therefore, it is possible to easily grasp at what speed and in what direction the second part of the robot R is currently moving. In this embodiment, when the same magnitude of velocity is displayed, the color of the arrow 60 and the color of the movement trajectory 50 are the same. Therefore, the speed of the first portion indicated by the movement locus 50 and the speed of the second portion indicated by the arrow 60 can be more preferably grasped.

Further, according to this embodiment, the first part of the robot R and the second part of the robot R can be the same part of the robot R. Therefore, for the same part of the robot R, the movement trajectory 50 can be displayed while displaying the arrow 60 indicating the velocity vector. Accordingly, by looking at the display unit 10, the movement of the same part can be grasped more appropriately.

Moreover, according to this embodiment, the display device 100 is a head-mounted display. Therefore, the user can preferably grasp the speed of the first part of the robot R by using the display device 100 mounted on the head.

Further, according to the present embodiment, the display unit 10 can display the moving trajectory 50 superimposed on the scenery including the robot R that is visible through the display unit 10 . Therefore, the user can see the movement trajectory 50 at the same time as the robot R by wearing the display device 100, which is a transmissive head-mounted display, on the head and looking at the robot R through the display unit 10. FIG. Thus, the user can grasp the speed of the first part of the robot R by looking at the movement trajectory 50 that is drawn while looking at the robot R that is actually moving. In the display unit 10 of the present embodiment, in addition to the movement trajectory 50, an arrow 60 indicating a velocity vector and a stop display mark 70 are also displayed superimposed on the scenery visually recognized through the display unit 10. FIG. Therefore, the user can grasp the real-time speed and direction of the second part of the robot R and the place where the first part of the robot R is stopped while watching the robot R actually moving. can.

<Second embodiment>
As shown in FIG. 6, the display device 200 of this embodiment is a mobile device. Therefore, handling of the display device 200 can be facilitated. The display device 200 is, for example, a smart phone or a tablet terminal. The display unit 210 of the display device 200 can display the image IM including the image RI of the robot R and the movement trajectory 50 in an overlapping manner. Therefore, the user of the display device 200 can easily grasp the speed of the first part of the robot R by viewing the movement trajectory 50 displayed on the display unit 210 . The image IM is captured by, for example, the imaging device ID. The image IM captured by the imaging device ID is transmitted to the display device 200 wirelessly, for example. Note that the image IM captured by the imaging device ID may be transmitted to the display device 200 by wire. In this embodiment, the display unit 210 can display the image IM including the image RI of the robot R, the arrow 60 and the stop display mark 70 in an overlapping manner. Note that the display device 200 may acquire the image IM including the image RI of the robot R using a camera mounted on the display device 200 instead of the imaging device ID.

The present invention is not limited to the above-described embodiments, and other configurations and methods can be adopted within the scope of the technical idea of the present invention. A visual feature indicating velocity information in a movement trajectory may include any feature as long as it includes one or more features. The visual feature indicating speed information in the movement trajectory may include the color depth of the movement trajectory. A visual feature indicating speed information in a movement trajectory may not include at least one of color and thickness. The movement trajectory may be displayed in any color according to the speed information. The color of the trajectory may include colors other than black and white, such as red, blue, yellow, and green.

The movement trajectory of the first part may disappear from the display after a predetermined time has passed since it was displayed on the display unit. The movement trajectory of the first part may become lighter as time passes after being displayed on the display unit. Whether or not to display the movement trajectory may be switched by the operation unit. A plurality of first parts may be provided, and movement trajectories of the plurality of first parts may be displayed simultaneously on the display unit. Correction of the movement trajectory by the calculation unit may be performed by a method other than averaging. The calculation unit may not be able to correct the movement trajectory.

The stop indication mark may be of any shape. The stop display mark may be displayed darker as the first part of the robot stops for a longer period of time. Whether or not the stop display mark is displayed may be switchable by the operating unit. The stop indication mark may not be displayed.

A visual characteristic indicating the magnitude of the velocity vector in the arrow indicating the velocity vector may include the thickness of the arrow. In this case, for example, the larger the magnitude of the velocity vector, the thicker the arrow is displayed. The visual feature indicating the magnitude of the velocity vector in the arrow indicating the velocity vector may not include at least one of the arrow color and the arrow length. Whether or not to display the arrow indicating the velocity vector may be switched by the operation unit.

How the display device obtains the velocity of the first part and the velocity of the second part of the robot. The display device may have a detector capable of detecting the speed of the first part and the speed of the second part of the robot. The display device may acquire the speed of the first part and the speed of the second part from a detection device capable of detecting the speed of the robot from outside the robot. The display device may calculate the speed of the first part and the speed of the second part of the robot based on the output signal sent from the controller of the robot to the driving part of the robot.

The robot whose movement trajectory is displayed by the display device is not particularly limited, and may be any robot. It should be noted that each configuration and each method described in this specification can be appropriately combined within a mutually consistent range.

10, 210... display unit 20... operation unit 30... operation unit 50, 50A, 50B, 50C... movement trajectory 60, 61, 62, 63... arrow 70, 71, 72... stop display mark 100, 200... display device, E... end effector (first part), IM, RI... image, J... joint part (second part), R... robot

Claims (14)

A display unit capable of displaying the movement trajectory of the first part of the robot,
The display device, wherein the movement trajectory has visual characteristics indicating speed information when the first portion moves. 2. The display device of claim 1, wherein the visual characteristics include the color of the trajectory. 3. The display device according to claim 1, wherein said visual feature includes thickness of said movement trajectory. 4. The display device according to claim 3, wherein the movement locus is displayed thicker in a portion where the moving speed of the first portion is lower. 2. The display unit is capable of displaying a stop display mark indicating that the first part was stopped at a position on the movement trajectory corresponding to the position where the first part was stopped. 5. The display device according to any one of 4 to 4. 6. The display device according to claim 5, wherein the longer the stop display mark is displayed, the longer the stop display mark is displayed. further comprising a computing unit for displaying the movement trajectory on the display unit,
The computing unit averages the speed of the first part in a predetermined movement period, and has the movement trajectory of the first part in the predetermined movement period as the visual feature with the averaged speed information. 7. The display device according to any one of claims 1 to 6, which displays as a trajectory. a display of the movement trajectory of the first part during the predetermined movement period, a display having the averaged speed information as the visual feature; and a display having the speed information before averaging as the visual feature. 8. The display device according to claim 7, further comprising an operation unit switchable between a display having as . 9. The display unit according to any one of claims 1 to 8, wherein the display unit can display an arrow indicating the current velocity vector of the second part of the robot at a position corresponding to the current position of the second part. display device. 10. The display device according to claim 9, wherein the first part and the second part can be the same part of the robot. 11. The display device according to any one of claims 1 to 10, which is a head-mounted display. It is a transmissive head-mounted display,
12. The display device according to claim 11, wherein said display unit is capable of displaying said moving trajectory superimposed on a scene including said robot that is viewed through said display unit. 11. The display device according to any one of claims 1 to 10, which is a portable device. 14. The display device according to claim 13, wherein said display unit is capable of displaying an image including an image of said robot and said moving trajectory in an overlapping manner.

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