JP6883392B2 - Robot system - Google Patents

Description

The present invention relates to a robot system, a teaching data generation system, and a teaching data generation method.

A robot teaching device has been conventionally known (see, for example, Patent Document 1).

The teaching device of this robot includes a teach pendant and a control unit of the robot to which the teach pendant is connected. As a result, teaching (teaching) to the robot can be performed using the teach pendant.

Japanese Unexamined Patent Publication No. 2013-132728

However, the teaching work using the robot teaching device described in Patent Document 1 needs to be performed by a skilled worker who is proficient in the operation method of the robot by operating the robot, and it takes time to train the workers. There was a problem.

In order to solve the above problems, the robot system according to a certain aspect of the present invention is a robot system including a robot and a teaching data generation system that generates teaching data that defines an operation mode of the robot, and is the teaching. The data generation system specifies an operation mode of the detection object based on a detection unit that detects the operation of the detection object located in a predetermined work space and the operation of the detection object detected by the detection unit. The operation mode specifying unit includes a teaching data generation unit that generates the teaching data based on the operation mode of the detection target object specified by the operation mode specifying unit.

According to this configuration, teaching data can be created based on the operation of the detection object detected by the detection unit. Therefore, it is not necessary for a skilled worker who is proficient in the operation method of the robot to operate the robot when creating the teaching data of the robot, and the teaching data can be generated easily and quickly.

The robot may be installed in the predetermined work space.

According to this configuration, the work of the worker in the predetermined work space can be replaced.

The robot is a robot that controls the operation of a robot arm, a hand attached to the tip of the robot arm, a robot arm drive unit that drives the robot arm to move the hand, and a robot arm drive unit. The operation mode specifying unit includes a control unit, the operation mode specifying unit identifies an operation locus of the detection object based on the displacement of the detection object detected by the detection unit, and the teaching data generation unit identifies the operation locus. The teaching data that defines the operation mode of the robot arm with respect to the robot control unit may be generated based on the operation locus of the detection object specified by the mode specifying unit.

According to this configuration, it is possible to generate teaching data for the robot arm based on the displacement of the detection object detected by the detection unit.

The detection target may be a predetermined part of the body of the worker located in the predetermined work space.

According to this configuration, it is possible to generate teaching data for the robot arm based on the movement of the body part of the worker detected by the detection unit.

The predetermined part of the worker's body may be the worker's hand.

According to this configuration, it is possible to generate teaching data for the robot arm based on the movement of the operator's hand detected by the detection unit.

The robot includes a pair of robot arms, the predetermined parts of the worker are first parts and second parts of the worker's body, and the teaching data generation part includes the operation mode specifying part. Based on the identified operation locus of the first part, the first teaching data that defines the operation mode of one of the pair of robot arms with respect to the robot control unit is generated, and the operation mode specifying unit generates the first teaching data. Based on the specified operation locus of the second part, the second teaching data that defines the operation mode of the other robot arm of the pair of robot arms with respect to the robot control unit may be generated.

According to this configuration, it is possible to collectively create teaching data for each of the pair of robot arms of the robot based on the movements of the first part and the second part of the worker's body detected by the detection unit. Therefore, it is possible to easily and quickly generate teaching data related to the teaching of a complicated motion by combining a pair of robot arms.

The detection unit includes a vision sensor that captures the predetermined work space, and the operation mode specifying unit captures the operation loci of the first portion and the second portion based on the image data captured by the vision sensor. Each may be specified.

According to this configuration, it is possible to easily and quickly generate teaching data of a robot that operates a pair of highly accurate robot arms.

A first marker having a predetermined pattern is attached to the first part, a second marker having a pattern different from the pattern related to the first marker is attached to the second part, and the operation mode specifying part is the vision. The operation locus of the first part is specified based on the displacement of the first marker included in the image data captured by the sensor, and based on the displacement of the second marker included in the image data captured by the vision sensor. The operation locus of the second portion may be specified.

According to this configuration, the movements of the first part and the second part of the worker's body can be accurately identified.

The detection unit includes a first gyro sensor attached to the first portion to detect the displacement of the first portion, and a second gyro sensor attached to the second portion to detect the displacement of the second portion. , The operation mode specifying unit corrects the operation locus of the first part specified by the operation mode specifying unit based on the displacement of the first part detected by the first gyro sensor, and said. Based on the displacement of the second portion detected by the second gyro sensor, the operation locus of the second portion specified by the operation mode specifying unit may be corrected.

According to this configuration, it is possible to detect the displacement of the worker's body part at the position where the vision sensor becomes a blind spot, and it is possible to more accurately identify the displacement of the worker's body part. In addition, even if the vision sensor fails, the displacement of the worker's body part can be detected based on the displacement of the worker's body part detected by the gyro sensor, and the reliability of the teaching data generation system can be detected. Can be improved.

The first part may be the worker's right hand, and the second part may be the worker's left hand.

According to this configuration, it is possible to collectively create teaching data for each of the pair of robot arms of the robot based on the movements of both hands, which are highly similar to the robot arm.

The teaching data generation system is a straight line connecting an operation locus dividing unit that divides the operation locus of the detection object specified by the operation mode specifying unit into one or more sections and a start point and an end point of the operation locus of each of the sections. Alternatively, the teaching data generation unit further includes an approximate locus calculation unit that calculates an approximate curve and calculates an approximate locus that approximates the motion locus of the detection object based on the straight line or the approximate curve. Based on the approximate locus, the teaching data that defines the operation mode of the robot arm with respect to the robot control unit may be generated.

According to this configuration, it is possible to remove movements such as tremors that the operator does not intend from the movements of the robot related to the teaching data, and it is possible to generate teaching data related to the movements suitable for the movements of the robot. In addition, the amount of teaching data can be reduced, and the arithmetic processing load of the teaching data generation system can be reduced.

The robot control unit may control the operation of the robot arm drive unit so that the hand moves on the approximate trajectory based on the teaching data.

According to this configuration, the robot arm can be operated based on the teaching data related to the operation suitable for the robot.

The approximate locus calculation unit calculates the maximum moving speed or acceleration of the detection target object for each section, and as the maximum moving speed or acceleration decreases, the straight line or the approximate curve is ordered N (N). May be expressed by an N-th order expression in which (an integer of 1 or more) is large.

According to this configuration, the required accuracy for work can be determined based on the maximum moving speed or acceleration of the body part of the worker, and the approximate locus can be calculated based on the determined required accuracy.

The teaching data generation system further includes an input device for inputting information, and the approximate trajectory calculation unit changes the order of the straight line or the approximate curve of each section according to the input from the input device. You may.

According to this configuration, it is possible to easily and quickly edit the approximate locus according to the required accuracy.

The teaching data generation system further includes a first image generation unit that generates a first image and a first display device that displays the first image, and the first image is the approximate locus of each of the sections. Information on the boundary position, the maximum moving speed of each of the sections, or the acceleration may be included.

According to this configuration, the approximate locus, the boundary position of each section, the maximum moving speed or the acceleration of each section can be easily confirmed, and the approximate locus can be easily and quickly edited according to the required accuracy.

The teaching data generation system is installed toward the predetermined work space, and is attached to a camera that captures the operation of the detection object located in the predetermined work space and the teaching data generated by the teaching data generation unit. Based on this, a motion simulation image generation unit that generates a motion simulation image that virtually represents the motion mode of a robot operating in the predetermined work space captured by the camera, an image captured by the camera, and a motion simulation image. A second image generation unit that generates a second image in which the two images are superimposed, and a second display device that displays the second image may be further provided.

According to this configuration, the teaching data can be easily and quickly corrected.

The teaching data generation system executes teaching work in which a specific start instruction for starting the identification of the operation mode of the detection object and a specific end instruction for ending the specification of the operation mode of the detection object are located in the predetermined work space. The operation mode acquisition start / end instruction unit for input by a person is provided, and the operation mode identification unit operates the detection object based on the specific start instruction input to the operation mode acquisition start / end instruction unit. The specification of the mode may be started, and the specification of the operation mode of the detection target may be completed based on the specific end instruction input to the operation mode acquisition start / end instruction unit.

According to this configuration, the teaching work practitioner himself inputs a specific start instruction at the start of work in the work space, causes the operation mode specifying unit to start specifying the operation mode, and then performs the work related to the teaching. When the work related to the teaching is completed, the specific end instruction can be input in the work space to end the operation mode specification unit in the operation mode specification unit. Therefore, it is possible to have the operation mode specifying unit specify only the operation mode related to the work related to the teaching.

In order to solve the above problems, the teaching data generation system according to a certain aspect of the present invention is a teaching data generation system that generates teaching data that defines the operation mode of the robot, and is a detection object located in a predetermined work space. A detection unit that detects the movement of the detection object, an operation mode specifying unit that specifies the operation mode of the detection target object based on the operation of the detection target object detected by the detection unit, and the operation mode specifying unit that specifies the operation mode specifying unit. It includes a teaching data generation unit that generates the teaching data based on the operation mode of the detection target object.

According to this configuration, teaching data can be created based on the operation of the detection object detected by the detection unit. Therefore, it is not necessary for a skilled worker who is proficient in the operation method of the robot to operate the robot when creating the teaching data of the robot, and the creation of the teaching data can be easily and quickly generated.

In order to solve the above problems, the teaching data generation method according to a certain aspect of the present invention is a teaching data generation method for generating teaching data that defines an operation mode of a robot, and is a detection object located in a predetermined work space. A step of detecting the movement of the detection target, a step of specifying the movement locus of the detection target based on the movement of the detection target, and a step of dividing the movement locus of the detection target into one or more sections. The step of calculating a straight line or an approximate curve connecting the start point and the end point of the operation locus of the section, and calculating an approximate locus that approximates the operation locus of the detection object based on the straight line or the approximate curve, and the approximation. It includes a step of generating the teaching data based on the locus.

According to this configuration, teaching data can be created based on the operation of the detection object detected by the detection unit. Therefore, it is not necessary for a skilled worker who is proficient in the operation method of the robot to operate the robot when creating the teaching data of the robot, and the creation of the teaching data can be easily and quickly generated.

The present invention has the effect that teaching data can be easily and quickly generated.

It is a top view which shows the structural example of the robot system which concerns on Embodiment 1 of this invention. It is a front view which shows the configuration example of the robot of the robot system of FIG. It is a block diagram which shows schematic structure example of the control system of the robot system of FIG. It is a top view which shows the structural example of the detection part and the tool of the robot system of FIG. It is a figure which shows the operation mode of the worker specified by the operation mode specifying part of the robot system of FIG. It is a figure which shows the structural example of the degree determination table stored in the storage part of the robot system of FIG. It is a figure which shows the structural example of the 1st image generated by the 1st image generation part of the robot system of FIG. It is a figure which shows the structural example of the 1st image generated by the 1st image generation part of the robot system of FIG. It is a figure which shows the structural example of the motion simulation image generated by the motion simulation image generation part of the robot system of FIG. 1 and the 2nd image generated by the 2nd image generation part. It is a flowchart which shows the operation example of the teaching data generation system of the robot system of FIG. It is a top view which shows the structural example of the detection part of the robot system which concerns on Embodiment 2 of this invention. It is a top view which shows the structural example of the robot system which concerns on Embodiment 3 of this invention. It is a block diagram which shows schematic structure example of the control system of the robot system which concerns on Embodiment 4 of this invention.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. The present invention is not limited to the present embodiment. Further, in the following, the same or corresponding elements are designated by the same reference numerals throughout all the figures, and the duplicated description thereof will be omitted.

(Embodiment 1)
FIG. 1 is a plan view showing a configuration example of the robot system 100 according to the first embodiment of the present invention.

As shown in FIG. 1, the robot system 100 can perform a predetermined work performed by the worker A in a predetermined work space B of the production line in place of the worker A, for example. In the present embodiment, work spaces B for performing similar work are lined up in a row in the extending direction of the conveyor 120 on the production line, and the robot system 100 substitutes a predetermined work in any work space B. It is configured so that it can be done. Then, in the work space B, for example, the work W1 is picked up from the conveyor 120, the work W2 is attached to the work W1, and then the work W2 is returned to the conveyor 120 again.

The robot system 100 includes a robot 1 and a teaching data generation system 40.

[Robot configuration example]
FIG. 2 is a front view showing a configuration example of the robot 1 of the robot system 100.

As shown in FIG. 2, the robot 1 includes a robot main body 10 and a robot control unit 30.

The robot body 10 is, for example, a horizontal articulated dual-arm robot including a pair of robot arms. However, the robot arm is not limited to this, and the robot arm may be a vertical articulated robot arm.

The robot body 10 includes a trolley 12 configured to be movable, a first robot arm 13A and a second robot arm 13B supported by the trolley 12, and a first hand 14A connected to the tip of the first robot arm 13A. , The second hand 14B connected to the tip of the second robot arm 13B, the first robot arm driving unit 15A for driving the joint of the first robot arm 13A to move the first hand 14A, and the second robot arm 13B. A second robot arm drive unit 15B that drives a joint to move the second hand 14B, a first hand drive unit 16A that drives the first hand 14A, and a second hand drive unit 16B that drives the second hand 14B. including. The first robot arm 13A and the second robot arm 13B can operate independently of each other or in relation to each other.

In the following, when the first robot arm 13A and the second robot arm 13B are not distinguished, they may be simply referred to as the robot arm 13. Further, when the first hand 14A and the second hand 14B are not distinguished, it may be simply referred to as the hand 14. Further, when the first robot arm drive unit 15A and the second robot arm drive unit 15B are not distinguished, it may be simply referred to as the robot arm drive unit 15. Further, when the first hand drive unit 16A and the second hand drive unit 16B are not distinguished, it may be simply referred to as the hand drive unit 16.

The robot control unit 30 is housed in the carriage 12 and controls the operations of the robot arm drive unit 15 and the hand drive unit 16.

[Configuration example of teaching data generation system]
FIG. 3 is a block diagram schematically showing a configuration example of a control system of the robot system 100.

The teaching data generation system 40 is a system that generates teaching data that defines the operation mode of the robot 1. As shown in FIG. 3, the teaching data generation system 40 includes a control device 48, a detection unit 43, an input device 44, and a display device 45 (first display device, second display device).

FIG. 4 is a plan view showing a configuration example of the detection unit 43 and the tool 111.

The detection unit 43 detects the operation of the detection object located in the predetermined work space B. More specifically, the detection unit 43 detects the displacement of a predetermined body part of the worker. More specifically, the detection unit 43 detects the displacement of the right hand (first part) and the left hand (second part) of the worker. The detection unit 43 includes a vision sensor 71, a first gyro sensor 72b of the right-hand glove 72, and a second gyro sensor 73b of the left-hand glove 73.

The vision sensor (camera) 71 is arranged in the vicinity of the work space B in which the worker A is located. Then, the vision sensor 71 has an image sensor and captures an image related to the time-dependent change of the work space B, that is, a moving image. Further, the vision sensor 71 is communicably connected to the control device 48, and transmits information related to the captured moving image to the control device 48 (see FIG. 3).

As shown in FIG. 4, the right-handed glove 72 and the left-handed glove 73 are gloves worn on the right and left hands of the operator, respectively.

The right hand glove 72 includes a first marker 72a and a first gyro sensor 72b (see FIG. 3). The first marker 72a is a predetermined pattern attached to the surface of the instep of the right-handed glove 72, and is, for example, a pattern related to a figure mainly having a rectangle attached to the center of the instep of the right-handed glove 72. The first gyro sensor 72b is a gyro sensor that detects displacement, and is built in the glove 72 for the right hand.

The left hand glove 73 includes a second marker 73a and a second gyro sensor 73b (see FIG. 3). The second marker 73a is a predetermined pattern attached to the surface of the instep of the left-handed glove 73, and is, for example, a pattern related to a circular figure mainly attached to the center of the instep of the left-handed glove 73. The second gyro sensor 73b is a gyro sensor that detects displacement, and is built in the left hand glove 73. As described above, the first marker 72a and the second marker 73a are configured to have different patterns from each other.

Further, the right-handed glove 72 includes a third marker 72c, and the left-handed glove 73 includes a fourth marker 73c. The third marker 72c and the fourth marker 73c are patterns relating to a plurality of parallel lines extending in a direction crossing the back of the fingers of the right-hand glove 72 and the left-hand glove 73, respectively. The patterns relating to the plurality of lines are attached at predetermined intervals.

As shown in FIG. 3, the first gyro sensor 72b and the second gyro sensor 73b are communicably connected to the control device 48 and transmit the detected displacement to the control device 48.

The input device 44 is a device for inputting information, for example, a device such as a keyboard and a mouse. The input device 44 is communicably connected to the control device 48 and transmits the input information to the control device 48.

The display device 45 is communicably connected to the control device 48, receives a signal output from the control device 48, and displays an image based on the received signal. The display device 45 is, for example, a liquid crystal display device. The display device 45 displays the first image 81 and the second image 84, which will be described later.

The control device 48 includes a control unit 41 and a storage unit 42. The control device 48 may be configured by a single controller that performs centralized control, or may be configured by a plurality of controllers that perform distributed control.

The control unit 41 is composed of, for example, a microcontroller, a CPU, an MPU, a logic circuit, a PLC, and the like.

The control unit 41 operates the operation mode specifying unit 61, the operation locus dividing unit 62, the approximate locus calculation unit 63, the teaching data generation unit 64, the first image generation unit 65, the second image generation unit 66, and the operation. Includes a simulation image generation unit 67. The operation mode specifying unit 61, the operation locus dividing unit 62, the approximate locus calculation unit 63, the teaching data generation unit 64, the first image generation unit 65, the second image generation unit 66, and the operation simulation image generation unit 67 are stored in the storage unit 42. It is a functional block realized by the arithmetic unit executing a stored predetermined control program.

FIG. 5 is a diagram showing a configuration example of the operation mode of the worker A specified by the operation mode specifying unit 61 and the approximate locus generated by the approximate locus calculation unit 63.

The operation mode specifying unit 61 specifies the operation mode of the detection target object based on the operation of the detection target object detected by the detection unit 43. For example, the operation mode specifying unit 61 specifies the operation locus of each of the hands based on the displacement of both hands of the worker A detected by the detection unit 43.

That is, as shown in FIG. 5, the operation mode specifying unit 61 analyzes the image data captured by the vision sensor 71, and the operation of the right hand of the operator A based on the displacement of the first marker 72a included in the image data. Identify the locus T. Further, the operation mode specifying unit 61 identifies the operation locus of the left hand of the worker A based on the displacement of the second marker 73a included in the image data captured by the vision sensor 71. As described above, since the right-hand glove 72 and the left-hand glove 73 are configured in different patterns, the right hand and the left hand of the operator can be identified based on these markers.

Then, the operation mode specifying unit 61 specifies the operation locus of each of the hands as the position coordinates of the specified hand at each minute time interval. That is, the motion mode specifying unit 61 expresses the motion trajectories of both hands as a set of data groups observed and measured over time at discrete points. Further, the motion mode specifying unit 61 expresses the motion trajectories of both hands using the same time axis.

Further, the operation mode specifying unit 61 performs the movement of the worker A's hand such as bending and stretching of the left and right fingers based on the third marker 72c and the fourth marker 73c included in the image data captured by the vision sensor 71. Identify. That is, when the worker A bends the fingertip, the line of the fingertip moves from the back of the hand to the palm side and is hidden, and the distance between the plurality of lines seen from the vision sensor 71 changes. The operation mode specifying unit 61 identifies the movement of the worker A's hand based on the changes in the patterns of the third marker 72c and the fourth marker 73c included in the image data captured by the vision sensor 71.

Further, the operation mode specifying unit 61 is the operation mode specifying unit 61 of the worker A specified by the operation mode specifying unit 61 based on the image captured by the vision sensor 71 based on the displacement of the right hand of the worker A detected by the first gyro sensor 72b. The motion trajectory T of the right hand is corrected. Further, the operation mode specifying unit 61 is the operation mode specifying unit 61 of the worker A specified by the operation mode specifying unit 61 based on the image captured by the vision sensor 71 based on the displacement of the left hand of the worker A detected by the second gyro sensor 73b. Correct the movement trajectory of the left hand.

Further, the marker 111a may be attached to the tool 111 used by the operator A. Then, the operation mode specifying unit 61 may specify the operation mode in which the worker A uses the tool 111 based on the displacement of the marker 111a included in the image data captured by the vision sensor 71.

The operation locus dividing unit 62 divides the operation locus of the detection target object specified by the operation mode specifying unit 61 into one or more sections. For example, the operation locus dividing unit 62 divides each operation locus of both hands of the worker A specified by the operation mode specifying unit 61 into one or more sections.

That is, as shown in FIG. 5, the motion locus dividing unit 62 divides the motion locus of the worker's hand into a plurality of sections, for example, at predetermined time intervals.

FIG. 6 is a diagram showing a configuration example of the order determination table.

The approximate locus calculation unit 63 calculates a straight line or an approximate curve connecting the start point and the end point of the operation locus of each section divided by the operation locus dividing unit 62. Further, an approximate locus that approximates the motion locus of the worker A's hand is calculated based on a straight line or an approximate curve connecting the start point and the end point of the motion locus of each section calculated.

That is, the approximate locus calculation unit 63 calculates the maximum moving speed of the hand of the operator A based on the operation locus specified by the operation mode specifying unit 61 for each section divided by the operation locus dividing unit 62. Then, for example, referring to the order determination table shown in FIG. 6, each section is ranked in a plurality of stages according to the maximum moving speed. Then, for each section, a straight line or an approximate curve expressed by an Nth-order equation (N is an integer of 1 or more) connecting the start point and the end point of the operation locus is calculated. The order of the N-order equation is defined according to the rank, and the order is defined to decrease from the rank with the highest maximum moving speed to the rank with the lower maximum moving speed. That is, as the maximum moving speed of the worker's hand decreases, the degree of approximation of the approximate locus with respect to the motion locus increases. Normally, when the worker A is performing a work that requires high accuracy, he / she slowly moves his / her hand to proceed with the work carefully, so that the moving speed of the hand becomes slow. Therefore, in the section where high accuracy is required, the degree of approximation of the approximate locus with respect to the motion locus is high.

In the present embodiment, the maximum moving speed of the worker A's hand is calculated based on the movement locus specified by the operation mode specifying unit 61, and as the calculated maximum moving speed of the worker's hand becomes lower, It is configured so that the degree of approximation of the approximate trajectory with respect to the motion trajectory is high, but the present invention is not limited to this. Instead of this, the acceleration of the hand of the worker A is calculated based on the movement locus specified by the movement mode specifying unit 61, and as the calculated acceleration of the hand of the worker becomes lower, the approximate locus Ta with respect to the movement locus T is calculated. It may be configured so that the degree of approximation is high.

The teaching data generation unit 64 generates teaching data based on the operation mode of the detection target object specified by the operation mode specifying unit 61. For example, the teaching data generation unit 64 generates teaching data that defines the operation modes of the first robot arm 13A and the second robot arm 13B with respect to the robot control unit 30 based on the approximate locus calculated by the approximate locus calculation unit 63. .. The teaching data includes angular displacement information of the joint of the robot arm 13 for moving the hand 14 along the approximate trajectory.

7A and 7B are diagrams showing a configuration example of the first image 81 generated by the first image generation unit 65.

As shown in FIGS. 7A and 7B, the first image generation unit 65 generates the first image 81 including information related to the approximate locus, the boundary position of each section, and the acceleration of each section.

FIG. 8 is a diagram showing a configuration example of a motion simulation image 83 generated by the motion simulation image generation unit 67 and a second image 84 generated by the second image generation unit 66.

As shown in FIG. 8, the motion simulation image generation unit 67 describes the operation mode of the robot 1 that operates in the predetermined work space B photographed from the vision sensor 71 based on the teaching data generated by the teaching data generation unit 64. Generate a virtual motion simulation image. The approximate locus Ta may be represented in the motion simulation image generation unit 67.

The second image generation unit 66 generates a second image 84 in which the actual image 82 captured by the vision sensor 71 and the motion simulation image 83 are superimposed. In the second image 84, for example, the motion simulation image 83 is represented as a transparent image, and is configured so that the real image 82 and the motion simulation image 83 can be visually recognized at the same time. Further, the second image generation unit 66 is configured to display the operating state of the worker A in the actual image 82 and the operating state of the robot body 10 in the motion simulation image 83 in synchronization with each other. As a result, it is possible to easily confirm the state in which the work of the worker A is replaced by the robot main body 10, and it is possible to easily find a malfunction in operation.

The storage unit 42 has a memory such as a ROM and a RAM. Predetermined programs are stored in the storage unit 42, and various processes are performed by the control unit 41 reading and executing these programs. Further, the storage unit 42 stores the order determination table shown in FIG.

[Operation example related to automatic creation of teaching data]
Next, an operation example related to automatic creation of teaching data of the teaching data generation system 40 will be described.

FIG. 9 is a flowchart showing an operation example of the teaching data generation system 40.

First, as shown in FIG. 9, in step S10, the vision sensor 71 photographs the work space B in which the worker A is located, teaches the photographed image data (moving image data), and controls the control device 48 of the data generation system 40. Send to. The control unit 41 of the control device 48 stores the received image data in the storage unit 42.

Next, in step S20, the first gyro sensor 72b and the second gyro sensor 73b transmit the detected information regarding the displacement of the right hand and the left hand of the worker A to the control device 48 of the teaching data generation system 40. The control unit 41 of the control device 48 stores the received information related to the displacement in the storage unit 42.

Next, in step S30, the operation mode specifying unit 61 of the teaching data generation system 40 analyzes the image data stored in the storage unit 42, and the worker A is based on the displacement of the first marker 72a included in the image. The motion mode of the right hand, that is, the motion locus T of the right hand is specified. Similarly, the motion mode specifying unit 61 identifies the motion mode of the left hand of the worker A, that is, the motion locus of the left hand, based on the displacement of the second marker 73a included in the image.

Next, in step S40, the operation mode specifying unit 61 is specified by the operation mode specifying unit 61 based on the information related to the displacement of the right hand of the worker A detected by the first gyro sensor 72b stored in the storage unit 42. The motion locus T of the right hand of the worker is corrected. Similarly, the operation mode specifying unit 61 is the worker A specified by the operation mode specifying unit 61 based on the information related to the displacement of the left hand of the worker A detected by the second gyro sensor 73b stored in the storage unit 42. Correct the movement trajectory of the left hand of. Then, the operation mode specifying unit 61 stores the data related to the specified right-hand and left-hand operation loci in the storage unit 42.

As described above, since the patterns of the first marker 72a and the second marker 73a are different from each other, the movements of both hands can be accurately identified based on the image data captured by the vision sensor 71. ..

In addition to the displacement of the markers (first marker 72a or second marker 73a) included in the image captured by the vision sensor 71, the operation mode specifying unit 61 includes gyro sensors (first gyro sensor 72b and second gyro sensor 73b). ) Is configured to identify the motion trajectory of the worker's hand based on the detected displacement. As a result, it is possible to detect the displacement of the worker's hand at a position that becomes a blind spot of the vision sensor 71, for example, one hand is covered by the other hand, and the movement trajectory of the worker's hand can be specified more accurately. can do. Further, even if the vision sensor 71 fails, the motion trajectory of the worker's hand can be specified based on the displacement of the worker's hand detected by the gyro sensor, improving the reliability of the teaching data generation system. Can be made to.

Further, the operation mode specifying unit 61 performs the movement of the worker A's hand such as bending and stretching of the left and right fingers based on the third marker 72c and the fourth marker 73c included in the image data captured by the vision sensor 71. It may be specified. Further, the operation mode specifying unit 61 may specify the operation mode in which the worker A uses the tool 111 based on the marker 111a attached to the tool 111.

As described above, the operation mode specifying unit 61 expresses the operation loci of both hands using the same time axis. Thereby, the operation mode specifying unit 61 can specify the relative positional relationship between both hands.

In this way, the movement modes of both hands of the operator A can be collectively specified based on the first marker 72a and the second marker 73a included in the image captured by the vision sensor 71.

Next, in step S50, the motion locus dividing unit 62 divides the motion locus T of the right hand of the worker A into two sections s1 and s2. Similarly, the motion locus dividing unit 62 divides the motion locus of the left hand of the worker A into two sections (not shown).

Next, in step S60, the approximate locus calculation unit 63 calculates the maximum moving speed of the right hand of the worker A for each of the sections s1 and s2 of the right hand of the worker A. Similarly, the approximate locus calculation unit 63 calculates the maximum moving speed of the left hand of the worker A for each of the two sections (not shown) of the motion locus of the left hand of the worker A.

Next, in step S70, as shown in FIG. 6, the approximate locus calculation unit 63 refers to the order determination table and ranks the right-hand sections s1 and s2 of the worker A according to the maximum movement speed. To do. For example, when the maximum moving speed of the right hand of the worker A in the section s1 is a speed exceeding the speed a2, the approximate locus calculation unit 63 classifies the section s1 into rank C. Further, when the maximum moving speed of the right hand of the worker A in the section s2 exceeds a1 and is equal to or less than a2, the approximate trajectory calculation unit 63 classifies the section s2 into rank B. Similarly, the approximate locus calculation unit 63 ranks each of the two sections on the left hand side of the worker A according to the maximum moving speed.

Next, in step S80, the approximate locus calculation unit 63 determines the order of the Nth-order equation according to the rank for each of the sections s1 and s2 on the right hand side of the worker A. For example, the approximate locus calculation unit 63 determines that the section s1 has an order 1 according to the rank C of the section s1, and determines that the section s2 has an order 2 according to the rank B of the section s2. Similarly, the approximate locus calculation unit 63 determines the order of the Nth-order equation according to the rank for each of the two sections on the left hand of the worker A.

Next, in step S90, the approximate locus calculation unit 63 expresses each section s1 and s2 of the right hand of the worker A by an Nth-order equation (N is an integer of 1 or more) connecting the start point and the end point of the operation locus. Calculate the straight line or approximate curve to be created. For example, the approximate trajectory calculation unit 63 calculates a straight line expressed by a linear expression for the section s1 and calculates an approximate curve expressed by a quadratic expression for the section s2. As described above, as the maximum moving speed of the worker's hand decreases, the degree of approximation of the approximate locus Ta with respect to the motion locus T increases (the order N of the Nth-order equation increases), so that it is high. In the section where accuracy is required, the degree of approximation of the approximate locus Ta with respect to the motion locus T is high. Similarly, the approximate locus calculation unit 63 calculates a straight line or an approximate curve expressed by an Nth-order equation connecting the start point and the end point of the motion locus for each of the two sections on the right hand of the worker A.

Next, in step S100, the approximate locus calculation unit 63 approximates the operation locus T based on a straight line or an approximate curve connecting the start point and the end point of the operation locus of the calculated sections s1 and s2 of the worker A's right hand. The approximate locus Ta is calculated. Similarly, the approximate locus calculation unit 63 calculates an approximate locus that approximates the motion locus based on a straight line or an approximate curve connecting the start point and the end point of the motion locus of the two sections calculated by the left hand of the worker A. The approximate locus calculation unit 63 stores the calculated approximate locus in the storage unit 42.

Next, in step S110, the teaching data generation unit 64 is the first with respect to the robot control unit 30 based on the approximate locus Ta of the right hand of the worker A calculated by the approximate locus calculation unit 63 and stored in the storage unit 42. The first teaching data that defines the operation mode of the robot arm 13A is generated. Similarly, the teaching data generation unit 64 operates the second robot arm 13B with respect to the robot control unit 30 based on the approximate locus of the left hand of the worker A calculated by the approximate locus calculation unit 63 and stored in the storage unit 42. Generate second teaching data that defines aspects. Then, the teaching data generation unit 64 stores the generated first teaching data and the second teaching data in the storage unit 42.

As described above, the teaching data generation system 40 collectively defines the operation mode of the first robot arm 13A of the robot 1 based on the movements of both hands of the operator included in the image captured by the vision sensor 71. Data and second teaching data that define the operation mode of the second robot arm 13B can be created. Therefore, for example, it is easy and quick to create teaching data that defines a complicated operation mode in which a pair of robot arms are combined, such as a work in which the first hand 14A and the second hand 14B collaborate to pinch and carry a work. Can be generated in.

Further, the control unit 41 of the teaching data generation system 40 defines the operation mode of the robot arm (first robot arm 13A and second robot arm 13B) based on the operation locus of the worker A specified by the operation mode specifying unit 61. When generating the teaching data (first teaching data and the second teaching data) to be performed, the required accuracy for the work is determined based on the maximum movement speed of the hand of the worker A, and the operation of the worker A according to the required accuracy. It is configured to calculate the approximate trajectory of the trajectory. Therefore, it is possible to remove unintended movements such as tremors of the operator A from the movement modes related to the teaching data, and it is possible to generate teaching data related to the movements suitable for the movements of the robot. In addition, the amount of teaching data can be reduced, and the arithmetic processing load of the teaching data generation system 40 can be reduced. The approximate locus calculated by the control unit 41 is not limited to the above configuration. For example, the control unit 41 has a zigzag-shaped line in which the distance from the operation locus of the worker A specified by the operation mode specifying unit 61 falls within a predetermined value, that is, a line in which each section is represented by a straight line (linear expression). May be calculated and this line may be used as an approximate locus.

Further, since the vision sensor 71 is configured to create teaching data based on the captured image, it is not necessary to directly operate the robot 1 when creating the teaching data, and the teaching data does not exist even in a situation where the robot does not exist. Can be generated.

[Operation example when confirming the approximate trajectory]
Next, an operation example when confirming the approximate locus of the first robot arm 13A of the teaching data generation system 40 will be described.

First, the first image generation unit 65 of the teaching data generation system 40 generates the first image 81 as shown in FIG. 7A. The first image generation unit 65 superimposes the operation locus T and the approximate locus Ta calculated by the approximate locus calculation unit 63 on the first image 81. Further, the first image generation unit 65 superimposes the start point of the section s1, the boundary position of the section s1 and the section s2, and the end point of the section s2 as circular symbols on the operation locus T and the approximate locus Ta. Further, the first image generation unit 65 represents the maximum moving speed V1 of the section s1 in the display area A11 near the section s1, and the rank of the section s1 in the display area A12 below the display area A11. Further, the first image generation unit 65 represents the maximum moving speed V2 of the section s2 in the display area A21 in the vicinity of the section s2, and represents the rank of the section s2 in the display area A22 below the display area A21. In the present embodiment, the first image generation unit 65 displays an arrow extending from the areas A11 and A12 toward the section s1 and an arrow extending from the areas A21 and A22 toward the section s2, and displays the section s1 and the area. The correspondence between A11 and A12 and the correspondence between the section s2 and the areas A21 and A22 are clarified.

The display areas A12 and A22 are pull-down menus, and in the initial state, the first image generation unit 65 displays the ranks classified by the approximate trajectory calculation unit 63. Then, as shown in FIG. 7B, when the teaching work practitioner selects another rank from the pull-down menu using the input device 44, the first image generation unit 65 displays the changed rank. Further, the approximate locus calculation unit 63 calculates the approximate locus according to the changed rank, and the first image generation unit 65 updates the approximate locus related to the original rank to the newly calculated approximate locus and displays it. To do.

In this way, the teaching work practitioner can easily confirm the relationship of the displayed information using the first image 81, and based on this information, it is easy to edit the approximate trajectory according to the required accuracy. And it can be done quickly.

[Operation example when confirming teaching data]
Next, an operation example in the case of performing confirmation work of the first teaching data that defines the operation mode of the first robot arm 13A of the teaching data generation system 40 and the second teaching data that defines the operation mode of the second robot arm 13B. Will be explained.

First, as shown in FIG. 8, the motion simulation image generation unit 67 of the teaching data generation system 40 generates the motion simulation image 83. The motion simulation image 83 is an image that virtually represents the motion mode of the robot 1 operating in the work space B based on the first teaching data and the second teaching data generated by the teaching data generation unit 64. In the motion simulation image 83, the motion mode of the first robot arm 13A and the motion mode of the second robot arm 13B are displayed at the same time, and it is possible to confirm the mode in which the first robot arm 13A and the second robot arm 13B operate in cooperation with each other. It has become. Further, the motion simulation image 83 shows the approximate trajectory Ta.

Next, the second image generation unit 66 of the teaching data generation system 40 generates the second image 84. The second image 84 is an image obtained by superimposing the actual image 82 captured by the vision sensor 71 and the motion simulation image 83. In the second image 84, for example, the motion simulation image 83 is represented as a transparent image, and the real image 82 and the motion simulation image 83 can be visually recognized at the same time. Further, the operating state of the worker A in the actual image 82 and the operating state of the robot body 10 in the motion simulation image 83 are configured to be displayed in synchronization with each other. That is, in the second image 84, a state in which the robot main body 10 operates while maintaining the state in which the first hand 14A and the second hand 14B are located at the positions of both hands of the worker A is displayed. Therefore, it is possible to easily confirm the state in which the work of the worker A is replaced by the robot main body 10. Thereby, for example, a defect such as interference between the robot arm 13 and an obstacle can be easily found, and the teaching data can be easily and quickly corrected. Further, since the approximate locus Ta is represented in the second image 84 based on the motion simulation image 83, the operating state of the robot body 10 can be confirmed more easily. In the second image 84, in addition to the approximate locus Ta, the information represented in the first image 81, that is, the motion locus T, the start point, the end point and the boundary position of each section, and the information related to the maximum moving speed and the rank. May be displayed. Thereby, the teaching data can be edited more easily.

[Robot operation example]
When the work of creating the first teaching data and the second teaching data, which are automatically created as described above and edited as necessary, is completed, these teaching data are transmitted to the robot control unit 30 of the robot 1. The robot control unit 30 controls the first robot arm drive unit 15A based on the received first teaching data, and operates the first robot arm 13A. Further, the robot control unit 30 controls the second robot arm drive unit 15B based on the received second teaching data to operate the second robot arm 13B. As a result, the first robot arm 13A and the second robot arm 13B operate in cooperation with each other. Therefore, cooperative work such as work of supporting and transporting the work by the first robot arm 13A and the second robot arm 13B can be performed.

As described above, the teaching data generation system 40 of the robot system 100 of the present invention can create teaching data based on the operation mode of the operator included in the image captured by the vision sensor 71. Therefore, it is not necessary for a skilled worker who is proficient in the operation method of the robot 1 to operate the robot 1 when creating the teaching data of the robot 1, and the teaching data can be easily and quickly generated.

(Embodiment 2)
FIG. 10 is a plan view showing a configuration example of a detection unit of the robot system according to the second embodiment.

In the first embodiment, the movement of the worker A's hand such as bending and stretching of the left and right fingers is specified based on the third marker 72c and the fourth marker 73c included in the image data captured by the vision sensor 71. It is configured to do, but is not limited to this. Instead, for example, as shown in FIG. 10, the right-hand glove 272 has a first finger posture detection unit 272c that detects the posture of each finger of the worker's right hand, and the left-hand glove 273 is the worker's. It may have a second finger posture detection unit 273c that detects the posture of each finger of the left hand. The first finger posture detection unit 272c and the second finger posture detection unit 273c are communicably connected to the control device 48, and are configured to transmit the detected corresponding finger posture of the hand to the control device 48. May be good.

(Embodiment 3)
FIG. 11 is a plan view showing a configuration example of the robot system according to the third embodiment.

In the first embodiment, teaching data defining the operation mode of the first robot arm 13A is generated based on the movement of the right hand of the worker A, and the operation mode of the second robot arm 13B is determined based on the movement of the left hand. Generated teaching data to specify, but is not limited to this. Instead, as shown in FIG. 11, teaching data that defines the operation mode of the robot arm of the first robot 301 is generated based on the movement of the right hand of the worker A, and the second is based on the movement of the left hand. The teaching data that defines the operation mode of the robot arm of the robot 302 may be generated.

(Embodiment 4)
FIG. 12 is a block diagram schematically showing a configuration example of a control system of the robot system according to the fourth embodiment.

In the present embodiment, the teaching data generation system 40 of the robot system 400 further includes a data acquisition start / end instruction input unit 446 in addition to the embodiment illustrated in the first embodiment.

The data acquisition start / end instruction input unit 446 is, for example, a device for inputting a specific start instruction for starting the identification of the operation mode of the detection object and a specific end instruction for ending the specification of the operation mode of the detection object. .. The data acquisition start / end instruction input unit 446 is configured so that the operator can input the specific start instruction and the specific end instruction in the work space B. Further, the data acquisition start / end instruction input unit 446 is communicably connected to the control device 48, and transmits the input specific start instruction and the information related to the specific end instruction to the control device 48. The data acquisition start / end instruction input unit 446 is, for example, a foot pedal installed at the foot of the worker A located in the work space B, and the data acquisition start / end instruction input unit 446 is depressed. Is detected, a stepping detection signal is transmitted to the control device 48.

In the present embodiment, the operation mode specifying unit 461 is configured as follows. That is, when the control device 48 receives the stepping detection signal from the data acquisition start / end instruction input unit 446 while the operation mode specifying unit 461 has not performed the operation mode specifying process, the operation mode specifying unit 461 starts specifying the operation mode. It is determined that the instruction has been input, and the detection unit 43 starts specifying the operation mode of the detection object based on the operation of the detection object. Further, when the control device 48 receives the stepping detection signal from the data acquisition start / end instruction input unit 446 while the operation mode specifying unit 461 is performing the operation mode specifying process, the operation mode specifying unit 461 is specified to end. It is determined that the instruction has been input, and the identification of the operation mode of the detection object based on the operation of the detection object detected by the detection unit 43 ends. Since the configuration of the other operation mode specifying unit 461 is the same as that of the operation mode specifying unit 61 of the first embodiment, the description thereof will be omitted.

Therefore, the teaching work practitioner can input a specific start instruction to the data acquisition start / end instruction input unit 446 by depressing the foot pedal of the data acquisition start / end instruction input unit 446 at the start of the work in the work space B. The teaching data generation system 40 can start the generation of the teaching data. After that, when the work related to the teaching is completed, the teaching work performer identifies the data acquisition start / end instruction input unit 446 by depressing the foot pedal of the data acquisition start / end instruction input unit 446 again in the work space B. An end instruction can be input, and the instruction data generation system 40 can end the generation of the instruction data. Therefore, the operation mode specifying unit 61 can specify only the operation mode related to the work related to the teaching. For example, the teaching work performer himself performs the work in the work space B as the worker A and generates the teaching data. It can be performed.

The configuration for inputting the specific start instruction and the specific end instruction is not limited to the above. Instead of this, the specific start instruction and the specific end instruction may be input by voice. That is, the data acquisition start / end instruction input unit 446 may be a microphone. Then, the operation mode specifying unit 461 sends a signal related to the voice "start" from the data acquisition start / end instruction input unit 446 in a state where the operation mode specifying unit 461 has not performed the operation mode specifying process. Upon receiving the data, the operation mode specifying unit 461 may determine that the specific start instruction has been input, and may start specifying the operation mode of the detection target based on the movement of the detection target detected by the detection unit 43. Further, when the control device 48 receives a signal related to the voice "end" from the data acquisition start / end instruction input unit 446 while the operation mode specifying unit 461 is performing the operation mode specifying process, the operation mode specifying unit 461 may determine that the specific end instruction has been input, and may end the specification of the operation mode of the detection object based on the operation of the detection object detected by the detection unit 43.

<Modification example>
In the first embodiment, the teaching data that defines the operation mode of the robot 1 is generated based on the movement of the hand of the worker A, but the present invention is not limited to this. Instead of this, for example, teaching data that defines the operation mode of the robot 1 may be generated based on the movement of the legs. In addition, teaching data that defines the operation mode of the robot 1 may be generated based on the displacement of the work moved by the worker A.

Further, the motion mode specifying unit 61 specifies a motion mode related to the hand movement related to bending and stretching of the worker's hand based on the third marker 72c and the fourth marker 73c, and the robot 1 is based on the specified motion mode. Teaching data that defines the operation mode of the hand drive unit 16 may be generated.

From the above description, many improvements and other embodiments of the present invention will be apparent to those skilled in the art. Therefore, the above description should be construed as an example only and is provided for the purpose of teaching those skilled in the art the best aspects of carrying out the present invention. The details of its structure and / or function can be substantially changed without departing from the spirit of the present invention.

A Worker T Motion locus Ta Approximate locus 1 Robot 10 Robot body 13 Robot arm 15 Robot arm drive unit 30 Robot control unit 40 Teaching data generation system 61 Operation mode specification unit 62 Operation locus division unit 63 Approximate locus calculation unit 64 Teaching data generation Part 100 Robot system

Claims (4)

A robot arm, a hand attached to the tip of the robot arm, a robot arm drive unit that drives the robot arm to move the hand, and a robot control unit that controls the operation of the robot arm drive unit. With robots, including
A robot system including a teaching data generation system that generates teaching data that defines an operation mode of the robot.
The teaching data generation system is
A detection unit that detects the movement of a detection object located in a predetermined work space,
An operation mode specifying unit that specifies an operation locus of the detection object based on the displacement of the detection object detected by the detection unit.
An operation locus dividing unit that divides the operation locus of the detection object specified by the operation mode specifying unit into one or more sections, and an operation locus dividing unit.
An approximate locus calculation unit that calculates a straight line or an approximate curve connecting the start point and the end point of the operation locus of each of the sections, and calculates an approximate locus that approximates the operation locus of the detection object based on the straight line or the approximate curve. When,
A teaching data generation unit that generates the teaching data that defines an operation mode of the robot arm with respect to the robot control unit based on the approximate locus.
The approximate trajectory calculation unit calculates the maximum moving speed or acceleration of the detection target object for each section, and as the maximum moving speed or acceleration decreases, the straight line or the approximate curve is ordered N (N). Is an integer of 1 or more) is a large N-th order expression, which is a robot system. The teaching data generation system is
Further comprising an input equipment for inputting information,
The robot system according to claim 1 , wherein the approximate trajectory calculation unit changes the order of the straight line or the approximate curve of each section in response to an input from the input device. The teaching data generation system further includes a first image generation unit that generates a first image and a first display device that displays the first image.
The robot system according to claim 2 , wherein the first image includes information related to the approximate locus, the boundary position of each section, the maximum moving speed of each section, or the acceleration. With a robot
A robot system including a teaching data generation system that generates teaching data that defines an operation mode of the robot.
The teaching data generation system is
A detection unit that detects the movement of a detection object located in a predetermined work space,
Based on the operation of the detection object detected by the detection unit, the operation mode specifying unit that specifies the operation mode of the detection object, and the operation mode specifying unit.
A teaching data generation unit that generates the teaching data based on the operation mode of the detection object specified by the operation mode specifying unit.
A camera installed toward the predetermined work space and capturing the movement of the detection object located in the predetermined work space, and a camera.
An operation simulation image generation unit that generates an operation simulation image that virtually represents the operation mode of the robot operating in the predetermined work space taken from the camera based on the instruction data generated by the instruction data generation unit. and,
A second image generation unit that generates a second image by superimposing the image taken by the camera and the motion simulation image, and
Second display device and Bei El a robotic system for displaying the second image.

Images