Display control device, display control method, and display control program

Abstract

To provide a display control device, display control method, and display control program that allow a user to easily and accurately grasp the magnitude of external forces in various directions.SOLUTION: A display control device 100 for displaying the magnitude and direction of external forces applied to a robot 10 on a display unit D, comprises: an input unit which inputs the external force applied to the robot 10; and display control means which displays on the display unit D an external force magnitude graphic representing the magnitude of the external force input by the input unit, and an external force direction graphic representing the direction of the external force input by the input unit. The external force magnitude graphic and external force direction graphic are different from each other, and the area or volume of the external force magnitude graphic increases as the magnitude of the external force input by the input unit increases.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a display control device, a display control method, and a display control program. [Background technology]

[0002] 2. Description of the Related Art Conventionally, external forces acting on a robot have been detected and displayed. Patent document 1 discloses that the magnitude and direction of an external force applied to a robot are respectively represented by the height (distance from the center of the base to the apex) and direction (direction from the center of the base toward the apex) of a cone displayed on the screen. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2020-93385 A Summary of the Invention [Problem to be solved by the invention]

[0004] According to Patent Document 1, the magnitude and direction of an external force acting on a robot can be visually and intuitively determined. However, depending on the direction of the external force acting on the robot, the bottom of the cone may be displayed on the screen as if it is located in front. This makes it difficult to understand the height and exact direction of the cone corresponding to the external force, which is a problem that makes it difficult for the user to accurately grasp the magnitude and direction of the external force. In addition, in this case, for example, there is a problem that an operation to change the viewpoint on the screen is required to accurately grasp the height and direction of the cone.

[0005] The present invention has been made in consideration of the above-mentioned circumstances, and aims to provide a display control device, a display control method, and a display control program that can easily and accurately grasp the magnitude of external forces in various directions. [Means for solving the problem]

[0006] <1> A display control device according to aspect 1 of the present invention is a display control device that displays on a display unit the magnitude and direction of an external force applied to a robot, and is equipped with an input unit to which an external force applied to the robot is input, and a display control means that displays on the display unit both an external force magnitude graphic indicating the magnitude of the external force input by the input unit and an external force direction graphic indicating the direction of the external force input by the input unit, wherein the external force magnitude graphic and the external force direction graphic are different, and the area or volume of the external force magnitude graphic increases as the magnitude of the external force input by the input unit increases.

[0007] According to the first aspect, the external force magnitude figure and the external force direction figure displayed on the display unit are different figures. This makes it possible to prevent the appearance of the external force magnitude figure from changing depending on the direction of the external force indicated by the external force direction figure. This makes it possible to easily display the magnitude of the external force acting on the robot using the external force magnitude figure on the display unit, regardless of the direction of the external force acting on the robot. Therefore, for example, an operation to change the viewpoint on the screen can be eliminated. This makes it possible to provide a display control device that can easily and accurately grasp the magnitude of external forces having various directions. Furthermore, the area or volume of the external force magnitude diagram increases as the magnitude of the external force input by the input unit increases, making it easier for the user to intuitively grasp the magnitude of the external force acting on the robot and the change in the magnitude of the external force through visual inspection.

[0008] <2> A display control device according to a second aspect of the present invention is the display control device according to the first aspect, characterized in that the external force direction graphic is positioned inside the external force magnitude graphic.

[0009] According to the second aspect, the external force direction figure is positioned inside the external force magnitude figure. This makes it easy to visually check the external force direction figure and the external force magnitude figure at the same time. This makes it easy to grasp the direction and magnitude of the external force acting on the robot at the same time. Also, the area on the display unit for displaying the external force direction figure and the external force magnitude figure can be kept small.

[0010] <3> A display control device according to a third aspect of the present invention is the display control device according to the first or second aspect, characterized in that one end of the external force direction graphic is in contact with the external force magnitude graphic.

[0011] According to the third aspect, one end of the external force direction figure is in contact with the external force magnitude figure. This makes it easier to understand the relationship between the external force direction figure and the external force magnitude figure. That is, for example, when other figures are simultaneously displayed on the display unit in addition to the external force direction figure and the external force magnitude figure, it is easier to understand that the external force direction figure and the external force magnitude figure correspond to each other. Furthermore, by making some of the coordinates of the external force direction graphic and the external force magnitude graphic common to each other, it becomes easier to create a program for generating a display screen.

[0012] <4> A display control device according to aspect 4 of the present invention is characterized in that, in the display control device according to any one of aspects 1 to 3, the position of the other end of the external force direction figure coincides with the position of the center of the external force magnitude figure.

[0013] According to the fourth aspect, the position of the other end of the external force direction figure coincides with the position of the center of the external force magnitude figure. This makes it easier to understand the relationship between the external force direction figure and the external force magnitude figure. That is, for example, when other figures are simultaneously displayed on the display unit in addition to the external force direction figure and the external force magnitude figure, it is easier to understand that the external force direction figure and the external force magnitude figure correspond to each other. It is also possible to clarify that the point of action of the external force displayed on the display unit is the same in the external force direction figure and the external force magnitude figure. Furthermore, by making some of the coordinates of the external force direction graphic and the external force magnitude graphic common to each other, it becomes easier to create a program for generating a display screen.

[0014] <5> A display control device according to a fifth aspect of the present invention is characterized in that, in the display control device according to the fourth aspect, the other end and the center change depending on the position of the tip of the robot's end effector.

[0015] According to the fifth aspect, the positions of the other end of the external force direction figure and the center of the external force magnitude figure on the display unit change according to the position of the tip of the end effector of the robot. This makes it easier to visually and intuitively grasp the position of the tip of the end effector of the robot, in addition to the direction and magnitude of the external force applied to the robot. It also makes it easier to intuitively grasp that the external force represented on the display unit by the external force direction figure and the external force magnitude figure is the one being applied to the tip of the end effector of the robot. It also makes it easier to grasp which figures are the external force direction figure and the external force magnitude figure, for example, when other figures are simultaneously displayed on the display unit in addition to the external force direction figure and the external force magnitude figure.

[0016] <6> A display control device according to a sixth aspect of the present invention is a display control device according to any one of the first to fifth aspects, characterized in that, when an external force applied to the robot is input by the input unit, the display control means displays both the external force magnitude figure and the external force direction figure on the display unit, and when an external force applied to the robot is not input by the input unit, the display control means erases both the external force magnitude figure and the external force direction figure from the display unit.

[0017] According to the sixth aspect, when an external force acting on the robot is input by the input unit, the display control means causes the display unit to display both an external force magnitude diagram and an external force direction diagram. This makes it easy to know whether an external force is acting on the robot. Also, when an external force is acting on the robot, it makes it easy to grasp the magnitude and direction of the external force. When the input unit does not input an external force to be applied to the robot, both the external force magnitude diagram and the external force direction diagram are erased from the display unit. This makes it possible to reduce the amount of information displayed on the display unit when no external force is applied to the robot, thereby making the display unit easier for the user to see.

[0018] <7> A display control device according to aspect 7 of the present invention is characterized in that, in a display control device according to any one of aspects 1 to 6, the color of the external force direction figure changes depending on the direction of the external force input by the input unit.

[0019] According to the seventh aspect, the color of the external force direction figure changes depending on the direction of the external force input by the input unit. This makes it easier to intuitively grasp the direction of the external force acting on the robot. Here, when the direction of the external force is displayed in three dimensions on a two-dimensional screen, it may be difficult to accurately grasp the depth depending on the direction indicated by the external force direction figure. In such a case, by changing the color of the external force direction figure depending on the direction of the external force, it is easier to visually grasp the exact direction of the external force.

[0020] <8> A display control device of aspect 8 of the present invention is characterized in that, in a display control device of any one of aspects 1 to 7, the color of the external force magnitude figure changes depending on the direction of the external force input by the input unit.

[0021] According to aspect 8, the color of the external force magnitude figure changes depending on the direction of the external force input by the input unit. This makes it easier to intuitively grasp the direction of the external force acting on the robot. Here, when the magnitude of the external force is displayed two-dimensionally, it may not be possible to express the magnitude of the external force in a three-dimensional direction. In such a case, by changing the color of the external force magnitude figure depending on the magnitude of the external force in the three-dimensional direction, it is possible to express the magnitude of the external force in the three-dimensional direction even in the two-dimensional display. Therefore, it is easier to accurately grasp the magnitude of the external force in the three-dimensional direction even in the two-dimensional display.

[0022] <9> A display control device according to aspect 9 of the present invention is characterized in that, in the display control device according to any one of aspects 1 to 8, it further comprises a transmitting means for transmitting a signal for moving the robot so as to change the external force applied to the robot when the external force magnitude figure or the external force direction figure is selected by a user.

[0023] According to a ninth aspect, the device further includes a transmitting means. When an external force magnitude graphic or an external force direction graphic is selected by the user, the transmitting means transmits a signal for moving the robot so as to change the external force applied to the robot. That is, the robot moves to move away from an object that is a cause of the application of an external force to the robot, in response to a signal transmitted from the transmitting means based on the user's operation. In this way, for example, when the external force applied to the robot becomes large, an intuitive operation by the user can prevent the load applied to the robot from becoming extremely large.

[0024] <10> A display control device according to a tenth aspect of the present invention is the display control device according to any one of the first to ninth aspects, characterized in that the external force magnitude graphic is a planar graphic.

[0025] According to aspect 10, the external force magnitude figure is a planar figure. This makes it possible, for example, to make it easier to visually grasp the magnitude of the external force based on the area of ​​the external force magnitude figure.

[0026] <11> A display control device of aspect 11 of the present invention is a display control device of any one of aspects 1 to 10, characterized in that the longitudinal direction of the external force direction figure is along the direction of the external force input by the input unit.

[0027] According to aspect 11, the longitudinal direction of the external force direction diagram is aligned with the direction of the external force input by the input unit, which makes it easier to intuitively grasp the direction of the external force acting on the robot visually.

[0028] <12> A display control device according to aspect 12 of the present invention is a display control device according to any one of aspects 1 to 11, characterized in that the display control means displays on the display unit a movement speed diagram indicating the speed at which the robot is moving and a movement direction diagram indicating the direction in which the robot is moving, together with the external force magnitude diagram and the external force direction diagram, and the area or volume of the movement speed diagram increases as the speed at which the robot is moving increases.

[0029] According to aspect 12, the display control means causes the display unit to display a moving speed diagram and a moving direction diagram indicating the moving speed and direction of the robot, together with an external force magnitude diagram and an external force direction diagram. This makes it easier to visually and intuitively grasp the moving speed and direction of the robot, in addition to the direction and magnitude of the external force acting on the robot. In addition, the area or volume of the moving speed diagram increases as the speed at which the robot moves increases, which makes it easier for the user to intuitively grasp the moving speed of the robot and changes in speed through visual inspection.

[0030] <13> A display control device of aspect 13 of the present invention is characterized in that, in the display control device of aspect 12, the position of the center of the movement speed diagram and the position of the end of the movement direction diagram on the display unit correspond to the position of the tip of the end effector of the robot.

[0031] According to aspect 13, the center position of the movement speed diagram and the end position of the movement direction diagram on the display unit correspond to the position of the tip of the end effector of the robot. This makes it easier to intuitively grasp the speed and direction in which the tip of the end effector of the robot moves, based on the movement speed diagram and the movement direction diagram.

[0032] <14> A display control device according to aspect 14 of the present invention is characterized in that, in the display control device according to aspect 12 or aspect 13, it further comprises an output means for outputting a command for changing the direction in which the robot moves when the movement direction figure is operated on the display unit.

[0033] According to a fourteenth aspect, the device further includes an output means. The output means outputs a command for changing the direction in which the robot moves when the movement direction figure is operated on the display unit. That is, the direction in which the robot moves changes according to the command output from the output means based on the user's operation. This allows the user to freely control the direction in which the robot moves.

[0034] <15> A display control device of aspect 15 of the present invention is a display control device of any one of aspects 12 to 14, characterized in that the display control means causes the display unit to display the external force magnitude figure, the external force direction figure, the movement speed figure, and the movement direction figure in three dimensions.

[0035] According to aspect 15, the display control means causes the display unit to three-dimensionally display an external force magnitude graphic, an external force direction graphic, a movement speed graphic, and a movement direction graphic. For example, by displaying the external force direction graphic and the movement direction graphic three-dimensionally, it becomes easier to grasp in three dimensions the direction of the external force acting on the robot and the direction in which the robot is moving. Furthermore, by displaying the external force magnitude diagram and the movement speed diagram in three dimensions, it is possible to easily grasp that the external force magnitude diagram corresponds to the external force direction diagram, and the movement speed diagram corresponds to the movement direction diagram.

[0036] <16> A display control device according to aspect 16 of the present invention is a display control device according to any one of aspects 1 to 3, characterized in that the display control means displays on the display unit work coordinate axes which are coordinate axes corresponding to the work coordinate system which is a coordinate system based on the work target of the robot, and tool coordinate axes which are coordinate axes corresponding to the tool coordinate system which is a coordinate system based on the tip of the end effector, together with the external force magnitude figure, the external force direction figure, the moving speed figure, and the moving direction figure.

[0037] According to aspect 16, the display control means causes the display unit to display the workpiece coordinate axes, which are coordinate axes corresponding to the workpiece coordinate system, and the tool coordinate axes, which are coordinate axes corresponding to the tool coordinate system, together with an external force magnitude graphic, an external force direction graphic, a moving speed graphic, and a moving direction graphic. This makes it easy to grasp in three dimensions the direction and magnitude of the external force applied to the robot, and the direction and speed at which the robot moves, based on the workpiece coordinate system or the tool coordinate system.

[0038] <17> A display control device according to a seventeenth aspect of the present invention is characterized in that, in the display control device according to the sixteenth aspect, the origin of the tool coordinate system moves in response to the movement of the end effector of the robot.

[0039] According to aspect 17, the origin of the tool coordinate system moves in accordance with the movement of the end effector of the robot. This makes it easier to grasp the direction and amount of movement of the end effector of the robot relative to the workpiece coordinate system, for example, by visually checking the change in the position of the tool coordinate system relative to the workpiece coordinate system.

[0040] <18> A display control method according to aspect 18 of the present invention is a display control method for displaying the direction and magnitude of an external force applied to a robot on a display unit, characterized in that an external force magnitude graphic indicating the magnitude of the external force applied to the robot and an external force direction graphic which is different from the external force magnitude graphic and indicates the direction of the external force applied to the robot are both displayed on the display unit, and the area or volume of the external force magnitude graphic is increased as the magnitude of the external force applied to the robot increases.

[0041] According to aspect 18, both an external force magnitude diagram and an external force direction diagram different from the external force magnitude diagram are displayed on the display unit. This makes it possible to prevent the appearance of the external force magnitude diagram from changing depending on the direction of the external force indicated by the external force direction diagram. This makes it possible to easily display the magnitude of the external force acting on the robot using the external force magnitude diagram on the display unit, regardless of the direction of the external force acting on the robot. Furthermore, the area or volume of the external force magnitude diagram is increased as the magnitude of the external force acting on the robot increases, which makes it easier for the user to intuitively grasp the magnitude of the external force acting on the robot and the change in the magnitude of the external force.

[0042] <19> A display control program according to a nineteenth aspect of the present invention is characterized in that it causes a computer to function as the display control device according to any one of the first to seventeenth aspects. Effect of the Invention

[0043] According to the present invention, it is possible to provide a display control device, a display control method, and a display control program that can easily and accurately grasp the magnitude of external forces having various directions. [Brief description of the drawings]

[0044] [Figure 1] 1 is a block diagram of a display control device according to an embodiment. [Diagram 2] FIG. 4 is a diagram illustrating an example of a functional configuration of a control unit according to the embodiment. [Diagram 3]1 is a first example of a screen displayed on a display unit. [Figure 4] 13 is a second example of a screen displayed on the display unit. [Diagram 5] 13 is a third example of a screen displayed on the display unit. [Figure 6] 4 is a fourth example of a screen displayed on the display unit. [Figure 7] 13 is a comparative example in which the direction of an external force is displayed in three dimensions. [Figure 8] This is an example of displaying the magnitude of an external force in three-dimensional directions in two dimensions. [Figure 9] 13 is a first modified example of a screen displayed on the display unit. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0045] A display control device according to an embodiment of the present invention will be described below with reference to the drawings. The display control device according to the present invention displays various information related to the state of a robot on a display unit. The state of a robot is, for example, the direction and magnitude of an external force received by the robot, and the direction and speed at which the robot moves. Specifically, for example, the magnitude and direction of an external force applied to the robot are displayed on the display unit. This allows a user to intuitively grasp the state of the robot visually. In describing the display control device, first, each component included in the display control device will be described.

[0046] FIG. 1 is a block diagram of a display control device 100 according to an embodiment. 1, the display control device 100 includes a control device 20. The control device 20 is connected to the robot 10 by wire or wirelessly and communicates with the robot 10.

[0047] The robot 10 performs various tasks on an arbitrary work object O. The robot 10 is, for example, a general industrial robot. In this embodiment, the robot 10 is a known six-axis vertical articulated robot. In this embodiment, the robot 10 is provided with an end effector 11. Below, several types of end effectors 11 that can be used in this embodiment will be illustrated. The end effector 11 is, for example, a gripper for gripping an object (not shown). In this case, the robot 10 is used to grip an object, which is a work object O, with the gripper and move it. The end effector 11 is, for example, an electric screwdriver. In this case, the robot 10 is used to fasten bolts to various products or the like that are the work objects O. The end effector 11 is, for example, a cutting tool. In this case, the robot 10 is used to perform cutting processing on various members that are the work object O. The end effector 11 is, for example, a rod-shaped member for removing slag accumulated in a melting furnace (not shown). In this case, the robot 10 is used to remove the slag accumulated in the melting furnace, which is the work object O, by physically contacting the end effector 11.

[0048] In this embodiment, the end effector 11 is common in that it is moved by the robot 10 and may be subjected to an external force by contacting the work object O. The display control device 100 according to this embodiment visually displays to the user the direction and speed in which the end effector 11 moves, and the direction and magnitude of the external force that the end effector 11 receives (details will be described later). In this embodiment, the movement of the end effector 11 is referred to as the movement of the robot 10. The application of an external force to the end effector 11 is referred to as the application of an external force to the robot 10 or the robot 10 receiving an external force.

[0049] The control device 20 includes a control unit 23 having a processor P such as a CPU (Central Processing Unit) and a memory M connected by a bus, and executes a display control program. The display control program is a program that controls the operation of each functional unit of the control device 20. By executing the display control program, the control device 20 functions as a device including a user interface 21, a storage unit 22, and a control unit 23, and operates the display control device 100.

[0050] More specifically, in the control device 20, the processor P reads out the display control program stored in the storage unit 22, and stores the read display control program in the memory M. The processor P executes the display control program stored in the memory M, whereby the control device 20 functions as a device including a user interface 21, a storage unit 22, and a control unit 23.

[0051] The user interface 21 includes a display unit D and an input unit I. The display unit D displays various information. The display unit D includes an output device such as a CRT (Cathode Ray Tube) display, a liquid crystal display, or an organic EL (Electro-Luminescence) display. The display unit D may be configured as an interface that connects these output devices to the control device 20.

[0052] The input unit I includes input terminals such as a mouse, a keyboard, and a touch panel. The input unit I may be configured as an interface that connects these input terminals to the control device 20. The input unit I accepts input of various information to the control device 20 (details will be described later). The display unit D and the input unit I may be configured as an integrated touch panel.

[0053] The storage unit 22 is configured using a non-transitory computer-readable storage medium device such as a magnetic hard disk device, a semiconductor storage device, etc. The storage unit 22 stores various information related to the control device 20. The storage unit 22 stores, for example, a display control program in advance. The storage unit 22 stores, for example, in advance, the coordinates of each position on the display unit D (hereinafter referred to as "display coordinate information"). The storage unit 22 stores, for example, a world coordinate system based on the installation position of the robot 10 and a tool coordinate system based on the length of the end effector 11 provided on the robot 10.

[0054] The control unit 23 controls the operation of each functional unit included in the control device 20. FIG. 2 is a diagram illustrating an example of a functional configuration of the control unit 23 according to the embodiment. As shown in FIG. 2, the control unit 23 includes an input unit 23a (input means), a display control means 23b, a transmission means 23c, and an output means 23d.

[0055] The input unit 23a receives input of an external force acting on the robot 10. In this embodiment, the direction and magnitude of the external force acting on the robot 10 are input to the input unit 23a. The input unit 23a acquires information on the direction and magnitude of the external force acting on the robot 10 from, for example, a force sensor or the like provided in the robot 10. Furthermore, the input unit 23a may acquire information on the positions, angles, and the like of servo motors provided in the robot 10 and convert the information appropriately to acquire the speed and direction at which the robot 10 moves.

[0056] The display control means 23b causes the display unit D to display various types of information. FIG. 3 is a first example of a screen displayed on the display unit D. FIG. 4 is a second example of a screen displayed on the display unit D. The display control means 23b causes the display unit D to display, for example, as shown in Figure 3, an external force magnitude figure FM indicating the magnitude of the external force input by the input unit 23a, and an external force direction figure FD indicating the direction of the external force input by the input unit 23a. In addition, the display control means 23b may, for example, display on the display unit D, as shown in Figure 4, a movement speed figure MV indicating the speed at which the robot 10 is moving, and a movement direction figure MD indicating the direction in which the robot 10 is moving, together with an external force magnitude figure FM and an external force direction figure FD.

[0057] As shown in Figures 3 and 4, the display control means 23b displays on the display unit D the work coordinate axis W, which is a coordinate axis corresponding to the work coordinate system, which is a coordinate system based on the work object O of the robot 10, and the tool coordinate axis T, which is a coordinate axis corresponding to the tool coordinate system, which is a coordinate system based on the tip of the end effector 11, together with an external force magnitude figure FM, an external force direction figure FD, a moving speed figure MV, and a moving direction figure MD.

[0058] That is, the display control means 23b converts the external force magnitude figure FM and the external force direction figure FD into information that is visible to the user, for example, by drawing an external force magnitude figure FM and an external force direction figure FD based on the magnitude and direction of the external force input by the input unit 23a. At this time, the display control means 23b controls the display unit D to display the external force magnitude figure FM and the external force direction figure FD in correspondence with the positions of the workpiece coordinate system and the tool coordinate system stored in the storage unit 22.

[0059] Further, the display control means 23b may convert the moving speed and direction of the robot 10 input by the input unit 23a into information visible to the user by drawing a moving speed figure MV and a moving direction figure MD. At this time, the display control means 23b may control the display unit D to display the moving speed figure MV and the moving direction figure MD in correspondence with the positions of the workpiece coordinate system and the tool coordinate system stored in the storage unit 22. The details of the various figures displayed on the display unit D by the display control means 23b and the details of the display control by the display control means 23b will be described later.

[0060] When the external force magnitude graphic FM or the external force direction graphic FD is selected by the user, the transmitting means 23c transmits a signal for moving the robot 10 so as to change the external force applied to the robot 10. That is, the robot 10 moves so as to decrease or increase the external force applied to the robot 10 according to the signal transmitted from the transmitting means 23c based on the user's operation. For example, the external force applied to the robot 10 decreases by moving away from an object that is a cause of the external force being applied to the robot 10. Or, the external force applied to the robot 10 increases by moving closer to the object that is a cause of the external force being applied to the robot 10.

[0061] In this embodiment, the user selects the external force magnitude figure FM or the external force direction figure FD, for example, by clicking the external force magnitude figure FM or the external force direction figure FD displayed on the display unit D using the mouse included in the input unit I, or by tapping the touch panel included in the input unit I. When moving the robot 10 so as to reduce the external force applied to the robot 10, for example, when the external force applied to the robot 10 increases, an intuitive operation by the user can prevent the load applied to the robot 10 from becoming extremely large. That is, for example, when the end effector 11 of the robot 10 comes into contact with a wall or the like, it is possible to prevent an excessive load from being applied to the robot 10 or the end effector 11. When moving the robot 10 so that the external force applied to the robot 10 increases, for example, when the external force applied to the robot 10 becomes large, the work by the robot 10 can be performed more efficiently by an intuitive operation by the user. That is, for example, when deburring or polishing the work object O with the end effector 11, the pressing force of the end effector 11 against the work object O can be easily adjusted.

[0062] The output means 23d outputs a command for changing the direction in which the robot 10 moves when the movement direction figure MD is operated on the display unit D. That is, the robot 10 changes the direction and speed of movement according to the command output from the output means 23d based on the user's operation.

[0063] In this embodiment, the operation of the movement direction figure MD by the user is performed, for example, by dragging the movement direction figure MD displayed on the display unit D using a mouse included in the input unit I, or by swiping using a touch panel included in the input unit I, thereby changing the direction of the movement direction figure MD. This allows the user to freely operate the direction and speed at which the robot 10 moves.

[0064] (Details about various shapes) Next, the details of the various figures displayed on the display unit D by the display control means 23b will be described. That is, the details of the external force magnitude figure FM, the external force direction figure FD, the moving speed figure MV, and the moving direction figure MD will be described. The external force magnitude figure FM, the external force direction figure FD, the moving speed figure MV, and the moving direction figure MD may be displayed simultaneously. In this case, it is preferable to distinguish the external force magnitude figure FM and the external force direction figure FD from the moving speed figure MV and the moving direction figure MD by colors that do not overlap with each other, so that they can be easily distinguished from each other. Of these, the external force magnitude figure FM and the external force direction figure FD may be displayed, and the moving speed figure MV and the moving direction figure MD may not be displayed. Conversely, the external force magnitude figure FM and the external force direction figure FD may not be displayed, and the moving speed figure MV and the moving direction figure MD may be displayed.

[0065] Each of the aforementioned figures is displayed on the display unit D on a workpiece coordinate system indicated by a workpiece coordinate axis W described later, together with a tool coordinate system indicated by a tool coordinate axis T and a figure corresponding to the end effector 11.

[0066] In the following description, when a figure corresponding to the end effector 11 is displayed on the display unit D, it is referred to as "the end effector 11 is displayed on the display unit D." Also, among the figure corresponding to the end effector 11 displayed on the display unit D, a part corresponding to the tip of the end effector 11 is referred to as the tip of the end effector 11.

[0067] The external force magnitude figure FM is a figure indicating the magnitude of an external force applied to the robot 10. More specifically, the external force magnitude figure FM is a figure indicating the magnitude of an external force applied to the end effector 11, which is input by the input unit 23a. In this embodiment, the external force magnitude figure FM is a two-dimensional figure or a three-dimensional figure.

[0068] When the external force magnitude figure FM is a planar figure, the external force magnitude figure FM may be, for example, a circle or a regular polygon, etc. In this case, on the display unit D, the magnitude of the external force acting on the robot 10 is represented by the area of ​​the external force magnitude figure FM. When the external force magnitude figure FM is a planar figure, the external force magnitude figure FM may be displayed, for example, by only the outer edge line on the display unit D. Alternatively, the external force magnitude figure FM may be displayed in a semi-transparent state. This is preferable so that the external force magnitude figure FM does not overlap with other figures, including the external force direction figure FD, on the display unit D.

[0069] When the external force magnitude figure FM is a three-dimensional figure, the external force magnitude figure FM may be, for example, a sphere, a regular polyhedron, etc. In this case, on the display unit D, the magnitude of the external force acting on the robot 10 is represented by the volume of the external force magnitude figure FM. When the external force magnitude figure FM is a three-dimensional figure, the external force magnitude figure FM may be displayed, for example, semi-transparently on the display unit D. Alternatively, the external force magnitude figure FM may be displayed in a skeleton-like state without being filled in. This is preferable so that the external force magnitude figure FM does not overlap with other figures, including the external force direction figure FD, on the display unit D.

[0070] In the following description of this embodiment, the external force magnitude figure FM is assumed to be a circle or a sphere, and is semi-transparent or has only an outer edge line. In addition, in this embodiment, the position of the center of the external force magnitude figure FM displayed on the display unit D corresponds to the position of the tip of the end effector 11 of the robot 10 (i.e., the position of the tip of the end effector 11 on the tool coordinate system indicated by the tool coordinate axis T), as shown in Figures 3 and 4.

[0071] The external force direction figure FD is a figure indicating the direction of an external force input by the input unit 23a. In other words, the external force direction figure FD is a figure indicating the direction of an external force applied to the robot 10. More specifically, the external force direction figure FD is a figure indicating the direction from which the external force input by the input unit 23a is applied to the end effector 11.

[0072] In this embodiment, the external force magnitude figure FM and the external force direction figure FD are different figures from each other. That is, the external force direction figure FD is, for example, a straight arrow. The longitudinal direction of the external force direction figure FD is along the direction of the external force input by the input unit 23a. The direction of the arrow of the external force direction figure FD is in the direction of the external force.

[0073] 3 and 4, the external force direction figure FD is located inside the external force magnitude figure FM. This makes it easier to visually view the external force direction figure FD and the external force magnitude figure FM at the same time, for example. Also, the area for displaying the external force direction figure FD and the external force magnitude figure FM on the display unit D can be made small.

[0074] 3 and 4, one end of the external force direction figure FD is in contact with the external force magnitude figure FM. That is, one end of the external force direction figure FD is in contact with the outer edge of the external force magnitude figure FM, which is a circle, or the outer surface of the external force magnitude figure FM, which is a sphere. The position of the other end of the external force direction figure FD coincides with the center position of the external force magnitude figure FM, which is a circle or a sphere (that is, the position of the tip of the end effector 11 on the tool coordinate system indicated by the tool coordinate axes T). As a result, in the workpiece coordinate system or the tool coordinate system, the center of the external force magnitude figure FM, which is a circle or sphere, and the starting point of the external force direction figure FD, which is an arrow, have common coordinates. The radius of the external force magnitude figure FM and the length of the external force direction figure FD become the same. Therefore, for example, information on the center and radius when displaying the external force magnitude figure FM can be used as information on the starting point and length when displaying the external force direction figure FD. This makes it easier to create a program that generates a display screen.

[0075] As described above, the position of the center of the external force magnitude figure FM displayed on the display unit D corresponds to the position of the tip of the end effector 11 of the robot 10. Therefore, in this embodiment, the position of the other end of the external force direction figure FD displayed on the display unit D corresponds to the position of the tip of the end effector 11 of the robot 10, as shown in Figs. 3 and 4. As a result, on the display unit D, an external force applied to the robot 10 is displayed as being applied in the direction indicated by the arrow to the tip of the end effector 11. That is, for example, if an external force is applied while the end effector 11 is moving linearly, the external force direction figure FD and a movement direction figure MD, which will be described later, are displayed to point in opposite directions. This makes it easier to intuitively understand that the external force represented on the display unit D by the external force direction figure FD and the external force magnitude figure FM is being applied to the tip of the end effector 11 of the robot 10.

[0076] The movement speed diagram MV is a diagram that indicates the speed at which the robot 10 moves. More specifically, the movement speed diagram MV is a diagram that indicates the speed at which the end effector 11 provided on the robot 10 moves. In this embodiment, the movement speed figure MV is a two-dimensional figure or a three-dimensional figure.

[0077] When the moving speed graphic MV is a planar graphic, the moving speed graphic MV may be, for example, a circle or a regular polygon, etc. In this case, on the display unit D, the speed at which the robot 10 moves is represented by the area of ​​the moving speed graphic MV. When the moving speed figure MV is a planar figure, the moving speed figure MV may be displayed, for example, by only the outer edge line on the display unit D. Alternatively, the moving speed figure MV may be displayed in a semi-transparent state. This is preferable so that the moving speed figure MV does not overlap with other figures including the moving direction figure MD on the display unit D.

[0078] When the moving speed figure MV is a three-dimensional figure, the moving speed figure MV may be, for example, a sphere, a regular polyhedron, etc. In this case, the moving speed of the robot 10 on the display unit D is represented by the volume of the moving speed figure MV. When the moving speed figure MV is a three-dimensional figure, the moving speed figure MV may be displayed, for example, semi-transparently on the display unit D. Alternatively, the moving speed figure MV may be displayed in a skeleton-like state without being filled in. This is preferable so that the moving speed figure MV does not overlap with other figures, including the moving direction figure MD, on the display unit D.

[0079] In the following description of this embodiment, the moving speed graphic MV is assumed to be a circle or a sphere, and is semi-transparent or has only an outer edge line. In addition, in this embodiment, the position of the center of the moving speed diagram MV displayed on the display unit D corresponds to the position of the tip of the end effector 11 of the robot 10 (i.e., the position of the tip of the end effector 11 on the tool coordinate system indicated by the tool coordinate axis T), as shown in FIG.

[0080] The movement direction figure MD is a figure that indicates the direction in which the robot 10 moves. More specifically, the movement direction figure MD is a figure that indicates the direction in which the end effector 11 provided on the robot 10 moves.

[0081] In this embodiment, the movement speed graphic MV and the movement direction graphic MD are different graphics from each other. That is, the movement direction figure MD is, for example, a straight arrow. The longitudinal direction of the movement direction figure MD is along the direction in which the robot 10 moves. The direction of the arrow of the movement direction figure MD is the direction in which the robot 10 moves.

[0082] As shown in Fig. 4, the movement direction figure MD is located inside the movement speed figure MV. This makes it easier to visually check the movement direction figure MD and the movement speed figure MV at the same time, for example. Also, the area for displaying the movement direction figure MD and the movement speed figure MV on the display unit D can be made small.

[0083] 4, one end of the movement direction figure MD is in contact with the movement speed figure MV. That is, one end of the movement direction figure MD is in contact with the outer edge of the movement speed figure MV, which is a circle, or the outer surface of the movement speed figure MV, which is a sphere. The position of the other end of the movement direction figure MD coincides with the position of the center of the movement speed figure MV, which is a circle or a sphere (that is, the position of the tip of the end effector 11 on the tool coordinate system indicated by the tool coordinate axis T). As a result, in the workpiece coordinate system or tool coordinate system, the center of the movement speed figure MV, which is a circle or sphere, and the starting point of the movement direction figure MD, which is an arrow, are at common coordinates. The radius of the movement speed figure MV and the length of the movement direction figure MD are the same. Therefore, for example, the information on the center and radius when displaying the movement speed figure MV can be used as the information on the starting point and length when displaying the movement direction figure MD. This makes it easier to create a program that generates a display screen.

[0084] As described above, the position of the center of the movement speed diagram MV displayed on the display unit D corresponds to the position of the tip of the end effector 11 of the robot 10. Therefore, in this embodiment, the position of the other end of the movement direction diagram MD displayed on the display unit D corresponds to the position of the tip of the end effector 11 of the robot 10, as shown in FIG. As a result, the tip of the end effector 11 provided on the robot 10 is displayed on the display unit D as moving in the direction indicated by the arrow which is the movement direction figure MD. This makes it easier to intuitively understand that the tip of the end effector 11 of the robot 10 is moving in the direction indicated by the movement direction figure MD at the speed indicated by the movement speed figure MV.

[0085] (Details of display control by the display control means 23b) Next, the display control by the display control means 23b will be described in detail, that is, the contents displayed on the display unit D in this embodiment will be described in detail. As shown in FIG. 3 and FIG. 4, on the display unit D, two coordinate axes, a workpiece coordinate axis W and a tool coordinate axis T, are displayed.

[0086] The workpiece coordinate axis W is a coordinate axis corresponding to the workpiece coordinate system, which is a coordinate system based on the workpiece O of the robot 10. The workpiece coordinate system is a coordinate system that is a reference for the movement of the end effector 11 of the robot 10 in each direction. In this embodiment, the workpiece coordinate system is the workpiece coordinate system in the robot 10, and is a reference coordinate system in which the workpiece O is located. Here, the robot 10 does not move in the work site, and the end effector 11 moves by the robot 10. In addition, since the workpiece O does not move autonomously, the relative position of the workpiece O with respect to the robot 10 does not change unless it is transferred by the end effector 11. For this reason, in this embodiment, the workpiece coordinate system displayed on the display unit D is a world coordinate system in which the end effector 11 moves. For this reason, the workpiece coordinate axis W is displayed so that only the viewpoint can be changed on the display unit D, and the position does not move.

[0087] The tool coordinate axis T is a coordinate axis corresponding to the tool coordinate system, which is a coordinate system based on the tip of the end effector 11 provided on the robot 10. The origin of the tool coordinate system is located at the tip of the end effector 11. The tool coordinate system moves on the work coordinate system, which is a world coordinate system, in accordance with the movement of the end effector 11. That is, in this embodiment, the tool coordinate system displayed on the display unit D is a so-called local coordinate system. Both the workpiece coordinate system and the tool coordinate system are three-dimensional coordinate systems. The workpiece coordinate axis W and the tool coordinate axis T are each expressed by three-dimensional coordinate axes centered on the origin.

[0088] It is preferable that the workpiece coordinate axes W and the tool coordinate axes T are displayed in different colors on the display unit D. This makes it easier for the user to distinguish between the workpiece coordinate axes W and the tool coordinate axes T. Moreover, it is preferable that the workpiece coordinate axis W and the tool coordinate axis T are always displayed on the display unit D. In this embodiment, the display control means 23b displays an external force magnitude figure FM, an external force direction figure FD, a movement velocity figure MV, and a movement direction figure MD in three dimensions on the work coordinate system displayed on the display unit D, as follows. Specifically, the display control means 23b causes the display unit D to display the above-mentioned figures while changing the position, size, length, and color of each of the figures as follows.

[0089] (About the position of each shape) Each of the aforementioned figures is displayed at the tip of the end effector 11. That is, as described above, the center of the external force magnitude figure FM and the other end of the external force direction figure FD correspond to the position of the tip of the end effector 11. In addition, the center of the movement velocity figure MV and the other end of the movement direction figure MD correspond to the position of the tip of the end effector 11. The center of the external force magnitude figure FM and the other end of the external force direction figure FD change according to the position of the tip of the end effector 11 of the robot 10. In addition, the center of the movement velocity figure MV and the other end of the movement direction figure MD change according to the position of the tip of the end effector 11 of the robot 10. This allows the user to easily and intuitively visually grasp on the display unit D the movement of the tip of the end effector 11, which is the center of the work of the robot 10, and the external force applied to the tip of the end effector 11.

[0090] (Regarding the size and length of each shape) The area or volume of the external force magnitude figure FM increases as the magnitude of the external force input by the input unit 23a increases. That is, the input unit 23a transmits the input magnitude and direction of the external force to the display control means 23b as needed. The display control means 23b draws the external force magnitude figure FM and the external force direction figure FD based on the information on the magnitude of the external force transmitted from the input unit 23a as needed, and displays them on the display unit D. As a result, the size of the external force magnitude figure FM displayed on the display unit D increases as the external force applied to the robot 10 increases, and decreases as the external force applied to the robot 10 decreases. In this way, the size of the external force magnitude figure FM on the display unit D changes in proportion to the external force applied to the robot 10, making it easier for the user to intuitively grasp the magnitude of the external force applied to the robot 10. Accordingly, the length of the external force direction figure FD displayed on the display unit D becomes longer as the external force applied to the robot 10 increases, and becomes shorter as the external force applied to the robot 10 decreases.

[0091] The area or volume of the moving speed graphic MV increases as the moving speed of the robot 10 increases. That is, the input unit 23a transmits the moving speed and direction of the robot 10 to the display control means 23b at any time. The display control means 23b draws the moving speed graphic MV and the moving direction graphic MD and displays them on the display unit D based on the information on the moving speed of the robot 10 transmitted from the input unit 23a at any time. As a result, the size of the moving speed diagram MV displayed on the display unit D increases as the moving speed of the robot 10 increases, and decreases as the moving speed of the robot 10 decreases. In this way, the size of the moving speed diagram MV on the display unit D changes in proportion to the moving speed of the robot 10, which makes it easier for the user to intuitively grasp the moving speed of the robot 10. Accordingly, the length of the movement direction diagram MD displayed on the display unit D becomes longer as the speed of the robot 10 moves increases, and becomes shorter as the speed of the robot 10 moves decreases.

[0092] FIG. 5 is a third example of a screen displayed on the display unit D. FIG. 6 is a fourth example of a screen displayed on the display unit D. As shown in Figures 3 and 4, when an external force applied to the robot 10 is input by the input unit 23a, the display control means 23b displays both the external force magnitude figure FM and the external force direction figure FD on the display unit D. At this time, when an external force applied to the robot 10 is not input by the input unit 23a, it is preferable to erase both the external force magnitude figure FM and the external force direction figure FD from the display unit D, as shown in Figure 5. Alternatively, when the magnitude of the external force applied to the robot 10 by the input unit 23a becomes equal to or smaller than a predetermined value, the external force magnitude figure FM may be erased and only the external force direction figure FD may be displayed, as shown in Figure 6. This makes it possible to reduce the amount of information displayed on the display unit D when no external force is applied to the robot 10 or when the external force applied to the robot 10 is small, making the display unit D easier for the user to view.

[0093] (About the colors of each shape) FIG. 7 is a comparative example in which the direction of an external force is displayed in three dimensions. FIG. 8 shows an example of a two-dimensional display of the magnitude of an external force in three-dimensional directions. The color of the external force magnitude figure FM changes according to the direction of the external force inputted through the input unit 23a, and the color of the external force direction figure FD changes according to the direction of the external force inputted through the input unit 23a. That is, for example, the colors of the external force magnitude graphic FM and the external force direction graphic FD when the direction of the external force is an arbitrary first direction are different from the colors when the direction of the external force is a second direction different from the first direction.

[0094] In addition, when the first direction and the second direction are opposite to each other, it is preferable that the colors of the external force magnitude figure FM and the external force direction figure FD when the external force direction is the first direction and when the external force direction is the second direction are opposite colors. It is preferable that the colors of the external force magnitude figure FM and the external force direction figure FD change stepwise like a gradation from the color when the external force direction is the first direction to the color when the external force direction is the opposite color, the second direction.

[0095] The specific colors of the external force magnitude figure FM and the external force direction figure FD are preferably as follows: That is, for example, with the user's viewpoint as a reference, it is preferable to use a first color when the direction of the external force is from the back side to the front side, and to use a second color that is complementary to the first color when the direction of the external force is from the front side to the back side. The first color or the second color may be the warning color depending on the work object O. In this case, the warning color is preferably, for example, red. Here, when the direction of an external force is displayed three-dimensionally on a two-dimensional screen, depending on the direction indicated by the external force direction figure FD, confusion may occur as shown in Fig. 7, making it difficult to accurately grasp the depth. In such a case, by changing the color of the external force direction figure FD according to the direction of the external force, it is possible to make it easier to visually grasp the exact direction of the external force.

[0096] The color of the movement speed diagram MV changes according to the direction in which the robot 10 moves. Also, the color of the movement direction diagram MD changes according to the direction in which the robot 10 moves. That is, for example, the colors of the movement speed graphic MV and the movement direction graphic MD when the direction in which the robot 10 moves is an arbitrary first direction are different from the colors when the direction in which the robot 10 moves is a second direction different from the first direction.

[0097] When the first direction and the second direction are opposite to each other, it is preferable that the colors of the movement speed graphic MV and the movement direction graphic MD when the direction of movement of the robot 10 is the first direction and the second direction are opposite to each other. It is preferable that the colors of the movement speed graphic MV and the movement direction graphic MD change stepwise like a gradation from the color when the direction of movement of the robot 10 is the first direction to the color when the direction of movement of the robot 10 is the second direction, which is the opposite color.

[0098] In addition, the specific colors of the moving speed diagram MV and the moving direction diagram MD are preferably as follows. That is, for example, it is preferable to use a first color when the direction in which the robot 10 moves is from the front side to the back side with respect to the user's viewpoint, and a second color that is a complementary color to the first color when the direction in which the robot 10 moves is from the back side to the front side. This makes it preferable to make the direction in which the robot 10 moves clear and easy to understand. Here, when the magnitude of an external force is displayed two-dimensionally, it may not be possible to express the magnitude of the external force in a three-dimensional direction. In such a case, as shown in Fig. 8, the color of the external force magnitude figure FM may be changed according to the magnitude of the external force in the three-dimensional direction, i.e., the Fz direction shown in Fig. 8. This makes it possible to express the magnitude of the external force in the three-dimensional direction even in a two-dimensional display. Therefore, it is possible to easily grasp the magnitude of the external force in the three-dimensional direction accurately even in a two-dimensional display.

[0099] In addition, it is preferable that the colors of the external force magnitude figure FM and the external force direction figure FD, and the colors of the movement speed figure MV and the movement direction figure MD are always different from each other, so that the user does not confuse the aforementioned figures displayed on the display unit D.

[0100] (Display control method and display control program) The display control method according to the present embodiment is implemented by the display control means 23b by controlling the display unit D as described above. Moreover, the display control program according to the present embodiment is a program that causes a computer to function as the display control device 100 according to the present embodiment.

[0101] As described above, according to the display control device 100 of this embodiment, the external force magnitude figure FM and the external force direction figure FD displayed on the display unit D are different figures. This makes it possible to prevent the appearance of the external force magnitude figure FM from changing depending on the direction of the external force indicated by the external force direction figure FD. This makes it possible to easily display the magnitude of the external force applied to the robot 10 by the external force magnitude figure FM on the display unit D regardless of the direction of the external force applied to the robot 10. Therefore, for example, an operation to change the viewpoint on the screen can be eliminated. Thus, it is possible to provide a display control device 100 that can easily and accurately grasp the magnitude of external forces having various directions. Moreover, the area or volume of the external force magnitude figure FM increases as the magnitude of the external force input by the input unit 23a increases. This makes it easier to intuitively grasp the magnitude of the external force acting on the robot 10 and the change in the magnitude of the external force by visual means.

[0102] Moreover, the external force direction figure FD is positioned inside the external force magnitude figure FM. This makes it easy to visually check the external force direction figure FD and the external force magnitude figure FM at the same time. This makes it easy to grasp the direction and magnitude of the external force acting on the robot 10 at the same time. Also, the area on the display unit D for displaying the external force direction figure FD and the external force magnitude figure FM can be kept small.

[0103] Moreover, one end of the external force direction figure FD is in contact with the external force magnitude figure FM. This makes it easier to understand the relationship between the external force direction figure FD and the external force magnitude figure FM. That is, for example, when other figures are simultaneously displayed on the display unit D in addition to the external force direction figure FD and the external force magnitude figure FM, it is easier to understand that the external force direction figure FD and the external force magnitude figure FM correspond to each other. Furthermore, by making some of the coordinates of the external force direction graphic FD and the external force magnitude graphic FM common to each other, it becomes easier to create a program for generating a display screen.

[0104] Also, the position of the other end of the external force direction figure FD coincides with the position of the center of the external force magnitude figure FM. This makes it easier to understand the relationship between the external force direction figure FD and the external force magnitude figure FM. That is, for example, when other figures are simultaneously displayed on the display unit D in addition to the external force direction figure FD and the external force magnitude figure FM, it is easier to understand that the external force direction figure FD and the external force magnitude figure FM are figures corresponding to each other. Also, it is possible to clarify that the point of action of the external force displayed on the display unit D is the same in the external force direction figure FD and the external force magnitude figure FM. Furthermore, by making some of the coordinates of the external force direction graphic FD and the external force magnitude graphic FM common to each other, it becomes easier to create a program for generating a display screen.

[0105] Furthermore, on the display unit D, the positions of the other end of the external force direction figure FD and the center of the external force magnitude figure FM change according to the position of the tip of the end effector 11 of the robot 10. This makes it easier to visually and intuitively grasp the position of the tip of the end effector 11 of the robot 10, in addition to the direction and magnitude of the external force applied to the robot 10. It also makes it easier to intuitively grasp that the external force represented on the display unit D by the external force direction figure FD and the external force magnitude figure FM is being applied to the tip of the end effector 11 of the robot 10. For example, when other figures are simultaneously displayed on the display unit D in addition to the external force direction figure FD and the external force magnitude figure FM, it becomes easier to grasp which figures are the external force direction figure FD and the external force magnitude figure FM.

[0106] Furthermore, when an external force acting on the robot 10 is input by the input unit 23a, the display control means 23b displays both the external force magnitude graphic FM and the external force direction graphic FD on the display unit D. This makes it easy to know whether or not an external force is acting on the robot 10. Furthermore, when an external force is acting on the robot 10, it makes it easy to grasp the magnitude and direction of the external force. When the external force acting on the robot 10 is not input by the input unit 23a, both the external force magnitude figure FM and the external force direction figure FD are erased from the display unit D. This makes it possible to reduce the amount of information displayed on the display unit D when no external force is acting on the robot 10. This makes it possible to make the display unit D easier for the user to view.

[0107] Furthermore, the color of the external force direction figure FD changes depending on the direction of the external force input by the input unit 23a. This makes it easier to intuitively grasp the direction of the external force acting on the robot 10. Here, when the direction of the external force is displayed three-dimensionally on a two-dimensional screen, it may be difficult to accurately grasp the depth depending on the direction indicated by the external force direction figure FD. In such a case, by changing the color of the external force direction figure FD depending on the direction of the external force, it is easier to visually grasp the exact direction of the external force.

[0108] Furthermore, the color of the external force magnitude figure FM changes depending on the direction of the external force input by the input unit 23a. This makes it easier to intuitively grasp the direction of the external force acting on the robot 10. Here, when the magnitude of the external force is displayed two-dimensionally, it may not be possible to express the magnitude of the external force in a three-dimensional direction. In such a case, by changing the color of the external force magnitude figure FM depending on the magnitude of the external force in the three-dimensional direction, it is possible to express the magnitude of the external force in the three-dimensional direction even in the two-dimensional display. Therefore, it is easier to accurately grasp the magnitude of the external force in the three-dimensional direction even in the two-dimensional display.

[0109] The robot 10 further includes a transmission means 23c. When the external force magnitude figure FM or the external force direction figure FD is selected by the user, the transmission means 23c transmits a signal for moving the robot 10 so that the external force applied to the robot 10 is reduced. That is, the robot 10 moves to move away from an object that is a cause of the application of an external force to the robot 10, in response to the signal transmitted from the transmission means 23c based on the user's operation. In this way, for example, when the external force applied to the robot 10 becomes large, the load applied to the robot 10 can be prevented from becoming extremely large by an intuitive operation by the user.

[0110] Furthermore, the external force magnitude figure FM is a planar figure, which makes it easier to visually grasp the magnitude of the external force based on the area of ​​the external force magnitude figure FM, for example.

[0111] The longitudinal direction of the external force direction diagram FD is aligned with the direction of the external force input by the input unit 23a. This makes it easier for the user to visually and intuitively grasp the direction of the external force acting on the robot 10.

[0112] Furthermore, the display control means 23b causes a moving speed graphic MV and a moving direction graphic MD, which indicate the moving speed and direction of the robot 10, to be displayed on the display unit D together with an external force magnitude graphic FM and an external force direction graphic FD. This makes it easier to visually and intuitively grasp the speed and direction of the robot 10 moving, in addition to the direction and magnitude of the external force acting on the robot 10. Moreover, the area or volume of the moving speed diagram MV increases as the moving speed of the robot 10 increases. This makes it easier to intuitively grasp the moving speed and changes in speed of the robot 10 by visually.

[0113] Furthermore, the center position of the movement speed graphic MV and the end position of the movement direction graphic MD on the display unit D correspond to the position of the tip of the end effector 11 of the robot 10. This makes it easier to intuitively grasp the speed and direction in which the tip of the end effector 11 of the robot 10 moves, using the movement speed graphic MV and the movement direction graphic MD.

[0114] The display device further includes an output means 23d. When the movement direction figure MD is operated on the display unit D, the output means 23d outputs a command for changing the direction in which the robot 10 moves. That is, the direction in which the robot 10 moves is changed by the command output from the output means 23d based on the user's operation. This allows the user to freely control the direction in which the robot 10 moves.

[0115] Furthermore, the display control means 23b causes the display unit D to three-dimensionally display an external force magnitude graphic FM, an external force direction graphic FD, a movement velocity graphic MV, and a movement direction graphic MD. For example, by displaying the external force direction figure FD and the movement direction figure MD three-dimensionally, the direction of the external force acting on the robot 10 and the direction in which the robot 10 moves can be easily grasped three-dimensionally. Furthermore, by displaying the external force magnitude figure FM and the movement velocity figure MV in three dimensions, it is easy to understand that the external force magnitude figure FM corresponds to the external force direction figure FD, and the movement velocity figure MV corresponds to the movement direction figure MD.

[0116] Furthermore, the display control means 23b displays the workpiece coordinate axis W, which is a coordinate axis corresponding to the workpiece coordinate system, and the tool coordinate axis T, which is a coordinate axis corresponding to the tool coordinate system, together with the external force magnitude figure FM, the external force direction figure FD, the movement speed figure MV, and the movement direction figure MD on the display unit D. This makes it easy to grasp the direction and magnitude of the external force applied to the robot 10, and the direction and speed at which the robot 10 moves, in a three-dimensional manner, based on the workpiece coordinate system or the tool coordinate system.

[0117] Furthermore, the origin of the tool coordinate system moves in response to the movement of the end effector 11 of the robot 10. This makes it easier to grasp the direction and amount of movement of the end effector 11 of the robot 10 relative to the workpiece coordinate system, for example, by visually checking the change in the position of the tool coordinate system relative to the workpiece coordinate system.

[0118] Furthermore, according to the display control method of this embodiment, both the external force magnitude figure FM and the external force direction figure FD different from the external force magnitude figure FM are displayed on the display unit D. This makes it possible to prevent the appearance of the external force magnitude figure FM from changing depending on the direction of the external force indicated by the external force direction figure FD. This makes it possible to easily display the magnitude of the external force acting on the robot 10 on the display unit D using the external force magnitude figure FM, regardless of the direction of the external force acting on the robot 10. Moreover, the area or volume of the external force magnitude figure FM is increased as the magnitude of the external force applied to the robot 10 increases. This makes it easier to intuitively grasp the magnitude of the external force applied to the robot 10 and the change in the magnitude of the external force by visual means.

[0119] The technical scope of the present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the spirit of the present invention. For example, in the present embodiment, the robot 10 has been described as a known six-axis vertical articulated robot, but any other industrial robot may be used. Furthermore, the end effector 11 is not limited to the above-mentioned example, and any end effector can be applied. In addition, in the present embodiment, the external force direction figure FD and the movement direction figure MD are described as arrows, but are not limited thereto. That is, for example, the external force direction figure FD may be any planar or solid figure such as a sector, a line segment, a cone, a columnar body, etc., or may be a point located on the outer periphery of the external force magnitude figure FM. Similarly, the movement direction figure MD may be any planar or solid figure such as a sector, a line segment, a cone, a columnar body, etc., or may be a point located on the outer periphery of the movement speed figure MV.

[0120] All or part of the functions of the control device 20 or the display control device 100 may be realized using hardware such as an ASIC (Application Specific Integrated Circuit), a PLD (Programmable Logic Device), or an FPGA (Field Programmable Gate Array). The program may be recorded on a computer-readable recording medium. Examples of computer-readable recording media include portable media such as flexible disks, magneto-optical disks, ROMs, and CD-ROMs, and storage devices such as hard disks built into computer systems. The program may be transmitted via an electric communication line.

[0121] FIG. 9 shows a first modified example of the screen displayed on the display unit D. 9, on the display unit D, the external force direction figure FD and the external force magnitude figure FM, as well as the movement speed figure MV and the movement direction figure MD, do not have to be positioned at the tip of the end effector 11. In this case, the external force direction figure FD and the external force magnitude figure FM, as well as the movement speed figure MV and the movement direction figure MD do not have to move with the movement of the end effector 11. Note that even in this case, it is preferable that the external force direction figure FD is positioned inside the external force magnitude figure FM, and the movement direction figure MD is positioned inside the movement speed figure MV.

[0122] In addition, within the scope of the invention, the components in the above-described embodiments may be replaced with well-known components, and the above-described modified examples may be combined as appropriate. [Explanation of symbols]

[0123] 10. Robot 11 End effector 20 Control device 21 User Interface 22 Memory section 23 Control Unit 23a Input section 23b Display control means 23c Means of transmission 23d Output Method 100 Display control device D Display section FD External force direction figure FM External force magnitude diagram I Input section M Memory MD Movement Orientation Shape MV Travel Speed ​​Chart O Work target P Processor T Tool coordinate axis W Work coordinate axis

Claims

1. A display control device that displays the magnitude and direction of an external force applied to a robot on a display unit, an input unit to which an external force acting on the robot is input; a display control means for causing a display unit to display both an external force magnitude graphic indicating the magnitude of the external force input by the input unit and an external force direction graphic indicating the direction of the external force input by the input unit; Equipped with The external force magnitude diagram and the external force direction diagram are different, the area or volume of the external force magnitude diagram increases as the magnitude of the external force input by the input unit increases; A display control device comprising:

2. The external force direction diagram is located inside the external force magnitude diagram. The display control device according to claim 1 .

3. One end of the external force direction diagram is tangent to the external force magnitude diagram.

3. The display control device according to claim 2.

4. the position of the other end of the external force direction diagram coincides with the position of the center of the external force magnitude diagram; 4. The display control device according to claim 3.

5. The other end and the center change depending on the position of the tip of the end effector of the robot.

5. The display control device according to claim 4.

6. the display control means, when an external force applied to the robot is input by the input unit, causes both the external force magnitude graphic and the external force direction graphic to be displayed on the display unit, and, when an external force applied to the robot is not input by the input unit, erases both the external force magnitude graphic and the external force direction graphic from the display unit.

6. The display control device according to claim 1,

7. a color of the external force direction diagram changes depending on a direction of the external force input by the input unit; 6. The display control device according to claim 1,

8. a color of the external force magnitude diagram changes depending on a direction of the external force input by the input unit; 6. The display control device according to claim 1,

9. a transmitting means for transmitting a signal for moving the robot so as to change the external force applied to the robot when the external force magnitude graphic or the external force direction graphic is selected by a user; The display control device according to claim 1 , further comprising:

10. The external force magnitude diagram is a planar diagram.

6. The display control device according to claim 1,

11. The longitudinal direction of the external force direction diagram is aligned with the direction of the external force input by the input unit.

6. The display control device according to claim 1,

12. the display control means causes the display unit to display a moving speed diagram indicating a moving speed of the robot and a moving direction diagram indicating a moving direction of the robot, together with the external force magnitude diagram and the external force direction diagram; The area or volume of the moving speed diagram increases as the moving speed of the robot increases.

6. The display control device according to claim 1,

13. a center position of the movement speed diagram and an end position of the movement direction diagram on the display unit correspond to a tip position of an end effector of the robot; The display control device according to claim 12 .

14. an output means for outputting a command for changing the direction in which the robot moves when the movement direction figure is operated on the display unit; The display control device according to claim 13, further comprising:

15. the display control means causes the display unit to three-dimensionally display the external force magnitude graphic, the external force direction graphic, the moving speed graphic, and the moving direction graphic. The display control device according to claim 14 .

16. the display control means causes the display unit to display work coordinate axes, which are coordinate axes corresponding to a work coordinate system, which is a coordinate system based on a work target of the robot, and tool coordinate axes, which are coordinate axes corresponding to a tool coordinate system, which is a coordinate system based on a tip of the end effector, together with the external force magnitude graphic, the external force direction graphic, the moving speed graphic, and the moving direction graphic. The display control device according to claim 15 .

17. the origin of the tool coordinate system moves in response to the movement of the end effector of the robot; 17. The display control device according to claim 16.

18. A display control method for displaying a direction and a magnitude of an external force applied to a robot on a display unit, comprising: An external force magnitude diagram showing the magnitude of an external force acting on the robot; an external force direction diagram indicating a direction of an external force acting on the robot, the external force direction diagram being different from the external force magnitude diagram; and displaying both on the display unit, The area or volume of the external force magnitude diagram is increased as the magnitude of the external force applied to the robot increases. A display control method comprising:

19. A method for making a computer function as a display control device according to any one of claims 1 to 5, A display control program comprising:

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