Device and program for history management

Abstract

A history management device (50) for managing history information about an execution result of a predetermined processing operation performed by an industrial machine (30), the history management device (50) comprising: a display unit (53, 13); and a unit for controlling the history display (155) which is configured to control the display of history information on the display unit (53, 13), wherein the unit for controlling the history display (155) reads the history information both from a first memory unit (152) which stores the history information and from a second memory unit (161) with a property that differs from that of the first memory unit (152), wherein the second memory unit (161) stores the history information and simultaneously displays the read history information on the display unit (53, 13).

Description

[0001] The present invention relates to a device for history management and a computer program.

[0002] A robot system configured to include an image processing device that processes an image captured by an image sensor and, for example, performs the handling of a workpiece using a detection result of the workpiece by the image sensor, is known. For example, PTL 1 describes "an image processing system with: a relatively fast first storage unit 52 that stores image acquisition information, which includes image data captured by an image sensor 51 and at least either a processing result of the image data or machine control information at a time of image acquisition; a second storage unit 53 with a lower speed and a higher capacity compared to those of the first storage unit 52, wherein the image acquisition information is transferred from the first storage unit 52 to the second storage unit 53;a storage control unit 54, which controls the storage of the image acquisition information by the first storage unit 52 and the transfer of the image acquisition information from the first storage unit 52 to the second storage unit 53; an image processing unit 55, which calculates a position and orientation of a workpiece W relative to the image sensor 51 by processing the image data acquired by the visual sensor 51; an input unit 56, into which an operator can enter information; and a display unit 57, which displays information to the operator” (paragraph 0017).;

[0003] PTL 2 describes “a working device comprising: a control unit that controls the operation; a volatile memory containing information written during the operation of the control unit, wherein historical information about the working device is written to the volatile memory; and a rewritable non-volatile memory, wherein the control unit includes an update processing unit configured to update historical information in the volatile memory each time an event occurs that requires an update of the historical information, and a write processing unit configured to perform a write operation of writing the historical information stored in the volatile memory to the non-volatile memory when an interruption of the operating power supply to the control unit is expected” (Claim 1).

[0004] PTL 3 describes that an instruction processing unit 141 in an electronic device determines a display start position based on a display history stored by a display history storage unit 132, and a display control unit 142 displays image data from a specified display start position, supplied by the instruction processing unit 141 in response to a request from the instruction processing unit 141 (paragraphs 0040 and 0041).

[0005] PTL 4 describes “a robot controller which includes a device for displaying program execution history data, comprising: a device for storing information indicating an execution history of the operating program of a robot; a device for reading the program execution history data; and a device for displaying the read program execution history data on a display, wherein the program execution history data includes information on the program name to specify an executed program, information to specify an execution sequence of programs, information to specify an execution part in the executed program, and information that enables a distinction between forward execution and reverse execution with respect to the execution part” (claim 1).

[0006] PTL 5 to PTL 10 describe further state of the art. [PTL 1] JP 2021 - 005 125 A [PTL 2] JP 2017 - 045 390 A [PTL 3] JP 2021 - 012 272 A [PTL 4] JP H07 - 129 220 A [PTL 5] EP 3 355 144 A1 [PTL 6] EP 3 101 547 A1 [PTL 7] US 2009 / 0 106 284 A1 [PTL 8] JP 2020 - 134 987 A [PTL 9] JP 2019 - 179 515 A [PTL 10] JP 2017 - 041 184 A

[0007] While a runtime monitor screen can be configured to display a history temporarily stored in the first memory unit, which consists of volatile memory, and an execution history screen can be configured to read and display a history recorded in the second memory unit, which consists of non-volatile memory, within the image processing system as described in PTL 1, the runtime monitor screen and the execution history screen are generally displayed independently. The task now is to provide a history management device and a program that presents the history information in a user-friendly format to enable efficient management of the history information.

[0008] According to the invention, the problem is solved by the teaching of claim 1: a history management device for managing history information about the execution result of a predetermined processing operation carried out by an industrial machine, wherein the history management device comprises: a display unit; and a history display control unit configured to control the display of the history information on the display unit, wherein the history display control unit reads the history information both from a first storage unit that stores the history information and from a second storage unit with characteristics that differ from those of the first storage unit, wherein the second storage unit stores the history information and simultaneously displays the read history information on the display unit.

[0009] According to the invention, the problem is also solved by the teaching of claim 15: a program that causes a processor in a computer to perform the processing of reading history information about an execution result of a processing carried out by an industrial machine both from a first storage unit that stores the history information and from a second storage unit with a property different from the first storage unit, wherein the second storage unit stores the history information, rearranges the read history information according to a predetermined rule and simultaneously displays the rearranged history information on a screen.

[0010] The aforementioned configuration allows a user to centrally manage the history information stored in the first storage unit and the second storage unit, which have different characteristics, and to efficiently review and edit the history information.

[0011] The objectives, features and advantages of the present invention, as well as other objectives, features and advantages, will become clearer from the detailed description of typical embodiments of the present invention, which are illustrated in the accompanying drawings. Fig. Figure 1 is a diagram showing the overall configuration of a robot system including a history management device according to one embodiment. Fig. Figure 2 is a diagram showing an example of the hardware configuration of an image processing device, a robot controller, and a teaching handheld device. Fig. Figure 3 is a functional block diagram relating to the image processing device, an external storage device, and the robot control. Fig. Figure 4 is a diagram showing a screen for the history display as the first example of the history display. Fig. Figure 5 is a diagram showing a state in which a trend image and details of an execution result are displayed. Fig. Figure 6 is a diagram showing a display example of a screen for the history display in an update interrupt mode. Fig. Figure 7 is a flowchart illustrating the processing of the display of history information by a history display control unit.

[0012] Embodiments of the present disclosure are described below with reference to the drawings. In the referenced drawings, similar components or functional parts are designated with similar reference numerals. Different scales are used in the drawings to facilitate understanding. Furthermore, the configurations shown in the drawings are examples of the implementation of the present invention, and the present invention is not limited to the configurations shown.

[0013] Fig. Figure 1 is a diagram showing the overall configuration of a robot system 100 with a process management device according to one embodiment. The robot system 100 comprises a robot 30 with an arm tip equipped with a hand 33, a robot controller 20 that controls the robot 30, a teaching hand 10 connected to the robot controller 20, an image sensor 70 attached to the arm tip of the robot 30, an image processing device 50, and an external storage device 60. The robot system 100 is configured to perform predetermined processing (such as detection and identification) on a target object 1 (hereinafter referred to as workpiece 1) placed on a workbench 2, using the image sensor 70, and to handle the workpiece 1.

[0014] Although the robot 30 is a vertical articulated robot as an industrial machine, other robot types such as a Cartesian robot, a SCARA robot, or a parallel-jointed robot can also be used. The robot controller 20 controls the operation of the robot 30 in accordance with an operating program loaded into the robot controller 20 or a command input from the teaching handheld device 10.

[0015] The image processing device 50 is connected to the robot controller 20. The image processing device 50 controls the image sensor 70 and performs various types of image processing in accordance with commands sent by the robot controller 20. The image processing device 50 can detect the position of the workpiece 1 from an image captured by the image sensor 70 and transmit the detected position of the workpiece 1 to the robot controller 20. Thus, the robot controller 20 can, for example, pick up the workpiece 1 and correct a training position using the detected position. The image processing device 50, according to the present embodiment, also has a function for storing and managing history information as a result of the processing performed by the image sensor 70 and can therefore be considered a history management device.

[0016] The image sensor 70 can be a camera that captures a grayscale and / or color image, or a stereo camera, or a three-dimensional sensor capable of capturing a depth map and / or a three-dimensional point cloud. The image processing device 50 contains a model of a workpiece and can perform image processing to capture a workpiece by pattern comparison between an image of the workpiece during image acquisition and a model. The image sensor 70 is assumed to be calibrated, and the image processing device 50 contains calibration data that defines a relative positional relationship between the image sensor 70 and the robot 30. In this way, a position in an image captured by the image sensor 70 can be converted into a position in a coordinate system (e.g., a robot coordinate system) associated with a workspace.

[0017] Fig. Figure 2 is a diagram showing an example of the hardware configuration of the image processing device 50, the robot controller 20, and the teaching handheld device 10. The image processing device 50 can be configured as a common computer comprising a processor 51 connected to memory 52 (such as ROM, RAM (volatile memory), and / or non-volatile memory), a display unit 53, an operating unit 54 containing input devices such as a keyboard and touchpad (software keys), an input / output interface 55, etc., all connected via a bus. The robot controller 20 can be configured as a conventional computer comprising a processor 21 connected via a bus to memory 22 (e.g., ROM, RAM, and / or non-volatile memory), an input / output interface 23, an operating unit 24 with various operating switches, etc.

[0018] The training handset 10 can be configured like a conventional computer, comprising a processor 11 connected to memory 12 (such as ROM, RAM, and / or non-volatile memory), a display unit 13, an operating unit 14 with input devices such as a keyboard and a touch panel (software keys), an input / output interface 15, etc., via a bus. Instead of the training handset 10, other information processing devices such as a tablet, a smartphone, or a personal computer can also be used as the training device.

[0019] Fig. Figure 3 is a functional block diagram relating to the image processing device 50, the external storage device 60, and the robot controller 20. As shown in Fig. As shown in Figure 3, the robot controller 20 comprises a memory unit 121, which stores an operating program 123 and various other types of information, as well as an operating control unit 122. The operating control unit 122 controls the operation of the robot 30 in accordance with the operating program 123 or a command from the teaching handheld device 10. In other words, the operating control unit 122 interprets the operating program 123, etc., plans a trajectory of the robot, generates a command to control each axis of the robot 30, and executes servo control of a servo motor on each axis.

[0020] Furthermore, the operating control unit 122 provides machine control information for the robot 30 to the image processing unit 50. This machine control information for the robot 30 includes the position (rotational position) of each joint axis, as well as the position and orientation of a predetermined control element (e.g., a tool center point (TCP)). The image processing unit 50 can store the machine control information acquired by the robot controller 20 as part of the process history information about the execution result of the processing using the image sensor 70.

[0021] The image processing device 50 comprises an input unit 151, a first storage unit 152, an image processing unit 153, a storage control unit 154, and a history display control unit 155. The external storage device 60 comprises a second storage unit 161. In Fig. The display unit 53 is included in the image processing device 50.

[0022] The input unit 151 has the function of receiving data input via the operating unit 54 (an input device such as a keyboard, mouse, or touch panel). The input unit 151 can also have the function of receiving input from another control unit and / or a computer via a communication line. The display unit 53 is a display device that shows various information. The display unit 53 can be integrated with a touch panel as the operating unit 54. The image processing unit 153 has the function of performing various types of image processing, such as processing the detection of the position and orientation of a workpiece from a captured image by pattern comparison.

[0023] The first memory unit 152 is a relatively fast memory that stores historical information, including the execution result of the processing performed by the image sensor 70 (including a historical image and details of the processing execution result) and machine control information at the time of image acquisition. A term like "high speed" or "low speed" in relation to a memory refers to its read and write speeds. Without being particularly restricted, the first memory unit 152 can, for example, be configured with volatile memory such as DRAM or SRAM. The first memory unit 152 has a capacity that can store a large amount of historical information.Thus, the processing of the current image data acquired by the image sensor 70, the transfer of past image acquisition information from the first storage unit 152 to the second storage unit 161, and the deletion of the same from the first storage unit 152 can be performed simultaneously. Therefore, any delay in the operation of the robot system 100 due to processing related to the first storage unit 152 can be suppressed. Furthermore, the ability to store a large number of historical data points allows, for example, the investigation of a problem retrospectively to a previous execution of the image sensor's processing by using the stored historical information.

[0024] The second storage unit 161 in the external storage device 60 has different characteristics (i.e., different performance as a storage device) than the first storage unit 152. The second storage unit 161 is a storage device with a lower speed and higher capacity compared to the first storage unit 152. Without being particularly restricted, the second storage unit 161 can, for example, be equipped with non-volatile memory such as flash memory, a solid-state drive (SSD), a hard disk drive, or an optical drive. The second storage unit 161 has a capacity to store image acquisition information captured during relatively long-term operation of the robot system 100.The second storage unit 161 can store history information transferred from the first storage unit 152; or history information as a result of the processing performed by the image sensor 70 can be written directly to the second storage unit 161.

[0025] The second storage unit 161 can store image acquisition information as data in a different format than the first storage unit 152. In this case, the storage control unit 154 can directly store the image acquisition information in the second storage unit 161 as data in a format different from that in which the information was stored in the first storage unit 152. Alternatively, the storage control unit 154 can convert the image acquisition information read from the first storage unit 152 into data in a different format and write the converted data to the second storage unit. For example, the second storage unit 161 can store a compressed data file created by compressing the text data of the image acquisition information in the first storage unit 152.

[0026] The memory control unit 154 performs a control function related to the storage of historical information, such as the storage of historical information by the first memory unit 152, the storage of historical information by the second memory unit 161, and the transfer of historical information from the first memory unit 152 to the second memory unit 161. The memory control unit 154 causes the first memory unit 152 or the second memory unit 161 to store image data acquired by the image sensor 70, a processing result using the image sensor 70, machine control information, etc., in conjunction with each other as a piece of historical information.

[0027] The storage control unit 154 according to the present embodiment can store historical information in accordance with the following operating procedures. (a1) History information is stored in the first storage unit 152 each time a processing program is executed using the image sensor (including image acquisition). (a2) When the amount of data stored in the first storage unit 152 reaches an upper limit or exceeds a predetermined amount of data, historical information is transferred in chronological order to the second storage unit 161, and the historical information transferred to the second storage unit 161 is deleted from the first storage unit 152.

[0028] Through the processes described above, the history information temporarily stored in the first storage unit 152 can be completely stored in the second storage unit 161.

[0029] The memory control unit 154 can be configured not to automatically perform the aforementioned operation (a2). In other words, the transfer of history information from the first memory unit 152 to the second memory unit 161 can be left to the user.

[0030] The History Display Control Unit 155 provides a function that allows an operator to quickly and efficiently review history information stored in the first memory unit 152 and the second memory unit 161. The History Display Control Unit 155 reads history information stored in the first memory unit 152, which is configured with relatively fast volatile memory, and history information stored in the second memory unit 161, which is configured with relatively slow and high-capacity non-volatile memory, and displays the read information simultaneously on a display screen. Thus, the History Display Control Unit 155 reads history information from both the first memory unit 152 and the second memory unit 161, which are memories with different characteristics, and displays the read information at the same time.In this way, the history information stored in the first storage unit 152 and the second storage unit 161 with different properties can be managed together, and the review and editing of the history information can be carried out efficiently.

[0031] An example of the display of history information, performed by the unit for controlling the history display 155, is given with reference to Fig. 4 described. As an example, in Fig. Figure 4 shows a diagram depicting a screen for the history display 200, which is displayed on the display unit 53 by the history display control unit 155. It is assumed that in the following, with reference to Fig. 4 to Fig. In the operating example described in section 6, the transfer of history information from the first storage unit 152 to the second storage unit 161 is not carried out automatically and is left to user operation.

[0032] As in Fig. As shown in Figure 4, the history display screen 200 comprises a history information display area 210, in which history information is displayed, and a command output area 220, in which various command buttons for displaying a history are located. The history information read from the first memory unit 152 and the second memory unit 161 is arranged according to a predefined rule and simultaneously displayed in the history information display area 210. While in Fig. 4. Four history information items are displayed in the history information display area 210; a fifth and further history information items can be displayed by using a scroll bar 211.

[0033] The history display control unit 155 enables the simultaneous display of history information stored in the first memory unit 152 and history information stored in the second memory unit 161 by operating as follows. The history display control unit 155 reads history information from both the first memory unit 152 (a volatile memory) and the second memory unit 161 (a non-volatile memory) and stores the information in two arrays. An array storing history information from the first memory unit 152 is designated M1(i), and an array storing history information from the second memory unit 161 is designated M2(i).The unit for controlling the progress display 155 combines the two fields, rearranges the combined field according to a predefined rule, and stores the newly arranged field in a display field A(i). Fig. Figure 4 shows an example of rearranging progress information in chronological order (in the order of the execution time of the processing) as a predefined rule.

[0034] Furthermore, when generating display arrangement A(i), the control unit 155 adds a marker to display arrangement A(i) indicating whether the individual history information belongs to the first storage unit 152 or the second storage unit 161. The control unit 155 then displays the history information stored in display field A(i) on the history display screen 200. Additionally, based on the aforementioned marker, the control unit 155 adds an image (a marker) to each piece of history information, indicating which storage unit the information belongs to as identification information. Fig. Figure 4 illustrates a state in which the last four history information items are displayed in display field A(i) on the history display screen 210.

[0035] In Fig. A marker 251, indicating that the information belongs to the first storage unit (volatile memory), is displayed for the first three history entries, and a marker 252, indicating that the information belongs to the second storage unit (non-volatile memory), is added to the fourth history entry. Using markers 251 and 252, the user can immediately see whether each history entry belongs to the first storage unit (volatile memory) or the second storage unit (non-volatile memory).

[0036] The in Fig. The screen shown for the history display 200 contains an execution time 261, an event 262, a data name 263, a runtime 264, status 265, etc., as history information. The execution time 261 represents the point in time at which a processing program is executed by the image sensor. The event 262 represents the content of the processing performed by the image sensor 70. The data name 263 represents the name of the processing program. The runtime 264 represents the runtime (cycle time) of the processing program. The status 265 represents an execution result of the processing program.

[0037] "Capture" in field 262 indicates that the processing program is handling the capture of a workpiece using the image sensor. "Add training image" in event 262 indicates that the processing program is handling the addition of an image for training purposes, such as pattern matching. "Success" in status 265 indicates that the processing, such as the capture, is normally complete. For example, if a workpiece is not detected during the capture process, "Capture error" will be displayed in field 265.

[0038] The command output area 220 contains a data specification field 271 and a display condition specification field 272 for specifying a condition for history information to be displayed in the history information display area 210. If a date is specified in the data specification field 271, the history display control unit 155 will only display history information in the history information display area 210 that has the specified dates of the history information stored in the display field A(i). A display condition for history information can be specified in the display condition specification field 272. For example, specifying "Status: Success" in the display condition specification field 272 will display only normally completed processes in the history information display area 210.If conditions are specified in both the data specification field 271 and the display conditions specification field 272, the history display control unit 155 can extract and display history information based on an AND condition of the specified conditions.

[0039] The control unit for the history display 155 can be configured to limit the number of history information entries that are added to the history information display area 210 at any given time. For example, limiting the number of history information entries in the history information display area 210 to 20 can prevent situations where a large number of entries are present in the display area 210 at once, complicating the review process. By pressing a button 273 to add the next 20 history information entries to the history information display area 210, an operator can add the next 20 entries to the display area 210.

[0040] An update button 274 is also located in the command output area 220. When the update button 274 is pressed, the history display control unit 155 rereads history information from the first memory unit 152 and the second memory unit 161 and updates the display content in the history information display area 210.

[0041] Examples of the predetermined rule in a case where the unit controlling the history display 155 rearranges history information read from both the first memory unit 152 and the second memory unit 161 may include rearrangement based on various parameters contained in the history information, in addition to the example of rearrangement based on execution time, which is described in Fig. Figure 4 is shown. The control unit for the progress display 155 can use one or more of the following rules as predetermined rules for rearrangement. (b1) The history information is reordered based on the execution time of the processing. (b2) History information is classified and reordered based on the status indicating the execution result of the processing. (b3) Process information is classified and reordered based on information that specifies the content of the processing (“EVENT” in Fig. 4). (b4) History information is classified and reordered based on the program name of the processing. (b5) Progress information is reordered depending on the runtime of a processing program.

[0042] For example, the history information can be grouped according to one of the above rules (b2), (b3) and (b4), and then the history information in each group can be arranged in order of execution time.

[0043] If a user wishes to review a history image and / or details of a capture result contained in the history information, the user can view the information by performing a history information selection operation in the history information display area 210. For example, a history image can be displayed by an operation such as selecting history information in the history information display area 210 and pressing a predefined key, or by double-clicking history information in the history information display area 210. Fig. Figure 5 shows a state in which a history image display area 230, showing a history image and details of a capture result, is displayed by selecting history information in the history information display area 210. It is assumed that the first part of the history information 281 in the history information display area 210 is in Fig. 4 is selected and a history image and details of an execution result relating to the selected history information 281 are displayed in the history image display area 230.

[0044] As in Fig. As shown in Figure 5, the display area for trend images 230 contains a trend image G and a detailed acquisition result 231. The acquisition result 231 includes various parameters such as the number of workpieces acquired, the pattern match rating, the contrast, the distortion of the acquired image, and the rotation angle. By checking the contents of the display area for trend images 230, the operator can decide, if necessary, whether the trend information should be saved in the second memory unit 161.

[0045] While in Fig. 5. An example of displaying detailed information, including a history image, etc., relating to a piece of selected history information is shown. A configuration can be used in which two or more pieces of history information can be selected in the history information display area 210, and detailed information, including history images, relating to the two or more pieces of selected history information are displayed simultaneously on one display screen. In this case, the operator can simultaneously check a history image stored in the first memory unit 152 and a history image stored in the second memory unit 161 (i.e., history images each stored in memory devices with different properties) on the display screen. By simultaneously displaying a large number of history images, the operator can easily compare the images and, for example,In the event of non-recording, immediately and appropriately specify a problem and determine whether history information in the first storage unit 152 should be stored in the second storage unit 161.

[0046] Furthermore, the screen for the history display 200 includes a toggle switch 275 for switching between an "automatic update mode" and an "update interruption mode." The automatic update mode is an operating mode in which the unit controlling the history display 155 automatically repeats reading and displaying history information from the first memory unit 152 and the second memory unit 161 (i.e., updating the history information). The repetition period can be, for example, on the order of a few seconds. The update interruption mode is an operating mode in which reading history information from the first memory unit (a volatile memory) is suspended. In other words, overwriting to the display field A(i) from the first memory unit (a volatile memory) is suspended.The automatic update mode is displayed in the history screen 200 in . Fig. 4 and Fig. Set to 5.

[0047] Fig. Figure 6 shows a screen for the history display 200A in a state where it has been switched to the screen for the history display 200 by pressing the shift key 275. Fig. 4 or Fig. 5 was placed in update interrupt mode. In update interrupt mode, history information is not reread from the first memory unit 152. Therefore, the history information read from the first memory unit 152 (a volatile memory) is retained on the history display screen 200A without being updated. In this case, a user has sufficient time to review the history information from the first memory unit 152 (a volatile memory) displayed on the history display screen 200A.

[0048] Fig. Figure 6 illustrates a state in update interrupt mode in which a user who selects an initial history information and performs an operation to transfer the information to the second storage unit changes a marker indicating a storage location of the initial history information to marker 252, indicating that the information belongs to the second storage unit 161.

[0049] Fig. Figure 7 shows a flowchart illustrating the processing of the history information display, including the automatic update mode and the update interrupt mode described above. For example, this history information display processing is initiated by a predetermined user operation and executed under the control of the history display control unit 155 (i.e., the processor 51 in the image processing device 50). In step S1, a label F, used to control the processing, is initialized. It is assumed that the automatic update mode is set to a state in which history display processing is initially started.

[0050] Since F = 0, a NO determination is made in step S2, and the processing of reading history information from the first storage unit 152 (a volatile memory) (step S4) and the processing of reading history information from the second storage unit 161 (a non-volatile memory) (step S5) are performed in parallel.

[0051] Next, the history display control unit 155 rearranges the history information read from both the first memory unit 152 and the second memory unit 161 according to a predefined rule (step S6) and displays the rearranged information on the display unit 53 (step S7). If no user action is taken to terminate this history display processing (S8: NO), the history display control unit 155 repeats the processing from steps S2 and S5 at predetermined intervals.

[0052] Since F = 1 is set in the second or subsequent round of processing (step S9), a YES determination is made in step S2 to determine whether the update interrupt mode is set (step S3). If the update interrupt mode is set (S3: YES), step S4 is skipped. If the update interrupt mode is not set (i.e., the automatic update mode is set) (S3: NO), the reading of historical information from the first memory unit 152 is performed (step S4).

[0053] The processing of the history display mentioned above affects the history display in automatic update mode and in update interruption mode, which refers to Fig. 4 to Fig. 6 will be described and executed.

[0054] While an operational example for repeated reading from both the first storage unit 152 and the second storage unit 161 in automatic update mode in Fig. As shown in Figure 7, reading from the second memory unit 161 in this mode may be limited to the first time, and the display content can only be updated by repeatedly reading from the first memory unit 152.

[0055] As described above, according to the present embodiment, historical information read from the first memory unit 152 and the second memory unit 161, which differ in their performance, is displayed simultaneously on the screen. Therefore, a user can collectively manage historical information ranging from past historical information recorded in the robot system 100 to current historical information about the execution result of the current processing. In other words, operations such as checking historical information and transferring required historical information to non-volatile memory can be performed efficiently.

[0056] If all history information stored in the first storage unit 152 (a volatile memory) is stored in the second storage unit 161 (a non-volatile memory), and if image data is included in the history information, the capacity of the second storage unit 161 is heavily utilized, and storage in the second storage unit 161 is time-consuming. However, according to the embodiment described above, an operator can selectively transfer the required history information from the first storage unit 152 to the second storage unit 161 and store the information in the second storage unit 161 while monitoring the history display screen 200 or 200A. This allows the storage capacity of the second storage unit 161 to be conserved.The selection of history information on the screen for the history display 200 or 200A and the transfer of the selected history information from the first memory unit 152 to the second memory unit 161 can be carried out under the control of the unit for controlling the history display 155.

[0057] While the present invention has been described above with reference to the typical embodiments, the person skilled in the art can assume that modifications and various other changes, omissions and additions can be made to the aforementioned embodiments without deviating from the scope of the present invention.

[0058] The function of the history management device according to the aforementioned embodiment is applicable to various industrial machine systems configured to store a history in a first storage unit (e.g., volatile memory) and to store a history transferred from the first storage unit in a second storage unit (e.g., non-volatile memory) with a property different from that of the first storage unit.

[0059] While the aforementioned embodiment illustrates a configuration in which the image processing device 50, as the history management device, is connected to the external storage device 60, as the second storage unit 161, a non-volatile memory, functioning as the second storage unit 161, can be incorporated into the image processing device 50, as the history management device.

[0060] While a configuration example in which the history management function is embedded in the image processing device 50 is described in the embodiment mentioned above, this example is illustrative, and the history management function can be provided in a different device within the robot system. For example, the history management function can be provided in the teach-in handheld device. For example, the teach-in handheld device 10 can be equipped with the history display control unit 155 and read history information from the first storage unit 152 into the image processing device 50 and from the second storage unit 161 into the external storage device 60, and perform the history display on the display unit 13 in the teach-in handheld device 10.Various types of information described in the aforementioned embodiment with regard to progress information are examples, and progress information may include information that comprises at least one element from a captured image, information about the content or execution result of the processing, and machine control information.

[0061] The update interrupt mode according to the aforementioned embodiment is implemented by interrupting the further reading of history information from the first memory unit 152 (a volatile memory) by the unit for controlling the history display 155. Alternatively, the update interrupt mode can be implemented by interrupting the writing of history information to the first memory unit 152 (a volatile memory) by the memory control unit 154.

[0062] The in Fig.The three functional blocks shown in the robot controller and the image processing device can be provided by the processors in the devices through the execution of different types of software stored in a memory device, or they can be provided by a configuration based mainly on hardware such as an application-specific integrated circuit (ASIC).

[0063] A program for performing various processing types, such as processing the display of history information according to the above embodiment, can be recorded on various computer-readable recording media (e.g. semiconductor memory such as ROM, EEPROM and flash memory, magnetic recording media and optical discs such as CD-ROM and DVD-ROM). 1 workpiece 2 workbenches 10 training handsets 20 Robot control 30 robots 33 Hand 50 Image processing devices 11, 21, 51 processor 12, 22, 52 memory 13.53 Display unit 14, 24, 54 operating unit 15, 23, 55 Input / Output Interface 60 External storage device 70 image sensor 100 robot systems 121 storage unit 122 Unit for operational control 123 Operating program 151 Input unit 152 First storage unit 153 Unit for image processing 154 Unit for memory control 155 Unit for controlling the progress display 161 Second storage unit 200, 200A screen for history display 210 Display area for history information 220 Command output area 230 Display area for trend images

Claims

[1] A history management device (50) for managing history information about an execution result of a predetermined processing operation performed by an industrial machine (30), the history management device (50) comprising: a display unit (53, 13); and a unit for controlling the history display (155) which is configured to control the display of history information on the display unit (53, 13), wherein the unit for controlling the history display (155) reads the history information both from a first memory unit (152) which stores the history information and from a second memory unit (161) with a property that differs from that of the first memory unit (152), wherein the second memory unit (161) stores the history information and simultaneously displays the read history information on the display unit (53, 13). [2] The history management device (50) according to claim 1, wherein the first storage unit (152) contains a storage device with a higher read and write speed than the second storage unit (161). [3] The history management device (50) according to claim 1 or 2, wherein the second storage unit (161) contains a storage device with a larger storage capacity than the first storage unit (152). [4] The history management device (50) according to any one of claims 1 to 3, wherein the first storage unit (152) contains volatile memory and the second storage unit (161) contains non-volatile memory. [5] The history management device (50) according to any one of claims 1 to 4, wherein the unit for controlling the history display (155) displays an identification information for each history information displayed on the display unit (53, 13) indicating whether the history information belongs to the first storage unit (152) or the second storage unit (161). [6] The history management device (50) according to claim 5, wherein, when the history information is transferred from the first storage unit (152) to the second storage unit (161), the history display control unit (155) changes the identification information displayed for the history information from a display indicating that the history information belongs to the first storage unit (152) to a display indicating that the history information belongs to the second storage unit (161). [7] The history management device (50) according to any one of claims 1 to 6, wherein the unit for controlling the history display (155) has an automatic update mode in which the reading of the history information from at least the first storage unit (152) is performed repeatedly and each time the history information is read anew from the first storage unit (152), a display content of the history information on the display unit (53, 13) is updated using the newly read history information. [8] The history management device (50) according to claim 7, wherein the unit for controlling the history display (155) has an update interrupt mode for interrupting the further reading of history information from the first storage unit (152). [9] The history management device (50) according to any one of claims 1 to 8, wherein the unit for controlling the history display (155) rearranges the history information read from the first storage unit (152) and the second storage unit (161) according to a predetermined rule and displays the rearranged history information on the display unit (53, 13). [10] The history management device (50) according to claim 9, wherein the predetermined rule comprises at least one of the following: (1) Reordering of the history information based on the execution time of the processing; (2) Classifying and reordering the history information based on the status indicating the execution result of the processing; (3) Classification and reorganization of the progress information based on information that indicates the content of the processing; (4) Classifying and reordering the history information based on a program name of the processing; and (5) Reorganization of the progress information based on the runtime of a processing program. [11] The history management device (50) according to any one of claims 1 to 10, wherein the unit for controlling the history display (155) displays history information on the display unit (53, 13) which fulfills a predetermined display condition in the history information read from the first storage unit (152) and the second storage unit (161). [12] The history management device (50) according to any one of claims 1 to 11, wherein the unit for controlling the history display (155) transfers selected history information from a plurality of history information that is simultaneously displayed on the display unit (53, 13) and belongs to the first storage unit (152) to the second storage unit (161). [13] The history management device (50) according to any one of claims 1 to 12, wherein the predetermined processing is processing using an image sensor (70). [14] The history management device (50) according to claim 13, wherein the unit for controlling the history display (155) simultaneously displays history images on the display unit (53, 13) which are contained in two or more selected history information from the history information read from the first storage unit (152) and the second storage unit (161). [15] A program that causes a processor in a computer to perform the processing of reading history information about an execution result of a processing carried out by an industrial machine (30), both from a first storage unit (152) which stores the history information and from a second storage unit (161) with a characteristic different from that of the first storage unit (152), wherein the second storage unit (161) stores the history information, rearrange the read history information in accordance with a predetermined rule and simultaneously display the rearranged history information on a display screen.

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