Offline simulation device

Abstract

The present invention simultaneously performs actions of a robot by offline executing a robot program and generating an action path of the robot by automatic path generation.This offline simulation device includes: an offline program execution unit that executes a robot program in an offline simulation environment in which a robot, a plurality of workpieces stacked for removal by the robot, and a vision sensor for detecting the plurality of workpieces are arranged in a virtual space to perform a simulation of actions of the robot in removing the workpieces; and an automatic path generation execution unit that copies the offline simulation environment and generates an action path for the actions of the robot in a duplicated offline simulation environment that has been copied; and a setting unit that performs editing of the robot program and / or setting of parameters of the action path based on the simulated actions of the robot and the generated action path.

Description

Technical area

[0001] The present invention relates to an offline simulation device that performs simulation of an operation of a robot and generation of an operation path offline. State of the art

[0002] There is a desire to confirm the layout, setup, and operation of the robot system offline and then complete on-site commissioning in a short time. For this reason, offline programming tools have been developed.

[0003] In addition, there is automatic path generation, which automatically generates a robot's operating path. Path generation involves preparing the same system as in a real space in a virtual space, generating a path in the virtual space, and sending the successfully generated path to a robot controller to operate the robot.

[0004] For example, a technology is known that extracts a welding line based on a three-dimensional CAD file storing three-dimensional shape information of a work object, automatically generates a working operation path for a welding line in which a teach-less function is selected for each welding line, and compensates for a working operation path using an offline teaching function for a working line in which interference occurs in a total path simulation function. See, for example, Patent Document 1. Citation listPatent document

[0005] Patent Document 1: Unexamined Japanese Patent Application Publication No. 2000-190264 Disclosure of the invention Problems to be solved by the invention

[0006] However, since the prior art only provides an offline simulation environment in which the robot, the workpiece, and the like are arranged in the virtual space, it is difficult to simultaneously execute the robot program and generate the robot's operating path in the offline simulation environment, for example, in a depalletizing system for cartons, etc., or when removing a mass stack or bulk stack of workpieces.

[0007] Therefore, it is desirable to simultaneously perform the operation of a robot by offline execution of a robot program and the generation of the robot's operation path by automatic path generation. Means to solve the problems

[0008] In one aspect according to the present disclosure, an offline simulation apparatus includes an offline program execution unit configured to execute a robot program in an offline simulation environment including a robot, a plurality of stacked workpieces to be picked up by the robot, and a vision sensor.An image processing sensor that detects the plurality of workpieces arranged in a virtual space and simulates an operation of the robot that removes each of the plurality of workpieces, an automatic path generation execution unit configured to copy the offline simulation environment and generate an operation path for operating the robot in a replicated offline simulation environment obtained by copying, and a setting unit configured to compensate the robot program and / or set a parameter of the operation path based on a simulated operation of the robot and a generated operation path.

[0009] In another aspect according to the present disclosure, an offline simulation device includes an offline program execution unit configured to execute a robot program in an offline simulation environment in which a robot, a plurality of workpieces to be picked up by the robot, and a vision sensor that detects the plurality of workpieces are arranged in a virtual space, and simulates an operation of the robot picking up each of the plurality of workpieces, an automatic path generation execution unit configured to generate an operation path of the operation of the robot in the offline simulation environment, a storage unit configured tothat it stores an execution state of the robot program in the offline simulation environment by the offline program execution unit and an execution state of the generation of the operation path in the offline simulation environment by the automatic path generation execution unit, and a setting unit configured to compensate the robot program and / or set a parameter of the operation path based on a simulated operation of the robot and a generated operation path., Short description of the drawings Fig. 1 is a diagram showing an example of a configuration of a robot system according to a first embodiment; Fig. 2 is a functional block diagram showing a functional configuration example of an offline simulation device according to the first embodiment; Fig. 3 is a flowchart showing the offline processing of the offline simulation device; Fig. 4 is a functional block diagram showing a functional configuration example of an offline simulation device according to a second embodiment; and Fig. 5 is a flowchart showing the offline processing of the offline simulation device. Preferred manner of carrying out the invention<Erste Ausführungsform>

[0010] First, an overview of the present embodiment will be given. In the present embodiment, the offline simulation device executes a robot program in an offline simulation environment in which a robot, a plurality of stacked workpieces to be picked up by the robot, and a vision sensor that detects the plurality of workpieces are arranged in a virtual space, and simulates an operation of the robot to pick up the workpieces. Further, the offline simulation device copies the offline simulation environment and generates an operation path of the robot in the replicated offline simulation environment obtained by copying. The offline simulation device compensates the robot program and / or adjusts the path generation parameters based on the simulated robot operation and the generated path.

[0011] Thus, according to the present embodiment, it is possible to simultaneously perform the operation of the robot by executing the robot program and generating the operation path of the robot by automatic path generation offline.

[0012] The basic features of the present embodiment have been described above.

[0013] Fig. 1 is a diagram showing an example of a configuration of a robot system 100 according to a first embodiment.

[0014] As in Fig. 1, the robot system 100 includes an offline simulation device 10, a robot control device 20, a robot 30, a vision sensor 40, a plurality of workpieces 50, and a container 60.

[0015] The offline simulation device 10, the robot control device 20, the robot 30, and the vision sensor 40 may be directly connected to each other via a connection interface (not shown). The offline simulation device 10, the robot control device 20, the robot 30, and the vision sensor 40 may be connected to each other via a network (not shown), such as a local area network (LAN) or the Internet. In this case, the offline simulation device 10, the robot control device 20, the robot 30, and the vision sensor 40 each include a communication unit (not shown) to communicate with each other via such a connection. To facilitate explanation, Fig. 1, the offline simulation device 10 and the robot control device 20 are independent of each other, and the offline simulation device 10 can be configured, for example, by a computer. However, the present invention is not limited to such a configuration, and the offline simulation device 10 can, for example, be mounted within the robot control device 20 and integrated with the robot control device 20.

[0016] The robot control device 20 is a device known to those skilled in the art for controlling the operation of the robot 30. The robot control device 20 generates a control signal for controlling the operation of the robot 30 to remove the workpieces 50 from the workpieces 50 stacked as bulk materials, for example, based on the removal position information of the workpieces 50 detected by the vision sensor 40 described later. The robot control device 20 then outputs the generated control signal to the robot 30.

[0017] The robot 30 is a robot that operates under the control of the robot control device 20. The robot 30 includes a base section rotatable about a vertical axis, an arm for moving and rotating, and a removal hand 31 attached to the arm for holding the workpiece 50. In Fig. 1, a gripping removal hand is attached to the removal hand 31 of the robot 30, but an air-sucking removal hand or a magnetic hand that removes an iron workpiece by magnetic force may also be attached.

[0018] Peripheral devices such as a conveyor belt onto which the removed workpiece 50 is transferred are not shown. Since a specific configuration of the robot 30 is well known to those skilled in the art, a detailed description thereof is omitted.

[0019] The offline simulation device 10 and the robot control device 20 link the machine coordinate system for controlling the robot 30 with the camera coordinate system of the vision sensor 40, which indicates the removal position of the workpieces 50 through a calibration carried out in advance.

[0020] The vision sensor 40 is a three-dimensional measuring device such as a stereo camera and acquires three-dimensional information (hereinafter also referred to as a "distance image") in which a value converted from a distance between a plane perpendicular to the optical axis of the vision sensor 40 and each point on the surface of the workpiece 50 stacked in bulk in the container 60 is a pixel value. For example, as shown in Fig. 1, the pixel value of point A of the workpiece 50 on the distance image is a value obtained by converting the distance between the vision sensor 40 and point A of the workpiece 50 in the Z-axis direction of the three-dimensional coordinate system (X, Y, Z) of the vision sensor 40. That is, the Z-axis direction of the three-dimensional coordinate system is the direction of the optical axis of the vision sensor 40. Further, the vision sensor 40 may be configured to acquire three-dimensional point group data of a plurality of workpieces 50 loaded in the container 60, for example, with a stereo camera.

[0021] Additionally, the vision sensor 40 may capture a two-dimensional image, such as a grayscale image or an RGB image, along with the distance image. The vision sensor 40 may be a digital camera or the like.

[0022] The workpieces 50 are placed in the container 60 at random, even in a state where they are stacked as bulk materials. The shape and the like of each workpiece 50 are not particularly limited as long as the workpieces can be held by the picking hand 31 attached to the arm of the robot 30.

[0023] The workpieces 50 can be provided for a depalletizing system, such as cartons stacked on a pallet. <Offline-Simulationsvorrichtung 10>

[0024] Fig. 2 is a functional block diagram showing a functional configuration example of the offline simulation device 10 according to the first embodiment.

[0025] The offline simulation device 10 is a computer known to those skilled in the art and comprises a control unit 11 and a storage unit 12, as shown in Fig. 2. Furthermore, the control unit 11 includes an offline program execution unit 110, an automatic path generation execution unit 111, an adaptation unit 112, and an output unit 113. <Speicher 12>

[0026] The storage unit 12 is a solid-state drive (SSD), a hard disk drive (HDD), or the like, and can store a robot program, an automatic path generation program, or the like.

[0027] In addition, the storage unit 12 stores an offline simulation environment in which the robot 30, the vision sensor 40, the workpieces 50 and the three-dimensional model (e.g., CAD data or the like) of the Fig. 1, which are arranged in the virtual space, are operated by the offline program execution unit 110, which will be described later, which executes the robot program offline. Furthermore, the storage unit 12 stores a replicated offline simulation environment into which an offline simulation environment is copied so that the automatic path generation execution unit 111, which will be described later, generates an operation path for the robot 30 based on the path generation request from the offline program execution unit 110.

[0028] With such a configuration, it is possible for the offline simulation device 10 to simultaneously perform the operation of the robot by executing the robot program and generating the operation path of the robot by automatic path generation offline.

[0029] In addition, a three-dimensional model of a peripheral device (not shown) of the robot system 100 may be arranged in the offline simulation environment and the replicated offline simulation environment. <Steuergerät 11 >

[0030] The control unit 11 includes a CPU, ROM, RAM, CMOS memory and the like, which are configured to communicate with each other via a bus and which are known to those skilled in the art.

[0031] The CPU is a processor that generally controls the offline simulation device 10. The CPU reads the system program and the application program stored in the ROM via the bus and controls the entire offline simulation device 10 in accordance with the system program and the application programs. As shown in Fig. As shown in Figure 1, the control unit 11 is configured to perform the functions of the offline program execution unit 110, the automatic path generation execution unit 111, the adjustment unit 112, and the output unit 113. The RAM stores various data such as temporary calculation data and display data. The CMOS memory is configured as a non-volatile memory backed up by a battery (not shown), and its memory state is retained even when the offline simulation device 10 is turned off.

[0032] For example, the offline program execution unit 110 executes a robot program in an offline simulation environment in which the robot 30, the vision sensor 40, the workpiece 50, and the container 60 are arranged in the virtual space, and simulates an operation in which the robot 30 removes the workpieces 50.

[0033] Specifically, for example, the offline program execution unit 110 executes the robot program by receiving an execution instruction of the robot program offline from the user via an input device (not shown) such as a keyboard or a touch screen. The offline program execution unit 110 outputs a path generation request of an operation path of the robot 30 in the offline simulation environment to the automatic path generation execution unit 111 to be described later, to cause the robot 30 to retrieve the workpieces 50 captured from the virtual image generated by the vision sensor 40 in the offline simulation environment based on the robot program. In addition, the path generation request includes position information of the workpieces 50 to be retrieved in the offline simulation environment.

[0034] The offline program execution unit 110 operates the robot 30 and retrieves the workpieces 50 in the offline simulation environment based on the path generated by the automatic path generation execution unit 111. Then, the offline program execution unit 110 executes the robot program in the offline simulation environment until the robot 30 retrieves all the workpieces 50 that the vision sensor 40 has detected in the virtual image.

[0035] In addition, the offline program execution unit 110 may terminate the execution of the robot program by determining that the robot 30 and the hand cannot take out the workpieces 50 due to interference with a three-dimensional model of a peripheral device (not shown) of the robot system 100 in calculating the take-out positions of the workpieces 50.

[0036] For example, when a path generation request is received from the offline program execution unit 110, the automatic path generation execution unit 111 copies the offline simulation environment and generates a path for operating the robot 30 in a replicated offline simulation environment obtained by copying.

[0037] Specifically, the automatic path generation execution unit 111 executes, for example, an automatic path generation program and generates an operation path for the robot 30 to take out the workpieces 50 in the replicated offline simulation environment based on the position information of the workpieces 50 to be taken out included in the path generation request, using a known path generation method. Furthermore, the generated operation path may be generated such that the robot 30 and the hand do not interfere with the three-dimensional model of the container 60 and a peripheral device (not shown) in the replicated offline simulation environment. Furthermore, the generated operation path may include a path from the removal of the workpieces 50 by the robot 30 to the movement of the robot 30 to a peripheral device (not shown), such as a control unit.a conveyor in the replicated offline simulation environment.

[0038] The automatic path generation execution unit 111 outputs the generated operation path to the offline program execution unit 110.

[0039] The adaptation unit 112 compensates the robot program and / or adjusts the parameters of the operating path, e.g., based on the operation of the robot 30 simulated in the offline simulation environment and the operating path generated in the replicated offline simulation environment.

[0040] Specifically, the adjustment unit 112 calculates, for example, a cycle time (e.g., an average value, a variance value, or the like), the number of errors in path generation (e.g., an average value, a variance value, or the like), the number of workpieces 50 that could not be removed (e.g., an average value, a variance value, or the like), and the like, based on the operation of the robot 30 simulated in the offline simulation environment and the result of the operation path generated in the replicated offline simulation environment.Here, the number of path generation errors indicates, for example, how many times the robot 30 fails to pick up the workpieces 50 on the originally generated operation path for picking up the workpiece 50 from the top in the replicated offline simulation environment, and the automatic path generation execution unit 111 changes the picking position to another picking position, for example, the side of the workpiece 50, or changes the destination of the workpiece 50 to another workpiece 50.

[0041] The adjustment unit 112 compensates the robot program, such as the speed of the robot 30 and the compensation / supplementation of the picking position, based on the calculated cycle time, the number of path generation errors, the number of workpieces 50 that could not be picked, and the like. Furthermore, the adjustment unit 112 changes an algorithm used for automatic path generation and adjusts path generation parameters, such as the distance to an obstacle such as the container 60 or a peripheral device (not shown), based on the calculated cycle time, the number of path generation errors, the number of workpieces 50 that could not be picked, and the like. The adjustment unit 112 stores the compensated robot program and the adjusted path generation parameters in the storage unit 12.

[0042] In addition, the setting unit 112 may display the calculated cycle time, the number of path generation errors, the number of workpieces 50 that could not be removed, and the like on a display device (not shown) such as a liquid crystal display in the offline simulation device 10.

[0043] The output unit 113 outputs the compensated robot program and the set parameters for path generation to the robot controller 20.

[0044] With such a configuration, the robot controller 20 is able to adjust the robot 30 in the real space in a short time by using the compensated robot program and the adjusted path generation parameters in the offline simulation. <Offline-Verarbeitung der Offline-Simulation Gerät 10>

[0045] Next, an offline processing flow of the offline simulation device 10 will be described with reference to Fig. 3 described.

[0046] Fig. 3 is a flowchart showing the offline processing of the offline simulation device 10. The flow shown here is executed each time the offline simulation device 10 receives an execution instruction of the robot program offline from the user.

[0047] In step S11, the offline program execution unit 110 executes the robot program when it receives an instruction to execute the robot program offline from the user via an input device (not shown) of the offline simulation device 10.

[0048] In step S12, the vision sensor 40 in the offline simulation environment captures the container 60 to generate a virtual image and detects the workpieces 50 based on the generated image.

[0049] In step S13, the offline program execution unit 110 calculates the positions of the workpieces 50 detected in step S12 based on the virtual image generated in step S12 and outputs a path generation request including the position information of the calculated position to the automatic path generation execution unit 111.

[0050] In step S14, when the path generation request is received, the automatic path generation execution unit 111 executes the automatic path generation program, copies the offline simulation environment, and generates the operation path of the robot 30 in the replicated offline simulation environment obtained by copying.

[0051] In step S15, the offline program execution unit 110 causes the robot 30 to operate in the offline simulation environment based on the operation path generated in step S14 and removes the workpieces 50.

[0052] In step S16, the offline program execution unit 110 determines whether or not there is still a workpiece 50 that can be picked up based on the detection performed by the vision sensor 40 in the offline simulation environment. If there is a workpiece 50 that can be picked up, processing returns to step S12. On the other hand, if there is no workpiece 50 that can be picked up, processing proceeds to step S17.

[0053] In step S17, the adjustment unit 112 compensates the robot program and / or adjusts the parameters of the operation path based on the operation of the robot 30 simulated in the offline simulation environment and the result of the operation path generated in the replicated offline simulation environment.

[0054] In step S18, the output unit 113 outputs the compensated robot program and the adjusted parameters for path generation to the robot controller 20.

[0055] As described above, the offline simulation device 10 according to the first embodiment executes the robot program in the offline simulation environment in which the robot 30, the plurality of workpieces 50, and the vision sensor 40 are arranged in the virtual space, and simulates the operation of the robot 30 removing the workpieces 50. Furthermore, the offline simulation device 10 replicates the offline simulation environment and generates an operation path of the robot 30 in the replicated offline simulation environment obtained by copying. With such a configuration, it is possible for the offline simulation device 10 to simultaneously perform the operation of the robot by executing the robot program and generate the operation path of the robot by automatic path generation offline.

[0056] Furthermore, the offline simulation device 10 outputs the compensated robot program and / or the adjusted operating path parameters to the robot controller 20 based on the operation of the robot 30 simulated in the offline simulation environment and the operating path generated in the replicated offline simulation environment. With such a configuration, it is possible for the robot controller 20 to quickly adjust the robot 30 in real space by using the compensated robot program and the adjusted path generation parameters in the offline simulation.

[0057] The first embodiment was described above. <Zweite Ausführungsform>

[0058] A second embodiment will be described below. In the first embodiment, the offline simulation device 10 executes a robot program in an offline simulation environment in which a robot, a plurality of stacked workpieces to be picked up by the robot, and a vision sensor that detects the plurality of workpieces are arranged in a virtual space, and simulates an operation of the robot to pick up the workpieces. Further, the offline simulation device 10 replicates the offline simulation environment and generates an operation path of the robot in the replicated offline simulation environment.On the other hand, in the second embodiment, an offline simulation device 10A differs from the first embodiment in that the offline simulation device 10A stores an execution state of a robot program and an execution state of generation of the operation path by using an offline simulation environment in which a robot, a plurality of stacked workpieces to be taken out by the robot, and a vision sensor that detects the plurality of workpieces are arranged in a virtual space.

[0059] With such a configuration, according to the second embodiment, the offline simulation device 10A can simultaneously perform the operation of the robot by executing the robot program and the generation of the robot's operation path by automatic path generation offline. The second embodiment will be described below.

[0060] The robot system 100 according to the second embodiment comprises, as in the first embodiment in Fig. 1 the offline simulation device 10A, the robot control device 20, the robot 30, the vision sensor 40, the plurality of workpieces 50 and the container 60. <Offline-Simulation Gerät 10A>

[0061] Fig. 4 is a functional block diagram showing a functional configuration example of the offline simulation device 10A according to the second embodiment. Components having the same functions as those of the offline simulation device 10 in Fig. 2 are designated by the same reference numerals and detailed descriptions are omitted.

[0062] Similar to the offline simulation device 10 according to the first embodiment, the offline simulation device 10A includes a control unit 11a and the storage unit 12. The control unit 11a includes an offline program execution unit 110a, an automatic path generation execution unit 111a, the adaptation unit 112, and the output unit 113.

[0063] The storage unit 12 has the same function as the storage unit 12 in the first embodiment. <Steuereinheit 11a>

[0064] The control unit 11a includes a CPU, ROM, RAM, CMOS memory and the like, which are configured to communicate with each other via a bus and which are known to those skilled in the art.

[0065] The CPU is a processor that generally controls the offline simulation device 10A. The CPU reads the system program and the application program stored in the ROM via the bus and controls the entire offline simulation device 10A in accordance with the system program and the application programs. As shown in Fig. 4, the control unit 11a is configured to realize the functions of the offline program execution unit 110a, the automatic path generation execution unit 111a, the adjustment unit 112, and the output unit 113.

[0066] The setting unit 112 and the output unit 113 have the same functions as the setting unit 112 and the output unit 113 in the first embodiment.

[0067] Similar to the offline program execution unit 110 of the first embodiment, the offline program execution unit 110a executes, for example, a robot program in an offline simulation environment in which the robot 30, the vision sensor 40, the workpiece 50, and the container 60 are arranged in the virtual space, and simulates the operation of the robot 30 in taking out the workpieces 50.

[0068] When the robot program is executed offline, the offline program execution unit 110a stores the execution state of the robot program in the offline simulation environment in a preset storage area of ​​the storage unit 12. Then, the offline program execution unit 110a simulates the operation of the robot 30 taking out the workpieces 50 with reference to the execution state of the robot program in the offline simulation environment stored in the storage unit 12.

[0069] The automatic path generation execution unit 111a generates an operation path of the robot 30 in the offline simulation environment, similarly to the automatic path generation execution unit 111 of the first embodiment.

[0070] When the automatic path generation execution unit 111a executes the automatic path generation program offline to generate the operation path, the automatic path generation execution unit 111a stores the execution state of the operation path generation in the offline simulation environment in a storage area different from the storage area of ​​the preset offline program execution unit 110a of the storage unit 12. Then, the automatic path generation execution unit 111a refers to the execution state of the operation path generation in the offline simulation environment stored in the storage unit 12 and generates the operation path of the robot 30 that removes the workpieces 50.

[0071] With such a configuration, it is possible for the offline simulation device 10A to simultaneously perform the operation of the robot by executing the robot program and generating the operation path of the robot by automatically generating the path offline. <Offline-Verarbeitung der Offline-Simulationseinrichtung 10A>

[0072] Next, an offline processing flow of the offline simulation device 10A will be described with reference to Fig. 5 described.

[0073] Fig. 5 is a flowchart showing the offline processing of the offline simulation device 10A. The flow shown here is executed each time the offline simulation device 10A receives an execution instruction of the robot program offline from the user.

[0074] The processing of steps S26 to S28 is the same as the processing of steps S16 to S18 in Fig., so the description of these steps is omitted.

[0075] In step S21, upon receiving an execution instruction of the robot program offline from the user via an input device (not shown) of the offline simulation device 10A, the offline program execution unit 110 executes the robot program and stores the execution state of the robot program in the offline simulation environment in the storage unit 12.

[0076] In step S22, the vision sensor 40 in the offline simulation environment refers to the execution state of the robot program in the offline simulation environment stored in the storage unit 12, generates a virtual image by imaging the container 60, and detects the workpieces 50 based on the generated image.

[0077] In step S23, the offline program execution unit 110a calculates the position of the workpiece 50 detected in step S22 based on the virtual image generated in step S22 and outputs a path generation request including the position information of the calculated position to the automatic path generation execution unit 111a.

[0078] In step S24, upon receiving the path generation request, the automatic path generation execution unit 111a executes the automatic path generation program with reference to the path generation execution state in the offline simulation environment stored in the storage unit 12, and generates the operation path of the robot 30 in the offline simulation environment. The automatic path generation execution unit 111a stores the execution state of the operation path generation in the offline simulation environment in the storage unit 12.

[0079] In step S25, the offline program execution unit 110a causes the robot 30 to operate in the offline simulation environment based on the operation path generated in step S24 and removes the workpieces 50. Then, the offline program execution unit 110a stores in the storage unit 12 the execution state of the robot program in the offline simulation environment.

[0080] As described above, the offline simulation device 10A according to the second embodiment stores the execution state of the robot program and the execution state of the operation path generation using an offline simulation environment in which the robot 30, the plurality of workpieces 50, and the vision sensor 40 are arranged in virtual space. The offline simulation device 10A executes the robot program offline and simulates the operation of the robot 30 taking out the workpieces 50 in the offline simulation environment by referring to the execution state of the stored robot program. Further, the offline simulation device 10A refers to the stored execution state of the operation path generation and generates the operation path of the robot 30 in the offline simulation environment.With such a configuration, it is possible for the offline simulation device 10A to simultaneously perform the operation of the robot by executing the robot program and the generation of the operation path of the robot by the automatic path generation offline.

[0081] Furthermore, the offline simulation device 10A outputs the compensated robot program and / or the adjusted operating path parameters to the robot control device 20 based on the operation of the robot 30 simulated in the offline simulation environment and the operating path generated in the replicated offline simulation environment. With such a configuration, it is possible for the robot control device 20 to adjust the robot 30 in real space in a short time by using the compensated robot program and the adjusted path generation parameters in the offline simulation.

[0082] The second embodiment was described above.

[0083] As described above, it is possible for the offline simulation devices 10 and 10A of the present disclosure to simultaneously perform the operation of the robot by executing the robot program and generating the operation path of the robot by the automatic path generation offline, as described in the first embodiment and the second embodiment. <Modifikation 1>

[0084] In the first and second embodiments, the robot 30 removes the workpieces 50 stacked in bulk, but the present invention is not limited thereto. For example, the robot 30 can be integrated into a depalletizing system that removes stacked cartons or the like. <Modifikation 2>

[0085] In the first and second embodiments, the offline simulation devices 10 and 10A are, for example, devices other than the robot control device 20, but are not limited thereto. For example, the offline simulation devices 10 and 10A may be included in the robot control device 20.

[0086] In addition, the functions included in the offline simulation devices 10 and 10A according to the first and second embodiments can be implemented by hardware, software, or a combination thereof. Here, "implemented by software" means that the implementation is performed by a computer that reads and executes a program.

[0087] The program can be stored on and made available to the computer on various types of non-volatile computer-readable media (non-volatile computer-readable media). Non-volatile computer-readable media includes various types of tangible storage media. Examples of non-volatile computer-readable media include a magnetic recording medium (flexible disk, magnetic tape, and hard disk drive), a magneto-optical recording medium (e.g., a magneto-optical disk), a CD-ROM (Read Only Memory), a CD-R, a CD-R / W, and semiconductor memories (e.g., Mask ROM, PROM (Programmable ROM), EPROM (Erasable PROM), Flash ROM, and RAM). The program can also be made available to the computer through various types of temporary computer-readable media (volatile computer-readable media). Examples of volatile computer-readable media include electrical, optical, and electromagnetic signals.The transient computer-readable medium may provide the program to the computer over a wired communication path, such as an electrical cable and an optical fiber, or over a wireless communication path.

[0088] It should be noted that the steps describing the program recorded on the recording medium naturally include processing carried out sequentially in time in that order, as well as processing carried out not necessarily sequentially in time, but in parallel or individually.

[0089] Although the present disclosure has been described in detail, the present disclosure is not limited to the individual embodiments described above. Various additions, substitutions, modifications, partial deletions, and the like can be made to these embodiments without departing from the gist of the present disclosure or the gist of the present disclosure as understood from the contents described in the claims and their equivalents. These embodiments can also be implemented in combination. For example, in the embodiments described above, the order of each operation and the order of each process are exemplified and are not limited thereto. The same applies to cases where numerical values ​​or numerical expressions are used in the description of the embodiment described above.

[0090] The following supplementary notes are further disclosed with respect to the embodiments and modifications described above. (Supplementary Note 1)

[0091] The offline simulation device (10) comprises: the offline program execution unit (110) configured to execute a robot program in an offline simulation environment in which the robot (30), the plurality of workpieces (50) to be picked up by the robot (30), and the vision sensor (40) that detects the plurality of workpieces (50) are arranged in a virtual space, and simulates an operation of the robot (30) picking up each of the plurality of workpieces (50); the automatic path generation execution unit (111) configured to copy the offline simulation environment and generate an operation path of the operation of the robot (30) in a replicated offline simulation environment obtained by copying; and the setting unit (112) configured tothat it compensates the robot program and / or adjusts a parameter of the operating path based on a simulated operation of the robot (30) and a generated operating path., (Supplementary Note 2)

[0092] The offline simulation device (10A) comprises: the offline program execution unit (110a) configured to execute a robot program in an offline simulation environment in which the robot (30), the plurality of workpieces (50) to be taken out by the robot (30), and the vision sensor (40) that detects the plurality of workpieces (50) are arranged in a virtual space and to simulate an operation of the robot (30) taking out each of the plurality of workpieces (50), wherein the automatic path generation execution unit (111a) is configured to generate an operation path for the operation of the robot (30) in the offline simulation environment, the storage unit (12) is configured,to store an execution state of the robot program in the offline simulation environment by the offline program execution unit (110a) and an execution state of the operation path generation in the offline simulation environment by the automatic path generation execution unit (111a), and the setting unit (112) is configured to compensate the robot program and / or set a parameter of the operation path based on a simulated operation of the robot (30) and a generated operation path. (Supplementary Note 3)

[0093] In the offline simulation device (10, 10A) as described in Supplementary Note 1 or Supplementary Note 2, the plurality of workpieces (50) is a plurality of workpieces stacked in bulk or a plurality of workpieces of a depalletizing system. (Supplementary Note 4)

[0094] In the offline simulation device (10, 10A) as described in Supplementary Note 1 or Supplementary Note 2, the setting unit (112) calculates at least a cycle time and the number of errors in generating the operation path based on the simulated operation of the robot (30) and the generated operation path. (Supplementary Note 5)

[0095] In the offline simulation device (10, 10A) as described in Supplementary Note 4, the setting unit calculates, based on the simulated operation of the robot (30) and the generated operation path, the cycle time, the number of errors in generating the operation path, and a number of workpieces (50) that could not be removed when the plurality of workpieces (50) are stacked in bulk. (Supplementary Note 6)

[0096] The offline simulation device (10, 10A) as described in Supplementary Note 1 or Supplementary Note 2 further comprising the output unit (113) configured to output a compensated robot program and / or an adjusted parameter of the operation path to the robot control device (20), a control unit in a real space. Explanation of reference symbols 10, 10A Offline simulation device 11, 11a Control unit 110, 110a Offline program execution unit 111, 111a Execution unit for automatic path generation 112 Adjustment unit 113 Output unit 20 Robot control unit 30 robots 31 Removal hand 40 Vision Sensor 50 workpieces 60 containers QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] JP 2000-190264

[0005]

Claims

[1] An offline simulation device comprising: an offline program execution unit configured to execute a robot program in an offline simulation environment in which a robot, a plurality of workpieces to be picked up by the robot, and a vision sensor that detects the plurality of workpieces are arranged in a virtual space, and simulate an operation in which the robot picks up each of the plurality of workpieces; an automatic path generation execution unit configured to copy the offline simulation environment and generate an operation path for operating the robot in a replicated offline simulation environment obtained by copying; and an adjustment unit configured to compensate the robot program and / or adjust a parameter of the operating path based on a simulated operation of the robot and a generated operating path. [2] An offline simulation device comprising: an offline program execution unit configured to execute a robot program in an offline simulation environment in which a robot, a plurality of workpieces to be picked up by the robot, and a vision sensor that detects the plurality of workpieces are arranged in a virtual space, and simulate an operation in which the robot picks up each of the plurality of workpieces; an automatic path generation execution unit configured to generate an operation path for operating the robot in the offline simulation environment; a storage unit configured to store an execution state of the robot program in the offline simulation environment by the offline program execution unit and an execution state of the operation path generation in the offline simulation environment by the automatic path generation execution unit; and an adjustment unit configured to compensate the robot program and / or adjust a parameter of the operating path based on a simulated operation of the robot and a generated operating path. [3] The offline simulation device according to claim 1 or 2, wherein the plurality of workpieces is a plurality of workpieces stacked in bulk or a plurality of workpieces of a depalletizing system. [4] The offline simulation device according to claim 1 or 2, wherein the setting unit calculates, based on the simulated operation of the robot and the generated operation path, at least a cycle time and a number of errors in generating the operation path. [5] The offline simulation device according to claim 4, wherein the setting unit calculates, based on the simulated operation of the robot and the generated operation path, the cycle time, the number of errors in generating the operation path, and a number of workpieces that could not be taken out when the plurality of workpieces are stacked in bulk. [6] The offline simulation device according to claim 1 or 2 further comprising an output unit configured to output a compensated robot program and / or an adjusted parameter of the operation path to a control unit in a real space.

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