Off-line simulation device

Abstract

The operation of the robot by executing the robot program and the generation of the operation path of the robot by automatically generating the path are simultaneously executed offline. An off-line simulation device includes: an off-line program execution unit that executes a robot program to simulate an operation in which a robot takes out a workpiece in an off-line simulation environment in which the robot, a plurality of workpieces taken out by the robot, and a vision sensor that detects the plurality of workpieces are disposed in a virtual space; an automatic path generation execution unit that copies the off-line simulation environment and generates an operation path of the operation of the robot in the copied off-line simulation environment; and an adjustment unit that corrects the robot program and / or adjusts parameters of the operation path on the basis of the simulated operation of the robot and the generated operation path.

Description

Technical Field

[0001] The present invention relates to an offline simulation device, which simulates the actions of a robot and generates an action path offline. Background Art

[0002] Offline programming tools are provided to meet the requirements of confirming the layout, setting, and operation of the robot system offline in order to complete the on-site production work in a short time.

[0003] In addition, there is automatic path generation for automatically generating a robot's motion path. In path generation, a system identical to that in the actual space is prepared in a virtual space, a path is generated in the virtual space, and the successfully generated path is sent to a robot control device to cause the robot to move.

[0004] For example, the following technology is known: a weld line is extracted based on a three-dimensional CAD file storing three-dimensional shape information of a work object, and for each weld line, a work action path is automatically generated for a weld line for which a teaching-free function is selected, and for a work line that interferes with the overall path simulation function, an offline teaching function is used to correct the work action path. For example, refer to Patent Document 1.

[0005] Prior art literature

[0006] Patent Literature

[0007] Patent Document 1: Japanese Patent Application Publication No. 2000-190264 Summary of the invention

[0008] Problems to be solved by the invention

[0009] However, in the prior art, since there is only one offline simulation environment in which robots, workpieces, etc. are configured in a virtual space, it is difficult to simultaneously execute the robot program and generate the robot's motion path in an offline simulation environment, for example, in the case of a depalletizing system for corrugated cardboard boxes or bulk removal of workpieces.

[0010] Therefore, it is desirable to simultaneously execute offline: the motion of the robot by executing the robot program and the generation of the motion path of the robot by automatic path generation.

[0011] Means for solving problems

[0012] One method of the offline simulation device disclosed in the present invention comprises: an offline program execution unit, which executes a robot program in an offline simulation environment to simulate the action of a robot taking out a workpiece, wherein the offline simulation environment is an environment in which a robot, a plurality of workpieces in a pile taken out by the robot, and a visual sensor for detecting the plurality of workpieces are configured in a virtual space; an automatic path generation execution unit, which copies the offline simulation environment and generates a motion path for the action of the robot in the copied offline simulation environment; and an adjustment unit, which corrects the robot program and / or adjusts the parameters of the motion path based on the simulated action of the robot and the generated motion path.

[0013] One method of the offline simulation device disclosed in the present invention comprises: an offline program execution unit, which executes a robot program in an offline simulation environment to simulate the action of a robot taking out a workpiece, wherein the offline simulation environment is an environment in which a robot, a plurality of workpieces in a pile taken out by the robot, and a visual sensor for detecting the plurality of workpieces are arranged in a virtual space; an automatic path generation execution unit, which generates an action path of the action of the robot in the offline simulation environment; a storage unit, which maintains the execution status of the robot program in the offline simulation environment performed by the offline program execution unit and the execution status of the generation of the action path in the offline simulation environment performed by the automatic path generation execution unit; and an adjustment unit, which corrects the robot program and / or adjusts the parameters of the action path based on the simulated action of the robot and the generated action path. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a diagram showing an example of the configuration of the robot system according to the first embodiment.

[0015] Figure 2 This is a functional block diagram showing an example of the functional configuration of the off-line simulation device according to the first embodiment.

[0016] Figure 3 This is a flowchart illustrating the offline processing of the offline simulation device.

[0017] Figure 4 This is a functional block diagram showing an example of the functional configuration of the off-line simulation device according to the second embodiment.

[0018] Figure 5 This is a flowchart illustrating the offline processing of the offline simulation device. DETAILED DESCRIPTION

[0019] <First Embodiment>

[0020] First, the outline of this embodiment is described. In this embodiment, the offline simulation device executes a robot program to simulate the robot's action of taking out the workpiece in an offline simulation environment in which a robot, a plurality of workpieces to be taken out by the robot, and a visual sensor for detecting the plurality of workpieces are configured in a virtual space. In addition, the offline simulation device copies the offline simulation environment and generates a robot's action path in the copied offline simulation environment. The offline simulation device corrects the robot program and / or adjusts the path generation parameters based on the simulated robot's action and the generated path.

[0021] Thus, according to the present embodiment, the operation of the robot by executing the robot program and the generation of the operation path of the robot by automatic path generation can be simultaneously performed offline.

[0022] The above is an overview of the present embodiment.

[0023] Figure 1 It is a diagram showing an example of the configuration of the robot system 100 according to the first embodiment.

[0024] like Figure 1 As shown, the robot system 100 includes an off-line simulation device 10 , a robot control device 20 , a robot 30 , a vision sensor 40 , a plurality of workpieces 50 , and a container 60 .

[0025] The offline simulation device 10, the robot control device 20, the robot 30, and the visual sensor 40 may also be directly connected to each other via a connection interface not shown in the figure. In addition, the offline simulation device 10, the robot control device 20, the robot 30, and the visual sensor 40 may also be connected to each other via a network not shown in the figure, such as a LAN (Local Area Network) or the Internet. In this case, the offline simulation device 10, the robot control device 20, the robot 30, and the visual sensor 40 are provided with a communication unit not shown in the figure for communicating with each other through the connection. In addition, for ease of explanation, Figure 1 The offline simulator 10 and the robot controller 20 are depicted as being independent of each other, but the offline simulator 10 in this case may be constituted by, for example, a computer. The offline simulator 10 is not limited to this configuration, and for example, the offline simulator 10 may be installed inside the robot controller 20 and integrated with the robot controller 20.

[0026] The robot control device 20 is a device known to those skilled in the art for controlling the operation of the robot 30. The robot control device 20 generates a control signal for controlling the operation of the robot 30 to remove the workpiece 50, based on, for example, the removal position information of the workpiece 50 detected by the visual sensor 40 described later among the bulk workpieces 50. Then, the robot control device 20 outputs the generated control signal to the robot 30.

[0027] The robot 30 is a robot that operates under the control of the robot control device 20. The robot 30 includes a base portion that rotates around an axis in the plumb direction, an arm portion that moves and rotates, and a removal hand 31 that is attached to the arm portion to hold the workpiece 50. Figure 1 Although the removal hand 31 of the robot 30 is equipped with a grasping type removal hand, it can also be equipped with an air adsorption type removal hand, or a magnetic hand that uses magnetic force to remove the iron workpiece.

[0028] In addition, illustration is omitted for peripheral equipment such as a conveyor as a transfer destination of the taken-out workpiece 50. In addition, since the specific structure of the robot 30 is well known to those skilled in the art, a detailed description thereof will be omitted.

[0029] Furthermore, the off-line simulator 10 or the robot control device 20 associates the machine coordinate system for controlling the robot 30 with the camera coordinate system of the vision sensor 40 indicating the picking position of the workpiece 50 through a calibration performed in advance.

[0030] The visual sensor 40 is a three-dimensional measuring machine such as a stereo camera, and obtains three-dimensional information (hereinafter also referred to as a "distance image") using the following distance converted as a pixel value: the distance between a plane perpendicular to the optical axis of the visual sensor 40 and each point on the surface of the bulk workpiece 50 in the container 60. For example, Figure 1 As shown, the pixel value of the point A of the workpiece 50 on the distance image is a pixel value converted from the distance between the visual sensor 40 and the point A of the workpiece 50 in the Z-axis direction of the three-dimensional coordinate system (X, Y, Z) of the visual sensor 40. That is, the Z-axis direction of the three-dimensional coordinate system is the optical axis direction of the visual sensor 40. In addition, the visual sensor 40 may also be configured to obtain three-dimensional point group data of a plurality of workpieces 50 loaded in the container 60, for example, by using a stereo camera.

[0031] In addition, the visual sensor 40 may acquire a two-dimensional image such as a grayscale image or an RGB image together with the distance image. In addition, the visual sensor 40 may be a digital camera or the like.

[0032] The workpieces 50 are placed in a disorderly manner including in a bulk state in the container 60. The workpieces 50 may be any workpiece that can be held by the removal hand 31 attached to the arm of the robot 30, and the shape thereof is not particularly limited.

[0033] The workpiece 50 may be a depalletization system such as cardboard boxes stacked on a pallet.

[0034] <Offline Simulation Device 10>

[0035] Figure 2 This is a functional block diagram showing an example of the functional configuration of the off-line simulation device 10 according to the first embodiment.

[0036] The off-line simulation device 10 is a computer known to those skilled in the art, such as Figure 2 As shown, the control unit 11 and the storage unit 12 are provided. In addition, the control unit 11 includes an offline program execution unit 110, an automatic path generation execution unit 111, an adjustment unit 112, and an output unit 113.

[0037] <Storage Unit 12>

[0038] The storage unit 12 is an SSD (Solid State Drive) or an HDD (Hard Disk Drive) or the like, and may store a robot program or an automatic path generation program or the like.

[0039] In addition, the storage unit 12 stores an offline simulation environment in which the robot program is executed offline by the offline program execution unit 110 described later, so that the robot configured in the virtual space can be operated. Figure 1 The storage unit 12 stores a replica of the offline simulation environment, so that the automatic path generation execution unit 111 described later can generate a path for the robot 30 to move based on a path generation request from the offline program execution unit 110.

[0040] In this way, the off-line simulation device 10 can simultaneously execute offline: the movement of the robot by executing the robot program and the generation of the movement path of the robot by automatic path generation.

[0041] In addition, a three-dimensional model of peripheral devices (not shown) of the robot system 100 may be configured in the offline simulation environment and the replica offline simulation environment.

[0042] <Control Unit 11>

[0043] The control unit 11 includes a CPU, a ROM, a RAM, a CMOS memory, and the like, and these communicate with each other via a bus, which is well known to those skilled in the art.

[0044] The CPU is a processor that controls the offline simulation device 10 as a whole. The CPU reads the system program and application program stored in the ROM via the bus, and controls the offline simulation device 10 as a whole according to the system program and application program. Figure 1 As shown, the control unit 11 is configured to realize the functions of an offline program execution unit 110, an automatic path generation execution unit 111, an adjustment unit 112, and an output unit 113. Various data such as temporary calculation data and display data are stored in the RAM. The CMOS memory is configured as a non-volatile memory, and the non-volatile memory is backed up by a battery (not shown) so that the storage state can be maintained even if the power supply of the offline simulation device 10 is disconnected.

[0045] The offline program execution unit 110 executes a robot program to simulate the operation of the robot 30 taking out the workpiece 50 in an offline simulation environment in which the robot 30 , the vision sensor 40 , the workpiece 50 , and the container 60 are arranged in a virtual space, for example.

[0046] Specifically, the offline program execution unit 110 receives an execution instruction of the robot program from the user offline via an input device (not shown) such as a keyboard or a touch panel, thereby executing the robot program. The offline program execution unit 110 outputs a path generation request of the motion path of the robot 30 in the offline simulation environment to the automatic path generation execution unit 111 described later in order to make the robot 30 take out the workpiece 50 detected by the visual sensor 40 from the generated virtual image in the offline simulation environment based on the robot program. In addition, the path generation request includes the position information of the workpiece 50 taken out in the offline simulation environment, etc.

[0047] The offline program execution unit 110 operates the robot 30 in the offline simulation environment to remove the workpiece 50 based on the path generated by the automatic path generation execution unit 111. Then, the offline program execution unit 110 executes the robot program in the offline simulation environment until the robot 30 removes all the workpieces 50 detected by the visual sensor 40 from the virtual image.

[0048] In addition, the offline program execution unit 110 may determine that the robot 30 and the hand will interfere with the three-dimensional model of the peripheral equipment (not shown) of the robot system 100 and cannot remove the workpiece 50 during the calculation of the removal position of the workpiece 50, thereby terminating the execution of the robot program.

[0049] For example, when receiving a path generation request from the offline program execution unit 110 , the automatic path generation execution unit 111 copies the offline simulation environment and generates a path for the operation of the robot 30 in the copied offline simulation environment.

[0050] Specifically, the automatic path generation execution unit 111 executes an automatic path generation program, and uses a known path generation method to generate a motion path for the robot 30 to take out the workpiece 50 in the replica offline simulation environment based on the position information of the workpiece 50 to be taken out included in the path generation request. In addition, the generated motion path can also be generated in the replica offline simulation environment in a manner that the robot 30 and the hand do not interfere with the three-dimensional model of the container 60 and the peripheral equipment (not shown). In addition, the generated motion path can also include a path for the robot 30 to move to the peripheral equipment (not shown) such as a conveyor after taking out the workpiece 50 in the replica offline simulation environment.

[0051] The automatic path generation execution unit 111 outputs the generated action path to the offline program execution unit 110 .

[0052] The adjustment unit 112 corrects the robot program and / or adjusts the motion path parameters based on, for example, the motion of the robot 30 simulated in the offline simulation environment and the motion path generated in the replica offline simulation environment.

[0053] Specifically, the adjustment unit 112 calculates the cycle time (e.g., average value or variance value, etc.), the number of failures in path generation (e.g., average value or variance value, etc.), the number of workpieces 50 that cannot be taken out (e.g., average value or variance value, etc.), etc., based on the results of the action of the robot 30 simulated in the offline simulation environment and the action path generated in the replica offline simulation environment. Here, the number of failures in path generation means, for example, the number of the following situations: in the replica offline simulation environment, on the action path for taking out the workpiece 50 from above that was initially generated, the robot 30 fails to take out the workpiece 50, and the automatic path generation execution unit 111 changes the taking-out position to the side of the workpiece 50, or changes another workpiece 50 to be taken out.

[0054] The adjustment unit 112 corrects the robot program such as the speed of the robot 30, correction / addition of the picking position, etc. based on the calculated cycle time, the number of failed path generation, the number of unremovable workpieces 50, etc. In addition, the adjustment unit 112 adjusts the parameters of path generation such as changes in the algorithm used for automatic path generation, the distance to obstacles such as the container 60 or peripheral equipment (not shown), etc. based on the calculated cycle time, the number of failed path generation, the number of unremovable workpieces 50, etc. The adjustment unit 112 stores the corrected robot program and the adjusted path generation parameters in the storage unit 12.

[0055] Furthermore, the adjustment unit 112 may display the calculated cycle time, the number of failed path generation, the number of workpieces 50 that could not be removed, etc., on a display device (not shown) such as a liquid crystal display included in the off-line simulation device 10 .

[0056] The output unit 113 outputs the corrected robot program and the adjusted path generation parameters to the robot control device 20 .

[0057] Thus, the robot control device 20 can adjust the robot 30 in the real space in a short time using the robot program corrected in the offline simulation and the parameters for path generation adjusted.

[0058] <Offline Processing of Offline Simulation Device 10>

[0059] Next, refer to Figure 3 The flow of the off-line processing by the off-line simulation device 10 will be described.

[0060] Figure 3 1 is a flowchart for explaining the offline processing of the offline simulation device 10. The flowchart shown here is executed every time the offline simulation device 10 receives an instruction from the user to execute the robot program offline.

[0061] In step S11 , when the offline program execution unit 110 receives an instruction to execute the robot program offline from the user via an input device (not shown) of the offline simulation device 10 , the robot program is executed.

[0062] In step S12 , the visual sensor 40 in the offline simulation environment photographs the container 60 and generates a virtual image, and detects the workpiece 50 from the generated image.

[0063] In step S13 , the off-line program execution unit 110 calculates the position of the workpiece 50 detected in step S12 based on the virtual image generated in step S12 , and outputs a route generation request including position information of the calculated position to the automatic route generation execution unit 111 .

[0064] In step S14 , when the automatic path generation execution unit 111 receives the path generation request, it executes the automatic path generation program, copies the offline simulation environment, and generates the motion path of the robot 30 in the copied offline simulation environment.

[0065] In step S15 , the off-line program execution unit 110 operates the robot 30 in the off-line simulation environment based on the operation path generated in step S14 to remove the workpiece 50 .

[0066] In step S16, the offline program execution unit 110 determines whether there is a removable workpiece 50 detected by the visual sensor 40 in the offline simulation environment. If there is a removable workpiece 50, the process returns to step S12. On the other hand, if there is no removable workpiece 50, the process proceeds to step S17.

[0067] In step S17 , the adjustment unit 112 corrects the robot program and / or adjusts the parameters of the motion path based on the motion of the robot 30 simulated in the offline simulation environment and the result of the motion path generated in the replica offline simulation environment.

[0068] In step S18 , the output unit 113 outputs the corrected robot program and the adjusted path generation parameters to the robot controller 20 .

[0069] As described above, the offline simulation device 10 of the first embodiment executes the robot program to simulate the action of the robot 30 taking out the workpiece 50 in the offline simulation environment in which the robot 30, the plurality of workpieces 50, and the visual sensor 40 are arranged in the virtual space. In addition, the offline simulation device 10 copies the offline simulation environment and generates the action path of the robot 30 in the copied offline simulation environment. Thus, the offline simulation device 10 can simultaneously execute offline: the action of the robot by executing the robot program and the generation of the action path of the robot by automatic path generation.

[0070] Furthermore, the offline simulation device 10 outputs the robot program and / or the parameters of the adjusted motion path, which are corrected based on the motion of the robot 30 simulated in the offline simulation environment and the motion path generated in the replica offline simulation environment, to the robot control device 20. In this way, the robot control device 20 can adjust the robot 30 in the real space in a short time using the robot program corrected in the offline simulation and the parameters generated by the adjusted path.

[0071] The first embodiment has been described above.

[0072] <Second Embodiment>

[0073] Next, the second embodiment is described. In the first embodiment, the offline simulation device 10 executes a robot program to simulate the robot's action of taking out a workpiece in an offline simulation environment in which a robot, a plurality of workpieces to be taken out in a pile, and a visual sensor for detecting the plurality of workpieces are configured in a virtual space. In addition, the offline simulation device 10 copies the offline simulation environment and generates a motion path of the robot in the copied copy of the offline simulation environment. In contrast, in the second embodiment, the difference from the first embodiment is that the offline simulation device 10A uses an offline simulation environment in which a robot, a plurality of workpieces to be taken out in a pile, and a visual sensor for detecting the plurality of workpieces are configured in a virtual space to store the execution status of the robot program and the execution status of the generation of the motion path.

[0074] Thus, according to the second embodiment, the off-line simulation device 10A can simultaneously execute the operation of the robot by executing the robot program and the generation of the operation path of the robot by automatic path generation in an off-line manner.

[0075] Hereinafter, a second embodiment will be described.

[0076] and Figure 1 Similar to the case of the first embodiment, the robot system 100 of the second embodiment includes an off-line simulation device 10A, a robot control device 20 , a robot 30 , a vision sensor 40 , a plurality of workpieces 50 , and a container 60 .

[0077] <Offline Simulation Device 10A>

[0078] Figure 4 1 is a functional block diagram showing an example of a functional configuration of an off-line simulation device 10A according to the second embodiment. Figure 2 Elements of the off-line simulation device 10 having the same functions are denoted by the same reference numerals and detailed descriptions thereof are omitted.

[0079] Like the offline simulation device 10 of the first embodiment, the offline simulation device 10A includes a control unit 11a and a storage unit 12. The control unit 11a also includes an offline program execution unit 110a, an automatic path generation execution unit 111a, an adjustment unit 112, and an output unit 113.

[0080] The storage unit 12 has the same function as the storage unit 12 of the first embodiment.

[0081] <Control Unit 11a>

[0082] The control unit 11 a includes a CPU, a ROM, a RAM, a CMOS memory, and the like, and these can communicate with each other via a bus, which is well known to those skilled in the art.

[0083] The CPU is a processor that controls the offline simulation device 10A as a whole. The CPU reads the system program and application program stored in the ROM via the bus, and controls the offline simulation device 10A as a whole according to the system program and application program. Figure 4 As shown, the control unit 11 a is configured to realize the functions of an offline program execution unit 110 a , an automatic path generation execution unit 111 a , an adjustment unit 112 , and an output unit 113 .

[0084] The adjustment unit 112 and the output unit 113 have the same functions as those of the adjustment unit 112 and the output unit 113 of the first embodiment.

[0085] For example, similar to the offline program execution unit 110 of the first embodiment, the offline program execution unit 110 a executes a robot program to simulate the action of the robot 30 taking out the workpiece 50 in an offline simulation environment in which the robot 30 , the visual sensor 40 , the workpiece 50 , and the container 60 are arranged in a virtual space.

[0086] In addition, when the offline program execution unit 110a executes the robot program offline, the execution state of the robot program in the offline simulation environment is stored in a preset storage area of ​​the storage unit 12. Then, the offline program execution unit 110a refers to the execution state of the robot program in the offline simulation environment stored in the storage unit 12 to simulate the action of the robot 30 taking out the workpiece 50.

[0087] The automatic path generation execution unit 111 a generates an operation path of the robot 30 in the offline simulation environment, similarly to the automatic path generation execution unit 111 of the first embodiment.

[0088] In addition, when the automatic path generation execution unit 111a executes the automatic path generation program offline to generate the motion path, the execution state of the motion path generation in the offline simulation environment is stored in a storage area different from the storage area of ​​the offline program execution unit 110a preset in the storage unit 12. Then, the automatic path generation execution unit 111a generates the motion path of the robot 30 for taking out the workpiece 50 by referring to the execution state of the motion path generation in the offline simulation environment stored in the storage unit 12.

[0089] In this way, the off-line simulation device 10A can simultaneously execute offline: the motion of the robot by executing the robot program and the generation of the motion path of the robot by automatic path generation.

[0090] <Offline Processing of Offline Simulation Device 10A>

[0091] Next, refer to Figure 5 , describing the process of offline processing of the offline simulation device 10A.

[0092] Figure 5 1 is a flowchart for explaining the offline processing of the offline simulation device 10A. The flowchart shown here is executed every time the offline simulation device 10A receives an instruction from the user to execute the robot program offline.

[0093] In addition, the processing of step S26 to step S28 is the same as Figure 3 The processing from step S16 to step S18 is the same, so the description is omitted.

[0094] In step S21 , when the offline program execution unit 110 receives an instruction to execute the robot program offline from the user via an input device (not shown) of the offline simulation device 10A, it executes the robot program and stores the execution status of the robot program in the offline simulation environment in the storage unit 12 .

[0095] In step S22 , the visual sensor 40 in the offline simulation environment refers to the execution state of the robot program in the offline simulation environment stored in the storage unit 12 , captures the container 60 and generates a virtual image, and detects the workpiece 50 from the generated image.

[0096] In step S23 , the off-line program execution unit 110 a calculates the position of the workpiece 50 detected in step S22 based on the virtual image generated in step S22 , and outputs a route generation request including position information of the calculated position to the automatic route generation execution unit 111 a .

[0097] In step S24, when the automatic path generation execution unit 111a receives the path generation request, it executes the automatic path generation program with reference to the execution state of the path generation in the offline simulation environment stored in the storage unit 12, and generates the motion path of the robot 30 in the offline simulation environment. The automatic path generation execution unit 111a stores the execution state of the motion path generation in the offline simulation environment in the storage unit 12.

[0098] In step S25, the offline program execution unit 110a operates the robot 30 in the offline simulation environment based on the operation path generated in step S24 to remove the workpiece 50. Then, the offline program execution unit 110a stores the execution state of the robot program in the offline simulation environment in the storage unit 12.

[0099] As described above, the offline simulation device 10A of the second embodiment uses an offline simulation environment in which the robot 30, a plurality of workpieces 50, and a visual sensor 40 are arranged in a virtual space to maintain the execution state of the robot program and the execution state of the generation of the motion path. The offline simulation device 10A executes the robot program offline and refers to the execution state of the robot program that has been maintained, thereby simulating the action of the robot 30 taking out the workpiece 50 in the offline simulation environment. In addition, the offline simulation device 10A refers to the execution state of the generation of the maintained motion path and generates the motion path of the robot 30 in the offline simulation environment. As a result, the offline simulation device 10A can simultaneously execute offline: the action of the robot performed by executing the robot program and the generation of the motion path of the robot performed by automatic path generation.

[0100] Furthermore, the offline simulation device 10A outputs the robot program corrected based on the motion of the robot 30 simulated in the offline simulation environment and the motion path generated in the replica offline simulation environment and / or the parameters of the adjusted motion path to the robot control device 20. In this way, the robot control device 20 can adjust the robot 30 in the real space in a short time by using the robot program corrected in the offline simulation and the parameters generated by the adjusted path.

[0101] The second embodiment has been described above.

[0102] As described above, as described in the first and second embodiments, the off-line simulation devices 10 and 10A of the present disclosure can simultaneously execute the robot motion by executing the robot program and the robot motion path generation by automatic path generation offline.

[0103] <Modification 1>

[0104] In the first and second embodiments, the robot 30 takes out the bulk workpieces 50, but the present invention is not limited to this. For example, the robot 30 may be a depalletizing system that takes out piled corrugated cardboard boxes or the like.

[0105] <Modification 2>

[0106] In addition, for example, in the first and second embodiments, the offline simulation devices 10 and 10A are different from the robot control device 20 , but the present invention is not limited thereto. For example, the offline simulation devices 10 and 10A may be included in the robot control device 20 .

[0107] In addition, each function included in the off-line simulation device 10 and 10A of the first embodiment and the second embodiment can be realized by hardware, software or a combination of these. Here, realization by software means that the computer reads and executes the program to realize.

[0108] The program can be stored and supplied to the computer using various types of non-transitory computer readable media. Non-transitory computer readable media include various types of tangible storage media. Examples of non-transitory computer readable media include magnetic recording media (e.g., floppy disks, magnetic tapes, hard disk drives), optical magnetic recording media (e.g., magneto-optical disks), CD-ROMs (Read Only Memory), CD-Rs, CD-R / Ws, semiconductor memories (e.g., mask ROMs, PROMs (Programmable ROMs), EPROMs (Erasable PROMs), flash ROMs, RAMs). In addition, the program can also be supplied to the computer via various types of transitory computer readable media. Examples of transitory computer readable media include electrical signals, optical signals, and electromagnetic waves. The transitory computer readable medium can supply the program to the computer via wired communication paths such as wires and optical fibers, or via wireless communication paths.

[0109] Furthermore, the steps describing the program recorded in the recording medium naturally include processing performed in time series according to the order, but are not necessarily processed in time series and also include processing executed in parallel or individually.

[0110] Although the present disclosure is described in detail, the present disclosure is not limited to the above-mentioned embodiments. These embodiments may be subjected to various additions, substitutions, changes, partial deletions, etc., within the scope of the gist of the present disclosure, or within the scope of the gist of the present disclosure derived from the contents recorded in the scope of the patent protection requested and its equivalents. In addition, these embodiments may also be implemented in combination. For example, in the above-mentioned embodiments, the order of each action or the order of each processing is represented as an example and is not limited to these orders. In addition, the same applies to the case where numerical values ​​or formulas are used in the description of the above-mentioned embodiments.

[0111] The following supplementary notes are further disclosed with respect to the above-mentioned embodiment and modified examples.

[0112] (Note 1)

[0113] The offline simulation device (10) comprises: an offline program execution unit (110) which executes a robot program to simulate the action of a robot (30) taking out a workpiece (50) in an offline simulation environment, wherein the offline simulation environment is an environment in which a robot (30), a plurality of workpieces (50) taken out by the robot (30) in a pile, and a visual sensor (40) for detecting the plurality of workpieces (50) are arranged in a virtual space; an automatic path generation execution unit (111) which copies the offline simulation environment and generates a motion path for the action of the robot (30) in the copied offline simulation environment; and an adjustment unit (112) which corrects the robot program and / or adjusts the parameters of the motion path based on the simulated action of the robot (30) and the generated motion path.

[0114] (Note 2)

[0115] The offline simulation device (10A) comprises: an offline program execution unit (110a) which executes a robot program in an offline simulation environment to simulate the action of a robot (30) taking out a workpiece (50), wherein the offline simulation environment is an environment in which a robot (30), a plurality of workpieces (50) piled up and taken out by the robot (30), and a visual sensor (40) for detecting the plurality of workpieces (50) are arranged in a virtual space; an automatic path generation execution unit (111a) which generates an action path of the action of the robot (30) in the offline simulation environment; a storage unit (12) which maintains the execution status of the robot program in the offline simulation environment performed by the offline program execution unit (110a) and the execution status of the action path generated in the offline simulation environment performed by the automatic path generation execution unit (111a); and an adjustment unit (112) which corrects the robot program and / or adjusts the parameters of the action path based on the simulated action of the robot (30) and the generated action path.

[0116] (Note 3)

[0117] In the off-line simulation device (10, 10A) of Supplementary Note 1 or Supplementary Note 2, the plurality of workpieces (50) are a plurality of bulk workpieces or a plurality of workpieces of a depalletizing system.

[0118] (Note 4)

[0119] In the off-line simulation device (10, 10A) of Supplement 1 or Supplement 2, the adjustment unit (112) calculates at least the cycle time and the number of failures in generating the motion path based on the simulated motion of the robot (30) and the generated motion path.

[0120] (Note 5)

[0121] In the offline simulation device (10, 10A) of Note 4, when a plurality of workpieces (50) are bulked, the adjustment unit (112) calculates the cycle time and the number of failures in generating the motion path based on the simulated motion of the robot (30) and the generated motion path, and also calculates the number of workpieces (50) that cannot be removed.

[0122] (Note 6)

[0123] The off-line simulation device (10, 10A) of Supplement 1 or Supplement 2 is provided with an output unit (113), and the output unit (113) outputs the parameters of the corrected robot program and / or the adjusted motion path to the robot control device (20) in the real space.

[0124] Explanation of symbols

[0125] 10, 10A: Offline simulation device

[0126] 11, 11a: Control unit

[0127] 110, 110a: Offline program execution unit

[0128] 111, 111a: Automatic path generation execution unit

[0129] 112: Adjustment Department

[0130] 113: Output unit

[0131] 20: Robot control device

[0132] 30: Robot

[0133] 31: Remove the hands

[0134] 40: Vision Sensor

[0135] 50: Artifacts

[0136] 60: Container.

Claims

1. An off-line simulation device, characterized in that: have: an offline program execution unit that executes a robot program to simulate an action of a robot taking out a workpiece in an offline simulation environment, wherein the offline simulation environment is an environment in which a robot, a plurality of workpieces that are piled up and taken out by the robot, and a visual sensor that detects the plurality of workpieces are arranged in a virtual space; an automatic path generation execution unit, which copies the offline simulation environment and generates an action path of the action of the robot in the copied offline simulation environment; as well as An adjustment unit corrects the robot program and / or adjusts parameters of the motion path based on the simulated motion of the robot and the generated motion path.

2. An off-line simulation device, characterized in that: have: an offline program execution unit that executes a robot program to simulate an action of a robot taking out a workpiece in an offline simulation environment, wherein the offline simulation environment is an environment in which a robot, a plurality of workpieces that are piled up and taken out by the robot, and a visual sensor that detects the plurality of workpieces are arranged in a virtual space; an automatic path generation execution unit, which generates an action path of the action of the robot in the offline simulation environment; a storage unit that holds an execution state of the robot program in the offline simulation environment performed by the offline program execution unit and an execution state of generation of the motion path in the offline simulation environment performed by the automatic path generation execution unit; as well as An adjustment unit corrects the robot program and / or adjusts parameters of the motion path based on the simulated motion of the robot and the generated motion path.

3. The off-line simulation device according to claim 1 or 2, characterized in that: The plurality of workpieces are a plurality of workpieces in bulk or a plurality of workpieces of a depalletizing system.

4. The off-line simulation device according to claim 1 or 2, characterized in that: The adjustment unit calculates at least a cycle time and a number of failures in generating the motion path based on the simulated motion of the robot and the generated motion path.

5. The off-line simulation device according to claim 4, characterized in that: When the plurality of workpieces are bulked, the adjustment unit calculates the cycle time and the number of failures in generating the motion path, and calculates the number of workpieces that cannot be taken out, based on the simulated motion of the robot and the generated motion path.

6. The off-line simulation device according to claim 1 or 2, characterized in that: The offline simulation device includes an output unit that outputs the corrected robot program and / or the adjusted parameters of the motion path to a control device in a real space.

Images