Programming device

Abstract

A programming device is provided that can reduce the burden on operators of generating control programs containing commands corresponding to the functions of an imaging device. The programming device (10) is used for programming industrial machinery and includes: a command generation unit (11) that acquires information related to an imaging device connected to a control device (20) of the industrial machinery and generates icons or command statements representing commands to use images acquired by the imaging device based on the acquired information; and a command display unit (12) that displays the generated icons or command statements on a display screen.

Description

Technical Field

[0001] This invention relates to a programming device for industrial machinery. Background Technology

[0002] Typically, robot programming uses text-based command statements, thus requiring the instructor to have knowledge of the robot's programming language. On the other hand, to assist instructors in intuitively inputting robot control programs, a program generation device has been proposed that enables programming using icons representing the various commands for robot control (e.g., Patent Document 1).

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent No. 6498366 Summary of the Invention

[0006] The problem that the invention aims to solve

[0007] In robot systems equipped with imaging devices, the command set for programming includes commands corresponding to the function of using the imaging device to photograph an object and performing image processing on the photographed image to detect the object. Typically, when such command statements corresponding to the functions of the imaging device are included in the robot's control program, after inserting the command statements into the robot's control program, it is necessary to separately select and configure the imaging device that operates under each command statement. In robot systems, there are sometimes multiple imaging devices, in addition to the case of a single device. In this case, the operator needs to repeatedly select the imaging device that operates under each of the inserted command statements after inserting multiple command statements corresponding to the functions of the imaging devices into the program, further increasing the operator's workload. It is desirable to have a programming device that, in programming the control programs of industrial machinery, can reduce the burden on operators in generating control programs that include commands corresponding to the functions of the imaging devices.

[0008] Methods for solving problems

[0009] One aspect of this disclosure is a programming device for programming industrial machinery, comprising: a command generation unit that acquires information related to an imaging device and generates icons or command statements based on the acquired information, wherein the imaging device is connected to a control device of the industrial machinery, and the icons or command statements represent commands using images acquired by the imaging device; and a command display unit that displays the generated icons or command statements on a display screen.

[0010] Invention Effects

[0011] Based on the above structure, the burden on operators to generate control programs containing commands corresponding to the functions of the imaging device can be reduced in the programming of control programs for industrial machinery.

[0012] These objects, features, and advantages of the invention will become more apparent from the detailed description of typical embodiments of the invention shown in the accompanying drawings. Attached Figure Description

[0013] Figure 1 This illustrates the structure of a robot system including a teaching device (programming device) according to one embodiment.

[0014] Figure 2 This is a functional block diagram of the teaching device.

[0015] Figure 3 It is a flowchart representing the command generation and display processing.

[0016] Figure 4 This is the first example of generating and displaying the icon of a shooting device through command generation and display processing.

[0017] Figure 5 This is the second example of generating and displaying the icon of the shooting device through command generation and display processing.

[0018] Figure 6 This is an example of a screen that appears when a detail tab is pressed in the program-generated screen.

[0019] Figure 7 This is an example of a program that generates images through detailed programming related to the functions of the shooting device.

[0020] Figure 8 This represents an example of a text-based program-generated screen in a typical teaching device, used as a comparative example.

[0021] Figure 9 This illustrates an example of a text-based program-generated screen in this embodiment. Detailed Implementation

[0022] Next, embodiments of the present disclosure will be described with reference to the accompanying drawings. In the drawings, the same reference numerals are used to denote the same constituent parts or functional parts. The scales of these drawings have been appropriately altered for ease of understanding. Furthermore, the embodiments shown in the drawings are examples for carrying out the invention, and the invention is not limited to the illustrated embodiments.

[0023] Figure 1 This illustrates the structure of a robot system 100 including a teaching pendant (programming device) 10 according to one embodiment. For example... Figure 1As shown, the robot system 100 includes: a robot 30 with a hand 31 mounted on its forearm, vision sensors 41 and 42, a robot control device 20 for controlling the robot 30, and a teaching pendant 10 connected to the robot control device 20. The robot 30 is a vertical joint robot, but other types of robots may also be used. The robot control device 20 controls the movements of the robot 30 according to a control program or instructions from the teaching device 10. Furthermore, the robot control device 20 may also have a general computer structure, including a CPU, ROM, RAM, storage devices, an operating unit, a display unit, input / output interfaces, a network interface, etc.

[0024] A vision sensor 41 is mounted on the front end of the arm of the robot 30. A vision sensor 42 is fixed at a position within the workspace where the robot 30 is set up, capable of capturing images of the object 1. In the robot system 100, the position of the object 1 is detected by the vision sensors 41 and 42, and the object 1 on the worktable 2 is manipulated by the hand 31 of the robot 30.

[0025] Vision sensors 41 and 42 are connected to the robot control device 20 and operate under its control. The robot control device 20 also functions as an image processing device, acquiring images captured by the vision sensors 41 and 42 and performing image processing such as object detection on these images. The robot control device 20 maintains a model pattern of the object and detects the object by matching the object in the captured image with the pattern of the model pattern. The robot control device 20 can correct the taught position based on the detected position of the object 1 to perform actions such as retrieving the object 1.

[0026] The vision sensors 41 and 42 can be cameras that capture grayscale or color images (2D cameras), or stereo cameras or 3D sensors capable of acquiring distance images or 3D point groups (3D cameras). As an example, in this embodiment, vision sensor 41 is a 2D camera, and vision sensor 42 is a 3D camera. Furthermore, in... Figure 1 The illustration shows an example where the robot system 100 is equipped with two imaging devices, a 2D camera and a 3D camera. However, the robot system 100 may have one imaging device or more than three imaging devices. Alternatively, multiple imaging devices of the same type (e.g., multiple 2D cameras or multiple 3D cameras) may be configured within the robot system 100.

[0027] The teach pendant 10 is used to generate a control program for causing the robot 30 to perform processing of the object 1. The teach pendant 10 may be, for example, a teach pendant control panel, tablet terminal, etc., connected to the robot control device 20. Alternatively, the teach pendant 10 may also be a programming device (PC, etc.) for offline programming. The teach pendant 10 may have a hardware structure similar to a general computer, including a CPU, ROM, RAM, storage devices, input / output interfaces, network interfaces, etc.

[0028] Figure 2 This is a functional block diagram of the teaching device 10. Figure 2 The diagram also shows the connection relationships between the teaching device 10 and other devices. For example... Figure 2 As shown, the teaching device 10 includes a command generation unit 11, a command display unit 12, a program editing unit 13, and a program generation unit 14.

[0029] The command generation unit 11 obtains information related to one or more imaging devices connected to the robot control device 20 from the robot control device 20, and generates icons or command statements based on this information in a manner that can individually identify one or more imaging devices. These icons or command statements represent commands to use images acquired by one or more imaging devices. Here, "information related to the imaging device" refers to information (e.g., product model) that can determine the type of each imaging device connected to the robot control device 20. Thus, the command generation unit 11 can determine, for example, whether it is a 2D camera (monochrome), a 2D camera (color), or a 3D camera, as the type of imaging device included in the robot system 100.

[0030] "Information related to the shooting device" may also include information that determines the location of the shooting device. This information could include, for example, whether the shooting device is a camera mounted on the robot (handheld camera) or a fixed camera positioned within the workspace. Typically, the connection cable for a camera mounted on the robot is routed internally through the robot and connects to a specific input / output interface of the robot's control unit. Therefore, the robot control unit can determine the location of the shooting device (whether it's a handheld or fixed camera) based on which input / output interface the shooting device is connected to (e.g., information indicating which port the shooting device is connected to). Furthermore, more detailed location information (e.g., coordinates within the workspace in the case of a fixed camera) may be provided as information indicating the location of the shooting device.

[0031] Alternatively, if the camera is mounted on the robot at the factory and shipped with the camera attached, the camera side can retain information indicating that the camera is, for example, a handheld camera, as part of the product information. Figure 1In the case of the robot system 100 with the structure, the command generation unit 11 obtains information from the robot control device 20, for example, as information related to the vision sensors 41 and 42.

[0032] Information related to vision sensor 41: 2D camera (color), handheld camera

[0033] Information related to vision sensor 42: 3D camera, fixed camera

[0034] By acquiring the aforementioned "information related to the shooting device," the command generation unit 11 can generate icons or command statements for each shooting device in a manner that identifies the type, number, and location of the shooting devices connected to the robot control device 20. The command display unit 12 displays the icons or command statements generated by the command generation unit 11 in a predetermined display area of ​​the display device 18.

[0035] The program editing unit 13 displays an editing screen (program generation screen) for generating the control program for the robot 30 on the display device 18, and accepts editing operations for the control program. Here, the control program includes commands for controlling the robot 30, commands related to capturing images by the vision sensor, and the processing of the captured images. The program generation unit 14 generates the control program based on icons configured in the program generation area of ​​the editing screen, or command statements written in the program generation area of ​​the editing screen.

[0036] The following two examples illustrate embodiments related to the generation and display of icons or command statements performed by the teaching pendant 10. The first embodiment is an example of the action when the teaching pendant 10 generates and displays an icon that represents a command to use an image obtained by the imaging device. The second embodiment is an example of the action when the teaching pendant 10 generates and displays a command statement (text) that represents a command to use an image obtained by the imaging device. Figure 3 This is a flowchart representing the process for generating and displaying icons or command statements (hereinafter also referred to as command generation and display process), wherein the icons or command statements represent commands using images acquired by the imaging device. Figure 3 The flowchart is common in both the first and second embodiments; therefore, it will be appropriately referenced below. Figure 3 The flowcharts are used to illustrate the two embodiments. The execution is carried out under the control of the CPU of the teaching device 10. Figure 3 The processing.

[0037] (First Embodiment)

[0038] In the first embodiment, the teaching pendant 10 generates and displays icons representing commands to use images acquired by the imaging device. In this case, the command generation unit 11 functions as an icon generation unit, and the command display unit 12 functions as an icon display unit. The teaching pendant 10 is activated by starting it, or by performing a predetermined operation on the teaching pendant 10 to open the program generation screen. Figure 3 Command generation and display processing. First, the teaching pendant 10 (program editing unit 13) displays the program generation screen (editing screen) 400 on the display device 18 (step S1). Figure 4 as well as Figure 5 These are two examples of the program generating screen 400. For example... Figure 4 and Figure 5 As shown, the program-generated screen 400 includes a program-generated area 300 and an icon display area 200.

[0039] Next, the teaching pendant 10 (command generation unit 11) obtains information related to the camera device connected to the robot control unit 20 from the robot control unit 20 (step S2). Then, the teaching pendant 10 (command generation unit 11) generates an icon of the camera device based on the information related to the camera device (step S3).

[0040] Next, the teaching pendant 10 (command generation unit 11) checks whether icons have been generated for all imaging devices connected to the robot control device 20 based on information related to the imaging devices (step S4). The teaching pendant 10 (command generation unit 11) repeatedly performs step S3 of generating icons until icons are generated for all imaging devices connected to the robot control device 20 (S4: No). When icons are generated for all imaging devices connected to the robot control device 20 (S4: Yes), the process proceeds to step S5.

[0041] In step S5, the teaching pendant 10 (command display unit 12) displays the icons generated through the above processing in a predetermined display area (icon display area 200) (step S5). Furthermore, in this specification, icons may include all icons that graphically represent commands to various devices through graphics, patterns, symbols, etc. Therefore, in addition to the icons exemplified in this embodiment, icons may also include, for example, graphical objects used in visual programming tools (e.g., blocks used in graphical programming in the form of puzzles).

[0042] Reference Figure 4 and Figure 5 Two examples illustrate this. Figure 3 Examples of command generation and display processing, including the generation and display of icons for the shooting device.

[0043] Figure 4 This is the first example of generating and displaying an icon for a shooting device through command-based generation and display processing. For example... Figure 4 As shown, the program generation screen 400 includes: an icon display area 200 that displays a list of icons that can be used for programming; and a program generation area 300 for generating a control program by arranging the icons according to the action sequence. Here, it is assumed that the vision sensor 41 is a 2D camera and the vision sensor 42 is a 3D camera. In step S3, the teaching device 10 (command generation unit 11) generates an icon 201 that simulates the appearance of a 2D camera as the icon for the vision sensor 41 (2D camera). Figure 4 As shown, in icon 201, the text "View with 2D camera A" can be added as a language to indicate the function of the icon. Additionally, the teaching device 10 (command generation unit 11) generates icon 202, a graphic simulating the appearance of a 3D camera, as the icon for the vision sensor 42 (3D camera). Figure 4 As shown in icon 202, the text "View with 3D camera A" can be added as a language to indicate the function of the icon.

[0044] The teaching pendant 10 (command display unit 12) displays icons 201 and 202 together with icons 101-104 used to control the robot 30 (control program) in the icon display area 200. Icons 201 and 202 are configured to recognize vision sensor 41 (2D camera) and vision sensor 42 (3D camera), so the operator can instantly grasp the type and number of usable (i.e., connected to robot control device 20) imaging devices by observing icons 201 and 202 displayed in the icon display area 200. In addition, the program generation screen 400 may also be provided with buttons for switching the display / non-display of the text information ("grab", "release", etc.) attached to each icon 101-104 and 201-202.

[0045] Icons 101-104 and 201-202 displayed in icon display area 200 represent the following action commands.

[0046] Icon 101: Command to close the hand to grasp an object.

[0047] Icon 102: Command to open the hand

[0048] Icon 103: Command to move the front end of the robot's arm along a straight trajectory.

[0049] Icon 104: Command to move the front end of the robot's arm in an arc-shaped trajectory.

[0050] Icon 201: Detecting the position of an object using a 2D camera

[0051] Icon 202: Detecting the position of an object using a 3D camera

[0052] The program editing unit 13 accepts operator input by dragging and dropping icons displayed in the icon display area 200 into the program generation area 300. The program generation unit 14 generates the control program according to the icons configured in the program generation area 300. Figure 4 In the program generation area 300, icons 103, 201, 101, 103, and 104 are configured according to the action sequence. In this control program, the following actions are performed: the front end of the robot 30's arm moves linearly to the target position, the position of the object is detected by a 2D camera, the taught position is corrected based on the detected position, and the object is grasped and moved by the hand 31.

[0053] Figure 5 This is a second example of generating and displaying the icon of the imaging device through command generation and display processing. Here, it is assumed that both vision sensor 41 and vision sensor 42 are 2D cameras. In this case, the information related to the imaging device obtained by the teaching pendant 10 (command generation unit 11) from the robot control unit 20 includes not only the type of imaging device but also information related to the location where the imaging device is set. Based on the information related to the imaging device obtained from the robot control unit 20, the teaching pendant 10 (command generation unit 11) determines that vision sensor 41 is a handheld camera disposed at the end of the arm of the robot 30 and that vision sensor 42 is a fixed camera fixed in the workspace.

[0054] Therefore, the teaching pendant 10 (command generation unit 11) generates an icon 212 as an icon for the vision sensor 41. This icon 212 contains a graphic that associates the vision sensor 41 with a camera mounted on the front end of the robot's arm. Figure 5 As shown, language can be attached to icon 212 to help understand its function and location (here, "view with a 2D handheld camera"). Additionally, the teaching device 10 (command generation unit 11) generates an icon 211 that evokes the image of the vision sensor 42 as a fixed camera, serving as an icon representing the function of the vision sensor 42. For example... Figure 5 As shown, you can attach language to icon 211 to help you understand its function and the location of its placement (here, "view with a 2D fixed camera").

[0055] The teaching pendant 10 (command display unit 12) displays icons 211 and 212 together with icons 101-104 used to control the robot 30 in the icon display area 200. Icons 211 and 212 are configured to recognize the vision sensor 41 (handheld camera) and the vision sensor 42 (fixed camera). Therefore, by observing the icons 211 and 212 displayed in the icon display area 200, the operator can instantly grasp the type, quantity, and location of the available (i.e., the camera connected to the robot control unit 20) shooting devices.

[0056] The program editing unit 13 accepts operator input by dragging and dropping icons displayed in the icon display area 200 into the program generation area 300. The program generation unit 14 generates the control program according to the icons configured in the program generation area 300. Figure 5 In the program generation area 300, icons 103, 211, 101, 103, and 104 are configured according to the action sequence. In this control program, the following actions are performed: the front end of the robot 30's arm moves linearly to the target position, the position of the object is detected by a 2D fixed camera, the taught position is corrected based on the detected position, and the object is grasped and moved by the hand 31.

[0057] Next, the operation of programming in detail the icons (icons 201-202, 211-212) generated by the command generation unit 11 related to the function of the shooting device (commands to use images obtained by the shooting device). Figure 6 Indicates in Figure 4 or Figure 5 The illustrated program generation screen 400 is an example of a program generation screen where the operator selects an icon (e.g., icon 201) related to the function of the shooting device configured in the program generation area 300 and presses the detail label 262 located within the program generation screen 400. In this case, as... Figure 6 As shown, a new generation button 501 and a drop-down menu 502 appear in the lower area of ​​the program generation screen 400. When generating a detailed program related to the function of the shooting device, the operator presses the new generation button 501. Meanwhile, the drop-down menu 502 displays programs related to the function of the shooting device registered in the teaching device 10. The operator selects the desired program from the drop-down menu 502 and presses the open button 503 to open the selected program.

[0058] In addition, Figure 6In the lower area of ​​the program generation screen 400, a real-time image 550 of the imaging device corresponding to the icon (e.g., icon 201) selected within the program generation area 300 can be displayed. With this structure, the operator can more reliably identify which imaging device corresponds to the icon selected in the program generation area 300 by observing the real-time image 550. This real-time image 550 display function can be implemented, for example, by the program editing unit 13 requesting the robot control device 20 to send a real-time image of the imaging device for the icon selected within the program generation area 300.

[0059] In addition, when in Figure 6 When the programming tab 261 is selected in the program generation screen 400, the lower area of ​​the program generation screen 400 returns to the icon display area 200 of the icon list, returning to the state where the operator can program the robot.

[0060] Figure 7 Indicates by Figure 6 Pressing the New Generate button 501 or the Open button 503 on the screen displays a program generation screen 400A, which shows detailed programming related to the functions of the shooting device. For example... Figure 7 As shown, the program generation screen 400A related to the function of the imaging device has the same screen structure as the program generation screen 400 used to generate the robot's control program. The program generation screen 400A includes: an icon display area 200A displaying icons related to the control of the imaging device; and a program generation area 300A for generating detailed programs related to the functions of the imaging device. Similar to editing the robot's control program, the operator selects icons from the icon display area 200A and arranges them in the program generation area 300A by dragging and dropping, thereby generating detailed programs related to the functions of the imaging device.

[0061] exist Figure 7 In the example, the icons displayed in the icon display area 200A include a shooting icon 252 representing shooting-related functions, a detection icon 253 representing object detection functions, and a correction calculation icon 254 representing the calculation of correction amounts. The operator can select from the icons configured in the program generation area 300A to perform predetermined operations, and a parameter setting screen is displayed at the bottom of the program generation screen 400A for detailed parameter settings. In the parameter settings for the shooting icon 252, the following settings are configured.

[0062] • Exposure time

[0063] • Whether or not LED lighting is on

[0064] Image reduction rate

[0065] In the parameter settings for detection icon 253, configure the settings as follows. Additionally, in the following settings, "Consistency Threshold" and "Contrast Threshold" are parameters related to thresholds in image processing for object detection.

[0066] • Images used

[0067] • The shape found

[0068] • Consistency threshold

[0069] • Contrast threshold

[0070] In the calibration calculation icon 254, for example, the position of the object on the image is calculated based on the detection result of the detection icon 253, and the position on the image is transformed into 3D coordinates of the robot coordinate system, thereby obtaining the calibration amount used to correct the teaching position of the robot.

[0071] exist Figure 7 In the program generation area 300A (hereinafter referred to as visualization program 604), a camera icon 252 is first configured, followed by an auxiliary icon 257 corresponding to the detection action. Two detection icons 253 are configured within the frame of the auxiliary icon 257. The visualization program 604 performs the following actions: First, the object is photographed using the camera icon 252. Next, the shape of the entire object is detected using the detection auxiliary icon 257, and features (e.g., holes) on the object are detected using the two detection icons 253 within the auxiliary icon 257. Thus, objects with two holes can be detected. Next, the coordinates of the object in the robot coordinate system are calculated using the correction calculation icon 254, serving as position correction data.

[0072] (Second Embodiment)

[0073] Next, a second embodiment relating to the generation and display of icons or command statements performed by the teaching pendant 10 will be described. In the second embodiment, the teaching pendant 10 generates and displays command statements (text) that represent commands to use images acquired by the imaging device. Figure 9 The example shown is a text-based program generation screen 400B generated by the teaching device 10 of this embodiment, used as a comparative example. Figure 8 This represents an example of a text-based program-generated screen 140 in a typical teaching device. Figure 8 as well as Figure 9 All indicate that in Figure 1 Such a robot system with two camera devices generates footage by using a program to perform the same action.

[0074] Figure 9This refers to the program generation screen 400B displayed by the program editing unit 13 of the teaching pendant 10 of this embodiment. The program generation screen 400B includes a program generation area 300B for text-based programming. By performing a predetermined operation via the input device 19 of the teaching pendant 10 while the program generation screen 400B is displayed (for example, pressing the command list button (not shown) displayed in the program generation screen 400B), a pop-up menu 200B for displaying a list of command statements can be displayed. The operator can insert a command statement at the cursor position by moving the cursor to the desired line number on the program generation area 300B and selecting the desired command statement from the pop-up menu 200B.

[0075] according to Figure 3 The flowchart illustrates the command statement generation and display processing performed by the teaching pendant 10. First, the teaching pendant 10 is started by activating it or by performing a predetermined operation within the teaching pendant 10 to open the program generation screen. Figure 3 The processing is as follows: First, the teaching pendant 10 (program editing unit 13) opens the program generation screen 400B (step S1). Next, the command generation unit 11 obtains information related to the imaging device connected to the robot control unit 20 from the robot control unit 20 (step S2). Here, information from two vision sensors is obtained. For convenience, the two cameras are designated as camera A and camera B. The command generation unit 11 generates command statements for camera A and camera B respectively. For example, regarding the command to instruct the imaging device to take a picture, i.e., the command statement "visual detection", the command generation unit 11 generates command statements "camera A visual detection" and "camera B visual detection" to instruct camera A and camera B respectively (step S3). In addition, regarding the command to detect the position of an object from the captured image, i.e., the command statement "visual correction data acquisition", the command generation unit 11 generates command statements "camera A visual correction data acquisition" and "camera B visual correction data acquisition" to instruct camera A and camera B respectively (steps S3 and S4).

[0076] Next, the command display unit 12, for example, displays the command statements generated by the command generation unit 11 related to the function of the imaging device, namely "Camera A visual detection," "Camera B visual detection," "Camera A visual correction data acquisition," and "Camera B visual correction data acquisition," along with command statements related to robot control, in a pop-up menu 200B (step S5), based on the selection operation of the command list button (not shown). By observing this pop-up menu 200B (a list of command statements), the operator can instantly grasp the type and quantity of the imaging devices connected to the robot system. Furthermore, in Figure 9The example shows two cameras labeled "Camera A" and "Camera B," but for example, "Camera A" could be partially labeled "2D handheld camera," and "Camera B" partially labeled "3D fixed camera," thus including "2D handheld camera visual inspection," "3D fixed camera visual inspection," "2D handheld camera visual correction data acquisition," and "3D fixed camera visual correction data acquisition" as command statements in the pop-up menu 200B. In this case, the operator can know the type, quantity, and location of the shooting devices installed on the robot system 100.

[0077] By repeatedly selecting the desired command statement from the list of command statements displayed in the pop-up menu 200B and inserting it into the line where the cursor is located, the operator generates the control program described in the program generation area 300B. Here, by directly specifying a command statement in the form of camera A (lines 3-4), the position of the object based on camera A is detected, and the robot's position is corrected based on the detected position while grasping the object (lines 6-10). Similarly, by directly specifying a command statement in the form of camera B (lines 13-14), the position of the object based on camera B is detected, and the robot's position is corrected based on the detected position while grasping the object (lines 16-20).

[0078] On the other hand, in typical teaching devices, the generation of command statements for each imaging device is not performed. Therefore, as... Figure 8 As shown, in the program generation screen 140 of a typical teaching pendant, in the pop-up menu 120 displaying a list of command statements, the command statements related to the imaging device, such as "Visual Inspection" and "Visual Correction Data Acquisition," remain at the point where the type of imaging device cannot be determined. In this case, after the operator selects the command statement "Visual Inspection" from the pop-up menu 120 and inserts it into the program generation area 130, they need to select the camera used in the "Visual Inspection" command statement as a parameter. In such a pop-up menu 120, the operator cannot ascertain the type, quantity, or location of the imaging devices installed on the robot system.

[0079] In the above embodiments, the case where multiple shooting devices are configured in the robot system has been described. However, even in the case where only one shooting device is configured in the robot system, in the first embodiment ( Figure 4 , Figure 5 In the case of ), an icon indicating the selected shooting device status is displayed in the icon display area 200, in the second embodiment ( Figure 9In the case of a single camera, the pop-up menu 200B displays a command statement indicating the selected camera's status. For example, in the first embodiment, if only one camera (vision sensor 41) is configured in the robot system, icon 201 is displayed in the icon display area 200. In the second embodiment, if only one camera (camera A) is configured in the robot system, the pop-up menu 200B displays "Camera A visual inspection" and "Camera A visual correction data acquisition." Therefore, even when only one camera is configured in the robot system, the operator does not need to perform detailed settings for the icon or command statement to select the camera.

[0080] Therefore, according to this embodiment, in programming the control program of industrial machinery, the burden on the operator to generate a control program containing commands corresponding to the functions of the shooting device can be reduced.

[0081] The present invention has been described above using typical embodiments. However, those skilled in the art will understand that various modifications, omissions, and additions can be made to the above embodiments without departing from the scope of the present invention.

[0082] The above embodiments relate to the generation of control programs in robot systems, but the above embodiments can be applied to programming devices for control programs in systems where one or more imaging devices are connected to the control devices of machine tools and other various industrial machinery.

[0083] Figure 2 The functional blocks of the teaching pendant 10 shown can be implemented either by the CPU of the teaching pendant 10 executing various software stored in the storage device, or by a structure based on hardware such as ASIC (Application Specific Integrated Circuit).

[0084] Figure 2 The functional configuration shown in the functional block diagram is illustrative, and some of the functions configured in the teaching pendant 10 can also be configured on the robot control device 20 side.

[0085] The timing for the teaching pendant 10 (command generation unit 11) to obtain information related to the imaging device from the robot control device 20 and generate icons or command statements can be various, including, in addition to the examples described in the above embodiments, a timing for connecting the imaging device to the robot control device 20. The timing for the teaching pendant 10 (command generation unit 11) to obtain information related to the imaging device from the robot control device 20 and generate icons or command statements can be any one of predetermined startup timings, such as when the teaching pendant 10 is started, when the imaging device is connected to the robot control device 20, or when the program generation screen 400 is opened, or it can be multiple such startup timings.

[0086] Perform the above implementation method Figure 3 The command generation and display processing programs can be recorded in various computer-readable recording media (e.g., ROM, EEPROM, flash memory and other semiconductor memories, magnetic recording media, CD-ROM, DVD-ROM and other optical discs).

[0087] Explanation of reference numerals in the attached figures

[0088] 1. Object

[0089] 2 workbenches

[0090] 10 Teaching Devices

[0091] 11 Command Generation Department

[0092] 12 Command Display Section

[0093] 13 Programming Department

[0094] 14 Program Generation Department

[0095] 18 display devices

[0096] 19 input devices

[0097] 20 Robot Control Devices

[0098] 30 robots

[0099] 41, 42 Vision Sensors

[0100] 31 lots

[0101] 200 icon display area

[0102] 200B pop-up menu

[0103] 300, 300B program generation area

[0104] Screen generated by the 400 and 400B programs.

Claims

1. A programming device for programming an industrial machine by arranging icons or command statements in an execution order of a program, characterized by comprising: a command generation section that acquires information related to a plurality of imaging devices and including a kind and a setting place of each of the plurality of imaging devices connected to a control device of the industrial machine, and generates icons or command statements in a form of a selected imaging device based on the acquired information, the icons or command statements representing a command to use images acquired by the imaging device and being able to make a setting including selection of the imaging device; and a command display section that displays the generated icons or command statements on a display screen.

2. The programming device according to claim 1, characterized in that the command generation section acquires the information related to the plurality of imaging devices from the control device connected to the programming device at any one or a plurality of predetermined start timings including when the programming device is started, when the imaging device is connected to the control device, and when a program generation screen is opened.

3. The programming device according to claim 1, characterized in that the command generation section acquires the information related to the plurality of imaging devices from the control device connected to the programming device in response to a predetermined operation for starting the program generation screen via an input device of the programming device.

4. The programming device according to any one of claims 1 to 3, characterized in that the programming device further comprises a program editing section that displays a program generation screen for making the programming, and accepts an editing operation for the program generation screen, the command generation section generates the icons representing the command to use the images acquired by the imaging device, the command display section displays the generated icons in a predetermined display area in the program generation screen, the program generation screen includes a program generation area in which a program is generated by arranging icons selected from the predetermined display area, and the program editing section displays a real-time image of the imaging device corresponding to the selected icon in accordance with a selection operation for the icon arranged in the program generation area. ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​

Images