JP7195476B1 - WORK PROGRAM CREATION SYSTEM AND WORK PROGRAM CREATION METHOD - Google Patents

Abstract

A work program creation system capable of flexibly coping with various layout patterns and layout elements is provided. A photographing unit (211) for photographing an image including an object to be welded; a coordinate system setting unit (212) for setting a user coordinate system based on a marker included in the image photographed by the photographing unit (211); A user coordinate system that detects a specific position of a marker, sets the detected specific position on point cloud data obtained by a distance measurement sensor that measures the distance to a welding object, and uses the set specific position as an origin. A point cloud data drawing unit 213 that draws the point cloud data to which the coordinates of are given in the user coordinate system, and a welding robot that is virtually placed in the user coordinate system based on the point cloud data drawn in the user coordinate system. is provided with a program creation unit 215 that creates a welding program so as to perform a welding operation while avoiding interference with point cloud data. [Selection drawing] Fig. 2

Description

The present invention relates to a work program creation system and a work program creation method.

Patent Literature 1 listed below discloses a technique for generating a program for a welding robot. In this technology, a user selects a typical layout pattern of a robot system and layout elements (robots, peripheral devices, tables, workpieces, etc.) to be laid out in the layout pattern, and based on the selected layout pattern and layout elements. Then, a layout is generated in which arrangement elements do not interfere with each other, and a welding robot program is generated according to the layout. Furthermore, with this technology, the generated program is executed in virtual space, and when the robot in motion interferes with other placed elements, the installed positions of the placed elements are automatically corrected, and based on the automatically corrected installed positions, correcting the program.

Japanese Patent No. 6816068

In the above technique, it is necessary to prepare in advance the layout patterns and layout elements to be selected. Therefore, when adopting a layout pattern different from the layout pattern prepared in advance, or when adopting a layout element that does not exist in the layout elements prepared in advance, preparation must be made so that the layout pattern and layout elements can be selected. cannot generate a correct program.

SUMMARY OF THE INVENTION Accordingly, it is an object of the present invention to provide a work program creation system and a work program creation method that can flexibly deal with various layout patterns and layout elements.

A work program creation system according to an aspect of the present invention includes a photographing terminal that photographs an image including a work target, and a coordinate system setting unit that sets a user coordinate system based on a marker included in the image photographed by the photographing terminal. Then, the specific position of the marker is detected based on the image, the detected specific position is set on the point cloud data acquired by the distance measurement sensor that measures the distance to the work target, and the set specific position is the origin A point cloud data drawing unit that draws point cloud data to which the coordinates of the user coordinate system are given in the user coordinate system, and a point cloud data drawn in the user coordinate system, based on the point cloud data drawn in the user coordinate system. a program creation unit that creates a work program so that an industrial robot to be placed performs work while avoiding interference with point cloud data.

According to this aspect, the specific position of the marker is detected based on the image of the work target and the marker, the detected specific position of the marker is set on the point cloud data, and the set specific position of the marker is set to The point cloud data with the coordinates of the user coordinate system as the origin is drawn on the image, and the industrial robot virtually placed in the user coordinate system works while avoiding interference with the point cloud data. , can create a working program. Therefore, it is possible to perform the work while avoiding interference, regardless of the arrangement state of the work target and the state of the obstacle.

In the above aspect, when it is determined that the industrial robot will interfere with the point cloud data, the program creation unit avoids interference with the area formed by the point cloud data determined to interfere with the photographing terminal. By changing part of the motion trajectory of the industrial robot within the interference avoidance area, interference with the point cloud data determined to interfere may be avoided.

According to this aspect, when it is determined that the industrial robot will interfere with the point cloud data, the interference is avoided by changing a part of the motion trajectory of the industrial robot in the interference avoidance area in front of the point cloud data. It is possible to avoid.

In the above aspect, the direction in which interference with the point cloud data determined to interfere may be avoided may be the direction in which the point cloud data determined to interfere approaches the imaging terminal in the interference avoidance area.

According to this aspect, since the industrial robot can be avoided in a direction approaching the photographing terminal, it is possible to cause the industrial robot to avoid in a direction in which the reliability of the point cloud data increases.

The above aspect further includes a detection unit that detects the work location of the work target based on the point cloud data drawn in the user coordinate system, and the program creation unit causes the industrial robot to prevent interference with the point cloud data. A work program may be created so as to perform work on the work location detected by the detection unit while avoiding it.

According to this aspect, the work program recognizes the work location based on the point cloud data drawn in the user coordinate system, and performs work on the recognized work location while avoiding interference with the point cloud data. can be created. Therefore, it is possible to improve the accuracy of the work by the work program.

In the above aspect, there may be a plurality of photographing terminals, and each photographing terminal may photograph an image from a different position.

According to this aspect, it is possible to determine the presence or absence of interference for each photographed position, and adjust to avoid interference when it is determined that there is interference.

The above aspect may further include a setting unit that sets a set of point cloud data to be excluded from interference avoidance targets.

According to this aspect, for interference that does not hinder the work, the work can be progressed without performing an avoidance action.

A work program creation method according to another aspect of the present invention is a method executed by a processor, and includes a step of setting a user coordinate system based on a marker included in an image including a work target photographed by a photographing terminal. Then, the specific position of the marker is detected based on the image, the detected specific position is set on the point cloud data acquired by the distance measurement sensor that measures the distance to the work target, and the set specific position is set to a step of drawing point cloud data to which the coordinates of the user coordinate system as an origin are given in the user coordinate system; and an industry virtually placed in the user coordinate system based on the point cloud data drawn in the user coordinate system. creating a work program so that the robot can work while avoiding interference with the point cloud data.

According to this aspect, the specific position of the marker is detected based on the image of the work target and the marker, the detected specific position of the marker is set on the point cloud data, and the set specific position of the marker is set to The point cloud data with the coordinates of the user coordinate system as the origin is drawn on the image, and the industrial robot virtually placed in the user coordinate system works while avoiding interference with the point cloud data. , can create a working program. Therefore, it is possible to perform the work while avoiding interference, regardless of the arrangement state of the work target and the state of the obstacle.

According to the present invention, it is possible to provide a work program creation system and a work program creation method that can flexibly deal with various layout patterns and layout elements.

BRIEF DESCRIPTION OF THE DRAWINGS It is a figure which illustrates the structure of the welding robot system containing the welding program creation system which concerns on embodiment. 1 is a diagram illustrating a functional configuration of a welding program creation system; FIG. FIG. 10 is a diagram showing an example of a user coordinate system having a marker position as an origin; It is a figure which shows an example of a welding target. It is a figure which shows an example of the point cloud data drawn on a user coordinate system. It is a figure which shows an example of a welding target. FIG. 4 is a diagram for explaining an example of a procedure for creating a welding program; FIG. FIG. 4 is a schematic diagram showing an example of a method of recognizing a direction in which interference with point cloud data can be avoided; 4 is a flowchart for explaining an example of operations when creating a welding program in the welding program creation system; FIG. 11 is a diagram illustrating a functional configuration of a welding program creation system according to a modification;

Preferred embodiments of the present invention will be described with reference to the accompanying drawings. It should be noted that, in each figure, the same reference numerals have the same or similar configurations. Also, since the drawings are schematic, the dimensions and proportions of each component are different from the actual ones.

FIG. 1 is a diagram illustrating the configuration of a welding robot system including a welding program creation system according to an embodiment. The welding robot system 100 includes, for example, an imaging terminal 1, a robot control device 2, and a manipulator 3. The photographing terminal 1 and the robot control device 2 are connected via a network N, for example, and the robot control device 2 and the manipulator 3 are connected via a communication cable C, for example. The network N may be wired (including communication cables) or wireless. Welding robot system 100 may include a teaching pendant. The teaching pendant is an operating device that teaches the operation of the manipulator 3 by the operator.

The manipulator 3 is a welding robot that performs arc welding according to construction conditions set by the robot controller 2 . The manipulator 3 has, for example, an articulated arm 31 provided on a base member fixed to the floor of a factory or the like, and a welding torch 32 connected to the tip of the articulated arm 31 . The welding wire supplied to the welding torch 32 is not included in the configuration of the manipulator 3 here.

The robot control device 2 is a control unit that controls the operation of the manipulator 3, and includes, for example, a control section 21, a storage section 22, a communication section 23, and a welding power source section 24.

The control unit 21 controls the manipulator 3 and the welding power source unit 24 by causing the processor to execute a work program stored in the storage unit 22, for example.

The communication unit 23 controls communication with the imaging terminal 1 connected via the network N, and controls communication with the manipulator 3 connected via the communication cable C. FIG.

The welding power supply unit 24 supplies a welding current, a welding voltage, and the like to the manipulator 3 according to predetermined welding execution conditions, for example, in order to generate an arc between the tip of the welding wire and the work. The welding conditions include, for example, data items such as welding conditions, welding start position, welding end position, arc discharge time, welding distance, welding torch posture, and welding torch moving speed. The welding power source section 24 may be provided separately from the robot control device 2 .

The photographing terminal 1 is, for example, a digital camera, but may be a portable terminal with a digital camera. Portable terminals include, for example, portable terminals such as tablet terminals, smart phones, personal digital assistants (PDAs), and notebook PCs (personal computers). The imaging terminal 1 includes, for example, a control unit 11, an imaging unit 12, a communication unit 13, and a display unit 14.

The control unit 11 controls each unit of the photographing terminal 1 by causing the processor to execute a predetermined program stored in the memory.

The photographing unit 12 includes, for example, a lens and an imaging device (image sensor), and converts light from a subject received by the lens into an electric signal (digital image data).

The communication unit 13 controls communication with the robot control device 2 connected via the network N. FIG.

The display unit 14 is, for example, a display having a touch panel, displays an image of a subject captured by the imaging unit 12, and receives inputs such as operation instructions from the operator. The display unit 14 may be provided separately from the photographing terminal 1 as a display device having a touch panel, for example.

FIG. 2 is a diagram illustrating the functional configuration of the welding program creation system according to the present invention. The welding program creation system has, for example, an imaging unit 211, a coordinate system setting unit 212, a point cloud data drawing unit 213, a detection unit 214, and a program creation unit 215 as functional configurations. Among these functions, the imaging unit 211 is a function that the imaging terminal 1 has. On the other hand, the coordinate system setting unit 212, the point cloud data drawing unit 213, the detection unit 214, and the program creation unit 215 may all be provided by either the photographing terminal 1 or the robot control device 2, or may be provided by the photographing terminal 1 and the robot. Each function may be distributed in the control device 2 . Also, a device other than the photographing terminal 1 and the robot control device 2 may have some or all of the above functions.

The photographing unit 211 is the same as the photographing unit 12 of the photographing terminal 1 described above. The photographing unit 211 according to the present embodiment photographs, for example, a structure composed of a plurality of iron plate members (workpieces) to be arc-welded as a welding target. FIG. 3 shows an example of an object to be welded. In the figure, a structure composed of one work Wa serving as a bottom plate, two works Wb and Wc serving as side plates, and one work Wd serving as a back plate is displayed as an object to be welded. ing. A marker M is placed in the space formed by this structure.

The coordinate system setting unit 212 shown in FIG. 2 sets a user coordinate system whose origin is the position of the marker M included in the image captured by the imaging unit 211 . FIG. 3 shows an example of a user coordinate system with the position of the marker M as the origin. In the figure, the position of the marker M is the origin O, and a three-dimensional orthogonal coordinate system with the X, Y, and Z axes orthogonal to each other at the origin O is displayed as the user coordinate system.

It should be noted that the origin of the user coordinate system may be set with reference to the marker (for example, the corner of the marker, the center of the marker, etc.). The reason why the origin of the user coordinate system is set based on the marker instead of setting the origin of the user coordinate system based on the imaging terminal 1 is as follows. Since the photographing terminal 1 is carried and moved by the worker when photographing, it is difficult to specify the position of the photographing terminal 1 on the robot coordinate system. On the other hand, since the marker is fixedly arranged, it is relatively easy to specify the position of the marker on the robot coordinate system. Therefore, setting the user coordinate system with reference to the marker makes it easier to calibrate the positional relationship between the user coordinate system and the robot coordinate system than setting the user coordinate system with the imaging terminal 1 as the reference. becomes.

Here, the marker M may be an identifier that allows the imaging unit 211 to recognize that it is placed in space, but preferably an AR marker is used. By using AR markers, when an AR marker placed in space is recognized, it is possible to easily display the user coordinate system with the AR marker as the origin superimposed on the actual image. Become.

The user coordinate system based on the marker can be set by moving the origin of the camera coordinate system (for example, the center of the lens) to a specific position of the marker, which will be described later. Such a user coordinate system can be set, for example, by applying a known technique for setting the coordinate system of AR markers.

A point cloud data rendering unit 213 shown in FIG. 2 acquires coordinate data (point cloud data) corresponding to an object included in an image captured by the imaging unit 211, and renders the acquired coordinate data in the user coordinate system. .

A specific description will be given. The point cloud data drawing unit 213 detects the specific position of the marker (for example, the corner of the marker or the center of the marker) based on the image captured by the imaging unit 211, and converts the detected specific position of the marker to the distance described later. The point cloud data set on the point cloud data acquired by the measurement sensor and given the coordinates of the user coordinate system with the specific position of the set marker as the origin is drawn in the user coordinate system. For the specific position of the marker set on the point cloud data, for example, the specific position of the marker on the point cloud data may be automatically recognized by data analysis, or the specific position of the marker on the point cloud data may be determined by an operator. You can specify it by pointing to it.

Coordinate data corresponding to the object can be acquired by, for example, a distance measurement sensor. The distance measurement sensor may be any sensor capable of measuring the distance to the object to be welded. As the distance measurement sensor, for example, a LiDAR (Light Detection and Ranging) sensor, a millimeter wave sensor, an ultrasonic sensor, or the like can be used. Alternatively, the coordinate data corresponding to the object may be acquired by calculation based on a plurality of images of the object to be welded photographed from a plurality of different positions. In this case, a three-dimensional measurement method based on a known stereo method can be used.

Here, the imaging terminal 1 may include a distance measurement sensor. As a result, the positional relationship between the image sensor and the distance measurement sensor can be fixed, and the timing of acquiring data from each sensor can be matched. Therefore, it is possible to improve the processing efficiency of setting the above-described specific positions of the markers on the point cloud data. In addition, by providing the imaging terminal 1 with an image sensor and a distance measuring sensor, the operator who operates the imaging terminal 1 can freely move to an arbitrary position where the welding line to be welded and the marker can be photographed at the same time. work efficiency can be improved.

Furthermore, the photographing terminal 1 may include a sensor that has both the function of a sensor that captures and acquires an image and the function of a sensor that measures and acquires a distance. As a result, the image including the welding target and the distance to the welding target can be obtained from the same location and at the same timing, so that the processing efficiency of setting the above-described specific position of the marker on the point cloud data can be further improved. becomes possible.

The concept of drawing coordinate data corresponding to an object included in an image as point cloud data on the user coordinate system will be described with reference to FIGS. 4 and 5. FIG.

FIG. 4 is a diagram showing an example of an object to be welded. The figure illustrates a welding object composed of a work We placed on a work table T and a work Wf placed so as to be substantially perpendicular to the work We. A marker M is placed near the object to be welded.

FIG. 5 is a diagram showing an example of point cloud data drawn on the user coordinate system. In the figure, coordinate data Wec and Wfc corresponding to the work We and work Wf in FIG. 4, respectively, and coordinate data Tc corresponding to the work table T in FIG. 4 are drawn as point cloud data in the user coordinate system. there is

The detection unit 214 shown in FIG. 2 detects the welding line to be welded based on the point cloud data drawn in the user coordinate system. Specifically, the detection unit 214 recognizes a plurality of planes corresponding to the object to be welded based on the point cloud data drawn on the user coordinate system. The detector 214 detects a line of intersection of two planes included in the plurality of planes as a weld line. If there are multiple combinations of two planes, the weld line is detected for each combination.

Here, what is detected as the weld line is not limited to the line of intersection of two planes. For example, a line of intersection of two surfaces may be detected as a weld line.

It should be noted that whether or not the detected weld line is actually the weld line to be welded can be determined by the operator, for example, according to a guide such as a voice or text message. can be left. An example of a method of leaving only the weld line where welding is actually performed will be described with reference to FIG.

In the figure, a plurality of welding lines detected by the detection unit 214 are superimposed on the image of the object to be welded. It is assumed that among these plurality of welding lines, welding lines to be actually welded are, for example, four welding lines La, Lb, Lc, and Ld. In this case, for example, according to a guide such as voice or text message, the worker sequentially touches (tap) lines that do not correspond to the actual welding lines from among the plurality of welding lines displayed on the image. Weld lines that have been drawn are removed from the image. This allows only the welding lines La, Lb, Lc, and Ld to be actually welded to remain on the image. Alternatively, the operator may designate a range on the image with a circle or the like, and only the welding lines within the designated range may be left.

Based on the point cloud data drawn in the user coordinate system, the program creation unit 215 performs the welding operation so that the manipulator 3 virtually placed in the user coordinate system performs the welding operation while avoiding interference with the point cloud data. Create a welding program for arc welding. Here, the interference in the present embodiment means that when the manipulator 3 performs the welding operation, the welding operation is hindered due to contact with an object corresponding to the point cloud data, etc. (normal welding operation is hindered). Say things.

The virtual placement position of the manipulator 3 can be arbitrarily designated by the operator by, for example, touching the image of the object to be welded according to a guide such as voice or text message.

Also, the manipulator 3 that is placed virtually may be a model to which accessory parts such as a wire feeding device, various sensors, and a welding torch are connected, for example.

Specifically, the program creation unit 215 prevents the manipulator 3, which is virtually placed in the user coordinate system, from interfering with the point cloud data drawn in the user coordinate system, and the welding line detected by the detection unit 214. Create a welding program to follow An example of procedures for creating a welding program will be described with reference to FIG.

In the figure, four welding lines La, Lb, Lc, and Ld are superimposed on the image of the object to be welded and displayed as welding lines to be actually welded. The welding order and welding direction of the four welding lines La, Lb, Lc, and Ld may be set by the operator on the screen, or the program creation unit 215 may calculate, for example, the shortest route. may be determined by In this example, weld line La, weld line Lb, weld line Lc, and weld line Ld are welded in this order. Assume that the setting is to weld to the left at the top.

First, the program creation unit 215 creates a program for moving the welding torch 32 from the reference position of the manipulator 3 to the welding start position of the weld line La. Subsequently, the program creation unit 215 starts arc welding at the welding start position of the welding line La, moves the welding torch 32 so as to trace the welding line La while performing arc welding, and moves the arc welding at the welding end position of the welding line La. Create a program to finish welding.

Subsequently, the program creating unit 215 creates a program for moving the welding torch 32 from the welding end position of the weld line La to the welding start position of the weld line Lb. At this time, the movement path (movement trajectory) of the welding torch 32 is adjusted so that the welding torch 32 moves along a path that does not interfere with the point cloud data. This adjustment can be performed, for example, by determining whether or not the welding torch 32 interferes with the point cloud data, and changing the movement path of the welding torch 32 in a direction that can avoid the interference if it interferes. A method of recognizing a direction in which interference with point cloud data can be avoided will be described later.

Subsequently, the program creation unit 215 starts arc welding at the welding start position of the welding line Lb, moves the welding torch 32 so as to trace the welding line Lb while performing arc welding, and moves arc welding at the welding end position of the welding line Lb. Create a program to finish welding. Subsequently, the program creating unit 215 creates a program for moving the welding torch 32 from the welding end position of the weld line Lb to the welding start position of the weld line Lc while adjusting the movement path.

Subsequently, the program creation unit 215 starts arc welding at the welding start position of the welding line Lc, moves the welding torch 32 so as to trace the welding line Lc while performing arc welding, and moves arc welding at the welding end position of the welding line Lc. Create a program to finish welding. Subsequently, the program creating unit 215 creates a program for moving the welding torch 32 from the welding end position of the weld line Lc to the welding start position of the weld line Ld while adjusting the movement path.

Subsequently, the program creation unit 215 starts arc welding at the welding start position of the welding line Ld, moves the welding torch 32 so as to follow the welding line Ld while performing arc welding, and arc welding at the welding end position of the welding line Ld. Create a program to finish welding. Subsequently, the program creation unit 215 creates a program for moving the welding torch 32 from the welding end position of the welding line Ld to the reference position of the manipulator 3 .

The program creation unit 215 causes the storage unit 22 of the robot control device 2 to store the created welding program. As a result, when the manipulator 3 performs arc welding, the controller 21 of the robot controller 2 reads the welding program and follows the welding procedure specified by the welding program to perform arc welding while avoiding interference with objects. Thus, the manipulator 3 can be controlled.

With reference to FIG. 8, an example of a method for recognizing a direction in which interference with point cloud data can be avoided by the program creation unit 215 will be described. FIG. 8 is a diagram schematically showing a state in which an image captured by the imaging terminal 1 equipped with a distance measurement sensor includes a marker M and an interfering object I (for example, an object to be welded or another object). . A three-dimensional user coordinate system is set with the marker M as a reference, and point cloud data Ic on the user coordinate system is drawn on the photographing terminal 1 side of the interfering object I. FIG.

Here, the point cloud data Ic is data obtained by a distance measurement sensor mounted on the photographing terminal 1 . Therefore, when the point cloud data Ic is acquired by the photographing terminal 1, no obstacle exists between the photographing terminal 1 and the point cloud data Ic. That is, the space formed between the photographing terminal 1 and the point cloud data Ic is a free space in which no obstacles exist.

Of the two areas formed by the point cloud data Ic as a boundary, the program creation unit 215 determines that the side on which the photographing terminal 1 is located (the front side) is the interference avoidance area Aa where the interfering object I does not exist. On the other hand, the program creation unit 215 determines that the side without the photographing terminal 1 (back side) of the two areas formed with the point cloud data Ic as a boundary is the interference area Ab in which the interfering object I exists.

Then, in the interference avoidance area Aa, the program creation unit 215 selects the direction Da from the point cloud data Ic toward the reference point (for example, the center of the lens) of the photographing terminal 1 as the direction in which interference with the point cloud data can be avoided. recognized as

Note that the distance for avoiding interference with the point cloud data may be, for example, a fixed value specified by the operator, or the lower limit of a numerical range obtained by machine learning simulation results of avoidance motions. may The avoidance motion may be performed, for example, by moving the position of the manipulator 3, by moving any joint of the articulated arm 31, or by changing the posture of the welding torch 32. or a combination thereof.

Also, the accuracy of the point cloud data tends to decrease as the object moves away from the shooting position. Therefore, as the distance between the imaging position and the interfering object increases, the distance for avoiding interference with the point cloud data may be increased.

Here, in the description of FIG. 8 above, a part of the motion trajectory of the manipulator 3 is changed in the direction Da toward the reference point of the imaging terminal 1 from the point cloud data Ic in the interference avoidance area Aa. It is not limited to this. For example, in the interference avoidance area Aa, a part of the motion trajectory of the manipulator 3 may be changed from the point cloud data Ic toward the imaging terminal 1, or in the interference avoidance area Aa, the point cloud A part of the motion trajectory of the manipulator 3 may be changed so as to avoid interference with data. By changing the motion trajectory of the manipulator 3 in the direction toward the photographing terminal 1, the manipulator 3 can be avoided in the direction in which the reliability of the point cloud data increases, and the avoidance accuracy can be improved.

An example of the operation when program creation unit 215 creates a welding program will be described with reference to FIG. 9 .

First, the program creating unit 215 identifies welding lines on the user coordinate system based on the welding lines detected by the detecting unit 214 (step S101).

Subsequently, the program creation unit 215 sets the attitude of the torch, such as the advancing angle of the torch, the receding angle of the torch, and the target angle of the torch, for the welding line specified in step S101 (step S102).

Subsequently, the program creation unit 215 determines the motion trajectory including the posture of each part of the manipulator 3 on the user coordinate system (step S103).

Subsequently, the program creation unit 215 determines whether or not there is a portion where the manipulator 3 interferes with the point cloud data in the motion trajectory on the user coordinate system (step S104).

If it is determined in step S104 that there is a portion that interferes with the point cloud data in the motion trajectory (step S104; YES), the program creation unit 215 moves the manipulator 3 in a direction that avoids interference with the point cloud data. A part of the motion trajectory is changed (step S105).

On the other hand, when it is determined in step S104 that there is no location in the motion trajectory that interferes with the point cloud data (step S104; NO), the program creation unit 215 converts the motion trajectory on the user coordinate system to the robot coordinates. A welding program is created by converting it into a motion trajectory on the system (step S106). Then, this operation ends.

Here, each step of the above operation may be executed by either the photographing terminal 1 or the robot control device 2. Part of each step is executed by the photographing terminal 1, and the remaining part is executed by the robot control device 2. may be executed.

As described above, according to the welding program creation system according to the embodiment, the specific position of the marker is set as the origin based on the captured image of the object to be welded and the marker placed in the space formed by the object to be welded. A user coordinate system is set, point cloud data corresponding to the object in the image is drawn in the user coordinate system, and a welding robot virtually placed in the user coordinate system performs welding while avoiding interference with the point cloud data. A welding program can be created to perform the operations. Therefore, regardless of the arrangement of objects to be welded and the condition of obstacles, it is possible to perform the welding operation while avoiding interference.

Therefore, according to the welding program creation system according to the embodiment, it is possible to flexibly deal with various arrangement patterns and arrangement elements.

It should be noted that the present invention is not limited to the embodiments described above, and can be implemented in various other forms without departing from the gist of the present invention. Therefore, the above-described embodiment is merely an example in all respects, and should not be construed as limiting.

For example, in the above-described embodiments, the welding robot is used, but the present invention is not limited to this. For example, the present invention can be applied to industrial robots including handling robots that perform picking and the like. In this case, the welding program, the object to be welded, the welding line and the welding operation used in the above embodiments can be replaced with the work program, the object to be worked, the work location and the work, respectively.

Further, in the above-described embodiment, interference with point cloud data is avoided, but a set of point cloud data that is not to be interfered with may be set, and the set of point cloud data may be excluded from interference avoidance targets. . In this modification, as shown in FIG. 10, it is desirable to further include a setting section 216 in the welding program creation system. For example, the setting unit 216 accepts range designation from the point cloud data superimposed and displayed on the image of the object to be welded, and excludes the point cloud data within the designated range from interference avoidance targets. Set as a set of point cloud data. As a result, for interference that does not hinder the work, the work can be progressed without performing avoidance actions, so that work efficiency can be improved.

As a set of point cloud data to be excluded from interference avoidance targets, for example, an area including a weld line and the vicinity of the weld line, an area to be gripped by a handling robot, and the like can be set.

Further, in the above-described embodiment, one imaging terminal 1 captures an image including the welding target, but a plurality of imaging terminals 1 may be used to capture images including the welding target from different positions. . Thereby, it is possible to determine the presence or absence of interference for each shooting position, and make adjustments to avoid the interference when it is determined that there is interference. Therefore, it is possible to improve the accuracy of avoiding interference.

DESCRIPTION OF SYMBOLS 1... Imaging terminal 2... Robot control apparatus 3... Manipulator 11... Control part 12... Imaging part 13... Communication part 14... Display part 21... Control part 22... Storage part 23... Communication part 24 Welding power supply unit 31 Articulated arm 32 Welding torch 100 Welding robot system 211 Photographing unit 212 Coordinate system setting unit 213 Point cloud data drawing unit 214 Detecting unit 215 Program creating unit 216 Setting unit C Communication cable M Marker N Network

Claims (8)

a shooting terminal that shoots an image including a work target;
a coordinate system setting unit that sets a user coordinate system based on a marker included in the image captured by the capturing terminal;
A specific position of the marker is detected based on the image, the detected specific position is set on point cloud data acquired by a distance measurement sensor that measures the distance to the work target, and the set a point cloud data drawing unit that draws, in the user coordinate system, the point cloud data to which coordinates of the user coordinate system having a specific position as an origin are assigned;
a work program for causing an industrial robot virtually placed in the user coordinate system to perform work while avoiding interference with the point cloud data based on the point cloud data drawn in the user coordinate system; a program creation unit that creates
with
When it is determined that the industrial robot interferes with the point cloud data, the program creation unit selects a side of the photographing terminal from among areas formed by bordering the point cloud data determined to interfere. an interference avoidance area, and by changing a part of the motion trajectory of the industrial robot in the interference avoidance area, interference with the point cloud data determined to interfere is avoided;
Work program creation system. The direction to avoid interference with the point cloud data determined to interfere is a direction approaching the shooting terminal from the point cloud data determined to interfere in the interference avoidance area.
The work program creation system according to claim 1 . a shooting terminal that shoots an image including a work target;
a coordinate system setting unit that sets a user coordinate system based on a marker included in the image captured by the capturing terminal;
A specific position of the marker is detected based on the image, the detected specific position is set on point cloud data acquired by a distance measurement sensor that measures the distance to the work target, and the set a point cloud data drawing unit that draws, in the user coordinate system, the point cloud data to which coordinates of the user coordinate system having a specific position as an origin are assigned;
a work program for causing an industrial robot virtually placed in the user coordinate system to perform work while avoiding interference with the point cloud data based on the point cloud data drawn in the user coordinate system; a program creation unit that creates
a detection unit that detects a work location of the work target based on the point cloud data drawn in the user coordinate system;
with
The program creation unit creates a work program so that the industrial robot performs work on the work location detected by the detection unit while avoiding interference with the point cloud data.
Work program creation system. a shooting terminal that shoots an image including a work target;
a coordinate system setting unit that sets a user coordinate system based on a marker included in the image captured by the capturing terminal;
A specific position of the marker is detected based on the image, the detected specific position is set on point cloud data acquired by a distance measurement sensor that measures the distance to the work target, and the set a point cloud data drawing unit that draws, in the user coordinate system, the point cloud data to which coordinates of the user coordinate system having a specific position as an origin are assigned;
a work program for causing an industrial robot virtually placed in the user coordinate system to perform work while avoiding interference with the point cloud data based on the point cloud data drawn in the user coordinate system; a program creation unit that creates
a setting unit that sets a set of the point cloud data to be excluded from interference avoidance targets;
A work program creation system comprising: There are a plurality of the photographing terminals, and each of the photographing terminals photographs the image from a different position.
The work program creation system according to any one of claims 1 to 4 . A method performed by a processor, comprising:
setting a user coordinate system based on a marker included in an image including a work target captured by a capturing terminal;
A specific position of the marker is detected based on the image, the detected specific position is set on point cloud data acquired by a distance measurement sensor that measures the distance to the work target, and the set a step of drawing, in the user coordinate system, the point cloud data to which the coordinates of the user coordinate system having a specific position as the origin are assigned;
a work program for causing an industrial robot virtually placed in the user coordinate system to perform work while avoiding interference with the point cloud data based on the point cloud data drawn in the user coordinate system; creating a
including _
In the step of creating the work program, when it is determined that the industrial robot interferes with the point cloud data, out of an area formed by bordering the point cloud data determined to interfere, the photographing terminal A certain side is defined as an interference avoidance area, and by changing a part of the motion trajectory of the industrial robot in the interference avoidance area, interference with the point cloud data determined to interfere is avoided;
Work program creation method. A method performed by a processor, comprising:
setting a user coordinate system based on a marker included in an image including a work target captured by a capturing terminal;
A specific position of the marker is detected based on the image, the detected specific position is set on point cloud data acquired by a distance measurement sensor that measures the distance to the work target, and the set a step of drawing, in the user coordinate system, the point cloud data to which the coordinates of the user coordinate system having a specific position as the origin are assigned;
a work program for causing an industrial robot virtually placed in the user coordinate system to perform work while avoiding interference with the point cloud data based on the point cloud data drawn in the user coordinate system; creating a
a step of detecting a work location of the work target based on the point cloud data drawn in the user coordinate system;
including
The step of creating the work program creates the work program so that the industrial robot performs work on the detected work location while avoiding interference with the point cloud data.
Work program creation method. A method performed by a processor, comprising:
setting a user coordinate system based on a marker included in an image including a work target captured by a capturing terminal;
A specific position of the marker is detected based on the image, the detected specific position is set on point cloud data acquired by a distance measurement sensor that measures the distance to the work target, and the set a step of drawing, in the user coordinate system, the point cloud data to which the coordinates of the user coordinate system having a specific position as the origin are assigned;
a work program for causing an industrial robot virtually placed in the user coordinate system to perform work while avoiding interference with the point cloud data based on the point cloud data drawn in the user coordinate system; creating a
setting a set of the point cloud data to be excluded from interference avoidance targets;
Work program creation method including .

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