Robot control device and robot system

Abstract

The robot control apparatus includes: a first wireless device that performs wireless communication with a second wireless device provided in an external apparatus; a reception level monitoring unit that monitors a reception level between the first wireless device and the second wireless device; a reception level notification unit that notifies the reception level when it is determined that the reception level is lower than the predetermined value; and a change notification unit that performs notification so as to change the position of at least one of the robot, the first wireless device, and the second wireless device.

Description

Technical Field

[0001] This disclosure relates to a robot control device and a robot system. Background Technology

[0002] In recent years, to avoid the tedious work of cable laying and to eliminate the recovery work in case of cable breakage, robotic systems that use wireless devices to send and receive information and / or instructions have been used. For example, please refer to Japanese Patent Application Publication No. 2018-056961 and Japanese Patent Application Publication No. 2010-228065.

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 2018-056961

[0006] Patent Document 2: Japanese Patent Application Publication No. 2010-228065 Summary of the Invention

[0007] The problem the invention aims to solve

[0008] However, depending on the robot's position and posture, the robot itself can sometimes become an obstacle between two wireless devices, thus reducing the communication performance of the wireless devices. Furthermore, there is the problem that users of the robot system find it difficult to pinpoint exactly under what circumstances the communication performance of the wireless devices degrades.

[0009] Therefore, there is a need for a robot control device and robot system that can notify the user when the communication performance of the wireless device is reduced.

[0010] Solution for solving the problem

[0011] According to a first aspect of this disclosure, a robot control device is provided for controlling a robot. The robot control device includes: a reception level monitoring unit that monitors the reception level between a second wireless device and a first wireless device provided by an external device, wherein the first wireless device and the second wireless device communicate wirelessly with each other; a determination unit that, when the robot performs a predetermined action, determines whether the reception level monitored by the reception level monitoring unit is lower than a predetermined value; a reception level notification unit that, when the determination unit determines that the reception level is lower than the predetermined value, notifies the reception level; and a change notification unit that, when the determination unit determines that the reception level is lower than the predetermined value, notifies the robot to change the position of at least one of the first wireless device, the second wireless device, and the robot.

[0012] Furthermore, according to other methods, a robot control device is provided for controlling a robot. The robot control device includes: a reception level monitoring unit that monitors the reception level between a second wireless device and a first wireless device provided by an external device, wherein the first wireless device and the second wireless device communicate wirelessly with each other; a determination unit that determines whether the reception level monitored by the reception level monitoring unit is lower than a predetermined value when the robot performs a predetermined action; and a reception level notification unit that notifies the reception level when the determination unit determines that the reception level is lower than the predetermined value.

[0013] Furthermore, according to another approach, a robot system is provided, comprising: a robot; a first device for controlling the robot; a first wireless device connected to the first device; a second wireless device for wirelessly communicating with the first wireless device; a second device connected to the second wireless device; a reception level monitoring unit for monitoring the reception level between the first wireless device and the second wireless device; a determination unit that, when the robot performs a predetermined action, determines whether the reception level monitored by the reception level monitoring unit is lower than a predetermined value; a reception level notification unit that, when the determination unit determines that the reception level is lower than the predetermined value, notifies the reception level; and a change notification unit that, when the determination unit determines that the reception level is lower than the predetermined value, notifies the change of the position of at least one of the first wireless device, the second wireless device, and the robot.

[0014] The objectives, features, and advantages of this disclosure will become more apparent from the following description of embodiments in conjunction with the accompanying drawings. Attached Figure Description

[0015] Figure 1 This is a simplified diagram of a robot system based on a first embodiment of the present disclosure.

[0016] Figure 2 yes Figure 1 The diagram shows the functional block diagram of the robot system.

[0017] Figure 3 It is a flowchart used to illustrate the actions of a robot system.

[0018] Figure 4A This is a diagram showing an example of a screen displayed on the display unit.

[0019] Figure 4B The second figure shows another example of a screen displayed on the display unit.

[0020] Figure 5 This is a flowchart used to illustrate notification actions.

[0021] Figure 6 yes Figure 1 A partial 3D view of the robot system shown.

[0022] Figure 7 This is a simplified diagram of a robot system based on a second embodiment of the present disclosure.

[0023] Figure 8 yes Figure 7 The diagram shows the functional block diagram of the robot system.

[0024] Figure 9A This is a simplified diagram of the robot system in the variant example.

[0025] Figure 9B In the variation example, and Figure 6 The same diagram.

[0026] Figure 9C This is a simplified diagram of the robot system in the additional variant example.

[0027] Figure 10A This is a functional block diagram of a robot system based on the third embodiment of this disclosure.

[0028] Figure 10B This is a flowchart of the diagnostic procedure in the third embodiment.

[0029] Figure 10C This is another example of a screen displayed on the display unit.

[0030] Figure 11A This is a functional block diagram of a robot system based on the fourth embodiment of this disclosure.

[0031] Figure 11B This is a flowchart of the diagnostic procedure in the fourth embodiment.

[0032] Figure 12A This is a simplified diagram of a robot system based on the fifth embodiment of this disclosure.

[0033] Figure 12B This is a simplified diagram of another robot system based on the fifth embodiment.

[0034] Figure 12C This is a flowchart illustrating the actions in the fifth embodiment. Detailed Implementation

[0035] The embodiments of this disclosure will now be described with reference to the accompanying drawings. In all the drawings, corresponding components are labeled with common reference numerals.

[0036] Figure 1 This is a simplified diagram of a robot system based on the first embodiment of this disclosure. Figure 2yes Figure 1 The diagram shows a functional block diagram of the robot system. As shown in these figures, the robot system 1a based on the first embodiment mainly includes: a robot 10; a first device 20, which includes a first wireless device 61 to control the robot 10; and a second device 30, which includes a second wireless device 62, which communicates wirelessly with the first wireless device 61.

[0037] The first wireless device 61 can be built into the first device 20 or externally placed in the first device 20. Similarly, the second wireless device 62 can be built into the second device 30 or externally placed in the second device 30.

[0038] Robot 10 can be a vertical multi-joint robot with multiple drive units M1~Mn, such as motors. Figure 1 The robot 10 shown has multiple arms driven by multiple drive units M1 to Mn. Furthermore, the foremost arm has a hand H. The hand H can also be driven by the aforementioned drive units. Figure 1 The robot 10 shown is used to grasp and move a workpiece W disposed on a worktable TB via its hand H. However, the robot 10 can also be used for other purposes.

[0039] like Figure 2 As shown, the multiple drive units M1 to Mn each have a detection unit E1 to En for detecting the position and / or speed of the corresponding shaft, such as an encoder. Additionally, although not shown in the figures, the drive units M1 to Mn may also include various sensors, such as temperature sensors.

[0040] The robot 10, equipped with multiple drive units M1 to Mn, is controlled by a first device 20, such as a robot control device 20. As is known, the robot control device 20 uses the detection results of multiple detection units E1 to En to control the multiple drive units M1 to Mn. The robot control device 20 is a computer equipped with a CPU (Central Processing Unit), a storage unit 40, etc., interconnected via a bus. The storage unit can be either volatile memory or non-volatile memory. Furthermore, the storage unit 40 is configured to store the action program P for causing the robot 10 to move, as well as the received level R, described later.

[0041] The first device 20 can be a robot control device 20 for controlling the robot 10, equipped with a first wireless device 61. The robot control device 20 is connected to the second device 30, such as a PLC (Programmable Logic Controller) or a teach pendant, via the first wireless device 61 and a second wireless device 62. In other words, the robot control device 20 has the first wireless device 61, and the second device 30 has the second wireless device 62. Furthermore, the first wireless device 61 and the second wireless device 62 communicate wirelessly with each other, sending and receiving data and instructions. Moreover, the second device 30 is located outside the robot control device 20, therefore the second device 30 can be referred to as an external device.

[0042] The first wireless device 61 and the second wireless device 62 can be identical devices, and therefore, they can be interchanged. Alternatively, the first wireless device 61 and the second wireless device 62 can be used within a wireless field network including the robot control device 20 and the second device 30. Furthermore, the second wireless device 62 can also be the wireless communication portion of the second device 30 of the wireless teaching control panel. Alternatively, as described later, the second wireless device 62 can also be the wireless communication portion of the second device 30 of the wireless sensor S. Similarly, the second wireless device 62 can also be the wireless communication portion of the second device 30 of the wireless hand guide G. In other words, the first wireless device 61 and the second wireless device 62 can be included in a wireless field network, the wireless sensor S, the wireless teaching control panel, or the wireless hand guide S.

[0043] like Figure 2 As shown, the CPU of the robot control device 20 includes: a receive level monitoring unit 31, which monitors the receive level R between the first wireless device 61 and the second wireless device 62; and a determination unit 32, which determines whether the receive level R monitored by the receive level monitoring unit 31 is lower than a predetermined value. The receive level monitoring unit 31 monitors the receive level R detected by the first wireless device 61 and / or the second wireless device 62.

[0044] Furthermore, the CPU of the robot control device 20 includes: a receiving level notification unit 33, which notifies the receiving level R when the determination unit 32 determines that the receiving level R is lower than a predetermined value; and a change notification unit 34, which notifies the change of the position of at least one of the first wireless device 61 and the second wireless device 62 when the determination unit 32 determines that the receiving level R is lower than a predetermined value.

[0045] The receiver level monitoring unit 31, the determination unit 32, the receiver level notification unit 33, and the change notification unit 34 of the CPU of the robot control device 20 are functional modules implemented, for example, by a computer program executed on the CPU. The computer program for performing the processing of the receiver level monitoring unit 31, the determination unit 32, the receiver level notification unit 33, and the change notification unit 34 of the CPU of the robot control device 20 may also be provided in the form of a computer-readable recording medium such as a semiconductor memory, a magnetic recording medium, or an optical recording medium.

[0046] The robot control device 20 is connected to a display unit 21, such as a monitor or CRT, which displays various computer processing functions. Furthermore, the robot control device 20 is connected to an input unit 22, such as a mouse, keyboard, or touch panel, for inputting various operations from the operator. Alternatively, a separate teach pendant (not shown), which integrates the display unit 21 and the input unit 22, may be connected to the robot control device 20.

[0047] Alternatively, at least one of the receive level monitoring unit 31, determination unit 32, receive level notification unit 33, and change notification unit 34 may be installed in the CPU of the second device 30 instead of in the robot control device 20. The following explanation will continue with the assumption that the receive level monitoring unit 31, determination unit 32, receive level notification unit 33, and change notification unit 34 are installed in the robot control device 20.

[0048] Figure 3 It is a flowchart used to illustrate the actions of a robot system. Furthermore, Figure 4A This diagram shows an example of a screen displayed on the display unit. Figure 4B These are diagrams showing other examples of screens displayed on the display unit. Below, refer to... Figures 3-4B The actions related to robot system 1a will be described. Furthermore, it is assumed that robot control device 20 and second device 30 are in a state of wireless communication with each other via first wireless device 61 and second wireless device 62.

[0049] First, in step S11, the robot control device 20 starts operating based on the action program P. Next, in step S12, the current time T is obtained using the internal clock of the robot control device 20.

[0050] Then, in step S13, the receive level monitoring unit 31 detects the receive level R (dBm) between the first wireless device 61 and the second wireless device 62. Next, in step S14, the receive level notification unit 33 reads the current line number L in the operation program P.

[0051] Then, in step S15, the determination unit 32 compares the detected received level R with a predetermined value R0. The predetermined value R0 is the minimum level at which sufficient wireless communication can be carried out between the first wireless device 61 and the second wireless device 62, and is assumed to be determined in advance through experiments or simulations.

[0052] If the received level R is determined to be less than the specified value R0, proceed to step S16. Conversely, if the received level R is determined to be not less than the specified value R0, proceed to step S19.

[0053] In step S16, the receive level notification unit 33 establishes an associated list of the receive level R, time T, and line number L determined to be less than the predetermined value R0. Then, in step S17, the receive level notification unit 33 notifies the user of the associated receive level R, time T, and line number L through the display unit 21.

[0054] exist Figure 4A In the process, the received level R determined to be smaller than the specified value R0, the current time T, and the row number L are listed in a single row, for example, row No. 1. Furthermore, the name of the action program P containing the row number L can be appended to the same row. The listed rows are sequentially stored in the storage unit of the robot control device 20.

[0055] Furthermore, it is preferable to display the aforementioned rows, including the associated reception level R, time T, and row number L, on the display unit 21 in real time. Thus, the reception level notification unit 33 can serve to warn the user of a decrease in reception level via the display unit 21.

[0056] Alternatively, after the robot 10 finishes its action based on the action program P, all rows, each containing all associated received levels R, time T, and row number L, can be displayed on the display unit 21 at once. Figure 4A The text displays the five rows from No.1 to No.5.

[0057] Next, in step S18, all lines of the action program P are executed to determine whether the action of robot 10 has ended. If the action of robot 10 has ended, the process ends.

[0058] If the robot 10's action has not finished, proceed to step S19 to determine whether a minute time ΔT has elapsed since time T was read in step S12. If a minute time ΔT has elapsed, return to step S12 again. Therefore, this process is repeated every predetermined time interval ΔT. Figure 3 The processing of steps S12 to S18 shown continues until the robot 10 finishes its actions based on the motion program P.

[0059] When the robot 10 finishes its action based on the action program P, such as Figure 4A As shown, all received levels R smaller than the specified value R0 are displayed on display unit 21 in association with the line number L of the action procedure P. Figure 4A The table shows five rows, No.1 to No.5, indicating that five received levels R were detected that were less than the specified value R0.

[0060] Figure 5 This is a flowchart used to illustrate notification actions. Figure 6 This is a partial 3D view of the robot system. First, in... Figure 5 In step S21, the receiving level notification unit 33 notifies the user of the receiving level R through the display unit 21. This is essentially equivalent to... Figure 3 Step S17.

[0061] Next, in step S22, the change notification unit 34 obtains the shortest distance CL of the line segment C connecting the first wireless device 61 and the second wireless device 62. Figure 6 The diagram shows line segment C connecting the first wireless device 61 and the second wireless device 62. The shortest distance CL is equivalent to the length of line segment C. The shortest distance CL can be calculated based on the known positions of the first wireless device 61 and the second wireless device 62, or it can be detected using a sensor (not shown).

[0062] like Figure 6 As shown, when the first wireless device 61 and the second wireless device 62 are configured on the same plane, line segment C extends horizontally. However, when the heights of the first wireless device 61 and the second wireless device 62 are different, the shortest distance CL in three-dimensional space is obtained.

[0063] Then, in step S23, the shortest distance CL is compared with a predetermined value CL0. The predetermined value CL0 is a value obtained by adding a predetermined margin to the distance at which sufficient wireless communication can be carried out between the first wireless device 61 and the second wireless device 62, and is determined in advance through experiments or simulations.

[0064] If the shortest distance CL is determined to be greater than the specified value CL0, proceed to step S24. In step S24, it is determined whether robot 10 exists on the line segment C connecting the first wireless device 61 and the second wireless device 62. Strictly speaking, if the distance between line segment C and robot 10 is below the specified threshold, it is determined that robot 10 exists on the line segment C connecting the first wireless device 61 and the second wireless device 62.

[0065] Then, if it is determined that robot 10 exists on line segment C, it is determined that robot 10 itself is an obstacle to wireless communication, and the process proceeds to step S25. In step S25, the change notification unit 34 notifies the display unit 21 to cause at least one of the first wireless device 61 and the second wireless device 62 to move a predetermined distance along a direction C1 at a predetermined angle relative to line segment C.

[0066] The specified angle is an angle greater than 0° and less than 180° relative to line segment C, and is determined in advance through simulation or experimentation. The specified angle is preferably an angle of approximately 45° to approximately 135°. Furthermore, the specified angle is more preferably 90° relative to line segment C. Additionally, the specified angle is set such that the first wireless device 61 and the second wireless device 62 are relatively close.

[0067] Furthermore, when both the first wireless device 61 and the second wireless device 62 are moved along a direction forming a predetermined angle relative to line segment C, such as Figure 6 As shown, when it is necessary for the first wireless device 61 and the second wireless device 62 to move in the same direction, the change notification unit 34 sends such a notification through the display unit 21. The user moves the first wireless device 61 and the others according to the notification from the change notification unit 34, thereby preventing the robot 10 from becoming an obstacle. As a result, wireless communication can be carried out reliably.

[0068] Conversely, if it is determined that robot 10 does not exist on line segment C connecting the first wireless device 61 and the second wireless device 62, the process proceeds to step S26. In such a case, for example, as... Figure 6 As shown by the dashed line, the second wireless device 62' is located away from the robot 10. Furthermore, the line segment connecting the first wireless device 61 and the second wireless device 62' is designated as line segment C'.

[0069] In step S26, because the distance between the first wireless device 61 and the second wireless device 62 (equivalent to the length C'L of line segment C') is too large, it is determined that the received level R has decreased. Then, the change notification unit 34 notifies the user through the display unit 21 to bring the first wireless device 61 and the second wireless device 62 closer together. Specifically, as follows... Figure 6 As shown, at least one of the first wireless device 61 and the second wireless device 62 is moved a predetermined distance along line segment C' in the direction of arrow C2. The user moves the first wireless device 61, etc., according to the notification from the change notification unit 34, thereby enabling good wireless communication.

[0070] Furthermore, if the first wireless device 61 and / or the second wireless device 62 have been moved according to the instructions in steps S25 and S26, it is preferable to move the robot 10 again according to the same action procedure P. This allows confirmation of whether the received signal level R has improved.

[0071] Furthermore, if in step S23 it is determined that the shortest distance CL is not greater than the predetermined value CL0, the change notification unit 34 considers the cause of the decreased received level R to be unknown and terminates the process. The change notification unit 34 may also notify the user of this unknown cause through the display unit 21.

[0072] Furthermore, the notifications in steps S25 and S26 include not only moving the first wireless device 61 and / or the second wireless device 62, but also moving the first wireless device 61 and / or the second wireless device 62 relative to the robot 10. In other words, it is also possible to move only the robot 10 to conform to the notifications in steps S25 and S26.

[0073] Alternatively, in step S24, it can be determined whether there are peripheral devices, such as workbench TB, on line segment C, and processed in the same way as described above. In this case, peripheral devices are prevented from becoming obstacles, thereby achieving the same effect as described above. Furthermore, determining whether there is robot 10 and / or peripheral devices, such as workbench TB, on line segment C and processing them in the same way as described above is also included within the scope of this disclosure.

[0074] Reference Figure 3 The text explains the situation where the received voltage level R decreases during the execution of action procedure P, but... Figure 3 The processing shown can also be performed during the jogging operation. In this case, the jogging operation is set to start in step S11, and it is determined in step S18 whether the jogging operation has ended. Furthermore, in this case, the action procedure P is not used, therefore the reading of row number L in step S14 and the appending of row number L to the list in step S16 are not performed.

[0075] Refer again Figure 4A The display unit 21 shows a details button 21a and an end button 21b. When the user presses the end button 21b using the input unit 22, the session ends. Figure 4A The image shown.

[0076] Additionally, when the user clicks on the input section 22 Figure 4A When a row from No. 1 to No. 5 is displayed, that row is highlighted or inverted, thus selecting that row. Then, when the user clicks the details button 21a using the input section 22, as shown... Figure 4B That will display detailed information related to the selected row.

[0077] exist Figure 4B As an example, it is shown in the middle. Figure 4A The details information when row No.1 is selected includes the row number L, the received level R, and the motion program name. It also includes the date and time T when a received level R smaller than a specified value R0 is detected, as well as the robot 10's poses x, y, z, w, p, and r. Furthermore, the robot 10's poses x, y, and z correspond to its position (mm) on each of the mutually orthogonal XYZ axes, and its poses w, p, and r correspond to its rotation angle (deg) around each of the XYZ axes. Based on the detection values ​​of encoders E1 to En, the poses x, y, z, w, p, and r are calculated using known methods during robot motion and stored in the storage unit.

[0078] Users can refer to Figure 4B The detailed information shown helps determine the posture of robot 10 when the received level R decreases. Therefore, the user can correct the motion program P to prevent robot 10 from adopting the same posture.

[0079] In addition, Figure 4B The display unit 21 also shows a movement button 21c. When the user clicks the movement button 21c using the input unit 22, the robot 10 moves to the posture x, y, z, w, p, r shown in the details information. Thus, the user can visually grasp the position and posture of the robot 10 when the received level R decreases. Therefore, it becomes easy to correct the motion program P.

[0080] Furthermore, the details button 21a and the movement button 21c are part of the receiving level notification unit 33 and are therefore included in the CPU of the robot control device 20. Thus, the details button 21a and the movement button 21c are functional modules implemented, for example, by a computer program executed on the CPU. The computer program for executing the processing of the details button 21a and the movement button 21c may also be provided in the form of a computer-readable recording medium such as a semiconductor memory, a magnetic recording medium, or an optical recording medium.

[0081] and, Figure 7 This is a simplified diagram of a robot system based on the second embodiment of this disclosure. Figure 8 yes Figure 7 The diagram shows a functional block diagram of the robot system. In these figures, a wireless sensor S equipped with a second wireless device 62 is mounted on the hand H of the robot 10. In other words, in this case, the wireless sensor S is the second device 30, and the wireless communication portion of the wireless sensor S corresponds to the second wireless device 62.

[0082] The wireless sensor S can be an acceleration sensor that detects the vibration of the hand H when the robot 10 moves. The acceleration detected is communicated with each other by the second wireless device 62 within the wireless sensor S and the first wireless device 61. In addition, the second wireless device 62 can also be externally mounted to the wireless sensor S.

[0083] In such a case, since the second wireless device 62 is mounted on the hand H of the robot 10, in Figure 5 steps S25 and S26, only the first wireless device 61 is moved. Therefore, even in such a case, it is included within the scope of the present disclosure and the same effects as described above can be obtained.

[0084] And, from Figure 7 it can be seen that a wireless manual guide G equipped with the second wireless device 62 can also be mounted on the hand H of the robot 10 to replace the wireless sensor S. In other words, in this case, the wireless manual guide G is the second device 30, and the wireless communication part of the wireless manual guide G corresponds to the second wireless device 62. In addition, the second wireless device 62 can also be externally mounted to the wireless manual guide G.

[0085] As is well known, the wireless manual guide G has an emergency stop switch for causing the robot 10 to stop urgently and an enable switch for making the robot 10 in an enabled state. In such a case, in Figure 3 step S11, the user does not use the action program P, but makes the robot 10 in an enabled state through the enable switch. Then, the user uses the wireless manual guide R to make the robot 10 move to a desired position and posture.

[0086] In addition, when the second device 30 is the wireless manual guide G, the action program P is not used, so Figure 3 step S14 is omitted. Additionally, for the same reason, in Figure 3 step S16 as well, the line number L is not appended to the list, and only the wireless manual guide R and the time T are appended to the list.

[0087] And, similar to the above, since the second wireless device 62 is mounted on the hand H of the robot 10, in Figure 5 steps S25 and S26, only the first wireless device 61 is moved. Therefore, even in such a case, it is included within the scope of the present disclosure and the same effects as described above can be obtained.

[0088] Figure 9A is a schematic diagram of the robot system 1c in the modified example, Figure 9B is in the modified example and related to Figure 6The same diagram. In a variation, robot 10 is mounted on an AGV (Automatic Guided Vehicle) and moves integrally with the AGV. The AGV is assumed to be controlled by robot control unit 20. In other words, the AGV controlled by robot control unit 20 is contained within robot 10.

[0089] about Figure 5 In step S25, in a modified example, the change notification unit 34 notifies the display unit 21 to cause at least one of the robot 10, the first wireless device 61, and the second wireless device 62 on the AGV to move a predetermined distance along directions C1 and C3 at a predetermined angle relative to the line segment C.

[0090] Since it can be predicted that the received signal level will not change, the robot 10, the first wireless device 61, and the second wireless device 62 on the AGV cannot all move in the same direction C1. Therefore, it is preferable to keep the first wireless device 61 and the second wireless device 62 stationary and move only the robot 10 in direction C1. Alternatively, it is preferable to move at least one of the first wireless device 61 and the second wireless device 62 in direction C1, and move the robot 10 in a direction C3 different from direction C1.

[0091] Direction C3 is a direction forming a predetermined angle with respect to line segment C. This predetermined angle is a negative angle greater than 0° and less than 180° with respect to line segment C, and is determined in advance through simulation or experimentation. The predetermined angle is preferably a negative angle of about 45° to about 135°. Furthermore, the predetermined angle is more preferably negative 90° with respect to line segment C. Such cases are also included within the scope of this disclosure.

[0092] also, Figure 9C This is a simplified diagram of the robot system 1c' in the additional variant example. Figure 9C The robot 10 shown, like the second embodiment, has a wireless sensor S equipped with a second wireless device 62 or a wireless manual guide G installed on its hand H. Furthermore, the robot 10 is mounted on an AGV controlled by a robot control device 20. In this configuration, it is clear that the same control as described above can be performed and the same effects can be obtained.

[0093] Figure 10AThis is a functional block diagram of a robot system 1d based on the third embodiment of this disclosure. The storage unit 40 stores predetermined layout information LAY related to the robot 10, robot control device 20, external device 30, first wireless device 61, and second wireless device 62. The layout information LAY includes the dimensions of the robot 10, robot control device 20, external device 30, first wireless device 61, and second wireless device 62, as well as the three-dimensional positional relationships between them. In the presence of other peripheral devices, such as a workbench TB, the layout information LAY may also include the dimensions of these other peripheral devices and their three-dimensional positional relationships with the robot 10, etc.

[0094] Additionally, the storage unit 40 includes a diagnostic program P1. The diagnostic program P1 is manufactured by the robot 10 manufacturer and stored in the storage unit 40 from the date the robot control device 20 was manufactured. In contrast, the aforementioned action program P is appropriately created by the user who purchased the robot 10 according to their intended use. Furthermore, in the third embodiment and the fourth embodiment described later, the change notification unit 34 may be omitted.

[0095] Figure 10B This is a flowchart of the diagnostic procedure in the third embodiment. For example, such as... Figure 1 As shown, after the robot 10, robot control device 20, external device 30, first wireless device 61, second wireless device 62, and other peripheral devices are arranged in the desired position, layout information LAY is created and stored in storage unit 40. Then, diagnostic program P1 is executed. At the start of diagnostic program P1, the robot 10 is set to its initial position.

[0096] First, in step S31, the receive level monitoring unit 31 begins monitoring the receive level R between the first wireless device 61 and the second wireless device 62. Next, in step S32, the robot 10 performs an initial reciprocating motion along the X direction, for example, ±100mm. Then, the motion distance is increased slightly, and the reciprocating motion is repeated. Based on the aforementioned layout information, the reciprocating motion distance in the X direction at which the robot 10 will come into contact with surrounding devices, such as the first wireless device 61, can be determined. Therefore, in this step, while monitoring the receive level R, the robot 10 is repeatedly performed in the X direction within a range where it does not come into contact with surrounding devices. Furthermore, the reciprocating motion can be based on either the world coordinate system or the tool coordinate system. The same applies to the steps described later.

[0097] Similarly, in step S33, the robot 10 performs an initial reciprocating motion along the Y direction, for example, ±100mm. Then, the motion distance is increased by a small value, and the reciprocating motion is performed again. As described above, in this step, while monitoring the received level R, the layout information LAY is used to repeatedly perform the reciprocating motion along the Y direction within a range where the robot 10 does not contact surrounding equipment. Similarly, in step S34, while monitoring the received level R, the layout information LAY is used to repeatedly perform the reciprocating motion along the Z direction within a range where the robot 10 does not contact surrounding equipment.

[0098] Next, in step S35, the robot 10 performs a reciprocating motion around the X direction with an initial motion angle, for example, ±15 degrees. Then, the motion angle is increased by a small value, and the reciprocating motion is performed again. Based on the layout information LAY described above, the motion angle around the X direction at which the robot 10 will come into contact with surrounding devices, such as the first wireless device 61, can be determined. Therefore, in this step, while monitoring the received level R, the robot 10 is repeatedly performed in the reciprocating motion around the X direction within a range where the robot 10 does not come into contact with surrounding devices.

[0099] Similarly, in step S36, robot 10 performs a reciprocating motion around the Y direction with an initial motion angle, for example, ±15 degrees. Then, the motion angle is increased by a small value, and the reciprocating motion is performed again. As described above, in this step, while monitoring the received level R, the layout information LAY is used to repeatedly perform the reciprocating motion around the Y direction within a range where robot 10 does not contact surrounding devices. Similarly, in step S37, while monitoring the received level R, the layout information LAY is used to repeatedly perform the reciprocating motion around the Z direction within a range where robot 10 does not contact surrounding devices.

[0100] Then, in step S38, the monitoring of the received level R ends. Next, in step S39, the determination unit 32 compares the detected received level R with a predetermined value R0. If it is determined that the received level R is less than the predetermined value R0, the process proceeds to step S41.

[0101] In step S41, the receiving level notification unit 33 establishes a related list of the receiving level R determined to be less than the predetermined value R0, the time T, and the robot 10's postures x, y, z, w, p, r, and notifies the user through the display unit 21, which serves as the output unit (see reference). Figure 4B ).

[0102] In contrast, if it is determined that the received level R is not less than the predetermined value R0, the process proceeds to step S40, whereby the display unit 21 notifies the user that the current layout of the robot 10, etc., is without problems. Thus, in this embodiment, the diagnostic procedure P1 is executed based on the layout information LAY. Therefore, it is possible to determine in advance whether the positional relationships of the robot 10, etc., configured according to the layout information LAY are without problems.

[0103] in addition, Figure 10C This diagram shows yet another example of a screen displayed on a display unit. Figure 10C In the display unit 21, the reciprocating motion distance in each direction of the diagnostic program P1 is displayed. Furthermore, six input fields 21d to 21i are arranged below the display unit 21. These input fields 21d to 21i correspond to the distance or angle of the reciprocating motion in the X direction, Y direction, Z direction, around the X direction, around the Y direction, and around the Z direction, respectively.

[0104] Based on the layout information LAY, the user can use the input unit 22 to change the distance or angle of the reciprocating motion in each direction. In other words, the user uses the input unit 22 to input the change value of the robot 10's motion range in the diagnostic program P1.

[0105] For example, sometimes the layout information (LAY) can indicate that there is sufficient margin before the robot 10 contacts the surrounding equipment in the X direction. In such cases, the user can change the reciprocating motion distance in the X direction to a value larger than ±100mm, such as ±300mm. It is known that by making such a change, the time required to execute the diagnostic procedure P1 can be shortened.

[0106] and, Figure 11A This is a functional block diagram of the robot system 1e based on the fourth embodiment of this disclosure. Figure 11A The robot control device 20 shown includes a connection portion 39, which is connected to sensors D1 and D2 that detect data related to the robot 10. Sensor D1 is disposed inside the robot 10 and may be a torque sensor located along each axis of the robot 10, a sensor that detects motor interference, a force sensor that detects forces acting on the robot 10, etc. Sensor D2 is disposed outside the robot 10 and may be a camera capable of capturing images of the entire system 1e. Alternatively, the device may have only one of sensors D1 or D2.

[0107] Furthermore, the storage unit 40 stores a diagnostic procedure P2 that differs from the one described above, but does not store the layout information LAY. In other words, in the fourth embodiment, the dimensions and three-dimensional positional relationships of the robot 10, robot control device 20, external device 30, first wireless device 61, and second wireless device 62 in system 1e are not known.

[0108] Figure 11B This is a flowchart of the diagnostic procedure in the fourth embodiment. At the start of the diagnostic procedure P2, robot 10 is assumed to be in its initial position.

[0109] First, in step S31', the receive level monitoring unit 31 begins monitoring the receive level R between the first wireless device 61 and the second wireless device 62. Next, in step S32', the robot 10 is made to reciprocate along the X direction. In the fourth embodiment, since there is no layout information LAY, the distance of the reciprocating motion is not set. Instead, the robot control device 20 acquires data periodically detected by the sensor D1 via the connection unit 39. Then, the CPU compares the detected data, such as the force acting on the robot 10, with a predetermined threshold. For example, if the detected force is greater than the threshold, it is determined that the robot 10 has made contact or collided with a surrounding device, thereby ending the reciprocating motion in the X direction. Therefore, in this step, while monitoring the receive level R, the robot 10 is made to reciprocate along the X direction within a range where the robot 10 does not come into contact with surrounding devices.

[0110] A predetermined threshold is determined through experiments and stored in the storage unit 40. Furthermore, the predetermined threshold varies depending on the type of sensor D1. Additionally, the connection unit 39 can acquire images of the entire system periodically captured by sensor D2, such as a camera. In this case, it is possible to determine whether the robot 10 has made contact or collided with surrounding equipment based on multiple images. It is possible to determine whether the robot 10 has made contact or collided based on data from both sensors D1 and D2, or based on data from only one of sensors D1 and D2.

[0111] Similarly, in step S33', robot 10 is made to reciprocate along the Y direction. Likewise, while monitoring the received level R, robot 10 is made to reciprocate along the Y direction until sensor D1 and / or sensor D2 determines that robot 10 has made contact or collided with surrounding equipment. Similarly, in step S34', while monitoring the received level R, robot 10 is made to reciprocate along the Z direction until it is determined that robot 10 has made contact with surrounding equipment.

[0112] Then, in step S35', while monitoring the received level R, the robot 10 is made to reciprocate around the X direction until it is determined that the robot 10 has made contact with the surrounding equipment. Similarly, in step S36', while monitoring the received level R, the robot 10 is made to reciprocate around the Y direction until it is determined that the robot 10 has made contact with the surrounding equipment. Furthermore, in step S37', while monitoring the received level R, the robot 10 is made to reciprocate around the Z direction until it is determined that the robot 10 has made contact with the surrounding equipment.

[0113] Next, in step S38', the monitoring of the received level R ends. Then, in step S39', the determination unit 32 compares the detected received level R with a predetermined value R0. If it is determined that the received level R is less than the predetermined value R0, in step S41', the received level notification unit 33 lists the data as described above and notifies the user via the display unit 21, which serves as the output unit. If it is determined that the received level R is not less than the predetermined value R0, the process proceeds to step S40', and the user is notified via the display unit 21 that the current layout of the robot 10, etc., is without problems. Therefore, by performing a diagnosis through the diagnostic procedure P2, even when the positional relationship of the robot 10, etc., is unclear, it is possible to determine in advance whether such positional relationship is without problems. Furthermore, in Figure 7 The system shown can obviously also be applied. Figure 10A and Figure 11B The structure of the robot control device 20 shown.

[0114] and, Figure 12A This is a simplified diagram of a robot system 1f based on the fifth embodiment of this disclosure, showing... Figure 1 The same structure. Figure 12B This is a simplified diagram of another robot system 1g based on the fifth embodiment, showing the relationship with... Figure 7 The same structure. Figure 12A as well as Figure 12B Structure and use of the robot control device 20 shown Figure 10A or Figure 11A The general structure of the robot control device 20 described is the same. Additionally, in Figure 12A as well as Figure 12B The system includes a sensor D2, such as a camera, capable of capturing images of the operator's designated work position within robot systems 1f and 1g. The sensor D2 is connected via the aforementioned connection part 39 (in...). Figure 12A as well as Figure 12B (Not shown in the image) is used to connect to the robot control device 20.

[0115] Furthermore, in Figure 12A as well as Figure 12BIn the image, the worker is shown near robot 10. The reason given is... Figure 12A as well as Figure 12B The robot 10 shown is a collaborative robot that works in cooperation with a human. In such a collaborative operation, for example, a worker passes a workpiece W to the robot 10 and receives the processed workpiece W from the robot 10.

[0116] Therefore, during collaborative operations, the presence of the operator may affect the received signal level R. In other words, without executing diagnostic procedures P1 and P2 under the same conditions as a real collaborative operation, it is difficult to accurately measure the received signal level R. Therefore, when executing the aforementioned diagnostic procedures P1 and P2, the operator needs to be present in the designated working position within the collaborative operation, such as between the first wireless device 61 and the second wireless device 62.

[0117] Figure 12C This is a flowchart illustrating the actions in the fifth embodiment. The program for executing this flowchart is stored in the storage unit 40. (Set as follows) Figure 12C The actions shown are performed before the diagnostic procedures P1 and P2 described above are executed.

[0118] exist Figure 12C In step S51, sensor D2 captures the designated work position of the operator in robot systems 1f and 1g. Next, in step S52, it is determined whether the operator has been captured at the appropriate position in the captured image. Then, if the operator has been captured at the appropriate position in the image, the process ends. Thus, diagnostic procedures P1 and P2 can be executed in the same environment as real-world collaborative work.

[0119] Conversely, if the operator is not captured in the appropriate position in the image, the process proceeds to step S53. In step S53, a message indicating that the operator is not in the designated work position is output from the display unit 21, which serves as the output unit. Alternatively, an audio message indicating that the operator is not in the designated work position may also be output. This serves to alert the operator executing diagnostic procedures P1 and P2. Furthermore, diagnostic procedures P1 and P2 are not executed until the operator reaches the designated work position. Additionally, the robot control device 20 may be an offline simulator.

[0120] As an effect of at least one of the embodiments described above, it is possible to notify the user when the communication performance of the wireless device is reduced.

[0121] The embodiments of this disclosure have been described in detail, but this disclosure is not limited to the various embodiments described above. These embodiments can be modified through various additions, substitutions, alterations, and partial deletions without departing from the spirit and essence of the invention derived from the claims and their equivalents. For example, in the embodiments described above, the order of each action and each process is shown as an example, and the order of actions and processes is not limited to. The same applies to cases where numerical values ​​or formulas are used in the description of the embodiments described above. Furthermore, the appropriate combination of several embodiments described above is included within the scope of this disclosure.

[0122] The following notes are also disclosed regarding the above-described embodiments and variations.

[0123] (Postscript 1)

[0124] A robot control device for controlling a robot, the robot control device comprising:

[0125] The receiving level monitoring unit monitors the receiving level between the second wireless device and the first wireless device of the external device, wherein the first wireless device and the second wireless device communicate wirelessly with each other.

[0126] The determination unit determines whether the received level monitored by the received level monitoring unit is lower than a predetermined value when the robot performs a specified action.

[0127] A receiving level notification unit, which notifies the receiving level when the determination unit determines that the receiving level is lower than a predetermined value; and

[0128] The change notification unit notifies the robot to change the position of at least one of the first wireless device, the second wireless device, and the robot when the determination unit determines that the received signal level is lower than a predetermined value.

[0129] (Postscript 2)

[0130] According to the robot control device described in Appendix 1, wherein,

[0131] When the robot control device is performing an action based on an action program as a prescribed action, the receiving level notification unit will associate the receiving level determined to be lower than the prescribed value with the line number of the action program corresponding to the receiving level determined to be lower than the prescribed value.

[0132] (Note 3)

[0133] According to the robot control device described in Appendix 1, wherein,

[0134] The first wireless device and the second wireless device are included in a wireless field network, a wireless sensor, a wireless teaching control panel, or a wireless manual guide.

[0135] (Postscript 4)

[0136] According to the robot control device described in Appendix 1, wherein,

[0137] The receiving level notification unit includes a movement unit, which moves the robot to the position and posture of the robot when the receiving level monitoring unit determines that the receiving level has decreased.

[0138] (Note 5)

[0139] A robot control device for controlling a robot, the robot control device comprising:

[0140] The receiving level monitoring unit monitors the receiving level between the second wireless device and the first wireless device of the external device, wherein the first wireless device and the second wireless device communicate wirelessly with each other.

[0141] The determination unit, when instructing the robot to perform a predetermined action, determines whether the received level monitored by the received level monitoring unit is lower than a predetermined value; and

[0142] The receiving level notification unit notifies the receiving level when the determination unit determines that the receiving level is lower than a predetermined value.

[0143] (Note 6)

[0144] According to the robot control device described in Appendix 5, wherein...

[0145] It includes a storage unit that stores layout information related to the robot, the external device, the first wireless device, and the second wireless device.

[0146] The robot control device enables the robot to perform the prescribed actions based on the layout information.

[0147] (Note 7)

[0148] According to the robot control device described in Appendix 5, wherein...

[0149] It includes an input unit for inputting a change value for the robot's range of motion in the specified action.

[0150] (Postscript 8)

[0151] According to the robot control device described in Appendix 5, wherein...

[0152] It includes a connecting part that connects to a sensor, wherein the sensor detects data related to the robot.

[0153] The robot control device enables the robot to perform the prescribed actions based on the data detected by the sensors.

[0154] (Note 9)

[0155] According to the robot control device described in Appendix 5, wherein...

[0156] The robot is equipped with an automated guided vehicle, i.e., an AGV.

[0157] (Postscript 10)

[0158] According to the robot control device described in Appendix 5, wherein...

[0159] The robot is equipped with an output unit that outputs a message before the robot performs the specified action, causing the operator to be positioned in a specified location.

[0160] (Postscript 11)

[0161] According to the robot control device described in Appendix 5, wherein...

[0162] The robot control device is an offline simulator.

[0163] (Postscript 12)

[0164] A robot system having:

[0165] robot;

[0166] The first device controls the robot;

[0167] A first wireless device, which is connected to the first device;

[0168] The second wireless device communicates wirelessly with the first wireless device.

[0169] A second device, which is connected to the second wireless device;

[0170] A receive level monitoring unit monitors the receive level between the first wireless device and the second wireless device;

[0171] The determination unit determines whether the received level monitored by the received level monitoring unit is lower than a predetermined value when the robot performs a specified action.

[0172] A receiving level notification unit, which notifies the receiving level when the determination unit determines that the receiving level is lower than a predetermined value; and

[0173] The change notification unit notifies the robot to change the position of at least one of the first wireless device, the second wireless device, and the robot when the determination unit determines that the received signal level is lower than a predetermined value.

[0174] (Postscript 13)

[0175] According to the robot system described in Appendix 12, wherein,

[0176] When the first device is performing an action based on an action program as a prescribed action, the receiving level notification unit will associate the receiving level determined to be lower than the prescribed value with the line number of the action program corresponding to the receiving level determined to be lower than the prescribed value.

[0177] (Postscript 14)

[0178] According to the robot system described in Appendix 12, wherein,

[0179] The first wireless device and the second wireless device are included in a wireless field network, a wireless sensor, a wireless teaching control panel, or a wireless manual guide.

[0180] (Postscript 15)

[0181] According to the robot system described in Appendix 12, wherein,

[0182] The receiving level notification unit includes a movement unit, which moves the robot to the position and posture of the robot when the receiving level monitoring unit determines that the receiving level has decreased.

[0183] Explanation of reference numerals in the attached figures

[0184] 1a~1g Robotic Systems

[0185] 10 robots

[0186] 20. Robot control device (first device)

[0187] 21. Display Section (Output Section)

[0188] 21a Details button

[0189] 21b End button

[0190] 21c Movement button (moving part)

[0191] 22 Input Section

[0192] 30 Second device (external device)

[0193] 31. Received Level Monitoring Unit

[0194] 32 Judgment Department

[0195] 33 Receive Level Notification Department

[0196] 34. Change Notification Department

[0197] 40 Storage Unit

[0198] 61 First Wireless Device

[0199] 62 Second wireless device

[0200] D1 and D2 sensors

[0201] E1~En Testing Department

[0202] G Wireless Manual Bootloader

[0203] M1~Mn drive unit

[0204] S wireless sensor

Claims

1. A robot control device for controlling a robot, the robot control device comprising: The receive level monitoring unit monitors the receive level between the second wireless device and the first wireless device in the external device, wherein... The first wireless device and the second wireless device communicate wirelessly with each other. The determination unit determines whether the received level monitored by the received level monitoring unit is lower than a predetermined value when the robot performs a specified action. The receiving level notification unit notifies the receiving level when the determination unit determines that the receiving level is lower than a predetermined value; as well as The change notification unit notifies the robot to change the position of at least one of the first wireless device, the second wireless device, and the robot when the determination unit determines that the received signal level is lower than a predetermined value.

2. The robot control device according to claim 1, wherein, When the robot control device is performing an action based on an action program as a prescribed action, the receiving level notification unit will associate the receiving level determined to be lower than the prescribed value with the line number of the action program corresponding to the receiving level determined to be lower than the prescribed value.

3. The robot control device according to claim 1, wherein, The first wireless device and the second wireless device are included in a wireless field network, a wireless sensor, a wireless teaching control panel, or a wireless manual guide.

4. The robot control device according to claim 1, wherein, The receiving level notification unit includes a movement unit, which moves the robot to the position and posture of the robot when the receiving level monitoring unit determines that the receiving level has decreased.

5. A robot control device for controlling a robot, the robot control device comprising: The receive level monitoring unit monitors the receive level between the second wireless device and the first wireless device in the external device, wherein... The first wireless device and the second wireless device communicate wirelessly with each other. The determination unit determines whether the received level monitored by the received level monitoring unit is lower than a predetermined value when the robot performs a specified action. as well as The receiving level notification unit notifies the receiving level when the determination unit determines that the receiving level is lower than a predetermined value.

6. The robot control device according to claim 5, wherein, It includes a storage unit that stores layout information related to the robot, the external device, the first wireless device, and the second wireless device. The robot control device enables the robot to perform the prescribed actions based on the layout information.

7. The robot control device according to claim 5, wherein, It includes an input unit for inputting a change value for the robot's range of motion in the specified action.

8. The robot control device according to claim 5, wherein, It includes a connecting part that connects to a sensor, wherein the sensor detects data related to the robot. The robot control device enables the robot to perform the prescribed actions based on the data detected by the sensors.

9. The robot control device according to claim 5, wherein, The robot is equipped with an automated guided vehicle, i.e., an AGV.

10. The robot control device according to claim 5, wherein, The robot is equipped with an output unit that outputs a message before the robot performs the specified action, causing the operator to be positioned in a specified location.

11. The robot control device according to claim 5, wherein, The robot control device is an offline simulator.

12. A robot system comprising: robot; The first device controls the robot; A first wireless device, which is connected to the first device; The second wireless device communicates wirelessly with the first wireless device. A second device, which is connected to the second wireless device; A receive level monitoring unit monitors the receive level between the first wireless device and the second wireless device; The determination unit determines whether the received level monitored by the received level monitoring unit is lower than a predetermined value when the robot performs a specified action. The receiving level notification unit notifies the receiving level when the determination unit determines that the receiving level is lower than a predetermined value; as well as The change notification unit notifies the robot to change the position of at least one of the first wireless device, the second wireless device, and the robot when the determination unit determines that the received signal level is lower than a predetermined value.

13. The robot system according to claim 12, wherein, When the first device is performing an action based on an action program as a prescribed action, the receiving level notification unit will associate the receiving level determined to be lower than the prescribed value with the line number of the action program corresponding to the receiving level determined to be lower than the prescribed value.

14. The robot system according to claim 12, wherein, The first wireless device and the second wireless device are included in a wireless field network, a wireless sensor, a wireless teaching control panel, or a wireless manual guide.

15. The robot system according to claim 12, wherein, The receiving level notification unit includes a movement unit, which moves the robot to the position and posture of the robot when the receiving level monitoring unit determines that the receiving level has decreased.

Images