Information processing system, information processing program and information processing method

Abstract

To solve the problem that tool control condition data applied to a work tool cannot be generated from three-dimensional model data.SOLUTION: An information processing system includes at least one operation device which is configured to perform: attribute data extraction processing S1 of extracting attribute data from three-dimensional model data of a work object; shape data extraction processing S2 of extracting at least shape data including shape information of a work object place of the work object from the three-dimensional model data; control condition determination processing S3 of determining a control condition corresponding the attribute data by referring to a control condition table in which a relation between the attribute data and a control condition of a work tool is previously regulated; and tool control condition generation processing S4 of correcting the determined control condition on the basis of the shape information of the work object place defined by the shape data, and generating tool control condition data.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to an information processing system, an information processing program, and an information processing method, and more particularly to an information processing system, an information processing program, and an information processing method for generating tool control condition data to be applied to control of a work tool that performs work on a work target location. [Background technology]

[0002] In controlling a work robot that performs work such as welding, in addition to controlling the arm, tool control condition data is required to define the control method for controlling the work tool attached to the arm.Therefore, Patent Document 1 discloses a technology for setting ridge line data, which is the basis for the trajectory of the movement of the work tool, in the three-dimensional model data of the work object used in generating the tool control condition data, in the three-dimensional model data. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2010-184278 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, the technology described in Patent Document 1 only extracts edge line data, and does not disclose or suggest the generation of tool control condition data to be applied to the work tool being used from three-dimensional model data. [Means for solving the problem]

[0005] One aspect of the present invention is an information processing system comprising at least one computing device configured to perform an attribute data extraction process for extracting attribute data from three-dimensional model data of a work object; a shape data extraction process for extracting shape data including at least shape information of the work object portion from the three-dimensional model data; a control condition determination process for determining control conditions corresponding to the attribute data by referring to a control condition table in which the relationship between the attribute data and the control conditions of a work tool is predefined; and a tool control condition generation process for correcting the determined control conditions based on the shape information of the work object portion defined by the shape data, to generate tool control condition data.

[0006] One aspect of the present invention is an information processing program that causes a computing device to execute an attribute data extraction process that extracts attribute data from three-dimensional model data of a work object; a shape data extraction process that extracts shape data including shape information of at least the work target portion of the work object from the three-dimensional model data; a control condition determination process that determines control conditions corresponding to the attribute data by referring to a control condition table in which the relationship between the attribute data and the control conditions of a work tool is predefined; and a tool control condition generation process that corrects the determined control conditions based on the shape information of the work target portion defined by the shape data, to generate tool control condition data.

[0007] One aspect of the present invention is an information processing method for generating tool control condition data to be applied to control of a work tool from three-dimensional model data using a computer, the information processing method extracting attribute data from the three-dimensional model data of a work object, extracting shape data including shape information of at least the work target portion of the work object from the three-dimensional model data, determining control conditions corresponding to the attribute data by referring to a control condition table in which the relationship between the attribute data and the control conditions of the work tool is predefined, and correcting the determined control conditions based on the shape information of the work target portion defined by the shape data to generate tool control condition data.

[0008] One aspect of the present invention generates tool control condition data to be applied to a work tool performing work on a work target location using attribute data extracted from three-dimensional model data and shape data generated from the three-dimensional model data. Effect of the Invention

[0009] According to one aspect of the present invention, it is possible to generate tool control condition data to be applied to a work tool using three-dimensional model data. [Brief description of the drawings]

[0010] [Figure 1] 1 is a schematic diagram of a working robot system according to a first embodiment. [Diagram 2] 4 is a flowchart illustrating an operation of the information processing system according to the first embodiment. [Diagram 3] 11 is a flowchart illustrating a first example of a flow of a shape data generation process in the information processing system according to the first embodiment. [Figure 4] 13 is a flowchart illustrating a second example of the flow of the shape data generation process in the information processing system according to the first embodiment. [Diagram 5] 13 is a flowchart illustrating a third example of the flow of a shape data generation process in the information processing system according to the first embodiment. [Figure 6] FIG. 2 is a diagram illustrating a first specific example of a work target location in the information processing system according to the first embodiment. [Figure 7] FIG. 11 is a diagram illustrating a second specific example of the work target location in the information processing system according to the first embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] In order to clarify the description, the following description and drawings are omitted and simplified as appropriate. In addition, each element shown in the drawings as a functional block performing various processes can be configured in hardware with a CPU (Central Processing Unit), memory, and other circuits, and in software, can be realized by a program loaded into memory. Therefore, it is understood by those skilled in the art that these functional blocks can be realized in various forms by hardware alone, software alone, or a combination thereof, and are not limited to any one of them. In addition, the same elements are given the same symbols in each drawing, and duplicated explanations are omitted as necessary.

[0012] Moreover, the above-mentioned program includes a set of instructions (or software code) for making the computer perform one or more functions described in the embodiment when the program is read into the computer. The program may be stored in a non-transitory computer-readable medium or a tangible storage medium. By way of example and not limitation, the computer-readable medium or the tangible storage medium includes random-access memory (RAM), read-only memory (ROM), flash memory, solid-state drive (SSD) or other memory technology, CD-ROM, digital versatile disc (DVD), Blu-ray (registered trademark) disk or other optical disk storage, magnetic cassette, magnetic tape, magnetic disk storage or other magnetic storage device. The program may be transmitted on a transitory computer-readable medium or a communication medium. By way of example and not limitation, the transitory computer-readable medium or the communication medium includes electrical, optical, acoustic, or other forms of propagating signals.

[0013] First embodiment Hereinafter, embodiments of the present invention will be described with reference to the drawings. Fig. 1 is a schematic diagram of a working robot system according to the first embodiment. As shown in Fig. 1, the working robot system 1 according to the first embodiment includes a computer 10 and a working robot 20. The working robot 20 has a robot arm 21 mounted on a base, and a work tool 22 and a working sensor 23 attached to the tip of the working robot 20.

[0014] The computer 10 receives three-dimensional model data generated elsewhere, or generates three-dimensional model data. The computer 10 also generates tool control condition data used in controlling the work robot 20 using the three-dimensional model data. Here, the generation of the tool control condition data involves a number of processes, but these processes may be performed using at least one computer 10, and the number of computers 10 included in the work robot system 1 is not limited to one. The computer 10 also transmits the generated tool control condition data to the work robot 20. In the work robot system 1 according to the first embodiment, the work robot 20 has a control unit (not shown) that controls the robot arm 21, and uses the tool control condition data received by the control unit to control the work tool 22 attached to the robot arm 21.

[0015] The work robot 20 is capable of performing at least one of the following tasks: welding, painting, coating, cutting, polishing, grinding, and turning. The robot arm 21 moves the work tool 22 attached to the tip of the robot arm 21 based on work information data. The work information data includes at least a tool path that defines the movement trajectory of the work tool 22, and tool posture information that defines the posture of the work tool 22.

[0016] The work tool 22 is a different tool depending on the work to be performed. For example, the work tool 22 is a welding torch, nozzle, welding rod, etc. when performing welding work, and a painting tool such as a painting gun when performing painting work. Other possible work tools include coating tools (e.g., coating spray), cutting tools (e.g., drills, end mills, milling cutters), polishing tools (e.g., polishing brushes), cutting tools (grindstones, cup brushes, diamond bars), turning tools (e.g., bits), etc. In the work robot system 1 according to the first embodiment, the work tool 22 is controlled based on tool control condition data that differs for each work tool. Also, even if the tool control condition data corresponds to the same work tool 22, there are cases where the control value has a different value depending on the material and thickness of the member to be worked on.

[0017] Working sensor 23 is a sensor that scans the shape of a work target. Possible sensors of this type include LiDAR (Light Detection and Ranging), a line scanner, a three-dimensional scanner, etc. In working robot system 1 according to the first embodiment, working sensor 23 is used to recognize the shape of the work target before work is performed and to recognize the shape of the work target after work is performed.

[0018] In the working robot system 1 according to the first embodiment, before production activities are performed, it is necessary to create tool control condition data to be applied to the control of the work tool 22 for each task performed on a work object. Then, in the working robot system 1 according to the first embodiment, the computer 10 creates the tool control condition data from the three-dimensional model data. In this way, by creating the tool control condition data from the three-dimensional model data, it becomes possible to create the tool control condition data using the working robot 20 without using an actual object such as a prototype.

[0019] Here, the three-dimensional model data includes three-dimensional CAD (Computer Aided Design) data and attribute data described later. The CAD data may be data that includes surface information indicating the shape of the work object. The data format of the CAD data is STEP (Standard for the Exchange of Product model data), IGES (Intial Graphics Exchange Specification), STL (STereoLithography), etc. The attribute data includes data such as part names, product numbers, materials, dimensions, work conditions, and contour shapes. As described later, the attribute data may include work object lines. The attribute data may be data included in the model data and configured in a computer-readable data format, or may be data of assemblies and parts described in drawings drawn on paper (e.g., ASSY (Assembly) data). The attribute data includes data related to work information such as the type of work tool 22 used in work on the work object, shape data of the contour line of the work object, and position data indicating the position of the contour line on the work object, dimensions of the work object, work position, work path, material and plate thickness of each part of the work object, etc. For example, in the case of welding work, the attribute data may include at least one of data on welding conditions such as welding current, welding speed, and torch angle.

[0020] In the working robot system 1 according to the first embodiment, a tool control condition data generation process is carried out on the computer 10 to generate tool control condition data from three-dimensional model data without using an actual object. This tool control condition data generation process is carried out by executing an information processing program stored in a storage device mounted on the computer 10 using an arithmetic unit such as a CPU.

[0021] The tool control condition data generation process will be described in detail below. The tool control condition data generation process includes a plurality of processes, which may be executed by one computer or a plurality of computers. Therefore, in the following description, the computer 10 will be referred to as an information processing system. For the sake of simplicity, the tool control condition data generation process described below will be described using an example of generating tool control condition data corresponding to a welding operation. However, the tool control condition data generation process according to the first embodiment can be applied to various operations other than welding operations.

[0022] FIG. 2 is a flowchart illustrating the operation of the information processing system according to the first embodiment.

[0023] As shown in FIG. 2, the information processing system according to the first embodiment includes at least one arithmetic device configured to perform an attribute data extraction process (step S1) for extracting attribute data from three-dimensional model data of a work object, a shape data extraction process (step S2) for extracting shape data including shape information of at least the work target portion of the work object from the three-dimensional model data, a control condition determination process (step S3) for determining control conditions corresponding to the attribute data by referring to a control condition table in which the relationship between the attribute data and the control conditions of the work tool is predefined, and a tool control condition generation process (step S4) for correcting the determined control conditions based on the shape information of the work target portion defined by the shape data to generate tool control condition data.

[0024] As shown in Fig. 2, in the tool condition data generation process executed in the information processing system according to the first embodiment, first, an attribute data extraction process is performed to extract attribute data from three-dimensional model data (step S1). The attribute data extracted in step S1 includes at least the dimensions of the work object, the work position, and the position information of the work object location defined by the work path. The attribute data may also include at least data on the material and plate thickness of each part of the work object.

[0025] Next, in the tool control condition data generation process according to the first embodiment, a shape data extraction process is performed to extract shape data including at least shape information of the work target portion of the work target object from the three-dimensional model data (step S2).

[0026] Here, the shape data is either master point cloud data in which the shape of the work object represented by the three-dimensional model data is expressed by point cloud information, or primitive shape data in which the shape of the work object represented by the three-dimensional model data includes information on faces and boundaries and is expressed by a set of primitive shape blocks each defined by a simple shape. A specific example of this shape data generation process will be described with reference to Figs. 3 to 5.

[0027] Fig. 3 is a flowchart for explaining a first example of the flow of a shape data generation process in the information processing system according to the first embodiment. As shown in Fig. 3, in the shape data generation process according to the first embodiment, first, a model data acquisition process is performed to acquire three-dimensional model data of a work object that has already been generated (step S11). Next, in the shape data generation process according to the first embodiment, a three-dimensional mesh data generation process is performed to generate three-dimensional mesh data of the work object from the three-dimensional model data acquired in step S11 (step S12). These steps S11 and S12 may be collectively referred to as a data conversion process.

[0028] The 3D mesh data generated in step S2 represents the overall shape of the work object using unit meshes defined at a predetermined size. The 3D mesh data makes it possible to handle the shape of the work object as a set of faces.

[0029] Next, the shape data generation process according to the first embodiment performs a master point cloud data generation process for generating master point cloud data that defines the surface shape of the work object as a point cloud from the three-dimensional model data of the work object (step S13). In the example shown in FIG. 3, the three-dimensional mesh data generated in step S12 is used as three-dimensional model data in step S3. In the master point cloud data generation process according to the first embodiment, for example, a virtual cube that covers the entire three-dimensional mesh data is defined, and when a measurement line perpendicular to one face of the virtual cube is extended to the three-dimensional mesh data, a point at which the measurement line intersects with the three-dimensional mesh data is taken as one of the master point cloud data. The master point cloud data includes a number of intersections between the measurement lines and the three-dimensional mesh data, and is a collection of countless point information. This point information is, for example, coordinate information. Here, for example, if one side of the virtual cube is considered to be a side on which the work object can be observed by the working unit sensor 23 when the work object is placed on the workbench, a correlation can be obtained with the actual point cloud data of the work object acquired by the working unit sensor 23 during actual work, thereby improving work efficiency.

[0030] FIG. 4 is a flowchart for explaining a second example of the flow of the shape data generation process in the information processing system according to the first embodiment. As shown in FIG. 4, the second example of the shape data generation process is a primitive shape data extraction process following step S12 of the shape data generation process explained in FIG. 3. A primitive shape data extraction process is performed to extract a primitive shape from three-dimensional mesh data and generate primitive shape data (step S21). Here, a primitive shape is a relatively simple shape determined in advance, such as a cube, a rectangular parallelepiped, a sphere, a cylinder, or a cone. Data having information on the lines and faces of such a shape is called primitive shape data. Then, in the primitive shape data extraction process in step S21, a work object is replaced with model data in which primitive shapes are combined.

[0031] Fig. 5 is a flowchart for explaining a third example of the flow of the shape data generation process in the information processing system according to the first embodiment. As shown in Fig. 5, in the third example of the shape data generation process, a shape determination process (step S30) is performed following the three-dimensional mesh data generation process in step S12, and either a master point cloud data generation process (step S13) or a primitive shape data extraction process (step S21) is executed depending on the result of the shape determination process. In the shape determination process in step S30, it is determined whether or not the operation target portion is defined as line data on the three-dimensional model data.

[0032] In the three-dimensional model data, the lines that define the shape of the components are defined as line data. Therefore, when joining end faces, the line data that defines the periphery of the end faces of the components is defined in the three-dimensional model data, and this line data can be referenced as the work target line. On the other hand, for example, when performing processing such as overlapping one component on the surface of another component, no line data is defined on the surface of one component, and it is necessary to perform the work information data generation process (step S5) using the master point cloud data (step S3) described in the first embodiment.

[0033] Replacing model data using primitive shape data can reduce the calculation load compared to creating master point cloud data. Therefore, by using the third example of the shape data generation process, the amount of calculation of the information processing system can be appropriately reduced depending on the complexity of the work object and the work content. In other words, by using the third example of the shape data generation process, it is possible to reduce the time required to generate work information data.

[0034] Next, the tool control condition data generation process according to the first embodiment will be described with reference to Fig. 1 again. In the tool control condition data generation process according to the first embodiment, following the shape data generation process of step S2, a control condition determination process is performed (step S3). In the control condition determination process, a control condition corresponding to the attribute data is determined by referring to a control condition table in which the relationship between the attribute data extracted in step S1 and the control conditions of the work tool is predefined.

[0035] Here, the control condition table includes a plurality of table data that differ for each type of the work tool 22. In the control condition determination process, a control condition table from which the control conditions are read out is selected according to the work tool 22 indicated by the attribute data. In the control condition determination process, the control conditions are determined from a control condition table in which at least one parameter indicated by the attribute data is selected as a key. For example, in the control condition determination process, when a first parameter and a second parameter are considered as keys for determining the control conditions, the control conditions are determined from a control condition table in which the first parameter and the second parameter are selected as keys. More specifically, when the work tool 22 is a welding torch and the control condition table corresponding to this welding torch specifies the material of the member of the work target location as the first parameter and the thickness of the work target location as the second parameter as keys, it is considered that the control condition table defines at least the tool feed speed and the current value to be passed through the welding torch for each combination of the material and thickness of the member. In this case, the control condition determination process uses the material and thickness of the member at the work site as keys, and determines the tool feed speed and current value to be passed through the welding torch corresponding to the keys as control conditions.

[0036] Next, the tool control condition data generation process according to the first embodiment performs a tool control condition generation process (step S4) in which the control conditions determined in step S3 are corrected based on the shape information of the work target area defined by the shape data to generate tool control condition data.

[0037] In the tool control condition generation process (step S4), if the shape data indicates that the work target area can be regarded as an open surface, the control conditions are used as they are as tool control condition data, and if the shape data indicates that the work target area can be a place where surfaces meet at a specified angle, the control value indicating the processing strength among the control conditions is increased or decreased to obtain the tool control condition data. Here, the differences in the control conditions for each work target area will be described with reference to Figs. 6 and 7.

[0038] 6 is a diagram for explaining a first specific example of the work target area in the information processing system according to the first embodiment. The first specific example of the work target area shown in FIG. 6 is an example in which two adjacent flat plates are joined by welding arranged flat plates 30 and 31 along a welding target line WL set at a position where the two flat plates contact each other. In other words, the first specific example shown in FIG. 6 is an example in which the shape data can be captured as an open surface of the work target area. In such a case, in the tool control condition generation process, the control conditions determined in step S3 are used as they are as tool control condition data.

[0039] FIG. 7 is a diagram for explaining a second specific example of the work target part in the information processing system according to the first embodiment. The second specific example of the work target part shown in FIG. 7 is an example in which a flat plate 31 is overlapped on a flat plate 30, and the two overlapping flat plates are joined by welding along a welding target line WL set on the boundary between the upper surface of the flat plate 30 and the end surface of the flat plate 31. That is, the second specific example shown in FIG. 7 is an example in which the shape data indicates that the work target part is a place where two surfaces meet at a predetermined angle. In such a case, in the tool control condition generation process, the control value indicating the processing strength among the control conditions determined in step S3 is increased or decreased to obtain the tool control condition data. The control value indicating the processing strength may be, for example, the current value flowing through the welding torch, the amount of paint sprayed by the coating spray, or the like.

[0040] Here, a specific example of a method for correcting the control value in the tool control condition generation process will be described. For example, when the angle between the two faces at the location where the work target line is defined is less than a first angle or is equal to or greater than a second angle, the tool control condition generation process corrects the current value to be passed through the welding torch to be smaller. On the other hand, when the angle between the two faces at the location where the work target line is defined is equal to or greater than the first angle or less than the second angle, the tool control condition generation process uses the control condition determined in step S3 as the current value to be passed through the welding torch as it is as the tool control condition data. The first angle is, for example, about 120 degrees. The second angle is, for example, about 240 degrees.

[0041] As described above, in the information processing system according to the first embodiment, by using the three-dimensional model data and the control condition table prepared in advance, it is possible to generate the tool control condition data before the start of the work without using the verification result using the actual object. In this way, by generating the tool control condition data without the actual object, it is possible to generate the tool control condition data during a period that is not related to the timing of the prototype of the actual object, etc., and it is possible to improve the efficiency of the production activity.

[0042] Finally, the embodiment of the present invention will be summarized with reference to the drawings etc. As shown in Figs. 1 to 7, the embodiment of the present invention will be described as follows.

[0043] (Appendix 1) An attribute data extraction process (S1) for extracting attribute data from three-dimensional model data of a work object; A shape data extraction process (S2) for extracting shape data including at least shape information of a work target portion of the work target object from the three-dimensional model data; a control condition determination process (S3) for determining control conditions corresponding to the attribute data by referring to a control condition table in which a relationship between the attribute data and control conditions of the work tool is predefined; a tool control condition generation process (S4) for generating tool control condition data by correcting the determined control conditions based on shape information of the work target portion defined by the shape data; An information processing system comprising at least one computing device configured to perform the steps of:

[0044] (Appendix 2) The information processing system described in Appendix 1, wherein the shape data is either master point cloud data in which the shape of the work object represented by the three-dimensional model data is represented by point cloud information, or primitive shape data in which the shape of the work object represented by the three-dimensional model data is represented by a collection of primitive shape blocks including surface and boundary line information and each of which is defined by a simple shape.

[0045] (Appendix 3) The information processing system of claim 1 or 2, wherein in the tool control condition generation process (S4), if the shape data indicates that the area to be worked on can be regarded as an open surface, the control conditions are used as they are as the tool control condition data, and if the shape data indicates that the area to be worked on can be a point where surfaces meet at a predetermined angle, a control value indicating the processing strength among the control conditions is increased or decreased to obtain the tool control condition data.

[0046] (Appendix 4) An attribute data extraction process (S1) for extracting attribute data from three-dimensional model data of a work object; A shape data extraction process (S2) for extracting shape data including at least shape information of a work target portion of the work target object from the three-dimensional model data; a control condition determination process (S3) for determining control conditions corresponding to the attribute data by referring to a control condition table in which a relationship between the attribute data and control conditions of the work tool is predefined; a tool control condition generation process (S4) for generating tool control condition data by correcting the determined control conditions based on shape information of the work target portion defined by the shape data; An information processing program that causes a computing device to execute the above.

[0047] (Appendix 5) 1. An information processing method for generating tool control condition data to be applied to control of a work tool from three-dimensional model data using a computer, comprising: Attribute data is extracted from the three-dimensional model data of the work object (S1); shape data including at least shape information of a work target portion of the work target object is extracted from the three-dimensional model data (S2); A control condition table is referenced in which a relationship between the attribute data and a control condition of the work tool is predefined, and a control condition corresponding to the attribute data is determined (S3); The determined control conditions are corrected based on shape information of the work target portion defined by the shape data to generate tool control condition data (S4); Information processing methods. [Explanation of symbols]

[0048] 1. Working robot system 10. Computers 20 Working Robot 21 Robot Arm 22 Work tools 23 Working part sensor 30, 31 flat plate WL Welding target line

Claims

1. An attribute data extraction process for extracting attribute data from the three-dimensional model data of the work object; A shape data extraction process for extracting shape data including at least shape information of a work target portion of the work target object from the three-dimensional model data; a control condition determination process for determining control conditions corresponding to the attribute data by referring to a control condition table in which a relationship between the attribute data and control conditions of the work tool is predefined; a tool control condition generating process for generating tool control condition data by correcting the determined control conditions based on shape information of the work target portion defined by the shape data; An information processing system comprising at least one computing device configured to perform the steps of:

2. 2. The information processing system of claim 1, wherein the shape data is either master point cloud data in which the shape of the work object represented by the three-dimensional model data is represented by point cloud information, or primitive shape data in which the shape of the work object represented by the three-dimensional model data is represented by a collection of primitive shape blocks including surface and boundary line information and each of which is defined by a simple shape.

3. 2. The information processing system according to claim 1, wherein, in the tool control condition generation process, if the shape data indicates that the area to be worked on can be regarded as an open surface, the control conditions are used as they are as the tool control condition data, and if the shape data indicates that the area to be worked on can be a location where surfaces meet at a predetermined angle, a control value indicating a processing strength among the control conditions is increased or decreased to obtain the tool control condition data.

4. An attribute data extraction process for extracting attribute data from the three-dimensional model data of the work object; A shape data extraction process for extracting shape data including at least shape information of a work target portion of the work target object from the three-dimensional model data; a control condition determination process for determining control conditions corresponding to the attribute data by referring to a control condition table in which a relationship between the attribute data and control conditions of the work tool is predefined; a tool control condition generating process for generating tool control condition data by correcting the determined control conditions based on shape information of the work target portion defined by the shape data; An information processing program that causes a computing device to execute the above.

5. 1. An information processing method for generating tool control condition data to be applied to control of a work tool from three-dimensional model data using a computer, comprising: Extracting attribute data from the three-dimensional model data of the work object; Extracting shape data including at least shape information of a work target portion of the work target object from the three-dimensional model data; determining a control condition corresponding to the attribute data by referring to a control condition table in which a relationship between the attribute data and a control condition of a work tool is predefined; correcting the determined control conditions based on shape information of the work target portion defined by the shape data to generate tool control condition data; Information processing methods.

Images