Robot control device

Abstract

The invention provides a control device. The control device includes: one or more memories; and one or more processors configured to be capable of switching between a security mode in which a security function for securely performing an operation of the robot and a verification mode in which a verification function for verifying a setting of the security function is performed, the one or more processors perform the following processes: accepting an input of a setting parameter; setting a security parameter of the verification function on the basis of the setting parameter in the verification mode; and accepting user authentication when the security parameter of the security function is set on the basis of the setting parameter in the security mode.

Description

[0001] This application is a divisional application of a Chinese patent application with an application date of August 18, 2021, an application number of 202180052330.3, and an invention title of "Robot Control Device". Technical Field

[0002] The present invention relates to a robot control device. Background Art

[0003] Conventionally, a robot control device has been proposed. This robot control device restricts the operation of a robot based on signals from safety devices such as detectors and emergency stop switches until a prescribed safety condition is satisfied. Here, the detector detects whether there is an obstacle within the operation range of the robot (for example, refer to Patent Document 1).

[0004] Prior Art Documents

[0005] Patent Documents

[0006] Patent Document 1: Japanese Unexamined Patent Application Publication No. 2015-223678 Summary of the Invention

[0007] Problems to be Solved by the Invention

[0008] Such a robot control device has a safety function (for example, a dual-safe check function) for mutually checking input / output signals by two CPUs.

[0009] However, in the safety function, when changing the restriction of the operation area of the robot, even changing one parameter requires inputting a password, and the parameter adjustment operation becomes cumbersome. In addition, the adjustment of parameters such as the coordinates of the vertices of the operation area of the robot and the restricted speed of the robot is often accompanied by trial and error, and the number of parameter changes is also large. Therefore, the number of password inputs increases, and the parameter adjustment operation becomes cumbersome.

[0010] Therefore, it is desired to efficiently adjust parameters in a robot control device.

[0011] Solutions to the Problems

[0012] The robot control device according to the present disclosure includes: a function control unit that controls a safety function for safely operating the robot and a verification function for verifying the setting of the safety function; a switching unit that switches between a safety mode in which the safety function is executed and a verification mode in which the verification function is executed; a reception unit that receives an input of setting parameters in the verification mode; a first application unit that applies the setting parameters to a first safety parameter for verification in the verification mode; a first update unit that updates first safety information related to the robot in the verification function based on the first safety parameter in the verification mode; a copying unit that copies the setting parameters; a second application unit that applies the setting parameters copied by the copying unit to a second safety parameter after switching from the verification mode to the safety mode by the switching unit; and a second update unit that updates second safety information related to the robot in the safety function based on the second safety parameter in the safety mode.

[0013] Effect of the Invention

[0014] According to the present invention, parameter adjustment can be performed efficiently. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 FIG. is a diagram showing an outline of a robot system according to the present embodiment.

[0016] Figure 2 FIG. is a diagram showing a configuration of a first control unit according to the present embodiment.

[0017] Figure 3 FIG. is a diagram showing an operation example of safety function software and verification function software.

[0018] Figure 4A FIG. is a diagram showing a specific example of updating of first safety information and second safety information.

[0019] Figure 4B FIG. is a diagram showing a specific example of updating of first safety information and second safety information.

[0020] Figure 5 FIG. is a flowchart showing a process flow of the robot control device according to the present embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0021] An example of an embodiment of the present invention will be described below. Figure 1 FIG. is a diagram showing an outline of a robot system 100 according to the present embodiment. As Figure 1As shown, the robot system 100 includes a robot 1, a robot control device 2, a safety device 3, an input / output device 4, a sensor 5, and an external device 6.

[0022] The robot 1 is an industrial robot with an arbitrary structure. The robot 1 can also be, for example, a six-axis multi-joint robot.

[0023] The robot control device 2 is a control device for controlling the robot 1 to perform specified actions and the like.

[0024] The safety device 3 includes a detector, an emergency stop switch, an encoder installed in the motor of the robot 1, etc. The detector detects whether there are obstacles within the movement range of the robot 1.

[0025] The input / output device 4 includes a switch connected to the robot control device 2, a teach pendant, etc. The input / output device 4 receives various signals from the robot control device 2 or outputs various signals to the robot control device 2.

[0026] The sensor 5 includes a vision sensor (such as a camera), a force sensor, etc., and outputs the detected signals to the robot control device 2.

[0027] The external device 6 is various devices connected to the robot control device, and is composed of, for example, a server, other robot control devices, etc.

[0028] In addition, the robot control device 2 includes a first control unit 21, a second control unit 22, an I / O unit 23, a signal processing unit 24, a communication unit 25, and a storage unit 26.

[0029] The first control unit 21 is a processor such as a CPU (Central Processing Unit). The first control unit 21 performs various processes related to the drive control of the robot 1 (such as a servo motor, etc.) by executing the program stored in the storage unit 26. In addition, the first control unit 21 restricts the movement of the robot 1 based on the signal from the safety device 3 until a specified safety condition is established. The first control unit 21 has a dual check safety function for mutual checking of input / output signals with the second control unit 22.

[0030] The second control unit 22 is a processor such as a CPU. The second control unit 22 restricts the movement of the robot 1 based on the signal from the safety device 3 until a specified safety condition is established. The second control unit 22 has a dual check safety function for mutual checking of input / output signals with the first control unit 21.

[0031] The I / O unit 23 includes, for example, I / O ports, and inputs and outputs signals from the input / output device 4 connected to the robot control device 2 to the first control unit 21 and the second control unit 22.

[0032] The signal processing unit 24 performs various processes (such as image processing, etc.) on the signals from the sensor 5.

[0033] The communication unit 25 communicates with the external device 6 via Ethernet (registered trademark), fieldbus, etc.

[0034] Figure 2 FIG. is a diagram showing the structure of the first control unit 21 according to the present embodiment.

[0035] As Figure 2 shown, the first control unit 21 includes a function control unit 211, a switching unit 212, a reception unit 213, a first application unit 214, a first update unit 215, a copy unit 216, a second application unit 217, a second update unit 218, and a display control unit 219.

[0036] The function control unit 211 controls a safety function for safely performing the operation of the robot and a verification function for verifying the settings of the safety function.

[0037] Specifically, the function control unit 211 controls a safety function software for safely performing the operation of the robot 1 and a verification function software for verifying the settings of the safety function software.

[0038] In addition, in the present embodiment, an example in which a safety function software including a safety function and a verification function software including a verification function is used for explanation, but the safety function and the verification function are not limited to separately independent software, and can also be implemented as separately independent functions within one software, for example.

[0039] The switching unit 212 is used to switch between a safety mode in which the safety function software is executed and a verification mode in which the verification function software is executed.

[0040] Specifically, the switching unit 212 switches between the safety mode and the verification mode according to the input operation performed through the input / output device 4.

[0041] The reception unit 213 receives the input of the setting parameters through the input / output device 4 in the verification mode. Here, the setting parameters can be input as numerical values through the input / output device 4, or the setting parameters can be changed by dragging the coordinates of the vertices of the area displayed on the input / output device 4.

[0042] The first application unit 214 applies the setting parameter to the first security parameter for verification in the verification mode. By applying the setting parameter to the first security parameter in this way, the verification function software can use the setting parameter to change the first security parameter and perform verification using the changed first security parameter.

[0043] In addition, when the first application unit 214 applies the setting parameter to the first security parameter, no password input is required. Generally, in order to find an optimal first security parameter, the change of the first security parameter is often accompanied by trial and error, and the number of parameter changes is also large. Therefore, the number of password input times increases, and the parameter adjustment operation becomes cumbersome.

[0044] Since the verification function software according to this embodiment applies the setting parameter to the first security parameter without password input, the verification using the first security parameter can be efficiently performed.

[0045] The first update unit 215 updates the first security information related to the position and speed of the robot 1 in the verification function based on the first security parameter in the verification mode. Here, the first security information includes information related to the position and speed of the robot 1 such as the action area of the robot 1 and the limited speed of the robot 1. In addition, the first security information is used in the verification mode and not in the security mode.

[0046] When ending the verification function software, the copying unit 216 copies the setting parameter used in the verification function software. Then, the copying unit 216 provides the copied setting parameter to the second application unit 217.

[0047] After switching from the verification mode to the security mode by the switching unit 212, the second application unit 217 applies the setting parameter copied by the copying unit 216 to the second security parameter.

[0048] In addition, when the second application unit 217 applies the setting parameter to the second security parameter, password input is required. By requiring password input in this way, the security function software can safely apply the second security parameter that may affect the safety of the robot 1.

[0049] The second update unit 218 updates the second security information related to the position and speed of the robot 1 in the security function software based on the second security parameter in the security mode. Here, the second security information includes information related to the position and speed of the robot 1 such as the action area of the robot 1 and the limited speed of the robot 1. In addition, the second security information is used in the security mode and not in the verification mode.

[0050] The display control unit 219 displays a screen for setting the safety function software and the verification function software on the display unit of the input / output device 4 (e.g., the display unit of the teach pendant).

[0051] Specifically, the display control unit 219 displays a screen for inputting the values of the setting parameters through the input / output device 4 and a screen for specifying the area of the setting parameters on the display unit of the input / output device 4.

[0052] In addition, in the automatic mode, when the verification function software without the safety function is valid, the robot control device 2 allows the malfunction of the robot caused by reasons such as a failure during automatic operation. Therefore, it may be dangerous to the user due to the malfunction of the robot. Therefore, in the automatic mode in which the robot 1 operates automatically, when the verification function software is valid, the function control unit 211 stops the start of the automatic operation of the robot 1. Thus, the robot control device 2 can safely execute the operation of the verification function software.

[0053] In addition, the safety function and the verification function software include a function for checking the position and speed. Specifically, the safety function and the verification function software include a function for checking the position of each axis of the robot 1, the speed of each axis of the robot 1, the orthogonal position of the robot 1, and the orthogonal speed of the robot 1.

[0054] Figure 3 It is a diagram showing an operation example of the safety function software and the verification function software. As Figure 3 shown, when switching from the safety mode to the verification mode by the switching unit 212, the function control unit 211 activates the verification function software 2111.

[0055] The reception unit 213 receives the input of the setting parameter P1 for setting through the input / output device 4 in the safety function screen D1 displayed on the input / output device 4.

[0056] Then, the first application unit 214 sets and refers to the received setting parameter P1 (refer to Figure 3 the setting / reference in (1)).

[0057] Next, the first application unit 214 applies the setting parameter P1 to the first safety parameter P2 for verification in the verification mode (refer to Figure 3 the application in (2)).

[0058] Next, the first update unit 215 refers to the first safety parameter P2 (refer to Figure 3 the reference in (3)), and updates the first safety information related to the position and speed of the robot 1 in the verification function F1 based on the first safety parameter P2.

[0059] In addition, the display control unit 219 reflects the updated first safety information in the screen for setting the verification function software 2111. Moreover, the display control unit 219 displays the screen for setting the verification function software 2111 on the display unit of the input / output device 4 (for example, the display unit of the teach pendant) (refer to Figure 3 for the reflection in (4)).

[0060] Next, the copying unit 216 copies the setting parameter P1 used in the verification function software 2111. Then, the copying unit 216 provides the copied setting parameter P3 to the second application unit 217 (refer to Figure 3 for the copying in (5)).

[0061] Next, when switching from the verification mode to the safety mode by the switching unit 212, the function control unit 211 activates the safety function software 2112.

[0062] In addition, the second application unit 217 sets and refers to the copied setting parameter P3.

[0063] Then, the second application unit 217 applies the setting parameter P3 copied by the copying unit 216 to the second safety parameter P4 (refer to Figure 3 for the application in (6)).

[0064] Next, the second update unit 218 updates the second safety information related to the position and speed of the robot 1 in the safety function F2 based on the applied second safety parameter P4.

[0065] In addition, the display control unit 219 reflects the updated second safety information in the screen for setting the safety function software 2112. Moreover, the display control unit 219 displays the screen for setting the safety function software 2112 on the display unit of the input / output device 4 (for example, the display unit of the teach pendant).

[0066] Figure 4A and Figure 4B are diagrams showing specific examples of the update of the first safety information or the second safety information. Figure 4A Shows the operation area R1 of the robot 1 as the first safety information or the second safety information before the update. That is, the robot 1 can operate within the operation area R1.

[0067] Then, the first update unit 215 updates the first safety information based on the first safety parameter in the verification mode, or the second update unit 218 updates the second safety information based on the second safety parameter in the safety mode.

[0068] Figure 4BThe operation area R2 of the robot 1 is shown as the updated first safety information or second safety information. That is, the robot 1 can operate within the operation area R2. By updating the first safety information or the second safety information in this way, the robot control device 2 can change the operation area of the robot 1 from the operation area R1 to the operation area R2.

[0069] Figure 5 It is a flowchart showing the process of the robot control device 2 according to the present embodiment.

[0070] In step S1, the function control unit 211 determines whether the mode has been switched from the safety mode to the verification mode by the switching unit 212. If the mode has been switched to the verification mode ("Yes"), the process proceeds to step S2. If the mode has not been switched to the verification mode, that is, in the safety mode ("No"), the process proceeds to step S7.

[0071] In step S2, the reception unit 213 receives the input of the setting parameters through the input / output device 4 in the verification mode.

[0072] In step S3, the first application unit 214 applies the setting parameters to the first safety parameter for verification in the verification mode.

[0073] In step S4, the first update unit 215 updates the first safety information related to the position and speed of the robot 1 in the verification function based on the first safety parameter in the verification mode.

[0074] In step S5, the function control unit 211 determines whether to end the verification mode. If the verification mode has ended ("Yes"), the process proceeds to step S6. If the verification mode has not ended ("No"), the process returns to step S2.

[0075] In step S6, when ending the verification function software, the copying unit 216 copies the setting parameters used in the verification function software.

[0076] In step S7, the reception unit 213 receives the input of the setting parameters through the input / output device 4 in the safety mode.

[0077] In step S8, the second application unit 217 applies the setting parameters copied by the copying unit 216 in step S6 or the setting parameters received by the reception unit 213 in step S7 to the second safety parameter. In addition, when the second application unit 217 applies the setting parameters to the second safety parameter, it is necessary to input a password through the input / output device 4.

[0078] In step S9, after applying the setting parameters to the second safety parameter, the first control unit 21 restarts the robot control device 2. Thereby, the safety function software can make the applied second safety parameter effective.

[0079] In step S10, in the safety mode, the second update unit 218 updates the second safety information related to the position and speed of the robot 1 in the safety function software based on the second safety parameter.

[0080] In step S11, the function control unit 211 determines whether to end the setting of the safety function software and the verification function software. When the setting is ended ("Yes"), the function control unit 211 ends the setting of the safety function software and the verification function software. When the setting is not ended ("No"), the process returns to step S1.

[0081] As described above, according to the present embodiment, the robot control device 2 includes: a function control unit 211 that controls a safety function for safely operating the robot 1 and a verification function for verifying the setting of the safety function; a switching unit 212 that switches between a safety mode for executing the safety function and a verification mode for executing the verification function; a reception unit 213 that receives the input of setting parameters in the verification mode; a first application unit 214 that applies the setting parameters to the first safety parameter for verification in the verification mode; a first update unit 215 that updates the first safety information related to the position and speed of the robot 1 in the verification function based on the first safety parameter in the verification mode; a copying unit 216 that copies the setting parameters; a second application unit 217 that applies the setting parameters copied by the copying unit 216 to the second safety parameter after switching from the verification mode to the safety mode by the switching unit 212; and a second update unit 218 that updates the second safety information related to the position and speed of the robot 1 in the safety function based on the second safety parameter in the safety mode.

[0082] In this way, the robot control device 2 uses the setting parameters for verification in the verification mode, copies the verified setting parameters, and applies the copied setting parameters in the safety mode. Thereby, since the robot control device 2 can apply the setting parameters verified in the verification mode in the safety mode, the parameter adjustment can be efficiently performed.

[0083] In addition, when the first application unit 214 applies the setting parameters to the first safety parameter, no password input is required, and when the second application unit 217 applies the setting parameters to the second safety parameter, a password input is required.

[0084] Thus, in the verification function software of the robot control device 2, the setting parameters are applied to the first safety parameter without the input of a password, so that the verification using the first safety parameter can be efficiently performed. In addition, by setting the input of a password to be required, the safety function software can safely apply the second safety parameter that may affect the safety of the robot 1.

[0085] In addition, the robot control device 2 further includes a display control unit 219 that displays a screen for setting the safety function and the verification function on the display unit of the input / output device 4. Thus, the operator using the robot control device 2 can appropriately set the safety function and the verification function.

[0086] In addition, in the automatic mode in which the robot 1 operates automatically, when the verification function without the safety function is valid, the function control unit 211 stops the start of the automatic operation of the robot 1. Thus, the robot control device 2 can prevent the robot from malfunctioning due to reasons such as allowing faults during automatic operation, which may pose a danger to the user.

[0087] In addition, the safety function and the verification function include functions for checking the position of each axis of the robot 1, the speed of each axis of the robot 1, the orthogonal position of the robot 1, and the orthogonal speed of the robot 1. Thus, the robot control device 2 can monitor the position and speed of the robot 1. Moreover, when the robot 1 becomes in a non-safe state when it meets the set conditions or when the robot 1 exceeds the limit speed, the robot control device 2 can cut off the power supply to the drive circuit of the robot 1.

[0088] The embodiments of the present invention have been described above. However, the above-described robot control device 2 can be implemented by hardware, software, or a combination thereof. In addition, the control method performed by the above-described robot control device 2 can also be implemented by hardware, software, or a combination thereof. Here, the meaning of implementing by software is to implement by a computer reading and executing a program.

[0089] The program can be stored and provided to a 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 (such as hard disk drives), magneto-optical recording media (such as magneto-optical discs), CD-ROM (Read Only Memory), CD-R, CD-R / W, and semiconductor memories (such as mask ROM, PROM (Programmable ROM), EPROM (Erasable PROM), flash ROM, and RAM (random access memory)).

[0090] In addition, the above-described embodiments are preferred embodiments of the present invention, but the scope of the present invention is not limited only to the above-described embodiments. It can be implemented in a manner obtained by making various changes without departing from the gist of the present invention. For example, the first security information may also include information other than the position and speed of the robot. In addition, the second application unit 217 may also use a release key other than a password.

[0091] Description of Reference Numerals

[0092] 1: Robot; 2: Robot control device; 3: Safety device; 4: Input / output device; 5: Sensor; 6: External device; 21: First control unit; 22: Second control unit; 23: I / O unit; 24: Signal processing unit; 25: Communication unit; 26: Storage unit; 211: Function control unit; 212: Switching unit; 213: Reception unit; 214: First application unit; 215: First update unit; 216: Copy unit; 217: Second application unit; 218: Second update unit; 219: Display control unit.

Claims

1. A control device comprising: one or more memories; and one or more processors, The one or more processors are configured to be able to switch between a security mode for executing a security function and a verification mode for executing a verification function, wherein, wherein the safety function is for safely operating the robot, and the verification function is for verifying the setting of the safety function, and the one or more processors perform the following processes: accepting an input of setting parameters; in the verification mode, setting safety parameters of the verification function based on the setting parameters; and in the safety mode, when setting safety parameters of the safety function based on the setting parameters, accepting user authentication.

2. The control device according to claim 1, wherein in the verification mode, the one or more processors can set the safety parameters of the verification function based on the setting parameters regardless of whether user authentication is accepted.

3. The control device according to claim 1 or 2, wherein the user authentication is an input of a password.

4. The control device according to claim 1 or 2, wherein the one or more memories store verification function software for executing the verification function and safety function software for executing the safety function, and the one or more processors cause a screen for performing the safety function based on the safety function software or a screen for setting the verification function based on the verification function software to be displayed.

5. The control device according to claim 4, wherein the one or more processors activate the verification function software or the safety function software according to a switch to the verification mode or the safety mode.

6. The control device according to claim 4, wherein when the verification function software is activated, the one or more processors start and stop the automatic operation of the robot.

7. The control device according to claim 1 or 2, wherein in the verification mode, after receiving information indicating the end of verification of the safety parameters of the verification function, the one or more processors copy the setting parameters to the one or more memories.

8. The control device according to claim 7, wherein the information indicating the end is at least one of the information when the verification function software for executing the verification function ends and the information when switching from the verification mode to the safety mode.

9. The control device according to claim 1 or 2, wherein the safety function and the verification function include functions for checking the position and speed of the robot.

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