Control device, industrial machine system, display method for execution history data and program

Abstract

Provided is a control device for controlling an industrial machine, the control device comprising: a storage unit that stores execution history data when a program is executed, the program causing the industrial machine to perform a prescribed work; and a history display unit that displays execution history data on a display screen and as a table, such display being performed based on the hierarchical structure of the execution history data.

Description

Technical FieldThe present invention relates to a control device, an industrial machine system, a display method for execution history data, and a program.Related ArtA robot system for detecting a workpiece by a visual sensor attached to a robot and performing work such as cancelling a workpiece is known. In such a robot system, execution history data is output by the execution of a robot program and used for examining a cause when an error occurs in a movement of a robot due to non-detection, erroneous detection, and the like of a workpiece.In this connection, PTL 1 describes a robot control device having functions to store an execution history of the program during the reproduction operation of a robot motion program and display the execution history of the program on a display as needed. Regarding the execution history of the program, PTL 1 describes as follows: "for instructions of N lines at maximum, a program name, a line number, information indicating the distinction between progress execution and backstep execution, and information indicating the distinction between an unexecuted state, a pause state, and an executed state with respect to an executed state are stored" (paragraph 0018).PTL 2 describes a history management apparatus included in a robot system including a robot to which a visual sensor is in turn attached. PTL 2 describes that information on the execution history is arranged in time order and is displayed (paragraph 0041).List of Citer ListsPatent Literature[PTL 1] Japanese Unexamined Patent Publication (Kokai) No. H07-129220A[PTL 2] Japanese Patent No. 7104264BSummary of the InventionTechnical ProblemDepending on the type of the sensor attached to a robot or a task, various types of data may be included in an execution history. Moreover, the structure of the execution history data may change depending on the different configuration of a robot program or an execution command to be used. Therefore, it is difficult for a general user to process and display such execution history data on a device so that the execution history data can be effectively used. A technique that allows a user to display the execution history data on a device so that it can effectively use it is desired.Solution of the ProblemAn aspect of the present disclosure is a control device for controlling an industrial machine, and the control device includes: a storage unit configured to store execution history data when a program that causes the industrial machine to execute a predetermined work is executed; and a history display unit configured to display, on a display screen, the execution history data in table format based on a hierarchical structure of the execution history data. Another aspect of the present disclosure is a control device for controlling an industrial machine, and the control device includes: a storage unit configured to store execution history data when a program that causes the industrial machine to execute a predetermined work is executed; a history display unit configured to display, on a display screen, the execution history data in a table format; a selection unit configured to select, from the execution history data, data to be displayed in the table format on the display screen by the history display unit; and an output unit configured to output, as a data file in a table format, the execution history data displayed in the table format on the display screen.The objects, features and advantages, as well as other objects, features and advantages, will become more apparent from the detailed description of typical embodiments of the present invention illustrated in the accompanying drawings.Brief Description of the DrawingsThe following are shown: FIG. 1 is a diagram for describing the configuration of a robot system including a robot control device according to a first embodiment; FIG. 2 is a diagram showing an example of the hardware configuration of the robot control device and a teach pendant; FIG. 3 is a functional block diagram of the robot control device and a visual sensor control device; FIG. 4 shows an example of a screen having an execution history list when a list of execution history files is displayed; FIG. 5 is a flowchart showing a first example of processing of displaying history data; FIG. 6 is a diagram illustrating an example of execution history data acquired by execution of a vision program; FIG. 7 is a diagram showing an example of table format data obtained by converting the execution history data; FIG. 8 is a diagram showing a state in which the table data is output as a table data file; FIG. 9 is a diagram showing an example of a setting screen for setting restriction criteria; FIG. 10 is a flowchart showing a second example of the processing of displaying history data; FIG. 11 is a diagram showing the configuration of a robot system according to a second embodiment and also describing the functional blocks of a robot control device; FIG. 12 is a diagram illustrating an example of the execution history data generated by the execution of a force control program; and FIG. 13 is a diagram showing a display example when the execution history data in FIG. 12 is displayed in the table format.DESCRIPTION OF EMBODIMENTSHereinafter, embodiments of the present disclosure will be described with reference to the drawings. A similar configuration section or a similar functional section is denoted by the same reference numeral in the drawings. In order to facilitate understanding, the scale in the drawings is changed accordingly. A configuration illustrated in the drawing is an example for implementing the present invention, but the present invention is not limited to the illustrated configuration.First EmbodimentFIG. 1 is a diagram showing a configuration of the robot system 100 including the robot control device 50 according to a first embodiment. The robot system 100 is an example of a robot system including a robot to which a sensor is attached in turn. The robot system 100 is configured as a system capable of recording and displaying execution history data when the robot 10 is controlled to perform a predetermined work.As illustrated in FIG. 1, the robot system 100 includes a robot 10 having a hand 33 attached to a portion of the arm tip, a robot control device 50 that controls the robot 10, a teach pendant 40 connected to the robot control device 50, a visual sensor 70 attached to the portion of the arm tip of the robot 10, and a visual sensor control device 20 that controls the visual sensor 70. The robot system 100 can detect the target object 1 on the work table 2 by the visual sensor 70 and perform the manipulation of the target object 1 with the hand 33 attached to the robot 10. The robot system 100 may further include a display device 60 for displaying the execution history data. The display device 60 is connected to the robot control device 50, for example, via a network. Note that FIG. 1 shows the configuration example in which the display device 60 and the teach pendant 40 are provided as separate devices in the robot system 100, but the function of the display device 60 may be integrated into the teach pendant 40.In the present embodiment, robot 10 is a vertical articulated robot, but other types of robots, such as parallel articulated robots and double-arm robots, may be used depending on the purpose of the work. The robot 10 can perform the desired work with an end effector attached to a wrist portion. The end effector is an external device that is replaceable depending on the use, and is, for example, a hand, a welding gun, a tool, or the like. FIG. 1 shows an example in which the hand 33 is used as an end effector.The visual sensor control device 20 has a function of controlling the visual sensor 70 and a function of performing image processing of an image captured by the visual sensor 70. The visual sensor control device 20 detects a position of the target object 1 from the image captured by the visual sensor 70, and supplies the detected position of the target object 1 to the robot control device 50. In this way, the robot control device 50 can correct a learning position and perform the cancelling and the like of the target object 1.The visual sensor 70 may be a camera that captures a grayscale image or a color image, or a stereo camera or a three-dimensional sensor that can acquire a distance image and a three-dimensional point group. A plurality of visual sensors may be disposed in the robot system 100. The visual sensor control device 20 includes a model pattern of a target object, and may perform image processing for detecting a target object by pattern matching between an image of the target object in a captured image and the model pattern. Note that in FIG. 1, the visual sensor control device 20 is configured as a device provided separately from the robot control device 50, but a function as the visual sensor control device 20 may be embedded in the robot control device 50.FIG. 2 is a diagram showing an example of the hardware configuration of the robot control device 50 and the teach pendant 40. The robot control device 50 may have a general-purpose computer configuration in which the memory 52 (e.g., a ROM, a RAM, and a nonvolatile memory), the input / output interface 53, the operation unit 54 having various operation switches, and the like are connected to a processor 51 via a bus. The teach pendant 40 serves as a device for performing data input and displaying information for teaching the robot 10 (i.e., for creating a control program). The teach pendant 40 may have a general-purpose computer configuration in which a memory 42 (such as a ROM, a RAM, and a nonvolatile memory), a display unit 43, an operation unit 44 formed of an input device such as a keyboard (or software keys), an input / output interface 45, and the like are connected to a processor 41 via a bus. Note that a teaching device formed of an information processing device such as a tablet computer and a smartphone may be used as the teach pendant 40.The display device 60 may also have a general-purpose computer configuration in which a memory (such as a ROM, a RAM, and a nonvolatile memory), an input / output interface, a display unit, an operation unit, and the like are connected to a processor via a bus. Further, the visual sensor control device 20 may have a general-purpose computer configuration in which a memory (such as a ROM, a RAM, and a nonvolatile memory), an input / output interface, a display unit, an operation unit, and the like are connected to a processor via a bus.FIG. 3 is a functional block diagram of the robot control device 50 and the visual sensor control device 20. The robot control device 50 may also include a transmission unit 157. The functional blocks of the motion control unit 151, the history display unit 152, the selection unit 153, the output unit 154, and the transmission unit 157 may be realized by the processor 51 of the robot control device 50 executing software.The storage unit 155 is a storage device formed of a nonvolatile memory, a volatile memory, or the like. In the storage unit 155, a robot program for controlling the robot 10, a program (hereinafter also referred to as a vision program) for performing image processing such as detection of a workpiece based on an image captured by the visual sensor 70, and the like are stored. Execution history data as a result of execution of a program such as the vision program may be recorded in the storage unit 155.The motion control unit 151 controls the motion of a robot according to a control program. The robot control device 50 includes a servo control unit (not illustrated) that performs servo control of a servomotor of each axis according to a command for each axis generated by the motion control unit 151.The history display unit 152 reads the execution history data recorded in the storage unit 155 and displays the execution history data in the table format. The history display unit 152 may display the execution history data on the display screen 61 of the display device 60, for example.The selection unit 153 provides a function of selecting execution history data to be displayed by the history display unit 152 in the table format. In other words, the selection unit 153 serves to confine the data to be displayed as the execution history data.The output unit 154 enables the execution history data represented in the table format to be output as a data file in the table format.The transmission unit 157 has a function of transmitting the execution history data in the table format to the external computer 190 via a network. In this way, the execution history data can be displayed and analyzed in the table format on the external computer 190. The transmission unit 157 may transmit the data file provided from the output unit 154 to the external computer 190 in the table format. Note that the external computer 190 may be an external computer connected via various networks, a device providing service through cloud computing, and the like.The visual sensor control device 20 includes an image processing unit 121 and a storage unit 122. The storage unit 122 stores various kinds of data required for image processing, such as calibration data and model data about a workpiece. The image processing unit 121 performs various kinds of image processing, for example, detection of a workpiece.FIG. 4 shows an example of a list screen 300 of the execution history when a list of the execution history files stored in the storage unit 155 is displayed. Such display of the list screen of the execution history files may be provided as one of the functions of the history display unit 152. The execution history data display screen 300 includes a list display area 301 for displaying a list of execution histories and a detection result display area 302. In the list display area 301, 20 execution history files are displayed. When an operator selects one of the execution history files, an image of a detection result included in the execution history file may be displayed in the detection result display area 302. In the screen example in FIG. 4, the seventh execution history file 310 (event name "GET_OFFSET") is selected, and the image 311 of a detection result is displayed in the detection result display area 302.Next, a display function of the execution history data provided as a function of the history display unit 152, the selection unit 153, and the output unit 154 will be described. FIG. 5 is a flowchart showing the processing of the history data display according to the embodiment. The processing of the history data display is activated by, for example, an operator who operates the teach pendant 40 and performs an operation for instructing the robot control device 50 to start the processing of the history data display. The processing of the history data display is executed under the control of the processor 51 of the robot control device 50.As a precondition for executing the processing of the history data display (FIG. 5 ), it is assumed that the robot program and the vision program called by the robot program are executed in advance and the execution history data is recorded in, for example, the storage unit 155.Assume that the execution history data of the vision program exemplarily has the following characteristics.(a1) An execution history includes, for example, an execution date and time, a view program name, an image, a capture position, a detection score, a contrast, a detection position and posture, and the like.(a2) Values for the detection evaluation, contrast, detection position and posture, etc. are detected for the number of detected target objects.(a3) The execution history has a hierarchical structure. A unit of the execution history is referred to as a record, and in the execution history, a hierarchy is constituted by the record.(a4) A record is recorded as execution history in execution of the program, and the record may include a plurality of records in a hierarchy.(a5) Each record comprises a pair of character explanation and a value.FIG. 6 shows an example of the execution history data obtained by the execution of the vision program. As illustrated in FIG. 6, the execution history data 400 includes a group of data formed on a record basis. In the execution history data 400, a record is divided by the character string "record: {}", and the character string "children:" is used to define a record lower by one level. The execution history data 400 includes two top-level records "event": "capture"" and "event": "acquire correction data"". Each of the top-level records has a hierarchical structure as follows.Top level: record of "Event": "capture""Second level: Record of "view":1"Third level: record of "tool name": "shot 1"", record of "tool name": "pattern matching 1""Fourth level: data record of ""Pos(2D)": [10.1, 30.2, 5.2]", data record of ""Pos(2D)": [20.1, 40.2, 7.2]"Top level: record of "event": "acquire correction data""Second level: data set of "Pos": [11.2, 2.8, 0.1, 1.2, 3.4, 5.6]"The hierarchical structure of the execution history data may have various configurations depending on the configuration of a program. In the vision program that outputs the record "event "capture"" in the execution history data 400 in FIG. 6, for example, blocks of "program: VP 1", "camera view 1", "capture 1", "pattern matching 1" and "pattern matching 2" of the program are provided in a hierarchical manner as described below.(Program: VP1)(Camera View 1)(Receptacle 1)(Pattern Matching 1)(Pattern Matching 2)The block "program: VP1" corresponds to a definition of the entire program.The block "camera view 1" corresponds to the definition of a first camera that is arranged in a system. The block "Shot 1" corresponds to the definition of a part of the shot. The blocks "pattern matching 1" and "pattern matching 2" correspond to the definition of two kinds of pattern matching. Here, assume that "program: VP1" corresponds to an uppermost level, the block "camera view 1" corresponds to a second level, the block "shot 1" corresponds to a third level, and the blocks "pattern matching 1" and "pattern matching 2" each correspond to a fourth level. In this way, the hierarchical structure of the execution history data depends on the hierarchical structure of the program.Referring back to the description of FIG. 5, the history display unit 152 first reads the execution history data from, for example, the storage unit 155 of the robot control device 50 (step S 1). Next, the history display unit 152 converts the execution history data into a table format and displays the execution history data (step S 2). The display of the execution history data may be performed on the display screen 61 of the display device 60, for example. The history display unit 152 may convert hierarchical execution history data into a table format by applying one or more of the following rules, and display the hierarchical execution history data converted into a table format.(r1) The values of character explanations of the same kind are displayed in the same column.(r11) However, the same explanation of characters are also arranged in different columns, depending on the plane number of a data record to which the explanation of characters belongs.(r12) The hierarchy represents the depth of a tree.(r2) The columns are arranged and displayed in the order of the hierarchy. In other words, a mark in an (N+1)-th plane is not displayed before a mark in an N-th plane.(r3) The priority order regarding the display order of the explanation characters may be set in advance. In this way, the order in which the columns are displayed is not changed by the order in which the records are read.(r31) This does not mean that all the columns defined herein are displayed, but the order of display of the columns is in the order of priority.(r4) The records are added to a table row, with the records extending in the depth direction in the hierarchy being prioritized. In other words, even if one record (scrambler record) is present in the same level with respect to a certain record, records extending in the depth direction from the certain record are prioritized and added to one row of a table.The values of similar character explanation are displayed in the same column according to the above-described rule (r1). In this way, for example, evaluation as a detection result of each target object is arranged and displayed in a column direction of a table, and analysis of the detection result can be performed efficiently. However, by arranging similar explanation characters in different columns in a table, if the levels of the similar explanation characters are different, a hierarchical structure of the execution history data can be maintained in the table. Thereby, the execution history data can be displayed in an advantageous manner for an operator (the rules (r11) and (r12) described above).By the above-described rule (r2), the properness of the hierarchical structure of the execution history data can be maintained in a table, so that the execution history data can be displayed in a manner advantageous to the operator.The history display unit 152 may be configured to provide a function of performing a setting of a priority order of display of explanation characters for application of the above-described rule (r3). Information that sets the priority order of display of the explanation characters may be stored in a storage unit 155, for example. By setting the priority order of display of the explanation of characters, for example, an order in which the explanation of characters appears in a record in a line of a table can be defined in a manner desired by an operator. For example, when parameters included in a record of a detection result are to be displayed in the order of a position, a score, a contrast, and a scale, an operator creates setting information that sets the priority order of a position, a score, a contrast, and a scale. Note that also with respect to a plurality of parameters (explanation characters) belonging to different data sets, an order in which the parameters appear in a line of a table may be defined by setting a priority order of displaying the parameters.FIG. 7 shows an example of table format data obtained by converting the execution history data according to one or more of the rules (r1) to (r4) described above. The table data 410 shown in FIG. 7 includes the execution histories of four instructions ("RUN_FIND", "GET_OFFSET", "RUN_FIND", and "GET_OFFSET"). Note that the command "RUN_FIND" corresponds to a command for detecting a target object, and the command "GET_OFFSET" corresponds to a command for obtaining a correction amount based on a detection result. The arrangement of the explanation of characters in the top row of the table data means that the explanation of characters is extracted in order from left to right. The arrangement of the explanation characters in the top row of the table data 410 from left to right corresponds to an order of occurrence of the explanation characters in the depth direction of the hierarchical structure of the execution history data.The execution history "RUN_FIND" in the top row of the table data 410 includes two detection results, and the two detection results are displayed in different rows, respectively (reference numerals 201 and 202). Since the two detection results (reference numerals 201 and 202) in the execution history data are detected in the same plane, a value of each character explanation (such as Vt, Hz, angle (°), size (%), aspect ratio (%), skew direction (°), contrast, registration error, and evaluation) in the data sets is displayed in the same column in each row. Note that the third execution history "RUN_FIND" from the top in the table data 410 also includes two detection results.The second and fourth execution history "GET_OFFSET" from the top in the table data 410 include correction amounts (X (mm), Y (mm), Z (mm), W (°), P (°) and R (°)).In this way, the table data 410 is configured to reflect an arrangement of character explanation in the depth direction of the execution history data in an arrangement of the character explanation in the row direction of a table, and extend a record in the same hierarchy of the execution history data in the row direction of the table. In other words, the table data 410 is configured to reflect the hierarchical structure of the execution history data and also make the hierarchical structure of the execution history data easily visually recognizable. Therefore, an operator can easily and quickly recognize the content of an execution history when watching the table data 410.When an execution history is displayed over a plurality of lines (such as the execution history "RUN_FIND" in the top line in FIG. 7 ), as illustrated in the table data 410, a display style in which cells corresponding to a parent data set are connected in the vertical direction, a value of a cell of the parent data set is repeatedly provided in a cell in each line, and the like to prevent a cell corresponding to the parent data set in each line from becoming an empty cell may be used. In this case, for the execution history "RUN_FIND" in the top row represented over three rows in the table data 410, a representation form in whichthree cells (e.g., three cells of "view data" in the vertical direction) in the vertical direction corresponding to a parent record are connected and displayed as one cell; ora value ("VP2S" in the case of "visual data") of the parent record is repeatedly displayed in each of the three cells (e.g., the three cells of "visual data" in the vertical direction) corresponding to the parent recordThe transfer. is adopted.The output unit 154 outputs the execution history data as described above in the form of a table data file. FIG. 8 describes a state in which the table data 410 is output as the table data file 420. The table data file 420 is configured to represent the table format by using certain inter-puncture icons (a comma and a break-line in the present example). As the table data file 420, the CSV format may be used.The function of selecting display data (explanation characters and their values to be displayed) by the selection unit 153, i.e., the function of restricting the display data, will be described below. The selection unit 153 provides the following selection functions according to the value of character explanation.(Function 1) A function for restricting the information whose display is desired by the value of character explanation(Function 1-1) Whether or not the value of a certain explanation of characters coincides with a specific value(Function 1-2) Whether the value of specific character explanation is within or outside a predetermined rangeThe selection unit 153 may be configured to provide a setting screen (user interface screen) for setting a restriction criterion and accept the rejection of the restriction criterion from a user. FIG. 9 shows an example of a setting screen for setting the restriction criteria provided by the selection unit 153. For example, the setting screen 250 in FIG. 9 may be displayed on the display device 60, and setting input on the setting screen 250 may be performed via an operation unit of the display device 60. As illustrated in FIG. 9, the setting screen 250 includes a legend column 251 for legending a character explanation, a column 252 for legending a value of the character explanation, and keys 253 and 254 for legending which of the case where the value of the character explanation matches and the case where the value of the character explanation does not match is to be applied.The setting screen 250 further includes a column 261 for setting an area for the value of the explanation of characters, and the keys 262 and 263 for designating which of the case where the value falls within the set area and the case where the value falls outside the set area is to be applied. When an operator makes a setting on the setting screen 250 and presses an OK button 265, the selection unit 153 limits the display data according to the limitation criteria input to the setting screen 250. By this function, for example, the operator can extract only a detection result in which a detection score falls within a range of a certain value, and display the detection result as data in the table format. With such a function, the operator can perform efficient analysis of the execution history data.Through the functions of the selection unit 153 and the output unit 154, the operator can check the table data narrowed down and displayed on the display screen and output it into a file unchanged. When a plurality of child records are defined in the execution history data for one parent record, the child records are displayed in a plurality of lines, respectively. When child records are displayed in a plurality of lines in this manner, data on a parent record may be repeatedly included in the line of each of the child records. Also, in a case where the table data is outputted into a file, when the child records are displayed in a plurality of lines, data about a parent record may be repeatedly included in the line of each of the child records.A selection criterion in selection of display data by the selection unit 153 may be registered in advance in the storage unit 155, and the selection unit 153 may be configured to perform selection of display data according to the selection criterion stored in the storage unit 153. In this case, by previously registering the selection criterion, for example, the operator can check the execution result of a program based on the same selection criterion. Note that this function can also be achieved by describing a criterion (selection criterion) in a program (such as a robot program and a vision program), so that execution history data output from the program has contents selected by the selection criterion.The display device 60 may include the function of a selection unit 153 for outputting the execution history data displayed in the table format as a file in the table format. In this case, the display device 60 outputs the execution history data displayed on the display screen 61 in the table format as a data file in the table format. In this configuration, the conversion into a data file in the table format is performed using hardware and software resources of the display device 60 such that the processing load on the robot control device 50 can be reduced and the processing on the robot control device 50 side can be performed at high speed.FIG. 10 is a flowchart illustrating a second example of the processing of the history data display performed by the robot control device 50. The flowchart illustrated in FIG. 10 is an example of the processing of the history data display when the above-described functions of the selection unit 153 and the output unit 154 are included in addition to the function of the history display unit 152. The present processing of the history data display is executed under the control of the processor 51 of the robot control device 50.First, the history display unit 152 reads the execution history data from, for example, the storage unit 155 (step S 21). Next, the history display unit 152 converts the read history data into a table format and displays the history data on a display screen (step S 22). The display of the execution history data may be performed on the display screen 61 of the display device 60, for example.Next, the selection unit 153 selects and limits a display content of the execution history data displayed in the table format based on the settings input by an operator (step S 23). The setting of a restriction criterion by the operator may be performed via the setting screen 250 as described above.Next, for example, in response to an instruction to output a file by the operator, the output unit 154 outputs the execution history data displayed in the table format as a data file in the table format (step S 24). The data file of the execution history data output in this manner can be analyzed, displayed, printed, and used by various external devices.Second EmbodimentThe first embodiment described above is the example related to the display of the execution history data when the robot system includes the visual sensor as a sensor. As a modification example of the above-described embodiment, a configuration example related to display of the execution history data when the robot system includes a force sensor as a sensor and a force control program is executed in the robot system will be described below as a second embodiment.FIG. 11 shows a configuration of the robot system 100A according to the second embodiment, and also a block diagram of the robot control device 50A. In FIG. 11, the same component as the component according to the first embodiment is denoted by the same reference numeral, and description thereof is simplified or omitted. As illustrated in FIG. 11, the robot system 100A includes the robot 10, the robot control device 50A that controls the robot 10, the force sensor 81, the teach pendant 40, and the display device 60. the force sensor 81 is disposed between, for example, a tool (e.g., a hand) of the robot 10 and a wrist flange, and detects the external force applied to the tool. Depending on the working contents, different types of tools can be used. The force sensor 81 is, for example, a 6-axis force sensor that detects the force in each of the axis directions X, Y, and Z and the torque about each axis.The robot control device 50A includes a force control unit 156 that performs force control. A force control program for executing the force control and various parameters related to the force control are registered in advance in the storage unit 155 of the robot control device 50A. The force control program may include a program for performing precision adjustments, polishing operations, and the like. The execution history data is generated and recorded by the execution of the force control program. The execution history data may be stored in the storage unit 155, for example.An execution history in the case of the force control includes, for example, a start date and a start time, a name of the force control program, a position, a force and torque value in each axis direction, and the like. The execution histories are recorded at fixed time intervals during the individual execution of the force control program. The execution history data has, for example, a structure including a plurality of child data sets recorded at fixed time intervals during the individual execution of the force control program.FIG. 12 shows an example of the execution history data generated by the execution of the force control program. The execution history data 500 illustrated in FIG. 12 has a structure in which the following records extend under an uppermost-level record (a record having a program name "Name": "PROG1").a child data set (a data set in a second level) (a data set with the position "Pos": [100, 130, 10, 0.1, 0.3, 0.2]) and two grandchild data sets (data sets in a third level) ("sensor": 1 and "sensor": 2)a child data set (a data set in a second level) (a data set with the position "Pos": [100, 132, 10, 0.1, 0.3, 0.2]) and two grandchild data sets (data sets in a third level) ("sensor": 1 and "sensor": 2)The history display unit 152 converts the execution history data having a hierarchical structure as in FIG. 12 into a table format and displays the execution history data on, for example, the display screen 61 of the display device 60. FIG. 13 shows a display example in which the execution history data 500 is represented as table data 510 according to one or more of the rules (r1) to (r4) described above. The table data 510 illustrated in FIG. 13 is configured to reflect an arrangement of character explanation in the depth direction of execution history data 500 in an arrangement of character explanation in the row direction of a table, and expand a record in the same level of execution history data 500 in the row direction of the table. In other words, the table data 510 is configured to reflect the hierarchical structure of the execution history data 500 and also facilitate visual recognition of the hierarchical structure. Therefore, an operator can easily and quickly recognize the content of an execution history when watching the table data 510.Also, in the present example, the selection unit 153 provides a function of restricting display content by a value of character explanation and the like. For example, a display content may be narrowed down by a sign explanation "force" of an output value of the force sensor and a value of the sign explanation.The output unit 154 may output the execution history data as a data file in the table format, the data in the table format being displayed as illustrated in FIG. 13.As described above, also in the operating environment in which the force sensor is mounted as a sensor and the force control program is executed in the robot system, the robot control device 50A can display the execution history data such that the execution history data can be effectively used by a user.According to each of the above-described embodiments, the execution history data may be displayed so as to be effectively used by a user.The arrangement of the function blocks in the function block diagrams (FIGS. 3 and 11 ) described in the above-described embodiments is an example, and various modification examples for the arrangement of the function blocks are possible. For example, the entire function of the robot control device and the display device may be defined as a control device.In the above-described embodiments, the example of performing the display of the execution history data on the display device is described, but the display of the execution history data may also be performed on a display screen of the teach pendant. Moreover, the display of various setting screens (e.g., setting screen 250) and the input to the setting screen may be performed via the display screen and the operation unit of the teach pendant. In this case, the entire function of the robot control device and the teach pendant may also be defined as a control device.The execution history data generated by the execution of a vision program may be stored in the storage unit 122 of the visual sensor control device 20.The above-described embodiments are the example of applying the configuration regarding the display of the execution history data to the robot system having the sensor, but the configuration regarding the display of the execution history data in the above-described embodiments may be applied to a system of various industrial machines having a sensor.The functional blocks of the robot control device illustrated in FIGS. 3 and 11 can be realized by executing various kinds of software stored in the storage device by the processor of the robot control device or by a configuration in which hardware such as an application specific integrated circuit (ASIC) is a main component.The computer program for executing various kinds of processing such as the processing of the execution history data in the above-described embodiments can be recorded in various computer readable recording media (for example, a ROM, an EEPROM, a semiconductor memory such as a flash memory, a magnetic recording medium, and an optical disk such as a CD-ROM and a DVD-ROM).Although the present disclosure has been described above in detail, the present disclosure is not limited to the above-described embodiments. Various kinds of additions, substitutions, modifications, partial deletion, and the like can be made to the embodiments without interfering with the purpose of the present disclosure or the content described in the claims and the scope of the present disclosure derived from equivalents thereof. Furthermore, the exemplary embodiments can be carried out in combination. In the above-described embodiments, for example, an order of operations and an order of processing portions are indicated, which is not limited thereto. The same applies to the case where a numerical value or a numerical expression is used in the description of the above-described embodiments.With respect to the above-described embodiments and modifications, supplementary notes will be given below.(Supplementary Note 1)A control device (50, 50A) for controlling an industrial machine, the control device comprising:a storage unit (155) configured to store execution history data when a program for causing the industrial machine to execute a predetermined work is executed; anda history display unit (152) configured to display, on a display screen, the execution history data in table format based on a hierarchical structure of the execution history data.(Supplementary Note 2)A control device (50, 50A) for controlling an industrial machine, the control device comprising:a storage unit (155) configured to store execution history data when a program for causing the industrial machine to execute a predetermined work is executed;a history display unit (152) configured to display, on a display screen, the execution history data in the table format;a selection unit (153) configured to select, from the execution history data, data to be displayed in the table format on the display screen by the history display unit; andan output unit (154) configured to output the execution history data displayed in the table format on the display screen as a data file in the table format.(Supplementary Note 3)The control device according to Supplementary Note 2, wherein the history display unit (152) displays the execution history data in the table format, based on a hierarchical structure of the execution history data.(Supplementary Note 4)The control device according to Supplementary Note 2 or 3, wherein the selection unit (153) accepts an input for selecting data to be displayed in the table format by a value of explanation of characters of the execution history data.(Supplementary Note 5)The control device according to Supplementary Note 1 or 3, wherein the history display unit (152) sets the execution history data in the table format according to a predetermined rule.(Supplementary Note 6)The control device according to Supplementary Note 5, wherein the predetermined rule includes display of data of character explanation of the same kind in the execution history data in the same column.(Supplementary Note 7)The control device according to Supplementary Note 6, wherein the predetermined rule includes arranging data of character explanation of the same kind and in the same plane in the execution history data in the same column.(Supplementary Note 8)The control device according to any one of Supplementary Notes 5 to 7, wherein when a plurality of data are present in the same plane, the predetermined rule includes displaying the data in the same plane in different lines by line feed.(Supplementary Note 9)The control device according to Supplementary Note 8, wherein the predetermined rule includes repeatedly displaying data in a parent level to which the data in the same level belongs in each row in which data in the same level is displayed.(Supplementary Note 10)The control device according to any one of Supplementary Notes 5 to 9, wherein the predetermined rule includes adding data in each level to a line in an order corresponding to an order of a depth of the respective level in the execution history data.(Supplementary Note 11)The control device according to any one of Supplementary Notes 5 to 10, wherein the predetermined rule includes adding data of explanation characters to a line in order according to information defining a display order of the explanation characters.(Supplementary Note 12)The control device according to any one of Supplementary Notes 5 to 11, wherein when the hierarchical structure of the execution history data includes levels extending from one level in a depth direction of the hierarchical structure and a level whose rank is the same as that of the one level, the predetermined rule includes setting a higher priority to adding data in the levels extending from the one level in the depth direction to one row in order.(Supplementary Note 13)The control device according to any one of Supplementary Notes 1 to 12, wherein the program includes processing using a sensor, and the execution history data includes at least an output from the sensor and a result of the processing of the output from the sensor.(Supplementary Note 14)The control device according to Supplementary Note 13, wherein the sensor is a visual sensor (70), and includes the execution history data of at least one of an image captured by the visual sensor and a result of the execution of the image processing on the image.(Supplementary Note 15)The control device according to any one of Supplementary Notes 1 to 14, further comprising a transmission unit (157) configured to transmit the execution history data in the table format to an external device, wherein the execution history data in the table format is displayed on the external device.(Supplementary Note 16)The control device according to Supplementary Note 2, wherein the selection unit (153) performs selection of the data to be displayed in the table format according to a predetermined selection criterion.(Supplementary Note 17)The control device according to Supplementary Note 1, wherein the program is configured to select data to be output as execution history data according to a selection criterion described in the program.(Supplementary Note 18)A system (100, 100A) of an industrial machine, comprising:an industrial machine (10); anda control device (50, 50A) configured to control the industrial machine, whereinthe control device (50, 50A)a storage unit (155) configured to store execution history data when a program for causing the industrial machine to execute a predetermined work is executed, anda history display unit (152) configured to display, on a display screen, the execution history data in table format based on a hierarchical structure of the execution history data.(Supplementary Note 19)A system (100, 100A) of an industrial machine, comprising:an industrial machine (10); anda control device (50, 50A) configured to control the industrial machine, whereinthe control device (50, 50A)a storage unit (155) configured to store execution history data when a program for causing the industrial machine to execute a predetermined work is executed,a history display unit (152) configured to display the execution history data in the table format on a display screen,a selection unit ( 153) configured to select, from the execution history data, data to be displayed in the table format on the display screen by the history display unit, andan output unit (154) configured to output the execution history data displayed in the table format on the display screen as a data file in the table format.(Supplementary Note 20)The system (100, 100A) of an industrial machine according to Supplementary Note 18 or 19, wherein the control unit (50, 50A) further comprises a transmission unit (157) configured to transmit the execution history data in the table format to an external device, and the execution history data in the table format is displayed on the external device.(Supplementary Note 21)A method of displaying execution history data executed on a computer, the method of displaying execution history data comprising:reading execution history data from a storage unit (155) when executing a program that causes an industrial machine (10) to execute a predetermined work; anddisplaying, on a display screen, the execution history data in the table format based on a hierarchical structure of the read execution history data.(Supplementary Note 22)A method of displaying execution history data executed on a computer, the method of displaying execution history data comprising:reading execution history data from a storage unit (155) when executing a program that causes an industrial machine (10) to execute a predetermined work;displaying the execution history data on a display screen in a table form;selecting data from the execution history data to be displayed in the table format on the display screen; andoutputting the execution history data displayed in the table format on the display screen as a data file in the table format.(Supplementary Note 23)A program for causing a processor of a computer to execute:reading execution history data from a storage unit (155) when executing a program that causes an industrial machine (10) to execute a predetermined work; anddisplaying, on a display screen, the execution history data in the table format based on a hierarchical structure of the read execution history data.(Supplementary Note 24)A program for causing a processor of a computer to execute:reading execution history data from a storage unit (155) when executing a program that causes an industrial machine (10) to execute a predetermined work;displaying the execution history data in the table format on a display screen;selecting data from the execution history data to be displayed in the table format on the display screen; andoutputting the execution history data displayed in the table format on the display screen as a data file in the table format.List of reference characters10 Robot 20 Visual sensor control device 33 Hand 40 Teach pendant 50, 50A Robot control device 41, 51 Processor 42, 52 Memory 43 Display unit 44, 54 Operation unit 45, 53 Input / output interface 60 Display device 61 Display screen 70 Visual sensor 81 Force sensor 100, 100A Robot system 121 Image processing unit 122 Storage unit 151 Motion control unit 152 History display unit 153 Selection unit 154 Output unit 155 Storage unit 156 Force control unit 157 Transmission unit 190 External computer 250 Setting screen 400, 500 Execution history data 410, 510 Table data 420 Table data fileReferences included in the specificationThis list of documents cited by the applicant has been produced in an automated manner and is only included for the better information of the reader. The list is not part of the German patent application or utility model application. The DPMA does not take any adhesion for any faults or omissions.Patent Literature citedJP 7104264B

[0004]

Claims

A control device for controlling an industrial machine, the control device comprising: a storage unit configured to store execution history data when a program for causing the industrial machine to execute a predetermined work is executed; and a history display unit configured to display, on a display screen, the execution history data in table format based on a hierarchical structure of the execution history data.A control device for controlling an industrial machine, the control device comprising: a storage unit configured to store execution history data when a program for causing the industrial machine to execute a predetermined work is executed; a history display unit configured to display, on a display screen, the execution history data in the table format; a selection unit configured to select, from the execution history data, data to be displayed in the table format on the display screen by the history display unit; and an output unit configured to output the execution history data displayed in the table format on the display screen as a data file in the table format.The control device according to claim 2, wherein the history display unit displays the execution history data in the table format based on a hierarchical structure of the execution history data.The control device according to claim 2 or 3, wherein the selection unit accepts an input for selecting data to be displayed in the table format by a value of character explanation of the execution history data.The control device according to claim 1 or 3, wherein the history display unit sets the execution history data in the table format according to a predetermined rule.The control device according to claim 5, wherein the predetermined rule comprises displaying data of character explanation of the same kind in the execution history data in the same column.The control device according to claim 6, wherein the predetermined rule comprises arranging data of character explanation of the same kind and in the same plane in the execution history data in the same column.The control device according to any one of claims 5 to 7, wherein when a plurality of data are present in the same plane, the predetermined rule comprises displaying the data in the same plane in different lines by line feed.The control device according to claim 8, wherein the predetermined rule comprises repeatedly displaying data in a higher level to which the data in the same level belongs in each line in which data in the same level is displayed.The control device according to any one of claims 5 to 9, wherein the predetermined rule comprises adding data in each level to a line in an order corresponding to the order of the depth of each level in the execution history data.The control device according to any one of claims 5 to 10, wherein the predetermined rule comprises adding data of explanation characters to a line in an order according to information defining a display order of the explanation characters.The control device according to any one of claims 5 to 11, wherein when the hierarchical structure of the execution history data includes levels extending from one level in a depth direction of the hierarchical structure and a level whose rank is the same as that of the one level, the predetermined rule includes setting a higher priority to adding data in the levels extending from the one level in the depth direction to one line in order.The control device according to any one of claims 1 to 12, wherein the program comprises processing using a sensor, and the execution history data comprises at least one of an output of the sensor and a result of the processing of the output of the sensor.The control device according to claim 13, wherein the sensor is a visual sensor, and the execution history data includes at least one of an image captured by the visual sensor and a result of execution of the image processing on the image.The control device according to any one of claims 1 to 14, further comprising a transmission unit configured to transmit the execution history data in the table format to an external device, wherein the execution history data in the table format is displayed on the external device.The control device according to claim 2, wherein the selection unit performs selection of the data to be displayed in the table format according to a predetermined selection criterion.The control device according to claim 1, wherein the program is configured to select data to be output as execution history data according to a selection criterion described in the program.A system of an industrial machine, comprising: an industrial machine; and a control device configured to control the industrial machine, wherein the control device comprises a storage unit configured to store execution history data when a program for causing the industrial machine to execute a predetermined work is executed, and a history display unit configured to display, on a display screen, the execution history data in table format based on a hierarchical structure of the execution history data.A system of an industrial machine, comprising: an industrial machine; and a control device configured to control the industrial machine, wherein the control device comprises a storage unit configured to store execution history data when a program for causing the industrial machine to execute a predetermined work is executed, a history display unit configured to display, on a display screen, the execution history data in the table format, a selection unit configured to select, from the execution history data, data to be displayed in the table format on the display screen by the history display unit, and an output unit configured to output the execution history data displayed in the table format on the display screen as a data file in the table format.The system of an industrial machine according to claim 18 or 19, wherein the control unit further comprises a transmission unit configured to transmit the execution history data in the table format to an external device, and the execution history data in the table format is displayed on the external device.A method for displaying execution history data executed on a computer, the method for displaying execution history data comprising: reading execution history data from a storage unit when executing a program that causes an industrial machine to execute a predetermined work; and displaying, on a display screen, the execution history data in table format based on a hierarchical structure of the read execution history data.A method for displaying execution history data executed on a computer, the method for displaying execution history data comprising: reading execution history data from a storage unit when a program for causing an industrial machine to execute a predetermined work is executed; displaying the execution history data on a display screen in a tabular form; selecting data from the execution history data to be displayed on the display screen in the tabular format; and outputting the execution history data displayed on the display screen in the tabular format as a data file in the tabular format.A program that causes a processor of a computer to execute: reading execution history data from a storage unit when executing a program that causes an industrial machine to execute a predetermined work; and displaying, on a display screen, the execution history data in table format based on a hierarchical structure of the read execution history data.A program for causing a processor of a computer to execute: reading execution history data from a storage unit when executing a program for causing an industrial machine to execute a predetermined work; displaying the execution history data in the table format on a display screen; selecting data from the execution history data to be displayed in the table format on the display screen; and outputting the execution history data displayed in the table format on the display screen as a data file in the table format.

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