WO2024075200A1 - オフラインシミュレーション装置 - Google Patents

オフラインシミュレーション装置 Download PDF

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Publication number
WO2024075200A1
WO2024075200A1 PCT/JP2022/037236 JP2022037236W WO2024075200A1 WO 2024075200 A1 WO2024075200 A1 WO 2024075200A1 JP 2022037236 W JP2022037236 W JP 2022037236W WO 2024075200 A1 WO2024075200 A1 WO 2024075200A1
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WIPO (PCT)
Prior art keywords
robot
offline
offline simulation
program
path
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2022/037236
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English (en)
French (fr)
Japanese (ja)
Inventor
俊之 安藤
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fanuc Corp
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Fanuc Corp
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Publication date
Application filed by Fanuc Corp filed Critical Fanuc Corp
Priority to DE112022007576.7T priority Critical patent/DE112022007576T5/de
Priority to US19/111,043 priority patent/US20260086509A1/en
Priority to PCT/JP2022/037236 priority patent/WO2024075200A1/ja
Priority to JP2024555518A priority patent/JPWO2024075200A1/ja
Priority to CN202280100533.XA priority patent/CN119947863A/zh
Priority to TW112135333A priority patent/TW202415508A/zh
Publication of WO2024075200A1 publication Critical patent/WO2024075200A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • 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
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/0205—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric not using a model or a simulator of the controlled system
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1656—Program controls characterised by programming, planning systems for manipulators
    • B25J9/1671—Program controls characterised by programming, planning systems for manipulators characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming 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
    • G05B2219/32—Operator till task planning
    • G05B2219/32343—Derive control behaviour, decisions from simulation, behaviour modelling
    • 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
    • G05B2219/40053—Pick 3-D object from pile of objects

Definitions

  • the present invention relates to an offline simulation device that simulates robot movements and generates movement paths offline.
  • a technique is known in which welding lines are extracted based on a three-dimensional CAD file in which three-dimensional shape information of a work object is stored, a teaching-less function is used for each welding line to automatically generate a work motion path for the selected welding line, and an offline teaching function is used to correct the work motion path for a work line where interference occurs in the overall path simulation function.
  • One aspect of the offline simulation device disclosed herein includes an offline program execution unit that executes a robot program and simulates the robot's operation of picking up the workpieces in an offline simulation environment in which a robot, a pile of workpieces to be picked up by the robot, and a vision sensor that detects the workpieces are arranged in a virtual space; an automatic path generation execution unit that copies the offline simulation environment and generates a motion path for the robot's operation in the copied duplicate offline simulation environment; and an adjustment unit that modifies the robot program and/or adjusts parameters of the motion path based on the simulated robot operation and the generated motion path.
  • One aspect of the offline simulation device disclosed herein includes an offline program execution unit that executes a robot program and simulates the robot's operation of picking up the workpieces in an offline simulation environment in which a robot, a pile of workpieces to be picked up by the robot, and a vision sensor that detects the workpieces are arranged in a virtual space; an automatic path generation execution unit that generates a motion path for the robot's operation in the offline simulation environment; a storage unit that retains the execution state of the robot program in the offline simulation environment by the offline program execution unit and the execution state of the generation of the motion path in the offline simulation environment by the automatic path generation execution unit; and an adjustment unit that modifies the robot program and/or adjusts parameters of the motion path based on the simulated robot operation and the generated motion path.
  • FIG. 1 is a diagram illustrating an example of a configuration of a robot system according to a first embodiment.
  • FIG. 2 is a functional block diagram showing an example of a functional configuration of the offline simulation device according to the first embodiment.
  • 10 is a flowchart illustrating offline processing of the offline simulation device.
  • an offline simulation device executes a robot program and simulates the robot's operation of picking up a workpiece in an offline simulation environment in which a robot, a pile of workpieces to be picked up by the robot, and a vision sensor for detecting the workpieces are arranged in a virtual space.
  • the offline simulation device also copies the offline simulation environment and generates a motion path of the robot in the copied duplicate offline simulation environment.
  • the offline simulation device modifies the robot program and/or adjusts parameters for path generation based on the simulated robot operation and the generated path.
  • the above is an outline of this embodiment.
  • FIG. 1 is a diagram illustrating an example of the configuration of a robot system 100 according to the first embodiment.
  • the robot system 100 includes an offline simulation device 10 , a robot control device 20 , a robot 30 , a vision sensor 40 , a plurality of workpieces 50 , and a container 60 .
  • the offline simulation device 10, the robot control device 20, the robot 30, and the vision sensor 40 may be directly connected to each other via a connection interface (not shown).
  • the offline simulation device 10, the robot control device 20, the robot 30, and the vision sensor 40 may be connected to each other via a network (not shown) such as a LAN (Local Area Network) or the Internet.
  • a network such as a LAN (Local Area Network) or the Internet.
  • the offline simulation device 10, the robot control device 20, the robot 30, and the vision sensor 40 are provided with a communication unit (not shown) for communicating with each other through such connection.
  • FIG. 1 illustrates the offline simulation device 10 and the robot control device 20 separately, and in this case, the offline simulation device 10 may be composed of, for example, a computer. The configuration is not limited to this, and for example, the offline simulation device 10 may be implemented inside the robot control device 20 and integrated with the robot control device 20.
  • the robot control device 20 is a device known to those skilled in the art for controlling the operation of the robot 30.
  • the robot control device 20 generates a control signal for controlling the operation of the robot 30 to pick up the workpiece 50, for example, based on pick-up position information of the workpiece 50 detected by a vision sensor 40 (described below) among the piled up workpieces 50.
  • the robot control device 20 then outputs the generated control signal to the robot 30.
  • the robot 30 is a robot that operates under the control of the robot control device 20.
  • the robot 30 includes a base for rotating around a vertical axis, an arm that moves and rotates, and a removal hand 31 that is attached to the arm for holding the workpiece 50.
  • a gripping type removal hand is attached to the removal hand 31 of the robot 30, but an air suction type removal hand or a magnetic hand that uses magnetic force to remove an iron workpiece may also be attached.
  • peripheral equipment such as a conveyor to which the removed workpiece 50 is transferred is not shown in the drawings.
  • the specific configuration of the robot 30 is well known to those skilled in the art, a detailed description thereof will be omitted.
  • offline simulation device 10 and the robot control device 20 are assumed to have performed calibration in advance to associate the machine coordinate system for controlling the robot 30 with the camera coordinate system of the vision sensor 40, which indicates the pick-up position of the workpiece 50.
  • the vision sensor 40 is a three-dimensional measuring device such as a stereo camera, and acquires three-dimensional information (hereinafter also referred to as a "distance image") in which pixel values are values converted from the distance between a plane perpendicular to the optical axis of the vision sensor 40 and each point on the surface of the workpieces 50 stacked in bulk in the container 60.
  • a distance image three-dimensional information
  • the pixel value of point A of the workpiece 50 on the distance image is converted from the distance between the vision sensor 40 and point A of the workpiece 50 in the Z-axis direction of the three-dimensional coordinate system (X, Y, Z) of the vision sensor 40.
  • the Z-axis direction of the three-dimensional coordinate system is the optical axis direction of the vision sensor 40.
  • the vision sensor 40 may also be configured to acquire three-dimensional point cloud data of the multiple workpieces 50 loaded in the container 60 by, for example, a stereo camera.
  • the vision sensor 40 may acquire a two-dimensional image such as a grayscale image or an RGB image in addition to the distance image.
  • the vision sensor 40 may be a digital camera or the like.
  • the workpieces 50 are placed randomly, including in a loose pile, in the container 60.
  • the workpieces 50 may be any workpieces that can be held by the pick-up hand 31 attached to the arm of the robot 30, and the shape and other properties of the workpieces are not particularly limited.
  • the workpiece 50 may be a depalletizing system such as cardboard boxes stacked on a pallet.
  • FIG. 2 is a functional block diagram showing an example of the functional configuration of the offline simulation device 10 according to the first embodiment.
  • the offline simulation device 10 includes a control unit 11 and a storage unit 12.
  • the control unit 11 includes an offline program execution unit 110, an automatic path generation execution unit 111, an adjustment unit 112, and an output unit 113.
  • the storage unit 12 is a solid state drive (SSD) or a hard disk drive (HDD) or the like, and may store a robot program, an automatic path creation program, and the like.
  • the storage unit 12 also stores an offline simulation environment in which an offline program execution unit 110 described later executes a robot program offline to operate three-dimensional models (e.g., CAD data or the like) of the robot 30, vision sensor 40, workpiece 50, and container 60 shown in Fig. 1 arranged in a virtual space.
  • the storage unit 12 also stores a duplicated offline simulation environment obtained by copying the offline simulation environment so that an automatic path generation execution unit 111 described later generates a path for the operation of the robot 30 based on a path generation request from the offline program execution unit 110.
  • the offline simulation device 10 can simultaneously execute the robot's movement by executing the robot program offline and generate the robot's movement path by automatic path generation.
  • a three-dimensional model of a peripheral device (not shown) of the robot system 100 may be placed in the offline simulation environment and the replicated offline simulation environment.
  • the control unit 11 includes a CPU, a ROM, a RAM, a CMOS memory, etc., which are configured to be able to communicate with each other via a bus, and are well known to those skilled in the art.
  • the CPU is a processor that controls the entire offline simulation device 10.
  • the CPU reads out the system program and application program stored in the ROM via the bus, and controls the entire offline simulation device 10 in accordance with the system program and application program.
  • the control unit 11 is configured to realize the functions of an offline program execution unit 110, an automatic path generation execution unit 111, an adjustment unit 112, and an output unit 113.
  • the RAM stores various data such as temporary calculation data and display data.
  • the CMOS memory is backed up by a battery (not shown), and is configured as a non-volatile memory that retains its stored state even when the offline simulation device 10 is powered off.
  • the offline program execution unit 110 executes a robot program in an offline simulation environment in which, for example, a robot 30, a vision sensor 40, a workpiece 50, and a container 60 are arranged in a virtual space, and simulates the operation of the robot 30 removing the workpiece 50.
  • the offline program execution unit 110 executes the robot program by accepting an instruction to execute the robot program offline from a user via an input device (not shown) such as a keyboard or a touch panel.
  • the offline program execution unit 110 outputs a path generation request for an operation path of the robot 30 in the offline simulation environment to an automatic path generation execution unit 111 (described later) based on the robot program, in order to cause the robot 30 to pick up the workpiece 50 detected from a virtual image generated by the vision sensor 40 in the offline simulation environment.
  • the path generation request includes position information of the workpiece 50 to be picked up in the offline simulation environment, etc.
  • the offline program executing unit 110 operates the robot 30 in the offline simulation environment based on the path generated by the automatic path generating executing unit 111, and picks up the workpieces 50. Then, the offline program executing unit 110 executes the robot program in the offline simulation environment until the robot 30 picks up all of the workpieces 50 detected from the virtual image by the vision sensor 40.
  • the offline program execution unit 110 may terminate the execution of the robot program if, during calculation of the removal position of the workpiece 50, it determines that the robot 30 and the hand will interfere with a three-dimensional model of a peripheral device (not shown) of the robot system 100 and the workpiece 50 cannot be removed.
  • the automatic path generation execution unit 111 when the automatic path generation execution unit 111 receives a path generation request from the offline program execution unit 110, it copies the offline simulation environment and generates a path for the movement of the robot 30 in the copied duplicated offline simulation environment. Specifically, the automatic path generation executing unit 111 executes, for example, an automatic path generation program, and generates a motion path for the robot 30 to pick up the workpiece 50 in the replicated offline simulation environment, based on the position information of the workpiece 50 to be picked up, included in the path generation request, using a known path generation method. Note that the generated motion path may be generated so that the robot 30 and the hand do not interfere with three-dimensional models of the container 60 and peripheral equipment (not shown) in the replicated offline simulation environment.
  • the generated motion path may also include a path from when the robot 30 picks up the workpiece 50 to when it moves to peripheral equipment (not shown), such as a conveyor, in the replicated offline simulation environment.
  • the automatic path generation execution unit 111 outputs the generated operation path to the offline program execution unit 110 .
  • the adjustment unit 112 modifies the robot program and/or adjusts parameters of the movement path based on, for example, the movement of the robot 30 simulated in the offline simulation environment and the movement path generated in the replicated offline simulation environment. Specifically, the adjustment unit 112 calculates, for example, a cycle time (e.g., an average value, a variance value, etc.), the number of path generation failures (e.g., an average value, a variance value, etc.), the number of workpieces 50 that could not be picked up (e.g., an average value, a variance value, etc.), etc. based on the operation of the robot 30 simulated in the offline simulation environment and the result of the operation path generated in the replicated offline simulation environment.
  • a cycle time e.g., an average value, a variance value, etc.
  • the number of path generation failures e.g., an average value, a variance value, etc.
  • the number of workpieces 50 that could not be picked up e.g., an average value,
  • the number of path generation failures indicates, for example, the number of times in the replicated offline simulation environment when the robot 30 fails to pick up the workpiece 50 on the operation path for picking up the workpiece 50 from above, and the automatic path generation execution unit 111 changes the pick-up position to the side of the workpiece 50 or the like, or changes the target for picking up another workpiece 50, etc.
  • the adjustment unit 112 modifies the robot program, such as modifying or adding the speed of the robot 30 and the pick-up position, based on the calculated cycle time, the number of path generation failures, the number of workpieces 50 that could not be picked up, etc.
  • the adjustment unit 112 also adjusts parameters for path generation, such as changing the algorithm used for automatic path generation and the distance to obstacles such as the container 60 and peripheral equipment (not shown), based on the calculated cycle time, the number of path generation failures, the number of workpieces 50 that could not be picked up, etc.
  • the adjustment unit 112 stores the modified robot program and the adjusted path generation parameters in the storage unit 12.
  • the adjustment unit 112 may display the calculated cycle time, the number of path generation failures, the number of workpieces 50 that could not be removed, etc., on a display device (not shown) such as a liquid crystal display included in the offline simulation device 10.
  • the output unit 113 outputs the corrected robot program and the adjusted path generation parameters to the robot control device 20.
  • the robot control device 20 can adjust the robot 30 in the real space in a short amount of time by using the robot program corrected in the offline simulation and the adjusted path generation parameters.
  • FIG. 3 is a flowchart for explaining the offline processing of the offline simulation device 10. The flow shown here is executed every time the offline simulation device 10 receives an instruction to execute a robot program offline from a user.
  • step S11 when the offline program execution unit 110 receives an instruction to execute a robot program offline from a user via an input device (not shown) of the offline simulation device 10, it executes the robot program.
  • step S12 the vision sensor 40 in the offline simulation environment captures an image of the container 60 to generate a virtual image, and detects the workpiece 50 from the generated image.
  • step S13 the offline program execution unit 110 calculates the position of the workpiece 50 detected in step S12 based on the virtual image generated in step S12, and outputs a path generation request including the position information of the calculated position to the automatic path generation execution unit 111.
  • step S14 when the automatic path generation execution unit 111 receives a path generation request, it executes the automatic path generation program, copies the offline simulation environment, and generates a motion path for the robot 30 in the copied duplicated offline simulation environment.
  • step S15 the offline program execution unit 110 operates the robot 30 in the offline simulation environment based on the motion path generated in step S14, and removes the workpiece 50.
  • step S16 the offline program execution unit 110 determines whether or not there is a removable workpiece 50 detected by the vision sensor 40 in the offline simulation environment. If there is a removable workpiece 50, the process returns to step S12. On the other hand, if there is no removable workpiece 50, the process proceeds to step S17.
  • step S17 the adjustment unit 112 modifies the robot program and/or adjusts the parameters of the movement path based on the results of the movement of the robot 30 simulated in the offline simulation environment and the movement path generated in the replicated offline simulation environment.
  • step S18 the output unit 113 outputs the modified robot program and the adjusted path generation parameters to the robot control device 20.
  • the offline simulation device 10 executes a robot program in an offline simulation environment in which the robot 30, multiple workpieces 50, and vision sensor 40 are arranged in a virtual space, and simulates the operation of the robot 30 picking up the workpiece 50.
  • the offline simulation device 10 also copies the offline simulation environment and generates a movement path for the robot 30 in the copied, duplicated offline simulation environment. This allows the offline simulation device 10 to simultaneously execute the robot operation by executing the robot program offline and generate the movement path for the robot by automatic path generation.
  • the offline simulation device 10 outputs the corrected robot program and/or adjusted movement path parameters based on the movement of the robot 30 simulated in the offline simulation environment and the movement path generated in the replicated offline simulation environment to the robot control device 20. In this way, the robot control device 20 can adjust the robot 30 in the real space in a short time by using the robot program corrected in the offline simulation and the adjusted path generation parameters.
  • the first embodiment has been described above.
  • the offline simulation device 10 executes a robot program in an offline simulation environment in which a robot, a pile of workpieces to be picked up by the robot, and a vision sensor for detecting the workpieces are arranged in a virtual space, and simulates the robot's operation of picking up the workpieces.
  • the offline simulation device 10 also copies the offline simulation environment, and generates a motion path of the robot in the copied duplicated offline simulation environment.
  • the offline simulation device 10A differs from the first embodiment in that it uses one offline simulation environment in which a robot, a pile of workpieces to be picked up by the robot, and a vision sensor for detecting the workpieces are arranged in a virtual space, and stores the execution state of the robot program and the execution state of the generation of the motion path.
  • the offline simulation device 10A can simultaneously execute the robot operation by executing the robot program offline and generate the robot operation path by automatic path generation. The second embodiment will be described below.
  • the robot system 100 includes an offline simulation device 10A, a robot control device 20, a robot 30, a vision sensor 40, a plurality of workpieces 50, and a container 60, similar to the first embodiment shown in FIG. 1.
  • Fig. 4 is a functional block diagram showing an example of the functional configuration of an offline simulation device 10A according to the second embodiment. Elements having the same functions as those of the offline simulation device 10 in Fig. 2 are denoted by the same reference numerals, and detailed description thereof will be omitted.
  • the offline simulation device 10A has a control unit 11a and a storage unit 12.
  • the control unit 11a also has an offline program execution unit 110a, an automatic path generation execution unit 111a, an adjustment unit 112, and an output unit 113.
  • the storage unit 12 has the same function as the storage unit 12 in the first embodiment.
  • the control unit 11a includes a CPU, a ROM, a RAM, a CMOS memory, etc., which are configured to be able to communicate with each other via a bus, and are well known to those skilled in the art.
  • the CPU is a processor that controls the entire offline simulation device 10A.
  • the CPU reads out the system program and application program stored in the ROM via the bus, and controls the entire offline simulation device 10A in accordance with the system program and application program.
  • the control unit 11a is configured to realize the functions of an offline program execution unit 110a, an automatic path generation execution unit 111a, an adjustment unit 112, and an output unit 113.
  • the adjustment unit 112 and the output unit 113 have the same functions as the adjustment unit 112 and the output unit 113 in the first embodiment.
  • the offline program execution unit 110a executes a robot program in an offline simulation environment in which a robot 30, a vision sensor 40, a workpiece 50, and a container 60 are arranged in a virtual space, and simulates the operation of the robot 30 removing the workpiece 50.
  • the offline program executing unit 110a holds an execution state of the robot program in the offline simulation environment in a preset storage area of the storage unit 12. Then, the offline program executing unit 110a refers to the execution state of the robot program in the offline simulation environment held in the storage unit 12 and simulates the operation of the robot 30 to pick up the workpiece 50.
  • the automatic path generation executing unit 111a generates a movement path for the robot 30 in an offline simulation environment, similar to the automatic path generation executing unit 111 of the first embodiment.
  • the automatic path generation execution unit 111a executes the automatic path generation program offline to generate a movement path, it holds an execution state of the generation of the movement path in the offline simulation environment in a storage area different from the storage area of the offline program execution unit 110a that is preset in the storage unit 12.
  • the automatic path generation execution unit 111a generates a movement path of the robot 30 that picks up the workpiece 50 by referring to the execution state of the generation of the movement path in the offline simulation environment held in the storage unit 12.
  • the offline simulation device 10A can simultaneously execute the robot's movement by executing the robot program offline and generate the movement path of the robot by automatic path generation.
  • FIG. 5 is a flowchart for explaining offline processing of the offline simulation device 10 A.
  • the flow shown here is executed every time the offline simulation device 10 A receives an instruction to execute a robot program offline from a user.
  • the processes from step S26 to step S28 are similar to the processes from step S16 to step S18 in FIG. 3, and therefore the description thereof will be omitted.
  • step S21 when the offline program execution unit 110 receives an instruction to execute a robot program offline from a user via an input device (not shown) of the offline simulation device 10A, it executes the robot program and stores the execution state of the robot program in the offline simulation environment in the memory unit 12.
  • the vision sensor 40 in the offline simulation environment refers to the execution state of the robot program in the offline simulation environment stored in the memory unit 12, captures an image of the container 60 to generate a virtual image, and detects the workpiece 50 from the generated image.
  • step S23 the offline program execution unit 110a calculates the position of the workpiece 50 detected in step S22 based on the virtual image generated in step S22, and outputs a path generation request including the position information of the calculated position to the automatic path generation execution unit 111a.
  • step S24 when the automatic path generation execution unit 111a receives a path generation request, it executes the automatic path generation program by referring to the execution state of path generation in the offline simulation environment stored in the storage unit 12, and generates a movement path for the robot 30 in the offline simulation environment.
  • the automatic path generation execution unit 111a stores the execution state of the generation of the movement path in the offline simulation environment in the storage unit 12.
  • step S25 the offline program execution unit 110a operates the robot 30 in the offline simulation environment based on the motion path generated in step S24, and picks up the workpiece 50.
  • the offline program execution unit 110a then stores the execution state of the robot program in the offline simulation environment in the memory unit 12.
  • the offline simulation device 10A holds the execution state of the robot program and the execution state of the generation of the movement path by using one offline simulation environment in which the robot 30, the multiple workpieces 50, and the vision sensor 40 are arranged in a virtual space.
  • the offline simulation device 10A executes the robot program offline and simulates the movement of the robot 30 to pick up the workpiece 50 in the offline simulation environment by referring to the execution state of the held robot program.
  • the offline simulation device 10A generates a movement path of the robot 30 in the offline simulation environment by referring to the execution state of the held movement path generation. In this way, the offline simulation device 10A can simultaneously execute the movement of the robot by executing the robot program offline and the generation of the movement path of the robot by automatic path generation.
  • the offline simulation device 10A outputs the corrected robot program and/or adjusted parameters of the movement path based on the movement of the robot 30 simulated in the offline simulation environment and the movement path generated in the replicated offline simulation environment to the robot control device 20.
  • the robot control device 20 can adjust the robot 30 in the real space in a short time by using the robot program corrected in the offline simulation and the adjusted parameters for path generation.
  • the offline simulation devices 10 and 10A of the present disclosure can simultaneously execute a robot's motion by executing a robot program offline and generate a motion path for the robot by automatic path generation.
  • the robot 30 picks up the randomly stacked workpieces 50, but the present invention is not limited to this.
  • the robot 30 may be a depalletizing system that picks up stacked cardboard boxes or the like.
  • the offline simulation devices 10 and 10A are devices different from the robot control device 20, but this is not limited to the above.
  • the offline simulation devices 10 and 10A may be included in the robot control device 20.
  • each function included in the offline simulation device 10, 10A in the first and second embodiments can be realized by hardware, software, or a combination of these.
  • being realized by software means being realized by a computer reading and executing a program.
  • Non-transitory computer readable media include various types of tangible storage media. Examples of non-transitory computer readable media include magnetic recording media (e.g., flexible disks, magnetic tapes, hard disk drives), magneto-optical recording media (e.g., magneto-optical disks), CD-ROMs (Read Only Memory), CD-Rs, CD-R/Ws, and semiconductor memories (e.g., mask ROMs, PROMs (Programmable ROMs), EPROMs (Erasable PROMs), flash ROMs, RAMs).
  • the program may also be provided to the computer by various types of temporary computer readable media. Examples of temporary computer readable media include electrical signals, optical signals, and electromagnetic waves.
  • the temporary computer readable medium can provide the program to the computer via a wired communication path such as an electric wire or optical fiber, or via a wireless communication path.
  • the steps of writing the program to be recorded on the recording medium include not only processes that are performed chronologically according to the order, but also processes that are not necessarily performed chronologically but are executed in parallel or individually.
  • the offline simulation device (10) includes an offline program execution unit (110) that executes a robot program and simulates the operation of the robot (30) picking up a work (50) in an offline simulation environment in which a robot (30), a plurality of piled workpieces (50) to be picked up by the robot (30), and a vision sensor (40) that detects the plurality of workpieces (50) are arranged in a virtual space; an automatic path generation execution unit (111) that copies the offline simulation environment and generates a motion path for the operation of the robot (30) in the copied duplicated offline simulation environment; and an adjustment unit (112) that modifies the robot program and/or adjusts parameters of the motion path based on the simulated operation of the robot (30) and the generated motion path.
  • the offline simulation device (10A) includes an offline program execution unit (110a) that executes a robot program and simulates the operation of the robot (30) picking up the workpiece (50) in an offline simulation environment in which a robot (30), a plurality of piled workpieces (50) that the robot (30) picks up, and a vision sensor (40) that detects the plurality of workpieces (50) are arranged in a virtual space, an automatic path generation execution unit (111a) that generates a motion path of the operation of the robot (30) in the offline simulation environment, a memory unit (12) that retains an execution state of the robot program in the offline simulation environment by the offline program execution unit (110a) and an execution state of generation of the motion path in the offline simulation environment by the automatic path generation execution unit (111a), and an adjustment unit (112) that modifies the robot program and/or adjusts parameters of the motion path based on the simulated operation of the robot (30) and the generated motion path.
  • an offline program execution unit (110a) that executes a robot program and
  • the plurality of workpieces (50) are a plurality of workpieces that are randomly piled up or a plurality of workpieces of a depalletizing system.
  • an adjustment unit (112) calculates at least a cycle time and a number of failures in generating a movement path based on the simulated movement of the robot (30) and the generated movement path.
  • the adjustment unit (112) calculates the number of workpieces (50) that could not be picked up, together with the cycle time and the number of failures in generating the motion path, based on the simulated motion of the robot (30) and the generated motion path (Supplementary Note 6).
  • the offline simulation device (10, 10A) of Supplementary Note 1 or Supplementary Note 2 is provided with an output unit (113) that outputs the corrected robot program and/or the adjusted parameters of the motion path to a robot control device (20) in real space.
  • REFERENCE SIGNS LIST 10 10A offline simulation device 11, 11a control unit 110, 110a offline program execution unit 111, 111a automatic path generation execution unit 112 adjustment unit 113 output unit 20 robot control device 30 robot 31 removal hand 40 vision sensor 50 workpiece 60 container

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PCT/JP2022/037236 2022-10-05 2022-10-05 オフラインシミュレーション装置 Ceased WO2024075200A1 (ja)

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PCT/JP2022/037236 WO2024075200A1 (ja) 2022-10-05 2022-10-05 オフラインシミュレーション装置
JP2024555518A JPWO2024075200A1 (https=) 2022-10-05 2022-10-05
CN202280100533.XA CN119947863A (zh) 2022-10-05 2022-10-05 离线模拟装置
TW112135333A TW202415508A (zh) 2022-10-05 2023-09-15 離線模擬裝置

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2026022986A1 (ja) * 2024-07-24 2026-01-29 ファナック株式会社 シミュレーション装置及びプログラム

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2016036895A (ja) * 2014-08-11 2016-03-22 ファナック株式会社 駆動軸のジャークを低下させるロボットプログラムを生成するロボットプログラム生成装置
JP2019036014A (ja) * 2017-08-10 2019-03-07 オムロン株式会社 情報処理装置、情報処理方法およびプログラム

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2016036895A (ja) * 2014-08-11 2016-03-22 ファナック株式会社 駆動軸のジャークを低下させるロボットプログラムを生成するロボットプログラム生成装置
JP2019036014A (ja) * 2017-08-10 2019-03-07 オムロン株式会社 情報処理装置、情報処理方法およびプログラム

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2026022986A1 (ja) * 2024-07-24 2026-01-29 ファナック株式会社 シミュレーション装置及びプログラム

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US20260086509A1 (en) 2026-03-26
CN119947863A (zh) 2025-05-06

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