Method for managing item file of robot, robot management device, and robot system

Abstract

The invention relates to a method for managing a project file of a robot, a robot management device and a robot system, and provides a technology for analyzing the project file of the robot. The method of the present disclosure includes the steps of: (a) acquiring a specific first backup file of a project file and a second backup file backed up before the first backup file; (b) creating difference information by detecting a difference between the second backup file and the first backup file; (c) classifying one or more difference items included in the difference information into a plurality of categories; (d) extracting a specific difference item belonging to a specific category among the plurality of categories from among the difference items; and (e) notifying a particular category of the particular difference item.

Description

Technical Field

[0001] The present disclosure relates to a method for managing a project file of a robot, a robot management device, and a robot system. Background Art

[0002] Patent Document 1 discloses a technique for acquiring a backup file of a system including a plurality of programmable displays.

[0003] In the robot system, a technology is used to store robot control programs and various setting values ​​in the form of files such as "projects" or "project files". Since the project file is a collection of information that determines the robot's actions, if an unexpected change occurs, the quality and cycle time of the work performed by the robot will change, which may cause quality defects and reduce production efficiency.

[0004] Patent Document 1: Japanese Patent Application Publication No. 2013-257790

[0005] However, the current reality is that the technology for confirming the content of the backup file of the project file has not been fully studied. Summary of the invention

[0006] According to a first aspect of the present disclosure, a method for managing a project file of a robot is provided. The method includes the following steps: (a) obtaining a specific first backup file of the project file and a second backup file backed up before the first backup file; (b) creating difference information by detecting a difference between the second backup file and the first backup file; (c) classifying one or more difference items included in the difference information into a plurality of categories; (d) extracting a specific difference item from the difference items that belongs to a specific category among the plurality of categories; and (e) notifying the specific category of the specific difference item.

[0007] According to a second aspect of the present disclosure, a robot management device for managing a project file of a robot is provided. The robot management device comprises: a storage unit for storing a backup file of the project file; and a difference processing unit for performing difference processing using the backup file. The difference processing includes the following processing: (a) obtaining a specific first backup file and a second backup file backed up before the first backup file; (b) creating difference information by detecting the difference between the second backup file and the first backup file; (c) classifying one or more difference items included in the difference information into a plurality of categories; (d) extracting a specific difference item from the difference items that belongs to a specific category among the plurality of categories; and (e) notifying the specific category of the specific difference item.

[0008] According to a third embodiment of the present disclosure, a robot system is provided. The robot system comprises: one or more robots; and a robot management device for managing the project files of the robots. The robot management device comprises: a storage unit for storing a backup file of the project file; and a difference processing unit for performing difference processing using the backup file. The difference processing comprises the following processes: (a) obtaining a specific first backup file and a second backup file backed up before the first backup file; (b) creating difference information by detecting the difference between the second backup file and the first backup file; (c) classifying one or more difference items included in the difference information into a plurality of categories; (d) extracting a specific difference item from the difference item that belongs to a specific category among the plurality of categories; and (e) notifying the specific category of the specific difference item. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 It is an explanatory diagram showing the configuration of a robot system.

[0010] Figure 2 This is a functional block diagram of a robot controller and a robot management device.

[0011] Figure 3 is an explanatory diagram showing an example of categories of differences.

[0012] Figure 4 This is an explanatory diagram showing an example of necessity of an action set for each category.

[0013] Figure 5 is a flowchart showing the overall sequence of difference processing.

[0014] Figure 6 is a flowchart showing the detailed sequence of the difference information creation process.

[0015] Figure 7 is an explanatory diagram showing an example of a backup history.

[0016] Figure 8 This is an explanatory diagram showing an example of difference information.

[0017] Fig. 9 It is an explanatory diagram showing an example of a screen for setting a mail address of a notification destination.

[0018] Fig.10 : is a flowchart showing the processing procedure of display processing of the backup history list.

[0019] Fig.11 is an explanatory diagram showing an example of a display screen of a backup history list.

[0020] Fig. 12AIt is an explanatory diagram showing an example of a monitoring screen of a robot controller.

[0021] Fig. 12B It is an explanatory diagram showing an example of a monitoring screen of a robot controller.

[0022] Fig.13 : is an explanatory diagram showing an example of a monitoring screen of a robot system.

[0023] Fig.14A It is an explanatory diagram showing another example of the monitoring screen of the robot system.

[0024] Fig. 14B It is an explanatory diagram showing another example of the monitoring screen of the robot system.

[0025] Fig.15 It is an explanatory diagram showing an example of a monitoring screen of consumables of a robot.

[0026] Fig.16 It is an explanatory diagram showing an example of a monitoring screen of a working status of a robot.

[0027] Description of Reference Numerals

[0028] 10: robot system; 100: robot; 110: robot body; 120: peripheral device; 130: robot controller; 131: backup command execution unit; 132: backup file sending unit; 133: project file storage unit; 200: robot management device; 210: backup processing unit; 211: backup command sending unit; 212: backup file receiving unit; 213: backup file storage unit; 214: backup history storage unit; 220: difference processing unit; 221: difference detection unit; 222: difference information storage unit; 223: category classification unit; 224: notification unit; 230: screen providing unit; 240: mail server; 300: terminal device. DETAILED DESCRIPTION

[0029] Figure 1 1 is an explanatory diagram showing an example of a robot system 10 in one embodiment. The robot system 10 includes one or more robots 100, a robot management device 200 for managing the robots 100, and one or more terminal devices 300. In this example, the robot system 10 includes three robots 100. For convenience, these robots 100 are referred to as "robot #1", "robot #2", and "robot #3".

[0030] Each robot 100 includes a robot body 110, a peripheral device 120, and a robot controller 130 that controls the robot body 110 and the peripheral device 120. The robot management device 200 is implemented by a computer having a microprocessor and a memory. The robot management device 200 is connected to the robot 100 and the terminal device 300 via a wired or wireless communication line. That is, the robot system 10 is configured as a network including more than one robot 100. In a typical example, the entire robot system 10 is set in a factory. In addition, it can also be a configuration in which the robot controller 130 controls a plurality of robot bodies 110.

[0031] The terminal device 300 is a personal computer or a smart phone. The terminal device 300 is used as a display terminal for displaying various screens provided by the robot management device 200. The terminal device 300 is also used as a receiving terminal for receiving emails related to difference information of backup files from the robot management device 200. It should be noted that the robot management device 200 can also be installed as a server or a cloud server set up in an external network.

[0032] As the robot body 110, a robot having any robot arm mechanism having a plurality of joints can be used. Figure 1 In the example, Robot #1 and Robot #3 are vertical articulated robots, and Robot #2 is a horizontal articulated robot.

[0033] The peripheral device 120 includes one or more of various devices used for the operation of the robot 100 , such as an end effector, a force sensor, a camera, a parts feeder, and a conveyor device.

[0034] The project file of each robot 100 is stored in the robot controller 130 of each robot 100. The backup file of the project file is created by each robot controller 130. The robot management device 200 is configured to perform a difference processing of acquiring a plurality of backup files of the project file and analyzing the differences therebetween.

[0035] Figure 2 1 is a functional block diagram of the robot controller 130 and the robot management device 200. The robot controller 130 includes a backup command execution unit 131, a backup file transmission unit 132, and a project file storage unit 133. The project file PF is stored in the project file storage unit 133. The project file PF is the latest project file used in the robot 100.

[0036] The project file PF is a collection of information that specifies the operation of the robot 100 including the robot main body 110 and the peripheral device 120. For example, the project file PF is configured to include at least a part of the various data a1 to a8 described below.

[0037] (a1) Robot model, robot name, and other model information

[0038] (a2) Mechanical structure information such as the length and offset of the robot’s joints

[0039] (a3) Robot control program

[0040] (a4) Teaching point information

[0041] (a5) Robot calibration information

[0042] (a6) Setting values ​​of peripheral devices such as cameras, force sensors, and parts feeders

[0043] (a7) Communication system settings

[0044] (a8) Log data of robot operations

[0045] The log data of the robot operation includes the status, errors, warnings, and operation logs of the robot body 110 and the robot controller 130 , and also includes the log data of the peripheral device 120 .

[0046] Which of the above-mentioned data a1 to a8 is included in the project file PF is determined in advance according to the control method of each robot 100 .

[0047] In the project file PF, the same type of data is sometimes divided into two or more data files. For example, the teaching point information is sometimes composed of one data file for each teaching point. In addition, the robot control program is sometimes composed of multiple program files. The same is true for other data.

[0048] The backup command execution unit 131 creates a backup file of the project file PF stored in the project file storage unit 133 by executing the backup command. In the present embodiment, the backup command is provided from the robot management device 200 to the robot controller 130, and the robot controller 130 performs the backup process according to the command. However, the robot controller 130 may also perform the backup process of the project file PF at fixed intervals or when a specific event occurs. The backup file sending unit 132 sends the created backup file to the robot management device 200. Here, the robot management device 200 may obtain the project file PF and create the backup file inside the robot management device 200.

[0049] Each backup file can be constructed so as to include the entirety of the changed project file PF as is. Alternatively, each backup file can be constructed so as to not include data that is the same as the backup file immediately before it, but include data that is different from the backup file immediately before it. In other words, only the differences can be constructed as a backup file. In the latter case, the capacity of the backup file can be reduced.

[0050] When the project file PF includes a robot control program, the robot controller 130 has a function of controlling the robot main body 110 according to the robot control program. Figure 2 The control functions are omitted in the figure. The various functions of the robot controller 130 are realized by the processor executing the computer program stored in the memory. However, part or all of the functions of the robot controller 130 may also be realized by hardware circuits.

[0051] The robot management device 200 includes a backup processing unit 210, a difference processing unit 220, a screen providing unit 230, and a mail server 240. The various functions of the robot management device 200 are implemented by the processor executing a computer program stored in the memory. However, some or all of the functions of the robot management device 200 may be implemented by hardware circuits.

[0052] The backup processing section 210 includes a backup command transmission section 211 , a backup file reception section 212 , a backup file storage section 213 , and a backup history storage section 214 .

[0053] The backup command sending unit 211 sends a backup command of the project file PF to the robot controller 130. The backup file receiving unit 212 receives the backup file from the robot controller 130. The backup file storage unit 213 stores the received backup file. The backup file storage unit 213 stores a plurality of past backup files. The backup history storage unit 214 stores the history of the backup process of the project file PF. The backup history will be described later.

[0054] The difference processing unit 220 includes a difference detecting unit 221 , a difference information storing unit 222 , a category classifying unit 223 , and a notifying unit 224 .

[0055] The difference detection unit 221 performs a difference information creation process, selects two backup files as objects of the difference process from the multiple backup files stored in the backup file storage unit 213, and creates difference information by detecting their differences. The two backup files as objects of the difference information creation process are referred to as a "first backup file" and a "second backup file". The second backup file is a backup file backed up before the first backup file, and both are backup files related to the same specific robot 100. As the first backup file, it is preferred to select the latest backup file related to the specific robot 100 from the multiple backup files stored in the backup file storage unit 213. As the second backup file, it is preferred to select a backup file related to the same robot 100 as the first backup file and a backup file that is backed up at a timing closest to the backup timing of the first backup file.

[0056] When the latest backup file is used as the first backup file, the difference information creation process can also be executed using the backup process of the first backup file as a trigger. Specifically, the difference information creation process can also be started using the event of storing a new backup file in the backup file storage unit 213 as a trigger. In this way, it is possible to quickly understand that a change has occurred in the project file.

[0057] The difference information storage unit 222 stores the difference information created by the difference detection unit 221. The category classification unit 223 classifies one or more difference items included in the difference information into a plurality of categories. Examples of the plurality of categories will be described later. The notification unit 224 performs processing for notifying the user of the category of the difference item. The "notification" may be performed, for example, as a display in the terminal device 300, or as a notification to a pre-set notification destination, that is, as a transmission of an email using the mail server 240.

[0058] The screen providing unit 230 functions as a web server that creates various screens related to the robot system 10 and provides them to the terminal device 300. Examples of various screens provided by the screen providing unit 230 will be described later.

[0059] Figure 3 2 is an explanatory diagram showing an example of difference categories. The difference categories include the following data type categories Cat1 to Cat12 and file attribute categories Cat13 and Cat14.

[0060] Data Type Category

[0061] (Cat1) Conveyer: Conveyor related

[0062] (Cat2) Force: Force sensor related

[0063] (Cat3) Parts Feeder: Parts Feeder related

[0064] (Cat4) Vision: Cameras and other visual sensors

[0065] (Cat5) Point: Teaching point

[0066] (Cat6) Calibration: Robot calibration

[0067] (Cat7) Program: Robot control program

[0068] (Cat8) Project:

[0069] (Cat9) Robot Info: Robot settings, robot parameters

[0070] (Cat10) Config: Various settings of the robot

[0071] (Cat11) Variable: various variable values

[0072] (Cat12) Log: Log information

[0073] File attribute categories

[0074] (Cat13) Timestamp: Update date and time of project files and data files

[0075] (Cat14) Hash: hash value of project files and data files

[0076] The data type category is a category indicating the type of data that has a difference. The file attribute category is a category related to the attribute of the entire project file.

[0077] In addition to the above-mentioned data type classification, data change types can also be used. For example, the data change types can be appended, deleted, and changed. It is also possible to assign a data type classification and a data change type to one difference at the same time.

[0078] Figure 4 This is an explanatory diagram showing an example of the necessity of actions set for each category. As the necessity of actions, three necessity of actions are set: (1) necessity of saving the difference, (2) necessity of notifying the difference, and (3) necessity of displaying the difference.

[0079] A category where the need to save differences is "yes" means that differences belonging to this category need to be saved. For example, from the perspective of change point management of the project file PF, it is preferable to save the differences that should be saved. Change point management is management related to when and how the project file PF is changed.

[0080] The category in which the necessity of notifying a difference is "yes" means that the difference belonging to the category needs to be notified to the user by mail. For example, it is preferable that the difference that the user of the robot system 10 needs to know needs to be notified.

[0081] The category in which the necessity of displaying the difference is "yes" means that the difference belonging to the category needs to be displayed on the terminal device 300. For example, it is preferable that the difference that needs to be in a state observable by the user of the robot system 10 needs to be displayed.

[0082] If the number of categories to be notified increases excessively, the user will frequently receive notifications, which may be annoying. Therefore, it is preferable to limit the categories to be notified to a part of the categories to be displayed.

[0083] "Notify" and "display" are examples of "notification" in the present disclosure. Figure 4 As in the example of FIG. 1 , the need for “notification” and the need for “display” are set separately, and the need for “reporting” is set. In this way, in this embodiment, for one or more specific categories in the multiple categories, the action of saving and reporting the difference is set in advance. It is preferred to select the specific category requiring action from the data type category.

[0084] The specific category requiring action can be arbitrarily set by the user. For example, the following categories can be selected as specific categories.

[0085] (1) A category that includes information used to determine the actions of a robotic system.

[0086] This category is, for example, a category related to the above-mentioned data a2 to a7.

[0087] (2) A category that includes information that is changed by user operations, among information used to determine the operation of the robot system.

[0088] This category is, for example, a category related to the above-mentioned data a3 to a7.

[0089] (3) Includes categories of information that is changed by user operations.

[0090] This category is, for example, a category related to the above-mentioned data a1 to a8.

[0091] The difference in the category that is not necessary for the above-mentioned action may be eliminated without remaining in the difference information. It should be noted that it is preferable to set whether the action is necessary for each of the above-mentioned data type categories.

[0092] Figure 5 is a flowchart showing the overall sequence of the difference processing. In step S11, the backup command sending unit 211 sends a backup command to the robot controller 130. In step S12, the backup file receiving unit 212 receives a backup file from the robot controller 130. The backup file is stored in the backup file storage unit 213. In step S13, the difference detection unit 221 performs a creation process of the difference information.

[0093] Figure 6 is a flowchart showing the detailed sequence of the difference information creation process. In step S41, the process waits until the backup is re-executed, that is, until a new backup file is received. When a new backup file is received, in step S42, the difference detection unit 221 obtains the previous backup file from the backup file storage unit 213. The new backup file is equivalent to the "first backup file", and the previous backup file is equivalent to the "second backup file". As mentioned above, the first backup file and the second backup file are project files related to the same robot.

[0094] In step S43, the difference detection unit 221 creates difference information by detecting the difference between the second backup file and the first backup file. In this way, when the creation process of the difference information is completed, the process proceeds to step S44. Figure 5 Step S14.

[0095] In step S14 , the backup history storage section 214 stores the backup history.

[0096] Figure 7 : is an explanatory diagram showing an example of a backup history. In this example, three backup histories h1 to h3 are recorded. Each backup history includes (1) a robot controller ID, (2) a backup date and time, (3) a backup file ID, and (4) a difference information ID.

[0097] In step S15 , the category classification section 223 classifies the difference items included in the difference information into a plurality of categories.

[0098] Figure 8 : is an explanatory diagram showing an example of difference information. In this example, difference information D0013 indicating the difference between backup file XZ1111 and backup file XZ1113 is created. Difference information D0013 includes a plurality of difference items d1 to d10. In each difference item, (1) the name of the data with a difference, (2) the details of the difference, (3) the type of change, and (4) the category are registered. Figure 8The "Description" in the column on the right side of is recorded for convenience. One difference item means one difference. Usually, difference information is created to have more than one difference item.

[0099] exist Figure 5 In step S16, the category classification unit 223 extracts the difference items belonging to the specific category to be saved from the difference information. Figure 4 In the example, the specific categories that need to be saved are Vision, Point, Calibration, Config, and Variable. Figure 8 Among the plurality of difference items d1 to d10 shown, difference items d1 to d6 belonging to any one of the five specific categories are extracted in step S16. In step S17, the category classification unit 223 checks whether there are difference items that need to be saved, and if there are difference items that need to be saved, the difference items are saved in the difference information storage unit 222 in step S17.

[0100] In step S19, the notification unit 224 extracts the difference items belonging to the specific category that needs to be notified from the difference items in the difference information. As the "notification", at least one of display to the terminal device 300 and notification by email can be used. For example, when notification by email is performed as the "notification", in step S19, the difference items belonging to the specific category that needs to be notified by email are extracted. Figure 4 In the example, the specific categories that need to be notified by email are Vision, Point, and Calibration. Figure 8 Among the plurality of difference items d1 to d10 shown, the difference items d1 to d3 belonging to any one of the three specific categories are extracted in step S19. In step S20, the notification unit 224 confirms whether there is a difference item that needs to be notified. If there is a difference item that needs to be notified, the notification unit 224 performs notification to the user in step S21. The content of the notification preferably includes at least identification information for identifying the robot 100 or the robot controller 130, and the specific category of the difference item extracted in step S19. In this way, the user can easily understand which robot 100 project file has been changed to what content.

[0101] The content of the notification may also be created to include the content of the difference item. The content of the difference item preferably includes the data file name where the difference item exists. In addition, the content of the difference item may also include Figure 8 Details of the differences illustrated.

[0102] Fig. 91 is an explanatory diagram showing an example of a screen for setting an email address of a notification destination. In this example, one or more email addresses can be arbitrarily registered as a new notification destination. Figure 5 Such setting of the notification destination is performed before starting the difference processing.

[0103] Fig.10 1 is a flowchart showing the processing sequence of the backup history list display process. This process is a process in which the screen providing unit 230 creates a screen including a backup history list and provides it to the terminal device 300 for display. In step S51, the user of the terminal device 300 selects a target robot controller as a target of the backup history display. In step S52, the screen providing unit 230 selects the target robot controller from which the backup history is to be displayed. Figure 7 The backup history of the target robot controller is extracted from the backup history illustrated in the example. The backup history is read out from the backup history storage unit 214 .

[0104] In step S53, the screen providing unit 230 obtains the difference information of the target backup file. The difference information has the same Figure 8 In step S54, the screen providing unit 230 extracts the specific category of difference items to be displayed. Figure 4 In the example shown in FIG. 1 , since the four categories to be displayed are Vision, Point, Calibration, and Config, the difference items belonging to these specific categories are extracted.

[0105] In step S55, for the controller that should be the display target of the backup history, it is determined whether the processing of steps S51 to S54 is completed. If not, the process returns to step S51 and the processing of steps S51 to S54 is performed again. If the processing of steps S51 to S54 for the controller that should be the display target is completed, the process proceeds to step S56, and the screen providing unit 230 creates a screen of a specific category in which a difference item is assigned to the backup history, and transmits it to the terminal device 300 for display.

[0106] Fig.11 This is an explanatory diagram showing an example of a display screen SR1 displaying a backup history list of a specific category of difference items. This display screen SR1 is a type of monitoring screen of the robot management system, and various information for robot management can be displayed by arbitrarily selecting one of a plurality of icons displayed on the left side of the display screen SR1. Fig.11 In the example of FIG. 1 , the sixth icon IC6 is selected, and a screen is displayed showing a backup history list of project files. The backup history list includes a robot controller selection part SL and backup history display parts h11 to h13 .

[0107] In the robot controller selection part SL, a pull-down menu PDM and an export button B1 are provided for selecting a robot controller. By pressing the export button B1, the user can download the export file of the backup history from the robot management device 200 to the terminal device 300. The export file is constituted to include a list of one or more backup files of a specific category each containing a difference item. The export file preferably includes a list of two or more backup files, and more preferably includes a list of all backup histories related to the robot controller. The export file includes not only a list of backup histories, but also the backup file itself, and further, may include difference information in each history. The export file can be used for other processing such as quality management.

[0108] The backup history display parts h11 to h13 include a status mark SM indicating the status of the backup, a backup date and time, a label TG indicating the category of the difference item, and a download button B2. The status mark SM indicates whether the backup process is in one of multiple states such as "Planning", "Executing", "Execution Completed (Success)", "Execution Completed (Error)". Fig.11 In the example of , the status marks SM of the three histories all indicate “execution completed (successful)”.

[0109] In the backup history display section h13, a label TG indicating the category of the difference item is displayed. When the user selects a label TG of a category, the detailed content of the difference information can also be displayed. The detailed content display is, for example, composed of the data name containing the difference and the detailed content of the difference. It should be noted that the category can also be displayed using other display elements such as icons instead of the label TG. In this way, if the category of the difference item is displayed in the backup history list, the user can easily grasp the summary of the difference information.

[0110] The download button B2 is used to download the backup file of the backup history from the robot management device 200 to the terminal device 300 .

[0111] In other implementations, any of the following methods may be used to display the list of backup files.

[0112] (1) Only backup files that include difference information are displayed in the list.

[0113] (2) The backup files including the difference information and the latest backup files are displayed in a list.

[0114] (3) Display all backup files in a list.

[0115] (4) Display only the backup files with the difference information of the specified type. For example, if "Vision" is specified, only the backup files with the difference information of "Vision" are displayed in the list.

[0116] (5) Two arbitrary backup files selected by the user are displayed in a list.

[0117] As described above, in this embodiment, since Figure 5 In step S21, the specific category of the difference item included in the difference information is notified, so it is easy to understand whether there is a difference item related to the specific category that the user is concerned about in the large-scale and complex backup file. In addition, it is possible to confirm whether an unexpected change has been made to the project file based on the specific category of the difference item. Here, as a method of notifying the specific category of the difference item, in addition to Fig.11 In addition to the display screen SR1 described above, other display screens including the following may be displayed on the screen: Figure 8 The structure of the display screen of the table showing the detailed contents of the difference information as shown.

[0118] The screen providing unit 230 can also create various monitoring screens as described below and display them on the terminal device 300 .

[0119] Fig. 12A and Fig. 12B This is an explanatory diagram showing an example of the monitoring screen SR2 of the robot controller. In the monitoring screen SR2, the robot controller to be monitored can be selected and the status of various monitoring items can be displayed. The monitoring items include information such as the startup time, task program name, status, signal, CPU load rate, temperature, cabinet fan speed, the presence or absence of backup files in the controller, and a backup log list.

[0120] Fig.13 1 is an explanatory diagram showing an example of a monitoring screen SR3 of a robot system. In the monitoring screen SR3, information such as efficiency, production quantity, cycle time, and operation time of equipment is graphically displayed.

[0121] Fig.14A and Fig. 14B 1 is an explanatory diagram showing another example of the monitoring screen SR4 of the robot system. In the monitoring screen SR4, information related to the cycle time and alarm of each operation is displayed at a glance. When the robot 100 moves extremely slowly or stops due to an abnormality, the cycle time becomes longer, so the occurrence of an abnormality can be estimated based on the length of the cycle time.

[0122] Fig.15 1 is an explanatory diagram showing an example of a monitoring screen SR5 for consumables of a robot. In the monitoring screen SR5, it is possible to check whether the life of various consumables is approaching or not.

[0123] Fig.161 is an explanatory diagram showing an example of a monitoring screen SR6 showing the working state of the robot. The monitoring screen SR6 can display the working history of each robot, an image of the working state captured by a camera, and the like.

[0124] Other ways:

[0125] The present disclosure is not limited to the above-mentioned embodiments, and can be implemented in various ways without departing from the scope of the present disclosure. For example, the present disclosure can also be implemented in the following aspects. The technical features in the above-mentioned embodiments corresponding to the technical features in each of the following aspects can be appropriately replaced or combined to solve part or all of the technical problems of the present disclosure, or to achieve part or all of the effects of the present disclosure. In addition, if the technical feature is not described as a necessary matter in this specification, it can be appropriately deleted.

[0126] (1) According to a first aspect of the present disclosure, a method for managing a project file of a robot is provided. The method includes the following steps: (a) acquiring a specific first backup file of the project file and a second backup file backed up before the first backup file; (b) creating difference information by detecting a difference between the second backup file and the first backup file; (c) classifying one or more difference items included in the difference information into a plurality of categories; (d) extracting a specific difference item from among the difference items that belongs to a specific category among the plurality of categories; and (e) notifying the specific category of the specific difference item.

[0127] According to this method, it is possible to easily understand whether there are difference items related to a specific category that the user is interested in in the backup file of a large-scale and complex project file. In addition, it is possible to confirm whether an unexpected change has been made in the project file based on the specific category of the difference item.

[0128] (2) In the above method, the steps (a) to (e) may be executed using a backup process of the first backup file as a trigger.

[0129] According to this method, it is possible to quickly understand that a change has occurred in the project file of the robot.

[0130] (3) In the above method, the step (e) may include a step of notifying a preset notification destination of the specific type of the specific difference item.

[0131] According to this method, it is possible to efficiently check whether changes have occurred in a project file without performing operations such as logging into a management system.

[0132] (4) The method may further include the step of creating a backup file history list including the second backup file and the first backup file, and assigning the specific category of the specific difference item to the backup file history list for display.

[0133] According to this method, it is possible to easily understand which type of data has been changed based on the backup file history list.

[0134] (5) In the above method, the first backup file may be configured to include data that is not different from the second backup file and to include data that is different from the second backup file.

[0135] According to this method, the capacity of the backup file can be reduced.

[0136] (6) The method may further include the step of exporting a list of one or more backup files of the specific category that each include the specific difference item.

[0137] According to this method, the backup history of a specific type including the specific difference item can be used for other processes such as quality management.

[0138] (7) In the above method, the step (e) may include a step of reporting the content of the specific difference item together with the specific category.

[0139] According to this method, the difference between the first backup file and the second backup file can be easily grasped.

[0140] (8) Alternatively, in the above method, the project file includes a plurality of data files, and the content of the specific difference item includes the name of the data file in which the specific difference item exists.

[0141] According to this method, it is possible to grasp which data file among the plurality of data files included in the project file has a difference.

[0142] (9) According to a second aspect of the present disclosure, a robot management device for managing a project file of a robot is provided. The robot management device includes: a storage unit for storing a backup file of the project file; and a difference processing unit for performing difference processing using the backup file. The difference processing includes the following processing: (a) obtaining a specific first backup file and a second backup file backed up before the first backup file; (b) creating difference information by detecting the difference between the second backup file and the first backup file; (c) classifying one or more difference items included in the difference information into a plurality of categories; (d) extracting a specific difference item from the difference items that belongs to a specific category among the plurality of categories; and (e) notifying the specific category of the specific difference item.

[0143] (10) According to a third embodiment of the present disclosure, a robot system is provided. The robot system comprises: one or more robots; and a robot management device for managing project files of the robots. The robot management device comprises: a storage unit for storing backup files of the project files; and a difference processing unit for performing difference processing using the backup files. The difference processing comprises the following processes: (a) obtaining a specific first backup file and a second backup file backed up before the first backup file; (b) creating difference information by detecting the difference between the second backup file and the first backup file; (c) classifying one or more difference items included in the difference information into a plurality of categories; (d) extracting a specific difference item from the difference items that belongs to a specific category among the plurality of categories; and (e) notifying the specific category of the specific difference item.

[0144] The present disclosure may be implemented in various forms other than those described above, for example, in a robot system including a robot and a robot control device, a computer program for implementing the functions of the robot control device, a non-transitory storage medium recording the computer program, and the like.

[0145] The backup file of the robot project of the present disclosure may be only a copy of the project file. In other words, the difference information may be generated by comparing all or part of the latest project file with the saved past project file.

Claims

1. A method for managing a robot's project files, characterized in that: Including the following processes: (a) obtaining a specific first backup file of the project file and a second backup file backed up before the first backup file; (b) creating difference information by detecting a difference between the second backup file and the first backup file; (c) classifying one or more difference items included in the difference information into a plurality of categories; (d) extracting, from among the difference items, specific difference items that belong to a specific category among the plurality of categories; and (e) notifying the specific categories of the specific items of difference.

2. The method according to claim 1, wherein: The steps (a) to (e) are executed using the backup processing of the first backup file as a trigger.

3. The method according to claim 1, wherein: The step (e) includes the step of notifying a preset notification destination of the specific category of the specific difference item.

4. The method according to claim 1, wherein: The method further includes the step of creating a backup file history list including the second backup file and the first backup file, and assigning the specific category of the specific difference item to the backup file history list for display.

5. The method according to claim 1, wherein: The first backup file is configured to include no data that is the same as that of the second backup file and to include data that is different from that of the second backup file.

6. The method according to claim 1, wherein: The method further includes the step of exporting a list of one or more backup files of the specific category that respectively include the specific difference item.

7. The method according to claim 1, wherein: The step (e) includes the step of notifying the content of the specific difference item together with the specific category.

8. The method according to claim 7, wherein: The project file includes multiple data files. The content of the specific difference item includes the data file name in which the specific difference item exists.

9. A robot management device, characterized in that: It is a robot management device that manages the robot's project files and has: A storage unit, storing a backup file of the project file; and A difference processing unit performs difference processing using the backup file. The difference processing includes the following processing: (a) obtaining a specific first backup file and a second backup file backed up before the first backup file; (b) creating difference information by detecting a difference between the second backup file and the first backup file; (c) classifying one or more difference items included in the difference information into a plurality of categories; (d) extracting, from among the difference items, specific difference items that belong to a specific category among the plurality of categories; and (e) notifying the specific categories of the specific items of difference.

10. A robot system, characterized in that: have: More than one Robot; and A robot management device for managing the project files of the robot, The robot management device comprises: A storage unit, storing a backup file of the project file; and A difference processing unit performs difference processing using the backup file. The difference processing includes the following processing: (a) obtaining a specific first backup file and a second backup file backed up before the first backup file; (b) creating difference information by detecting a difference between the second backup file and the first backup file; (c) classifying one or more difference items included in the difference information into a plurality of categories; (d) extracting, from among the difference items, specific difference items that belong to a specific category among the plurality of categories; and (e) notifying the specific categories of the specific items of difference.

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