JP7259860B2 - ROBOT ROUTE DETERMINATION DEVICE, ROBOT ROUTE DETERMINATION METHOD, AND PROGRAM - Google Patents

Description

The present invention relates to a robot route determination device, a robot route determination method, and a program.

2. Description of the Related Art A route determination device is known that determines by simulation whether or not there is interference between robots or between a robot and a peripheral component when the robots operate.

For example, Japanese Unexamined Patent Application Publication No. 2008-254172 describes a programming unit that has a storage unit that stores information on teaching points of a robot and information on a model of the surrounding environment of the robot, and that creates a robot program off-line; A robot programming device is described that includes a controller. In Japanese Unexamined Patent Application Publication No. 2008-254172, a robot control unit controls the motion of a robot, moves the robot to an actual teaching point, captures information on the actual teaching point, and calculates the teaching point on the robot program. correct the information in

Further, Japanese Patent Application Laid-Open No. 2014-024162 discloses that when moving a movable part including an arm and an end effector provided at the tip of the arm along a plurality of teaching points, It is described that it is determined whether or not the movable part and the obstacle interfere with each other based on the position information and the position information of the obstacle. In Japanese Patent Laid-Open Publication No. 2014-024162, when it is determined that a movable part and an obstacle interfere between a first teaching point and a second teaching point, approach restriction information and departure restriction information A teaching point is added between the first teaching point and the second teaching point based on.

Japanese publication: JP 2008-254172 Japanese publication: JP 2014-024162

However, in Japanese Unexamined Patent Application Publication No. 2008-254172, a list of teaching points that need to be corrected on the actual machine is displayed on the screen of the display unit, and the operator sees this screen and sends teaching information to be corrected to the program unit. Operation to send is required.

On the other hand, in Japanese Unexamined Patent Application Publication No. 2014-024162, it is necessary to determine whether or not there is interference, and to calculate the teaching point to be changed from various information of the end effector. The problem is that it takes a long time to fix.

SUMMARY OF THE INVENTION Accordingly, it is an object of the present invention to generate a motion path of a robot that avoids interference with a simple operation and in a short period of time.

An exemplary first invention of the present application is a storage unit that stores three-dimensional data of at least one of a robot, a workpiece to be worked by the robot, and peripheral objects arranged around the robot; a data creation unit for creating approximate shape data of the three-dimensional data stored in the storage unit by arranging one or more spheres so as to cover the outer surface of the three-dimensional data; A collision determination unit that determines whether or not interference of the approximate shape data will occur when the robot is moved along a route from to an end point, and if the interference determination unit determines that interference will occur, A candidate point setting unit that sets a plurality of candidate points as candidates for waypoints through which the robot passes, on the surface of a sphere having a larger diameter than the sphere in which interference has occurred among the approximate shape data, and from the start point to the candidate points. and the route from the candidate point to the end point, a candidate point that does not interfere with the approximate shape data when the robot is moved, from the plurality of candidate points. and a display control unit for displaying the candidate points identified by the candidate point identification unit on a display device so that the user can select the waypoint from among the candidate points. It is a decision device.

According to the present invention, it is possible to generate an action path of a robot that avoids interference with a simple operation and in a short time.

FIG. 1 is a diagram showing the overall configuration of a route determination device according to an embodiment. FIG. 2 is a diagram showing the hardware configuration of each device included in the route determination device of the embodiment. FIG. 3 is a diagram showing a three-dimensional CAD window according to an example of an embodiment. FIG. 4 is a diagram showing a teaching window according to an example embodiment. FIG. 5 is a diagram for conceptually explaining a job. FIG. 6 is a diagram for conceptually explaining tasks. FIG. 7 is a diagram showing transition of teaching windows according to an example of an embodiment. FIG. 8 is a diagram showing a display example of a task list. FIG. 9 is a diagram showing a display example of a task list. FIG. 10 is a diagram illustrating a three-dimensional model of a robot and approximate shape data of different levels. FIG. 11 is a diagram conceptually showing the data configuration of robots and parts. FIG. 12 is a diagram showing transition of teaching windows according to an example of an embodiment. FIG. 13 is a diagram illustrating a method of determining interference between spheres. FIG. 14 is a diagram illustrating a display mode when the three-dimensional model of the robot and parts interfere with each other. FIG. 15 is a diagram illustrating transition of teaching windows according to an example of an embodiment. FIG. 16 is an example of a flowchart of interference determination according to the embodiment. FIG. 17 is an example of a flowchart showing a method of determining waypoints for the robot. FIG. 18 is a diagram illustrating setting of candidate points. FIG. 19 is a diagram showing a display example of candidate points. FIG. 20 is a diagram illustrating a case where interference occurs on a route from a determined waypoint to an end point. FIG. 21 is a diagram showing a case where new candidate points are set on a route from a determined waypoint to an end point. FIG. 22 is a diagram for explaining a preferable setting example of candidate points. FIG. 23 is a functional block diagram of the route determination device according to the embodiment; FIG. 24 is a modification of the flowchart of FIG.

An embodiment of a robot path determination device according to the present invention will be described below.

In the following description, the element work of the robot is referred to as "task". The element work of the robot means the minimum unit work performed by the robot in a series of work such as "taking" or "placing" an object.

"Parts" refer to objects that the robot works on, and are not limited to objects that are gripped by the robot (e.g., workpieces in a factory), but also peripheral objects that are placed around the robot (e.g., shelves on which objects to be grasped are placed).

The "reference point" of the robot means the position of the robot that serves as a reference for robot teaching points such as the robot's approach point, target point, departure point, etc., which will be described later. be.

A robot path determination device is a device that determines the presence or absence of interference of the robot itself (for example, interference between a hand and an arm) or interference between a robot and a part by simulation. The robot path determination device can support off-line teaching that is not connected to the actual robot.

(1) Configuration of route determination device according to the present embodiment

The configuration of the route determination device 1 of this embodiment will be described below with reference to FIGS. 1 and 2. FIG. FIG. 1 is a diagram showing the overall configuration of a route determination device 1 of this embodiment. FIG. 2 is a diagram showing the hardware configuration of each device included in the route determination device 1 of this embodiment.

As shown in FIG. 1 , the route determination device 1 includes an information processing device 2 and a robot control device 3 . The information processing device 2 and the robot control device 3 are communicably connected by, for example, an Ethernet (registered trademark) cable EC.

The information processing device 2 is a device for instructing motions to robots installed in a factory line. The information processing device 2 is provided for off-line teaching by an operator, and is arranged at a location (eg, operator's work place) away from the factory where the robot is installed, for example.

The robot control device 3 executes the robot program transmitted from the information processing device 2 . In this embodiment, the robot control device 3 is not connected to the robot, but when connected to the robot, it can send control pulses to the robot according to the execution result of the robot program to operate the robot. Therefore, the robot control device 3 is preferably arranged near the actual robot.

As shown in FIG. 2 , the information processing device 2 includes a control section 21 , a storage 22 , an input device 23 , a display device 24 and a communication interface section 25 .

The control unit 21 includes a CPU (Central Processing Unit), a ROM (Read Only Memory), and a RAM (Random Access Memory). The ROM stores a three-dimensional CAD application program and teaching software. The CPU develops three-dimensional CAD application software (hereinafter referred to as "CAD software" as appropriate) on the ROM and teaching software on the RAM and executes them. The teaching software and the CAD software execute processing in cooperation via an API (Application Program Interface).

The control unit 21 causes the display device 24 to continuously display images frame by frame in order to reproduce moving images using CAD software.

The storage 22 is a large-capacity storage device such as a HDD (Hard Disk Drive) or SSD (Solid State Drive), and is configured to be sequentially accessible by the CPU of the control unit 21 . As will be described later, the storage 22 contains a robot program 221, a hierarchical list database 222, a three-dimensional model database 223, an execution log database 224, and an approximate shape model database 225 (see FIG. 23 for these databases). is stored.

The hierarchical list database 222 contains data forming a hierarchical list, which will be described later.

The three-dimensional model database 223 contains three-dimensional model data that is referenced when executing CAD software. In the example of this embodiment, the 3D model database 223 includes 3D model data of robots and parts (for example, pens, caps, products, pen trays, cap trays, product trays, which will be described later).

The execution log database 224 contains execution log data acquired from the robot control device 3 . The execution log data includes execution results of the robot program and robot state data, which will be described later. The robot state data is used to reproduce the motion of the robot in a virtual space using three-dimensional CAD, and to perform collision determination, which will be described later.

In the approximate shape model database 225, approximate shape data is associated with a three-dimensional model (an example of three-dimensional data) that is the basis of the approximate shape data. Approximate shape data is data obtained by approximating a three-dimensional model with a set of spheres, as will be described later.

The storage 22 is an example of a storage unit.

The input device 23 is a device for receiving operation input by an operator, and includes a pointing device.

The display device 24 is a device for displaying the execution results of teaching software and CAD software, and includes a display driving circuit and a display panel.

The communication interface unit 25 includes a communication circuit for Ethernet communication with the robot control device 3 .

The robot control device 3 includes a control section 31 , a storage 32 and a communication interface section 33 .

The control unit 31 includes a CPU, ROM, RAM, and control circuit. The control unit 31 executes the robot program received from the information processing device 2 and outputs execution log data. As described above, the execution log data includes the execution result of the robot program and the robot state data of the robot executing the work described in the robot program.

The storage 32 includes model data (for example, link parameters, etc.) of a robot manipulator (a robot body including an arm 51 and a hand 52). Based on the execution result of the robot program, the control unit 31 obtains physical quantities (for example, joint angles, reference points, etc.) according to the passage of time during the execution of the jobs of the parts that make up the manipulator (for example, every predetermined reference time (for example, 1 ms)). data such as the coordinate position of ). Such physical quantity data is included in the robot state data.

The storage 32 is a large-capacity storage device such as an HDD or SSD, and is configured to be sequentially accessible by the CPU of the control section 31 . The storage 32 stores the robot program transmitted from the information processing device 2 and the execution log data in addition to the model data of the manipulator of the robot.

Communication interface unit 33 includes a communication circuit for performing Ethernet communication with information processing device 2 .

(2) User interface in offline teaching

Before executing the robot simulation, the operator uses the information processing device 2 to perform off-line teaching to the robot and create a robot program. In creating a robot program, in a preferred example of the present embodiment, the information processing apparatus 2 is caused to execute CAD software and teaching software.

The execution result of the CAD software is displayed in the CAD window, and the execution result of the teaching software is displayed in the teaching window. The operator causes the information processing device 2 to display both the CAD window and the teaching window, or causes the information processing device 2 to display the CAD window and the teaching window while switching between them, and performs operations related to teaching and CAD moving image reproduction. I do.

FIG. 3 shows a CAD window W1 according to an example of this embodiment. FIG. 3 shows an image (hereinafter referred to as “CAD image”) is displayed.

In the example shown in FIG. 3, it is assumed that the robot R performs a series of tasks of fitting a pen with a cap and assembling a product (a finished product in which the pen is fitted with the cap). A pen group P consisting of a plurality of pens is arranged on the pen tray 11, and a cap group C consisting of a plurality of caps is arranged on the cap tray 12. - 特許庁The jig 13 is a member for the robot R to temporarily place the pen and fit the cap. The product tray 14 is a member for placing products.

In the example shown in FIG. 3, each pen included in the pen group P, each cap included in the cap group C, the pen tray 11, the cap tray 12, the jig 13, and the product tray 14 are objects to be worked by the robot R. This is an example of parts. A product in which a pen is fitted with a cap is also an example of a part.

Each pen, each cap, and a product in which the cap is fitted to the pen are each an example of a work. The pen tray 11, the cap tray 12, the jig 13, and the product tray 14 are examples of peripheral arrangement objects.

(2-1) Hierarchical list

FIG. 4 shows a teaching window W2 according to an example of this embodiment. Displayed in the teaching window W2 is a hierarchical list showing the hierarchical relationship of the robots R and parts included in the CAD image of FIG.

Teaching software can work with CAD software to create a hierarchical list. A tree-structured data format is prepared by teaching software as a hierarchical list. With the CAD window and the teaching window displayed, the operator selects the robot R and parts in the CAD image with the pointing device and drags them to the desired node in the tree structure data format. By sequentially performing this operation for all the parts necessary for teaching the robot R, the hierarchical list can be completed. For the name of each node displayed in the hierarchical list, the name of the original three-dimensional model may be applied as is, or the name may be changed later.

In the following description, including the robot R and parts in the CAD image in one of the nodes of the hierarchical list is referred to as "registering the robot R or parts in the hierarchical list." FIG. 3 illustrates a CAD image when there is one robot, but when there are two or more robots, the two or more robots can be registered in the hierarchical list.

In the hierarchical list shown in FIG. 4, three nodes related to hands are provided below the node of robot R (Robot_R). The reason why a plurality of nodes are provided for the hand is to consider the work state assumed for the hand. That is, nodes 61 to 63 mean the following contents.

・Node 61 (Pen): A hand corresponding to the task of holding a pen

・Node 62 (Cap): A hand that can hold a cap

・Node 63 (Pen_with_Cap): A hand corresponding to the work of holding a pen with a cap fitted

Right-click on any of the nodes 61 to 63 and select "hand sequence operation" to set the hand sequence related settings such as the actuation method (single solenoid, double solenoid, etc.), sensor type, etc. be able to.

Since the hand sequence depends on the part gripped by the hand 52 of the robot R, it is set for each part gripped by the hand 52 . If a task, which will be described later, is created when the hand sequence is not set, a warning display may be output to the display device 24 because the program based on the task cannot be executed.

Components of parts include jigs (JIG), pen trays (PenTray), cap trays (CapTray), product trays (ProductTray), pens (Pen1, Pen2, ..., Pen12), caps (Cap1, Cap2, ..., Cap12 ), and products (PenProduct1, PenProduct2, ..., PenProduct12).

Below the node of the jig (JIG), for example, the following nodes are provided corresponding to the work for the jig.

・Node 64 (PenProduct): Jig holding the product (PenProduct)

・Node 65 (PenJ): Jig holding a pen

・Node 66 (CapJ): A jig holding a cap (Cap)

Nodes corresponding to pens Pen1, Pen2, . Each node corresponding to caps Cap1, Cap2, . . . , Cap12 is provided under the node of the cap tray (CapTray). Each node corresponding to the products PenProduct1, PenProduct2, .

Robot R in the hierarchical list (Robot_R in FIG. 4) and parts (jig (JIG), pen tray (PenTray), cap tray (CapTray), product tray (ProductTray), pen Pen1, Pen2, . . . , Pen12, Cap Cap1, Cap2, . . . , Cap12, and product nodes PenProduct1, PenProduct2, . Therefore, even if there is a change in the three-dimensional model of the robot R and parts in the hierarchical list after creating the hierarchical list, there is no need to re-register them in the hierarchical list.

(2-2) Jobs and tasks

Jobs and tasks will now be described with reference to FIGS.

FIG. 5 is a diagram for conceptually explaining a job. FIG. 6 is a diagram for conceptually explaining tasks.

A job is a series of operations that the robot R performs. As described above, the task means an elementary work that is the smallest unit of work performed by the robot R in a series of work. Therefore, as shown in FIG. 5, a period _{corresponding} to a job (JOB) includes _a period corresponding to a plurality of tasks T ₁ , T ₂ , . movement (hereinafter referred to as “move between tasks” as appropriate). As shown in FIG. 5, in this embodiment, a plurality of tasks are defined for jobs that the robot R performs.

Each task includes a plurality of motions (meaning “movements of robot R”) M ₁ to M _n . Tasks may include hand sequences (HS) as well as motions. A hand sequence is a series of processes for gripping a part by the hand 52 of the robot R. FIG. A waiting time WT may be set between adjacent motions due to an interlock or the like, which will be described later.

In FIG. 6, lines with arrows conceptually indicate the trajectory of the robot R's hand 52 . The trajectory includes approach points AP1 and AP2 that are passing points before reaching the target point TP of the task, the target point TP, and departure points DP1 and DP2 that are passing points after reaching the target point TP. . The target point TP indicates the position of the part that is the target of the task.

In the example shown in FIG. 6, the motion of the robot R before reaching the approach point AP1 corresponds to movement between tasks (that is, movement between the previous task and the task shown in FIG. 6). The movement of the robot R after the departure point DP2 corresponds to movement between tasks (that is, movement between the task shown in FIG. 6 and the next task). The motion of the robot R from the approach point AP1 to the departure point DP2 corresponds to one task, and the movement of the robot R between adjacent points within the task corresponds to one motion.

A robot program for executing a task can include information about the content of the task and information about at least one of the target point TP, the approach point AP, and the departure point DP.

FIG. 6 illustrates a case where interlocks IL1 and IL2 are set at approach points AP1 and AP2, respectively. In order to avoid interference with other robots, etc., the interlock prevents the robot R from moving at least one of the target point TP, the approach point AP, and the departure point DP until a predetermined signal is input. This is the waiting process.

The task may include information about interlock settings, including points to set interlocks and timeout values for waiting time due to interlocks.

(2-3) Creation of robot program corresponding to task

Next, a method of creating a robot program (hereinafter referred to as "task program" as appropriate) corresponding to a task using a hierarchical list will be described with reference to FIGS. 4 and 7. FIG. FIG. 7 is a diagram showing transition of teaching windows according to an example of the present embodiment.

To create a task program in the hierarchical list shown in FIG. Select it on the device, right-click, and select Create Task. That is, a node is selected from objects to be grasped by the hand of the robot R in the task based on the operator's operation input.

When "create task" is selected, a teaching window W3 for creating a task program shown in FIG. 7 is displayed. The teaching window W3 is a screen for performing detailed settings of the task, and displays items such as a task name (Name), a task type (Function), and a task target (Target). Here, by left-clicking with a pointing device a node corresponding to one of the parts in the parts area PA of the hierarchical list, the target item (Target) of the teaching window W3 is selected by left-clicking. parts are entered. In the task type (Function) column, you can select one task from a pull-down menu consisting of multiple preset task types (for example, pick up, place, etc.). type can be selected.

Next, by selecting a part to be worked on from the parts area PA of the hierarchical list with a pointing device and performing a left-click operation, the selected part is displayed in the target item (Target) of the teaching window W3. is entered.

When data is input for each item of task type (Function) and target (Target), the task name (Name) is automatically determined and displayed based on the data.

For example, in a state where the hand of the robot R is not holding anything, to create a task of "take the pen Pen1 from the pen tray", the node 61 in the robot area RA of the hierarchical list shown in FIG. Right-click with your pointing device and select Create Task. Next, by performing a left-click operation with the pointing device on a node 67 corresponding to the pen tray (PenTray) from the parts area PA of the hierarchical list, the pen tray ( PenTray) is input. In the task type (Function) column, select "Pick up" from among multiple task type candidates. A teaching window W3 shown in FIG. 7 is displayed by performing a left-click operation with the pointing device on a node 68 corresponding to the pen Pen1 to be worked on from the parts area PA of the hierarchical list.

As a result of the above operations, a task program named "Pickup_Pen1_From_PenTray" is created corresponding to the task "Pickup Pen1 from Pen Tray".

In this embodiment, the operator can intuitively specify the target part of the element work ("Pen1" in this case) and the start point (for example, "pen tray") or end point of the element work on the hierarchical list. A task program can be created in Also, the name of the task program is the work content of the task (e.g. "Pickup"), the work target of the task (e.g. "Pen Pen1"), the part that is the starting point of the task (e.g. "Pen Tray"), or the end point. Since the program is automatically created so as to include the parts, the content of the task can be understood immediately from the name of the task program.

When creating a task program, information about the approach point AP, target point TP, and departure point DP included in the task may be created automatically. Alternatively, the operator may operate the button b1 ("detailed setting") of the teaching window W3 to set one or more approach points and/or departure points. When automatically creating the approach point AP, the target point TP, and the departure point DP, the center of gravity of the part is set as the target point TP, and the center of gravity of the part is used as a reference for the local coordinate system of the part on a predetermined axis ( For example, the approach point AP and the departure point DP may be set on the Z axis).

Referring to FIG. 7, by operating the button b1 ("detailed setting") of the teaching window W3, the operator can set "approach point and departure point setting", as well as "motion parameter setting" and "interlock setting". You can choose either

A motion parameter is a parameter relating to the movement of the hand 52 of the robot R between adjacent approach points AP, between the approach point AP and the target point TP, and between the target point TP and the departure point DP included in the task. is. For example, such parameters include movement speed, acceleration, acceleration time, deceleration time, posture of the robot R, and the like. By selecting "set motion parameters", the above motion parameters can be changed from the default values.

By selecting "interlock setting", it is possible to change the timeout value of the interlock standby time and the setting of the operation when the standby time exceeds the timeout value and an error is determined from the default value.

A teaching window W3 in FIG. 7 is provided with a button b2 (“create”). By operating the button b2 (“Create”), the task set by the teaching window W3 is registered in the task list described later.

(2-4) Creating a program based on tasks

For example, the task program corresponding to the task shown in FIG. It has been described.

Note that move (AP1) below may be defined separately as a move between tasks.

・move(AP1) …Move to approach point AP1

・interlock (IL1)…Wait by interlock (IL1) at approach point AP1

・move(AP2)…Move to approach point AP2

・interlock (IL2)…Wait by interlock (IL2) at approach point AP2

・move(TP)…Move to target point TP

・handSequence(): hand sequence processing

・move(DP1) … move to departure point DP1

・move(DP2) … move to departure point DP2

In the functions interlock(IL1) and interlock(IL2), when checking the operation of each task, the program is created, but the timeout value for the waiting time due to interlock is invalid.

(2-5) Task list

A task list is information including a plurality of tasks included in a job performed by the robot R, and is information of a list of names of task programs corresponding to each of the plurality of tasks. Tasks defined by the teaching window W3 for a specific job are sequentially registered in the task list corresponding to the job. For job management, it is preferable that the order of the plurality of tasks included in the task list indicates the execution order of the plurality of tasks.

The teaching window W4 in FIG. 8 displays an example of a task list corresponding to a job (“Pen Assembly”), which is a series of tasks “putting the cap on the pen and assembling the product”. An example of this task list includes the following six tasks (i) to (vi). In this case, the teaching window W3 for creating a task program creates a task program with the name shown in parentheses.

(i) Pickup Pen from Pen Tray (Pickup_Pen1_From_PenTray)

(ii) Place the picked pen in the jig (Place_to_PenJ_in_PenProduct)

(iii) Pick up cap from cap tray (Pickup_Cap1_From_CapTray)

(iv) Place Cap on Pen on Jig (Place_to_CapJ_in_PenJ)

(v) Pick up capped pen (Pickup_PenProduct_From_JIG)

(vi) Place capped pen in product tray (Place_to_PenProduct1_in_ProductTray)

The operator can set the selected tasks in any order in the task list by performing a drag operation while selecting one of the tasks in the task list with the pointing device.

As shown in Fig. 8, if any task in the task list is selected with a pointing device and right-clicked, one of "task edit", "task addition", and "task deletion" can be selected. . Here, when "task edit" is selected, it is possible to return to the teaching window W3 of the selected task and change the information about the task. If "Add task" is selected, read and insert the created task immediately after the selected task, or return to the teaching window W3 to create and insert the task. can do. When "delete task" is selected, the selected task can be deleted from the task list.

A task program is changed, added, or deleted according to the operator's operation.

As shown in FIG. 8, each task in the task list is associated with an expansion icon EI for displaying a plurality of motions included in each task. By operating any expansion icon EI, a plurality of motions included in the task corresponding to the operated expansion icon EI are displayed. For example, when the expand icon EI corresponding to task _T2 in the task list of FIG. 8 is operated, a teaching window W5 shown in FIG. 9 is displayed.

In the example shown in FIG. 9, task T ₂ is displayed in association with motion names M ₂₁ to M ₂₅ , which are names specifying a plurality of motions included in task T ₂ .

・Motion name _M21 … Motion up to approach point AP2 (Approach_point_2)

・Motion name _M22 … Motion up to approach point AP1 (Approach_point_1)

・Motion name _M23 … Motion to target point TP (Target_point)

・Motion name _M24 … Hand operation (Hand-Open)

・Motion name _M25 … Movement up to departure point DP1 (Departure_point_1)

In the teaching window W5 shown in FIG. 9, the fold icon FI is associated with the task _T2 instead of the unfold icon EI, and motion names _M21 to _M25 included in the task _T2 are displayed. When the folding icon FI is operated, the motion names _M21 to _M25 are hidden, and the teaching window W4 shown in FIG. 8 is displayed again.

(2-6) Approximate shape data

In the path determination device 1 of the present embodiment, in order to perform the intra-task interference check and the inter-task interference check described later at high speed, approximate shape data is created in correspondence with the three-dimensional models of the robot and parts, and stored in the storage 22. stored in Approximate shape data is data obtained by approximating a three-dimensional model with a set of spheres so that the outer surface of the three-dimensional model is covered with a plurality of spheres in order to quickly determine whether there is interference between the three-dimensional models.

Preferably, a plurality of approximate shape data with different sphere sizes are created corresponding to one three-dimensional model.

FIG. 10 illustrates a three-dimensional model of the robot and approximate shape data of different levels. In FIG. 10, it can be seen that the approximation shape data of level 1, level 2, and level 3 have smaller diameters of the sphere, which is the basic shape, in order. Since the number of spheres included in the approximate shape data increases as the diameter of the spheres decreases, the approximate shape data of level 3 is a model in which the outer surface of the three-dimensional model is accurately reproduced. Also, the level of the approximate shape data may be further increased by further reducing the diameter of the sphere. On the other hand, regarding the calculation time required for collision determination, it takes a long time in order of levels 1 to 3 of the approximate shape data. As will be described later, this embodiment is configured to perform collision determination in a short period of time by performing collision determination while sequentially increasing the level of approximate shape data from low to high.

Different levels of sphere data are managed in a tree structure for each approximate shape data. For example, two spheres of level 2 are associated with one sphere of specific level 1 in the approximate shape data, and four spheres of level 3 are associated with one sphere of level 2. , and so on.

FIG. 11 is a diagram conceptually showing the data configuration of robots and parts.

As shown in FIG. 11, in this embodiment, the three-dimensional model and the approximate shape data of levels 1 to 3 (L1 to L3) are associated with the robot R and each part that make up the hierarchical list. . When simulating the motion of the robot R in order to visualize the interference determination result of the robot R, a three-dimensional model of the robot R and each part, or approximate shape data associated with the three-dimensional model, is arranged in a virtual space. be.

In this embodiment, approximate shape data associated with two or more identical three-dimensional models is efficiently created. That is, if the approximate shape data corresponding to one of the two or more identical three-dimensional models has already been created and is included in the approximate shape model database 225, the approximate shape data has been created. Created approximate shape data is associated with a three-dimensional model that does not exist. For example, in the example shown in FIG. 11, if the approximate shape data for the three-dimensional model corresponding to pen Pen1 has already been created, the approximate shape data for pen Pen1 is duplicated as the approximate shape data for the remaining pens Pen2 to Pen12. and associated with the three-dimensional models for the pens Pen2 to Pen12.

Each sphere forming the approximate shape data corresponding to the robot R has local coordinates, or the local coordinates are referred to. The local coordinates of each sphere of the approximate shape data corresponding to the robot R are the same as those of each link coordinate system of the robot R.

In the route determination device 1 of the present embodiment, when the interference check is performed when the robot R operates, the virtual space of the approximate shape data corresponding to the three-dimensional model is changed as the position of the three-dimensional model in the virtual space is changed. A process is performed to sequentially change the position within (for example, at each timing of a predetermined period in which an interference check is performed). At this time, the position of the sphere is updated using the local coordinates set for each sphere in the approximate shape data.

For example, when the robot R is a 6-joint robot, the homogeneous transformation matrices between adjacent link coordinate systems with respect to the reference coordinates (robot coordinates) of the robot R are T ₁ , T ₂ , T ₃ , T ₄ , T ₅ , T ₆ , each homogeneous transformation matrix is determined from the angle of each joint. Therefore, in this embodiment, the coordinates of the origin of the sphere in the robot coordinate system after updating are obtained by homogeneous transformation matrices T ₁ , T ₂ , T ₃ , It is calculated by multiplying one or a plurality of matrices of T ₄ , T ₅ and T ₆ according to the link to which the sphere belongs. For example, for a sphere with local coordinates transformed by T ₁ and T ₂ , let P _t and P _t+1 be the coordinates of the origin of the sphere in the robot coordinate system before and after the change, then P _t+1 = (T ₁ T ₂ ) P _t , Since the homogeneous transformation matrix is also updated according to the movement of the robot R, the updated matrix is applied when updating the coordinates of the origin.

By sequentially updating the position of the origin of the sphere according to the movement of the robot R, there is no need to reset the sphere in the three-dimensional model each time the robot R moves, thereby further speeding up the collision determination process. realizable.

(2-7) Intra-task interference check

Next, the intra-task interference check will be described with reference to FIGS. 12 to 14. FIG. FIG. 12 is a diagram showing transition of teaching windows according to an example of an embodiment. FIG. 13 is a diagram illustrating a method of determining interference between spheres. FIG. 14 is a diagram illustrating a display mode when the three-dimensional model of the robot and parts interfere with each other.

The intra-task interference check is to check whether or not interference occurs in the virtual space between the three-dimensional models of the robot, the workpiece, and the peripheral arrangement during the task when the robot performs the task selected by the operator. It is to judge.

To execute the intra-task interference check, select one of the tasks registered in the task list. For example, as shown in FIG. 12, to perform an intra-task interference check for task _T2 in the task list, the operator selects task _T2 , right-clicks, and presses button b14 ("operation check"). Select and operate to select the button b141 (“intra-task interference check”).

In the intra-task interference check, the task program of the selected task is transmitted from the information processing device 2 to the robot control device 3, and the task program is executed in the robot control device 3. FIG. The robot control device 3 returns execution log data including robot state data to the information processing device 2 as an execution result of the task program. The robot state data are physical quantities indicating the state of the robot over time calculated based on the model of the manipulator 50 (for example, joint angles at predetermined reference times (for example, 1 ms), coordinate positions of reference points, etc.). data.

The CAD software of the information processing device 2 operates the three-dimensional model of the robot R and the workpiece gripped by the robot R within the virtual space according to the robot state data. At this time, the information processing device 2 determines whether or not the approximate shape data corresponding to the three-dimensional model interferes with the approximate shape data corresponding to the three-dimensional models of other robots R and parts.

The timing of collision determination may be set as appropriate, but for example, collision determination is performed each time the reference point of the robot moves by 10 mm. At the timing of collision determination, as described above, the positions of the spheres forming the approximate shape data of the robot are updated and used for interference determination.

In the example of this embodiment, since the approximate shape data is composed of a plurality of spheres, the process of determining interference is easy. That is, in FIG. 13, when the two spheres for collision determination are spheres Cb1 and Cb2 (the radii r1 and r2 of each sphere are known according to the level), the robot coordinates of the spheres Cb1 and Cb2 are The updated origins O1 and O2 in the system are calculated as described above. When the distance L between the origins O1 and O2 is greater than the sum of the radius r1 of the sphere Cb1 and the radius r2 of the sphere Cb2, it can be determined that there is no interference between the spheres Cb1 and Cb2. Conversely, if the distance L between the origins O1 and O2 is equal to or smaller than the sum of the radius r1 of the sphere Cb1 and the radius r2 of the sphere Cb2, it can be determined that there is interference between the spheres Cb1 and Cb2. When there is interference between the spheres Cb1 and Cb2, it is determined that the robot or part to which the sphere Cb1 belongs interferes with the robot or part to which the sphere Cb2 belongs.

The determination of interference between the robots R and between the robot R and the part is basically performed in a round-robin manner, but it is not necessary to perform the interference determination for combinations that clearly do not interfere. For example, (i) the hand of the robot R and the workpiece on the hand, (ii) the peripheral arrangement object and the workpiece arranged on the peripheral arrangement object, (iii) the work on the hand and the relevant object arranged on the peripheral arrangement object For workpieces, interference determination may not be performed. This is because (i) interference cannot occur, (ii) interference cannot occur because they are in a stationary relationship, and (iii) they cannot exist at the same time.

Further, for a specific combination of targets for interference determination, the period for performing interference determination may be limited according to the task type. For example, when judging interference between a robot or a peripherally arranged object and a work on the hand, if the task type is "Pick up", the collision judgment is performed in the period after the first departure point. Alternatively, if the task type is "Place", interference determination may be performed in the period from the first approach point to the target point.

As for the result of interference determination, the part where interference occurs in the three-dimensional model may be displayed in a different manner from the part where interference does not occur. For example, as shown in FIG. 14, the part _RINF of the three-dimensional model of the robot R that interferes with parts may be displayed in a different manner (for example, different color, pattern, brightness, etc.) from parts that do not interfere. As a result, the operator can recognize in which part of the robot R the interference will occur, so that teaching work such as changing the teaching point of the robot R or changing the arrangement of parts can be supported.

The interfering portion R _INF may be displayed in a manner different from the three-dimensional model, and the interfering portion R _INF may be displayed with approximate shape data. At that time, it is preferable to display the size of the sphere that constitutes the approximate shape data. This makes it easier for the operator to recognize how much the teaching points of the robot R need to be changed to avoid interference from the size of the spheres forming the approximate shape data.

Although FIG. 14 exemplifies the case where the three-dimensional model of the robot R is displayed, approximate shape data corresponding to the three-dimensional model may be displayed instead of the three-dimensional model of the robot R.

Note that the CAD software may hide any three-dimensional model selected by the operator in the virtual space. In that case, it is preferable not to use the three-dimensional model hidden in the virtual space by the CAD software as a target for determining whether or not interference will occur. This makes it easier for the operator to recognize the presence or absence of interference with respect to the portion that the operator wants to focus on. For example, depending on the point of view when displaying the virtual space, a part that the operator wants to pay attention to may overlap with a part. It becomes easy for the operator to confirm whether or not a

(2-8) Interference check between tasks

The inter-task interference check is to determine whether or not interference occurs in the virtual space between the three-dimensional models of the robot, the workpiece, and the surrounding arrangement during the movement of the robot between two tasks selected by the operator. is.

To execute the inter-task interference check, for example, at least two or more tasks registered in the task list are selected. As shown in FIG. 15, for example, in order to check the interference between tasks T ₂ to T ₄ in the task list, the operator selects the tasks T ₂ to T ₄ and right-clicks on the button b14 ( "Check operation"), and select the button b142 ("interference check between tasks").

In the inter-task interference check, a portion of the robot program (for example, the above move (AP1)) in which the operation between two or more selected tasks is set is transmitted from the information processing device 2 to the robot control device 3, and the robot A robot program is executed in the controller 3 . The robot control device 3 returns execution log data including robot state data to the information processing device 2 as the execution result of the robot program. The robot state data are physical quantities indicating the state of the robot over time calculated based on the model of the manipulator 50 (for example, joint angles at predetermined reference times (for example, 1 ms), coordinate positions of reference points, etc.). data.

The CAD software of the information processing device 2 operates the three-dimensional model of the robot R and the workpiece gripped by the robot R within the virtual space according to the robot state data. At this time, the information processing device 2 determines whether or not the approximate shape data corresponding to the three-dimensional model interferes with the approximate shape data corresponding to the three-dimensional models of other robots R and parts.

The timing of collision determination may be set as appropriate, but for example, collision determination is performed each time the reference point of the robot moves by 10 mm. At the timing of collision determination, as described above, the positions of the spheres forming the approximate shape data of the robot are updated and used for interference determination.

(2-9) Interference determination processing

Next, the process of interference determination (interference check) will be described with reference to the flowchart of FIG. 16 . The flowchart of FIG. 16 is mainly executed by the control section 21 of the information processing device 2 .

In the flowchart shown in FIG. 16, the processing from step S12 onward is performed each time the reference point of the robot R moves by 10 mm. If the reference point of the robot R has moved 10 mm from the previous time (step S10: YES), the position of the approximate shape data is updated (step S12). Updating the position of the approximate shape data is performed by updating all of the origins of one or more spheres forming the approximate shape data.

Next, the control unit 21 performs round-robin collision determination between the robots R and between the robot R and the part. At this time, as the approximate shape data of the robot R and parts, the approximate shape data of level 1 having the largest sphere size is used to determine interference (step S14). As described with reference to FIG. 13, the presence or absence of interference is determined by focusing on one sphere from each of the two pieces of approximate shape data to be subjected to interference determination, and determining whether or not the spheres interfere with each other based on the distance between the origins. and the sum of the radii of each sphere preset as level 1. The spheres to be focused on are sequentially changed with respect to the two pieces of approximate shape data to be subjected to interference determination, and whether or not the spheres interfere with each other is determined in a round-robin manner. As a result, when even one sphere does not interfere with each other (step S16: NO), the control unit 21 determines that the two pieces of approximate shape data do not interfere with each other (step S18), and terminates.

In the interference check using the approximate shape data of level 1 in step S14, among the combination of the robots R and the combination of the robot R and the part, for the combination in which interference occurs (step S16: YES), the control unit 21: Collision determination is performed using approximate shape data of level 2, in which the size of the sphere is smaller than level 1 (step S20). The collision determination process is the same as in step S14 except that the size of the spheres is different. That is, if even one sphere does not interfere with two pieces of approximate shape data to be subjected to interference determination (step S22: NO), the control unit 21 determines that the two pieces of approximate shape data do not interfere (step S18). ),finish.

In the interference check using the approximate shape data of level 2 in step S20, among the combination of the robots R and the combination of the robot R and the part, for the combination in which interference occurs (step S22: YES), the control unit 21 Collision determination is performed using approximate shape data of level 3, in which the size of the sphere is smaller than level 2 (step S24). The collision determination process is the same as in step S14 except that the size of the spheres is different. That is, if even one sphere does not interfere with two pieces of approximate shape data to be subjected to interference determination (step S26: NO), the control unit 21 determines that the two pieces of approximate shape data do not interfere (step S18). ),finish.

In the interference check with the approximate shape data of level 3 in step S24, if interference occurs between the combination of the robots R and the combination of the robot R and the part (step S26: YES), it is determined that there is interference. (step S28), the data of the collision determination result is recorded in the storage 22, and the process ends. The collision determination result data includes data on the robot R and/or the position of the sphere that interfered with the robot R and the part.

As shown in the flowchart of FIG. 16, preferably, the collision determination is performed step by step using the approximate shape data of level 1 with low precision and the approximate shape data of level 3 with high precision in order. Preferably, in the interference check, among the combinations in which interference occurs, only the interfering spheres are treated as approximate shape data at a high-precision level. Therefore, the computational load required for collision determination is reduced compared to the case where collision determination is performed using approximate shape data of level 3, which has high accuracy from the beginning.

(3) Setting waypoints when interference occurs

Next, a method of setting waypoints when moving the robot R from the start point to the end point will be described with reference to the flowchart of FIG. For example, when the robot R is moved from the start point to the end point, if interference occurs with a part on the way, it is necessary to provide a waypoint so as to avoid the part.

The flowchart of FIG. 17 will be described below with reference to the example of FIG. FIG. 18 is a diagram illustrating setting of candidate points (to be described later). The flowchart shown in FIG. 1 is written in a teaching program and executed by the control unit 21 of the information processing device 2 . In FIG. 17, when moving the robot R from a predetermined start point to a predetermined end point, the control unit 21 extracts necessary data such as coordinate data of the start point and the end point and approximate shape data (step S30), A check is performed (step S32). The specific processing of the interference check is as described with reference to FIG. 16 .

As a result of step S32, if no interference occurs (step S34: NO), there is no need to provide a waypoint between the start point and the end point, so the process ends. As a result of step S32, if interference occurs (step S34: YES), the process proceeds to step S36 and subsequent steps to set a waypoint.

When the robot and the part interfere with each other, the control unit 21 sets candidate points on the surface of a sphere obtained by increasing the diameter of the sphere that interferes with the robot in the approximate shape data of the part composed of a sphere (step S36). A candidate point means a point that can be a candidate of a waypoint that can be a waypoint of a route from the start point of the robot R to the end point.

For example, when interference occurs in a specific level 3 sphere (see FIG. 10) of a part, for that level 3 sphere, on the surface of the corresponding level 2 sphere (see FIG. 10) in the tree structure Set candidate points.

FIG. 18 shows a level 2 sphere Cb10 (L2) on which candidate points VC are set. In this example, since interference occurs in a level 3 sphere (not shown) existing between the start point and the end point, the candidate is a level 2 sphere Cb10 (L2) with a larger diameter that is associated with the sphere. It is assumed that the point VC is set. By setting the candidate point VC on the surface of a sphere that is one size larger than the sphere where the interference occurred, the possibility of new interference with another part is reduced while avoiding the current interference. be able to.

In the example shown in FIG. 18, the number of candidate points VC specified by the user is evenly set on the surface of the level 2 sphere Cb10 (L2).

After setting a plurality of candidate points VC, the control unit 21 performs an interference check to determine whether or not interference will occur if each candidate point VC is assumed to be a waypoint. Specifically, the control unit 21 performs an interference check when the robot R is moved from the starting point to the candidate point VC (step S38), and also performs an interference check when the robot R is moved from the candidate point VC to the end point. A check is performed (step S40). The processes of steps S38 and S40 are performed for all the candidate points VC set in step S36 (step S42: NO). The control unit 21 records in the storage 22 the results of the interference checks in steps S38 and S40 for each candidate point VC.

As a result of the interference check for each candidate point VC, if it is determined that there is at least one candidate point VC that can avoid interference (step S44: YES), one of the candidate points VC that can avoid interference The candidate points VC are displayed so that the user can select the VC (step S46).

FIG. 19 shows a preferable display example in step S46.

In the display example shown in FIG. 19, it is divided into the following four groups, and each group is displayed in a different display mode. By grouping and displaying the candidate points VC in this way, it is possible to provide the user with useful information for selecting an appropriate waypoint from among the candidate points VC.

It should be noted that the different display modes of each group are merely an example, and any display mode may be used as long as different groups can be identified. For example, each group may be displayed in a different color.

・“●”: from a candidate point (an example of the first candidate point) that satisfies the first condition that no interference of approximate shape data occurs on the path from the start point to the candidate point VC and on the path from the candidate point VC to the end point (an example of the first candidate point) The first candidate point group consisting of the first candidate points

・“△”: Candidate point satisfying the second condition that the approximate shape data does not interfere on the route from the start point to the candidate point VC, and the approximate shape data interfere on the route from the candidate point VC to the end point ( Second candidate point group consisting of (an example of the second candidate point)

・“▲”: A candidate point that satisfies the third condition that the approximate shape data interferes on the route from the starting point to the candidate point VC, and the approximate shape data does not interfere on the route from the candidate point VC to the end point (the third condition). An example of 3 candidate points) A third candidate point group consisting of

"X": Fourth candidate point consisting of candidate points satisfying the fourth condition that interference of approximate shape data occurs on both the route from the start point to the candidate point VC and the route from the candidate point VC to the end point. group

If the user selects any candidate point VC from among the candidate points VC displayed in step S46 using, for example, a pointing device (step S48: YES), the control unit 21 selects the selected candidate point VC. It is determined as a waypoint (step S50).

If it is determined in step S44 that there is no candidate point VC that can avoid interference (step S44: NO), the control unit 21 selects a sphere that is one size larger than the sphere for which the candidate point VC is set in step S36. A candidate point VC is set on the surface of (step S52). Then, the processing of steps S38 to S42 is repeated again. Increasing the size of the sphere for setting the candidate point VC increases the possibility of avoiding interference.

In step S44 of the flowchart of FIG. 17, if there is not even one candidate point VC for avoiding interference, two or more waypoints may be set.

For example, in FIG. 20, if there is no candidate point VC for avoiding interference, any candidate point VC in the second candidate point group is determined as the first waypoint V1. That is, in the example shown in FIG. 20, no interference occurs on the route from the starting point to the first waypoint V1, but on the route from the first waypoint V1 to the end point, the sphere Cb12 ( L3).

In such a case, the process of FIG. 17 is executed on the route from the starting point to the ending point when the first waypoint V1 is used as the starting point. That is, as shown in FIG. 21, candidate points are set on the surface of a level 2 sphere Cb12 (L2) that is larger in diameter than the approximation shape data level 3 sphere Cb12 (L3). FIG. 21 shows an example in which the second waypoint V2 is determined from the candidate points on the surface of the level 2 sphere Cb12 (L2). In the example shown in FIG. 21, the occurrence of interference is avoided by the route of the robot R of starting point→first waypoint V1→second waypoint V2→end point.

Although the example shown in FIG. 18 shows the case where the number of candidate points VC specified by the user is evenly set on the surface of the sphere Cb10 (L2) of level 2, the present invention is not limited to this.

As shown in FIG. 22, a plane PL1 having the maximum diameter of a circle that intersects the level-2 sphere Cb10 (L2) among the cutting planes of the level-2 sphere Cb10 (L2) perpendicular to the straight line DL connecting the start point and the end point , a plurality of candidate points VC may be set on a circle that is on the plane PL1 and intersects the surface of the level-2 sphere Cb10 (L2). In this case, the plurality of set candidate points VC includes the candidate point VC farthest from the straight line DL on the surface of the level 2 sphere Cb10 (L2). become more sexual. In addition, since the number of candidate points VC is smaller than when the candidate points VC are uniformly provided on the surface of the level 2 sphere Cb10 (L2), the calculation load for determining the waypoints is reduced.

(4) Functions of route determination device 1

Next, functions of the route determination device 1 of this embodiment will be described with reference to FIG. FIG. 23 is a functional block diagram of the route determination device 1 according to the embodiment.

As shown in FIG. 23, the route determination device 1 includes a display control unit 101, a data creation unit 102, a program execution unit 103, a state information calculation unit 104, an interference determination unit 105, a candidate point setting unit 106, and a candidate point identification unit. A unit 107 is provided.

In the route determination device 1 of this embodiment, the storage 22 of the information processing device 2 includes the robot program 221, the hierarchical list database 222, the three-dimensional model database 223, the execution log database 224, and the approximate shape model, as described above. A database 225 is provided.

The display control unit 101 controls the display device 24 to display execution results of the teaching software and the CAD software.

The display control unit 101 has a function of arranging a three-dimensional model of a robot, a workpiece, and a surrounding arrangement in a virtual space and displaying it on the display device 24 . This function is realized by referring to the three-dimensional model database 223 by CAD software.

The display control unit 101 has a function of arranging the approximate shape data in the virtual space and displaying it on the display device 24 . In order to implement this function, the control unit 21 of the information processing device 2 accesses the approximate shape model database 225 of the storage 22 and reads approximate shape data to be arranged in the virtual space. Approximate shape data is associated with the three-dimensional model of the three-dimensional model database 223 .

The display control unit 101 has a function of displaying the candidate points specified by the candidate point specifying unit 107 on the display device 24 so that the user can select a waypoint from the candidate points.

The data creation unit 102 has a function of creating approximate shape data obtained by approximating the three-dimensional data contained in the three-dimensional model database 223 by a set of spheres. In order to realize this function, the control unit 21 of the information processing device 2 reads the three-dimensional model of the robot and parts from the three-dimensional model database 223, and covers the outer surface of the three-dimensional model with one or more spheres. Approximate shape data corresponding to the three-dimensional model is created by arranging the spheres with the The approximate shape data created is recorded in the approximate shape model database 225 .

The program execution unit 103 has a function of executing all or part of the robot program according to the operation input by the operator.

In order to realize the function of the program execution unit 103, the operation of the button b141 ("intra-task interference check") with any task selected from the task list, or the operation of two or more tasks from the task list. The robot program is transmitted to the robot control device 3 via the communication interface unit 25 in response to the operation of selecting the button b142 (“interference check”) in the selected state. The range of robot programs to be sent is based on the task selected in the task list. Upon receiving the robot program, the control unit 31 of the robot control device 3 executes the robot program.

The state information calculation unit 104 has a function of calculating robot state data, which is information indicating the state of the robot over time, based on the execution results of the program execution unit 103 .

In order to realize the function of the state information calculation unit 104, the control unit 31 of the robot control device 3 executes the robot program from the information processing device 2, calculates robot state data as the execution result of the robot program, and sequentially: Record in the storage 32 .

The robot state data are physical quantities indicating the state of the robot over time calculated based on the model of the manipulator 50 (for example, joint angles at predetermined reference times (for example, 1 ms), coordinate positions of reference points, etc.). data.

When the execution of the robot program is finished, the control unit 31 reads robot state data for each predetermined reference time (for example, 1 ms) along the time axis from the storage 32 . The control unit 31 transmits execution log data including the read robot state data to the information processing device 2 via the communication interface unit 33 . When the control unit 21 of the information processing device 2 acquires execution log data including robot state data from the robot control device 3 , it records the execution log data in the execution log database 224 .

The interference determination unit 105 has a function of determining whether or not the approximate shape data will interfere with each other when the robot R is moved along the route from the start point to the end point. Whether or not there is interference is determined based on execution log data of the robot program. The interference determination unit 105 corresponds to the interference determination process in FIG. 16 .

When the interference determination unit 105 determines that interference will occur, the candidate point setting unit 106 sets candidates for waypoints through which the robot R passes on the surface of a sphere having a larger diameter than the sphere in which the interference has occurred among the approximate shape data. It has a function to set a plurality of candidate points. The candidate point setting unit 106 corresponds to, for example, the process of step S36 in the flowchart of FIG.

The candidate point specifying unit 107 selects a plurality of candidate points for which no interference of the approximate shape data occurs when the robot R is moved along the route from the starting point to the candidate point and the route from the candidate point to the end point. Equipped with a function to specify from points. The candidate point identification unit 107 corresponds to, for example, the processing of steps S38 to S44 in the flowchart of FIG.

The data creation unit 102 creates a plurality of approximate shape data having different sphere diameters corresponding to the three-dimensional data. may be configured by a tree structure such that is associated with two or more small spheres. In this case, the candidate point setting unit 106 sets a plurality of candidate points on the surface of the larger diameter sphere associated with the sphere in which the interference occurred in the approximate shape data.

It is not essential to set candidate points on the surface of a large-diameter sphere corresponding to the tree structure for the sphere in which interference has occurred in the approximate shape data. For example, the candidate points may be set on the surface of a larger-diameter sphere that is concentric with the sphere in which interference has occurred in the approximate shape data.

As shown in step S52 of the flowchart in FIG. 17, when the candidate point specifying unit 107 cannot specify the candidate points where the approximate shape data do not interfere, the candidate point setting unit 106 determines that the candidate points are A plurality of candidate points may be newly set on the surface of a sphere with a larger diameter that is associated with the set sphere. In this case, the candidate point identifying unit 107 identifies candidate points at which interference of the approximate shape data does not occur from among the plurality of newly set candidate points.

As described above, in the route determination device 1 of the present embodiment, when a robot or a part is modeled using approximate shape data composed of an aggregate of one or more spheres, and the robot is operated using the approximate shape data, interference judgment. When interference occurs, a plurality of candidate points are set on the surface of a sphere having a diameter larger than that of the sphere where the interference occurred among the approximate shape data, and the plurality of candidate points are set as candidates for waypoints through which the robot passes. Identify candidate points where interference does not occur from among the points. Then, from among the identified candidate points, a waypoint is determined according to the user's selection.

A plurality of candidate points are set, for example, on a larger-diameter sphere that is pre-associated with the sphere in which interference has occurred. Then, the collision determination when passing through each candidate point can be performed by a simple process as described with reference to FIG. 13 . In other words, it is possible to determine candidate points that are candidates for the waypoints where no interference occurs in a short period of time. A waypoint is determined by a user's simple operation from candidate points where no interference occurs. Therefore, according to the route determination device 1 of the present embodiment, it is possible to generate a motion route of the robot that avoids interference with a simple operation and in a short period of time.

Although the embodiments of the route determination device of the present invention have been described above, the present invention is not limited to the above embodiments. Also, the above embodiments can be modified and modified in various ways without departing from the gist of the present invention.

For example, FIG. 24 shows a modification of the flowchart of FIG. In FIG. 24, after the interference check for each candidate point is completed (step S42: YES), the interference check result is displayed as shown in FIG. When determined, the process proceeds to step S52. In this modification, even if there are no candidate points that do not cause interference, the route can be determined flexibly by setting multiple waypoints without enlarging the sphere for setting candidate points. can be done.

According to the above description, a program for causing a computer to implement at least some of the functions described in the functional block diagram of FIG. 23, and a computer-readable storage medium (non-volatile storage medium ) are disclosed.

DESCRIPTION OF SYMBOLS 1... Route determination apparatus 2... Information processing apparatus 21... Control part 22... Storage 23... Input device 24... Display device 25... Communication interface part 3... Robot control apparatus 31... Control part 32... Storage 33 Communication interface unit 11 Pen tray P Pen group 12 Cap tray C Cap group 13 Jig 14 Product tray EC Ethernet cable R Robot 51 Arm 52 Hand 61 to 68 Node 101 Display control unit 102 Data creation unit 103 Program execution unit 103 State information calculation unit 104 Interference determination unit 106 Candidate point setting unit 107 Candidate point Identification unit 221 Robot program 222 Hierarchical list database 223 Three-dimensional model database 224 Execution log database 225 Approximate shape model database RA Robot area PA Part area W1 to W5 Window , b1-b2, b11-b13, b141, b142... button, AP... approach point, TP... target point, DP... departure point, TL... table, T... task, M... motion name, Cb1, Cb2... sphere, Cb10 (L2), Cb12 (L2)... Level 2 sphere, Cb12 (L3)... Level 3 sphere, O1, O2... Origin, VC... Candidate point, V... Waypoint, DL... Straight line DL, PL1... Cutting plane, CL1... Yen

Claims (8)

a storage unit that stores three-dimensional data of at least one of a robot, a workpiece to be worked by the robot, and peripheral objects arranged around the robot;

a data creation unit that creates approximate shape data of the three-dimensional data stored in the storage unit by arranging one or more spheres so as to cover the outer surface of the three-dimensional data;

an interference determination unit that determines whether or not interference of the approximate shape data will occur when the robot is moved along a route from a start point to an end point;

When it is determined by the interference determination unit that interference will occur, a plurality of candidate points, which are candidates for waypoints through which the robot passes, are formed on the surface of a sphere having a larger diameter than the sphere in which interference has occurred among the approximate shape data. a candidate point setting unit for setting

Candidate points at which interference of the approximate shape data does not occur when the robot is moved on a route from the start point to the candidate point and on a route from the candidate point to the end point are selected from the plurality of candidate points. a candidate point identification unit to identify;

a display control unit that displays the candidate points identified by the candidate point identification unit on a display device so that a user can select the waypoint from among the candidate points;

A robotic routing device with a
The data creation unit creates a plurality of approximate shape data having different sphere diameters corresponding to the three-dimensional data, and each sphere of the plurality of approximate shape data has a larger diameter than the sphere. Constructed by a tree structure so as to be associated with two or more spheres with small diameters,

The candidate point setting unit sets the plurality of candidate points on the surface of a sphere having a larger diameter that is associated with the sphere in which interference has occurred in the approximate shape data.

2. The path determination device for a robot according to claim 1.
When the candidate point specifying unit cannot specify a candidate point at which interference of the approximate shape data does not occur, the candidate point setting unit associates the candidate point with the set sphere. Newly set a plurality of candidate points on the surface of a sphere with a larger diameter,

The candidate point identifying unit identifies, from among the plurality of newly set candidate points, candidate points at which interference of the approximate shape data does not occur.

3. The robot route determination device according to claim 2.
The display control unit, among the plurality of candidate points,

a first candidate point that satisfies a first condition that interference of the approximate shape data does not occur on a route from the start point to the candidate point and on a route from the candidate point to the end point;

a second candidate point that satisfies a second condition that the approximate shape data do not interfere on the route from the starting point to the candidate point and the approximate shape data interfere on the route from the candidate point to the end point;

a third candidate point that satisfies a third condition that the approximate shape data interfere with each other on the route from the starting point to the candidate point and that the approximate shape data do not interfere on the route from the candidate point to the end point;

to display in a different display mode,

A path determination device for a robot according to any one of claims 1 to 3.
The candidate point setting unit evenly sets the number of candidate points specified by the user on the surface of the sphere on which the plurality of candidate points are to be set.

A path determination device for a robot according to any one of claims 1 to 4.
The candidate point setting unit, when defining a plane having a maximum diameter of a circle that intersects the surface among planes orthogonal to a straight line connecting the start point and the end point, is on the plane and intersects the surface. setting the plurality of candidate points on a circle;

A path determination device for a robot according to any one of claims 1 to 4.
A route determination method for determining a route of the robot using three-dimensional data of at least one of a robot, a workpiece to be worked by the robot, and peripheral objects arranged around the robot,

creating approximate shape data of the three-dimensional data by arranging one or more spheres so as to cover the outer surface of the three-dimensional data;

determining whether or not interference of the approximate shape data occurs when the robot is moved along a route from a start point to an end point;

When it is determined that interference will occur, setting a plurality of candidate points as candidates for waypoints through which the robot passes on the surface of a sphere having a larger diameter than the sphere where the interference has occurred among the approximate shape data,

Candidate points at which interference of the approximate shape data does not occur when the robot is moved on a route from the start point to the candidate point and on a route from the candidate point to the end point are selected from the plurality of candidate points. identify,

displaying the identified candidate points on a display device so that a user can select the waypoint from among the candidate points;

How the robot is routed.
A path of the robot is determined by referring to a storage device that stores three-dimensional data of at least one of a robot, a workpiece to be worked by the robot, and peripheral objects arranged around the robot. A program for

data creation means for creating approximate shape data of the three-dimensional data stored in the storage device by arranging one or more spheres so as to cover the outer surface of the three-dimensional data;

interference determination means for determining whether or not interference of the approximate shape data will occur when the robot is moved along a route from a start point to an end point;

When it is determined by the interference determining means that interference will occur, a plurality of candidate points, which are candidates for waypoints through which the robot passes, are formed on a surface of a sphere having a larger diameter than the sphere in which the interference has occurred among the approximate shape data. Candidate point setting means for setting

Candidate points at which interference of the approximate shape data does not occur when the robot is moved on a route from the start point to the candidate point and on a route from the candidate point to the end point are selected from the plurality of candidate points. Candidate point identification means to identify;

display control means for displaying the candidate points identified by the candidate point identification means on a display device so that a user can select the waypoint from among the candidate points;

program to make it happen.

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