Information processing device and program

Abstract

An information processing device according to the present disclosure includes a storage unit for storing a plurality of operation programs for individually controlling a plurality of robot devices that perform a task in cooperation with each other, an operation program candidate generation unit configured to generate a plurality of operation program candidates having different individual power consumptions for each of the plurality of robot devices based on the operation program of the robot device, and a combination generation unit configured to generate a combination of operation program candidates for the plurality of robot devices such that a total value of the individual power consumptions for the plurality of robot devices is less than a total power consumption of the plurality of robot devices,if the robot devices are operated in accordance with the operating programs.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to an information processing apparatus and a program having a function for assisting a user in changing an operation program. BACKGROUND OF THE TECHNOLOGY

[0002] In recent years, efforts toward Sustainable Development Goals (SDGs) and Corporate Social Responsibility (CSR) have become indispensable from the perspective of corporate management. On the other hand, in factories and the like, industrial machinery such as robotic devices that consume large amounts of power have been deployed to improve the working environment and supplement the working population. Enterprises that employ many industrial machinery such as robotic devices strive to address SOGs by maintaining and inspecting industrial machinery at optimal times to avoid unnecessary parts replacement and reduce the power consumption of the robotic devices. To support these efforts, a surge suppression technique is known in which the startup times of a plurality of robotic devices are staggered (e.g., Patent Literature 1).In addition, attempts have been made to reduce the power consumption of a robot by changing the robot's operating program, for example, by reducing the robot's operating speed. CITATION LISTPATENT LITERATURE

[0003] Patent Literature 1: Unexamined Japanese Patent Application Publication No. 2017-162300 SUMMARY OF THE INVENTION PROBLEM TO BE SOLVED BY THE INVENTION

[0004] However, for a user unfamiliar with robot operation and settings, modifying the operating program to reduce power consumption is not easy. Therefore, to reduce power consumption, it is desirable to propose a technique that assists users in modifying the operating program. SOLUTION TO THE PROBLEM

[0005] An information processing device according to the present disclosure includes a storage device for storing a plurality of operation programs for individually controlling a plurality of robot devices that perform a task in cooperation with each other, an operation program candidate generation unit configured to generate a plurality of operation program candidates having different individual power consumptions for each of the plurality of robot devices based on the operation program of the robot device, and a combination generation unit configured to generate a combination of operation program candidates for the plurality of robot devices such that a total value of the individual power consumptions for the plurality of robot devices is less than a total power consumption of the plurality of robot devices,if the robot devices are operated in accordance with the operating programs. BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 shows a robot system including an information processing apparatus according to the present embodiment. Fig. 2 is a hardware configuration diagram of the information processing apparatus according to the present embodiment. Fig. 3 is a functional block diagram of the information processing apparatus according to the present embodiment. Fig. 4 shows an example of a robot information management table stored in a storage unit of Fig. 3 is stored. Fig. Figure 5 shows an example of a power consumption history database for each robot device used in the Fig. 3 shown storage unit. Fig. Figure 6 shows an example of a first reception screen displayed on a display unit in Fig. 3 is displayed. Fig. 7 shows another example 1 of the first reception screen shown on the Fig. 3 shown display unit. Fig. Figure 8 shows another example 2 of the first reception screen shown on the Fig. 3 shown display unit. Fig. Figure 9 shows another example 3 of the first reception screen displayed on the display unit in Fig. 3 is displayed. Fig. 10 shows an example of a second reception screen displayed on the display unit in Fig. 3 is displayed. Fig. 11 shows an example of a third reception screen that is based on the Fig. 3 shown display unit. Fig. 12 shows another example 1 of the third reception screen displayed on the display unit in Fig. 3 is displayed. Fig. 13 shows another example 2 of the third reception screen shown in Fig. 3 shown display unit. Fig. Fig. 14 is a first supplementary diagram for explaining the processing for generating operation program candidates by an operation program candidate generating unit shown in Fig. 3 is shown. Fig. 15 is a second supplementary diagram for explaining the process of generating operating program candidates by the Fig. 3 shown operating program candidate generation unit. Fig. Fig. 16 is a supplementary diagram for explaining the processing for generating combinations of operation program candidates by a combination generating unit shown in Fig. 3 is shown. DETAILED DESCRIPTION OF THE INVENTION

[0006] An information processing apparatus according to an embodiment of the present invention will be described below with reference to the drawings. In the following description, components having substantially the same function and configuration are denoted by the same reference numerals, and repetition is noted only where necessary.

[0007] The information processing apparatus according to the present embodiment includes a function for assisting a user in selecting a robot apparatus whose operation program is to be modified and a function for assisting a user in modifying the operation program.

[0008] The modification of the operation program is performed so that the total power consumption of a plurality of robot devices that jointly perform a task can be reduced. Therefore, among the plurality of robot devices that jointly perform a task, there may be a robot device whose individual power consumption increases due to the modification of the operation program compared to the power consumption before the modification of the operation programs.

[0009] It should be noted that the target whose operating program is to be modified is not limited to a robot device, but can be any industrial machine, such as a machine tool. Of course, the multiple industrial machines that perform a task together can be the same type of industrial machine or a variety of types of industrial machines.

[0010] Typically, the information processing apparatus according to the present embodiment is configured as follows.

[0011] Note that in the present embodiment, the terms are defined as follows.

[0012] Robot group: A plurality of robot devices that collectively perform a task. A robot group includes, for example, a plurality of robot devices arranged on the same production line, a plurality of robot devices that cooperate, and the like. In the present embodiment, a plurality of robot devices arranged on the same production line are assigned the same line name. A plurality of robot devices that cooperate are assigned the same group name. A production line may include a plurality of groups.

[0013] Operating program: A program set in a robot device that describes a procedure that causes the robot device to perform a specific job, a type of operation to be performed, an operating condition at the time of execution, and the like.

[0014] Operation program candidate: Similar to the operation program, the operation program candidate is a program that describes a procedure for causing the robot device to perform an individual work, a type of operation to be performed, an operation condition at the time of execution, and the like, and is a candidate to replace the operation program set for a robot device.

[0015] Individual cycle time: The time required from the start to the end of an operation of a robot device according to an operation program or an operation program candidate.

[0016] Total cycle time: The sum of the individual cycle times of a plurality of robot devices. While one of the robot devices forming a robot group is operating, another robot device may be operating; therefore, the total cycle time may not be the sum of the individual cycle times of the plurality of robot devices. In the case of a fully automated production line, for example, the total cycle time corresponds to the cycle time assigned to the production line.

[0017] Individual power consumption: The amount of electrical energy consumed by a robot device from the start to the end of operation according to the operation program.

[0018] Total power consumption: The sum of the individual power consumption of a large number of robot devices.

[0019] Operating time: The time the robot device is actually moving during the individual cycle time.

[0020] Standby time: The time during which the robot device is stationary during each cycle. Standby time is also described, for example, in the operating program and corresponds to the period between the end of one robot operation and the start of another.

[0021] As in Fig. As shown in Figure 1, an information processing device 2 according to the present embodiment is connected to a plurality of robot devices 3 via a network 4, such as a LAN. The robot device 3 consists of a robot body 3a realized by an articulated arm mechanism or the like, and a robot control device 3b that controls the robot body 3a. The robot device 3 has means, such as a current sensor, for measuring the power consumption of the robot device 3.

[0022] As in Fig. 2, the information processing device 2 is configured such that hardware such as an operation device 6, a display device 7, a communication device 8, and a storage device 9 are connected to a processor 5 such as a CPU.

[0023] The operating device 6 is implemented by a keyboard, a mouse, a jogging device, or the like. The operating device 6 can be implemented by a touch panel, which also serves as a display device 7. The user can input various types of information into the information processing device 2 via the operating device 6. The display device 7 consists of an LCD or the like. Various screens are displayed on the display device 7 under the control of the processor 5. The communication device 8 consists of a communication module that conforms to any communication standard. The communication device 8 sends and receives various types of data to and from an external device such as the robot device 3 under the control of the processor 5. The storage device 9 is implemented by an HDD, an SSD, or the like.The storage device 9 stores a utility program and the data required for executing the utility program.

[0024] As in Fig. 3, the information processing device 2 functions as an input unit 21, a display unit 22, a data receiving unit (acquisition unit) 23, a storage unit 24, a screen generation unit 25, a change condition setting unit 26, an operation program candidate generation unit 27, a cycle time calculation unit 28, a power consumption calculation unit 29, a combination generation unit 30, and a program change unit 31 when the auxiliary program stored in the storage unit 9 is executed by the processor 5.

[0025] The input unit 21 is used for the input of information by the user into the information processing device 2. The input unit 21 is controlled by the Fig. 2 is implemented. The information input to the information processing device 2 via the input unit 21 includes selection information of a robot device 3 whose power consumption is to be displayed, selection information of a robot device 3 whose operation program is to be changed, selection information of a change condition of the operation program, selection information of a change plan from a plurality of change plans, and change instruction information of the operation program.

[0026] The display unit 22 displays the various screens generated by the screen generation unit 25. The display unit 22 is controlled by the Fig. 2 shown function of the display device 7 is realized.

[0027] The data receiving unit 23 receives various types of data from the robot device 3. The data receiving unit 23 is controlled by the function of the Fig. 2. The various types of data received by the robot device 3 include data related to the operating program and data related to power consumption. Of course, as long as the information processing device 2 can store these types of data, the method for acquiring them is not limited thereto.

[0028] The storage unit 24 stores various types of data required for processing related to the assistance function (assistance processing). The various types of data required for assistance processing include a robot information management table, a power consumption history database, data required for screen generation by the screen generation unit 25, a calculation program used for calculating an individual cycle time and a total cycle time by the cycle time calculation unit 28, a calculation program used for calculating an individual power consumption and a total power consumption by the power consumption calculation unit 29, and the like. Details of the robot information management table and the power consumption history database will be described later.

[0029] The screen generation unit 25 generates a first reception screen for receiving a robot device 3 whose operation program is to be changed, a second reception screen for receiving a change condition used for processing to change the operation program, and a third reception screen for receiving an instruction to change the operation program. Details of the first reception screen, the second reception screen, and the third reception screen will be described later.

[0030] The change condition setting unit 26 sets a change condition selected from a plurality of change conditions by a user operation on the second reception screen for the combination generation processing by the combination generation unit 30, which will be described later.

[0031] The operation program candidate generation unit 27 generates a plurality of operation program candidates based on the operation program of each of the robot devices 3. The details of the processing for generating operation program candidates will be described later.

[0032] The cycle time calculation unit 28 calculates an individual cycle time of the robot device 3 operating according to the operation program candidate generated by the operation program candidate generation unit 27. The individual cycle time can be calculated using known techniques. For example, the individual cycle time can be calculated by adding the standby time to the operation time used to generate the operation program candidate. Furthermore, the individual cycle time can be calculated by simulating the operation of a robot 3 based on the operation program candidate.

[0033] The power consumption calculation unit 29 simulates the operation of the robot device 3 based on the operation program candidate generated by the operation program candidate generation unit 27, and thereby calculates the individual power consumption of the robot device 3 operating according to the operation program candidate. The individual power consumption can be calculated using known techniques.

[0034] For example, the power consumption calculation unit 29 estimates the power consumption of the robot device 3 based on the workload of the motor that drives each of the joints of the robot body 3a, the amount of heat generated by the motor, the amount of heat generated by the amplifier, and the amount of heat generated by the robot control device 3b.

[0035] The workload of the motor is calculated based on the current flowing through the motor and the motor speed. The amount of heat generated by the motor is calculated based on the current value and the winding resistance of the motor. The amount of heat generated by the amplifier is calculated based on the current value of the motor. The amount of heat generated by the robot control device 3b is calculated based on the workload of each motor, the power output of the robot control device 3b, the amount of heat generated by each motor, the amount of heat generated by each amplifier, and the resistance of the robot control device 3b.

[0036] The speed of each motor is calculated by dividing the movement distance of the robot body 3a, calculated through simulation based on the operation program of the robot body 3a, by the unit time. The current value of each motor is calculated based on the torque acting on the motor shaft and the torque constant. The torque applied to the motor shaft is calculated using a known method using Newton's second law of motion, Euler's equation of motion, or the like.

[0037] The combination generation unit 30 generates combinations of candidate operation programs for a plurality of robot devices 3 to satisfy a change condition. Details of the processing for generating combinations of candidate operation programs will be described later.

[0038] The program changing unit 31 modifies the operation program of each of the plurality of robot devices 3. Specifically, the program changing unit 31 modifies the operation programs of the respective robot devices 3 by overwriting the operation programs set for the respective robot devices 3 with operation program candidates of the respective robot devices 3 generated by the combination generating unit 30.

[0039] The following is the robot information management table with reference to Fig. 4 described. Fig. Figure 4 shows an example of a robot information management table. The robot information management table is a table that summarizes the installation information of the robot devices 3 to be managed. As shown in Fig. 4, in the robot information management table, for example, the identification information for identifying the robot device 3 is associated with a robot name, a program name, a factory name, a line name, a group name, and a power consumption history ID. The program name is an example of identification information for identifying an operation program set in the robot device 3. The factory name is an example of information for identifying a factory in which the robot device 3 is installed. The line name is an example of information for identifying a line in which the robot device 3 is arranged. The group name is an example of information for identifying a group to which the robot device 3 belongs.The power consumption history ID is an example of identification information for identifying a database (power consumption history database) related to the power consumption history of the corresponding robot device 3.

[0040] The electricity consumption history database is described below with reference to Fig. 5 described. Fig. Figure 5 shows an example of the power consumption history database. The power consumption history database is provided for each robot device 3. As shown in Fig. As shown in Figure 5, the power consumption in the power consumption history database is linked to date and time information. The power consumption of the robot device 3 over a specific period of time, e.g., every cycle or every day, can be calculated from the power consumption history database by integrating the power consumptions. Furthermore, it is possible to determine the maximum value, minimum value, average value, and the like of the power consumption per cycle of the robot device 3 in a target period such as every day, every week, or every month.

[0041] The first welcome screen is described below with reference to Fig. 6 to Fig. 9 described. Fig. 6 to Fig. 9 each shows an example of the first reception screen generated by the screen generation unit 25. The first reception screen functions to receive from the user the robot device 3 whose operation program is to be changed. To assist the user in selecting the change target, a plurality of power consumptions corresponding to a plurality of robot devices 3 are displayed on the first reception screen. Typically, the plurality of power consumptions are displayed in order of power consumption.Preferably, the power consumption is displayed together with ranking information corresponding to the power consumption, information identifying a factory in which the robot device 3 is installed, information identifying a line in which the robot device 3 is arranged, information identifying a group to which the robot device 3 belongs, and information identifying an operation program set in the robot device 3.

[0042] As in Fig. As shown in Figure 6, the first reception screen 100 displays a navigation tree 110 in which the robot devices 3 to be managed are displayed in tree form according to the installation information. Through user operation on the navigation tree 110, a robot device 3 or a robot group can be set whose power consumption is to be displayed. For example, the user can set a plurality of robot devices 3 (ROBOT11, ROBOT12) belonging to the robot group "GROUP1" as targets for power consumption display by placing the cursor 150 on "GROUP1" and clicking on it (see Fig. 7).

[0043] The power consumptions of the robot devices 3 selected by the user are displayed on the first reception screen 100 in the form of a table. The table 120 includes a variety of information such as ranking, factory name, line name, group name, robot name, program name, and power consumption. The ranking indicates the rank of the highest power consumption among the various power consumptions displayed in the table 120. For example, the rank of "1" indicates that the power consumption is the highest among the power consumptions displayed in the table 120. For each of the multiple positions, there is an ascending button 121 and a descending button 122. By pressing the up button 121 or the down button 122, the power consumptions can be arranged in ascending or descending order (see Fig. 8). In addition, the multitude of power consumptions can be rearranged and displayed for each factory, line, group or program (see Fig. 7).

[0044] The power consumption according to the display conditions set by the user is displayed in table 120. The display conditions include the type of power consumption, the calculation period, and the target period. The first reception screen 100 has a pull-down menu 131 for the user to select a power consumption type, a pull-down menu 132 for the user to select a calculation period, and a pull-down menu 133 for the user to select a target period. The list of the pull-down menu 131 includes the power consumption types "maximum," "minimum," and "average." The list of the pull-down menu 132 includes the calculation periods "one cycle" and "one day." The list of the pull-down menu 133 includes the target periods for power consumption "one week" and "one month." For example, as shown in Fig. 6, the power consumption type “Maximum”, the calculation period “one cycle”, and the target period “one month” are set as the display conditions, the maximum value of the power consumption per cycle of the robot device 3 in the last month is displayed in Table 120. The power consumption can be displayed together with the date and time of the execution of the cycle in which the power was consumed (see Fig. 9).

[0045] The first reception screen 100 displays an input field 135 for inputting a robot device 3 whose operation program is to be changed, and a confirmation button 137 for designating the robot device 3 whose operation program is to be changed. The name of a robot device 3, for example, is directly input into the input field 135. Based on clicking the confirmation button 137, the robot group including the robot device 3 input into the input field 135 is automatically set as the target for the operation program change, and the second reception screen is displayed on the display unit 22. Of course, the robot group including the robot device 3 whose operation program is to be changed can be input into the input field 135.

[0046] The second reception screen is described below with reference to Fig. 10 described. Fig. Figure 10 shows an example of a second reception screen generated by the screen generation unit 25. The second reception screen has the function of receiving a change condition of the operating programs. As shown in Fig. For example, as shown in Figure 10, the second reception screen 200 displays a plurality of option buttons 210 corresponding to a plurality of change conditions, and an execution button 220 that triggers the start of processing for changing the operating programs. The plurality of change conditions include "reducing the total power consumption while maintaining the individual cycle times," "reducing the total power consumption while maintaining the total cycle time," and "shortening the total cycle time while maintaining the total power consumption." Based on clicking the execution button 220, the change condition corresponding to the option button 210 selected by the user is set, and the third reception screen is displayed on the display unit 22.

[0047] Since it is possible to shorten the total cycle time while maintaining the total power consumption, it is possible to reduce the operating time while maintaining the power consumption. Therefore, the change condition 'shortening the total cycle time while maintaining the total power consumption' is also a condition for a significant reduction in power consumption.

[0048] The third reception screen is described below with reference to Fig. 11 to Fig. 13 described. Fig. 11, Fig. 12 and Fig. 13 each shows an example of the third reception screen generated by the screen generation unit 25. Fig. 11, Fig. 12 and Fig. 13 show the second reception screen when the change conditions “Shorten the total power consumption while maintaining the individual cycle times”, “Shorten the total power consumption while maintaining the total cycle time”, or “Shorten the total cycle time while maintaining the total power consumption” were selected.

[0049] The third reception screen has the function of presenting combinations of candidate operation programs for the plurality of robot devices 3 to the user as operation program change plans, the function of receiving a user selection of a combination from the plurality of presented combinations, and the function of receiving an operation program change instruction. Fig. 11, Fig. 12 and Fig. The third reception screens 300, 301, 302 shown in Figure 13 have the same screen configuration, except for the combinations of operation program candidates presented as operation program change plans. Therefore, the third reception screen will be described here with reference to Fig. 11 described.

[0050] As in Fig. As shown in Figure 11, the third reception screen 300 displays information regarding the robot group (a plurality of robot devices 3) whose operation program is to be changed, information regarding the change condition, information regarding the operation programs before the change of the respective robot devices 3 whose operation programs are to be changed, and summary information about a plurality of combinations of candidate operation programs. A plurality of option buttons 321 are respectively associated with the plurality of combinations. In addition, the third reception screen 300 includes a detail display area 323 for displaying details of the combination selected by the user, a change execution button 325 for receiving a start command for changing the operation program, and a stop button 327 for receiving a stop command for processing the change of the operation program.

[0051] When an option button 321 is selected from the plurality of option buttons 321, detailed information about the combination of operation program candidates associated with the selected option button 321 is displayed in the detail display area 323. The user confirms the details of the combination of operation program candidates displayed in the detail display area 322 and clicks the change execution button 325, whereby the combination of operation program candidates corresponding to the selected option button 321 can be selected as a change plan used to change the operation programs.

[0052] The processing for generating operating program candidates will be described below with reference to Fig. 14 and Fig. 15 described. Fig. 14 and Fig. 15 are supplementary diagrams to explain the process of generating operating program candidates.

[0053] Typically, the operation program candidate generation unit 27 generates a plurality of operation program candidates based on the set operation program, each of which differs in at least one of the operating time and the standby time. Here, an example of generating a plurality of operation program candidates from the operation program "PROG1" of the robot device 3 "ROBOT31" is described. The operating time when the robot device 3 is operated in accordance with the operation program "PROG1" is referred to as "TM10," and the standby time is referred to as "TW10."

[0054] The operation program candidate generation unit 27 sets, as operation time patterns to be set in operation program candidates, a total of five patterns including the same operation time (± 0) as the operation time TM10, two patterns (+ t1, + t2 (t2 > t1)) having an operation time longer than the operation time TM10, and two patterns (- t1, - t2) having a shorter operation time.

[0055] The operation program candidate generation unit 27 sets, as standby time patterns to be set in operation program candidates, a total of three patterns including the same standby time (± 0) as the standby time TW10 and two patterns (- t1, - t2) having a shorter standby time than the standby time TW10.

[0056] The operation program candidate generation unit 27 generates a total of 15 operation program candidates (PROG1-1, PROG1-2, ...., PROG1-15) by combining five patterns with different operation times and three patterns with different standby times in a round-robin manner.

[0057] Note that the operation program candidates generated by the operation program candidate generation unit 27 may include an operation program candidate having the same operation time and standby time but a different operation parameter, such as an operation speed or an operation acceleration, with respect to the set operation program.

[0058] As in Fig. 15, the individual cycle times corresponding to the operation program candidates generated by the operation program candidate generation unit 27 are calculated by the cycle time calculation unit 28, and the individual power consumptions are calculated by the power consumption calculation unit 29.

[0059] As in Fig. As shown in Figure 15, the speed and acceleration of the robot device 3 can be varied by varying the operating time, which in turn allows the individual power consumption and the individual cycle time to be varied. Furthermore, the individual cycle time of the robot device 3 can be varied by varying the standby time. As described above, the plurality of operating program candidates that differ in at least one of the two variables of operating time and standby time include operating program candidates with different individual power consumption and operating program candidates with different individual cycle times.Of course, the plurality of operation program candidates generated by the operation program candidate generation unit 27 may include an operation program candidate having an operation time and a standby time both the same as those of the original operation program, and an operation program candidate that differs from the original operation program in at least one of the operation time and the standby time.

[0060] The operation program candidate "PROG1-9" created based on the operation program "PROG1" is a program that can be used to extend the operating time t1 and shorten the standby time t2 when the robot device 3 is operated according to the operation program "PROG1." For example, to extend the operating time by t1, the operating speed of the robot device 3 is decelerated smoothly in the operation program candidate "PROG1-9." Of course, if a cycle consists of multiple operations, the operating speed can also be decelerated only in a specific operation. Alternatively, the acceleration can also be performed gradually. For example, to reduce the standby time by t2, the standby time defined in the operation program candidate "PROG1-9" is reduced by t2. As described above, any method can be used to change the operating time or the standby time.

[0061] With reference to Fig. 11, Fig. 12, Fig. 13 and Fig. 16, the processing for generating combinations of operation program candidates of the plurality of robot devices 3 by the combination generating unit 30 will be described. Fig. 16 is a supplementary diagram for explaining the processing for generating combinations of operation program candidates of the plurality of robot devices 3.

[0062] As in Fig. 11, Fig. 12 and Fig. 13, a plurality of robot devices 3 whose operation programs are to be changed are referred to as "ROBOT31," "ROBOT32," and "ROBOT33." The operation program candidate generation unit 27 generates 15 sample operation program candidates (PROG1-1, PROG1-2, ..., PROG1-15) from the operation program "PROG1" of the robot device 3 "ROBOT31," generates 15 sample operation program candidates (PROG2-1, PROG2-2, ..., PROG2-15) from the operation program "PROG2" of the robot device 3 "ROBOT32," and generates 15 sample operation program candidates (PROG3-1, PROG3-2, ..., PROG3-15) from the operation program "PROG3" of the robot device 3 "ROBOT33."

[0063] The combination generation unit 30 generates combinations of candidate operation programs of the plurality of robot devices 3 to satisfy the change condition. Specifically, the combination generation unit 30 generates a plurality of combinations of candidate operation programs each corresponding to the plurality of robot devices 3 by combining a plurality of candidate operation programs of the plurality of robot devices 3 in a round-robin manner. For example, as shown in Fig. 16, the combination generation unit 30 generates a total of 3375 combination patterns (No. 1 to No. 3375) of operation program candidates by combining 15 patterns of operation program candidates of the robot device 3 “ROBOT31”, 15 patterns of operation program candidates of the robot device 3 “ROBOT32”, and 15 patterns of operation program candidates of the robot device 3 “ROBOT33” in a round-robin manner.

[0064] The combination generation unit 30 calculates the total cycle time (TSz1 to TSz3375) and the total power consumption (Pz1 to Pz3375) for each of the plurality of combinations (No. 1 to No. 3375). The total cycle time can be calculated by summing the individual cycle times of the respective robot devices 3. Similarly, the total power consumption can be calculated by summing the individual power consumptions of the respective robot devices 3.

[0065] Then, the combination generation unit 30 extracts a combination that satisfies the change condition from the plurality of combinations (No. 1 to No. 3375). The combination generation unit 30 can thus generate a combination of operation program candidates for the plurality of robot devices 3 to satisfy the change condition.

[0066] For example, if, as in Fig. 11, Fig. 12 and Fig. 13, the majority of the modified target robot devices 3 “ROBOT31”, “ROBOT32” and “ROBOT33” operate in accordance with the operation programs “PROG1”, “PROG2” and “PROG2”, respectively, the individual cycle time, the total cycle time and the total power consumption are assumed to be “30 s”, “90 s” and “5.9 kWh”, respectively.

[0067] If the change condition “Reduce total power consumption while maintaining total cycle time” is set as in Fig. As shown in Fig. 11, the combination generation unit 30 generates, from the plurality of combinations (No. 1 to No. 3375), a plurality of combinations (No. 194, No. 886, No. 1154, No. 3001) in which the total cycle time when operating the plurality of robot devices 3 according to the operation program candidates is 90 seconds and the total power consumption is less than 5.9 kWh. As shown in Fig. As shown in Fig. 11, the combinations (No. 194, No. 886, No. 1154 and No. 3001) generated by the combination generation unit 30 that satisfy the change condition are displayed in order of the lowest total power consumption from the top.

[0068] When the change condition “reducing the total power consumption while maintaining the individual cycle times” is set, as shown in Fig. 12, the combination generation unit 30 generates, from the plurality of combinations (No. 1 to No. 3375), a plurality of combinations (No. 45, No. 538, No. 1842, No. 2022) in which the individual cycle times when operating the plurality of robot devices 3 according to the operation program candidates are every 30 seconds and the total power consumption is less than 5.9 kWh. As shown in Fig. As shown in Figure 12, the combinations generated by the combination generation unit 30 (No. 45, No. 538, No. 1842, and No. 2022) that satisfy the change condition are displayed in order of lowest total power consumption from the top. Of course, if the total power consumption can be reduced, combinations can also be generated with individual cycle times shorter than 30 seconds.

[0069] When the change condition "shortening the total cycle time while maintaining the total power consumption" is set, as shown in Fig. 13, the combination generation unit 30 generates, from the plurality of combinations (No. 1 to No. 3375), a plurality of combinations (No. 11, No. 300, No. 1509, No. 2678) in which the total power consumption when operating the plurality of robot devices 3 according to the operation program candidates is 5.9 kWh and the total cycle time is shorter than 90 seconds. As shown in Fig. As shown in Figure 13, the combinations generated by the combination generation unit 30 (No. 11, No. 300, No. 1509, and No. 2678) that satisfy the change condition are displayed from the top in order of the shortest total cycle time. Of course, if the total cycle time can be shortened, combinations with a total cycle time shorter than 90 seconds can also be generated.

[0070] The change condition is not limited to the three conditions described above and can also include, for example, "reducing total power consumption" and "shortening the total cycle time." Therefore, the change condition "reducing total power consumption" is a condition that does not preclude the total cycle time from being shorter or longer than 90 seconds if the total power consumption can be reduced. The change condition "shortening total cycle time" is a condition that does not preclude the increase or decrease in total power consumption if the total cycle time can be shortened.

[0071] With the information processing apparatus 2 of the present embodiment, the following effects are achieved.

[0072] The information processing device 2 of the present embodiment can display a list of the power consumptions of a plurality of robot devices 3 to be managed in an arrangement according to the amount of power consumption (see Fig. 6 and Fig. 8) to assist the user in selecting a robot device 3 whose operation program is to be changed. Thus, the user can grasp the robot device 3 whose power consumption is high and select the robot device 3 whose power consumption is high as the target for changing the operation program. Furthermore, the user can grasp a robot device 3 whose power consumption is abnormally low and select the robot device 3 as the target for changing the operation program.

[0073] The information processing device 2 according to the present embodiment can display the power consumption along with information identifying the factory where the robot device 3 is installed, information identifying the line where the robot device 3 is located, information identifying the group to which the robot device 3 belongs, and information identifying the operation program. Furthermore, the power consumption can be rearranged according to these types of information and displayed by line, group, or the like. The user can acquire the power consumption of a plurality of robot devices 3 operating according to the same operation program by sorting by program name.For example, when the power consumption of a plurality of robot devices 3 operating according to the same operation program is generally high, the plurality of robot devices 3 may be selected as a target for changing the operation program.

[0074] As described above, according to the information processing device 2 of the present embodiment, a variety of power consumptions can be rearranged and displayed by items such as the power consumption amount, factory name, line name, group name, and program name, so that the user can select the robot devices 3 whose operation program is to be changed from various aspects. This also contributes to assisting the user in changing the operation program. Therefore, the information processing device 2 according to the present embodiment can be configured as an auxiliary device that assists the user in selecting a robot device 3 whose operation program is to be changed.

[0075] The information processing apparatus 2 according to the present embodiment can generate a plurality of operation program candidates based on the operation programs of a plurality of robot devices 3 selected by the user, generate combinations of operation program candidates for the plurality of robot devices 3 that satisfy the modification condition selected by the user, present the generated combinations of operation program candidates to the user, and modify the operation programs of the plurality of robot devices 3 using the operation program candidates selected by the user to assist the user in modifying the operation programs.

[0076] Each of the many combinations of candidate operation programs presented to the user can significantly reduce power consumption. Therefore, the user can reduce the total power consumption of the plurality of robot devices 3 compared to that before the modification by selecting only one combination from the plurality of presented candidate operation program combinations.

[0077] The information processing device 2 according to the present embodiment allows the user to finally determine a combination of candidate operation programs to be used to modify the operation programs of the plurality of robot devices 3. For example, the user can determine a combination to be used for modification from the presented combinations of candidate operation programs after examining conditions such as the state of the workpiece, the environmental conditions of the robot devices 3, and the durability of the robot devices 3, which cannot be considered when the information processing device 2 creates the candidate operation programs. This suppresses the risk of an error that could damage the robot devices 3 or the workpiece due to the modification of the operation programs.This also helps to assist the user in modifying the operation programs. However, the information processing device 2 according to the present embodiment can automatically select a combination of operation program candidates to be used to modify operation programs in accordance with a predetermined condition, and modify a plurality of operation programs corresponding to a plurality of robot devices 3.

[0078] The modification conditions presented to the user by the information processing device 2 according to the present embodiment include "reducing the total power consumption while maintaining the total cycle time" and "shortening the total cycle time while maintaining the total power consumption." These modification conditions are not conditions for focusing on only one robot device 3 to realize the reduction of individual power consumption or the shortening of the individual cycle time of that one robot device 3, but conditions for focusing on a plurality of robot devices 3 that jointly perform a task to realize the reduction of power consumption or the shortening of the cycle time of the plurality of robot devices 3 as a whole.

[0079] For example, when a robot device 3 is the center of attention, the operation program can only be changed within the range of the individual cycle time of the robot device 3. Therefore, for the robot device 3 whose operating speed is set as slow as possible to fit the individual cycle time of the existing operation program, no reduction in power consumption can be expected by changing the operation program.

[0080] On the other hand, by concentrating on a plurality of robot devices 3 jointly performing a task, the individual cycle times set for the plurality of robot devices 3 can be permitted to be exceeded while not exceeding the total cycle time of the plurality of robot devices 3. Therefore, even if there is no factor for reducing the power consumption of a particular robot device 3, the operation program of the particular robot device 3 can be modified, for example, by shortening the individual cycle time of another robot device 3 that cooperates with the particular robot device 3 and further reducing the operation speed within a range that takes the shortened cycle time into account.As a result, although the power consumption of the other robot device 3 may increase, the power consumption of the specific robot device 3 can be reduced, and the total power consumption of the plurality of robot devices 3 can be reduced compared to that before the modification. As described above, a feature of the information processing device 2 according to the present embodiment is that it is capable of concentrating on a plurality of robot devices 3 working together to realize the reduction of power consumption and the shortening of the cycle time of the plurality of robot devices 3 as a whole, instead of concentrating only on one robot device 3 to realize the reduction of individual power consumption and the shortening of the individual cycle time of the robot device 3.

[0081] The information processing device 2 according to the present embodiment has the function of displaying power consumption data acquired from each of the robot devices 3. Typically, the multiple power consumptions are listed in an order according to the amount of power consumption. For example, the user can select a robot device 3 with high power consumption as the robot device 3 to be modified by browsing a list of power consumptions in order of highest power consumption. Assisting the user in selecting a robot device 3 to be modified is part of assisting the user in modifying the operation program.Therefore, the information processing device according to the present embodiment can be configured to have only the function of displaying data related to power consumption acquired by each of the robot devices 3 to assist the user in modifying the operation program.

[0082] In the present embodiment, in order to assist the user in selecting a robot device 3 whose operation program is to be changed, the individual power consumptions of the robot devices 3 can be displayed (see Fig.6, etc.). However, the information processing device 2 according to the present embodiment can collectively change the operation programs of a plurality of robot devices 3 that cooperate with each other. Therefore, to assist the user in selecting a robot group whose operation programs are to be changed, the power consumption of each robot group can be displayed.

[0083] The various types of data stored in the storage device 9 can be distributed by recording on removable media or by downloading to the information processing device 2 via the network 4.

[0084] The following appendices explain in more detail the present embodiments and modifications. (Appendix 1)

[0085] An information processing device 2 includes a storage unit 24 for storing a plurality of operation programs for individually controlling a plurality of robot devices 3 that perform a task in cooperation with each other, an operation program candidate generation unit 27 configured to generate, based on the operation program of the robot device 3, a plurality of operation program candidates with different individual power consumptions for each of the plurality of robot devices 3, and a combination generation unit 30 configured to generate a combination of operation program candidates for the plurality of robot devices 3 such that a total value of the individual power consumptions for the plurality of robot devices 3 is less than a total power consumption of the plurality of robot devices 3.when the robot devices 3 are operated in accordance with the operating programs., (Appendix 2)

[0086] In the information processing apparatus 2 described in Appendix 1, the combination generation unit 30 generates the combination of operation program candidates for the plurality of robot devices 3 such that a total value of the individual cycle times for the plurality of robot devices 3 agrees with a total cycle time of the plurality of robot devices 3 when the robot devices 3 are operated according to the operation programs, and such that the total value of the individual power consumptions for the plurality of robot devices 3 is less than the total power consumption of the plurality of robot devices 3 when the robot devices 3 are operated according to the operation programs. (Appendix 3)

[0087] In the information processing apparatus 2 described in Appendix 1, the combination generation unit 30 generates the combination of operation program candidates for the plurality of robot devices 3 such that the individual cycle times of the plurality of robot devices 3 agree with the individual cycle times when the robot devices 3 are operated in accordance with the operation programs, and such that the total value of the individual power consumptions of the plurality of robot devices 3 is less than the total power consumption of the plurality of robot devices 3 when the robot devices 3 are operated in accordance with the operation programs. (Appendix 4)

[0088] An information processing device 2 includes a storage unit 24 for storing a plurality of operation programs for individually controlling a plurality of robot devices 3 that perform a task in cooperation with each other, an operation program candidate generation unit 27 configured to generate a plurality of operation program candidates having different individual cycle times for each of the plurality of robot devices 3 based on the operation program of the robot device 3, and a combination generation unit 30 configured to generate a combination of operation program candidates for the plurality of robot devices 3 such that a total value of the individual cycle times for the plurality of robot devices 3 is shorter than a total cycle time of the plurality of robot devices 3,when the robot devices 3 are operated in accordance with the operating programs., (Appendix 5)

[0089] In the information processing apparatus 2 described in Appendix 4, the combination generation unit generates the combination of candidate operation programs for the plurality of robot devices 3 such that a total value of the individual power consumptions for the plurality of robot devices 3 agrees with a total power consumption of the plurality of robot devices 3 when the robot devices 3 are operated according to the operation programs, and such that the total value of the individual cycle times for the plurality of robot devices 3 is shorter than the total cycle time of the plurality of robot devices 3 when the robot devices 3 are operated according to the operation programs. (Appendix 6)

[0090] The information processing apparatus 2 described in any one of Appendices 1 to 5 further includes a display unit 22 for displaying a plurality of combinations of candidate operation programs generated by the combination generation unit 30, and a modification unit 31 configured to modify the operation programs of the plurality of robot devices 3 based on a combination selected by a user from the plurality of combinations. (Appendix 7)

[0091] An information processing device 2 includes an acquisition unit 23 configured to acquire data related to a plurality of power consumptions, each corresponding to a plurality of robots, from a robot control device configured to control the plurality of robots, and a display device 22 that displays a list of the plurality of power consumptions in an arrangement according to the amounts of the power consumptions. (Appendix 8)

[0092] In the information processing device 2 described in Appendix 7, each of the power consumptions is displayed together with information identifying a factory in which the robot is installed, information identifying a line in which the robot is arranged, information identifying a group to which the robot belongs, and information identifying the operation program. (Appendix 9)

[0093] A program causes a computer configured to store a plurality of operation programs for individually controlling a plurality of robot devices 3 that execute a task in cooperation with each other to realize means for generating a plurality of operation program candidates having different individual power consumptions for the plurality of robot devices 3 based on the operation program of the robot device 3, and means for generating a combination of operation program candidates for the plurality of robot devices 3 such that a total value of the individual power consumptions for the plurality of robot devices 3 is less than a total power consumption of the plurality of robot devices 3 when the robot devices 3 are operated in accordance with the operation programs.

[0094] Although the embodiments of the present disclosure have been described in detail, the present disclosure is not limited to the individual embodiments described above. These embodiments may be subjected to various additions, replacements, modifications, partial deletions, etc., without departing from the gist of the invention or the idea and spirit of the present invention as understood from the contents described in the claims and their equivalents. In the embodiments described above, for example, the order of operations and the order of processes are shown as examples, and the present invention is not limited thereto. The same applies to the case where numerical values ​​or formulas are used in the description of the embodiments described above. EXPLANATION OF REFERENCE NUMBERS

[0095] 2: Information processing device, 3: Robot device, 4: Network, 5: Processor, 6: Operation device, 7: Display device, 8: Communication device, 9: Storage device, 21: Input unit, 22: Display unit, 23: Data receiving unit (acquisition unit), 24: Storage unit, 25: Screen generation unit, 26: Change condition setting unit, 27: Operation program candidate generation unit, 28: Cycle time calculation unit, 29: Power consumption calculation unit, 30: Combination generation unit, 31: Program change unit. QUOTES CONTAINED IN THE DESCRIPTION

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

[0000] JP 2017-162300

[0003] Cited non-patent literature

[0000] Reducing the total power consumption while maintaining the individual cycle times" is set, as shown in Fig. 12, the combination generation unit 30 generates a plurality of combinations (No. 45, No. 538, No. 1842, No. 2022) from the plurality of combinations (No. 1 to No. 3375)

[0068] Shortening the total cycle time while maintaining the total power consumption" is set, as shown in Fig. 13, the combination generation unit 30 generates a plurality of combinations (No. 11, No. 300, No. 1509, No. 2678) from the plurality of combinations (No. 1 to No. 3375)

[0069]

Claims

[1] An information processing device comprising: a storage unit for storing a plurality of operating programs for individually controlling a plurality of industrial machines that perform a task in cooperation with each other; an operation program candidate generation unit configured to generate, based on the operation program of the industrial machine, a plurality of operation program candidates having different individual power consumptions for each of the plurality of industrial machines; and a combination generation unit configured to generate a combination of candidate operation programs for the plurality of industrial machines such that a total value of the individual power consumptions for the plurality of industrial machines is less than a total power consumption of the plurality of industrial machines when the industrial machines are operated in accordance with the operation programs. [2] The information processing apparatus according to claim 1, wherein the combination generation unit generates the combination of operation program candidates for the plurality of industrial machines such that a total value of the individual cycle times for the plurality of industrial machines agrees with a total cycle time of the plurality of industrial machines when the industrial machines are operated in accordance with the operation programs, and such that the total value of the individual power consumptions for the plurality of industrial machines is less than the total power consumption of the plurality of industrial machines when the industrial machines are operated in accordance with the operation programs. [3] The information processing apparatus according to claim 1, wherein the combination generation unit generates the combination of operation program candidates for the plurality of industrial machines such that the individual cycle times of the plurality of industrial machines agree with the individual cycle times when the industrial machines are operated in accordance with the operation programs, and such that the total value of the individual power consumptions of the plurality of industrial machines is less than the total power consumption of the plurality of industrial machines when the industrial machines are operated in accordance with the operation programs. [4] An information processing device comprising: a storage unit for storing a plurality of operating programs for individually controlling a plurality of industrial machines that perform a task in cooperation with each other; an operation program candidate generation unit configured to generate a plurality of operation program candidates having different individual cycle times for each of the plurality of industrial machines based on the operation program of the industrial machine; and a combination generation unit configured to generate a combination of candidate operation programs for the plurality of industrial machines such that a total value of the individual cycle times for the plurality of industrial machines is shorter than a total cycle time of the plurality of industrial machines when the industrial machines are operated in accordance with the operation programs. [5] The information processing apparatus according to claim 4, wherein the combination generation unit generates the combination of operation program candidates for the plurality of industrial machines such that a total value of the individual power consumptions for the plurality of industrial machines agrees with a total power consumption of the plurality of industrial machines when the industrial machines are operated in accordance with the operation programs, and such that the total value of the individual cycle times for the plurality of industrial machines is shorter than the total cycle time of the plurality of industrial machines when the industrial machines are operated in accordance with the operation programs. [6] The information processing apparatus according to any one of claims 1 to 5, further comprising: a display unit for displaying a plurality of combinations of operating program candidates generated by the combination generation unit; and a changing unit configured to modify the operation programs of the plurality of industrial machines based on a combination selected by a user from the plurality of combinations. [7] An information processing device comprising: a detection unit configured to detect data regarding a plurality of power consumptions, each corresponding to a plurality of robots, from a robot control device configured to control the plurality of robots; and a display unit for displaying a list of the plurality of power consumptions in an arrangement according to the level of power consumption. [8] The information processing apparatus according to claim 7, wherein each of the power consumptions is displayed together with information for identifying a factory in which the robot is installed, information for identifying a line in which the robot is arranged, information for identifying a group to which the robot belongs, and information for identifying the operation program. [9] A program to cause a computer configured to store a plurality of operating programs for individually controlling a plurality of industrial machines that perform a task in cooperation with each other to realize: Means for generating a plurality of candidate operation programs having different individual power consumptions for each of the plurality of industrial machines based on the operation program of the industrial machine; and means for generating a combination of candidate operation programs for the plurality of industrial machines such that a total value of the individual power consumptions for the plurality of industrial machines is less than a total power consumption of the plurality of industrial machines when the industrial machines are operated in accordance with the operation programs.

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