PROGRAM GENERATING DEVICE, METHOD AND PROGRAM

Abstract

This program generation device comprises a processor, a storage device, a display, and an input device. The processor: reads at least one operation signal, which includes information related to an operation command for a robot and is registered in advance within the storage device, from the storage device and displays the at least one operation signal in a first area of ​​the display; reproduces one or more operation signals selected from the at least one operation signal displayed in the first area and arranges the resulting signal in a second area of ​​the display, thereby generating an operation program;causes the input device to input a parameter relating to a function represented by any of the operation signals selected from the operation signals displayed in the first and second areas, thereby generating a parameter-containing operation signal; and registers the generated parameter-containing operation signal in the storage device as one of the operation signals.;

Description

{Technical field}

[0001] The present disclosure relates to program generation apparatus, methods, and programs. {State of the art}

[0002] To date, a type of teaching device is known in which, in response to dragging an icon displayed in a selection area of ​​a teaching screen, an icon similar to the dragged icon is reproduced and the reproduced icon is moved to a creation area (e.g., Patent Literature 1).

[0003] It is possible to create an operating program for a robot by arranging multiple icons in the creation area. For each of the icons reproduced in the creation area, a user can set parameters for a function represented by the icon through a status window provided for that icon. {List of citations}{Patent literature}

[0004] {PTL 1] PCT International Publication No. WO 2020 / 012558 {Brief description of the invention}{Technical problem}

[0005] In cases where an icon for the same function is used multiple times in an operating program, there are cases where it is desirable to reuse parameters that have been set once. In such cases, it would be tedious to reset the parameters for each icon. It is therefore desirable to enable the easy reuse of operating symbols, such as icons with parameters set for them. {Solution to the problem}

[0006] One aspect of the present disclosure is a program generation device comprising at least one processor, at least one storage device, a display, and an input device, wherein the processor: reads at least one operation symbol including information related to an operation command for a robot and registered in advance within the storage device from the storage device and displays the at least one operation symbol in a first area of ​​the display; reproduces one or more operation symbols selected from the at least one operation symbol displayed in the first area and arranges the one or more operation symbols in time series in a second area of ​​the display, thereby generating an operation program;accepts an input, via the input device, of a parameter for a function represented by an operation symbol selected from the operation symbols displayed in the first area or the second area, thereby generating a parameter-containing operation symbol; and registers the generated parameter-containing operation symbol in the storage device as one of the operation symbols; {Brief description of the drawings} { Fig. 1] Fig. 1 is an illustration showing an exemplary robot system to which a program generation apparatus according to a first embodiment of the present disclosure is applied. { Fig. 2] Fig. 2 is a block diagram showing the program generating device in Fig. 1 shows. { Fig. 3] Fig. 3 is an illustration showing an example of what appears on a display in the program generating apparatus in Fig. 2 is displayed. { Fig. 4] Fig. 4 is an illustration showing an exemplary parameter setting area and a name setting area displayed on the display in the program generating apparatus in Fig. 2 are displayed. { Fig. 5] Fig. 5 is an illustration showing an example of parameter-containing icons displayed in a selection area on the program generating device in Fig. 2 can be reproduced. { Fig. 6] Fig. Fig. 6 is an illustration showing a state in which a parameter-containing icon is displayed in Favorites on the program creation device in Fig. 2 was reproduced. { Fig. 7] Fig. 7 is a flowchart for explaining a program generation method according to the first embodiment of the present disclosure. { Fig. 8] Fig. Fig. 8 is an illustration showing a modification of the display in the program generating device in Fig. 2 shows. { Fig. 9] Fig. 9 is an illustration in which checkboxes for selecting parameters to be registered are displayed in the parameter setting area in Fig. 4 were added. { Fig. 10] Fig. 10 is an illustration for explaining a program generating apparatus according to a second embodiment of the present disclosure, showing an example of what is displayed on a display. { Fig. 11] Fig. 11 is an illustration showing a state in which a reproduction icon has been created in a selection area as a result of reproducing a plurality of icons in a creation area. { Fig. 12] Fig. 12 is an illustration showing an example name input area through which a name for the reproduction icon in Fig. 10 is entered. { Fig. 13] Fig. 13 is an illustration showing an example of what is required to check the content of the reproduction icon in Fig. 10 is displayed. { Fig. 14] Fig. Figure 14 is an illustration showing an example of what is displayed to check whether parameters are to be retained or not when the reproduction icon in Fig. 10 is reproduced in the creation area. {Description of the embodiments}

[0007] Hereinafter, a program generating apparatus 1, a method and a program according to a first embodiment of the present disclosure will be described with reference to the drawings.

[0008] As in Fig. 1, the program generating apparatus 1 according to this embodiment is applied to a robot system 20 including a robot 10 and a control device 11 that controls the robot 10.

[0009] The robot 10 is, for example, a six-axis vertical articulated robot and is driven according to a control signal output from the controller 11. The robot 10 is not limited to a six-axis vertical articulated robot and may be any type of robot, such as a horizontal articulated robot or a linear robot.

[0010] The control device 11 reads an operation program stored in a storage device 3, which will be described later, generates a control signal based on the read operation program, and outputs the control signal to the robot 10. The operation program is a program for causing the robot 10 to operate, and is command data including one or more operation commands.

[0011] The program generation device 1 according to this embodiment is a device that generates an operation program according to operations performed by a user. The generation of an operation program includes editing an existing operation program and creating a new operation program. As shown in Fig. 2, the program generation device 1 includes at least one processor 2, at least one storage device 3, a display 4 and an input interface (input device) 5.

[0012] The processor 2 may be any processing device, such as a CPU or an MPU. Furthermore, processing to be performed by the processor 2 may be partially realized by a dedicated logic circuit or hardware.

[0013] The storage device 3 includes a semiconductor memory such as a random access memory (RAM) or a read-only memory (ROM), and / or a storage device such as a hard disk drive (HDD), an optical disk, or the like.

[0014] The display 4 is implemented by a liquid crystal display, an organic EL display, or the like. The input interface 5 is implemented by a touch panel device, a keyboard, and a mouse, or the like.

[0015] The program creation device 1 may be a dedicated teaching device such as a teaching console panel provided in the control device 11, or may be a general-purpose computer, a tablet, or the like in which a program creation program is installed.

[0016] The program generation device 1 according to this embodiment stores at least one operation symbol containing information related to an operation command for the robot 10 registered in advance in the storage device 3. Operation symbols are, for example, various icons 1 representing various operation commands for the robot 10 (hereinafter referred to as icons). The operation commands include a linear motion instruction, an arc motion instruction, an instruction for driving a tool attached to the distal end of the robot 10, etc.

[0017] Icons I include icons that can be used to set parameters for the functions represented by Icons I, as well as icons that do not require parameter setting. For example, the parameters for a movement instruction include a target position, a center position, a movement speed, and the like.

[0018] As in Fig. 3, the processor 2 reads the icons I stored in the storage device 3 from the storage device 3 and displays the icons I in a selection area (first area) A of the display 4 so that the user can select the icons I. The user can select one of the icons I displayed in the selection area A using the input interface 5. The user can select an icon I via a touch panel or by moving a cursor displayed on the display 4 using a mouse or the like.

[0019] When the user selects the icon I displayed in the selection area A using the input interface 5 and drags the icon I to a creation area (second area) B (reproduction process), the processor 2 reproduces the dragged icon I. Then, when the user moves the dragged icon I to the creation area B of the display 4 and drops the dragged icon I, the processor 2 arranges the icon I near the position where the icon I was dropped in the creation area B.

[0020] The position where the icon I is placed in the creation area B does not need to be precise, and if the icon I is placed in any empty space in the creation area B, the icon I will be aligned left, for example. Furthermore, if other icons I have already been placed in the creation area B, the position where the new icon I should be placed is determined depending on the relative positional relationships thereof with these icons I. For example, in the case where two icons I are placed in the creation area B, if the new icon I is placed in the creation area B near the midpoint between the existing icons I, the new icon I will be placed between the two existing icons I.

[0021] The user can select any of the icons displayed in the creation area B using the input interface 5. If the user selects an icon I displayed in the creation area B for which parameters can be set, the processor 2 displays a parameter setting area C on the display 4. For example, the parameter setting area C can be displayed in the form of a pop-up at any position on the display 4 or can be displayed instead of the selection area A, as in Fig. 4. When the user has set parameters in the parameter setting area C via the input interface 5, the processor 2 stores the entered parameters in the storage device 3 in association with the selected icon I in the creation area B.

[0022] By repeating these operations by the user, the processor 2 can arrange a plurality of icons I in the creation area B, for example, horizontally along a timeline running from left to right in the creation area B. Accordingly, by arranging icons I horizontally, the processor 2 generates an operating program in which the icons I are arranged in time series along the timeline.

[0023] Furthermore, it shows how Fig. 3, the processor 2 displays an icon deletion character a, a reproduction character b and an icon registration character c on the display 4 so that these characters can be selected.

[0024] If the user selects one of the icons I displayed in the selection area A or the creation area B of the display 4 and then presses the icon registration character c, the processor 2 displays a name setting area D for setting a name for the icon I. For example, the name setting area D is shown in Fig. 4 is displayed in the form of a pop-up in the creation area B of display 4.

[0025] The name setting area D includes: an input area D1 for allowing the user to enter any text representing the name of the icon I; a registration button D2 for setting and registering the entered name; and a cancel button D3 for ending processing. When the user has entered any text representing a name in the input area D1 and pressed the registration button D2, the processor 2 creates a new icon I containing the entered name in the selection area A.

[0026] That is, as in Fig. 5, the processor 2 stores (registers) a new icon I1 with the entered name (e.g., speed 100) in the storage device 3 as one of the icons I to be displayed in the selection area A. As shown in Fig. As shown in Figure 6, the newly registered icon I1 can be registered in Favorites.

[0027] In this case, if parameters are set for an icon I that represent the functions of this icon I, the processor 2 reproduces an icon containing the parameters for which the parameters are set. If an icon I is selected for which parameters can be set but have not been set, as in Fig. 4, the processor 2 displays the parameter setting area C on the display 4 and prompts the user to enter parameters.

[0028] When a parameter-containing icon has been registered, the user can select the parameter-containing icon displayed in the selection area A and reproduce the parameter-containing icon in the creation area B by dragging and dropping, similar to the other icons I. When the parameter-containing icon has been reproduced in the creation area B, the parameters set for the icon I are retained unchanged.

[0029] If the user has selected an icon group that includes several icons I arranged in the creation area B of the display 4 and has pressed the reproduction symbol b, the processor 2 generates an arbitrary reproduction icon I2.

[0030] Meanwhile, if the user has selected an unnecessary icon I displayed in the selection area A and pressed the icon delete character a, the processor 2 deletes any icon I registered in the storage device 3.

[0031] Next, a program generation method according to this embodiment will be described with reference to the drawings.

[0032] As in Fig. 7, the program generation method according to this embodiment includes step S1 of reading out at least one icon I registered in advance in the storage device 3 from the storage device 3 and displaying the icon I in the selection area A of the display 4. Further, the program generation method includes step S3 of generating an operation program by reproducing one or more icons I selected from the icons I displayed in the selection area A and arranging the icons I in time series in the creation area B. Further, the program generation method includes step S5 of generating a parameter-containing icon by accepting an input of parameters for an icon I selected from the icons I displayed in the selection area A or the creation area B.Furthermore, the program generation method includes step S7 of registering the generated parameter-containing icon in the storage device 3 as one of the icons I.

[0033] In the Fig. In the example shown in Figure 7, icons I are displayed in the selection area A (step S1), and when the user drags one of the icons I (step S2), the dragged icon I is reproduced (step S3). Subsequently, the reproduced icon I is placed in the creation area B, thereby progressively generating an operating program.

[0034] It is determined whether the icon I placed in the creation area B is an icon for which parameters can be set or not, and the parameter setting area C is displayed if the icon I is an icon for which parameters can be set. When the user has input parameters (step S5) and pressed the icon registration character c (step S6), the name setting area D is displayed.

[0035] When the user has entered a name into the input area D1 and pressed the registration button D2, an icon containing parameters is generated and registered in the storage device 3 as one of the icons I (step S7). It is determined whether or not to terminate program generation (step S8), and the steps from step S2 onward are repeated if program generation is not to be terminated.

[0036] Meanwhile, if the user has not dragged any of the icons I in step S2 among the icons I displayed in the selection area A in which the icons I are displayed in step S1, the process proceeds to step S8.

[0037] Meanwhile, even if it is determined that the icon registration character c has not been pressed in step S6 for the icon I for which parameters were input in step S5, the process proceeds to step S8.

[0038] Furthermore, if it is determined in step S4 that the icon I reproduced in step S3 is an icon I that does not require parameter setting, the process proceeds to step S8. If the parameter-containing icon has been registered in the storage device 3, the newly registered parameter-containing icon is included in the icons I displayed in the selection area A in step S1.

[0039] As described above, according to this embodiment, with a device that creates an operation program by arranging one or more icons I in the creation area B of the display 4, it is possible to register a parameter-containing icon as a selectable icon I. Therefore, even if the same parameter-containing icon is used multiple times in an operation program, parameters do not need to be reset for each icon I. Therefore, an advantage is that even in such cases, the user can easily reuse the icons I without performing the tedious work of resetting parameters.

[0040] Furthermore, when a parameter-containing icon displayed in the creation area B is reproduced, the parameter-containing icon can be reproduced together with the parameters in the selection area A.

[0041] The program generation device 1 and the program generation method according to this embodiment have been described in the context of an example in which a single parameter-containing icon in the selection area A is reproduced from a single parameter-containing icon. Alternatively, multiple parameter-containing icons in the selection area A may be reproduced from a single parameter-containing icon.

[0042] In this case, different names should be entered in the name setting area D, which is displayed as a result of selecting one of the icons displayed in the selection area A and pressing the icon registration character c. It is possible to reproduce multiple parameter-containing icons consisting of the same type of icon I by selecting a parameter-containing icon displayed in the selection area A, pressing the icon registration character c, and entering names.

[0043] Furthermore, as in Fig. 8, an edit character d may be displayed on the display 4 so that when the user has pressed the edit character d, the processor 2 also displays the name setting area D and the parameter setting area C, so that names and parameters can be edited.

[0044] Furthermore, a parameter-containing icon can be created by selecting an icon I that is displayed in the selection area A and has no parameters registered for it and newly registered parameters.

[0045] Furthermore, the arrangement may be such that, upon registering and reproducing a parameter-containing icon, the processor 2 can display parameters stored in association with the icon 1, thereby allowing the user to edit the parameters. By allowing the user to edit parameters at the time of registration, the work of registering the same type of parameter-containing icon with different parameters can be eliminated.

[0046] Furthermore, in the case of reproducing a parameter-containing icon with multiple parameters, the processor 2 may display the parameter setting area C together with the name setting area D so that the user can select a parameter to be reproduced. For example, as shown in Fig. As shown in Figure 9, the parameter selection is performed by the user marking a checkbox for the parameter to be reproduced.

[0047] For example, if position information, speed information, and path information have been registered as parameters, the user can only select the speed information and the path information and then press the registration button D2.

[0048] In this case, the processor 2 registers in the storage device 3 a parameter-containing icon in which only the speed information and the path information are adopted, while the position information set for the parameter-containing icon serving as the original for reproduction is not adopted. The position information for the reproduced parameter-containing icon need not be set, or predetermined information may be set.

[0049] Furthermore, instead of allowing the user to select a parameter to be reproduced when registering a parameter-containing icon, the user may be allowed to select a parameter to be reproduced when a parameter-containing icon displayed in the selection area A is reproduced in the creation area B. In this case, when the user drags a parameter-containing icon displayed in the selection area A to the creation area B to reproduce the parameter-containing icon, the user should select the checkbox for the parameter to be reproduced. Furthermore, the arrangement may be such that it is possible to select a parameter not to be adopted by unchecking the checkbox for that parameter.

[0050] Although the program creation device 1 and the program creation method have been described in the context of this embodiment, they are not limited thereto. As described above, the present invention can be implemented in the form of a dedicated teaching device having the above-described configuration, or a general-purpose computer, a tablet, or the like with a program creation program installed therein.

[0051] In this case, it is sufficient for the program creation program to cause a general-purpose computer, tablet, or the like to execute the individual steps of the program creation method described above. Furthermore, although icons were given as an example of operation symbols, any other type of operation symbols may be used instead.

[0052] Next, a program generating apparatus 1, a method, and a program according to a second embodiment of the present disclosure will be described with reference to the drawings.

[0053] The first embodiment was described in the context of the case where a single parameter-containing icon is reproduced and used. This embodiment differs from the first embodiment in that multiple icons I are reproduced and used.

[0054] This embodiment processes in a state where at least a part of an operation program has been created by reproducing icons I displayed in the selection area A and arranging the icons I in the creation area B, and then setting parameters for some of the icons I. As shown in Fig. 10, an operating program in which several icons I are arranged, or a part of it, is displayed in the creation area B.

[0055] If the user has selected an icon group that contains several icons I arranged in the creation area B and dragged the icon group into the selection area A, as in Fig. As shown in Figure 11, the processor 2 generates a reproduction icon (reproduction symbol) representing the icon group. Alternatively, if the user selects an icon group and then presses the icon registration mark c displayed on the display 4, the processor 2 generates a reproduction icon I2. The reproduction icon I2 is a single icon I representing the selected icon group. Then, the processor 2 registers the generated reproduction icon I2 in the storage device 3 as one of the icons I.

[0056] When the reproduction icon I2 has been generated, the processor 2 displays a name setting area E for setting a name for the reproduction icon I2. For example, as shown in Fig. 12, the name setting area E is displayed in the form of a pop-up at any location on the display 4.

[0057] The name setting area E includes: an input area E1 for allowing the user to enter any text representing a name for the reproduction icon I2; a registration button E2 for setting and registering the entered name; and a cancel button E3. When the user has entered any text representing a name and pressed the registration button E2, the processor 2 generates a reproduction icon I2 with the entered name appended thereto in the selection area A. That is, the processor 2 stores (registers) a reproduction icon I2 with the entered name in the storage device 3 as one of the icons I to be displayed in the selection area A.

[0058] In this case, if parameters are set for at least one icon I constituting the icon group, processor 2 generates a replica icon I2 while retaining the parameters. Once the replica icon I2 has been registered, the user can select the replica icon I2 displayed in the selection area A and replicate the replica icon I2 by dragging and dropping, similar to the other icons I in the creation area B.

[0059] Furthermore, when the reproduction icon I2 is reproduced in the creation area B, the reproduction icon I2 is reproduced in an expanded form in the icon group forming the reproduction icon I2. The parameters set for at least one icon I forming the icon group are retained unchanged.

[0060] The program creation method according to this embodiment includes the following steps in addition to the program creation method according to the first embodiment. That is, in the case where an icon group displayed in the creation area B is selected and the reproduction mark b is pressed or the icon group is dragged to the selection area A, a reproduction icon I2 is created. Then, the created reproduction icon I2 is registered in the storage device 3 as one of the icons I.

[0061] As described above, according to this embodiment, it is possible to register an icon group including a plurality of icons I arranged in the creation area B as a selectable reproduction icon I2. Accordingly, when the same icon group is used multiple times in an operation program, it is possible to copy and paste the icon once.

[0062] In particular, if parameters are set for at least one icon I forming the icon group, parameters do not need to be reset again for each of the icons I in the reproduced icon group. One advantage is that, even in such cases, the user can easily reuse the icons I without the tedious work of resetting parameters.

[0063] Note that in this embodiment, when reproducing an icon group including multiple icons I in the selection area A, a single reproduction icon I2 is generated by merging the icon group. It is not possible to check the icon group, i.e., the contents of the reproduction icon I2 displayed in the selection area A, only by its appearance and name.

[0064] Therefore, as in Fig. 13, the arrangement may be such that when the reproduction icon I2 displayed in the selection area A has been selected, the icon group indicating the content of the reproduction icon I2 is displayed on the display 4. For example, when the reproduction icon I2 has been selected, the icon group indicating the content of the reproduction icon I2 should be displayed in a content display area F displayed in the form of a pop-up.

[0065] Furthermore, as in Fig.14, the arrangement may be such that when a reproduction icon I2 including an icon I for which parameters are set is reproduced in the creation area B, a confirmation area G for confirming whether or not to retain the set parameters when performing reproduction is displayed. If it is determined that the parameters are to be retained, the icon I is reproduced with the parameters retained. If it is determined that the parameters are not to be retained, the parameter setting can be canceled or default parameters can be set.

[0066] Furthermore, each of the above embodiments has been described in the context of an example in which an icon I or an icon group with parameters set therefor is used multiple times when generating the same operation program. Alternatively, a parameter-containing icon or reproduction icon I2 stored in the storage device 3 may be used when generating a different operation program.

[0067] Furthermore, each of the above embodiments has been described in the context of an example in which an icon I or an icon group with parameters set therefor is used multiple times when an operation program is created.

[0068] Alternatively, the present invention may be applied as a reference example to the case where an operation program is generated by repeatedly using an icon group consisting of a plurality of icons I for which no parameters are set.

[0069] That is, the arrangement may be such that a plurality of icons I for which no parameters are set are selected in the creation area B, a reproduction icon I2 is created by dragging or by pressing the icon registration mark c, and the reproduction icon I2 is registered in the storage device 3. By registering the reproduction icon I2 as one of the icons I even when parameters are not set, it is possible to significantly improve the operability similarly to the above.

[0070] Furthermore, although an example in which a reproduction icon I2 is generated by a reproduction operation has been given as an example, a reproduction icon I2 may alternatively be generated by a cut operation. For example, a reproduction icon I2 may be generated when a cut operation is performed on an icon group in the creation area B and then a paste operation is performed on the icon group in the selection area A.

[0071] Thus, if the positions of several selected icons I in an operating program are to be changed, the icons I can be easily inserted at any position in the operating program from the selection area A.

[0072] Furthermore, in the embodiments described above, linear motion instructions, arc motion instructions, instructions for driving a tool attached to the distal end of the robot 10, etc. were given as exemplary operation commands; however, operation commands are not limited to these. Operation instructions may include any operation instructions required in an operation program, such as conditional branch instructions, register values, and I / O operation instructions.

[0073] Although the embodiments of the present disclosure have been described in detail above, the present disclosure is not limited to the individual embodiments described above. With these embodiments, various additions, substitutions, modifications, partial omissions, etc. are possible within the range not departing from the scope of the invention or within the range not departing from the spirit and spirit of the present invention, as derived from the content specified in the claims and their equivalents. For example, the order of each operation and the order of each processing step in the embodiments described above are given as an example, and are not limited to these orders.

[0074] The following appendices are further disclosed with respect to the above embodiments and modifications. (Appendix 1)

[0075] A program generation device comprising at least one processor, at least one storage device, a display, and an input device, wherein the processor: reads at least one operation icon including information related to an operation command for a robot and registered in advance within the storage device from the storage device and displays the at least one operation icon in a first area of ​​the display; reproduces one or more operation icons selected from the at least one operation icon displayed in the first area and arranges the one or more operation icons in a second area of ​​the display, thereby generating an operation program;accepts an input, via the input device, of a parameter for a function represented by an operation symbol selected from the operation symbols displayed in the first area or the second area, thereby generating a parameter-containing operation symbol; and registers the generated parameter-containing operation symbol in the storage device as one of the operation symbols; (Appendix 2)

[0076] The program generating device of Appendix 1, wherein the processor accepts input, via the input device, of a name to be associated with the parameter-containing operation symbol in response to registration of the parameter-containing operation symbol in the storage device. (Appendix 3)

[0077] The program generating apparatus of Appendix 1 or 2, wherein the processor, via the input device, accepts an edit of a parameter input to the parameter-containing operation symbol in response to a selection of the parameter-containing operation symbol. (Appendix 4)

[0078] The program generating device according to any one of Appendices 1 to 3, wherein the processor: in response to a selection of an operation symbol group including a plurality of the operation symbols arranged in the second area, generates a single reproduction symbol representing the operation symbol group; and registers the generated reproduction symbol in the storage device as one of the operation symbols. (Appendix 5)

[0079] The program generating apparatus of Annex 4, wherein the processor, in response to a selection of the reproduction symbol, displays the operation symbol group constituting the reproduction symbol on the display. (Appendix 6)

[0080] The program generating device according to Annex 4 or 5, wherein the processor allows selection of the reproduction symbol displayed in the first area when generating different operating programs. (Appendix 7)

[0081] The program generating apparatus according to any one of Appendices 4 to 6, wherein the processor: accepts an input, via the input device, as to whether or not the parameter set for each of the operation symbols constituting the reproduction symbol should be retained when registering the reproduction symbol in the storage device; and when the parameter is not to be retained, registers the reproduction symbol in the storage device while resetting the parameter. (Appendix 8)

[0082] A program generation method comprising: reading at least one operation symbol including information related to an operation command for a robot and registered in advance within a storage device from the storage device and displaying the at least one operation symbol in a first area of ​​a display; reproducing one or more operation symbols selected from the at least one operation symbol displayed in the first area and arranging the one or more operation symbols in a second area of ​​the display, thereby generating an operation program; accepting an input of a parameter for a function represented by an operation symbol selected from the operation symbols displayed in the first area or the second area, thereby generating a parameter-containing operation symbol;and registering the generated parameter-containing operation symbol in the storage device as one of the operation symbols; (Appendix 9)

[0083] A program generation program for causing a computer to: read at least one operation symbol, which includes information related to an operation command for a robot and is registered in advance within a storage device, from the storage device and display the at least one operation symbol in a first area of ​​the display; reproduce one or more operation symbols selected from the at least one operation symbol displayed in the first area and arrange the one or more operation symbols in a second area of ​​the display, thereby generating an operation program; accept an input of a parameter for a function represented by an operation symbol selected from the operation symbols displayed in the first area or the second area, thereby generating a parameter-containing operation symbol;and registering the generated parameter-containing operation symbol in the storage device as one of the operation symbols; (Appendix 10)

[0084] A program generation device comprising at least one processor, at least one storage device, a display, and an input device, wherein the processor: reads at least one operation symbol containing information related to an operation command for a robot and registered in advance within the storage device from the storage device and displays the at least one operation symbol in a first area of ​​the display; reproduces one or more operation symbols selected from the at least one operation symbol displayed in the first area and arranges the resulting symbol in time series in a second area of ​​the display, thereby generating an operation program;in response to selecting an operation symbol group including the plurality of operation symbols arranged as an array in the second area and performing a reproduction operation, generating a single reproduction symbol representing the operation symbol group; and registering the generated reproduction symbol in the storage device as one of the operation symbols; {Reference symbol list} 1 program generation device 2 processors 3 Storage device 4 Display 5 Input interface (input device) 10 robots A Selection area (first area) B Creation area (second area) I Icon (operation symbol) I2 Reproduction icon (reproduction symbol) 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] WO 2020 / 012558

[0004]

Claims

[1] A program generating device comprising at least one processor, at least one storage device, a display and an input device, wherein the processor: reads at least one operation icon including information relating to an operation command for a robot and registered in advance within the storage device from the storage device and displays the at least one operation icon in a first area of ​​the display; reproduces one or more operation symbols selected from the at least one operation symbol displayed in the first area and arranges the one or more operation symbols in a second area of ​​the display, thereby generating an operation program; accepts an input, via the input device, of a parameter for a function represented by an operation symbol selected from the operation symbols displayed in the first area or the second area, thereby generating a parameter-containing operation symbol; and the generated parameter-containing operation symbol is registered in the storage device as one of the operation symbols. [2] A program generating apparatus according to claim 1, wherein the processor: accepts an input, via the input device, of a name to be associated with the parameter-containing operation symbol in response to registration of the parameter-containing operation symbol in the storage device. [3] A program generating apparatus according to claim 1 or 2, wherein the processor: accepts, via the input device, an editing of a parameter entered into the parameter-containing operating symbol in response to a selection of the parameter-containing operating symbol. [4] A program generating apparatus according to any one of claims 1 to 3, wherein the processor: in response to a selection of an operating symbol group including a plurality of the operating symbols arranged in the second area, generates a single reproduction symbol representing the operating symbol group; and the generated reproduction symbol is registered in the storage device as one of the operation symbols. [5] A program generating apparatus according to claim 4, wherein the processor: in response to a selection of the reproduction symbol, displays the operating symbol group forming the reproduction symbol on the display. [6] A program generating apparatus according to claim 4 or 5, wherein the processor: allows selection of the reproduction symbol displayed in the first area when creating another operating program. [7] A program generating apparatus according to any one of claims 4 to 6, wherein the processor: accepts an input, via the input device, as to whether or not the parameter set for each of the operation symbols constituting the reproduction symbol should be retained when the reproduction symbol is registered in the storage device; and if the parameter is not to be retained, the reproduction symbol is registered in the storage device while the parameter is reset. [8] Program generation method comprising: Reading at least one operation icon including information related to an operation command for a robot and registered in advance within a storage device from the storage device and displaying the at least one operation icon in a first area of ​​a display; Reproducing one or more operation symbols selected from the at least one operation symbol displayed in the first area and arranging the one or more operation symbols in a second area of ​​the display, thereby generating an operation program; Accepting an input of a parameter for a function represented by an operation symbol selected from the operation symbols displayed in the first area or the second area, thereby generating a parameter-containing operation symbol; and Registering the generated parameter-containing operation symbol in the storage device as one of the operation symbols. [9] Program generation program for causing a computer to do the following: Reading at least one operation icon including information related to an operation command for a robot and registered in advance within a storage device from the storage device and displaying the at least one operation icon in a first area of ​​the display; Reproducing one or more operation symbols selected from the at least one operation symbol displayed in the first area and arranging the one or more operation symbols in a second area of ​​the display, thereby generating an operation program; Accepting an input of a parameter for a function represented by an operation symbol selected from the operation symbols displayed in the first area or the second area, thereby generating a parameter-containing operation symbol; and Registering the generated parameter-containing operation symbol in the storage device as one of the operation symbols.

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