WO2022181595A1 - 産業機械システム - Google Patents
産業機械システム Download PDFInfo
- Publication number
- WO2022181595A1 WO2022181595A1 PCT/JP2022/007184 JP2022007184W WO2022181595A1 WO 2022181595 A1 WO2022181595 A1 WO 2022181595A1 JP 2022007184 W JP2022007184 W JP 2022007184W WO 2022181595 A1 WO2022181595 A1 WO 2022181595A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- program
- information
- industrial machine
- execution
- machine system
- Prior art date
Links
- 230000000007 visual effect Effects 0.000 claims description 27
- 238000001514 detection method Methods 0.000 claims description 17
- 230000005856 abnormality Effects 0.000 abstract description 11
- 238000003384 imaging method Methods 0.000 description 13
- 230000033001 locomotion Effects 0.000 description 12
- 238000000034 method Methods 0.000 description 10
- 238000010586 diagram Methods 0.000 description 6
- 238000011835 investigation Methods 0.000 description 2
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/085—Force or torque sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40213—Record history, log of instructions sent from task planner to path planner
Definitions
- the present invention relates to an industrial machine system, and more particularly to an industrial machine system that records work information as an execution history in a storage device.
- system history information during work is stored in a storage device and used as information for estimating the current system state, or as information for investigating the cause of an abnormality when an abnormality is detected. was doing
- Patent Document 1 in a task in which a robot grips a target object, the probability distribution of success or failure regarding gripping is determined from visual information obtained by imaging the target object, and the gripping position is determined based on the probability distribution.
- a robotic system is described that attempts to improve performance. In particular, it describes the configuration of a system capable of managing operation information of each component and history information of grip determination results.
- Patent document 2 discloses collecting operation history data of an industrial robot, statistically processing the collected data, appropriately setting a control value for detecting an abnormality in the operation history, and determining whether the operation history deviates from the control value.
- An operation history management system is described which enables easy investigation of the cause in some cases.
- the motion information of each component and the history information of the grip determination results are information of the motion results, and when a failure occurs in the work, specific values such as set values It is not information that indicates whether is the cause of failure. Further, in Patent Document 2, when an abnormality occurs in the processing operation, it does not indicate which value of which process in the processing result causes the abnormality. Therefore, in either case, it is not possible to easily know the cause of processing failure or occurrence of an abnormality, and it is difficult to prevent problems that may occur in the future.
- system history information during work is stored in a storage device and used as information for estimating the current system state, or for investigating the cause of an abnormality when an abnormality is detected.
- data As information for the system, it is possible to easily grasp the cause of a processing failure or an error occurrence from the stored operation history, and easily understand which part of the operation program should be changed, which can be used in the future.
- the purpose is to be able to prevent problems that may occur.
- an industrial machine system of the present disclosure acquires information using a sensor and performs work on a work, wherein the industrial machine system includes a program for executing the work on the work.
- the storage unit stores the information from the sensor and the information of the processing result thereof, and further, when a failure occurs in the processing result, the cause of the failure in the processing result is identified. is added to the execution history, and the information indicating the cause of failure is information derived by analyzing the cause of failure that may occur at the time of execution or in the future after execution of the program, and It is information indicating which data value in the result is the cause of failure, which is an industrial machine system.
- the value in the execution history of which program caused the failure of the process is possible to easily know the cause of the problem and prevent problems that may occur in the future.
- FIG. 1 is a configuration diagram showing the relationship among a robot, a robot control device, and an image processing device according to one embodiment of the present disclosure
- FIG. 1 is a block diagram illustrating a robotic system of one embodiment of the present disclosure
- FIG. 4 is a diagram showing an example of an execution history screen of a program of the present disclosure
- FIG. It is a figure which shows an example of the program edit screen of this indication.
- FIG. 2 is a flow diagram illustrating one embodiment of the present disclosure;
- FIG. 1 is a configuration diagram showing the relationship between a robot, a robot control device, and an image processing device in one embodiment of a robot system that is an industrial machine system of the present disclosure.
- a robot 10 in FIG. 1 is a multi-joint robot having a multi-joint arm 11 and is capable of orthogonal motion and rotational motion. Due to the limitations of the robot mechanism, upper and lower limits are set for the movement distance in orthogonal movement and the rotation angle in rotational movement for each movement axis, and each movement axis operates within a certain range. .
- a visual sensor 12 and a grasping member 13 are provided at the tip of the articulated arm 11 .
- the visual sensor for example, a camera is used to capture an image of the workpiece 41 on the table 40, which is the target. Image information captured by the camera, which is the visual sensor 12, is sent to the image processing device 30 and subjected to image processing.
- the image processing information image-processed by the image processing device 30 is sent to the robot control device 20 .
- the robot controller 20 controls the robot 10 to operate the articulated arm 11, and uses a grasping member 13 such as a hand provided at the tip of the articulated arm 11 to A workpiece 41 on the table 40 is gripped.
- FIG. 2 is a block diagram of the robot system 1, which is the industrial machine system of the present disclosure.
- the robot system 1 of the present disclosure includes a robot 10, a robot control device 20, an image processing device 30, a display device 50, an operation panel 60, and a program editing device .
- a visual sensor 12 having an imaging device is attached to the tip of the articulated arm 11 of the robot 10 .
- a visual sensor 12 captures an image of a workpiece 41 on a table 40, which is a target object.
- the visual sensor 12 is attached to the tip of the articulated arm 11 of the robot 10, but it may be fixedly installed. In that case, the visual sensor 12 can image not only the workpiece 41 of the target object but also the robot 10 itself.
- the robot control device 20 includes a control unit 21 and a storage unit 22.
- the control unit 21 has a processing unit (CPU) composed of a microcomputer or the like, and grips the workpiece 41 with the gripping member 13 at the tip of the articulated arm 11 of the robot 10 based on the calculation result of the processing unit (CPU).
- the robot 10 is controlled so as to
- the storage unit 22 includes storage elements such as ROM and RAM, and stores various parameters necessary for execution of the motion execution programs and motions of the robot 10 . Information such as input values sent from the board 60 is also stored, at least temporarily.
- the storage unit 22 also stores information about execution history and work processing results in program execution for work on the work 41 of the robot 10 .
- the information about the processing result of the work together with the information about the image sent from the image processing device 30 and the information about the input value sent from the operation panel 60, is sent to each program block each time the program is executed. Stored in association with a block.
- the storage unit 22 also stores information indicating the cause of failure in the processing result when there is a cause of failure in the processing result. This is the information derived by analyzing the cause of the failure at the time of execution or after the elapse of time after execution of the program, and which data value in the processing result caused the failure. This information indicates whether the
- the image processing device 30 includes an image processing section 31 and a storage section 32 .
- the image processing unit 31 has a processing unit (CPU) composed of a microcomputer or the like, controls the visual sensor 12, and processes imaging information sent from the visual sensor 12 by the processing unit (CPU) according to a vision program. do.
- CPU processing unit
- a vision program is a program that controls the visual sensor 12 and processes imaging information captured by the visual sensor 12, and is created, set, and used by the user. Image data processed by the vision program is transmitted to the control unit 21 of the robot control device 20 and used as data for controlling the robot 10 .
- the visual sensor 12 is not limited to being attached to the tip of the articulated arm 11 of the robot 10, and may be fixedly installed.
- the imaging information sent from the visual sensor 12 includes not only the imaging information of the target workpiece 41 but also the imaging information of the robot 10 itself. It is sent to the image processing device 30 .
- the visual sensor 12 attached to the tip of the multi-joint arm 11 of the robot 10 may be provided with a sensor member for detecting the position and imaging direction of the visual sensor 12 itself. In that case, the visual sensor 12 sends information on the position and orientation of the visual sensor 12 itself to the image processing device 30 .
- the storage unit 32 includes storage elements such as ROM and RAM, and at least temporarily stores the imaging information sent from the visual sensor 12, and stores the vision program and various parameters necessary for executing the vision program. It stores data, etc.
- the display device 50 has an execution history display screen 51 that displays the program execution history.
- the execution history display screen 51 displays the captured image sent from the visual sensor 12 and the execution history of the result of execution by the robot 10 .
- the processing result can display information about the parameter that caused the failure.
- the operation panel 60 has an input unit 61 for inputting operation data necessary for executing the execution program for the work of the robot 10 .
- the user can input operation data from the input section 61 before or during execution of the execution program for the work of the robot 10 .
- the operation panel 60 when the execution program is executed with the input values input by the user, if the processing by the execution program fails, the operation panel 60 notifies the user of the failure in the processing result. Parameter information indicating the cause of the error can be notified.
- the program editing device 70 has a program editing screen 71 for the user to edit the execution program for the work of the robot 10 .
- the user can edit the execution program before executing the execution program for the work of the robot 10, and even during the execution of the execution program, change a part of the execution program. can also attempt to execute a partial executable associated with the modified portion of the executable. Also, the work state of the robot 10 can be reproduced by reading the execution history of the execution program.
- the user reads the execution history of the execution program on the program editing screen 71 of the program editing device 70 to reproduce the working state of the robot 10 . can display information about the parameter that caused the failure in processing.
- FIG. 3 shows an example of an execution history screen displayed on the execution history display screen 51 of the display device 50.
- FIG. Image information sent from the visual sensor 12 is displayed on the left side of the execution history screen.
- imaging information of an imaging target portion of the workpiece 41 photographed by the camera, which is the visual sensor 12 is displayed.
- the workpiece 41 has a hole.
- the execution history of the work of the robot 10 executed by the execution program is displayed.
- the user can trace the displayed execution history and find out in which execution history the problem occurred.
- the 7th line of the execution history is highlighted, indicating that the 7th line of the execution history is being investigated.
- the data indicating the processing result for the highlighted line (portion) of the execution history is displayed at the bottom of the display screen across the imaging information display section on the left side of the screen and the execution history display section on the right side.
- the articulated arm 11 of the robot 10 is a multi-jointed arm having 6 degrees of freedom, and the data shown as the processing results are distance data X (mm), Y (mm), Z (mm), angle data W (deg), P (deg), R (deg), and data on detection scores.
- the 7th line of the execution history displayed on the right side of the execution history screen is being investigated. It is displayed at the bottom of the screen as indicated by the arrow.
- the detection score value Score: 15.7
- Threshold: 80.00 the threshold
- the detection score value is If it is less than the threshold, it is known that the target object has not been detected.
- the user when a process failure occurs during the execution of the execution program for the work of the robot 10, the user can display which of the execution histories on the execution history display screen 51 of the display device 50. It is possible to easily and efficiently know parameter information regarding whether a history processing has caused a failure and which data value in the processing results has caused the failure.
- the parameter information related to the failure of the processing is analyzed from the statistical data such as the average and the variance value to analyze the cause of the failure at the time of execution. It is possible to derive This makes it possible to efficiently and properly edit the program, and to prevent problems that may occur in the future due to execution of the program.
- FIG. 4 shows an example of a program execution result display portion on the program editing screen displayed on the program editing screen 71 of the program editing device 70.
- FIG. Score threshold, contrast threshold, etc. are displayed on the upper side of the display part of the program execution result, and the user displays whether or not the range specification by the maximum value and the minimum value is valid for the angle and size on the lower side.
- the reference value, minimum value, and maximum value are shown along with check boxes for the respective values.
- the minimum value and maximum value columns will be displayed.
- the user can By editing the program, it is possible to easily and efficiently know the parameter information regarding which data value of the processing result causes the failure.
- a user first creates a vision program for detecting a workpiece (step S10).
- This vision program requires the user to set various parameters for workpiece detection.
- step S20 create a robot execution program that calls the vision program. Then, when the execution program of the robot is executed, the vision program is called and executed (step S30).
- the execution history is stored in the storage unit (step S40).
- the execution history is stored in the storage unit 22 of the robot control device 20 in the execution instructions above, the execution history may be stored in the storage unit 32 of the image processing device 30 .
- the execution history records the date and time of execution, the name of the vision program, the image captured by the visual sensor 12, the imaging position of the visual sensor 12, the detection score, the contrast, the detected position and orientation, and the like.
- parameters with upper and lower limit ranges and thresholds such as detection score, contrast, detection position and orientation, if the range of upper and lower limits is exceeded, or if the value is greater (or smaller) than the threshold , non-detection, etc., information indicating that the process has failed and the value at that time are stored in association with the execution history.
- the subsequent display processing will differ depending on the user's operation status. Specifically, if the user selects A. B. Whether the execution history display screen 51 of the display device 50 is being displayed; If the input section 61 of the operation panel 60 is being operated for input, or C. Since it differs depending on whether or not the program is being edited on the program editing screen 71 of the program editing device 70, the user's operation state is the above A. B. C. (step S50).
- step S50 determines whether the determination result in step S50 is A. , i.e., when the user is displaying the execution history display screen 51 of the display device 50, the user can browse the execution history, and a failure occurs in the processing based on the execution history being browsed. parameter information indicating the cause of the failure is displayed (step S61).
- step S50 determines whether the determination result in step S50 is B. , that is, when the user is performing an input operation on the input unit 61 of the operation panel 60, the user can execute the execution program with the input values inputted by the user, and the execution program If the execution fails, parameter information indicating the cause of the failure is notified (step S62).
- the robot can also operate automatically, and the execution program may be executed even if it is not during input operation, but even in that case, if the execution of the execution program fails is notified of parameter information indicating the cause of the failure.
- step S50 determines whether the determination result in step S50 is C.I. , that is, when the user is editing the program on the program editing screen 71 of the program editing device 70.
- the user can execute the execution program with the edited program or read the execution program from the execution history. It is possible to reproduce the working state with The user can also open the program edit screen 71 and select an execution history after executing the program.
- step S70 it is determined whether or not the execution program of the robot has ended. If the determination result in step S70 is YES, that is, if the execution program of the robot ends, this flow ends. On the other hand, if the determination result in step S70 is NO, that is, if the execution program of the robot has not ended, the flow returns to step S30, and the flow proceeds to step S70 again, and the determination result is YES. The loop of step S30, step $40, step S50, step S61 or S62 or S63, and step S70 is repeated until the robot's execution program ends.
- the robot 10 detects the workpiece 41 and grips the workpiece 41 with the gripping member 13 attached to the tip of the articulated arm 11. As another embodiment, the robot 10 performs force control on the workpiece 41 .
- the user creates a force control program that performs force control on the workpiece 41.
- the user sets various parameters required to perform force control on the workpiece 41 . For example, when a workpiece is to be copied, it is necessary to set a range of force (load) that can be applied in each axial direction of the articulated arm 11 of the robot 10 .
- the robot 10 exerts force control on the work 41
- the robot 10 is attached with a force sensor, and the robot 10 works on the work 41 while detecting the force applied to the work with the force sensor.
- the force sensors may be torque sensors attached to each axis of the articulated arm 11 of the robot 10 .
- a sensor member for detecting the position and orientation of the force sensor itself may be attached to the force sensor.
- Information on the position and orientation of the force sensor is sent to the robot control device 20 together with output information from the force sensor, that is, information on the force (load) applied to the workpiece 41, and is used to control the robot 10.
- the information from the sensor and the information on the processing result of the work on the work are stored in association with each execution of each program block of the program.
- parameter information related to the cause of process failure is also stored and displayed, so when a failure occurs in the process result, the user can determine which value of which process in which part of the execution history caused the process failure. It is possible to easily know whether or not there is a problem, and to prevent problems that may occur in the future.
- parameter information related to the cause of processing failure can be notified and displayed not only on the display device that displays the execution history of the execution program, but also on the operation panel for inputting investigation information and the program editing device for editing the execution program.
- the user can quickly know the processing failure and its cause in various operation situations, and can respond quickly.
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Multimedia (AREA)
- Numerical Control (AREA)
- Manipulator (AREA)
- Testing And Monitoring For Control Systems (AREA)
Abstract
Description
10 ロボット
11 多関節アーム
12 視覚センサ(カメラ)
13 把持部材
20 ロボット制御装置
21 制御部
22 記憶部
30 画像処理装置
31 画像処理部
32 記憶部
40 テーブル
41 ワーク
50 表示装置
51 実行履歴表示画面
60 操作盤
61 入力部
70 プログラム編集装置
71 プログラム編集画面
Claims (7)
- センサを用いて情報を取得し、ワークに対する作業を行う産業機械システムにおいて、
前記産業機械システムは、前記ワークに対する作業を実行するプログラムの実行履歴を格納する記憶部を備え、
前記記憶部には、センサからの情報及びその処理結果の情報が格納され、
さらに、処理結果において失敗が生じたときに、処理結果における失敗の原因を示す情報を実行履歴に付加し、
前記失敗の原因を示す情報は、前記プログラムの実行後に、実行時の、または、将来起こり得る失敗の原因を解析して導出される情報であって、前記処理結果におけるどのデータの値が失敗の原因になっているのかを示す情報である、産業機械システム。 - 前記センサは視覚センサを含み、
前記産業機械システムは、前記視覚センサでワークを検出し、検出したワークに対して作業を行うものであり、
前記センサからの情報は、撮像画像情報、並びに、作業時の産業機械の位置情報及び姿勢情報の少なくとも一方の情報を含み、
前記処理結果の情報は、前記ワークの検出結果、未検出/誤検出に関する情報を含む請求項1に記載の産業機械システム。 - 前記センサは力センサを含み、
前記産業機械システムは、前記力センサで、負荷荷重を検出しながら、前記ワークに対して作業を行うものであり、
前記力センサからの情報は、前記力センサの出力の情報、並びに、作業時の産業機械の位置情報及び姿勢情報の少なくとも一方の情報を含み、
前記処理結果の情報は、前記力センサの出力を処理した結果の情報を含む請求項1に記載の産業機械システム。 - 前記産業機械システムは、前記実行履歴を表示する実行履歴表示画面を有する表示装置を備え、
前記プログラムによる処理に失敗が生じた場合には、前記表示装置の前記実行履歴表示画面において実行履歴を表示するときに、前記失敗の原因を示すパラメータ情報を表示する請求項1から3いずれかに記載の産業機械システム。 - 前記産業機械システムは、前記プログラムの実行中に、ユーザが入力するための入力部を有する操作盤を備え、
前記操作盤において、ユーザが入力した入力値で前記プログラムを実行したときに、前記プログラムによる処理に失敗が生じた場合には、前記失敗の原因を示すパラメータ情報をユーザに通知する請求項1から4いずれかに記載の産業機械システム。 - 前記産業機械システムは、前記プログラムを編集するプログラム編集画面を有するプログラム編集装置を備え、
前記プログラムによる処理に失敗が生じた場合には、前記プログラム編集装置のプログラム編集画面に前記プログラムの実行履歴を読み込んで前記ワークに対する作業状態を再現し、前記プログラム編集画面に、前記失敗の原因を示すパラメータ情報を表示する請求項1から5いずれかに記載の産業機械システム。 - センサを用いて情報を取得し、ワークに対する作業を行う産業機械システムにおいて、
前記産業機械システムは、
前記ワークに対する作業を実行するプログラムの実行履歴を格納する記憶部と、
前記プログラムを編集するプログラム編集画面を有するプログラム編集装置を備え、
前記プログラムによる処理に失敗が生じた場合には、前記プログラム編集装置のプログラム編集画面に前記プログラムの実行履歴を読み込んで前記ワークに対する作業状態を再現し、
実行時の、または、将来に起こり得る失敗の原因を解析し、
解析した失敗の原因を示す情報を前記プログラム編集画面に表示する産業機械システム。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US18/256,875 US20240091945A1 (en) | 2021-02-26 | 2022-02-22 | Industrial machine system |
CN202280009955.6A CN116783037A (zh) | 2021-02-26 | 2022-02-22 | 产业机械系统 |
JP2023502426A JPWO2022181595A1 (ja) | 2021-02-26 | 2022-02-22 | |
DE112022000310.3T DE112022000310T5 (de) | 2021-02-26 | 2022-02-22 | Industriemaschinensystem |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2021-030945 | 2021-02-26 | ||
JP2021030945 | 2021-02-26 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2022181595A1 true WO2022181595A1 (ja) | 2022-09-01 |
Family
ID=83048169
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2022/007184 WO2022181595A1 (ja) | 2021-02-26 | 2022-02-22 | 産業機械システム |
Country Status (6)
Country | Link |
---|---|
US (1) | US20240091945A1 (ja) |
JP (1) | JPWO2022181595A1 (ja) |
CN (1) | CN116783037A (ja) |
DE (1) | DE112022000310T5 (ja) |
TW (1) | TW202235236A (ja) |
WO (1) | WO2022181595A1 (ja) |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH01265372A (ja) * | 1988-04-16 | 1989-10-23 | Fanuc Ltd | 視覚センサシステムにおける画像処理方式 |
JPH1177572A (ja) * | 1997-08-30 | 1999-03-23 | Toyoda Mach Works Ltd | ロボット制御装置 |
JP2004174662A (ja) * | 2002-11-27 | 2004-06-24 | Fanuc Ltd | ロボットの動作状態解析装置 |
JP2013010155A (ja) * | 2011-06-28 | 2013-01-17 | Canon Inc | 対象物把持装置、対象物把持装置の制御方法、およびプログラム |
JP2019150923A (ja) * | 2018-03-05 | 2019-09-12 | 日本電産株式会社 | ロボット制御装置、記録の作成方法およびプログラム |
Family Cites Families (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2019171490A (ja) | 2018-03-27 | 2019-10-10 | 日本電産サンキョー株式会社 | 動作履歴管理システム |
JP2019188516A (ja) | 2018-04-24 | 2019-10-31 | キヤノン株式会社 | 情報処理装置、情報処理方法、及びプログラム |
-
2022
- 2022-02-10 TW TW111104936A patent/TW202235236A/zh unknown
- 2022-02-22 JP JP2023502426A patent/JPWO2022181595A1/ja active Pending
- 2022-02-22 CN CN202280009955.6A patent/CN116783037A/zh active Pending
- 2022-02-22 US US18/256,875 patent/US20240091945A1/en active Pending
- 2022-02-22 DE DE112022000310.3T patent/DE112022000310T5/de active Pending
- 2022-02-22 WO PCT/JP2022/007184 patent/WO2022181595A1/ja active Application Filing
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH01265372A (ja) * | 1988-04-16 | 1989-10-23 | Fanuc Ltd | 視覚センサシステムにおける画像処理方式 |
JPH1177572A (ja) * | 1997-08-30 | 1999-03-23 | Toyoda Mach Works Ltd | ロボット制御装置 |
JP2004174662A (ja) * | 2002-11-27 | 2004-06-24 | Fanuc Ltd | ロボットの動作状態解析装置 |
JP2013010155A (ja) * | 2011-06-28 | 2013-01-17 | Canon Inc | 対象物把持装置、対象物把持装置の制御方法、およびプログラム |
JP2019150923A (ja) * | 2018-03-05 | 2019-09-12 | 日本電産株式会社 | ロボット制御装置、記録の作成方法およびプログラム |
Also Published As
Publication number | Publication date |
---|---|
CN116783037A (zh) | 2023-09-19 |
US20240091945A1 (en) | 2024-03-21 |
JPWO2022181595A1 (ja) | 2022-09-01 |
TW202235236A (zh) | 2022-09-16 |
DE112022000310T5 (de) | 2023-09-28 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
KR101818858B1 (ko) | 수동 안내-작동모드로의 로봇의 제어기의 전환 | |
US10996650B2 (en) | Numerical control system | |
US7590468B2 (en) | Robot system | |
US11167417B2 (en) | Robot control device and robot system | |
EP1769890A2 (en) | Robot simulation device | |
JP2020110900A (ja) | 判定装置 | |
CN110076751B (zh) | 机器人控制装置及机器人系统 | |
JP7337495B2 (ja) | 画像処理装置およびその制御方法、プログラム | |
JP5803159B2 (ja) | ロボット監視システム、及びロボット監視システムの異常判定方法 | |
JP7239399B2 (ja) | 調整支援装置 | |
JP6977686B2 (ja) | 制御システムおよび制御装置 | |
WO2020026344A1 (ja) | 異常判定装置及び異常判定方法 | |
JP2019171490A (ja) | 動作履歴管理システム | |
JP2019185545A (ja) | 数値制御システム | |
KR101820580B1 (ko) | 경로 전진 변수들을 갖는 안전한 로봇 | |
US11389954B2 (en) | Robot control device | |
JP7414507B2 (ja) | 制御装置、計測システム、計測方法 | |
WO2022181595A1 (ja) | 産業機械システム | |
JPH08286701A (ja) | 複数ロボット制御方法およびシステム | |
JP2008234278A (ja) | 数値制御装置、制御プログラム、制御プログラム記録媒体及び工作機械 | |
WO2023053368A1 (ja) | 教示装置及びロボットシステム | |
US20230046827A1 (en) | Robot programming device and robot programming method | |
CN114161428B (zh) | 机器人控制方法、装置、电子设备和存储介质 | |
JP7355965B1 (ja) | 数値制御装置及び数値制御システム | |
JP7328473B1 (ja) | 制御装置、産業機械のシステム、実行履歴データ表示方法、及びプログラム |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 22759631 Country of ref document: EP Kind code of ref document: A1 |
|
ENP | Entry into the national phase |
Ref document number: 2023502426 Country of ref document: JP Kind code of ref document: A |
|
WWE | Wipo information: entry into national phase |
Ref document number: 18256875 Country of ref document: US |
|
WWE | Wipo information: entry into national phase |
Ref document number: 202280009955.6 Country of ref document: CN |
|
WWE | Wipo information: entry into national phase |
Ref document number: 112022000310 Country of ref document: DE |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 22759631 Country of ref document: EP Kind code of ref document: A1 |