Teaching method

Abstract

Provided is a teaching method capable of teaching in a relatively short time. A teaching method characterized by generating a motion program of a robot based on a job in which a worker sequentially moves a plurality of objects to a placement region and places the objects so as to become a placement pattern that is a target, the teaching method having: an imaging step of imaging the objects moved to the placement region in the job; an identification step of identifying positions of the objects imaged in the imaging step; a speculation step of speculating a candidate of the placement pattern based on the positions of the objects identified in the identification step; and a display step of displaying the candidate speculated in the speculation step.

Description

Technical Field

[0001] The present invention relates to a teaching method. Background Art

[0002] Known robots include, for example, a robot arm with an end effector, i.e., a tool, mounted on its front end. The robot arm is driven to perform a predetermined operation on a workpiece. When such a robot performs an operation, a teaching process is performed, in which an action program is created and stored.

[0003] For example, Patent Document 1 discloses a teaching method in which an operator performs a task that the operator wants the robot to perform, and the operator's movements are detected to perform teaching.

[0004] Prior art literature

[0005] Patent Literature

[0006] Patent document 1: WO2017 / 159562. Summary of the Invention

[0007] However, the teaching method described in Patent Document 1 requires that the desired teaching operation be performed once or more from the beginning to the end, and therefore, teaching is time-consuming.

[0008] Solutions for solving technical problems

[0009] The teaching method of the present invention is characterized by being a teaching method for generating a robot motion program based on a task in which a worker sequentially moves a plurality of objects to a placement area and arranges the objects so as to form a target placement pattern, the teaching method comprising:

[0010] An imaging step of imaging the object moved to the configuration area during the operation;

[0011] an identification step of identifying a position of the object imaged in the imaging step;

[0012] an estimating step of estimating a candidate for the arrangement pattern based on the position of the object recognized in the recognizing step; and

[0013] A display step displays the candidate estimated in the estimation step. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a diagram showing the overall configuration of the robot system according to the first embodiment.

[0015] Figure 2 for Figure 1Shown is a block diagram of the robotic system.

[0016] Figure 3 This is a diagram showing an example of a target arrangement pattern.

[0017] Figure 4 This is an image of what a sample operation looks like.

[0018] Figure 5 This is a list of configuration pattern candidates displayed on the display unit.

[0019] Figure 6 This is an image of what a sample operation looks like.

[0020] Figure 7 This is a list of configuration pattern candidates displayed on the display unit.

[0021] Figure 8 This is an image of what a sample operation looks like.

[0022] Figure 9 This is a list of configuration pattern candidates displayed on the display unit.

[0023] Figure 10 This is a flowchart for explaining an example of the teaching method of the present invention.

[0024] Figure 11 This is a flowchart for explaining an example of the teaching method of the present invention.

[0025] Figure 12 This is a diagram showing an example of a target arrangement pattern in the teaching method of the second embodiment executed by the robot system.

[0026] Figure 13 This is an image of what a sample operation looks like.

[0027] Figure 14 This is a list of configuration pattern candidates displayed on the display unit.

[0028] Figure 15 This is an image of what a sample operation looks like.

[0029] Figure 16 This is a list of configuration pattern candidates displayed on the display unit.

[0030] Figure 17 A diagram showing another example of the configuration pattern.

[0031] Explanation of symbols

[0032] 1: Robot; 3: Control device; 4: Teaching device; 5: Imaging unit; 10: Robot arm; 11: Base; 12: First arm; 13: Second arm; 14: Third arm; 15: Fourth arm; 16: Fifth arm; 17: Sixth arm; 18: Relay cable; 19: Force detection unit; 20: End effector; 31: Processor; 32: Storage unit; 33: Communication unit; 40: Display unit; 41: Processor; 42: Storage unit; 43: Communication unit; 100: Robot system; 171: Joint; 172: Joint; 173: Joint; 174: Joint; 175: Joint; 176: Joint; A1: Area before movement; A2: Area after movement; CP: control point; D1: motor driver; D2: motor driver; D3: motor driver; D4: motor driver; D5: motor driver; D6: motor driver; E1: encoder; E2: encoder; E3: encoder; E4: encoder; E5: encoder; E6: encoder; M1: motor; M2: motor; M3: motor; M4: motor; M5: motor; M6: motor; P1: mode; P2: mode; P3: mode; P4: mode; P5: mode; P6: mode; P7: mode; P8: mode; TCP: tool center point; W: workpiece; WA: workpiece; WB: workpiece. DETAILED DESCRIPTION

[0033] First embodiment

[0034] Figure 1 It is a diagram showing the overall configuration of the robot system according to the first embodiment. Figure 2 for Figure 1 Shown is a block diagram of the robotic system. Figure 3 This is a diagram showing an example of a target arrangement pattern. Figure 4 This is an image of what a sample operation looks like. Figure 5 This is a list of configuration pattern candidates displayed on the display unit. Figure 6 This is an image of what a sample operation looks like. Figure 7 This is a list of configuration pattern candidates displayed on the display unit. Figure 8 This is an image of what a sample operation looks like. Figure 9 This is a list of configuration pattern candidates displayed on the display unit. Figure 10 This is a flowchart for explaining an example of the teaching method of the present invention. Figure 11 This is a flowchart for explaining an example of the teaching method of the present invention.

[0035] In addition, regarding the robot arm, Figure 1The end on the side of the base 11 is called the "base end", and the end on the opposite side, that is, the end on the side of the end effector 20 is called the "front end". In addition, with respect to the end effector 20 and the force detection unit 19, the end on the side of the robot arm 10 is also called the "base end", and the end on the opposite side is called the "front end". Figure 1 The Z-axis direction, that is, the up and down direction, is set as the "vertical direction", and the X-axis direction and Y-axis direction, that is, the left and right directions, are set as the "horizontal direction".

[0036] like Figure 1 and Figure 2 As shown, the robot system 100 includes a robot 1 , a control device 3 for controlling the robot 1 , a teaching device 4 , and an imaging unit 5 , and executes the teaching method of the present invention.

[0037] First, the robot 1 will be described.

[0038] Figure 1 The robot 1 shown in this embodiment is a single-arm, six-axis vertical articulated robot having a base 11 and a robot arm 10. Furthermore, an end effector 20 can be attached to the front end of the robot arm 10. The end effector 20 may or may not be a component of the robot 1.

[0039] It should be noted that the robot 1 is not limited to the configuration shown in the figure, and may be, for example, a dual-arm multi-joint robot.

[0040] The base 11 is a support body that supports the robot arm 10 from the bottom so that it can be driven, and is fixed to the floor of the factory, for example. The base 11 of the robot 1 is electrically connected to the control device 3 via a relay cable 18. It should be noted that the connection between the robot 1 and the control device 3 is not limited to the following. Figure 1 Although the configuration shown is a wired connection, it may be a wireless connection, for example, or it may be connected via a network such as the Internet.

[0041] In this embodiment, the robot arm 10 includes a first arm 12, a second arm 13, a third arm 14, a fourth arm 15, a fifth arm 16, and a sixth arm 17, which are connected in this order from the base 11. It should be noted that the number of arms in the robot arm 10 is not limited to six; for example, one, two, three, four, five, or seven or more arms are also possible. Furthermore, the overall length and other dimensions of each arm are not particularly limited and can be set as appropriate.

[0042] The base 11 and the first arm 12 are connected via a joint 171. The first arm 12 can rotate relative to the base 11 about a first rotation axis parallel to the vertical direction. The first rotation axis coincides with the normal to the ground on which the base 11 is fixed.

[0043] The first arm 12 and the second arm 13 are connected via a joint 172. The second arm 13 is rotatable relative to the first arm 12 about a second rotation axis parallel to the horizontal direction. The second rotation axis is parallel to an axis orthogonal to the first rotation axis.

[0044] The second arm 13 and the third arm 14 are connected via a joint 173. The third arm 14 is rotatable relative to the second arm 13 about a third rotation axis parallel to the horizontal direction. The third rotation axis is parallel to the second rotation axis.

[0045] The third arm 14 and the fourth arm 15 are connected via a joint 174. The fourth arm 15 is rotatable relative to the third arm 14 about a fourth rotation axis parallel to the central axis of the third arm 14. The fourth rotation axis is orthogonal to the third rotation axis.

[0046] The fourth arm 15 and the fifth arm 16 are connected via a joint 175. The fifth arm 16 is rotatable relative to the fourth arm 15 about a fifth rotation axis. The fifth rotation axis is orthogonal to the fourth rotation axis.

[0047] The fifth arm 16 and the sixth arm 17 are connected via a joint 176. The sixth arm 17 is rotatable relative to the fifth arm 16 about a sixth rotation axis. The sixth rotation axis is orthogonal to the fifth rotation axis.

[0048] The sixth arm 17 is a robot front end portion located at the most front end side in the robot arm 10. The sixth arm 17 can rotate together with the end effector 20 when the robot arm 10 is driven.

[0049] The robot 1 includes a motor M1, a motor M2, a motor M3, a motor M4, a motor M5, and a motor M6 as drive units, as well as encoders E1, E2, E3, E4, E5, and E6. The motor M1 is incorporated into the joint 171 to rotate the base 11 and the first arm 12 relative to each other. The motor M2 is incorporated into the joint 172 to rotate the first arm 12 and the second arm 13 relative to each other. The motor M3 is incorporated into the joint 173 to rotate the second arm 13 and the third arm 14 relative to each other. The motor M4 is incorporated into the joint 174 to rotate the third arm 14 and the fourth arm 15 relative to each other. The motor M5 is incorporated into the joint 175 to rotate the fourth arm 15 and the fifth arm 16 relative to each other. The motor M6 is incorporated into the joint 176 to rotate the fifth arm 16 and the sixth arm 17 relative to each other.

[0050] In addition, encoder E1 is built into joint 171 to detect the position of motor M1. Encoder E2 is built into joint 172 to detect the position of motor M2. Encoder E3 is built into joint 173 to detect the position of motor M3. Encoder E4 is built into joint 174 to detect the position of motor M4. Encoder E5 is built into joint 175 to detect the position of motor M5. Encoder E6 is built into joint 176 to detect the position of motor M6.

[0051] Encoders E1 through E6 are electrically connected to control device 3 and transmit position information, or in other words, rotational amounts, of motors M1 through M6 to control device 3 as electrical signals. Based on this information, control device 3 drives motors M1 through M6 via motor drivers D1 through D6. In other words, controlling robot arm 10 involves controlling motors M1 through M6.

[0052] In addition, a control point CP is set at the front end of the force detection unit 19 provided on the robot arm 10. The control point CP is a point that serves as a reference when controlling the robot arm 10. In the robot system 100, the position of the control point CP is grasped in the robot coordinate system, and the robot arm 10 is driven to move the control point CP to the desired position. That is, the control point CP is set to a position closer to the robot arm 10 than the end effector 20. It should be noted that in this embodiment, the control point CP is set at the front end of the force detection unit 19, but as long as the position and posture of the origin of the robot coordinate system are known, the control point CP can also be set at any position closer to the robot arm 10 than the end effector 20. For example, it can also be set at the front end of the robot arm 10.

[0053] In addition, in the robot 1, the force detection unit 19 for detecting force is freely attached to the robot arm 10 and detachably mounted. Moreover, the robot arm 10 can be driven in a state in which the force detection unit 19 is mounted. In this embodiment, the force detection unit 19 is a six-axis force sensor. The force detection unit 19 detects the magnitude of the force on three mutually orthogonal detection axes and the magnitude of the torque around the three detection axes. That is, it detects the force components in the mutually orthogonal X-axis, Y-axis, and Z-axis, the force component in the W direction around the X-axis, the force component in the V direction around the Y-axis, and the force component in the U direction around the Z-axis. It should be noted that in this embodiment, the Z-axis direction is the vertical direction. In addition, the force components in each axis can also be referred to as "translational force components", and the force components around each axis can also be referred to as "torque components". In addition, the force detection unit 19 is not limited to a six-axis force sensor and can also be a force detection unit of other structures.

[0054] In this embodiment, the force detector 19 is mounted on the sixth arm 17. Note that the force detector 19 is not limited to the sixth arm 17, i.e., the arm at the most distal end, but may be mounted on other arms or between adjacent arms.

[0055] The end effector 20 can be detachably attached to the force detection unit 19. In this embodiment, the end effector 20 is composed of a hand that grips an object, that is, a workpiece W, by suction. It should be noted that the end effector 20 is not limited to the configuration shown in the figure, and may also be a hand that grips an object by clamping.

[0056] Furthermore, in the robot coordinate system, a tool center point (TCP) is set at the tip of the end effector 20 as the first control point. In the robot system 100, by pre-determining the position of the tool center point (TCP) in the robot coordinate system, the tool center point (TCP) can be used as the reference for control. In the robot system 100, the position of the control point (CP) set as the second control point on the robot arm 10 is determined in the robot coordinate system. Therefore, by determining the positional relationship between the tool center point (TCP) and the control point (CP), the robot arm 10 can be driven and work can be performed using the tool center point (TCP) as the reference for control. This process of determining the positional relationship between the tool center point (TCP) and the control point (CP) is called calibration, or correction.

[0057] Next, the image forming unit 5 will be described.

[0058] For example, the imaging unit 5 can be configured to include an imaging element composed of a CCD (Charge Coupled Device) image sensor having a plurality of pixels and an optical system including a lens and the like. Figure 2 As shown, the imaging unit 5 is electrically connected to the control device 3. Furthermore, the imaging unit 5 converts the light received by the imaging element into an electrical signal and outputs the electrical signal to the control device 3. In other words, the imaging unit 5 transmits the imaging result to the control device 3. It should be noted that the imaging result can be either a still image or a moving image.

[0059] In addition, the imaging unit 5 is installed in a direction of imaging from the +Z axis side to the -Z axis side. Specifically, the imaging unit 5 is used to image the working area of ​​the robot 1, that is, Figure 4 The image processing unit 5 is used to image the pre-movement area A1 and the post-movement area A2 as shown. It should be noted that a plurality of imaging units 5 may be provided. In this case, the robot system 100 may be configured to include a dedicated imaging unit for imaging the pre-movement area A1 and a dedicated imaging unit for imaging the post-movement area A2.

[0060] Next, the control device 3 will be described.

[0061] like Figure 1 and Figure 2 As shown, the control device 3 is mounted separately from the robot 1 in this embodiment. However, this configuration is not limiting and the control device 3 may also be built into the base 11. Furthermore, the control device 3 controls the driving of the robot 1 and is electrically connected to the various components of the robot 1 described above. The control device 3 includes a processor 31, a storage unit 32, and a communication unit 33. These components are interconnected for communication, for example, via a bus.

[0062] The processor 31 is constituted by, for example, a CPU (Central Processing Unit), and reads and executes various programs stored in the storage unit 32. Signals generated by the processor 31 are transmitted to the robot 1 via the communication unit 33. This enables the robot arm 10 to perform predetermined tasks.

[0063] The storage unit 32 stores various programs executable by the processor 31. Examples of the storage unit 32 include volatile memory such as RAM (Random Access Memory), nonvolatile memory such as ROM (Read Only Memory), and a detachable external storage device.

[0064] The communication unit 33 transmits and receives signals to and from each unit of the robot 1 and the teaching device 4 using an external interface such as a wired LAN (Local Area Network) or a wireless LAN.

[0065] Next, the teaching device 4 will be described.

[0066] like Figure 1 and Figure 2 As shown, the teaching device 4 has functions such as creating and inputting motion programs for the robot arm 10. The teaching device 4 includes a processor 41, a storage unit 42, and a communication unit 43. The teaching device 4 is not particularly limited, and examples thereof include a tablet computer having a display unit 40, a personal computer, a smartphone, and a teaching pendant.

[0067] The processor 41 is composed of, for example, a CPU (Central Processing Unit), and reads and executes various programs such as the teaching program stored in the storage unit 42, and controls the operation of the display unit 40. It should be noted that the teaching program may be a program generated by the teaching device 4, a program stored in an external storage medium such as a CD-ROM, or a program stored via a network or the like.

[0068] The signal generated by the processor 41 is transmitted to the control device 3 of the robot 1 via the communication unit 43. Thus, the robot arm 10 can perform a predetermined task according to predetermined conditions.

[0069] The storage unit 42 stores various programs executable by the processor 41. Examples of the storage unit 42 include volatile memory such as RAM (Random Access Memory), nonvolatile memory such as ROM (Read Only Memory), and a detachable external storage device.

[0070] The communication unit 43 transmits and receives signals to and from the control device 3 using an external interface such as a wired LAN (Local Area Network) or a wireless LAN.

[0071] The robot system 100 has been described above.

[0072] In such a robot system 100, before the robot 1 performs a predetermined operation, an operation program for the robot 1 to perform the operation is created, that is, teaching is performed. Figure 3 The operation of arranging the workpiece W as shown will be described as an example of the operation performed by the robot 1. In the following, it is assumed that the workpiece W includes two types: the workpiece WA and the workpiece WB.

[0073] In order for the robot 1 to execute the workpiece W as Figure 3 The operation of the configuration shown in FIG. 1 is taught in the following manner. First, the operator actually moves the workpiece W from the pre-movement area A1 to the post-movement area A2 and sets Figure 3 Hereinafter, this operation is also referred to as a sample operation. While the operator is performing the sample operation, the imaging unit 5 is used to perform imaging, and the robot system 100 stores the results of the sample operation based on the imaging results, thereby performing teaching.

[0074] In the prior art, it is necessary to carry out the sample operation from the beginning to the end. Figure 3 As shown, the operation of moving all eight workpieces W and setting them to the target arrangement pattern is time-consuming. In contrast, in the present invention, the time required for teaching can be shortened by the following method.

[0075] First, if Figure 4 As shown, the first workpiece W, that is, the workpiece WB, is moved from the pre-movement area A1 to the post-movement area A2. At this time, the workpiece WB is arranged in the post-movement area A2. Figure 4The robot system 100 uses the imaging unit 5 to image the work (imaging process) and recognizes the position of the imaged workpiece WB in the robot coordinate system (recognition process). Next, based on the recognized position of the workpiece WB, it estimates the candidate configuration pattern set as the target (estimation process). That is, the workpiece WB is calculated to be arranged at Figure 4 For example, Figure 5 As shown, find four candidates.

[0076] exist Figure 5 In the illustrated configuration, the patterns of “1. End as is”, “2. Repeat within line”, “1-1. Repeat line”, and “2-1. Repeat line” are estimated and displayed on the display unit 40 .

[0077] The "1. End with status quo" mode places a workpiece WB in the moved area A2 and ends. The "2. Repeat in row" mode places a workpiece WB in the moved area A2 and ends in the row. Figure 4 Repeat this pattern horizontally across the middle.

[0078] The pattern of "1-1. Repeat rows" is in the column direction, i.e. Figure 4 The pattern of "1. End with the current situation" is repeated vertically. The pattern of "2-1. Repeat rows" is repeated in the column direction, i.e. Figure 4 Repeat the pattern in "2. Repeat within the row" vertically.

[0079] Based on the placement of the first workpiece WB, four candidate placement patterns are inferred and presented to the operator. Then, if the target placement pattern is among the four candidate placement patterns, the operator selects it. This eliminates the need to perform all the example work, shortening the time required for teaching.

[0080] If the target arrangement pattern does not exist in the displayed arrangement pattern candidates, the example operation is continued, that is, the next workpiece W is moved to the moved area A2.

[0081] Specifically, if Figure 6 As shown, the second workpiece W, that is, the workpiece WA, is moved from the pre-movement area A1 to the post-movement area A2. At this time, the workpiece WA is arranged near the first arranged workpiece WB in the post-movement area A2. The robot system 100 uses the imaging unit 5 to image the operation (imaging process) and recognizes the position of the imaged workpiece WA in the robot coordinate system (recognition process). Next, based on the recognized position of the workpiece WA, a candidate for the configuration pattern set as the target is estimated (estimation process). That is, the workpiece WA is arranged in the Figure 6 The candidate configuration mode of the position shown. For example, Figure 7 As shown, find sixteen candidates.

[0082] exist Figure 7 In the configuration shown, it is speculated that the pattern is “1. End with the current status”, the pattern is “2. Repeat within the row”, the pattern is “3. Repeat within the row”, the pattern is “4. Repeat within the row”, the pattern is “1-1. Repeat row”, the pattern is “1-2. Repeat row”, the pattern is “2-1. Repeat row”, the pattern is “2-2. Repeat row”, the pattern is “2-1-a. Repeat category”, the pattern is “2-2-a. Repeat category”, the pattern is “3-1. Repeat row”, the pattern is “3-2. Repeat row”, the pattern is “4-1. Repeat row”, the pattern is “4-2. Repeat row”, the pattern is “4-1-a. Repeat category” and the pattern is “4-2-a. Repeat category”, and is displayed on the display unit 40.

[0083] The "1. End as Current" mode places one workpiece WB and one workpiece WA in the moved area A2 and ends the process. The "2. Repeat Within Row" mode places workpieces WB, WA, and WB alternately in the moved area A2 and ends the process. The "3. Repeat Within Row" mode places two workpieces WB and two workpiece WA alternately in the moved area A2 and ends the process. The "4. Repeat Within Row" mode places three workpieces WB and two workpiece WA alternately in the moved area A2 and ends the process.

[0084] The pattern of "1-1. Repeat rows" is in the column direction, i.e. Figure 7 The pattern of "1. End with the current status" is repeated twice in the vertical direction. The pattern of "1-2. Repeat row" is repeated in the column direction, i.e. Figure 7 The pattern of "1. End with the current situation" is repeated three times in the vertical direction. The pattern of "2-1. Repeat row" is repeated in the column direction, i.e. Figure 7 The "2-2. Repeat in row" pattern is repeated twice in the vertical direction. Figure 7 Repeat the configuration pattern of "2. Repeat within the row" three times vertically.

[0085] The pattern of "2-1-a. Repeating categories" is in the column direction, i.e. Figure 7 The arrangement pattern of "2. Repeat within the row" is repeated twice in the vertical direction. It should be noted that in the second repetition, the arrangement of the workpieces WA and WB is reversed from that of the first repetition.

[0086] The pattern of "2-2-a. Repeating categories" is in the column direction, i.e. Figure 7The arrangement pattern of "2. Repeat within the row" is repeated three times in the vertical direction. It should be noted that in the second repetition, the arrangement of the workpieces WA and WB is reversed from the first repetition, and in the third repetition, the arrangement of the workpieces WA and WB is the same as the first repetition.

[0087] The pattern of "3-1. Repeating rows" is in the column direction, i.e. Figure 7 The configuration pattern of "3. Repeat in row" is repeated twice in the vertical direction. The pattern of "3-2. Repeat row" is repeated in the column direction, i.e. Figure 7 The configuration pattern of "3. Repeat within row" is repeated three times vertically.

[0088] The pattern of "4-1. Repeating rows" is in the column direction, i.e. Figure 7 The pattern of "4. Repeat in row" is repeated twice in the vertical direction. The pattern of "4-2. Repeat row" is repeated twice in the column direction. Figure 7 Repeat the configuration pattern of "4. Repeat within the row" three times vertically.

[0089] The pattern of "4-1-a. Repeating categories" is in the column direction, i.e. Figure 7 The pattern of "4. Repeat in row" is repeated twice vertically. The pattern of "4-2-a. Repeat type" is repeated twice in the column direction. Figure 7 The arrangement pattern of "4. Repeat within the row" is repeated three times in the vertical direction. It should be noted that in the second repetition, the arrangement of the workpieces WA and WB is reversed from the first repetition, and in the third repetition, the arrangement of the workpieces WA and WB is the same as the first repetition.

[0090] Sixteen candidate placement patterns are estimated based on the placement of workpieces WB and WA and presented to the operator. If the desired placement pattern is among these sixteen candidate placement patterns, the operator selects it. This eliminates the need to perform all the example work, shortening the time required for teaching.

[0091] If the target arrangement pattern does not exist in the displayed arrangement pattern candidates, the example operation is continued, that is, the next workpiece W is moved to the moved area A2.

[0092] Specifically, if Figure 8As shown, the third workpiece W, namely the workpiece WB, is moved from the pre-movement area A1 to the post-movement area A2. At this time, the workpiece WB is arranged near the second-arranged workpiece WA in the post-movement area A2. The robot system 100 uses the imaging unit 5 to image the operation (imaging process) and recognizes the position of the imaged workpiece WA in the robot coordinate system (recognition process). Next, based on the recognized position of the workpiece WA, a candidate for the target configuration pattern is estimated (estimation process). That is, the workpiece WA is arranged in the Figure 8 The candidate configuration mode at the position shown. For example, Figure 9 As shown, find five candidates.

[0093] exist Figure 9 In the illustrated configuration, the patterns of “1. End as is”, “2. Repeat within line”, “1-1. Repeat line”, “2-1. Repeat line”, and “2-1-a. Repeat type” are inferred and displayed on the display unit 40 .

[0094] The "1. End with the status quo" mode is a mode in which the workpiece WB, workpiece WA and workpiece WB are arranged in a straight line in the moved area A2. The "2. Repeat in row" mode is a mode in which the workpiece WB, workpiece WA and workpiece WB are arranged in a straight line in the row direction. Figure 9 A pattern in which "1. End with the current state" is repeatedly placed in the left and right directions.

[0095] The pattern of "1-1. Repeat rows" is in the column direction, that is, Figure 9 The pattern of "1. End with the current status" is repeated twice in the vertical direction. The pattern of "2-1. Repeat row" is repeated in the column direction, i.e. Figure 9 The pattern of "2. Repeat in row" is repeated twice vertically. The pattern of "2-1-a. Repeat type" is repeated twice in the column direction. Figure 9 The arrangement pattern of "2. Repeat within the row" is repeated twice in the vertical direction. It should be noted that in the second repetition, the arrangement of the workpieces WA and WB is reversed from that of the first repetition.

[0096] Based on the placement of workpieces WB and WA, five candidate placement patterns are estimated and presented to the operator. Then, if the desired placement pattern is among the five candidate placement patterns, the operator selects it. This eliminates the need to perform all the example work, shortening the time required for teaching.

[0097] Note that the teaching is completed by storing the candidate selected from the displayed candidates, that is, the selected candidate, as a configuration pattern (storage step), and generating the operation program of the robot 1 using the stored configuration pattern (generation step).

[0098] If the target arrangement pattern is not among the displayed arrangement pattern candidates, the example operation is continued. That is, the next workpiece W is moved to the moved area A2. Compared with the conventional teaching method, repeating this operation can shorten the time.

[0099] Thus, the teaching method of the present invention generates an action program for a robot 1 based on an operation in which an operator sequentially moves multiple objects, namely workpieces W, into a configuration area, namely, the moved area A2, and arranges the workpieces W so as to achieve a target configuration pattern. Furthermore, the teaching method includes an imaging step for imaging the workpieces W moved to the moved area A2 during the operation; a recognition step for identifying the position of the workpieces W imaged in the imaging step; an estimation step for estimating configuration pattern candidates based on the position of the workpieces W identified in the recognition step; and a display step for displaying the candidates estimated in the estimation step. Thus, the likelihood of successful teaching is increased, even if the operation of arranging the workpieces W to achieve the target configuration pattern is not completed to the end, as in the prior art. Consequently, the time required for teaching can be shortened.

[0100] Furthermore, the teaching method of the present invention includes a storing step of storing the selection candidate selected from the candidates displayed in the displaying step as an arrangement pattern.

[0101] The teaching method of the present invention includes a generation step in which the configuration pattern stored in the storage step is used to generate an operation program for the robot 1. This allows the generation of an operation program that enables the robot 1 to operate in a desired configuration pattern.

[0102] In addition, the case where the workpiece W includes two different types of workpieces W (workpiece WA and workpiece WB) is described, but the present invention is not limited to this. For example, it can also include workpieces with at least one difference in shape, size, color, pattern, and material.

[0103] In this manner, the object, i.e., the workpiece W, has at least one difference among type, shape, size, color, pattern, and material. In the recognition step, the position of the object is recognized based on the difference, and in the estimation step, a candidate arrangement pattern of the workpiece W is estimated that takes the difference into account. This allows for teaching of an arrangement pattern that takes the difference into account.

[0104] Furthermore, considering that, for example, only the first or second movable workpiece W may have a relatively large number of possible placement pattern candidates, display of the placement pattern candidates may be omitted until a predetermined number, for example, n (n is an integer greater than or equal to 3) is reached. This simplifies processing and prevents or minimizes excessive time spent by the operator selecting candidates.

[0105] In this manner, when there are multiple candidates for the arrangement pattern of the object, i.e., the workpiece W, estimated in the estimation step, the imaging step, the recognition step, and the estimation step are repeated until the number of candidates reaches n (n is an integer greater than or equal to 3), and the n estimated candidates are displayed in the display step. This simplifies the process and prevents or reduces the operator from wasting too much time selecting the candidates.

[0106] The following is based on Figure 10 and Figure 11 The flowchart shown explains an example of the teaching method of the present invention.

[0107] First, in step S101, setting information is read. That is, the type of robot arm 10 and the type of end effector 20 are set. Next, in step S102, workpiece registration is performed. That is, the type of object used as the workpiece W is registered.

[0108] Next, in step S103, the pre- and post-movement area registration is performed. That is, the positions of the pre-movement area A1 and the post-movement area A2 are registered. Next, in step S104, the workpiece recognition before teaching is performed. That is, it is recognized that the workpiece W is placed in the pre-movement area A1.

[0109] Next, in step S105, the operator performs a teaching operation, i.e., the aforementioned sample operation. Next, in step S106, it is determined whether one operation has been completed. This determination is made, for example, based on whether the workpiece W has been stationary for a predetermined time within the moved area A2.

[0110] If it is determined in step S106 that one movement is completed, the moved workpiece is identified in step S107. That is, the position of the workpiece W in the moved area A2 is estimated. If it is determined in step S106 that one movement is not completed, step S106 is repeated.

[0111] Next, in step S108, a teaching target is generated. This step will be described in detail later.

[0112] Next, in step S109, a determination is made as to whether a teaching target has been generated. This determination is made based on, for example, whether the operator has pressed a teaching completion button (not shown) using the teaching device 4. If, in step S109, it is determined that a teaching target has been generated, teaching is terminated. On the other hand, if it is determined that a teaching target has not been generated, the process returns to step S104 and the subsequent steps are repeated.

[0113] Next, step S108 will be described.

[0114] In step S108, Figure 11 As shown, steps S201 to S209 are performed in sequence. First, in step S201, it is determined whether it is the first action. If it is determined in step S201 that it is the first action, the process proceeds to step S205. If it is determined in step S201 that it is not the first action, the process proceeds to step S202.

[0115] In step S202 , the movement distance between the previously moved workpiece W and the currently moved workpiece W is calculated and the data is stored. That is, the separation distance between the previously moved workpiece W and the currently moved workpiece W is calculated and the calculation result is stored.

[0116] Next, in step S203, a determination is made as to whether the first axial direction (e.g., along the movement direction) of the movement amount calculated in step S202 is negative. In other words, whether the offset between the previously moved workpiece W and the currently moved workpiece W is offset in a predetermined direction. This determination is made by analyzing the direction of the offset in the image.

[0117] If the result is negative in step S203, the process moves to the next line in step S204 and calculates the amount of movement between lines. This means the next line is separated. On the other hand, if the result is not negative in step S203, the process moves to step S205.

[0118] Next, in step S205, the amount of movement, i.e., the offset between the workpiece W previously moved and the workpiece W currently being moved, is read. In step S206, the position of the overlap within the row currently being worked on is estimated. Next, in step S207, the overlap within the estimated row is reflected in the overlapped row, and the position is estimated. Next, in step S208, the overlap type is reflected in the estimated row overlap, and the position is estimated. Finally, in step S209, an image of the estimated teaching target, i.e., the targeted arrangement pattern, is generated.

[0119] By going through such steps, it is possible to generate and display Figure 5 、 Figure 7 and Figure 9 Candidates for the configuration pattern shown.

[0120] Second embodiment

[0121] Figure 12 This is a diagram showing an example of a target arrangement pattern in the teaching method of the second embodiment executed by the robot system. Figure 13 This is an image of what a sample operation looks like. Figure 14 This is a list of configuration pattern candidates displayed on the display unit. Figure 15 This is an image of what a sample operation looks like. Figure 16 This is a list of configuration pattern candidates displayed on the display unit.

[0122] A second embodiment of the teaching method of the present invention will be described below. However, the following description will focus on differences from the first embodiment, and descriptions of the same matters will be omitted.

[0123] In this embodiment, the configuration mode of the target is set to Figure 12 That is, the workpieces WA and WB are arranged in a grid pattern of three rows and two columns. In addition, the workpieces WA and WB are arranged in different postures.

[0124] First, if Figure 13 As shown, the first workpiece W, that is, the workpiece WB, is moved from the pre-movement area A1 to the post-movement area A2. At this time, the workpiece WB is arranged at the offset position in the post-movement area A2. Figure 13 The robot system 100 uses the imaging unit 5 to image the work (imaging process) and recognizes the position of the imaged workpiece WB in the robot coordinate system (recognition process). Next, based on the recognized position of the workpiece WB, it estimates the candidate for the target configuration pattern (estimation process). That is, the workpiece WB is calculated. Figure 13 The candidate configuration mode at the position shown. For example, Figure 14 As shown, find four candidates.

[0125] exist Figure 14 In the illustrated configuration, the patterns of “1. End as is”, “2. Repeat within line”, “1-1. Repeat line”, and “2-1. Repeat line” are estimated and displayed on the display unit 40 .

[0126] The "1. End with status quo" mode places a workpiece WB in the moved area A2 and ends. The "2. Repeat in row" mode places a workpiece WB in the moved area A2 and ends in the row. Figure 14 The pattern of "1-1. Repeat row" is repeated in the column direction. Figure 14The pattern of "1. End with the current situation" is repeated vertically. The pattern of "2-1. Repeat rows" is repeated in the column direction, i.e. Figure 14 A pattern in which the pattern of "2. Repeat within a row" is repeated in the vertical direction. Note that, in all four patterns, the postures of the workpiece WB are made the same.

[0127] Based on the placement of the first workpiece WB, four candidate placement patterns are inferred and presented to the operator. Then, if the target placement pattern is among the four candidate placement patterns, the operator selects it. This eliminates the need to perform all the example work, shortening the time required for teaching.

[0128] If the target arrangement pattern does not exist in the displayed arrangement pattern candidates, the example operation is continued, that is, the next workpiece W is moved to the moved area A2.

[0129] Specifically, if Figure 15 As shown, the second workpiece W, i.e., the workpiece WA, is moved from the pre-movement area A1 to the post-movement area A2. At this time, the workpiece WA is arranged near the first-arranged workpiece WB in the post-movement area A2. It should be noted that the posture of the workpiece WA is different from the posture of the workpiece WB. The robot system 100 uses the imaging unit 5 to image the operation (imaging process) and identifies the position of the imaged workpiece WA in the robot coordinate system (identification process). Next, based on the position of the identified workpiece WA, a candidate for the configuration mode set as the target is estimated (estimation process). That is, the workpiece WA is located in the Figure 15 The candidate configuration mode at the position shown. For example, Figure 16 As shown, find eight candidates.

[0130] exist Figure 16 In the configuration shown, it is speculated that the pattern is “1. End with the current status”, the pattern is “2. Repeat within the row”, the pattern is “1-1. Repeat row”, the pattern is “1-2. Repeat row”, the pattern is “2-1. Repeat row”, the pattern is “2-2. Repeat row”, the pattern is “2-1-a. Repeat category” and the pattern is “2-2-a. Repeat category”, and is displayed on the display unit 40.

[0131] The "1. End as is" mode places one workpiece WB and one workpiece WA in the moved area A2 and ends the process. The "2. Repeat in row" mode places a workpiece WB, a workpiece WA, and a workpiece WB in a straight line in the moved area A2 and ends the process.

[0132] The pattern of "1-1. Repeat rows" is in the column direction, i.e. Figure 16 The pattern of "1. End with the current status" is repeated twice in the vertical direction. The pattern of "1-2. Repeat row" is repeated in the column direction, i.e. Figure 16 The pattern of "1. End with the current situation" is repeated three times in the vertical direction. The pattern of "2-1. Repeat row" is in the column direction, that is, Figure 16 The "2-2. Repeat in row" pattern is repeated twice in the vertical direction. Figure 16 Repeat the configuration pattern of "2. Repeat within the row" three times vertically.

[0133] The pattern of "2-1-a. Repeating categories" is in the column direction, that is, Figure 16 The arrangement pattern of "2. Repeat within the row" is repeated twice in the vertical direction. It should be noted that in the second repetition, the arrangement of the workpieces WA and WB is reversed from that of the first repetition.

[0134] The pattern of "2-2-a. Repeating categories" is in the column direction, i.e. Figure 16 The arrangement pattern of "2. Repeat within the row" is repeated three times in the vertical direction. It should be noted that in the second repetition, the arrangement of the workpieces WA and WB is reversed from the first repetition, and in the third repetition, the arrangement of the workpieces WA and WB is the same as the first repetition.

[0135] Based on the placement of workpieces WB and WA, eight candidate placement patterns are estimated and presented to the operator. If the desired placement pattern is among the eight candidate placement patterns, the operator selects it. This eliminates the need to perform all the example work, shortening the time required for teaching.

[0136] If the target arrangement pattern does not exist in the displayed arrangement pattern candidates, the example operation is continued, that is, the next workpiece W is moved to the moved area A2.

[0137] Thus, according to this embodiment, in addition to the position of the object, i.e., the workpiece W, the posture of the workpiece W arranged in the arrangement area, i.e., the moved area A2, is also recognized in the recognition step, and in the estimation step, a candidate arrangement pattern of the workpiece W is estimated that takes into account the posture of the workpiece W. This enables teaching that takes into account the posture of the workpiece W.

[0138] Next, use Figure 17 Other examples of configuration patterns are described.

[0139] Other examples of configuration patterns include a staggered configuration pattern P1, a configuration pattern P2 along two oblique lines, a configuration pattern P3 along mutually parallel oblique lines, a configuration pattern P4 along intersecting straight lines, a configuration pattern P5 along an arc, a configuration pattern P6 in which the number of workpieces W in a row decreases as the workpieces W move in one direction, an "E"-shaped configuration pattern P7, and a configuration pattern P8, etc.

[0140] The teaching method of the present invention is also applicable to such a mode.

[0141] While the teaching method of the present invention has been described above with respect to the illustrated embodiment, the present invention is not limited thereto. Furthermore, each step of the teaching method can be replaced with any other step that can perform the same function. Furthermore, any additional step can also be added.

Claims

1. A teaching method, characterized in that: The program is used to cause the processor to execute a program stored in the memory, and when the program is executed, the processor performs the following steps: Arranging a plurality of objects on the pre-movement area, the plurality of objects including a first object and a second object; moving the first object from the pre-movement area to the post-movement area; After the first object is moved to the moved area, imaging the first object and the moved area by an image sensor to generate a first image; identifying a position of the first object on the moved area based on the first image; estimating a plurality of first arrangement pattern candidates based on the recognized position of the first object, the plurality of first arrangement pattern candidates corresponding to final arrangement patterns of the plurality of objects on the moved area; displaying the plurality of first configuration pattern candidates on a display unit; selecting the first candidate from among the plurality of first arrangement pattern candidates when the first candidate corresponds to a target arrangement pattern of a plurality of objects on the moved area; When the plurality of first arrangement pattern candidates do not include the target arrangement pattern, moving the second object from the pre-movement area to the post-movement area; After the first object and the second object are moved to the moved area, imaging the first object and the second object and the moved area by an image sensor to generate a second image; identifying a position of a second object on the moved area based on the second image; estimating a plurality of second arrangement pattern candidates based on the recognized positions of the first and second objects, the plurality of second arrangement pattern candidates corresponding to final arrangement patterns of the plurality of objects on the moved area; displaying a plurality of second configuration pattern candidates on the display unit; selecting the second candidate from among the plurality of second arrangement pattern candidates when the second candidate corresponds to a target arrangement pattern of the plurality of objects on the moved area; generating an action program for the robot based on the first candidate or the second candidate; as well as The robot is operated to operate a plurality of objects in response to the motion program.

2. The teaching method according to claim 1, further comprising: The memory stores the first candidate from among the plurality of first arrangement pattern candidates displayed on the display unit, or stores the second candidate from among the plurality of second arrangement pattern candidates displayed on the display unit as an arrangement pattern.

3. The teaching method according to claim 2, wherein: The motion program of the robot is generated using the target configuration pattern stored in the memory.

4. The teaching method according to any one of claims 1 to 3, wherein: The multiple objects have at least one difference among type, shape, size, color, pattern, and material. identifying the positions of the plurality of objects according to the different points, Each of the plurality of first arrangement pattern candidates and the plurality of second arrangement pattern candidates is estimated in consideration of the difference.

5. The teaching method according to claim 1, wherein: In addition to the position of the first object, the posture of the first object disposed on the moved area is also recognized. The plurality of first arrangement pattern candidates are estimated in consideration of the posture of the first object.

6. The teaching method according to claim 1, wherein: Repeating the movement, position recognition, and estimation of the first object until the number of the plurality of first arrangement pattern candidates reaches n or less, where n is an integer greater than or equal to 3. The estimated n first configuration pattern candidates are displayed.

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