Method for managing project file of robot, robot management method, and robot system

Abstract

To provide a technique that analyzes a project file of a robot.SOLUTION: A method for managing a project file of a robot includes the steps of: (a) obtaining a specific first backup file of a project file and a second backup file that was backed up before the first backup file; (b) creating difference information by detecting a difference between the second backup file and the first backup file; (c) classifying one or more difference items included in difference information into a plurality of categories; (d) extracting a specific difference item belonging to a specific category of the plurality of categories, among the difference items; and (e) notifying of the specific category of the specific difference item.SELECTED DRAWING: Figure 5

Description

[Technical field]

[0001] The present disclosure relates to a method for managing a robot project file, a robot management device, and a robot system. [Background technology]

[0002] Patent Document 1 discloses a technique for acquiring a backup file of a system including a plurality of programmable displays.

[0003] Robot systems use technology to save robot control programs and various setting values ​​in the form of files called "projects" or "project files." Because a project file is a set of information that determines the robot's operations, if unintended changes are made to the file, the quality and cycle time of the work performed by the robot may change, leading to poor quality and reduced production efficiency. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2013-257790 A Summary of the Invention [Problem to be solved by the invention]

[0005] However, in the past, there was a lack of sufficient technology for checking the contents of a backup file of a project file. [Means for solving the problem]

[0006] According to a first aspect of the present disclosure, there is provided a method for managing a project file of a robot, the method including: (a) acquiring a specific first backup file of the project file and a second backup file backed up before the first backup file, (b) creating difference information by detecting a difference between the second backup file and the first backup file, (c) classifying one or more difference items included in the difference information into a plurality of categories, (d) extracting a specific difference item that belongs to a specific category among the plurality of categories from among the difference items, and (e) notifying the specific category of the specific difference item.

[0007] According to a second embodiment of the present disclosure, there is provided a robot management device for managing a project file of a robot. The robot management device includes a storage unit for storing a backup file of the project file, and a difference processing unit for performing difference processing using the backup file. The robot management device includes a storage unit for storing a backup file of the project file, and a difference processing unit for performing difference processing using the backup file. The difference processing includes (a) a process of acquiring a specific first backup file and a second backup file backed up before the first backup file, (b) a process of creating difference information by detecting a difference from the second backup file to the first backup file, (c) a process of classifying one or more difference items included in the difference information into a plurality of categories, (d) a process of extracting a specific difference item that belongs to a specific category of the plurality of categories from among the difference items, and (e) a process of notifying the specific category of the specific difference item.

[0008] According to a third embodiment of the present disclosure, a robot system is provided. The robot system includes one or more robots and a robot management device that manages a project file of the robot. The robot management device includes a storage unit that stores a backup file of the project file, and a difference processing unit that performs difference processing using the backup file. The difference processing includes: (a) a process of acquiring a specific first backup file and a second backup file that was backed up before the first backup file; (b) a process of creating difference information by detecting a difference from the second backup file to the first backup file; (c) a process of classifying one or more difference items included in the difference information into a plurality of categories; (d) a process of extracting a specific difference item that belongs to a specific category of the plurality of categories from among the difference items; and (e) a process of notifying the specific category of the specific difference item. [Brief description of the drawings]

[0009] [Figure 1] FIG. 1 is an explanatory diagram showing a configuration of a robot system. [Diagram 2] FIG. 2 is a functional block diagram of a robot controller and a robot management device. [Diagram 3] FIG. 11 is an explanatory diagram showing an example of a difference category. [Figure 4] FIG. 11 is an explanatory diagram showing an example of whether or not an action is required, which is set for each category. [Diagram 5] 11 is a flowchart showing the overall procedure of difference processing. [Figure 6] 11 is a flowchart showing the detailed procedure of a difference information creation process. [Figure 7] FIG. 4 is an explanatory diagram showing an example of a backup history. [Figure 8] FIG. 4 is an explanatory diagram showing an example of difference information. [Figure 9] FIG. 13 is an explanatory diagram showing an example of a screen for setting a notification destination email address. [Figure 10] 13 is a flowchart showing the processing steps for displaying a backup history list. [Figure 11] FIG. 13 is an explanatory diagram showing an example of a display screen of a backup history list. [Figure 12A] FIG. 11 is an explanatory diagram showing an example of a monitoring screen of a robot controller. [Figure 12B] FIG. 11 is an explanatory diagram showing an example of a monitoring screen of a robot controller. [Figure 13] FIG. 4 is an explanatory diagram showing an example of a monitoring screen of the robot system. [Figure 14A] FIG. 11 is an explanatory diagram showing another example of the monitoring screen of the robot system. [Figure 14B] FIG. 11 is an explanatory diagram showing another example of the monitoring screen of the robot system. [Figure 15] FIG. 13 is an explanatory diagram showing an example of a monitoring screen for consumables of a robot. [Figure 16] FIG. 11 is an explanatory diagram showing an example of a monitoring screen for the working state of a robot. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] 1 is an explanatory diagram showing an example of a robot system 10 in one embodiment. The robot system 10 includes one or more robots 100, a robot management device 200 that manages the robots 100, and one or more terminal devices 300. In this example, the robot system 10 includes three robots 100. For convenience, these robots 100 are referred to as "robot #1," "robot #2," and "robot #3."

[0011] Each robot 100 includes a robot body 110, a peripheral device 120, and a robot controller 130 that controls the robot body 110 and the peripheral device 120. The robot management device 200 is realized by a computer having a microprocessor and a memory. The robot management device 200 is connected to the robot 100 and the terminal device 300 via a wired or wireless communication line. In other words, the robot system 10 is configured as a network including one or more robots 100. In a typical example, the entire robot system 10 is installed in one factory. Also, a configuration in which the robot controller 130 controls multiple robot bodies 110 may be used.

[0012] The terminal device 300 is a personal computer or a smartphone. The terminal device 300 is used as a display terminal that displays various screens provided by the robot management device 200. The terminal device 300 is further used as a receiving terminal that receives emails related to differential information of backup files from the robot management device 200. The robot management device 200 may be implemented as a server provided in an external network or a cloud server.

[0013] A manipulator having any robot arm mechanism having multiple joints can be used as the robot body 110. In the example of Fig. 1, robot #1 and robot #3 are vertical multi-joint robots, and robot #2 is a horizontal multi-joint robot.

[0014] The peripheral device 120 includes one or more of various devices used in the operation of the robot 100, such as an end effector, a force sensor, a camera, a parts feeder, and a transport conveyor device.

[0015] The project file of each robot 100 is stored in the robot controller 130 of each robot 100. A backup file of the project file is created by each robot controller 130. The robot management device 200 is configured to execute a difference process that obtains multiple backup files of the project file and analyzes the differences therebetween.

[0016] 2 is a functional block diagram of the robot controller 130 and the robot management device 200. The robot controller 130 has a backup command execution unit 131, a backup file transmission unit 132, and a project file storage unit 133. The project file storage unit 134 stores a project file PF. The project file PF is the latest project file being used by the robot 100.

[0017] The project file PF is a collection of information that determines the operation of the robot 100 including the robot main body 110 and the peripheral device 120. For example, the project file PF is configured to include at least a part of various data a1 to a8 as described below. (a1) Model information such as the robot model and robot name (a2) Mechanical structure information such as the length and offset of the robot's joints (a3) Robot control program (a4) Teaching point information (a5) Robot calibration information (a6) Setting values ​​of peripheral devices such as cameras, force sensors, and part feeders (a7) Communication system settings (a8) Robot operation log data The log data of the robot operation includes the status, errors, warnings, and operation logs of the robot main body 110 and the robot controller 130, and also includes log data of the peripheral device 120.

[0018] Which of the above-mentioned data a1 to a8 is to be included in the project file PF is determined in advance according to the control method of each individual robot 100.

[0019] In a project file PF, the same type of data may be divided into two or more data files. For example, teaching point information may be organized as one data file for each individual teaching point. A robot control program may also be organized as multiple program files. The same applies to other data.

[0020] The backup command execution unit 131 executes a backup command to create a backup file of the project file PF stored in the project file storage unit 134. In this embodiment, the backup command is supplied from the robot management device 200 to the robot controller 130, and the robot controller 130 executes the backup process in response to this command. However, the robot controller 130 may execute the backup process of the project file PF at regular intervals or when a specific event occurs. The backup file transmission unit 132 transmits the created backup file to the robot management device 200. Here, a configuration in which the robot management device 200 acquires the project file PF and creates the backup file inside the robot management device 200 may also be adopted.

[0021] Each backup file may be configured to include the entire modified project file PF as is. Alternatively, each backup file may be configured to include data that is different from the previous backup file, without including data that is different from the previous backup file. In other words, only the differences may be configured as backup files. In the latter case, the capacity of the backup file can be reduced.

[0022] When the project file PF contains a robot control program, the robot controller 130 has a function of controlling the robot main body 110 in accordance with the robot control program. However, this control function is not shown in Fig. 2. The various functions of the robot controller 130 are realized by the processor executing computer programs stored in memory. However, some or all of the functions of the robot controller 130 may be realized by hardware circuits.

[0023] The robot management device 200 includes a backup processing unit 210, a difference processing unit 220, a screen providing unit 230, and a mail server 240. The various functions of the robot management device 200 are realized by a processor executing a computer program stored in a memory. However, some or all of the functions of the robot management device 200 may be realized by a hardware circuit.

[0024] The backup processing unit 210 includes a backup command transmission unit 211 , a backup file reception unit 212 , a backup file storage unit 213 , and a backup history storage unit 214 .

[0025] The backup command transmission unit 211 transmits a backup command for the project file PF to the robot controller 130. The backup file reception unit 212 receives the backup file from the robot controller 130. The backup file storage unit 213 stores the received backup file. The backup file storage unit 213 stores a plurality of past backup files. The backup history storage unit 214 stores the history of the backup process of the project file PF. The backup history will be described later.

[0026] The difference processing section 220 includes a difference detection section 221 , a difference information storage section 222 , a category classification section 223 , and a notification section 224 .

[0027] The difference detection unit 221 executes a difference information creation process in which two backup files to be subjected to difference processing are selected from among the multiple backup files stored in the backup file storage unit 213, and the difference between them is detected to create difference information. The two backup files to be subjected to the difference information creation process are called the "first backup file" and the "second backup file". The second backup file is a backup file backed up before the first backup file, and both are backup files related to the same specific robot 100. As the first backup file, it is preferable to select the latest backup file related to the specific robot 100 from among the multiple backup files stored in the backup file storage unit 213. As the second backup file, it is preferable to select a backup file related to the same robot 100 as the first backup file, and backed up at the timing closest to the backup timing of the first backup file.

[0028] When the latest backup file is used as the first backup file, the difference information creation process may be executed with the backup process of the first backup file as a trigger. Specifically, the difference information creation process may be started with the event of a new backup file being stored in the backup file storage unit 213 as a trigger. In this way, it is possible to quickly grasp that a change has occurred in the project file.

[0029] The difference information storage unit 222 stores the difference information created by the difference detection unit 221. The category classification unit 223 classifies one or more difference items included in the difference information into a plurality of categories. Examples of the plurality of categories will be described later. The notification unit 224 executes a process of notifying the user of the category of the difference item. The "notification" may be executed, for example, as a display on the terminal device 300, or may be executed as a notification to a preset notification destination, i.e., as the transmission of an email using the email server 240.

[0030] The screen providing unit 230 functions as a Web server that creates various screens related to the robot system 10 and provides them to the terminal device 300. Examples of the various screens provided by the screen providing unit 230 will be described later.

[0031] 3 is an explanatory diagram showing an example of difference categories. The difference categories include the following data type categories Cat1 to Cat12 and file attribute categories Cat13 and Cat14. <Data type category> (Cat1) Conveyer: Transport conveyor related (Cat 2) Force: Force sensor related (Cat3) Parts Feeder: Parts feeder related (Cat 4) Vision: Cameras and other vision sensors (Cat5)Point: Teaching point (Cat6)Calibration: Robot calibration (Cat7) Program: Robot control program (Cat8)Project:Project (Cat9)Robot Info: Robot settings, robot parameters (Cat10) Config: Various robot settings (Cat11)Variable: Various variable values (Cat12) Log: Log information <File Attribute Category> (Cat13) Timestamp: Update date and time of project file or data file (Cat14) Hash: Hash value of project file or data file

[0032] The data type category is a category that indicates the type of data in which a difference has occurred. The file attribute category is a category that relates to attributes of the entire project file.

[0033] In addition to the above-mentioned data type categories, data change types can also be used. For example, three types of data change can be used: addition, deletion, and change. For one difference, one data type category and one data change type may be assigned at the same time.

[0034] 4 is an explanatory diagram showing an example of the necessity of an action set for each category. As the necessity of an action, three actions are set: (1) whether to save the difference, (2) whether to notify the difference, and (3) whether to display the difference.

[0035] A category in which the difference storage requirement is Yes means that the differences belonging to that category need to be stored. For example, it is preferable to require storage of differences that should be stored from the perspective of change point management of the project file PF. Change point management is management of when and how the project file PF was changed.

[0036] A category in which the notification requirement for differences is Yes means that the differences in that category need to be notified to the user by email. For example, it is preferable to require notification of differences that the user of the robot system 10 needs to know.

[0037] A category in which the display necessity of the difference is Yes means that the difference belonging to that category needs to be displayed on the terminal device 300. For example, it is preferable that a difference that needs to be in a state where it can be observed by the user of the robot system 10 needs to be displayed.

[0038] If there are too many categories requiring notification, the user may receive notifications frequently, which may be annoying. Therefore, it is preferable to limit the categories requiring notification to a portion of the categories requiring display.

[0039] "Notification" and "display" are examples of "alert" in the present disclosure. Instead of separately setting whether or not to "notify" and whether or not to "display" as in the example of FIG. 4, whether or not to "alert" may be set. In this manner, in this embodiment, it is set in advance that an action such as saving a difference or an alert is required for one or more specific categories among a plurality of categories. The specific category for which an action is required is preferably selected from among the data type categories.

[0040] The specific category for which an action is required can be arbitrarily set by the user. For example, the following categories may be selected as the specific category: (1) A category that contains information for determining the behavior of a robotic system. This category is, for example, a category relating to the above-mentioned data a2 to a7. (2) A category that includes information used to determine the behavior of a robot system that is changed by user operation. This category is, for example, a category related to the above-mentioned data a3 to a7. (3) Categories containing information that changes through user action. This category is, for example, a category related to the above-mentioned data a1 to a8.

[0041] Differences in categories for which none of the above-mentioned actions are required may be deleted without being left in the difference information. Note that it is preferable that the necessity of an action is set for each of the above-mentioned data type categories.

[0042] 5 is a flowchart showing the overall procedure of difference processing. In step S11, the backup command transmission unit 211 transmits a backup command to the robot controller 130. In step S12, the backup file reception unit 212 receives a backup file from the robot controller 130. This backup file is stored in the backup file storage unit 213. In step S13, the difference detection unit 221 executes a process of creating difference information.

[0043] 6 is a flowchart showing the detailed procedure of the difference information creation process. In step S41, the process waits until a new backup is executed, that is, until a new backup file is received. When the new backup file is received, in step S42, the difference detection unit 221 acquires the previous backup file from the backup file storage unit 213. The new backup file corresponds to the "first backup file" and the previous backup file corresponds to the "second backup file." As described above, the first backup file and the second backup file are project files related to the same robot.

[0044] In step S43, the difference detection section 221 creates difference information by detecting the difference between the second backup file and the first backup file. When the process of creating the difference information is thus completed, the process proceeds to step S14 in FIG.

[0045] In step S14, the backup history storage unit 214 stores the backup history.

[0046] 7 is an explanatory diagram showing an example of a backup history. In this example, three backup histories h1 to h3 are recorded. Each backup history includes (1) a robot controller ID, (2) a backup date and time, (3) a backup file ID, and (4) a difference information ID.

[0047] In step S15, the category classification section 223 classifies the difference items included in the difference information into a plurality of categories.

[0048] FIG. 8 is an explanatory diagram showing an example of difference information. In this example, difference information D0013 is created that indicates the difference from backup file XZ1111 to backup file XZ1113. Difference information D0013 includes multiple difference items d1 to d10. Each difference item has registered therein (1) the name of the data having the difference, (2) details of the difference, (3) the change type, and (4) the category. The "explanation" in the rightmost column of FIG. 8 is written for convenience. One difference item means one difference. In general, difference information is created to have one or more difference items.

[0049] In step S16 in Fig. 5, the category classification unit 223 extracts difference items that belong to a specific category that needs to be saved from the difference information. In the example of Fig. 4 described above, the specific categories that need to be saved are Vision, Point, Calibration, Config, and Variable. Therefore, of the multiple difference items d1 to d10 shown in Fig. 8, difference items d1 to d6 that belong to any of these five specific categories are extracted in step S16. In step S17, the category classification unit 223 checks whether there are any difference items that need to be saved, and if there are any difference items that need to be saved, saves the difference items in the difference information storage unit 222 in step S17.

[0050] In step S19, the notification unit 224 extracts difference items belonging to a specific category that require notification from among the difference items of the difference information. As the "notification", at least one of display on the terminal device 300 and notification by email can be used. For example, when notification by email is executed as the "notification", difference items belonging to a specific category that require notification by email are extracted in step S19. In the example of FIG. 4 described above, the specific categories that require notification by email are Vision, Point, and Calibration. Therefore, among the multiple difference items d1 to d10 shown in FIG. 8, difference items d1 to d3 that belong to any of these three specific categories are extracted in step S19. In step S20, the notification unit 224 checks whether there are any difference items that require notification. If there are any difference items that require notification, the notification unit 224 executes notification to the user in step S21. The contents of this notification preferably include at least identification information for identifying the robot 100 or the robot controller 130, and the specific category of the difference item extracted in step S19. In this way, the user can easily understand what changes have been made to the project file of which robot 100.

[0051] The content of the notification may be created to include the content of the difference item. The content of the difference item preferably includes the name of the data file in which the difference item exists. The content of the difference item may also include the details of the difference as shown in FIG. 8.

[0052] Fig. 9 is an explanatory diagram showing an example of a screen for setting the email address of the notification destination. In this example, it is possible to arbitrarily register one or more email addresses as new notification destinations. It is preferable that such notification destination setting is performed before the start of the difference processing in Fig. 5.

[0053] 10 is a flowchart showing the procedure of a list display process of the backup history. In this process, the screen providing unit 230 creates a screen including a backup history list, and supplies it to the terminal device 300 for display. In step S51, the user of the terminal device 300 selects a target robot controller for which the backup history is to be displayed. In step S52, the screen providing unit 230 extracts the backup history of the target robot controller from the backup history exemplified in FIG. 7. The backup history is read from the backup history storage unit 214.

[0054] In step S53, the screen providing unit 230 acquires difference information of the target backup file. The difference information has the same content as that exemplified in Fig. 8 described above. In step S54, the screen providing unit 230 extracts difference items of a specific category that need to be displayed. In the example of Fig. 4 described above, the categories that need to be displayed are Vision, Point, Calibration, and Config, so difference items belonging to these specific categories are extracted.

[0055] In step S55, it is determined whether the processing of steps S51 to S54 has been completed for the controller to be the display target of the backup history, and if not completed, the process returns to step S51 and the processing of steps S51 to S54 is executed again. If the processing of steps S51 to S54 has been completed for the controller to be the display target, the process proceeds to step S56, where the screen providing unit 230 creates a screen in which a specific category of difference items has been added to the backup history, and transfers it to the terminal device 300 for display.

[0056] FIG. 11 is an explanatory diagram showing an example of a display screen SR1 of a backup history list that displays a specific category of difference items. This display screen SR1 is a type of monitoring screen of a robot management system, and various information for robot management can be displayed by arbitrarily selecting one of a plurality of icons displayed on the left side of the display screen SR1. In the example of FIG. 11, the sixth icon IC6 is selected, and the screen displays a backup history list of project files. The backup history list includes a robot controller selection section SL and backup history display sections h11 to h13.

[0057] The robot controller selection section SL is provided with a pull-down menu PDM for selecting a robot controller and an export button B1. By pressing the export button B1, the user can download an export file of the backup history from the robot management device 200 to the terminal device 300. This export file is configured to include a list of one or more backup files, each of which includes a specific category of difference items. The export file preferably includes a list of two or more backup files, and more preferably includes a list of all backup histories related to the robot controller. The export file may include not only a list of the backup histories, but also the backup files themselves, and may also include difference information in each history. The export file can be used for other processes such as quality control.

[0058] Each of the backup history display sections h11 to h13 includes a status mark SM indicating the status of the backup, the backup date and time, a tag TG indicating the category of the difference item, and a download button B2. The status mark SM indicates which of a number of statuses the backup process is in, such as "Planning", "In Progress", "Completed (Success)", or "Completed (Error)". In the example of Fig. 11, the status marks SM for all three histories indicate "Completed (Success)".

[0059] The backup history display section h13 displays tags TG indicating categories of difference items. When the user selects a tag TG of one category, details of the difference information may be displayed. This detailed display is configured to include, for example, the name of the data including the difference and details of the difference. Note that instead of the tag TG, categories may be displayed using other display elements such as icons. In this way, by displaying categories of difference items in the backup history list, the user can easily grasp the outline of the difference information.

[0060] The download button B2 is used to download the backup file of the backup history from the robot management device 200 to the terminal device 300.

[0061] In other embodiments, the list of backup files may be displayed using any of the following methods. (1) Display only backup files that contain differential information in the list. (2) The backup file including the difference information and the latest backup file are displayed in a list. (3) Display all backup files in a list. (4) Display only backup files that have differential information of the specified category. For example, if "Vision" is specified, only backup files that have differential information of "Vision" are displayed in the list. (5) Any two backup files selected by the user are displayed in a list.

[0062] As described above, in this embodiment, since the specific category of the difference items included in the difference information is notified in step S21 of FIG. 5, it is possible to easily grasp whether or not there are difference items related to a specific category in which the user is interested in a large-scale and complex backup file. In addition, it is possible to check whether or not unintended modifications have been made to the project file from the specific category of the difference items. Here, as a method of notifying the specific category of the difference items, in addition to the display screen SR1 shown in FIG. 11, a display screen including a table showing details of the difference information as shown in FIG. 8 may be displayed on the screen.

[0063] The screen providing unit 230 can further create various monitoring screens as described below and display them on the terminal device 300.

[0064] 12A and 12B are explanatory diagrams showing an example of a monitoring screen SR2 of a robot controller. On this monitoring screen SR2, it is possible to select a robot controller to be monitored and display the status of various monitoring items. The monitoring items include information such as start time, task program name, status, signal, CPU load rate, temperature, cabinet fan rotation speed, presence or absence of backup files in the controller, and a list of backup logs.

[0065] 13 is an explanatory diagram showing an example of a monitoring screen SR3 of a robot system. On this monitoring screen SR3, information such as equipment efficiency, production volume, cycle time, and operation time is displayed graphically.

[0066] 14A and 14B are explanatory diagrams showing another example of the monitoring screen SR4 of the robot system. This monitoring screen SR4 displays a list of information on the cycle time of each task and alarms. If the operation of the robot 100 is extremely slow or has stopped due to an abnormality, the cycle time will be long, so the occurrence of an abnormality can be estimated from the length of the cycle time.

[0067] 15 is an explanatory diagram showing an example of a monitoring screen SR5 for robot consumables. On this monitoring screen SR5, it is possible to check whether various consumables are nearing the end of their life, etc.

[0068] 16 is an explanatory diagram showing an example of a monitoring screen SR6 for the working status of a robot. On this monitoring screen SR6, the work history and images of the working status captured by a camera can be displayed for each robot.

[0069] Other forms: The present disclosure is not limited to the above-mentioned embodiment, and can be realized in various forms without departing from the spirit of the present disclosure. For example, the present disclosure can be realized in the following aspects. The technical features in the above-mentioned embodiments corresponding to the technical features in each aspect described below can be appropriately replaced or combined in order to solve some or all of the problems of the present disclosure, or to achieve some or all of the effects of the present disclosure. Furthermore, if the technical feature is not described as essential in this specification, it can be appropriately deleted.

[0070] (1) According to a first aspect of the present disclosure, there is provided a method for managing a project file of a robot, the method including: (a) acquiring a specific first backup file of the project file and a second backup file that was backed up before the first backup file, (b) creating difference information by detecting a difference between the second backup file and the first backup file, (c) classifying one or more difference items included in the difference information into a plurality of categories, (d) extracting a specific difference item that belongs to a specific category among the plurality of categories from among the difference items, and (e) notifying the specific category of the specific difference item. According to this method, it is possible to easily grasp whether or not there are difference items related to a specific category that the user is interested in in the backup files of a large-scale and complex project file. Also, it is possible to confirm whether or not unintended modifications have been made to the project file from the specific category of difference items.

[0071] (2) In the above method, the steps (a) to (e) may be executed using a backup process of the first backup file as a trigger. This method allows you to quickly see any changes that have been made to your robot project files.

[0072] (3) In the above method, the step (e) may include a step of notifying a preset notification destination of the specific category of the specific difference item. According to this method, it is possible to efficiently check whether a project file has been changed without having to perform operations such as logging in to a management system.

[0073] (4) The above method may further include the step of creating a backup file history list including the second backup file and the first backup file, and displaying the backup file history list by assigning the specific category of the specific difference item. In this way, you can easily see which categories of data have been changed from the backup file history list.

[0074] (5) In the above method, the first backup file may be configured to not include data that is not different from the second backup file, but to include data that is different from the second backup file. According to this method, the size of the backup file can be reduced.

[0075] (6) The method may further include exporting a list of one or more backup files that each include the particular category of the particular difference items. In this way, the backup history including the specific category of the specific differential item can be used for other processes such as quality control.

[0076] (7) In the above method, the step (e) may include a step of notifying the content of the specific difference item together with the specific category. According to this method, the difference between the first backup file and the second backup file can be easily understood.

[0077] (8) In the above method, the project file may include a plurality of data files, and the content of the specific difference item may include the name of the data file in which the specific difference item exists. According to this method, it is possible to know which data files have differences among the multiple data files included in the project file.

[0078] (9) According to a second embodiment of the present disclosure, there is provided a robot management device for managing a project file of a robot. The robot management device includes a storage unit for storing a backup file of the project file, and a difference processing unit for performing difference processing using the backup file. The robot management device includes a storage unit for storing a backup file of the project file, and a difference processing unit for performing difference processing using the backup file. The difference processing includes (a) a process of acquiring a specific first backup file and a second backup file backed up before the first backup file, (b) a process of creating difference information by detecting a difference from the second backup file to the first backup file, (c) a process of classifying one or more difference items included in the difference information into a plurality of categories, (d) a process of extracting a specific difference item that belongs to a specific category of the plurality of categories from among the difference items, and (e) a process of notifying the specific category of the specific difference item.

[0079] (10) According to a third aspect of the present disclosure, a robot system is provided. The robot system includes one or more robots and a robot management device that manages a project file of the robot. The robot management device includes a storage unit that stores a backup file of the project file, and a difference processing unit that performs difference processing using the backup file. The difference processing includes: (a) a process of acquiring a specific first backup file and a second backup file that was backed up before the first backup file; (b) a process of creating difference information by detecting a difference from the second backup file to the first backup file; (c) a process of classifying one or more difference items included in the difference information into a plurality of categories; (d) a process of extracting a specific difference item that belongs to a specific category of the plurality of categories from among the difference items; and (e) a process of notifying the specific category of the specific difference item.

[0080] The present disclosure may be realized in various forms other than those described above, such as a robot system including a robot and a robot control device, a computer program for implementing the functions of the robot control device, a non-transitory storage medium on which the computer program is recorded, etc.

[0081] The backup file of the robot project of the present disclosure may simply be a copy of the project file, i.e., may be configured to generate difference information by comparing all or part of the latest project file with a saved past project file. [Explanation of symbols]

[0082] 10... robot system, 100... robot, 110... robot main body, 120... peripheral device, 130... robot controller, 131... backup command execution unit, 132... backup file transmission unit, 133... project file storage unit, 134... project file storage unit, 200... robot management device, 210... backup processing unit, 211... backup command transmission unit, 212... backup file reception unit, 213... backup file storage unit, 214... backup history storage unit, 220... difference processing unit, 221... difference detection unit, 222... difference information storage unit, 223... category classification unit, 224... notification unit, 230... screen provision unit, 240... mail server, 300... terminal device

Claims

1. 1. A method for managing a robot project file, comprising: (a) obtaining a specific first backup file of the project file and a second backup file that was backed up before the first backup file; (b) creating difference information by detecting a difference from the second backup file to the first backup file; (c) classifying one or more difference items included in the difference information into a plurality of categories; (d) extracting, from the difference items, specific difference items that belong to a specific category among the plurality of categories; (e) notifying the specific category of the specific difference item; A method comprising:

2. 2. The method of claim 1 , The method, wherein the steps (a) to (e) are executed using a backup process of the first backup file as a trigger.

3. 2. The method of claim 1 , The method, wherein the step (e) includes a step of notifying a preset notification destination of the specific category of the specific difference item.

4. 10. The method of claim 1 further comprising: creating a backup file history list including the second backup file and the first backup file; and displaying the backup file history list with the specific category of the specific difference item.

5. 2. The method of claim 1 , The method of claim 1, wherein the first backup file is configured to include no non-differential data from the second backup file and to include differential data from the second backup file.

6. 10. The method of claim 1 further comprising: exporting a list of one or more backup files each containing the particular category of the particular difference items.

7. 2. The method of claim 1 , The method, wherein step (e) includes the step of notifying the content of the specific difference item together with the specific category.

8. 8. The method of claim 7, The project file includes a plurality of data files; A method according to claim 1, wherein the content of the particular difference item includes a data file name in which the particular difference item resides.

9. A robot management device for managing a robot project file, a storage unit that stores a backup file of the project file; A differential processing unit that performs differential processing using the backup file; Equipped with The difference processing is (a) acquiring a specific first backup file and a second backup file that is backed up before the first backup file; (b) creating difference information by detecting a difference between the second backup file and the first backup file; (c) classifying one or more difference items included in the difference information into a plurality of categories; (d) extracting, from the difference items, specific difference items that belong to a specific category among the plurality of categories; (e) notifying the specific category of the specific difference item; A robot management device comprising:

10. 1. A robot system comprising: One or more robots; a robot management device for managing a project file of the robot; Equipped with The robot management device includes: a storage unit that stores a backup file of the project file; A differential processing unit that performs differential processing using the backup file; Including, The difference processing is (a) acquiring a specific first backup file and a second backup file that is backed up before the first backup file; (b) creating difference information by detecting a difference between the second backup file and the first backup file; (c) classifying one or more difference items included in the difference information into a plurality of categories; (d) extracting, from the difference items, specific difference items that belong to a specific category among the plurality of categories; (e) notifying the specific category of the specific difference item; A robot system comprising:

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