JPH0192809A - Method for displaying robot working image - Google Patents

Abstract

PURPOSE:To monitor the operating state of a robot on a position into which a TV camera or the like can not be carried by receiving synchronizing information relating to robot control from a robot controller and displaying a simulation image corresponding to the real working operation of the robot synchronously with the real working operation. CONSTITUTION:Synchronizing information relating to robot control is received from a robot controller 30 for controlling the working operation of the robot 31 by utilizing an off-line programming system. A corresponding simulation image is formed synchronously with the working operation of the robot 31 and displayed on an image display means 42 to obtain visual information at real time. Although the video of real robot operating state based upon a TV camera or the like can not be obtained, a model image formed by an off-line system can be displayed synchronously with the real working operation of the robot 31. Consequently, the operation of a robot working on a position e.g. sheilded from human eyes can be known.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a method for displaying simulation images during robot work operations.

[Conventional technology]

In a control device for an industrial robot, in order to monitor the operation of the robot, the operating status is displayed on a display device such as a CRT.

Conventional robot controller displays during robot control operations mainly display numerical information such as step numbers or pass numbers during robot operation, and current values of the positions of each axis of the robot. Therefore, even if you want to know the position and posture of the robot in space, the relationship between the workpiece and the work tool, etc., you cannot directly recognize this information, so you have to imagine it using the numerical information mentioned above, or you can check the actual movement of the robot. I had no choice but to watch it.

[Problem that the invention seeks to solve]

However, as the functionality of industrial robots improves and their applications expand, they are being used in special environments that block human vision and do not allow TV cameras, such as dark rooms, vacuums, high temperatures, and low temperatures. Cases of introducing robots are increasing. In such cases, displaying only numerical information is not sufficient.

In addition, numerical information alone does not reveal spatial relationships, so in the event of an accident, it may be difficult to take appropriate measures.

The present invention has been made in view of such conventional problems, and it is possible to grasp robot movements that are difficult to actually see in real time by displaying the robot movements during work as visual information. purpose.

[Means for solving problems]

In order to achieve this object, the method for displaying robot work images of the present invention is a display method for an offline programming system having graphic human power means, model generation means, simulation means, and image display means. The present invention is characterized in that the information is received and, in synchronization with the robot's actual work operation, a simulation image corresponding to the actual work operation is displayed on the image display means.

The synchronization information includes, for example, current value information, step number, status information such as operation status, and work information,
By including some or all of these, it is possible to synchronously display the robot motion in progress on the image display device.

[Effect]

In the present invention, synchronization information regarding robot control is received from a robot controller that controls the robot's work operations by utilizing a recently developed robot offline programming system. The aim is to obtain visual information in real time by generating a corresponding simulation image and displaying it in synchronization with the robot work operation.

As described above, the present invention does not obtain images of the actual operating state of the robot using the TV left camera, but displays model images generated in the offline programming system in synchronization with the actual working operations of the robot. That's what I do. This makes it possible to know, for example, the robot's movements in a place where it is hidden from people's eyes, giving a sense of security regarding its movements and providing accurate responses in the event of an emergency.

〔Example〕

Hereinafter, the present invention will be specifically described based on embodiments shown in the drawings.

FIG. 1 is a block diagram showing an example of a configuration for implementing the present invention. In the figure, an offline programming system 10 is connected to a robot controller 30 via a transmission means 27. robot controller 30
controls the actual robot 31.

The offline programming system 10 is composed of the following functional blocks. In other words, the graphic human power means 2
0 is a means for manually drawing drawing information of workpieces, work tools, jigs, robots, etc.

These graphical information are converted into a three-dimensional solid model by the model generation means 21 and stored in the data file 22. On the other hand, the system layout and programming means 26 first determines the relative position of each independently existing model, such as a robot model, work tool model, workpiece model, jig model, and environment model, based on the model data in the data file 22. By defining the relationships, placement operations that are spatially equivalent to the actual system placement are performed and their information is added to the data file 22. Similarly, the system arrangement and programming means 26 specifies a work path for the system arranged model,
A series of programming operations, such as specifying working conditions, are performed and the information is added to the data file 22. The simulation means 23 has the function of converting the field of view so that the system-arranged information has the specified direction, field of view, and size, and also performs work operations and checks the operations based on programming information. The field-of-view converted information is sequentially displayed on the image display means 24.

The programming information checked by the simulation means 23 is converted into information that can be understood by the robot controller 30 by the interface means 25 and sent to the transmission means 2.
7 to the robot controller 30 and becomes job data. The robot controller 30 controls the robot 31 based on this job data and executes playback operation.

Taking the above information flow together, the offline programming system 10 and the robot controller 30 have the same programming information, and in addition, the offline programming system 10 also has model information equivalent to the actual system in which the system is installed. It is that you are. Therefore, the robot controller 30
When the robot 31 is controlled to perform a work operation, information on which bus the robot 31 is in and what kind of work it is doing, that is, synchronization information, is transmitted to the offline programming system 10 via the transmission means 27. do. Off-line programming system 10 can receive synchronization information at interface means 25 and feed this information to simulation means 23 . Based on this synchronization information, the simulation means 23 can generate a corresponding simulation image from the system-arranged model information in the data file 22 and the corresponding programming information, and display it on the image display means 24.

As the synchronization information, the current value information of each axis position of the robot, the step number during robot operation, status information such as the operating state, and work information are effective.

〔Effect of the invention〕

As explained above, in the present invention, synchronization information regarding robot control is received from the robot controller, and a simulation image corresponding to the actual work operation is displayed on the image display means in synchronization with the actual work operation of the robot. ing. Therefore, for example, it is possible to monitor the robot's operating status in places where human vision is blocked and a TV left camera cannot be brought in, giving a sense of security regarding the robot's movements and providing accurate responses in the event of an emergency. Become. In addition, even in systems where the entire robot operation can be observed using the TV left camera, the display method of the present invention can be used to simulate cases where the tip of the welding torch is hidden in the shadow of the workpiece and it is difficult to observe details. You can rotate and enlarge the image to check the operation.

[Brief explanation of the drawing]

FIG. 1 is a block diagram showing an example of a configuration for implementing the method of the present invention.

Claims (1)

[Claims] 1. In a display method for an offline programming system having a graphic input means, a model generation means, a simulation means, and an image display means, synchronization information regarding robot control is received from a robot controller, and the actual work operation is synchronized with the robot actual work operation. A method for displaying robot work images, characterized in that a simulation image corresponding to the robot operation image is displayed on the image display means.