Program editing device

Abstract

Even a teaching staff who is accustomed to programming robots but not accustomed to programming visual inspection can create a visual inspection program without feeling uncomfortable. A program editing device for editing a robot's action program comprises: a program editing unit that accepts editing operations common to a first type of icon and a second type of icon, the first type of icon corresponding to commands related to control of the robot, and the second type of icon corresponding to commands related to photographing performed by a visual sensor and processing of the photographed image; and a program generating unit that generates the action program according to the edited first type of icon and the second type of icon.

Description

Technical Field

[0001] The present invention relates to a program editing device. Background Art

[0002] Generally, robot programming is performed using text-based instruction statements, so the instructor needs to know the robot programming language. On the other hand, in order to assist the instructor in intuitively inputting the robot control program, a program creation device that can perform programming used in icons representing various commands for robot control has been proposed (for example, Patent Documents 1 and 2).

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Laid-Open No. 8-249026

[0006] Patent Document 2: Japanese Patent No. 6498366 Summary of the invention

[0007] Problems to be solved by the invention

[0008] In a robot system equipped with a visual sensor, the action program for performing operations such as processing a workpiece includes a so-called visual detection program for detecting the position of an object from an image captured by the visual sensor and providing it to the robot control device. The program for visual detection includes a camera shooting command and a command for detecting an object, and the production method is different from that of the robot control program. Therefore, even a teaching staff who is accustomed to programming the robot control program cannot use this knowledge to produce a visual detection program. A program editing device is desired that allows even a teaching staff who is accustomed to programming a robot but not accustomed to programming visual detection to produce a visual detection program without a sense of discomfort.

[0009] Means for solving problems

[0010] One embodiment of the present invention is a program editing device for editing the action program of a robot, the program editing device comprising: a program editing unit, which accepts editing operations common to a first type of icon and a second type of icon, the first type of icon corresponding to commands related to the control of the robot, and the second type of icon corresponding to commands related to photographing and processing of the photographed image by a visual sensor; and a program generation unit, which generates the action program according to the edited first type of icon and the second type of icon.

[0011] Effects of the Invention

[0012] According to the above configuration, even a teacher who is accustomed to robot programming but not accustomed to visual inspection programming can create a visual inspection program without feeling any discomfort.

[0013] These and other objects, features and advantages of the present invention will become more apparent in light of the detailed description of typical embodiments of the present invention as illustrated in the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a diagram showing a configuration example of a robot system including a program editing device according to an embodiment.

[0015] Figure 2 It is a functional block diagram of a program editing device.

[0016] Figure 3 This is a diagram showing an example of an editing screen for editing a program.

[0017] Figure 4 This is an example of a screen when creating a new vision inspection program.

[0018] Figure 5 This is an example of a screen when selecting a vision inspection program from the pull-down menu.

[0019] Figure 6 This is another example of a screen for creating a visual inspection program.

[0020] Figure 7 This is an example of the editing screen when creating a robot control program and a vision inspection program in the same program generation area.

[0021] Figure 8 This is a diagram showing a first example of a visual inspection procedure.

[0022] Fig. 9 It is a diagram showing a second example of the visual inspection procedure.

[0023] Fig.10 It is a diagram showing a third example of the visual inspection procedure. DETAILED DESCRIPTION

[0024] Next, the embodiments of the present disclosure are described with reference to the accompanying drawings. In the referenced drawings, the same structural parts or functional parts are marked with the same reference figure numbers. For easy understanding, the scales of these drawings are appropriately changed. In addition, the method shown in the drawings is an example for implementing the present invention, and the present invention is not limited to the method shown in the drawings.

[0025] Figure 11 is a diagram showing a configuration example of a robot system 100 including a program editing device 10 according to an embodiment. The robot system 100 includes: a robot 30 having a hand 31 mounted on the front end of its arm; a robot control device 50 that controls the robot 30; the program editing device 10 connected to the robot control device 50; a visual sensor 41 mounted on the front end of the arm of the robot 30; and a visual sensor control device 40 that controls the visual sensor 41. In the robot system 100, the object 1 on the workbench 2 is handled by the hand 31 of the robot 30 controlled by the robot control device 50.

[0026] The visual sensor control device 40 has a function of controlling the visual sensor 41 and a function of performing image processing on the image captured by the visual sensor 41. The visual sensor control device 40 detects the position of the object 1 from the image captured by the visual sensor 41, and provides the detected position of the object 1 to the robot control device 50. Thereby, the robot control device 50 can correct the taught position and perform the removal of the object 1, etc. Hereinafter, the function of detecting the position of the object from the image captured by the visual sensor is sometimes referred to as visual detection, and the function of correcting the taught position based on the position detection of the visual sensor is sometimes referred to as visual correction. In addition, in Figure 1 , an example is shown in which the vision sensor 41 is mounted on the front end of the arm of the robot 30 , but the vision sensor 41 may be fixed at a position in the work space where it can image the object 1 on the work table 2 .

[0027] The visual sensor 41 may be a camera that captures a shading image or a color image, or a stereo camera or a 3D sensor that can obtain a distance image or a 3D point group. A plurality of visual sensors may be configured in the robot system 100. The visual sensor control device 40 holds a model pattern of the object and performs image processing to detect the object by matching the image of the object in the captured image with the model pattern.

[0028] The program editing device 10 is used to create an action program for causing the robot 30 to execute the processing of the object 1. The program editing device 10 is, for example, a teaching device (teaching operation panel, tablet terminal, etc.) connected to the robot control device 50. The program editing device 10 may also have a structure as a general computer having a CPU, ROM, RAM, storage device, input / output interface, network interface, etc. The program editing device 10 may also be a programming device (PC, etc.) for performing programming in a so-called offline manner.

[0029] As described in detail below, the program editing device 10 can perform icon-based programming for both commands used for controlling the robot 30 and commands related to capturing and processing the captured images (visual detection) performed by the visual sensor. Hereinafter, when distinguishing between icons representing commands for controlling the robot 30 and icons representing commands for visual detection, the former may be referred to as a first type of icon and the latter may be referred to as a second type of icon.

[0030] Figure 2 1 is a functional block diagram of a program editing device 10. The program editing device 10 includes: a program editing unit 11 for editing a program using icons; a program generating unit 14 for generating an action program based on the edited icons; a display device 19 for displaying an editing screen; and an input device 18 including a keyboard, a mouse, etc. The program editing unit 11 includes an editing screen display unit 12 and an operation input receiving unit 13. The editing screen display unit 12 displays an editing screen 400 (see FIG. 4 ) on the display device 19. Figure 3 ), the editing screen 400 is an editing screen for the action program of the robot 30, and includes: an icon display area 200, which displays an icon list including a first type of icon related to the control of the robot and a second type of icon related to the visual detection function; and a program creation area 300, which is used to arrange one or more icons selected from the icon display area 200 in the action sequence for programming. The operation input receiving unit 13 receives an operation input for selecting an icon from the list displayed in the icon display area 200 and arranging it in the program creation area 300. The program generation unit 14 generates an action program based on one or more icons arranged in the program creation area 300 in the action sequence.

[0031] Figure 2 The functional blocks of the program editing device 10 shown may be realized by the CPU of the program editing device 10 executing various software stored in a storage device, or may be realized by a configuration mainly including hardware such as an ASIC (Application Specific Integrated Circuit).

[0032] Figure 3 is an example of the editing screen 400. Figure 3 As shown, the editing screen 400 includes an icon display area 200 for displaying a list of icons and a program creation area (first program creation area) 300 for arranging icons displayed in the icon display area (first icon display area) 200 in the order of action. The operator creates an action program by arranging icons selected from the icon display area 200 in the program creation area 300 in the order of action.

[0033] Here, the editing operation is described by taking the case where a mouse is used as an input device for editing an action program as an example. Figure 3 In the editing screen 400 shown, a list of icons that can be used for programming is displayed in the icon display area 200. Figure 3 In the example of FIG. 1 , the icons displayed in the icon display area 200 include various icons 201-209 (first type of icons) for robot control (robot program) and an icon 251 (second type of icon) for visual inspection. Each icon displayed in the icon display area 200 is represented by a graphic that allows the operator to intuitively understand its function when observing it. In addition, at the bottom of each icon, the language (function name, etc.) expressing its function is expressed in text to help understand its function.

[0034] exist Figure 3 In the editing screen 400 of , by selecting the programming tab 261 arranged in the center of the screen, the area on the lower side of the screen becomes the icon display area 200 for displaying programming icons. Figure 3 The illustrated icons 201 - 209 for robot control correspond to the following commands, respectively.

[0035] Icon 201: Command to close the hand and grab an object

[0036] Icon 202: Open hand command

[0037] Icon 203: Command to move the front end of the robot arm along a straight line trajectory

[0038] Icon 204: Command to move the front end of the robot arm in an arc-shaped trajectory

[0039] Icon 205: Command to add a passing point to the path

[0040] Icon 206: Command to rotate the hand

[0041] Icon 207: Command to stop the hand

[0042] Icon 208: Palletizing (loading) execution command

[0043] Icon 209: Unloading (unloading) execution command

[0044] The upper program production area 300 on the editing screen 400 is an area for producing an action program by arranging icons in the order of actions. On the editing screen 400, a desired icon is dragged and dropped from the icon display area 200 to the program production area 300 by operating the mouse. According to such a drag-and-drop operation, the operation input reception unit 13 configures a copy of the selected icon in the program production area. By such an operation, the operator selects an icon from the icon display area 200 and configures it at a desired position in the program production area, thereby producing an action program. In the program production area 300, the icons selected from the icon display area 200 are arranged from left to right in the order of actions.

[0045] When an icon configured in the program production area 300 is selected and the detailed label 262 is selected, the lower area of the editing screen 400 becomes a parameter setting screen (not shown) for performing detailed action settings of the command of the icon. The operator can set detailed parameters related to the action command of the selected icon via the parameter setting screen. As an example, when the icon 203 (linear movement) configured in the program production area 300 is selected, the icon 203 is highlighted. When the operator selects the detailed label 262 in this state, a setting screen related to the command (linear movement) of the icon 203 is displayed in the lower area of the editing screen 400. The content of the detailed setting in this case includes the following setting items (target position, posture, and movement speed). The operator inputs numerical data as follows to each setting item.

[0046] (Parameter setting item)

[0047] Target position and posture: X 345.6 Y 456.7 Z 567.8

[0048] W 345.6 P 456.7 R 567.8

[0049] Target speed: 750 mm / sec

[0050] In Figure 3 the example of, the icon display area 200 includes an icon 251 related to visual inspection. The icon 251 provides a function of calling a program for visual inspection. The icon 251 is represented by a graphic that can intuitively understand the action of detecting an object by a visual sensor and detecting the position of the object and then picking up the object. In addition, the language "View (見て取る)" that clearly represents the function of the icon 251 is displayed below the icon 251. In addition, the concave frame-shaped icons 231 and 232 included in the program production area 300 are icons called auxiliary icons and are used as icons for defining branch instructions or repetitive actions. Such auxiliary icons can also be displayed in the icon display area 200.

[0051] When the operator selects the "View" icon 251 and writes the motion program, the operator can also arrange the robot control icons 201-209 in the program creation area 300 by the same operation as dragging and dropping the robot control icons 201-209 and arranging them in the program creation area 300. Figure 3 , a state is shown in which the icon 251 is incorporated into the operating program in the program generation area 300 by the operator's drag-and-drop operation from the icon display area 200 (arrow A).

[0052] When you select Configure Figure 3 When the detailed tab 262 is selected in the state of the icon 251 of the program creation area 300, in the case where the creation of the visual inspection program becomes new, such as Figure 4 As shown, a screen including a button 501 for designating a new creation is displayed in the lower area of ​​the editing screen 400. When the operator selects the button 501 for designating a new creation, other screens for creating a visual program ( Figure 6 ).

[0053] On the other hand, if the visual inspection program has been registered in the program editing device 10, Figure 3 When the icon 251 is selected in the editing screen 400 of Figure 5 As shown in FIG. 5 , a pull-down menu 502 appears on the basis of the newly created button 501. The operator can open the selected visual inspection program by selecting the desired visual inspection program from the pull-down menu 502 and pressing the open button 503. Figure 5 The lower area of ​​the editing screen 400 displays a real-time image 550 of the visual sensor 41 .

[0054] Figure 6 An example of an editing screen 400A of a visual inspection program displayed as another screen by selecting a newly created button 501, or selecting a visual inspection program from a pull-down menu 502 and selecting an open button 503. Icons 252-254 of commands that can be used to create a visual inspection program are displayed at a glance in the icon display area (second icon display area) 200A at the bottom of the editing screen 400A. Icons for the visual inspection program are arranged in the order of action in the program creation area (second program creation area) 300A at the top of the editing screen 400A. The operator creates a visual program by dragging and dropping the desired icons from the icons displayed at a glance in the icon display area 200A and arranging them in the program creation area 300A. In this way, even when creating / editing a visual inspection program through another screen, it is possible to create / edit the visual inspection program in conjunction with the creation screen. Figure 3 The robot control program shown in the figure is edited on the screen with the same screen structure, and the vision inspection program is created by the same selection operation.

[0055] As an example, in Figure 6 In the program creation area 300A of the editing screen 400A, a visual inspection program 601 is created by arranging two shooting icons 252 indicating shooting, two detection icons 253 indicating detection of an object, and a correction calculation icon 254. In this case, the visual inspection program based on icons corresponds to the following command contents in order from the left side in the figure.

[0056] SNAP1: Take image 1

[0057] SNAP2: Take Image 2

[0058] FIND_SHAPE: Find contours from an image

[0059] FIND_BLOB: Find blocks from an image

[0060] CALC_OFFSET: Calculate the correction amount

[0061] In this case, the operator selects each icon arranged in the program creation area 300A, and a parameter setting screen is displayed at the bottom of the editing screen 400A to set detailed parameters. The parameter setting of the capture icon 252 (command SNAP) includes the following setting items.

[0062] Exposure time

[0063] ·Whether the LED lighting is on

[0064] Image reduction ratio

[0065] In the parameter setting of the detection icon 253 (command FIND_SHAPE or FIND_BLOB), the following setting items are set: Among the following setting items, "threshold of coincidence" and "threshold of contrast" are parameters related to thresholds in image processing for detecting an object.

[0066] The image used (SNAP1-based image or SNAP2-based image)

[0067] ·Discovered shapes

[0068] Consistency threshold

[0069] Contrast threshold

[0070] In the correction calculation icon 254 (command CALC_OFFSET), for example, the position of the object on the image is calculated based on the detection results of the two detection icons 253 (commands FIND_SHAPE and FIND_BLOB), and the position on the image is converted into a three-dimensional coordinate of the robot coordinate system, thereby obtaining the correction amount used to correct the teaching position of the robot.

[0071] Figure 7 no Figure 6 Other images like that are used to make Figure 3 4 is an example of a screen when a vision program is created on the editing screen 400 of the robot program shown in FIG. In the editing screen 400 in this case, a photographing icon 252, a detection icon 253, and a correction calculation icon 254 for the vision program are included in the icon display area 200. When the operator includes the vision program in the action program, he can click a desired icon from the icons displayed in the icon display area 200 and arrange it in the program creation area 300 by dragging and dropping.

[0072] exist Figure 7 In the example of the action program in the program creation area 300 , a photographing icon 252 and a detecting icon 253 are arranged.

[0073] Below, refer to Figure 8-Figure 10 An example of a visual program created in the program creation area 300 or 300A is described.

[0074] Figure 8 The visual program 602 represents a function equivalent to the above-mentioned "view" icon 251, and includes an auxiliary icon 255 having a concave frame shape and formed to be able to surround other icons. Figure 8 In the example of FIG. 2 , the auxiliary icon 255 includes an icon 210 instructing linear movement, an icon 211 indicating a command to grab an object, and an icon 210 instructing linear movement between both ends 255a and 255b of the concave frame shape.

[0075] Vision program 602 applies vision correction to the command of moving two straight lines. For example, if there are multiple objects in the field of view (captured image) of the vision sensor, vision program 602 implements the action of picking up multiple objects found in the captured image one by one while performing vision correction.

[0076] exist Figure 8 In the visual program 602, by selecting the auxiliary icon 255, select Figure 3 The detailed tab 262 shown in the figure can display Figure 6 The program editing screen for creating a visual program as shown above.

[0077] exist Fig. 9 In the visual program 603, two program groups including a photographing icon 252 and a detecting icon 253 are arranged side by side between the concave frames of the auxiliary icon 256 representing the graphic of the camera. A correction calculation icon 254 is arranged at the rear. Fig. 9 The visual program 603 realizes the following actions. Here, it is assumed that the robot system has two cameras.

[0078] (a1) Detecting one end of the object using the first camera ( Fig. 9 Auxiliary icon on the left side of the middle 256)

[0079] (a2) Detecting the other end of the object using the second camera ( Fig. 9 The auxiliary icon on the right side of the middle 256)

[0080] (a3) In the calibration calculation icon 254, the position of the midpoint of the object is determined from each detected position, and the position of the object in the robot coordinate system is obtained by taking this position as the object. Thus, the position of the teaching point to be calibrated is determined.

[0081] exist Fig. 9 In the visual program 603, the icon group of the auxiliary icon 256 on the left side of the figure indicates the operation of the first camera, and the icon group of the auxiliary icon 256 on the right side of the figure indicates the operation of the second camera. In the visual program 603, the operator selects the auxiliary icon 256 on the left side of the figure and selects the detail tab 262 to call up the parameter setting screen, which includes a command to start the first camera. In addition, the operator selects the auxiliary icon 256 on the right side of the figure and selects the detail tab 262 to call up the parameter setting screen, which includes a command to start the second camera.

[0082] Fig.10 The visual program 604 is first configured with a shooting icon 252, and then an auxiliary icon 257 corresponding to the detection action is configured, and two detection icons 253 are configured in the frame of the auxiliary icon 257. In the visual program 604, the following actions are implemented. First, the object is photographed by the shooting icon 252. Next, the overall shape of the object is detected in the detection auxiliary icon 257, and the features (such as holes) on the object are detected by the two detection icons in the auxiliary icon 257. In this way, an object with two holes can be detected. Next, the coordinates of the object in the robot coordinate system are calculated by the correction calculation icon 254 and used as data for position correction.

[0083] As described above, in this embodiment, the first type of icons for robot programming and the second type of icons for vision programs are displayed in the same manner in the icon display area in the editing screen. In addition, in this embodiment, the operation of arranging the icon of the vision program in the program creation area can be performed by the same operation as the operation of arranging the icon of the robot programming in the program creation area.

[0084] That is, according to this embodiment, the first and second icons can be edited by a common editing operation to create an action program. Therefore, according to this embodiment, even a teaching staff who is accustomed to robot programming but not accustomed to visual programming can create a visual program without feeling uncomfortable.

[0085] Although the present invention has been described above using typical embodiments, it will be apparent to those skilled in the art that changes to the above embodiments and various other changes, omissions, and additions may be made without departing from the scope of the present invention.

[0086] In the above-mentioned embodiment, the display method and operation method of these icons are made common when the action commands of the robot and the action instructions of the image processing of the visual sensor are represented as icons. In the preparation of the action program, the method of making the display method and input operation method of the command in the programming of the robot control and the visual programming common can also be realized in text-based programming.

[0087] As an example, assume that the following text-based action program (hereinafter referred to as action program F) is input using a program editing device. In addition, in the following program list, the leftmost number of each line is the line number. Action program F detects an object from the image captured by the first camera (camera A), and processes the object while correcting the position of the robot (line numbers 1 to 10), then detects the object from the image captured by the second camera (camera B), and processes the object while correcting the position of the robot (line numbers 12 to 19).

[0088] (Action Program F)

[0089] 1: Linear position [1] 2000mm / sec positioning; 2:;

[0091] 3: Visual inspection ‘A’;

[0092] 4: Get visual calibration data 'A' visual alignment (レジ) [1] jump label

[100] ; 5:;

[0094] 6: !Handling;

[0095] 7: Linear position [2] 2000mm / sec smoothing 100 visual correction, visual alignment [1] tool correction, position alignment [1];

[0096] 8: Linear position [2] 500mm / sec positioning visual correction, visual alignment [1];

[0097] 9: Call HAND_CLOSE;

[0098] 10: Linear position [2] 2000mm / sec smoothing 100 visual correction, visual alignment [1] tool correction, position alignment [1]; 11:;

[0100] 12: Visual inspection ‘B’;

[0101] 13: Get visual calibration data 'B' visual alignment [2] jump label

[100] ; 14:;

[0103] 15: !Handling;

[0104] 16: Linear position [2] 2000mm / sec smoothing 100 visual correction, visual alignment [2] tool correction, position alignment [1];

[0105] 17: Linear position [2] 500mm / sec positioning visual correction, visual alignment [2];

[0106] 18: Call HAND_CLOSE;

[0107] 19: Linear position [2] 2000mm / sec smoothing 100 visual correction, visual alignment [1] tool correction, position alignment [1]; 20:

[0109] In the above-mentioned action program F, the commands "Linear position []" and "Call HAND_CLOSE" are commands for controlling the robot. Specifically, the command "Linear position []" is a command for moving the front end of the robot's arm, and the command "Call HAND_CLOSE" is a command for calling the process of closing the hand. On the other hand, in the action program F, the commands "Visual detection" and "Get visual calibration data" are commands belonging to the visual program. Specifically, the command "Visual detection" is a command for shooting by a camera, and the command "Get visual calibration data" is a command for detecting an object and obtaining a position for calibration.

[0110] The program editing device displays a list of command statements, for example, as a pop-up menu, on an editing screen for inputting command statements of the operating program F. The pop-up menu includes a list of command statements shown in Table 1 below, for example.

[0111] [Table 1]

[0112] serial number Instruction Statement 1 Linear position[] 2 Calling HAND_OPEN 3 Calling HAND_CLOSE 4 Visual Inspection 5 Obtaining visual calibration data

[0113] When the pop-up menu of instruction statements is displayed, the program editing device displays the pop-up menu of instruction statements. Then, the program editing device inserts the instruction statement selected by the selection operation (mouse click, touch operation on the touch panel) in the pop-up menu into the line with the cursor on the editing screen. The operator repeatedly performs such an operation of selecting and inserting instruction statements to create an action program F.

[0114] In the creation / editing of such an action program based on a text library, the command statements related to the control of the robot and the command statements of the visual program are also displayed by the same display method, and the operator can insert the command statements of the visual program into the action program in the same operation method as the case of selecting the command statements of the control of the robot and inserting them into the program. Therefore, even in the case of such a structure, the same effect as the case of programming using icons in the above-mentioned embodiment can be achieved.

[0115] In the above-mentioned embodiment, as a specific example of realizing a predetermined function by photographing with a visual sensor and processing the photographed image, an example of a case where the position detected by detecting the position of an object is used for correction of the robot's motion, etc., is described. The functions realized by photographing with a visual sensor and processing the photographed image include, in addition to the above-mentioned examples, various functions that can be realized by using a visual sensor such as inspection and barcode reading.

[0116] For example, suppose that Figure 1 The robot system 100 is configured as a system that performs inspection (appearance inspection, etc.) using a visual sensor 41. In this case, Figure 3 The icon display area 200 of the editing screen 400 shown in the figure displays an icon representing the inspection function. The icon in this case can use various graphics associated with inspection (for example, a graphic obtained by graphically displaying the state of the object photographed by a camera), or a graphic in which the text "inspection" is further added to such a graphic. In the detailed program creation screen and parameter setting screen for the icon of the inspection function in this case, the setting of the camera used for shooting, the information related to the inspection object, the pass / fail judgment standard, etc. are set. The inspection result is provided to the robot control device 50.

[0117] exist Figure 1 In the case where the robot system 10 is provided with a function of reading a barcode using the visual sensor 41, Figure 3 The icon display area 200 of the editing screen 400 shown displays an icon representing the barcode reading function. The icon in this case can use various graphics that are associated with the barcode reading function (for example, a graphic containing a camera and a barcode), or a graphic with the text "barcode reading" further added to such a graphic. The barcode reading function can also be realized by searching and interpreting the barcode from the image captured by the visual sensor through image processing. In the detailed program creation screen and parameter setting screen for the icon of the barcode reading function in this case, settings related to the camera settings and the image processing of the barcode reading are made.

[0118] Description of Reference Numerals

[0119] 10 Program editing device

[0120] 11 Program Editing Department

[0121] 12 Editing screen display

[0122] 13 Operation input receiving unit

[0123] 14 Program Generation Department

[0124] 18 Input Devices

[0125] 19 Display device

[0126] 30 Robot

[0127] 31 hands

[0128] 40 Visual sensor control device

[0129] 41 Vision Sensor

[0130] 50 Robot control device

[0131] 100 Robotic Systems

[0132] 200, 200A Icon display area

[0133] 300, 300A Programming Area

[0134] 400, 400A editing screen.

Claims

1. A program editing device for editing a robot's motion program, characterized in that: The program editing device comprises: a program editing unit that accepts editing operations common to first icons and second icons, the first icons corresponding to commands related to control of the robot, and the second icons corresponding to commands related to photographing by a visual sensor and processing of the photographed images; a program generating unit configured to generate the action program according to the edited first and second icons, The program editing unit has: an editing screen display unit that displays a program creation area for generating a control program for the robot by arranging the first type of icons; and an operation input receiving unit for receiving an operation input for placing the first type of icon in the program creation area, The operation input receiving unit is further configured to receive an operation input for placing the second type of icon in the program creation area. The program generation unit generates the action program according to the first icon and the second icon arranged in the program creation area. The editing screen display unit further displays an icon display area, wherein the icon display area displays a list of the first type of icons and the second type of icons. The operation input accepting unit accepts an operation input for selecting the first type of icon and the second type of icon from the icon display area and arranging them in the program creation area.

2. A program editing device for editing a robot's motion program, characterized in that: The program editing device comprises: a program editing unit that accepts editing operations common to first icons and second icons, the first icons corresponding to commands related to control of the robot, and the second icons corresponding to commands related to photographing by a visual sensor and processing of the photographed images; a program generating unit configured to generate the action program according to the edited first and second icons, The program editing unit has: an editing screen display unit that displays a first program creation area for generating a control program for the robot by arranging the first type of icons; and an operation input receiving unit for receiving an operation input for placing the first type of icon in the first program creation area, The editing screen display unit further displays a second program creation area for generating a program related to photographing and processing of the photographed image by the visual sensor by arranging the second type of icon. The program generation unit generates a control program for the robot according to the first icon configured in the first program generation area, and generates a program related to photographing performed by the visual sensor and processing of the photographed image according to the second icon configured in the second program generation area, The editing screen display unit further displays a first icon display area and a second icon display area, wherein the first icon display area displays a list of the first type of icons, and the second icon display area displays a list of the second type of icons. The operation input accepting unit accepts an operation input for selecting the first type of icon from the first icon display area and arranging it in the first program creation area, and accepts an operation input for selecting the second type of icon from the second icon display area and arranging it in the second program creation area.

Images