WO2019107208A1

WO2019107208A1 - Method for controlling operation of working machine

Info

Publication number: WO2019107208A1
Application number: PCT/JP2018/042722
Authority: WO
Inventors: 康彦橋本; 信恭下村; 掃部　雅幸; 繁次田中
Original assignee: 川崎重工業株式会社
Priority date: 2017-11-28
Filing date: 2018-11-19
Publication date: 2019-06-06
Also published as: JP2021035697A

Abstract

Provided is a method for controlling the operation of a working machine, with which the work done by the working machine can be improved. One example of the method for controlling an operation of a working machine according to the present invention has: a first step (S1) for preparing a primary series of operation commands; a second step (S2) for recording as a primary operation history, an operation history of the working machine driven on the basis of the primary series of operation commands; a third step (S3) for searching and extracting a section satisfying a predetermined operation condition from the primary operation history recorded by means of the second step; a fourth step (S4) for recording a modified operation history by performing, in the section extracted by means of the third step, a modification of the primary operation history on the basis of a predetermined rule; a fifth step (S5) for recording, as a modified series of operation commands, a series of operation commands that can reproduce the modified operation history recorded in the fourth step; and a sixth step (S6) for instructing the working machine to perform the work by reproducing the modified series of operation commands recorded in the fifth step.

Description

Operation control method of work machine

The present invention relates to an operation control method of a working machine such as an industrial robot.

Conventionally, at manufacturing sites, repetitive operations such as welding, painting, assembly of parts, application of a sealing agent, and the like are automatically performed by an industrial robot. In order to cause the robot to perform a task, it is necessary to instruct the robot to store information necessary for the task and to store the information. As a robot teaching method, there are, for example, direct teaching by direct movement of a robot by a teacher, teaching by a master slave, teaching by remote control using a teaching pendant, and the like.

For example, Patent Document 1 discloses an example of teaching operation in which the robot arm stores the trajectory of the operation by direct teaching.

By teaching in this manner, a time-sequential operation instruction (operation instruction sequence) for operating the robot is created. The controller (robot controller) can control the operation of the robot based on the operation command sequence.

Further, Patent Document 2 discloses that the operation of a robot is controlled using information created by a machine learning device. The information created by the machine learning device is a time-sequential operation command (operation command sequence) for operating the robot.

JP 2013-71231 A JP, 2017-64910, A

As described above, there are several methods for creating an operation command sequence for operating a working machine represented by a robot. When the operation command sequence is input to the control device that controls the work machine, the operation control sequence of the work device is controlled by the operation command sequence generated by any of these methods, and the operation is performed by the control device. An operation is performed by the machine. It is required to improve the work by such a work machine.

The present invention has been made to solve the problems as described above, and it is an object of the present invention to provide an operation control method of a working machine capable of improving work by the working machine.

In order to achieve the above object, an operation control method of a working machine according to an aspect of the present invention comprises: a first step of preparing a former operation command sequence; and an operation of a working machine driven based on the former operation command sequence A second step of creating a history as an original operation history, a third step of searching and extracting a section satisfying a predetermined operation condition from the original operation history created in the second step, and extraction in the third step A fourth step of creating a correction operation history by applying correction to the original operation history based on a predetermined rule, and reproducing the correction operation history created in the fourth step, in the section A fifth step of creating a motion command sequence that can be performed as a correction motion command sequence, and reproducing the correction motion command sequence created in the fifth step. Having a sixth step of performing work on the working machine.

According to the operation control method of the working machine, it is possible to improve the work by the working machine and to improve the workability.

In the operation control method of the work machine, the original operation history may be created based on the original operation command sequence. That is, regardless of whether the work machine is actually operated or not, the original operation history may be created by calculation based on the original operation command sequence.

Further, in the operation control method of the work machine, the original operation history may be created by detecting an operation state of the work machine driven according to the original operation command sequence. That is, it may be created by actually operating the working machine and detecting the operating state (position, speed, etc.) of the working machine at that time by the sensor.

Further, in the motion control method of the work machine, the original motion command sequence is a set of time-sequential motion commands created when the work machine is operated in the manual mode or the correction automatic mode, or machine learning The manual mode is a mode in which the operator operates the operating device to sequentially command the operation of the work machine, and the manual mode is the correction automatic mode. The mode may be a mode in which the operator operates the operating device to correct the operation of the work machine while the work machine is automatically executing the operation according to the predetermined procedure. .

The present invention has an effect that it is possible to provide an operation control method of a working machine which has the configuration described above and can improve the work by the working machine.

FIG. 1 is a schematic view showing a configuration of a robot system to which the motion control method of a working machine according to the present embodiment can be applied. FIG. 2 is a schematic view showing a configuration of a control system of the robot system shown in FIG. FIG. 3 is a diagram showing an example of a block diagram of a control system of the operation control unit shown in FIG. FIG. 4 is a flowchart showing an example of the operation control method of the working machine of the present embodiment. FIGS. 5A and 5B are diagrams used for describing the first embodiment. FIGS. 6A to 6C are diagrams used for explaining the second embodiment.

Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings. In the following, the same or corresponding elements are denoted by the same reference numerals throughout all the drawings, and the redundant description will be omitted. Further, the present invention is not limited to the following embodiments.

(Embodiment)
FIG. 1 is a schematic view showing a configuration of a robot system to which the motion control method of a working machine according to the present embodiment can be applied.

In this robot system 100, when the operator at a position away from the work area of the robot 1 (outside the work area) operates the operation device 2 and inputs a command, the robot 1 performs an operation corresponding to the command. , Can do specific work. Further, in the robot system 100, the robot 1 can also automatically perform predetermined work without the operation of the operating device 2 by the operator.

In the present specification, an operation mode in which the robot 1 is operated according to a command input through the operating device 2 is referred to as a “manual mode”. In this manual mode, the control device 3 receives operation information (operation command) from the operation device 2 operated by the operator without using the automatic operation information stored in the storage device 4, and the control device 3 based on the operation information. Controls the operation of the robot 1.

Further, an operation mode for operating the robot 1 in accordance with a preset task program is referred to as an "automatic mode". In this automatic mode, the control device 3 controls the operation of the robot 1 based on the automatic operation information (operation command sequence) stored in the storage device 4.

Furthermore, in the robot system 100 according to the present embodiment, while the robot 1 is operating automatically, the operation of the controller device 2 is reflected in the operation of the robot 1 to correct the operation that was supposed to be performed automatically. It is configured to be able to. In the present specification, an operation mode in which the robot 1 is operated in accordance with a task program set in advance in a state capable of reflecting a command input via the operation device 2 is referred to as a “correction automatic mode”. In this correction automatic mode, while the robot 1 is operating using the automatic operation information, the operation corrected from the operation based on the automatic operation information is received by receiving the operation information from the operating device 2 operated by the operator. An operation command to be performed is created, and the control device 3 controls operation of the robot 1 based on the operation command.

The robot system 100 includes an articulated robot 1 which is an example of a work machine, an operation device 2, a control device 3, a storage device 4, a camera 5, and a monitor 6. Hereinafter, each component of the robot system 100 will be described in detail.

(Robot equipment part 10)
The robot device unit 10 includes a robot 1, a control device 3 that controls the operation of the robot 1, and a storage device 4. The robot 1 is supported by a base 15, an arm 13 supported by the base 15, and a tip of the arm 13, and is attached to a wrist 14 to which an end effector is attached and a tip of the wrist 14 And an end effector (not shown) serving as a hand unit. The end effector is also controlled by the controller 3.

The robot 1 is an articulated robot arm having a plurality of joints JT1 to JT6 as shown in FIG. 1, and is configured by sequentially connecting a plurality of links 11a to 11f. The arm 13 of the robot 1 is formed by a link-joint combination including the first joint JT1, the first link 11a, the second joint JT2, the second link 11b, the third joint JT3, and the third link 11c. It is done. In addition, the link 14 of the fourth joint JT4, the fourth link 11d, the fifth joint JT5, the fifth link 11e, the sixth joint JT6, and the sixth link 11f causes the wrist portion 14 of the robot 1 to be connected. Is formed. A mechanical interface is provided at the tip of the sixth link 11 f of the wrist portion 14. An end effector corresponding to the work content is detachably mounted on the mechanical interface.

Each of the joints JT1 to JT6 is provided with a drive motor M (see FIG. 3) as an example of an actuator for relatively rotating two members to which it is coupled. The drive motor M is, for example, a servomotor servo-controlled by the control device 3. In each of joints JT1 to JT6, a rotation sensor E (see FIG. 3) for detecting the rotational position of drive motor M and a current sensor C (for detecting current for controlling the rotation of drive motor M ( See FIG. 3). The rotation sensor E is, for example, an encoder.

The control device 3 includes, for example, an operation unit (not shown) including a microcontroller, MPU, PLC (Programmable Logic Controller), logic circuit and the like, and a memory unit (not shown) including ROM and RAM. be able to.

FIG. 2 is a schematic view showing a configuration of a control system of the robot system 100. As shown in FIG. As shown in FIG. 2, the control device 3 includes an operation control unit 31 and an improvement operation information generation unit 32 as functional blocks. These functional blocks can be realized, for example, by the arithmetic unit of the control device 3 reading and executing a program stored in the memory unit. The operation control unit 31 controls the operation of the robot 1. Details of control of the operation of the robot 1 by the operation control unit 31 will be described later.

(Storage device 4)
The storage device 4 is a readable and writable recording medium, and information created to cause the robot 1 to perform a predetermined operation automatically is stored as storage operation information 41. The storage operation information 41 is an operation command series composed of a set of time-series operation commands (time-series data of operation commands). For example, the storage operation information 41 is information including trajectory information including time-series data and a velocity along the trajectory. The storage device 4 stores at least one save operation information 41. In the present embodiment, the storage device 4 is provided separately from the control device 3, but may be provided integrally with the control device 3.

The improved operation information generating unit 32 of the control device 3 and the improved operation information 42 stored in the storage device 4 will be described later, and in the following, the operation of the improved operation information generating unit 32 is not described. Is described as that the improvement operation information 42 is not stored in the storage device 4.

(Operating device 2)
The controller device 2 is an input device that receives an operation instruction from an operator and inputs the received operation instruction to the control device 3. The operating device 2 is configured to be operable, and can be exemplified by a portable terminal such as a switch, an adjustment knob, an operating lever or a tablet.

As shown in FIG. 2, the controller device 2 includes a mode selection unit 21, an operation information selection unit 22, an input operation unit 23, and an operation command generation unit 24.

The mode selection unit 21 is for the operator to select one of the operation modes (operation modes) for operating the robot 1 from the above-described automatic mode, correction automatic mode, and manual mode. . A selection signal based on this selection operation is input to the operation control unit 31.

For example, when operating the robot 1 in the correction automatic mode, the operation information selection unit 22 uses any one of a plurality of operation information (storage operation information 41) stored in the storage device 4 that the operation control unit 31 uses. It is for the operator to select one operation information. A selection signal based on this selection operation is input to the operation control unit 31.

Input operation unit 23 receives an input operation (instruction) for operating robot 1 from the operator in the manual mode or the correction automatic mode, and outputs an instruction signal according to the operation (instruction) to operation command generation unit 24. Do.

The operation command generation unit 24 generates an operation command (operation information) for operating the robot 1 based on an instruction signal from the input operation unit 23, and transmits the operation command to the operation control unit 31.

In the robot system 100 of the present embodiment, when the operation information is sent to the control device 3 in the manual mode, the operation of the robot 1 is controlled based on the operation information. Further, when the operation information is sent to the control device 3 in the correction automatic mode, the operation of the robot 1 in the process of being automatically operated is corrected by the operation information.

(Camera 5 and monitor 6)
Returning to FIG. 1, the camera 5 is installed in the space where the robot 1 is provided, and is a camera for capturing the work situation of the robot 1, and the monitor 6 is for displaying an image captured by the camera And a monitor for the operator to confirm the work status of the robot 1. The operator can operate the operation device 2 (input operation unit 23) while observing the work status of the robot 1 displayed on the monitor 6 in the manual mode or the correction automatic mode. Of course, the operator may look at the robot 1 directly and operate the operation device 2.

Next, control of the operation of the robot 1 by the operation control unit 31 will be described.

First, when the operation mode is the manual mode, the operation control unit 31 controls the operation of the robot 1 according to the operation information (input command) sent from the operation device 2. At this time, the operation control unit 31 creates an operation command sequence from the series of operation information, and causes the storage device 4 to store the operation command sequence as the stored operation information 41.

Next, when the operation mode is the correction automatic mode, one save operation information 41 stored in the storage device 4 is sent to the operation control unit 31 as automatic operation information for causing the robot 1 to operate automatically. . Furthermore, operation information generated by operating the operation device 2 is sent to the operation control unit 31.

In this correction automatic mode, the operation control unit 31 uses both automatic operation information and operation information. In this case, when the operation information is not sent to the operation control unit 31, the operation control unit 31 uses only the automatic operation information. More specifically, when the operation control unit 31 receives operation information while the robot 1 is operating automatically using the automatic operation information, the operation control unit 31 controls the operation of the robot 1 using both the automatic operation information and the operation information. Do. Thereby, the robot 1 performs the operation based on the automatic operation information, that is, the operation corrected from the operation which is to be performed automatically.

Next, the operation correction of the robot 1 when the operation mode is the correction automatic mode will be described with reference to FIG. FIG. 3 is a diagram showing an example of a block diagram of a control system of the operation control unit 31. As shown in FIG. In this example, the automatic operation information and the operation information are, for example, trajectory information including time-series data.

The operation control unit 31 includes an adder 31a,

subtractors

31b, 31e, and 31g, a position controller 31c, a differentiator 31d, and a speed controller 31f, and uses a command value based on automatic operation information and a command value based on operation information. The rotational position of the drive motor M of the robot 1 is controlled.

The adder 31a generates a corrected position command value by adding the command value based on the operation information to the position command value based on the automatic operation information, and sends this to the subtractor 31b.

The subtractor 31b subtracts the current position value detected by the rotation sensor E from the corrected position command value to generate an angular deviation, and sends this to the position controller 31c. The position controller 31c generates a speed command value from the angular deviation sent from the subtractor 31b by calculation processing based on a predetermined transfer function or proportional coefficient, and sends this to the subtractor 31e.

The differentiator 31d differentiates the position current value information detected by the rotation sensor E to generate the amount of change per unit time of the rotation angle of the drive motor M, that is, the current speed value, and sends this to the subtractor 31e. .

The subtractor 31e subtracts the current speed value sent from the differentiator 31d from the speed command value sent from the position controller 31c to generate a speed deviation, and sends this to the speed controller 31f. The speed controller 31f generates a torque command value (current command value) from the speed deviation sent from the subtractor 31e by calculation processing based on a predetermined transfer function or proportional coefficient, and sends it to the subtractor 31g. send.

The subtractor 31 g subtracts the current current value detected by the current sensor C from the torque command value sent from the speed controller 31 f to generate a current deviation, and sends this to the drive motor M, and the drive motor M Drive.

Thus, the operation control unit 31 controls the drive motor M, and controls the robot 1 to perform an operation corrected from the operation based on the automatic operation information.

When the operation mode is the automatic mode, a position command value based on the automatic operation information is input to the subtractor 31b. When the operation mode is the manual mode, a position command value based on the operation information is input to the subtractor 31b.

The motion control unit 31 stores, in the storage device 4, correction motion information (motion command sequence) for the robot 1 to perform the corrected motion when the robot 1 performs the above-described corrected motion. Remember.

As described above, the save operation information 41 can be created in each of the manual mode and the correction automatic mode, but is not limited thereto. The storage operation information 41 may be generated by, for example, a machine learning device. Also, the storage operation information 41 may be teaching information 41 a created by teaching, and the teaching method is not particularly limited. For example, the teaching information 41a may be information created by direct teaching, may be information created by teaching by a master slave, or is information created by teaching using a teaching pendant. May be

In the present embodiment, the improvement operation information generation unit 32 creates information (i.e., improvement operation information 42) obtained by correcting the storage operation information 41 and uses it in the automatic mode. This will be described below.

FIG. 4 is a flowchart showing an example of an operation control method of the work machine (robot 1) of the present embodiment.

In the present embodiment, for example, the operation control unit 31 performs the first step S1 and the sixth step S6 in FIG. 4, and the improvement operation information generation unit 32 performs the second step S2 to the fifth step S5.

First, in the first step S1, an original operation command sequence is prepared. The original operation command sequence is the storage operation information 41, and is a set of time-series operation commands capable of operating the work machine (time-series data of operation commands). The save operation information 41 prepared here is, for example, any one save operation information 41 stored in the storage device 4.

Next, in the second step S2, the operation history of the working machine driven based on the original operation command sequence is created as the original operation history.

Next, in the third step S3, a section satisfying a predetermined operation condition is searched and extracted from the original operation history created in the second step S2.

Next, in the fourth step S4, in the section extracted in the third step S3, a correction operation history is created by correcting the original operation history based on a predetermined rule.

Next, in a fifth step S5, an operation command sequence capable of reproducing the correction operation history created in the fourth step S4 is generated as a correction operation command sequence. This correction operation sequence is stored in the storage device 4 as the improvement operation information 42.

Next, in a sixth step S6, the work machine is made to execute a task by reproducing the correction operation command sequence created in the fifth step S5. In the sixth step S6, for example, in the automatic mode, the operation control unit 31 reads the improved operation information 42 from the storage device 4 and is repeatedly processed, whereby the above-described work is repeatedly performed.

In the second step S2 described above, the original operation history may be created based on the original operation command sequence. That is, regardless of whether the work machine is actually operated or not, the original operation history may be created by calculation based on the original operation command sequence.

In addition, in the second step S2, the original operation history may be created by detecting the operation state of the work machine driven according to the original operation command sequence. That is, it may be created by actually operating the working machine and detecting the operating state (position, speed, etc.) of the working machine at that time by the sensor.

Next, an embodiment of the first step S1 to the sixth step S6 will be described.

(First embodiment)
As a first embodiment, the work of applying a paint to a workpiece fixed to a base by a robot 1 attached with a spray gun for painting (hereinafter referred to as a "painting gun") as an end effector (hand unit) I can think of it. Here, description will be made with reference to FIGS. 5 (A) and 5 (B).

The work 51 is flat and has a planar shape as shown in FIG. 5A. A case will be considered where the robot 1 performs an operation of applying a uniform paint to the entire surface of the work 51 with a paint gun.

The original operation instruction sequence (storage operation information 41) when the robot 1 performs this operation is stored in the storage device 4 (first step S1). As described above, the storage operation information 41 may be generated by the manual mode or the correction automatic mode, or may be generated by the machine learning device.

Next, when the robot 1 is operated based on the original operation command sequence (storage operation information 41) stored in the storage device 4, the coating gun moves on the workpiece 51 along the trajectory indicated by the solid line L1. . At this time, as the original operation history of the coating gun, the position of the coating gun is stored in the storage device (for example, the storage device 4 or another storage device) over the entire time range or a partial time range during the painting operation. The moving speed of the coating gun is also stored corresponding to each of the positions (second step S2).

Next, in the third step S3, as a predetermined operation condition (condition a), the coating gun moves linearly at a distance of 10 cm or more within 0.5 cm of the horizontal shake, and this section (condition a is satisfied) Search and extract the interval).

In the third step S3, as a section satisfying the condition a, a section from the point a to the point b (first section), a section from the point c to the point d (second section), and a point e to the point f It is assumed that the section (third section) of and the section (fourth section) from the point g to the point h are extracted.

Next, in the fourth step S4, the following correction is performed on the original operation history data. The original operation history is corrected so that the operation of the paint gun in the first to fourth sections is linearly moved without lateral blurring, and a correction operation history is created. At this time, the moving speed of the coating gun at each position in the section (sections 1 to 4) may not be corrected from that in the original operation history, or the moving speed of the coating gun in the section in the original operation history The average moving speed Va may be determined, and the moving speed of the coating gun may be corrected to the average moving speed Va over the entire section. The movement trajectory of the coating gun based on the correction operation history created here is indicated by a solid line L2 in FIG. 5 (B).

Next, in a fifth step S5, an operation command sequence is created such that the correction operation history described above is reproduced. The operation command sequence thus created is called a correction operation command sequence.

The corrected operation command sequence is stored in the storage device 4 as the improved operation information 42. After that, the work of painting the workpiece by the painting gun is executed by giving the correction operation command sequence (improved motion information 42) to the control device 3 in the automatic mode, for example (sixth step S6).

Second Embodiment
As a second embodiment, it is possible to think of an operation in which the robot 1 grips a work in which a hole is formed, and operates the work so that the hole of the work is fitted to a pin fixed in a predetermined position. Here, description will be made with reference to FIGS. 6 (A), (B) and (C).

As shown in FIG. 6A, the pins 62 are provided on a frame 63 of a certain product, and the frame 63 is fixed to the floor of a factory. The pins 62 project from the frame 63 in the direction of the vertically upper side. The work 61 is a bracket to be attached to the frame 63 and is flat. The work 61 is held by the hand unit 12 of the robot 1.

In this work, for example, in the manual mode, the operator operates the operation device 2 (input operation unit 23) to operate the robot 1, and the operation control unit 31 creates the save operation information 41 and stores it in the storage device 4. Then, in this case, the robot 1 performs the following operation.

First, the hand unit 12 of the robot 1 moves to the position of the work 61 placed at a predetermined position, and holds the work 61 in a posture parallel to the horizontal plane. Next, the hand portion 12 is moved until the hole 61a of the work 61 is positioned above the pin 62 while maintaining the horizontal attitude of the work 61 (for example, the state shown by the solid line in FIG. 6A).

The movement operation of the hand unit 12 when moving the work 61 until the hole 61a of the work 61 is positioned above the pin 62 after the hand unit 12 holds the work 61 is referred to as a first operation.

After the hole 61a of the workpiece 61 is positioned above the pin 62, the workpiece 61 (indicated by a two-dot chain line) is lowered until the bottom surface of the workpiece 61 is in contact with the tip of the pin 62. Thereafter, the workpiece 61 is moved in the horizontal plane at random by moving the hand portion 12 at random within the predetermined range Q1 (see FIG. 6B). The random operation of the hand unit 12 at this time is referred to as a second operation. During the second operation, the hand unit 12 randomly moves in the horizontal plane but hardly moves in the vertical direction.

Then, when such random movement is given to the hand portion 12, the hand portion 12 applies a small downward pressure to the work 61, and when the hole 61 a matches the position of the pin 62, the work 61 And the hand portion 12 descend rapidly, and the hole 61 a is fitted to the pin 62. The rapid lowering of the hand unit 12 at this time is referred to as a third operation. In the third operation, the hand 12 hardly moves in the horizontal plane.

The operation command sequence from the first operation to the third operation in the manual mode as described above is created as the original operation command sequence, and is stored in the storage device 4 as the storage operation information 41 (first step S1).

Next, in a second step S2, an operation history of the hand unit 12 of the robot 1 corresponding to the original operation command sequence is created as an original operation history. The movement trajectory (the trajectory in plan view) of the hand unit 12 based on this original operation history is indicated by, for example, a solid line L3 in FIG. 6 (B).

FIG. 6B is an enlarged view of a movement trajectory of the hand unit 12 in a plan view. The position i on the movement trajectory indicated by the solid line L3 is the start position (end position of the first operation) of the second operation in which the hand unit 12 performs random movement, and the position j is the end position of the second operation , And the position where the third operation is performed.

Next, in the third step S3, as the predetermined operation condition (condition b), it is assumed that the hand unit 12 is randomly moving, and this section (section satisfying the condition b) is searched and extracted. That is, the section from the start of the random movement by the second operation by the second operation to the immediately before the sudden decrease by the third operation is searched, and this interval is extracted. Here, the random movement means, for example, a movement in which the hand portion 12 does not move linearly within a distance of 0.5 cm or more within a distance of 5 cm or more.

It is assumed that the section from the start position i of the second operation to the end position j corresponding to the section of the second operation is extracted by the third step S3. The condition b is set so that the section to be extracted is a section from the end position of the first operation (a position identical to the position i but different in height in plan view) to the end position j of the second operation. It may be set.

Next, in the fourth step S4, the following correction is performed on the original operation history data. The original operation history is corrected so that the operation of the hand unit 12 in the section from the position i to the position j moves linearly, and a correction operation history is created. The movement trajectory of the hand unit 12 based on the correction operation history created here is indicated by a solid line L4 in FIG. 6 (C). In this correction operation history, after moving to the position j, the hand unit 12 performs a predetermined random motion within a predetermined range Q2 centered on the position j (for example, inside a circle with a radius of 1 cm in the horizontal plane) Let's do it. Then, when the random movement is actually operated, the rapid lowering operation (the operation corresponding to the third operation) of the hand unit 12 is performed, and the random movement is ended.

Next, in a fifth step S5, an operation command sequence (correction operation command sequence) is created such that the correction operation history is reproduced.

The corrected operation command sequence is stored in the storage device 4 as the improved operation information 42. Thereafter, the work of operating the work 61 such that the pin 62 is fitted into the hole 61 a of the work 61 is performed by giving the control device 3 a correction operation command sequence (improved movement information 42) in the automatic mode, for example. Is performed (sixth step S6).

Since the workpieces 61 and the frame 63 have individual differences, the pins 62 of the frame 63 can be fitted into the holes 61 a of the workpiece 61 by the random movement of the hand portion 12.

According to the present embodiment, a correction operation history in which the original operation history is corrected is created, and an operation command sequence (correction operation command sequence) as it is reproduced is created, and the work machine is created based on the correction operation command sequence. By controlling the movement of the (robot 1), it is possible to improve the work by the work machine and to improve the workability.

From the above description, many modifications and other embodiments of the present invention will be apparent to those skilled in the art. Accordingly, the above description should be taken as exemplary only, and is provided for the purpose of teaching those skilled in the art the best mode of carrying out the present invention. The structural and / or functional details may be substantially altered without departing from the spirit of the present invention.

The present invention is useful as an operation control method and the like of a working machine capable of improving work by the working machine.

1 Robot 2 Operation Device 3 Control Device 4 Storage Device S1 to S6 First to Sixth Steps

Claims

A first step of preparing a source operation command sequence;
A second step of creating, as an original operation history, an operation history of a work machine driven based on the original operation command sequence;
A third step of searching for and extracting a section satisfying a predetermined operation condition from the original operation history created in the second step;
A fourth step of creating a correction operation history by correcting the original operation history based on a predetermined rule in the section extracted in the third step;
A fifth step of creating an operation command sequence capable of reproducing the correction operation history created in the fourth step as a correction operation command sequence;
A sixth step of causing the work machine to execute an operation by reproducing the correction operation command sequence generated in the fifth step;
Operation control method of work machine.
Creating the original operation history based on the original operation command sequence;
A method of controlling operation of a working machine according to claim 1.
The source operation history is created by detecting an operation state of the work machine driven according to the source operation command sequence.
A method of controlling operation of a working machine according to claim 1.
The original motion command sequence is a set of time-series motion commands created when the work machine is operated in the manual mode or the correction automatic mode, or a time-series motion command created by a machine learning device. It is a set,
The manual mode is a mode in which the operator operates the operating device to sequentially command and operate the work machine.
The correction automatic mode is a mode in which the operator operates the operating device to correct the operation of the work machine while the work machine is automatically executing an operation according to a predetermined procedure.
The method of controlling operation of a working machine according to any one of claims 1 to 3.