Automatic program correction device, method and automatic path generation device

Abstract

The present invention provides an automatic program correction device and method thereof, and an automatic path generation device, which can find a motion path that does not interfere with the robot and surrounding objects to create an action program when an action path that satisfies a fixed gap amount is not found. The automatic program correction device comprises: a gap detection unit, which detects the gap amount between the robot and the surrounding device at each position of the action path based on the action program; an abnormal proximity detection unit, which detects the abnormal proximity interval; a closest point detection unit, which detects a pair of closest points in the abnormal proximity interval; and a program update unit, which generates a new action program, and the new action program has an intermediate teaching point when the closest point is moved along a straight line passing through a pair of closest points until the gap amount becomes greater than the minimum gap amount and less than a threshold value. The program update unit gradually reduces the gap amount at the intermediate teaching point from the threshold value, and at the same time obtains the intermediate teaching point that becomes the maximum gap amount in the new abnormal proximity interval that is not detected.

Description

Technical Field

[0001] The invention relates to an automatic program correction device, method and automatic path generation device. Background Art

[0002] There is currently known a method for creating an action program that detects abnormal proximity between a robot and surrounding objects and, when abnormal proximity occurs, moves the action path of the robot to a position where abnormal proximity does not occur (for example, see Patent Document 1).

[0003] Prior art documents

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Publication No. 2006-190228 Summary of the invention

[0006] Problem that the invention aims to solve

[0007] In the motion program creation method of Patent Document 1, when detecting abnormal proximity, the gap between the robot and the surrounding objects is fixed as a reference. Therefore, in the motion program for the robot to enter a narrow space, no matter what motion path is used, it is impossible to find a motion path that satisfies the fixed gap amount, resulting in the undesirable situation that the motion program cannot be created.

[0008] The object of the present invention is to provide an automatic program correction device, method and automatic path generation device, which can find a motion path that does not interfere with the robot and surrounding objects and thus create a motion program even if a motion path that satisfies a fixed gap amount cannot be found.

[0009] Solutions to the problem

[0010] An automatic program correction device according to one embodiment of the present invention comprises: a gap detection unit for detecting the gap amount between the robot and the peripheral device at each position of the robot's motion path based on an existing motion program; an abnormal proximity detection unit for detecting an abnormal proximity interval in which the detected gap amount is less than a predetermined threshold value; a closest point detection unit for detecting a pair of closest points that become the minimum gap amount in the detected abnormal proximity interval; and a program update unit for generating a new motion program, the new motion program having an intermediate teaching point when the closest point is moved along a straight line passing through the detected pair of closest points until the gap amount becomes greater than the minimum gap amount and less than the threshold value. The program update unit gradually reduces the gap amount at the intermediate teaching point from the threshold value, and at the same time obtains the intermediate teaching point that becomes the maximum gap amount in the new abnormal proximity interval where no new abnormal proximity is detected.

[0011] According to this scheme, when the shape information of the robot and the shape information of the peripheral device are stored, if an existing motion program is input, the gap detection unit detects the gap amount between the robot and the peripheral device at each position of the motion path of the robot using the input motion program. The abnormal proximity detection unit determines whether the detected gap amount is less than a predetermined threshold value, and if it is less, it is detected as an abnormal proximity interval.

[0012] Furthermore, when an abnormal approach interval is detected, a pair of closest points that form the minimum gap amount are detected by the closest point detection unit in each abnormal approach interval, and an intermediate teaching point with a gap amount equal to the threshold value is generated by the program update unit on a straight line passing through the detected pair of closest points. The program update unit determines whether an abnormal approach interval different from the abnormal approach interval detected so far is detected for a new action path passing through the set intermediate teaching point, and if detected, sets the gap amount in the intermediate teaching point to be reduced by a predetermined amount, and repeats the above-mentioned operation.

[0013] Thus, a new motion program is generated that has an intermediate teaching point having a gap amount larger than the minimum gap amount detected based on a pair of closest points, thereby improving the abnormal proximity state between the robot and the peripheral device.

[0014] That is, when the gap amount is fixed above a threshold, it is sometimes impossible to find an action path that satisfies the gap amount. However, by making the gap amount as close to the threshold as possible below the threshold, an action path that does not interfere with the robot and surrounding objects can be found and an action program can be created.

[0015] Another embodiment of the automatic program correction device of the present invention comprises a processor and a memory, wherein the processor detects the gap amount between the robot and the peripheral device at each position of the robot's motion path based on an existing motion program, detects an abnormal proximity interval in which the detected gap amount is less than a predetermined threshold value stored in the memory, detects a pair of closest points with a minimum gap amount in the detected abnormal proximity interval, moves the closest point along a straight line passing through the detected pair of closest points until the gap amount reaches the threshold value, sets an intermediate teaching point to gradually reduce the gap amount at the intermediate teaching point from the threshold value, and generates a new motion program having the intermediate teaching point with the largest gap amount in the detected abnormal proximity interval.

[0016] Furthermore, another embodiment of the automatic program correction method of the present invention comprises the following steps: detecting the gap between the robot and the peripheral device at each position of the robot's motion path based on an existing motion program; detecting an abnormal proximity interval in which the detected gap is less than a predetermined threshold; detecting a pair of closest points with the minimum gap in the detected abnormal proximity interval; setting an intermediate teaching point at a position where the closest point is moved along a straight line passing through the detected pair of closest points until the gap becomes the threshold; and gradually reducing the gap at the intermediate teaching point from the threshold, while generating a new motion program having the intermediate teaching point with the largest gap in which no new abnormal proximity interval is detected.

[0017] In addition, in another embodiment of the present invention, the automatic path generation device specifies the gap between the robot and the peripheral device, and the automatic path generation device includes: a path search unit that searches for a motion path that satisfies the specified gap between two provided motion points; and a gap adjustment unit that reduces the gap when the path search unit fails to find the motion path. The motion path is generated between the motion points by repeating the motion path search performed by the path search unit and the gap adjustment unit reducing the gap.

[0018] Effects of the Invention

[0019] According to the present invention, even when a motion path satisfying a fixed gap amount cannot be found, a motion path that does not interfere with the robot and surrounding objects can be found, thereby creating a motion program. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a diagram showing the overall configuration of an automatic program correction device according to one embodiment of the present invention.

[0021] Figure 2 It is explained by Figure 1 A diagram of the abnormal approach interval and the closest point detected by the automatic program correction device, and the new closest point corresponding to the intermediate teaching point.

[0022] Figure 3 This is a flowchart showing an automatic program correction method according to one embodiment of the present invention.

[0023] Figure 4 It is a diagram showing an automatic route generation device according to one embodiment of the present invention.

[0024] Figure 5 Yes Description Figure 4 Flowchart of the function of the automatic path generation device.

[0025] Description of Reference Numerals

[0026] 1: Automatic program correction device

[0027] 2: Memory

[0028] 3: Processor

[0029] 4: Gap detection unit

[0030] 5: Abnormal proximity detection unit

[0031] 6: Closest point detection unit

[0032] 7: Program Update Department

[0033] 10: Automatic path generation device

[0034] 11: Path Exploration Department

[0035] 12: Clearance adjustment unit DETAILED DESCRIPTION

[0036] Hereinafter, an automatic program correction device 1 and a method according to an embodiment of the present invention will be described with reference to the drawings.

[0037] The automatic program correction device 1 of this embodiment is a device for correcting an existing program in an off-line operation, and includes a memory 2 for storing three-dimensional shape information of a robot and peripheral devices and recommended gap amounts, and a processor 3 for performing processing.

[0038] The processor 3 has a gap detection unit 4, which, when an existing action program is input, calculates the action path of the robot according to the action program, and detects the gap amount between the outer surface of the robot and the outer surface of the peripheral device at each position of the calculated action path based on the three-dimensional shape information of the robot and the peripheral device stored in the memory 2.

[0039] In this case, the operation program has an operation path that enables the robot to operate without interfering with peripheral devices.

[0040] Furthermore, the processor 3 includes an abnormal approach detection unit 5 that compares the gap amount detected by the gap detection unit 4 with a threshold value stored in the memory 2 and detects an abnormal approach section in which the gap amount is smaller than the threshold value.

[0041] like Figure 2 As shown, for example, when the outer surface of the robot moving along the motion path comes closer to the outer surface of the peripheral device than a threshold, the section is detected as an abnormal proximity section.

[0042] Furthermore, the processor 3 includes a closest point detection unit 6. When the abnormal proximity detection unit 5 detects an abnormal proximity interval, the closest point detection unit 6 detects the abnormal proximity interval in each detected abnormal proximity interval. Figure 2 As shown, a pair of closest points between the outer surface of the robot and the outer surface of the peripheral device that form the minimum gap amount is detected.

[0043] Furthermore, the processor 3 includes a program updating unit 7 that generates a new operating program having an intermediate teaching point at a position where the closest point is moved in a direction that increases the gap amount along a straight line passing through the detected pair of closest points.

[0044] An automatic program correction method using the automatic program correction device 1 of the present embodiment configured as described above will be described below.

[0045] like Figure 3 As shown, in the automatic program correction method of this embodiment, the gap detection unit 4 detects the gap amount between the robot and the peripheral device at each position of the motion path based on the input motion program and the stored three-dimensional shape information of the robot and the peripheral device (step S1).

[0046] Next, the abnormal proximity detection unit 5 detects an abnormal proximity interval in which the detected gap amount is less than a predetermined threshold value (step S2). Then, it is determined whether the abnormal proximity interval is detected (step S3), and the processing is terminated if it is not detected. In step S3, if an abnormal proximity interval is detected, the initial abnormal proximity interval is selected (step S4), and in the selected abnormal proximity interval, the closest point detection unit 6 respectively detects a pair of closest points that become the minimum gap amount (step S5).

[0047] In this state, the program updating unit 7 moves the closest point on the robot side along a straight line passing through a pair of closest points to a position where the minimum gap amount as the distance between the closest points is equal to the threshold value, and sets an intermediate teaching point (step S6). Then, for each position of the motion path of the robot by the motion program including the new intermediate teaching point, the gap amount is detected (step S7), and the abnormal proximity interval is detected (step S8).

[0048] At this time, it is determined whether a new abnormal approach zone is detected (step S9). If detected, an intermediate teaching point is set to reduce the minimum gap amount by a predetermined amount (step S10), and the process from step S7 is repeated.

[0049] That is, as a result of expanding the minimum gap amount of the closest point to the threshold value, when a new abnormal approach interval occurs, it is considered that the distance between other parts of the robot and other peripheral devices exceeds the threshold value and becomes smaller because the minimum gap amount is too large. Therefore, the minimum gap amount temporarily expanded to the threshold value is gradually reduced, and the gap amount and abnormal approach interval are detected, so that an intermediate teaching point where a new abnormal approach interval does not occur can be set.

[0050] Then, in step S9, if no new abnormal approach section occurs, it is determined whether the processing of all abnormal approach sections has been completed (step S11). If not completed, the next abnormal approach section is selected (step S12), and the process from step S5 is repeated.

[0051] When the processing of all the abnormal approach sections is completed, a new operation program having the set intermediate teaching points is generated (step S13).

[0052] Thus, the automatic program correction device 1 and method according to this embodiment have the following advantages: since the minimum gap amount is not fixed, even if an action path satisfying the fixed gap amount is not found, an action path that does not interfere with the robot and surrounding objects can be found to generate an action program.

[0053] In addition, in the present embodiment, when a new abnormal approach interval occurs in step S9, an intermediate teaching point is immediately set in which the minimum gap amount is reduced by a predetermined amount. However, instead, a new intermediate teaching point may be explored a predetermined number of times while maintaining the minimum gap amount unchanged, and then the minimum gap amount may be reduced.

[0054] Moreover, if Figure 4 As shown, an automatic path generation device 10 according to an embodiment of the present invention includes a path search unit 11 and a gap adjustment unit 12 .

[0055] like Figure 5 As shown, the path search unit 11 specifies the gap amount (step S21), and if a pair of action points are specified (step S22), a counter N is initialized (step S23), and it is determined whether the counter is a predetermined value N0 (step S24). If N=N0, the process ends. If N=N0 is not satisfied, an action path with a gap amount with the peripheral device greater than the specified gap amount is searched between the specified action points according to a known method (step S25).

[0056] Next, it is determined whether the desired action path is found by the path searching unit 11 (step S26 ), and if found, the action path is output (step S27 ).

[0057] When no motion path is found, the gap amount adjusting unit 12 reduces the gap amount by a predetermined amount (step S28), the counter is incremented by one (step S29), and the process from step S24 is repeated.

[0058] This has the advantage that even when a motion path satisfying the specified gap amount cannot be found, a motion path that does not interfere with the robot and surrounding objects can be found.

[0059] In addition, although the desired action path is not found by the path exploration unit 11, when a path that satisfies the specified gap amount is found for a partial path between a pair of action points, the partial path that satisfies the specified gap amount is no longer explored, and only the gap amount adjustment unit 12 reduces the gap amount by a predetermined amount (step S28) for the path that does not satisfy the specified gap amount, and the counter is incremented by one (step S29), and the process starting from step S24 is repeated.

[0060] Furthermore, when exploring the path between two points, several intermediate points are automatically generated. As a result, sometimes a path satisfying the specified gap amount is found from a certain intermediate point to the next intermediate point, and sometimes a path satisfying the specified gap amount cannot be found from a certain intermediate point to the next intermediate point. In this case, by using the above method, the method is directly applied to the part where the path satisfying the specified gap amount is found, and the path from the intermediate point that has not been found to the next intermediate point, or from the starting point to the intermediate point, from the intermediate point to the end point, etc., is explored while reducing the gap amount, thereby finding an action path that maximizes the gap amount, thereby generating an action program.

Claims

1. An automatic program correction device, characterized in that: have: a gap detection unit for detecting a gap amount between the robot and a peripheral device at each position of a motion path of the robot based on an existing motion program; an abnormal proximity detection unit for detecting an abnormal proximity interval in which the detected gap amount is smaller than a predetermined threshold value; a closest point detection unit for detecting a pair of closest points that form a minimum gap amount in the detected abnormal approach section; as well as a program updating unit for generating a new motion program having an intermediate teaching point when the closest point is moved along a straight line passing through a pair of the detected closest points until the gap amount becomes larger than the minimum gap amount and smaller than the threshold value; The program updating unit gradually reduces the gap amount at the intermediate teaching point from the threshold value, and simultaneously obtains the intermediate teaching point having the maximum gap amount in which a new abnormal approach section is not detected.

2. An automatic program correction device, characterized in that: A processor and a memory are provided, The processor detects the gap between the robot and the peripheral device at each position of the robot's motion path based on the existing motion program, detects an abnormal proximity interval in which the detected gap is smaller than a predetermined threshold stored in the memory, detects a pair of closest points with a minimum gap in the detected abnormal proximity interval, moves the closest point along a straight line passing through the detected pair of closest points until the gap becomes the threshold, sets an intermediate teaching point to gradually reduce the gap at the intermediate teaching point from the threshold, and generates a new motion program having the intermediate teaching point with the maximum gap in which no new abnormal proximity interval is detected.

3. An automatic program correction method, characterized in that: The following steps are involved: At each position of the robot's motion path based on an existing motion program, detecting a clearance between the robot and a peripheral device; detecting an abnormal proximity interval in which the detected gap amount is smaller than a predetermined threshold; Detecting a pair of closest points that form a minimum gap amount in the detected abnormal approach interval; Setting an intermediate teaching point at a position where the closest point is moved along a straight line passing through a pair of the detected closest points until the gap amount reaches the threshold value; as well as The gap amount at the intermediate teaching point is gradually reduced from the threshold value, and a new operation program is generated having the intermediate teaching point having the maximum gap amount in which a new abnormal approach section is not detected.

Images