JP2023151741A - Development device, development program, and information processing method - Google Patents

Abstract

To provide a development device that further flexibly designs a facility layout and operation sequence, and automatically generates a robot program for controlling a robot included in the operation sequence.SOLUTION: A development device includes: a facility layout generation unit that generates a facility layout; an operation sequence generation unit that generates operation sequence; and an end effect profile generation unit that generates an end effect profile associated with the operation sequence. The end effect profile defines behavior of a source object attached to a tip of a robot object placed in virtual space, with reference to a target object placed in the virtual space. The development device further includes a robot program generation unit that generates a robot control program for controlling a robot associated with the end effect profile.SELECTED DRAWING: Figure 2

Description

The present invention relates to a development device, a development program, and an information processing method.

Robots are used in various production facilities. It is necessary to operate the robot appropriately depending on the production equipment. Japanese Unexamined Patent Publication No. 2013-165816 (Patent Document 1) discloses a robot control device and the like that can easily create a work program indicating the work content to be performed by a robot.

Japanese Patent Application Publication No. 2013-165816

In recent years, production equipment and control programs that control production equipment have been developed using virtual space models such as MILS (Model In the Loop Simulation), SILS (Software In the Loop Simulation), and HILS (Hardware In the Loop Simulation). The design method is becoming popular. The above-mentioned prior art documents do not consider such a new technique at all.

One purpose of the present invention is to provide an environment in which equipment layouts and operation sequences can be designed more flexibly, and robot programs for controlling robots included in the operation sequences can be automatically generated. do.

A development device according to an embodiment includes a first generation unit that generates an equipment layout that defines one or more equipment modules arranged in a virtual space according to a user operation, and a first generation unit that generates an equipment layout that defines one or more equipment modules arranged in a virtual space according to a user operation; and a third generator that generates an end effect profile associated with the operation sequence according to a user operation. The end effect profile defines the behavior of the source object attached to the tip of the robot object placed in the virtual space, with reference to the target object placed in the virtual space. The development device includes a fourth generation unit that generates a robot program for controlling a robot associated with the end effect profile, based on the end effect profile and the equipment layout.

According to this configuration, even if the user arbitrarily designs the equipment layout and operation sequence, the robot can be controlled using the end effect profile that defines the behavior of the source object attached to the tip of the robot object. robot programs can be easily generated.

In the above configuration, the development device further includes a simulator that simulates the operation of one or more equipment modules in the virtual space based on the equipment layout, the operation sequence, and the end effect profile, and outputs the results of the simulation. You can stay there. According to this configuration, the user can confirm the validity of the designed equipment layout, operation sequence, and end effect profile through simulation.

In any of the configurations described above, the end effect profile may include an ordered list defining coordinate values through which the source object should pass. According to this configuration, the behavior of the source object can be arbitrarily designed.

In any of the above configurations, in the list of end effect profiles, a mode selected from among modes that can be set for the source object may be defined in association with coordinate values. According to this configuration, it is possible to arbitrarily set not only the coordinate values through which the source object should pass, but also the mode of the source object.

In any of the configurations described above, the end effect profile may include a specification of an offset of the source object from a robot tip position of the robot associated with the end effect profile. According to this configuration, even if the source object is placed at a position far from the robot tip position, the robot program can be appropriately generated.

In any of the above configurations, the fourth generation unit refers to the equipment layout and calculates the coordinate values of the target object in the world coordinate system, and also calculates the coordinate values of the robot object in the world coordinate system. Then, coordinate values in a robot base coordinate system defined with the robot object as a reference may be calculated. According to this configuration, by calculating the coordinate values of the target object and the robot object in the world coordinate system, it is possible to calculate the coordinate values in the robot base coordinate system necessary for generating the robot program.

In any of the above configurations, the fourth generation unit corresponds to the end effect profile based on the vector difference between the coordinate value of the target object in the world coordinate system and the coordinate value of the robot object in the world coordinate system. A robot program may also be generated. According to this configuration, the behavior of the source object is defined with respect to the target object by reflecting the vector difference between the coordinate value in the world coordinate system of the target object and the coordinate value in the world coordinate system of the robot object. Robot programs can be generated from end effect profiles.

A development program according to another embodiment includes a first generation unit that generates an equipment layout that defines one or more equipment modules arranged in a virtual space according to a user operation; It functions as a second generation unit that generates an operation sequence that defines the operation of the included equipment module, and a third generation unit that generates an end effect profile associated with the operation sequence according to user operations. The end effect profile defines the behavior of the source object attached to the tip of the robot object placed in the virtual space, with reference to the target object placed in the virtual space. The development program further causes the computer to function as a fourth generation unit that generates a robot program for controlling a robot associated with the end effect profile based on the end effect profile and the equipment layout.

According to yet another embodiment, a computer-executed information processing method includes the steps of: generating an equipment layout that defines one or more equipment modules arranged in a virtual space according to a user operation; and generating an end effect profile associated with the operation sequence according to user operations. The end effect profile defines the behavior of the source object attached to the tip of the robot object placed in the virtual space, with reference to the target object placed in the virtual space. The information processing method includes the step of generating a robot program for controlling a robot associated with the end effect profile based on the end effect profile and the equipment layout.

According to the present invention, the equipment layout and the operation sequence can be designed more flexibly, and a robot program for controlling the robot included in the operation sequence can be automatically generated.

FIG. 2 is a schematic diagram showing an example of the hardware configuration of the development device according to the present embodiment. FIG. 2 is a schematic diagram showing an example of the functional configuration of the development device according to the present embodiment. 3 is a diagram for explaining an equipment layout generation process by the equipment layout generation unit shown in FIG. 2. FIG. 3 is a diagram for explaining a process of generating an operation sequence 168 by the operation sequence generation unit shown in FIG. 2. FIG. It is a figure which shows an example of the end effect profile contained in the end effect library of the development apparatus according to this Embodiment. FIG. 3 is a diagram for explaining an example of the association between an operation sequence and an end effect profile in the development apparatus according to the present embodiment. 7 is a diagram showing an example of properties of a process function block generated by the operation shown in FIG. 6. FIG. FIG. 2 is a schematic diagram showing an example of a user interface screen for creating and updating an end effect profile provided by the development apparatus according to the present embodiment. FIG. 7 is a schematic diagram showing yet another example of a user interface screen for creating and updating an end effect profile provided by the development apparatus according to the present embodiment. FIG. 7 is a schematic diagram showing another example of a user interface screen for creating and updating an end effect profile provided by the development apparatus according to the present embodiment. FIG. 2 is a diagram showing an example of a facility layout generated by the development device according to the present embodiment. 3 is a flowchart showing a processing procedure executed by the development device according to the present embodiment. 13 is a flowchart showing a processing procedure for generating the robot program shown in FIG. 12. FIG. FIG. 3 is a diagram showing an example of code generated by the development device according to the present embodiment.

Embodiments of the present technology will be described in detail with reference to the drawings. Note that the same or corresponding parts in the figures are designated by the same reference numerals, and the description thereof will not be repeated.

<A. Hardware configuration example of development device 100>
First, an example of the hardware configuration of the development apparatus 100 according to this embodiment will be described.

FIG. 1 is a schematic diagram showing an example of the hardware configuration of a development apparatus 100 according to the present embodiment. Referring to FIG. 1, the development apparatus 100 includes a processor 102 such as a CPU (Central Processing Unit) or a GPU (Graphics Processing Unit), a main memory 104, an input section 106, a display section 108, and a USB (Universal Serial bus) controller 110, a network controller 112, an optical drive 114, and a storage 120. These components are connected via bus 118.

The processor 102 reads various programs stored in the storage 120, expands them to the main memory 104, and executes them, thereby realizing necessary processing in the development apparatus 100.

The main memory 104 includes, for example, a volatile storage device such as a DRAM (Dynamic Random Access Memory) or an SRAM (Static Random Access Memory). The storage 120 includes, for example, a nonvolatile storage device such as an SSD (Solid State Drive) or an HDD (Hard Disk Drive).

The input unit 106 includes a mouse, a keyboard, a touch panel, etc., and accepts instructions from the user. The display unit 108 includes a display, various indicators, and the like, and outputs processing results from the processor 102 and the like.

The USB controller 110 exchanges data with any information processing device via a USB connection. The network controller 112 exchanges data with any information processing device via any network.

The optical drive 114 reads programs and data from a recording medium 116 (for example, an optical recording medium such as a DVD (Digital Versatile Disc)) that non-temporarily stores computer-readable programs, and stores them in a storage 120 or the like. .

The various programs executed by the development device 100 may be installed via the computer-readable recording medium 116, or may be installed by being downloaded from any server on the network.

The storage 120 typically stores an OS 122 that provides an environment for executing programs, a development program 130, an equipment module library 162, an end effect library 164, and a product BOP 178. Note that necessary programs other than the programs shown in FIG. 1 may be stored in the storage 120.

Figure 1 shows an example of a configuration in which necessary functions are provided by one or more processors executing a program. For example, it may be implemented using an ASIC (Application Specific Integrated Circuit) or an FPGA (Field-Programmable Gate Array).

The development device 100 may be implemented as a single information processing device, or may implement some or all of the necessary functions using multiple processor resources.

<B. Functional configuration example of development device 100>
Next, an example of the functional configuration of the development apparatus 100 according to this embodiment will be described.

FIG. 2 is a schematic diagram showing an example of the functional configuration of development apparatus 100 according to the present embodiment. Each functional configuration shown in FIG. 2 is typically realized by the processor 102 of the development device 100 executing the development program 130.

Referring to FIG. 2, the development apparatus 100 has a functional configuration including an equipment layout generation section 150, an operation sequence generation section 152, an end effect profile generation section 154, a simulation script generation section 156, a simulator 158, and a robot. and a program generation section 160.

The equipment layout generation unit 150 generates an equipment layout 166 by referring to the equipment module library 162 according to user operations. Equipment layout 166 defines an equipment layout that defines one or more equipment modules arranged in a virtual space (also referred to as a simulation space). That is, the equipment layout 166 virtually configures the production equipment. When generating equipment layout 166, the user may be able to refer to product BOP 178.

The operation sequence generation unit 152 generates an operation sequence 168 by referring to the equipment layout 166 according to the user's operation. Operation sequence 168 defines the operation of equipment modules included in equipment layout 166.

End effect profile generation section 154 generates end effect profile 170 associated with operation sequence 168 according to user operations. At this time, the end effect library 164 and the equipment module library 162 may be used to generate the end effect profile 170. Further, when generating the end effect profile 170, the user may be able to refer to the product BOP 178.

The simulation script generation unit 156 generates a simulation script 172 from the operation sequence 168 and an end effect profile code 174 from the end effect profile 170.

Simulator 158 simulates the operation of one or more equipment modules in virtual space based on equipment layout 166, operation sequence 168, and end effect profile 170, and outputs the results of the simulation.

The robot program generation unit 160 generates a robot program 176 in cooperation with the simulator 158. More specifically, robot program generation section 160 generates a robot program for controlling the robot associated with end effect profile 170 based on end effect profile 170 and equipment layout 166.

<C. Functional configuration processing>
(c1: Equipment layout generation unit 150)
Next, the generation process of the equipment layout 166 by the equipment layout generation unit 150 shown in FIG. 2 will be explained.

FIG. 3 is a diagram for explaining the generation process of the equipment layout 166 by the equipment layout generation unit 150 shown in FIG. 2. As shown in FIG.

Referring to FIG. 3, the user creates an equipment layout 166 by appropriately combining one or more equipment modules 1620 included in the equipment module library 162.

Each of the equipment modules 1620 included in the equipment module library 162 includes the following data sets.
(1) Three-dimensional mechanical model For example, three-dimensional shape (Geometry), constraint conditions between three-dimensional shaped objects forming the three-dimensional mechanical model, arranged sensors and actuators, model information, etc.
(2) Call definition and operation program of operation interface group Definition of arguments for calling arbitrary methods, etc. For example, for "screw pickup", it is necessary to input "screw specifications" and "screw supply position", and for "screw insertion and tightening", "screw hole position" and "screw tightening specification value" are required. Arguments such as ``required input'' are defined.
(3) Definition of equipment module state machine and whether work can be executed in each state Exclusion of work execution and transition due to work execution, etc.
(4) Work execution ability description Definition of which process can be executed by the provided operation interface and with what specifications. For example, the ability to pick up screws, the ability to insert and tighten screws, the reachable range of the driver tip, the ability to insert and tighten screws, the ability to retighten screws, etc. are described as work execution abilities.
(5) Simulation stub A program that generates output values that correspond to the behavior of real equipment when performing a simulation.

The user can adjust the equipment layout 166 by trial and error while referring to simulation results as described below.

(c2: Operation sequence generation unit 152)
Next, the generation process of the operation sequence 168 by the operation sequence generation unit 152 shown in FIG. 2 will be explained.

FIG. 4 is a diagram for explaining the generation process of the operation sequence 168 by the operation sequence generation unit 152 shown in FIG. FIG. 4 shows a diagram of an operation sequence 168 for a production facility that assembles a second part onto a first part and then screws the first part and the second part together.

The diagram of the operation sequence 168 shows a lane 1680 corresponding to the worker, a lane 1681 corresponding to the slider table for carrying in the first part, and a lane 1682 corresponding to the equipment module for assembling the second part to the first part. , and a lane 1685 corresponding to an equipment module for screwing the first part and the second part together.

The lane 1682 includes a lane 1683 corresponding to a tray that shares the second part, and a lane 1684 corresponding to an assembly robot. Lane 1685 also includes a lane 1686 corresponding to a screw tightening robot and a lane 1687 corresponding to a screw feeder.

In the diagram of the operation sequence 168, a data object 1688 means virtual data such as a work (part).

Further, a rounded square process function block 1689 means an operation program provided by the equipment module. That is, process function block 1689 represents a call to an operational interface provided by the equipment module. The upper pin of the process function block 1689 means a workpiece (component) that serves as an input, and the lower pin of the process function block 1689 means a workpiece (component) that serves as an output.

Arrows connecting data objects 1688 and process function blocks 1689 indicate that work is passed between the operational interfaces.

Although the operation sequence 168 is visualized as a diagram in FIG. 4, the data structure of the operation sequence 168 can be arbitrarily designed.

(c3: End effect profile generation unit 154)
Next, the generation process of the end effect profile 170 by the end effect profile generation unit 154 shown in FIG. 2 will be described.

The end effect profile 170 defines the behavior of the source object attached to the tip of the robot object placed in the virtual space, with reference to the target object placed in the virtual space.

The end effect profile 170 has the following data.
(1) Profile identifier: Information for uniquely identifying the target end effect profile in a development project (2) Profile display name (Profile Name): Name arbitrarily set by the user for the target end effect profile (3) ) Source Type Name: Type name of the object that performs some action (4) Target Type Name: Type name of the object that receives some action (5) TCP Offset: Offset of the source object from the robot tip position (TCP) (relative position and relative pose)
(6) Passing route list (Path): Coordinate values (relative position and relative orientation) that the source object should pass, with the local coordinate system of the target object as the reference coordinate system (may also include relative movement speed) Command values for peripheral devices to be executed (for example, gripping and Release command output, waiting for grip completion input from gripper, etc.)
Note that regarding the command value to the peripheral device (7), the exchange is defined in advance between the end effect profile 170 and the operation interface of the equipment module 1620. For example, if there may be a gripper that grips a workpiece and an electric screwdriver that tightens a screw as peripheral devices, there is a gap between the end effect profile 170 corresponding to gripping the workpiece and the operation interface corresponding to gripping the workpiece. At the same time, command values to be exchanged between the end effect profile 170 corresponding to screw tightening and the operation interface corresponding to screw tightening of the workpiece are defined.

In general robot programming, the motion of the robot is defined, for example, by specifying the path of the robot tip position (TCP) using absolute coordinates or relative coordinates from the current position. In contrast, in this embodiment, the robot's motion is defined by using information for specifying the target object placed in the virtual space and information for specifying the end effect profile 170. do.

If the user changes the placement position of the equipment module and the robot's operation at the design stage, the absolute coordinates of the robot and/or the target object (workpiece) will change, but according to the definition method of this embodiment, Even if such absolute coordinates change, simulation can be performed appropriately. Additionally, a robot program 176 can be generated based on the end effect profile 170, as described below.

FIG. 5 is a diagram showing an example of an end effect profile included in the end effect library 164 of the development apparatus 100 according to the present embodiment. FIG. 5 shows four types of end effect profiles (classes) as an example.

"Source Type Name" shown in FIG. 5 is a name for specifying the side that performs some action (for example, an end effect), and "Target Type Name" is a name for specifying the side that receives some action. Yes, "Reference Point" indicates the TCP offset, and "Path" indicates how to specify the path of the end effect.

(1) Gripping a component means an operation in which the object class "gripper" grips the object class "bodyASSY". (2) Superposition of parts refers to the operation of superimposing the object class "HeadASSY" onto the object class "BodyASSY". (3) Placing a component on equipment means placing the object class "bodyASSY" in the object class "workpieceHolder". (4) Releasing and retracting the gripped component refers to an operation in which the object class "gripper" releases the object class "body ASSY" gripped by the object class "gripper" and retracts the object class "gripper."

FIG. 6 is a diagram for explaining an example of the association between the operation sequence 168 and the end effect profile 170 in the development apparatus 100 according to the present embodiment. In FIG. 6, the user specifies an end effect profile 170 as a property of a process function block 1689 of the created operation sequence 168.

As an example, a dialog 200 showing properties of the process function block 1689 includes a display name 202 of the selected end effect profile 170, a combo box 204 for selecting the target object (work), and a dialog box 204 for selecting the end effect profile 170. It includes a combo box 206 and a button 208 for generating a new end effect profile 170.

The user may operate the combo box 206 to select a desired end effect profile 170 from among the end effect profiles 170 created in advance. Alternatively, the user may press button 208 to create a new end effect profile 170.

FIG. 7 is a diagram showing an example of properties of a process function block generated by the operations shown in FIG. FIG. 7 shows an example code for causing the robot to perform a pick-up operation.

As an argument for the method "PickUp", an object name "BodyASSY" indicating the target object (work) is specified, and the name of the end effect profile 170 "Gripper_BodyASSY" is specified.

That is, in this embodiment, the object indicating the target object (work) and the end effect profile 170 are used as arguments for the motion command specified in the operation sequence 168, instead of (absolute or relative) coordinate values. Even if the user changes the arrangement position of the equipment module or the operation of the robot at the design stage, the simulation can be executed according to the changed state.

Next, an example user interface for creating and updating end effect profile 170 will be described. The user interface screens shown in FIGS. 8 to 10 below are displayed, for example, by selecting the button 208 of the dialog 200 shown in FIG. 6.

FIG. 8 is a schematic diagram showing an example of a user interface screen for creating and updating the end effect profile 170 provided by the development apparatus 100 according to the present embodiment. FIG. 8 shows an example of gripping a component (see (1) in FIG. 5).

Referring to FIG. 8, the user interface screen 250A includes a combo box 252 for selecting the type name of the source object (Source), a combo box 254 for selecting the type name of the target object (Target), and a profile. It includes a combo box 256 for selecting a display name (Profile Name), a table 258 indicating the robot tip position (TCP), and a table 260 indicating a path list (Path).

The user operates the combo box 252 to select the type name of the source object, and operates the combo box 254 to select the type name of the target object. The user also operates the combo box 256 to set the profile display name of the target end effect profile 170.

The user inputs into the table 258 the relative position (X, Y, Z) and relative orientation (RX, RY, RZ) of the robot tip position (TCP) with the local coordinate system of the target object as the reference coordinate system.

When gripping a workpiece (component), the user refers to the finished product's BOP (Bill of Process: Assembly Procedure Definition), etc., and determines from which direction the gripper approaches the workpiece and from where. Specify whether to grasp. That is, the approach and grasping operations of the gripper are specified in the table 260. Note that when the user presses the add button 262, rows are sequentially added to the table 260.

The table 260 has a mode column 264, which accepts a designation of the direction from which the gripper approaches the work when the gripper grips the work. In this way, in the route list (table 260) of the end effect profile 170, a selected mode among the modes that can be set for the source object may be defined in association with coordinate values.

User interface screen 250A includes virtual space display 270 showing the positional relationship between source object 272 and target object 274. The virtual space display 270 may display a local coordinate system 276 of the target object 274.

By referring to the virtual space display 270, the user can confirm the positional relationship between the source object 272 and the target object 274, the validity of the set passage route, and the like.

FIG. 9 is a schematic diagram showing yet another example of a user interface screen for creating and updating an end effect profile provided by development apparatus 100 according to the present embodiment. FIG. 9 shows an example of overlapping parts (see (2) in FIG. 5).

Referring to FIG. 9, user interface screen 250B includes a combo box 252, a combo box 254, a combo box 256, a table 258, and a table 260, similar to user interface screen 250A shown in FIG.

By appropriately setting the relative position and relative orientation specified in the table 260, it is possible to freely specify from which side the gripped part approaches other parts and at what timing to release it.

User interface screen 250B includes virtual space display 270 showing the positional relationship between source object 272 and target object 274. The virtual space display 270 may display a local coordinate system 276 of the target object 274.

FIG. 10 is a schematic diagram showing another example of a user interface screen for creating and updating an end effect profile provided by development apparatus 100 according to the present embodiment. FIG. 10 shows an example of arrangement of parts on equipment (see (3) in FIG. 5).

Referring to FIG. 10, user interface screen 250C includes a combo box 252, a combo box 254, a combo box 256, a table 258, and a table 260, similar to user interface screen 250A shown in FIG.

The table 260 has a mode column 266, which accepts a designation from which direction the gripper should approach the equipment when placing the work gripped by the gripper on the equipment. In this way, in the route list (table 260) of the end effect profile 170, a selected mode among the modes that can be set for the source object may be defined in association with coordinate values.

User interface screen 250C includes virtual space display 270 showing the positional relationship between source object 272 and target object 274. The virtual space display 270 may display a local coordinate system 276 of the target object 274.

(c4: Simulation and robot program generation)
Next, the processing of the simulator 158 and robot program generation section 160 will be explained.

FIG. 11 is a diagram showing an example of the equipment layout 166 generated by the development apparatus 100 according to the present embodiment. FIG. 11 shows an example of a screw tightening robot in which an electric screwdriver is attached to the tip of the robot.

Referring to FIG. 11(A), the designed production equipment has a common cell frame object 1660. Regarding robots, the production equipment includes a robot pedestal object 1661 placed on a cell pedestal object 1660, a robot object 1662 placed on the robot pedestal object 1661, a robot hand origin 1663 set at the hand of the robot object 1662, and a robot It includes a 6-axis force sensor 1664 arranged with the hand origin 1663 as a reference, an electric screwdriver 1665 arranged in connection with the 6-axis force sensor 1664, and a screw 1666 attracted to the tip of the electric screwdriver 1665.

On the other hand, for parts to be screwed, the production equipment includes a work stage object 1667 placed on the cell mount object 1660, a work holder object 1668 placed on the work stage object 1667, and a screw provided on the work holder object 1668. hole work object 1669.

FIG. 11(B) shows a connection relationship corresponding to the production equipment shown in FIG. 11(A). As shown in FIG. 11(B), in the equipment layout 166, a plurality of objects respectively corresponding to equipment modules are connected in a hierarchical manner. It can also be expressed that there is a constraint relationship between a parent element (parent object) and a child element (child object).

In the equipment layout 166, the position and orientation of the cell gantry object 1660, which is the root object, are defined in the world coordinate system. The positions and orientations of objects other than the root object are defined in the local coordinate system.

For example, a robot base coordinate system is defined using the robot object 1662 as a reference (origin). It is assumed that the object name of the robot object 1662 is "Robot_01". Further, a TCP coordinate system is defined using the robot hand origin 1663 as a reference (origin).

In the production equipment shown in FIG. 11, the suctioned screw 1666 becomes the source object. Further, the screw hole work object 1669 becomes the target object.

Note that the position of the screw hole work object 1669 may change depending on the equipment layout, the processing results in the previous process, and the like.

The TCP offset of the end effect profile 170 defines the relative position and orientation of the source object, the attracted screw 1666, from the robot hand origin 1663 (the origin of the TCP coordinate system). End effect profile 170 may include a TCP offset, which is a specification of the source object's offset from the robot tip position of the robot associated with end effect profile 170 . Note that the TCP offset may be zero for both position and orientation (that is, no TCP offset).

Furthermore, the path list of the end effect profile 170 defines the behavior of the attracted screw 1666, which is the source object, with respect to the screw hole work object 1669, which is the target object.

On the other hand, the robot program 176 for controlling the robot needs to define the coordinate values of the robot hand origin 1663 in the robot base coordinate system. The simulator 158 and the robot program generation unit 160 sequentially calculate the coordinate values (robot base coordinate system) of the robot hand origin 1663 with reference to the relationship shown in FIG. Then, a robot program 176 including the sequentially calculated coordinate values of the robot hand origin 1663 is generated.

In this way, the robot program generation unit 160 of the development apparatus 100 refers to the equipment layout 166 to calculate the coordinate values of the target object (for example, the screw hole work object 1669) in the world coordinate system, and also calculates the coordinate values of the target object (for example, the screw hole work object 1669). By calculating the coordinate values in the world coordinate system, the coordinate values in the robot base coordinate system defined with the robot object 1662 as a reference are calculated. Furthermore, the robot program generation unit 160 of the development device 100 corresponds to the end effect profile 170 based on the vector difference between the coordinate value of the target object in the world coordinate system and the coordinate value of the robot object 1662 in the world coordinate system. A robot program 176 is generated.

<D: Processing procedure>
Next, the processing procedure executed in the development apparatus 100 according to this embodiment will be explained.

FIG. 12 is a flowchart showing the processing procedure executed by development apparatus 100 according to the present embodiment. Each step shown in FIG. 12 is typically realized by the processor 102 of the development device 100 executing the development program 130.

Referring to FIG. 12, development device 100 generates equipment layout 166 using one or more equipment modules 1620 included in equipment module library 162 in response to a user operation (step S2) (see FIG. 3). . That is, the development apparatus 100 generates an equipment layout that defines one or more equipment modules arranged in the virtual space according to user operations.

That is, the user creates the equipment layout 166 by searching the equipment module library 162 for equipment modules 1620 that have the ability to perform work corresponding to the process required by the product BOP, and sequentially arranging them in the virtual space. .

Next, the development device 100 generates the operation sequence 168 in response to the user's operation (step S4) (see FIG. 4), and generates the end effect profile 170 in association with the operation sequence 168 (step S6) (see FIG. (see 6). That is, the development device 100 generates an operation sequence 168 that defines the operation of the equipment module included in the equipment layout 166 according to the user's operation, and also generates an end effect profile 170 associated with the operation sequence 168 according to the user's operation. .

That is, the user creates an operation sequence 168 for sequentially calling the necessary operation interfaces among the group of operation interfaces provided by the virtual production equipment defined as the equipment layout 166 so as to realize the process required by the product BOP. Additionally, the user additionally defines an end effect profile 170 necessary for the operation interface (process function block) called by the operation sequence 168 to perform processing.

Next, the development apparatus 100 generates the simulation script 172 from the operation sequence 168 (step S8), and generates the end effect profile code 174 from the end effect profile 170 (step S10).

Subsequently, when the development apparatus 100 is instructed to execute a simulation (YES in step S12), it sequentially executes the simulation script 172 (step S14). When the development apparatus 100 encounters a command to call the operation interface (YES in step S16), the development apparatus 100 selects the specified equipment module 1620 based on the operation program of the called operation interface and the processing result calculated by the simulation stub. The positions and orientations of the workpieces (parts) and the like are updated (step S18), and the representation of the virtual production equipment is updated based on the updated positions and orientations (step S20).

When the execution of the called operation interface is completed (YES in step S22), if an instruction to generate the robot program 176 exists (YES in step S24), the development device 100 executes the instruction to generate the robot program 176 specified as an argument. , the end effect profile 170, and the source object and target object, a process for generating the robot program 176 is executed (step S26). That is, the development apparatus 100 generates the robot program 176 for controlling the robot associated with the end effect profile 170 based on the end effect profile 170 and the equipment layout.

The development apparatus 100 then determines whether execution of the simulation script 172 has been completed (step S28). If the execution of the simulation script 172 has not been completed (NO in step S28), the processes from step S16 onwards are repeated.

If execution of the simulation script 172 has been completed (YES in step S28), the process ends.

FIG. 13 is a flowchart showing the processing procedure for generating the robot program 176 shown in FIG. 12. Referring to FIG. 13, the development device 100 refers to the equipment layout 166, starts from the specified target object, sequentially traces parent elements (parent objects), and searches up to the root object (step S100). The position and orientation (local coordinate system) of each found parent object are recorded (step S102). Then, the development device 100 sequentially vector adds the recorded coordinate values (position and orientation in the local coordinate system) of each parent object to the coordinate values (position and orientation in the world coordinate system) of the root object. Then, coordinate values (position and orientation) of the target object in the world coordinate system are calculated (step S104).

Similarly, the development device 100 refers to the equipment layout 166, starts from the robot object corresponding to the specified source object, sequentially traces parent elements (parent objects), and searches up to the root object (step S106). , the coordinate values (position and orientation in the local coordinate system) of each found parent object are recorded (step S108). Then, the development device 100 sequentially adds the recorded position and orientation (local coordinate system) of each parent object to the coordinate values (position and orientation in the world coordinate system) of the root object, thereby creating the robot object. The coordinate values (position and orientation) in the world coordinate system are calculated (step S110).

Next, the development apparatus 100 calculates the coordinate values of the target object in the robot base coordinate system by vector subtracting the coordinate values of the robot object in the world coordinate system from the coordinate values of the target object in the world coordinate system ( Step S112). That is, the calculated coordinate values (position and orientation) of the robot object in the world coordinate system correspond to the coordinate values (position and orientation) of the origin of the robot base coordinate system in the world coordinate system. Therefore, by vector subtraction between the target object and the robot object, coordinate values in the robot base coordinate system defined with the robot object as a reference can be calculated.

Finally, the development device 100 adds the coordinate value of the target object in the robot base coordinate system to each coordinate value (position and orientation) described in the path list, thereby adding the coordinate value to the robot program 176. Coordinate values (position and orientation) in the robot base coordinate system to be included are calculated (step S114). Note that if any coordinate value is specified as the TCP offset, the development apparatus 100 adds the TCP offset as a vector in addition to the coordinate value of the target object in the robot base coordinate system.

The development apparatus 100 then outputs the robot program 176 including the calculated coordinate values (position and orientation) in the robot base coordinate system (step S116).

Note that the process shown in FIG. 13 may be executed multiple times by executing one operation sequence 168, and in that case, after the execution of operation sequence 168 is completed, the robot base coordinate system calculated by each execution is A robot program 176 including coordinate values at , respectively, may be output.

<E: Code example>
Next, an example of code generated by development apparatus 100 according to this embodiment will be described.

FIG. 14 is a diagram showing an example of code generated by development apparatus 100 according to this embodiment. FIG. 14(A) shows a code example of the simulation script 172, and FIG. 14(B) shows a code example of the robot program 176.

The simulation script 172 shown in FIG. 14(A) defines a screw tightening process as process "34". The simulation script 172 includes an instruction description 1720 for screw tightening processing.

Instruction description 1720 includes instruction description 1722 that specifies a source object, instruction description 1724 that specifies a target object, and instruction description 1726 that specifies end effect profile 170.

The simulation script 172 also includes an instruction description 1728 that specifies a process for generating the robot program 176 when the screw tightening process is completed.

The robot program 176 shown in FIG. 14(B) is generated by executing the instruction description 1728 shown in FIG. 14(A). The robot program 176 includes an instruction description 1760 that specifies a group of coordinate values in the robot base coordinate system, and an instruction description 1762 for controlling the robot by referring to the instruction description 1760.

In this way, the development apparatus 100 can execute a simulation in a virtual space and generate a robot program corresponding to the simulation.

<F. Additional notes>
This embodiment as described above includes the following technical idea.

[Configuration 1]
a first generation unit (150) that generates an equipment layout (166) that defines one or more equipment modules arranged in the virtual space according to a user operation;
a second generation unit (152) that generates an operation sequence (168) that defines an operation of an equipment module included in the equipment layout according to a user operation;
a third generation unit (154) that generates an end effect profile (170) associated with the operation sequence according to a user operation, the end effect profile having a target object placed in the virtual space as a reference; It defines the behavior of a source object attached to the tip of a robot object placed in the virtual space,
A development device comprising a fourth generation unit (160) that generates a robot program (176) for controlling a robot associated with the end effect profile, based on the end effect profile and the equipment layout.

[Configuration 2]
The configuration further includes a simulator (158) that simulates the operation of the one or more equipment modules in the virtual space based on the equipment layout, the operation sequence, and the end effect profile, and outputs a result of the simulation. The development device described in 1.

[Configuration 3]
The development device according to configuration 1 or 2, wherein the end effect profile includes a list (260) defining ordered coordinate values that the source object should pass.

[Configuration 4]
The development device according to configuration 3, wherein in the list of the end effect profiles, a selected mode (264, 266) from among modes that can be set for the source object is defined in association with the coordinate values.

[Configuration 5]
The development apparatus according to any one of configurations 1 to 4, wherein the end effect profile includes a designation (258) of an offset of the source object from a robot tip position of a robot associated with the end effect profile.

[Configuration 6]
The fourth generation unit refers to the equipment layout to calculate coordinate values of the target object in the world coordinate system, and calculates coordinate values of the robot object in the world coordinate system, thereby generating the robot object. The development device according to any one of configurations 1 to 5, which calculates coordinate values in a robot base coordinate system defined with an object as a reference.

[Configuration 7]
The fourth generation unit generates the robot program corresponding to the end effect profile based on a vector difference between the coordinate value of the target object in the world coordinate system and the coordinate value of the robot object in the world coordinate system. The development device according to configuration 6, which generates.

[Configuration 8]
A development program (130) that runs a computer (100),
a first generation unit (150) that generates an equipment layout (166) that defines one or more equipment modules arranged in the virtual space according to a user operation;
a second generation unit (152) that generates an operation sequence (168) that defines an operation of an equipment module included in the equipment layout according to a user operation;
It functions as a third generation unit (154) that generates an end effect profile (170) associated with the operation sequence according to a user operation, and the end effect profile is based on a target object placed in the virtual space. It defines the behavior of a source object attached to the tip of the robot object placed in the virtual space, and further controls the robot associated with the end effect profile based on the end effect profile and the equipment layout. A development program that functions as a fourth generation unit (160) that generates a robot program (176) for

[Configuration 9]
An information processing method executed by a computer (100), comprising:
a step (S2) of generating an equipment layout (166) that defines one or more equipment modules arranged in the virtual space according to a user operation;
a step (S4) of generating an operation sequence (168) that defines the operation of equipment modules included in the equipment layout according to user operations;
a step (S6) of generating an end effect profile (170) associated with the operation sequence according to a user operation, wherein the end effect profile is generated based on a target object placed in the virtual space, It defines the behavior of the source object attached to the tip of the robot object placed in
An information processing method comprising a step (S26) of generating a robot program (176) for controlling a robot associated with the end effect profile, based on the end effect profile and the equipment layout.

<G. Advantages>
In general robot programming, the motion of the robot is defined, for example, by specifying the path of the robot tip position (TCP) using absolute coordinates or relative coordinates from the current position. In contrast, in this embodiment, the robot's motion is defined by using information for specifying the target object placed in the virtual space and information for specifying the end effect profile. . If the user changes the placement position of the equipment module and the robot's operation at the design stage, the absolute coordinates of the robot and/or the target object (workpiece) will change, but according to the definition method of this embodiment, Even if such absolute coordinates change, simulation can be performed appropriately and robot programs can be generated.

The embodiments disclosed this time should be considered to be illustrative in all respects and not restrictive. The scope of the present invention is indicated by the claims rather than the above description, and it is intended that all changes within the meaning and range equivalent to the claims are included.

100 development device, 102 processor, 104 main memory, 106 input unit, 108 display unit, 110 USB controller, 112 network controller, 114 optical drive, 116 recording medium, 118 bus, 120 storage, 122 OS, 130 development program, 150 equipment Layout generation unit, 152 Operation sequence generation unit, 154 End effect profile generation unit, 156 Simulation script generation unit, 158 Simulator, 160 Robot program generation unit, 162 Equipment module library, 164 End effect library, 166 Equipment layout, 168 Operation sequence, 170 End effect profile, 172 Simulation script, 174 End effect profile code, 176 Robot program, 178 Product BOP, 200 Dialog, 202 Display name, 204, 206, 252, 254, 256 Combo box, 208 Button, 250A, 250B, 250C User interface screen, 258,260 Table, 262 Add button, 264,266 Mode column, 270 Virtual space display, 272 Source object, 274 Target object, 276 Local coordinate system, 1620 Equipment module, 1660 Cell mount object, 1661 Robot pedestal object , 1662 Robot object, 1663 Robot hand origin, 1664 Axial force sensor, 1665 Electric screwdriver, 1666 Screw, 1667 Work stage object, 1668 Work holder object, 1669 Screw hole work object, 1680, 1681, 1682, 1683, 1684, 1685 , 1686, 1687 lane, 1688 data object, 1689 process function block, 1720, 1722, 1724, 1726, 1728, 1760, 1762 instruction description.

Claims (9)

a first generation unit that generates an equipment layout that defines one or more equipment modules arranged in a virtual space according to a user operation;
a second generation unit that generates an operation sequence that defines the operation of the equipment module included in the equipment layout according to a user operation;
a third generation unit that generates an end effect profile associated with the operation sequence according to a user operation, the end effect profile is arranged in the virtual space with reference to a target object arranged in the virtual space. It defines the behavior of the source object attached to the tip of the robot object.
A development device comprising: a fourth generation unit that generates a robot program for controlling a robot associated with the end effect profile, based on the end effect profile and the equipment layout. 2. The method according to claim 1, further comprising a simulator that simulates the operation of the one or more equipment modules in the virtual space based on the equipment layout, the operation sequence, and the end effect profile, and outputs a result of the simulation. Development equipment described. 2. The development apparatus according to claim 1, wherein the end effect profile includes an ordered list defining coordinate values through which the source object should pass. 4. The development apparatus according to claim 3, wherein in the list of the end effect profiles, a selected mode from among modes that can be set for the source object is defined in association with the coordinate values. 5. The development apparatus according to claim 1, wherein the end effect profile includes a designation of an offset of the source object from a robot tip position of a robot associated with the end effect profile. The fourth generation unit refers to the equipment layout to calculate coordinate values of the target object in the world coordinate system, and calculates coordinate values of the robot object in the world coordinate system, thereby generating the robot object. 5. The development device according to claim 1, which calculates coordinate values in a robot base coordinate system defined with an object as a reference. The fourth generation unit generates the robot program corresponding to the end effect profile based on a vector difference between the coordinate value of the target object in the world coordinate system and the coordinate value of the robot object in the world coordinate system. The development device according to claim 6, which generates the development device. A development program that runs a computer,
a first generation unit that generates an equipment layout that defines one or more equipment modules arranged in a virtual space according to a user operation;
a second generation unit that generates an operation sequence that defines the operation of the equipment module included in the equipment layout according to a user operation;
The third generation unit is configured to function as a third generation unit that generates an end effect profile associated with the operation sequence according to a user operation, and the end effect profile is arranged in the virtual space with reference to a target object arranged in the virtual space. and further includes a robot program for controlling the robot associated with the end effect profile based on the end effect profile and the equipment layout. A development program that functions as a fourth generating section. An information processing method performed by a computer, the method comprising:
generating an equipment layout that defines one or more equipment modules arranged in the virtual space according to a user operation;
generating an operation sequence that defines the operation of equipment modules included in the equipment layout according to user operations;
generating an end effect profile associated with the operation sequence according to a user operation, wherein the end effect profile is generated based on a target object placed in the virtual space, and a robot object placed in the virtual space. It defines the behavior of the source object attached to the tip of the
An information processing method comprising the step of generating, based on the end effect profile and the equipment layout, a robot program for controlling a robot associated with the end effect profile.

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