JP5446992B2 - Robot control signal output device - Google Patents

Description

  The present invention relates to a robot control signal output device that outputs a control signal to a robot, a simulator, or the like. Specifically, the present invention relates to a robot control signal output device that outputs a signal to each output terminal according to a program.

A robot control signal output device that outputs a robot control signal to each output terminal according to a program is known. By connecting the output terminal to the robot, the robot can be operated by the program. Further, by connecting the output terminal to a simulator or the like, it is possible to simulate the robot operation by the program.
Generally, a robot control signal output device has input means, buffer means, and signal output means. The input means receives an input of a program that defines an output timing of a signal output to each output terminal. The buffer means reads each output timing defined in the inputted program. Since the storage capacity of the buffer means is small, the buffer means reads the most recent output timing among the output timings defined in the program. The signal output means outputs a signal to the output terminal according to the output timing read into the buffer means. When the signal is output at all the output timings read into the buffer means, the output timing is newly read into the buffer means. The signal output means again outputs a signal according to the output timing read into the buffer means. Thus, a signal is output to each output terminal according to the program.

Japanese Patent Laid-Open No. 2003-077855

In the robot control signal output device described above, when output of signals at all output timings read into the buffer means is completed, new output timing is read into the buffer means. In this method, there is a case where it is necessary to read the output timing to the buffer means at the timing at which the signal needs to be frequently output. In this case, since it is necessary to read the output timing to the buffer means and read the output timing from the buffer means in a short time, the load on the buffer means becomes excessive. For this reason, there has been a problem that the timing at which a signal is actually output is delayed from the output timing defined by the program.
Patent Document 1 discloses a technique for distributing a load of a CPU or the like. With reference to this technology, it is conceivable to prevent delays in signal output by increasing the number of CPUs and buffer means or improving performance. However, in this case, there is a problem that the robot control signal output device becomes large or expensive.

  The present invention was created in view of the above-described circumstances, and provides a robot control signal output device that can prevent delay in signal output timing without increasing the number of components or improving performance. Objective.

  In the robot control signal output device according to the first aspect, the read timing data creating means creates read timing data for instructing the timing (read timing) for reading each output timing into the buffer means. At this time, the read timing data creating means sets the read timing within a non-output period in which there is no output timing for a certain time or more in the program. Therefore, the timing for reading the output timing into the buffer means does not overlap with a period in which the output timing is continuous. Since the reading timing of the output timing is set in this way, it is possible to prevent an excessive load from being applied to the buffer means. Therefore, in the robot control signal output device according to the first aspect, it is possible to prevent a delay in signal output timing.

  In the robot control signal output device according to claim 2, when a program defining the output timing is input, before the reading of the output timing to the buffer means is started, all the output timing reading timings defined in the program are read. It is determined. That is, prior to starting reading the output timing to the buffer means, all read timings are determined in advance. For this reason, the calculation for determining the read timing is not performed during signal output, and the load during signal output is further reduced.

  According to the robot control signal output device of the third aspect, a necessary number of output timings can be read into the buffer means within the non-output period. That is, when the non-output period is sufficiently long, the output timing corresponding to the free capacity of the buffer means at that time can be read into the buffer means. Further, when the non-output period is not so long, the number of output timings that can be read during the non-output period can be read into the buffer means.

  5. The robot control signal output device according to claim 4, wherein the output timing is continuously present at a time interval equal to or less than the predetermined time, and all the outputs that are continuously present in the non-output period before the continuous period. When the reading timing of the timing cannot be set (that is, when the reading timing needs to be set but there is no non-output period), the reading timing data creation means is at least one that exists within the continuous period. One output timing is shifted forward or backward to generate a non-output period. Then, the read timing is set within the generated non-output period. Therefore, even when the output timing is continuous, the output timing can be appropriately read into the buffer means.

  In the robot control signal output device according to the fifth aspect, the read timing data creating means shifts the output timing within an allowable error range of the output timing of the signal output from the robot control signal output device. For this reason, although the output timing is shifted, a signal can be output at substantially the same timing as that defined by the original program.

1 is a block diagram of a robot control signal output device 10. FIG. 7 is a flowchart showing processing executed by the robot control signal output device 10; 3 is a graph showing an example of a time chart input to the robot control signal output device 10. The flowchart which shows the detail of step S6. 3 is a graph showing an example of a time chart input to the robot control signal output device 10. Graph showing the read period P11 ₂ changing the read period P11 of a time chart of FIG. 3 is a graph showing an example of a time chart input to the robot control signal output device 10. The graph which shows the expanded reading period P20. FIG. 6 is a graph showing a reading period P11 _{3 in} which the reading period P11 of the time chart of FIG. 5 is changed.

  A robot control signal output device according to an embodiment will be described. FIG. 1 is a block diagram showing a schematic configuration of the robot control signal output device 10. The robot control signal output device 10 includes an external connection interface 12, a storage device 14, a control device 16, a buffer 18, and an output interface 20.

The external connection interface 12 can be connected to an external device such as a data reading device such as an optical media drive or a FLASH memory drive, or a storage device such as a hard disk. Various data are input to the robot control signal output device 10 from an external device connected to the external connection interface 12.
The storage device 14 includes a ROM, a RAM, and the like, and can store various data. The storage device 14 stores a signal output program and the like.
The buffer 18 is configured by a storage device such as a RAM. The buffer 18 stores the output timing of the signal.
The output interface 20 has a plurality of terminals 22. Each terminal 22 is connected to an actuator of the robot. A robot control signal for controlling the operation of the robot is output to each terminal 22.
The control device 16 is configured by a CPU or the like and executes various calculations. The control device 16 is connected to the external connection interface 12, the storage device 14, the buffer 18, and the output interface 20. The control device 16 controls these devices.

  First, an outline of the operation of the robot control signal output device 10 will be described. The robot control signal output device 10 executes the process shown in the flowchart of FIG. 2 by executing the signal output program stored in the storage device 14. As shown in step S <b> 2 of FIG. 2, a time chart program is input to the robot control signal output device 10. The time chart program is input from the outside through the external connection interface 12. The time chart program is a program that defines the output timing of the signal output to each terminal 22. When receiving the input of the time chart program, the robot control signal output device 10 extracts the output timing data indicating the signal output timing from the time chart program (step S4). Then, reproduction data is created based on the extracted output timing data (step S6). The reproduction data is data defining a read timing for reading the output timing data into the buffer 18. When the user performs a signal output instruction operation after the reproduction data is created, the robot control signal output device 10 outputs a signal to each terminal 22 according to the reproduction data (step S8). That is, the output timing data is read into the buffer 18 in accordance with the read timing defined in the reproduction data, and a signal is output to each terminal 22 in accordance with the output timing data read into the buffer 18. With these signals, the actuator of the robot connected to each terminal 22 can be operated.

  Next, the detailed operation of the robot control signal output device 10 will be described. The robot control signal output device 10 outputs a signal to each of a large number of terminals 22, but in the following description, it will be assumed that signals are output to the two terminals 22a and 22b for easy understanding. When the user performs a predetermined operation using an input device (not shown), the control device 16 executes the processing shown in the flowchart of FIG.

In step S2, the control device 16 waits for input of a time chart program. The time chart program is input to the control device 16 via the external connection interface 12.
The time chart program is data for instructing signals to be output to the terminals 22a and 22b, for example. FIG. 3 is a graph illustrating command values of signals defined by the time chart program. A pulse S22a in FIG. 3 indicates a command value of a signal output to the terminal 22a, and a pulse S22b indicates a command value of a signal output to the terminal 22b. As shown in FIG. 3, the pulses S22a and S22b change between a signal “0” and a signal “1”. Timings t1 to t12 in FIG. 3 indicate signal output timings to the terminal 22a or 22b. For example, the timing t1 indicates the output timing of the signal “1” to the terminal 22a (that is, the timing at which the pulse S22a is switched from the signal “0” to the signal “1”), and the timing t2 is the timing to the terminal 22a. The output timing of the signal “0” (that is, the timing at which the pulse S22a is switched from the signal “1” to the signal “0”) is defined.

Upon receiving the input of the time chart program, the control device 16 extracts signal output timing data from the pulses S22a and S22b in step S4 of FIG. 2, and sorts them in order of time. For example, in the example of FIG. 3, the output timing data is extracted as follows.
t1 (S22a = 1), t2 (S22a = 0), t3 (S22b = 1), t4 (S22a = 1, S22b = 0), t5 (S22a = 0, S22b = 1), t6 (S22b = 0), t7 (S22a = 1)...
As described above, the output timing data includes the output timing, the pulse name (that is, the name that identifies the signal output target terminal 22), and the value of the output signal (that is, “0” or “1”). (In the output timing data, the parentheses indicate the pulse name and the value of the output signal). Hereinafter, output timing data and output timing may be described using the same reference numbers.

  When the output timing data is extracted, the control device 16 creates reproduction data in step S6 of FIG. The reproduction data is data defining the read timing for reading each output timing data into the buffer 18. In the reproduction data creation process in step S6, the control device 16 executes the flowchart shown in FIG.

In step S20 of FIG. 4, the control device 16 sets a reading period based on the output timing data extracted in step S4. The reading period is a period for reading the output timing data into the buffer 18. As will be described later, the read timing for each output timing data is set within the read period. In step S20, the reading period is set in a period in which there is no output timing immediately before the earliest output timing among the output timings for which the reading timing has not yet been set. That is, the period between the earliest output timing among the output timings for which the read timing is not set and the immediately preceding output timing is set as the read period.
In step S22, the control device 16 determines whether or not the reading period set in step S20 is longer than the time required to read one output timing data into the buffer 18 (hereinafter referred to as the minimum time). When the reading period is equal to or shorter than the minimum time, the control device 16 executes step S34 after adjusting the reading period in steps S24 to S30. When the reading period is longer than the minimum time, the control device 16 skips steps S24 to S30 and executes step S34.
In step S34, the control device 16 sets the reading timing of the output timing data having the output timing immediately after the reading period within the reading period. In step S34, the control device 16 determines the number of output timing data for setting the reading timing within the reading period, based on the free space of the buffer 18 and the length of the reading period. That is, if the read period is sufficiently long, the control device 16 sets the read timing of the output timing data corresponding to the free capacity of the buffer 18 within the read period, and the read period even if the free capacity of the buffer 18 exists. If is not so long, the reading timing of the number of output timing data corresponding to the length of the reading period is set within the reading period.
When step S34 ends, the control device 16 determines whether or not the read timing has been set for all output timing data in step S36. If the read timing is not set for all output timing data, the processing from step S20 is executed again. The control device 16 repeatedly executes the processing of steps S20 to S36, and sets the reading timing of all output timing data in order from the earlier time zone. Thereby, the data for reproduction is completed.

A specific example of the processing in steps S20 to S36 will be described. When the time chart program shown in FIG. 3 is input, in the first step S20, the control device 16 sets the period immediately before the first output timing t1 as the reading period P1. Since there is no output timing before the first output timing t1, a sufficiently long reading period P1 can be set. Therefore, the control device 16 determines YES in Step S22 and executes Step S34.
In step S34, the control device 16 sets the reading timing of the output timing data immediately after the reading period P1 within the reading period P1. At this time, since the reading period P1 is sufficiently long, the control device 16 sets the reading timing of the output timing data corresponding to the free capacity of the buffer 18 within the reading period P1. In the present embodiment, the maximum number of output timing data that can be read by the buffer 18 is five. Since the reading period P1 is the first reading period, the buffer 18 is empty at the start of the reading period P1. Therefore, the buffer 18 at this time has a free capacity for five pieces of output timing data. Therefore, the control device 16 sets the reading timing of the five output timing data t1 to t5 immediately after the reading period P1 within the reading period P1 (in FIG. 3, the output in which the reading timing is set within the reading period). Timing data is indicated by a character string “READ =”). Thereafter, the control device 16 determines NO in Step S36 and executes Step S20 again.

In the second step S20, the control device 16 determines the period immediately before the earliest output timing t6 (that is, the period between the output timing t5 and the output timing t6) among the output timings for which the read timing has not yet been set. Set as the reading period P2. Since the reading period P2 is longer than the minimum time, the control device 16 determines YES in Step S22 and executes Step S34.
In step S34, the control device 16 sets the reading timing of the output timing data immediately after the reading period P2 within the reading period P2. Here, since the length of the reading period P2 is such a length that four output timing data can be read, the control device 16 sets the reading timing of the four output timing data t6 to t9 within the reading period P2. .

  As described above, the control device 16 repeatedly executes steps S20 to S36. Thus, the reading periods are sequentially set as in the reading period P3 in FIG. 3, and the reading timing of the output timing data is set within each reading period.

FIG. 5 shows a reading period P11 (a period between the output timing t45 and the output timing t46) set in step S20 after the reading timing of the output timing data t41 to t45 is set within the reading period P10. ing. In this case, the reading period P11 is extremely short and shorter than the minimum time. Therefore, the control device 16 determines NO in Step S22 and executes Step S24.
In step S24, the control device 16 decreases the number of output timing data for which the read timing is set within the read period (hereinafter referred to as the previous read period) set in the previous step S20. The reading period set in S20 (hereinafter referred to as the target reading period) is changed. In the example of FIG. 5, the read timings of the five output timing data t41 to t45 are set within the previous read period P10. Therefore, the control device 16 decreases the number of output timing data whose reading timing is set within the reading period P10 by one. That is, the output timing data t45 is excluded from the output timing data for which the reading timing is set within the reading period P10. Thus, the read period P11 of the target, as shown in FIG. 6, is changed to read period P11 _2.
Next, in step S26, the control device 16 determines whether or not the newly set reading period is longer than the minimum time. When the newly set reading period is longer than the minimum time, the control device 16 executes Step S34. Therefore, the read timing is set within the newly set read period. In the example of FIG. 6, since the read period P11 ₂ is longer than the minimum time, controller 16 sets the timing for reading the output timing data t45~t47 the reading period P11 in ₂ in step S34.
If the newly set read period is equal to or shorter than the shortest time, the control device 16 determines whether or not the number of output timing data read in the previous read period is one in step S28. If the number of output timing data read in the previous reading period is two or more, step S24 is executed again to further decrease the number of output timing data read in the previous reading period by one. This further changes the target reading period. The processes in steps S24 to S28 are repeated until the target reading period becomes longer than the shortest time or until the number of output timing data read in the previous reading period becomes one.

If the target read period does not become longer than the minimum time even if the number of output timing data read in the previous read period is reduced to 1 in step S24, YES is determined in step S28. In this case, step S30 is performed.
In step S30, the control device 16 first restores the number of output timing data for which the read timing is set within the previous read period. That is, the target reading period is returned to the original reading period (that is, the reading period set in step S20).
Next, the control device 16 expands the target reading period. For example, as shown in FIG. 7, the read timing of the output timing data t81 to t85 is set in the previous read period P19, and the target read period P20 (the period between the output timing t85 and the output timing t86) is set. When the time is equal to or shorter than the minimum time, the reading period P20 is extended back and forth to make the reading period P20 longer than the minimum time. When the reading period P20 is expanded, the reading period P20 overlaps with the output timings t85 and t86. Next, the control device 16 shifts the output timing overlapping with the enlarged reading period before or after the reading period. The output period that existed before the read period before enlargement is shifted to the front side of the read period after enlargement, and the output period that existed after the read period before enlargement appears after the read period after enlargement. Shifted to. For example, in the example of FIG. 7, after the reading period P20 is expanded, as shown in FIG. 8, the output timing t85 is shifted to the front side, and the output timing t86 is shifted to the rear side. This eliminates the overlap between the reading period P20 and the output timings t85 and t86. The output timing is shifted within a range of accuracy required for the robot control signal output device 10 (accuracy of signal output timing). That is, there is a certain allowable error in the accuracy of the signal output timing required by the user. The control device 16 shifts the output timing within the allowable error range. Therefore, the signal after the shift is a signal substantially equivalent to the signal before the shift. Thereafter, step S34 is executed, and the reading timing is set within the enlarged reading period.

  As described above, by repeatedly executing Steps S20 to S36, reproduction data defining the read timing for reading each output timing data into the buffer is generated.

  When the reproduction data is generated, the control device 16 waits for user input. When a signal output start instruction is input from the user by an input device (not shown), the control device 16 executes step S8 of FIG. In step S8, the control device 16 outputs a signal to the terminals 22a and 22b in accordance with the reproduction data created in step S6. More specifically, the corresponding output timing data is read into the buffer 18 when the read timing specified by the reproduction data is reached. Thereafter, when the output timing indicated by the output timing data read into the buffer 18 is reached, the control device 16 outputs the corresponding signal to the corresponding terminal 22a or 22b. When a signal is output, output timing data corresponding to the output signal is erased from the buffer 18. Reading of output timing data to the buffer 18 according to the reproduction data and output of signals according to the output timing data read into the buffer 18 are repeatedly executed. Accordingly, signals are output to the terminals 22a and 22b in accordance with the input time chart program.

  As described above, in the robot control signal output device 10, the read timing of all output timing data is determined before the execution of step S8 (that is, before the signal is output). For this reason, it is not necessary to calculate the read timing of output timing data during signal output, and the load during signal output is reduced. Further, in the robot control signal output device 10, the reading timing to the buffer 18 is set so as not to overlap the output timing. More specifically, a reading period is set within a non-output period (a period in which there is no output timing for a time longer than the minimum time required to read one output timing data into the buffer 18), and within that reading period The timing for reading the output timing data is set in. That is, the timing for reading the output timing data into the buffer 18 does not overlap with the timing for outputting the signal to the terminal 22. Therefore, a signal can be output without delaying the output timing.

  In the above-described embodiment, the terminal 22 is connected to the actuator of the robot. However, the terminal 22 may be connected to a simulator that simulates the operation of the robot. Even with such a configuration, the robot operation can be confirmed by the robot control signal output device.

In step S24 of the embodiment, the number of output timing data read during the previous reading period is decreased to change the target reading period. However, the target reading period may be changed without reducing the number of output timing data read in the previous reading period. For example, in the case of FIG. 5, as shown in FIG. 9, without changing the output timing data t41~t45 read before the read period within P10, to change the period P11 ₃ reads the read period P10 of the target Also good. In this case, there remains the output timing data t45 in the buffer 18 at the first stage of the reading period P11 _3. It is possible to read the read period P11 ₃ in three output timing data 46～T48, so that the four output timing data t45~t48 are read into the buffer 18 when the reading period P11 ₃ is completed. Therefore, the output timing data can be read into the buffer 18 earlier than in the case of FIG.

  In the above-described embodiment, the process of setting the reading period and setting the reading timing within the reading period is performed in order from the beginning. However, all the non-output periods may be extracted first, and the read timing may be set in order from the beginning within the extracted non-output period. As described above, the reading timing may be set by any method as long as the reading timing can be set within the non-output period where there is no output timing.

Specific examples of the present invention have been described in detail above, but these are merely examples and do not limit the scope of the claims. The technology described in the claims includes various modifications and changes of the specific examples illustrated above.
The technical elements described in this specification or the drawings exhibit technical usefulness alone or in various combinations, and are not limited to the combinations described in the claims at the time of filing. In addition, the technology illustrated in the present specification or the drawings achieves a plurality of objects at the same time, and has technical utility by achieving one of the objects.

10: Robot control signal output device 12: External connection interface 14: Storage device 16: Control device 18: Buffer 20: Output interface 22: Terminal

Claims (5)

A robot control signal output device that has a plurality of output terminals and outputs a signal for robot control to each output terminal according to a program,
Input means for receiving an input of a program that defines the output timing of the signal to each output terminal;
Read timing data creating means for creating read timing data for instructing the read timing of each output timing based on the input program;
Buffer means for reading the output timing according to the read timing data;
Signal output means for outputting a signal to each output terminal in accordance with the output timing read into the buffer means;
Have
A robot control signal output device, wherein the read timing data creating means sets the read timing within a non-output period in which no output timing exists for a certain time or more in the program.   The read timing data creating means creates read timing data for instructing the read timing of all output timings defined in the program before the buffer means starts reading the output timing. The robot control signal output device according to 1.   3. The read timing data creation means sets the read timing of the number of output timings corresponding to the length of the non-output period and the free capacity of the buffer means within the non-output period. The robot control signal output device described.   The output timing specified in the program is continuously present at a time interval equal to or less than the predetermined time, and all the output timing reading timings continuously present in the non-output period before the continuous period are read timings. If it cannot be set, the read timing data creation means generates a non-output period by shifting at least one output timing existing within the continuous period before or after, and sets the read timing within the generated non-output period. The robot control signal output device according to claim 3, wherein the robot control signal output device is set.   5. The robot control signal output device according to claim 4, wherein the read timing data creating means shifts the output timing within an allowable error range of the output timing of the signal output by the robot control signal output device.

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