Evaluation device and evaluation method for motion tracks

Abstract

An evaluation device (200) for the motion trajectory (W) of a robot hand (50) includes: a calculation unit (210); and a storage unit (250). The storage unit (250) stores data on at least one of the attention area of ​​the robot hand (50) and the attention area held on the workpiece (20) of the robot hand, and data on the motion trajectory (W) of the robot hand (50). The calculation unit (210) calculates a first vector (A1) representing the movement direction of the robot hand (50) based on the data of the motion trajectory (W) of the robot hand (50), calculates a second vector (A2) from the center of the robot hand (50) toward the attention area based on the data of the attention area, and calculates an evaluation value (B) of the motion trajectory (W) of the robot hand (50) based on the first vector (A1) and the second vector (A2).

Description

Technical Field

[0001] The techniques disclosed in this specification relate to techniques for evaluating the motion trajectories of a robot hand. Background Technology

[0002] As a type of industrial robot, there exists a collaborative robot that works with operators to perform prescribed tasks. As prior art related to collaborative robots, there are Patent Document 1 and Patent Document 2.

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 2020-197790

[0006] Patent Document 2: Japanese Patent Application Publication No. 2018-192556 Summary of the Invention

[0007] The problem that the invention aims to solve

[0008] When working around a robot, the robot arm or the workpiece held by the robot arm may move during the operation, so the operator needs to pay attention to the robot arm's movement trajectory.

[0009] The subject of the technology disclosed in this specification is to provide an evaluation device and evaluation method for evaluating the motion trajectory of a robot hand in order to draw the attention of an operator.

[0010] Technical solutions for solving the problem

[0011] The technology disclosed in this specification is an evaluation device for the motion trajectory of a robot hand, comprising: a calculation unit; and a storage unit, wherein the storage unit stores data of at least one of the attention points of the robot hand and the attention points held on the workpiece of the robot hand, and data of the motion trajectory of the robot hand; the calculation unit calculates a first vector representing the movement direction of the robot hand based on the motion trajectory data of the robot hand, calculates a second vector representing the direction of the attention points originating from the center of the robot hand based on the attention point data, and calculates an evaluation value of the motion trajectory of the robot hand based on the first vector and the second vector.

[0012] In this structure, by evaluating the movement trajectory of the robot hand, it is possible to draw the attention of workers performing tasks around the robot.

[0013] As one embodiment of the evaluation device disclosed in this specification, the magnitude of the first vector may be constant, independent of the attention area, and the magnitude of the second vector may be larger as the attention level of the attention area increases. Attention level can be determined based on any one of the shape, material, and temperature of the attention area. Alternatively, it can be determined based on a combination of these factors. In this structure, the motion trajectory of the robot hand can be evaluated by considering the attention level of the attention area.

[0014] As one embodiment of the evaluation device disclosed in this specification, the evaluation value may also be the inner product of the first vector and the second vector. In this configuration, the robot hand's motion trajectory can be evaluated based on the relationship between the robot hand's movement direction and the direction of the attention area.

[0015] As one embodiment of the evaluation device disclosed in this specification, the evaluation value may also be the product of the inner product of the first vector and the second vector and the moving speed of the robot hand. In this configuration, the robot hand's motion trajectory can be evaluated considering its moving speed.

[0016] As one embodiment of the evaluation device disclosed in this specification, the arithmetic unit may automatically correct the movement speed of the robot hand to bring the evaluation value below a threshold. In this configuration, the evaluation value can be suppressed below the threshold, reducing the risk to workers operating around the robot.

[0017] As one embodiment of the evaluation device disclosed in this specification, the evaluation results of the motion trajectory can also be displayed on a display unit. By displaying the evaluation results, the attention of operators working around the robot can be drawn.

[0018] Invention Effects

[0019] This technology allows for the evaluation of a robot's hand's motion trajectory. By evaluating the motion trajectory, it's possible to draw the attention of workers operating around the robot. Attached Figure Description

[0020] Figure 1 This is a side view of the robot.

[0021] Figure 2 It is a 3D image of a robotic hand.

[0022] Figure 3 This is a block diagram of a work robot.

[0023] Figure 4 This is a block diagram of the evaluation device.

[0024] Figure 5It is a 3D diagram representing the movement trajectory of a robot hand.

[0025] Figure 6 This is a top view showing the movement trajectory of the robot's hand.

[0026] Figure 7 This is an explanatory diagram of the evaluation method for motion trajectories.

[0027] Figure 8 It is a diagram representing the evaluation criteria for motion trajectories.

[0028] Figure 9 It is a graph representing the evaluation results of the motion trajectory.

[0029] Figure 10 This is a graph showing an example of the evaluation results.

[0030] Figure 11 It is the evaluation sequence of the motion trajectory.

[0031] Figure 12 It is a subroutine of S50.

[0032] Figure 13 This is a graph showing an example of the evaluation results.

[0033] Figure 14 It is a 3D diagram of the work robot.

[0034] Figure 15 This is an explanatory diagram of the parts to pay attention to.

[0035] Figure 16 This is an explanatory diagram of the parts to pay attention to.

[0036] Figure 17 This is a side view of the robot. Detailed Implementation

[0037] <Implementation Method 1>

[0038] 1. Description of the work robot 30 and the evaluation device 200

[0039] The work robot 30 performs prescribed tasks such as processing or assembling the workpiece 20, which is the object of the work. The work robot 30 can be a collaborative robot that works with an operator to perform the prescribed tasks, or it can be a robot that performs the tasks independently.

[0040] like Figure 1 As shown, the working robot 30 is a vertical multi-joint robot consisting of a base 31, a rotating body 35, and an arm mechanism 41. Figure 1 In this diagram, the vertical direction is designated as the Z-direction. The two directions orthogonal to the Z-direction are designated as the X-direction and Y-direction. The same applies to other diagrams.

[0041] The rotating body 35 is mounted on the base 31 via the shaft 33. The rotating body 35 is capable of rotating in the circumferential direction (R direction) around the shaft 33.

[0042] The arm mechanism 41 is mounted on the rotating body 35. The arm mechanism 41 consists of a first arm 42, a second arm 43, and a third arm 44, and each arm 42 to 44 can move independently (and can rotate around the motor shaft).

[0043] like Figure 2 As shown, a robotic hand 50 is mounted on the front end of the third arm 44. The robotic hand 50 has a cylindrical cylinder 51 and a pair of opposing clamping plates 52 and 53.

[0044] A pair of clamping plates 52 and 53 are opened and closed by air drive, which can hold the workpiece 20, which is the object of the operation. Specifically, the workpiece 20 can be held so that the reference point of the workpiece 20 is aligned with the center P of the hand. The reference point of the workpiece 20 can be the center of the workpiece.

[0045] The teaching device 150 is a device that teaches the operation of the work robot 30 by remotely operating the work robot 30 to make the workpiece 20 move and perform other operations.

[0046] Figure 3 This is a block diagram showing the electrical structure of the work robot 30. The work robot 30 includes a controller 81, a storage unit 83, and drive motors M1 to M4.

[0047] Drive motor M1 is mounted on the outer circumferential surface of shaft 33. Drive motors M2 to M4 are assembled at the joints of arms 42 to 44. Drive motors M1 to M4 are equipped with position sensors S1 to S4, which can detect the rotation angle of the motor shaft.

[0048] The control program PX for the storage robot 30 in the storage section 83. The control program PX is a program that controls the rotation angle and speed of each motor M1 to M4.

[0049] The controller 81 controls each drive motor M1 to M4 according to the control program PX, thereby enabling the work robot 30 to perform prescribed operations such as moving the workpiece 20.

[0050] Figure 4 This is a block diagram of the evaluation device 200. The evaluation device 200 includes an arithmetic unit 210 (such as a CPU), a connection unit 220, an input unit 230, a display unit 240, and a storage unit 250. The evaluation device 200 can be connected to the work robot 30 via the connection unit 220. The evaluation device 200 can be, for example, a laptop computer.

[0051] The evaluation device 200 is a device for evaluating the motion trajectory W of the robot hand 50, and the storage unit 250 stores the evaluation program PY for evaluating the motion trajectory W of the robot hand 50. In addition, the storage unit 250 stores the data required for evaluating the motion trajectory W.

[0052] The data required for evaluating the motion trajectory W includes the data in (a) to (c) below. Additionally, data on the movement speed V of the robot arm 50 may also be included. When the focus is on both the robot arm 50 and the workpiece 20, (c) may also include data for each focus area.

[0053] (a) Data of the motion trajectory W of the robot hand 50

[0054] (b) Data of robot arm 50 and workpiece 20

[0055] (c) Data on the areas of concern for the robot arm 50 or workpiece 20.

[0056] 2. Evaluation method for motion trajectory W

[0057] The evaluation device 200 calculates the evaluation value B of the motion trajectory W based on the first vector A1 and the second vector A2.

[0058] Figure 5 , Figure 6 This represents an example of the motion trajectory W of the robot arm 50. "P1" to "P4" are the centers of the robot arm 50. The robot arm 50, holding the workpiece 20, ... The movement trajectory W moves.

[0059] Workpiece 20 is elongated in one direction and has triangular protrusions 21 and 22 on both sides. Additionally, Figure 6 The “O” shown is the center of the working robot 30 (the center of the shaft 33).

[0060] The first vector A1 is a vector representing the direction of movement of the robot hand 50. When the motion trajectory W of the robot hand 50 consists of multiple consecutive actions, the first vector A1 is calculated for each action.

[0061] In the above case, the motion trajectory W consists of the first motion of the robot hand 50 moving from "P1" to "P2", the second motion of moving from "P2" to "P3", and the third motion of moving from "P3" to "P4".

[0062] In the case of the robot hand 50's first movement from "P1" to "P2", the first vector A1 is a vector originating from "P1" and moving towards the next point "P2". That is, it is the vector in the direction of the straight line L1 connecting the two points P1 and P2.

[0063] In the second action where the robot arm 50 moves from "P2" to "P3", the first vector A1 is a vector originating from "P2" and moving towards the next point "P3". That is, it is the vector in the direction of the straight line L2 connecting the two points P2 and P3.

[0064] Furthermore, in the third action where the robot arm 50 moves from "P3" to "P4", the first vector A1 is a vector originating from "P3" and pointing towards the next point "P4". That is, it is the vector along the direction of the straight line L3 connecting the two points P3 and P4. Thus, the orientation of the first vector A1 changes according to each action of the robot arm 50.

[0065] The second vector A2 is a vector representing the direction of the area of ​​attention of the robot hand 50 or the area of ​​attention of the workpiece 20 held by the robot hand 50.

[0066] The area to be noted can be determined by the operator based on the shape of the robot arm 50 and the workpiece 20. Alternatively, it can be determined automatically by a computer.

[0067] In this example, one of the protrusions 21 and 22 on the two sides of the workpiece (right side) has a sharper shape than the other (left side) protrusion 22. Therefore, the front end M of one of the protrusions 21 is designated as the attention part 25 (see reference). Figure 7 ).

[0068] The second vector A2 can be calculated based on the data from the attention area 25. Specifically, the orientation of the second vector A2 is from the center P of the robot hand 50 toward the attention area 25.

[0069] In this example, since the front end M of the workpiece 20 is the attention point 25, the second vector A2 is a vector originating from the center P of the robot hand 50 and pointing towards the front end M of the workpiece 20 held by the hand 50. That is, it is a vector in the direction of the straight line PM connecting the center P of the robot hand 50 and the front end M of the workpiece 20 (see reference). Figure 7 ).

[0070] The magnitude (length) of the first vector A1 is constant and does not depend on the attention level of the attention point 25.

[0071] The higher the attention level of the attention point 25, the larger the size (length) of the second vector A2.

[0072] Attention level can be determined based on the shape of the attention area 25. For example, the sharper the shape of the attention area 25, the higher the attention level. Attention level can be set to three levels: "high," "medium," and "low." Attention level can be determined by the operator based on prescribed evaluation criteria, or it can be determined automatically by a computer. The attention level setting is not limited to three levels; it can also be two or four levels.

[0073] The evaluation value B of the motion trajectory W is the inner product of the first vector A1 and the second vector A2, which can be obtained by equation (1). The symbol “·” indicates the inner product.

[0074] B=A1·A2=|A1| |A2|COSθ… (1) Formula

[0075] |A1| is the magnitude of the first vector, and |A2| is the magnitude of the second vector. Additionally, "θ" is the angle between the two vectors A1 and A2. Figure 7 (The angle formed).

[0076] The higher the attention level of the attention point 25, the smaller the angle θ between the two vectors A1 and A2, the larger the evaluation value B obtained by equation (1).

[0077] The higher the attention level of the attention point 25, and the smaller the angle θ between the two vectors A1 and A2, the more attention the operator needs to pay to the movements of the robot arm 50 and the workpiece 20 held by the robot arm 50. Therefore, when working around the robot, a larger evaluation value B indicates a higher risk, requiring more attention from the operator. Conversely, a smaller evaluation value B indicates a lower risk, reducing the need for attention. In this way, the evaluation value B can be used to evaluate the motion trajectory W of the robot arm 50. That is, for an operator working around the robot, the risk of the robot arm 50's movements can be assessed.

[0078] In addition, the reason for noting that when the angle θ is small is that if the angle θ is small, the direction of movement of the robot arm 50 is roughly the same as the direction of the attention part 25 of the workpiece 20. Therefore, when the operator is in the direction of movement of the robot arm 50, the attention part 25 will move toward the operator.

[0079] In this embodiment, the motion trajectory W of the robot hand 50 consists of a first motion moving from P1 to P2, a second motion moving from P2 to P3, and a third motion moving from P3 to P4. Therefore, an evaluation value B is calculated for each of the above motions.

[0080] As shown in equation (2), in the order of the first action, the second action, and the third action, the angle θ of the two vectors A1 and A2 increases from small to large. Therefore, as shown in equation (3), in the order of the evaluation value B1 of the first action, the evaluation value B2 of the second action, and the evaluation value B3 of the third action, the evaluation values ​​B1 to B3 decrease from large to small.

[0081] θ1<θ2<θ3…(2)

[0082] B3<B2<B1…(3)

[0083] Therefore, the risk should be ranked from high to low according to the order of the first, second, and third actions with the highest evaluation value B, and operators should pay attention to these actions.

[0084] In this example, such as Figure 8 , Figure 9 As shown, the evaluation value B is compared with thresholds K1 and K2, and graded into three levels: "small," "medium," and "large," to evaluate the motion trajectory W. The grading is not limited to three levels; it can also be two levels: "small" and "large." Alternatively, it can be four or more levels.

[0085] Figure 10 This is an example of displaying the evaluation results of the motion track W. The evaluation results can be displayed on the display unit 240 of the evaluation device 200. Figure 10 The "O" shown is the center of the working robot 30 (the center of the shaft 33). In this example, the first vector A1 is used to represent the motion trajectory W of the robot hand 50.

[0086] That is, three first vectors A11, A12, and A13 are used to represent the first action from P1 to P2, the second action from P2 to P3, and the third action from P3 to P4. Furthermore, the display color changes according to the rating value B, and the first vectors A11 to A13 are displayed.

[0087] For example, if the rating value B is "large", the display color will be set to "red"; if the rating value B is "medium", the display color will be set to "yellow"; and if the rating value B is "small", the display color will be set to "blue".

[0088] In this example, since the evaluation value B1 of the first action is "large", the first vector A11 of the first action is displayed in "red". Since the evaluation value B2 of the second action is "medium" and the evaluation value B3 of the third action is "small", the first vector A12 of the second action is displayed in "yellow" and the first vector A13 of the third action is displayed in "blue".

[0089] In this way, by changing the display color of the first vectors A11 to A13 representing each action of the robot hand 50, the evaluation results of each action of the robot hand 50 can be indicated to the operator. That is, the display color of the first vectors A11 to A13 can indicate the degree of risk of each action (red: high risk, blue: low risk).

[0090] Next, the evaluation sequence of motion trajectory W will be explained (refer to...). Figure 11 The evaluation sequence consists of seven steps, S10 to S70, and is executed before the operation of the work robot 30 begins.

[0091] First, in S10, the operator registers data of the robot arm 50 and the workpiece 20 with the evaluation device 200.

[0092] The data for the robot arm 50 includes its external shape and the coordinates of its center P. The center P can be the center of the cylinder body 51. The data for the workpiece 20 includes its external shape and the coordinates of its reference point (center). Data registration can be performed using specified application software. The registered data for the robot arm 50 and workpiece 20 are stored in the storage unit 250.

[0093] Then, in S20, the operator determines, based on the data of the robot arm 50 and the workpiece 20 registered in S10, whether there are any parts in the robot arm 50 and the workpiece 20 that need attention.

[0094] When a location is deemed to require attention, the operator registers the location 25 to be noted with the evaluation device 200 using the input unit 230. For example, if a protrusion 21 on the workpiece 20 is deemed to require attention, the protrusion 21 is input as a location 25 to be noted and stored in the storage unit 250. Specifically, the position information (coordinates) of the protrusion 21 on the workpiece 20 is stored as the position information of the location 25 to be noted.

[0095] In addition, the operator inputs and registers the attention level of the attention area 25 along with the attention area 25 itself. The attention level can be determined based on the shape of the attention area 25. The sharper the shape of the attention area 25, the higher the attention level is set. In this example, the attention level is set to three levels: "high," "medium," and "low." The attention level information is stored in the storage unit 250.

[0096] Subsequently, in S30, the operator teaches the robot arm 50 to perform actions on the work robot 30. The teaching of actions is carried out by remotely operating the work robot 30 through the teaching pendant 150, causing the workpiece 20 to move and other actual operations to be performed.

[0097] By teaching the robot 30 the actions, control data (control program PX) for the robot 30 is obtained. The control data consists of the shaft values ​​and speeds of each motor M1 to M4 used to execute the taught actions.

[0098] In S40, the operator reads the control data of the work robot 30 from the controller 81. Then, when the control data is read, the arithmetic unit 210 generates the motion trajectory W of the robot hand 50 based on the read control data, the data of the arm mechanism 40, and the data of the robot hand 50.

[0099] The motion trajectory W consists of the coordinates of the center points P1 to P4 of the robot hand 50, which are stored in the storage unit 250.

[0100] In S50, the calculation unit 210 of the evaluation device 200 calculates the evaluation value B of the motion track W. When the motion track W consists of multiple consecutive motions, the evaluation value B is calculated separately for each motion.

[0101] Specifically, such as Figure 6 As shown, the motion trajectory W of the robot hand 50 consists of three consecutive actions: the first action of moving from P1 to P2, the second action of moving from P2 to P3, and the third action of moving from P3 to P4. Therefore, the evaluation value B is calculated for each of the above actions.

[0102] like Figure 12 As shown, the evaluation value B can be calculated through three steps: S51, S53, and S55.

[0103] S51 is the step of calculating the first vector A1. In S51, the arithmetic unit 210 reads the motion trajectory W data of the robot hand 50 from the storage unit 250. Then, based on the read motion trajectory W data of each motion, the first vector A1 of each motion is calculated.

[0104] S53 is the step of calculating the second vector A2. In S53, the arithmetic unit 210 reads the data of the attention part 25 from the storage unit 250, and calculates the second vector A2 based on the read data of the attention part 25.

[0105] S55 is the step of calculating the inner product of the first vector A1 calculated in S51 and the second vector A2 calculated in S53. The inner product can be calculated using equation (1) above. The arithmetic unit 210 performs the calculation of S55 for each action of the robot hand 50. As a result, the evaluation value B for each action is obtained.

[0106] Then, the process moves to S60, where the calculation unit 210 compares the evaluation values ​​B1 to B3 of each action with thresholds K1 and K2, and performs a classification (see reference). Figure 9 ).

[0107] Then, the process moves to S70, where the arithmetic unit 210 displays the evaluation result of the motion trajectory W to the display unit 240. For example, as... Figure 10 As shown, the display colors of the first vectors A11 to A13 are changed according to the evaluation values ​​B1 to B3 of each action.

[0108] The evaluation device 200 can be loaded and unloaded from the work robot 30, and can be unloaded after the evaluation results are displayed, so that it can be used for work.

[0109] 3. Effect Description

[0110] In this structure, based on the evaluation results of the robot hand 50's motion trajectory W, the operator can be aware in advance of any risks around the robot, prompting the operator to pay attention. This technology is effective for risk assessment of operations around the robot 30.

[0111] <Implementation Method 2>

[0112] In Implementation 1, the evaluation value B of the motion track W is calculated using equation (1). In Implementation 2, the evaluation value B of the motion track W is calculated using equation (4).

[0113] B = |A1||A2|COSθ×V…(4)

[0114] V is the moving speed of the robot arm, which is 50.

[0115] By incorporating the movement speed V of the robot hand 50 into the formula for calculating the evaluation value B, the movement trajectory W of the robot hand 50 can be evaluated considering the movement speed V.

[0116] Furthermore, when the evaluation value B is calculated using the movement speed V, the movement speed V can be automatically corrected to ensure that the evaluation value B is below the threshold K. The threshold K refers to K1 and K2 as described in Implementation 1 (see...). Figure 8 ).

[0117] For example, if the "evaluation value B" is larger than the "threshold K2", the movement speed V can be automatically corrected so that the movement speed V is slower than before the correction, in order to satisfy equation (5).

[0118] K2≥|A1||A2|COSθ×V…(5)

[0119] By adjusting the movement speed V, the evaluation value B can be reduced to "K2" or lower, thus lowering the risk to workers operating around the robot. Furthermore, the adjustment of the movement speed V should ideally be performed in units of motion of the robot 30.

[0120] <Implementation Method 3>

[0121] The method for displaying the evaluation results of the motion trajectory W differs from that of implementation method 1 in implementation method 3.

[0122] Figure 13 This is an example of the evaluation results for motion trajectory W. Figure 13 The "O" shown is the center of the work robot 30 (the center of the shaft 33). In this example, the area around the work robot 30 is divided into four work areas S1 to S4, and the evaluation results of the motion trajectory W are displayed for each area S1 to S4.

[0123] For example, if it is region S4, then the evaluation value B1 of the first action contained in region S4 is set as the evaluation value B1 of the action trajectory W of region S4. Figure 10 In the explicit example, for each region S1 to S4, the evaluation value B of the motion trajectory W is represented by text information such as "large", "medium", and "small".

[0124] In addition, when multiple actions are contained within the same region S, the largest evaluation value B among the evaluation values ​​B of the multiple actions can be used as the evaluation value B of the action trajectory W in that region S.

[0125] By displaying the evaluation value B of each area S1 to S4, it is possible to indicate whether there is a risk in the work areas S1 to S4 that may be entered during the operation, whether attention is needed, and to judge the materials.

[0126] In addition, such as Figure 13 As shown, in addition to the evaluation results of each region S1 to S4, the first vectors A11 to A13 can also be displayed. Furthermore, similar to Embodiment 1, the display color of the first vectors A11 to A13 can be changed according to the "evaluation value B".

[0127] The embodiments have been described in detail above, but these are merely illustrative and do not limit the scope of protection. The technology described in the scope of protection includes technologies that have undergone various modifications and alterations to the specific examples described above.

[0128] (1) In Embodiment 1, a vertical articulated robot 30 is illustrated as an example of a work robot. The work robot is not limited to a vertical articulated robot. For example, it could also be... Figure 14 The SCARA robot (horizontal joint robot) 300 shown is shown.

[0129] (2) In Embodiment 1, a chuck-type holding structure is shown as the holding structure of the robot arm 50 for the workpiece 20, but a holding structure using negative pressure can also be used.

[0130] (3) In Embodiment 1, the operator's attention is drawn to the operation by displaying the evaluation results of the motion track (specifically, evaluation values ​​B1 to B3) on the display unit 240. The method of utilizing the evaluation results is not limited to display. A warning sound may also be emitted. For example, a buzzer may be sounded during the first motion when the evaluation value B is large, with the aim of drawing the operator's attention.

[0131] (4) In Embodiment 1, the front end of the protrusion 21 on the right side of the workpiece 20 is designated as a point of attention, but there can be multiple points of attention. For example, such as Figure 15 As shown, the front ends of the protrusions 21 and 22 on both sides of the workpiece 20 can also be designated as attention points 25A and 25B, respectively. "A2a" is the second vector of attention point 25A, and "A2b" is the second vector of attention point 25B. When there are multiple attention points, an evaluation value B is calculated for each action based on each attention point. Furthermore, the worst-case scenario, i.e., the largest evaluation value B, can be used as the evaluation value B for that action to evaluate the motion trajectory W.

[0132] (5) In Embodiment 1, a portion of the workpiece 20 is designated as the attention area 25, but a portion of the robot arm 50 can also be designated as the attention area. For example, Figure 16 As shown, the two ends of clamping plates 52 and 53 can also be designated as attention areas 55A and 55B. "A2a" is the second vector of attention area 55A, and "A2b" is the second vector of attention area 55B.

[0133] Furthermore, the evaluation of the motion trajectory W is not limited to the case where the robot hand 50 moves while holding the workpiece 20, but can also include the case where it moves without holding the workpiece 20.

[0134] (6) In Embodiment 1, the evaluation value B of the motion track W is calculated using equation (1). In Embodiment 2, the evaluation value B of the motion track W is calculated using equation (4). The evaluation value B is not limited to equations (1) and (4) as long as it is calculated based on the first vector A1 and the second vector A2. It can also be calculated using other methods. For example, it can also be calculated based solely on the angle θ of the two vectors A1 and A2.

[0135] (7) In Implementation 1, the size of the second vector A2 is determined based on the degree of attention of the attention area 25, but it can also be set to a constant value without depending on the degree of attention, just like the first vector A1.

[0136] (8) In Embodiment 1, the "level of attention" is determined based on the shape of the attention-grabbing part 25. The "level of attention" can be determined based on any one of the shape, material, and temperature of the attention-grabbing part 25. Alternatively, it can be determined based on a combination of these factors. When shape is used as the determining factor, the sharper the shape of the attention-grabbing part 25, the higher the level of attention. When material is used as the determining factor, the harder the material of the attention-grabbing part 25, the higher the level of attention. When temperature is used as the determining factor, the higher the temperature of the attention-grabbing part 25, the higher the level of attention.

[0137] (9) In Implementation 1, the first vector A1 and the second vector A2 are set as two-dimensional (XY) vectors, but the first vector A1 and the second vector A2 can also be three-dimensional (XYZ) vectors.

[0138] (10) such as Figure 17 As shown, this technology can also be applied to work robots 330 that move using conveying devices 310 such as AGVs (Automatic Guided Vehicles). Furthermore, the workpiece 20 is not limited to the shape disclosed in the embodiments and can also be other shapes.

[0139] Label Explanation

[0140] 20 workpieces

[0141] 25. Pay attention to the following areas

[0142] 30 work robots

[0143] 50 robotic arms

[0144] 200 Evaluation Device

[0145] 210 Computing Department

[0146] 240 Display Section

[0147] 250 Storage Unit

[0148] A1 First Vector

[0149] A2 Second Vector

[0150] B rating

[0151] W Action Track

Claims

1. An evaluation device for the motion trajectory of a robotic hand, wherein, include: Arithmetic unit; and Storage Department The storage unit stores at least data on the attention area of ​​the workpiece held by the robotic arm and data on the movement trajectory of the robotic arm. Based on the motion trajectory data of the robot hand, the computing unit calculates a first vector representing the direction of movement of the robot hand. Based on the data from the area of ​​attention, the computing unit calculates a second vector representing the direction of the area of ​​attention, originating from the center of the robot hand. The computation unit calculates an evaluation value for the robot hand's motion trajectory based on the first vector and the second vector. The evaluation results of the motion track are displayed on the display unit by changing the display color according to the evaluation value level.

2. The evaluation device according to claim 1, wherein, The magnitude of the first vector is constant and does not depend on the location of attention. The higher the level of attention at the attention point, the larger the magnitude of the second vector.

3. The evaluation device according to claim 1 or 2, wherein, The evaluation value is the inner product of the first vector and the second vector.

4. The evaluation device according to claim 1 or 2, wherein, The evaluation value is the product of the inner product of the first vector and the second vector and the moving speed of the robot hand.

5. The evaluation device according to claim 4, wherein, The computing unit corrects the movement speed of the robot hand so that the evaluation value is below the threshold.

6. A method for evaluating the motion trajectory of a robot hand, wherein, Based on the motion trajectory data of the robot hand, a first vector representing the direction of movement of the robot hand is calculated; Based on data of the attention area of ​​the workpiece held by the robotic hand, a second vector is calculated from the center of the robotic hand toward the attention area; and Based on the first vector and the second vector, the evaluation value of the robot hand's motion trajectory is calculated. The evaluation results of the motion track are displayed on the display unit by changing the display color according to the evaluation value level.

7. An evaluation device for the motion trajectory of a robotic hand, wherein, include: Arithmetic unit; and Storage Department The storage unit stores at least data on the attention area of ​​the workpiece held by the robotic arm and data on the movement trajectory of the robotic arm. Based on the motion trajectory data of the robot hand, the computing unit calculates a first vector representing the direction of movement of the robot hand. The computation unit calculates a second vector representing the direction of the attention area, originating from the center of the robot hand, based on data of the attention area on the workpiece held by the robot hand. The computation unit calculates an evaluation value of the motion trajectory of the robot hand holding the workpiece based on the inner product of the first vector and the second vector. The evaluation results of the motion track are displayed on the display unit by changing the display color according to the evaluation value level.

8. An evaluation device for the motion trajectory of a robotic hand, wherein, include: Arithmetic unit; and Storage Department The storage unit stores at least data on the attention area of ​​the workpiece held by the robotic arm and data on the movement trajectory of the robotic arm. When the robot hand's motion trajectory consists of multiple consecutive movements, Based on the motion trajectory data of the robot hand, the computing unit calculates a first vector representing the movement direction of the robot hand for each of multiple consecutive movements. Based on the data from the area of ​​attention, the computing unit calculates a second vector representing the direction of the area of ​​attention, originating from the center of the robot hand. The computation unit calculates the evaluation values ​​of multiple consecutive movements constituting the motion trajectory of the robot hand based on the inner product of the first vector and the second vector. The evaluation results of the motion track are displayed on the display unit by changing the display color according to the evaluation value level.

9. An evaluation device for the motion trajectory of a robot hand, wherein, include: Arithmetic unit; and Storage Department The storage unit stores at least data on the attention area of ​​the workpiece held by the robotic arm and data on the movement trajectory of the robotic arm. Based on the motion trajectory data of the robot hand, the computing unit calculates a first vector representing the direction of movement of the robot hand. Based on the data from the area of ​​attention, the computing unit calculates a second vector representing the direction of the area of ​​attention, originating from the center of the robot hand. The computation unit calculates an evaluation value for the robot hand's motion trajectory based on the first vector and the second vector. The evaluation results of the motion track are displayed on the display unit by changing the display color according to the evaluation value level. The magnitude of the second vector is calculated based on the level of attention paid to the area of ​​attention. The degree of attention paid to the area of ​​attention is determined based on any one of the material and temperature of the area of ​​attention, or based on a combination of the shape, material, and temperature of the area of ​​attention.

10. An evaluation device for the motion trajectory of a robotic hand, wherein, include: Arithmetic unit; and Storage Department The storage unit stores at least data on the attention area of ​​the workpiece held by the robotic arm and data on the movement trajectory of the robotic arm. Based on the motion trajectory data of the robot hand, the computing unit calculates a first vector A1 representing the direction of movement of the robot hand. Based on the data of the area of ​​attention, the computing unit calculates a second vector A2, which represents the direction of the area of ​​attention, originating from the center of the robot hand. The computation unit calculates the evaluation value B of the robot hand's motion trajectory using the vector operation formula (1) of the inner product. The evaluation results of the motion track are displayed on the display unit by changing the display color according to the evaluation value B. B=A1·A2=|A1||A2|COSθ… (1), Where "B" is the evaluation value of the motion trajectory, "A1" is the first vector, "A2" is the second vector, "·" is the symbol for the inner product, "|A1|" is the magnitude of the first vector, "|A2|" is the magnitude of the second vector, and "θ" is the angle between the two vectors A1 and A2.

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