Robot control device

Abstract

To measure a positional deviation amount generated by installation errors, without moving a robot to an actual work position.SOLUTION: A robot control device includes a 3D data storage part, an operation data storage part, an imaging part, a display part, a display control part, and a robot control part. The imaging part can image a workspace including a facility, a robot, and a workpiece, and the display part can display an actual image imaged by the imaging part. The display control part specifies a predetermined reference position separated from a work area to the workpiece in the actual image of the workspace, and displays a virtual image of a work tool when making the robot working at the reference position while overlapping the actual image, and the robot control part moves the work tool of the robot to the reference position in the workspace.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present disclosure relates to a robot control device.

Background Art

[0002] As a robot that performs a predetermined operation on a workpiece, there is known one configured to automatically perform a series of operations by driving and controlling each part of the robot according to operation data in which the work position and movement are programmed in the order of the work process. Further, as a device for programming the operation data of this type of robot, for example, an offline teaching device as described in Patent Documents 1 and 2 is known.

[0003] The offline teaching device displays the facilities in the work space where the robot is installed on a display device as a virtual space, and the user can generate operation data by inputting the work position and movement (such as a movement trajectory) of the robot in the virtual space. Since the offline teaching device performs offline programming (hereinafter, OLP) of the robot outside the work environment, the user can generate operation data without operating the robot in the actual work space.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0005] Incidentally, when the operation data generated by OLP is incorporated into a robot installed in the actual work space and the robot is operated, due to installation errors of the robot or the like, the working position by the robot may deviate from the working position designated by the user. And when the working position is thus deviated, it is conceivable to actually operate the robot with the operation data, measure the amount of displacement at the working position, and correct the operation data based on the measurement result.

[0006] However, when the robot with installation errors is actually operated using the operation data for correcting the operation data, the robot may interfere with the equipment in the work space (for example, a jig to which the work to be worked is fixed), and there is a risk that a part of the robot or the equipment is damaged. In addition, since it takes time to actually operate the robot using the operation data to detect the installation error, there is also a problem that the man-hours for operation data correction increase.

[0007] One aspect of the present disclosure aims to enable measurement of the amount of displacement caused by installation errors or the like without moving the robot to the actual working position in a robot control device that controls a robot according to operation data generated by OLP or the like.

Means for Solving the Problem

[0008] A robot control device according to one aspect of the present disclosure is a robot control device that controls the operation of a robot including a working tool that performs a predetermined operation on a work, and includes a 3D data storage unit, an operation data storage unit, an imaging unit, a display unit, a display control unit, and a robot control unit.

[0009] Among these, the 3D data storage unit stores 3D data including the 3D data of the robot and the 3D data of the equipment in the work space where the robot is installed. Further, the operation data storage unit stores operation data representing the movement of the robot taught in advance to perform an operation on the work.

[0010] In addition, the imaging unit is configured to be able to image a work space including equipment, robots, and workpieces, and the display unit is configured to be able to display a real image of the work space imaged by the imaging unit.

[0011] Based on the real image of the equipment in the work space displayed on the display unit and the 3D data of the equipment, the display control unit identifies a predetermined reference position away from the work area for the workpiece in the real image. Then, based on the 3D data of the robot, the display control unit superimposes and displays a virtual image of the working tool when the robot is operated at the reference position on the real image displayed on the display unit.

[0012] Also, based on the motion data, the robot control unit moves the working tool of the robot to the reference position in the work space and performs work for confirming the motion position on the working tool. That is, in the robot control device of the present disclosure, by using AR (augmented reality) technology to display a virtual image of the working tool at a predetermined reference position in the real image of the equipment in the work space displayed on the display unit, the display image is virtually expanded. Also, by actually operating the robot, the working tool is moved to the reference position in the work space.

[0013] If the robot is operated in this way and the working tool of the robot can be accurately moved to the reference position, the real image and the virtual image of the working tool will overlap on the display screen. Therefore, the user can confirm from the display image that the robot is installed at a predetermined position.

[0014] On the other hand, if the working tool of the robot is displaced from the reference position due to installation error of the robot or the like, a displacement will occur between the real image and the virtual image of the working tool on the display screen. And the displacement can be confirmed on the display screen as the displacement amount of the working tool, and thus the robot's motion data can be corrected by measuring the displacement amount and inputting it as the correction amount of the motion data.

[0015] Therefore, according to the robot control device of the present disclosure, by moving the working tool of the robot to the reference position, the deviation of the working position caused by installation errors or the like can be measured on the display screen using AR technology, and the correction of the operation data can be carried out in a short time.

[0016] In addition, since the reference position is set at a position away from the working area for the workpiece, when moving the working tool of the robot to the reference position, it is possible to prevent the robot and the equipment in the working space from interfering with each other and causing damage to some of them. Therefore, the correction of the operation data can be carried out safely.

[0017] Here, in the robot control device of the present disclosure, an input unit and a correction unit may be further provided. Among them, the input unit is configured to be able to input the amount of displacement between the virtual image and the real image of the working tool displayed at the reference position. The correction unit is configured to correct the operation data based on the amount of displacement of the working tool at the reference position input from the input unit so that no displacement occurs at a plurality of working points by the robot.

[0018] According to the robot control device configured as described above, the correction unit corrects the operation data based on the amount of displacement input from the input unit, reducing the user's work for correcting the operation data and improving the usability of the robot control device.

[0019] Next, in the robot control device of the present disclosure, 3D data of the workpiece to be worked on by the robot may be stored in the 3D data storage unit. In this case, the robot control unit may be configured to operate the robot based on the operation data corrected by the correction unit to perform an operation for operation verification. Further, when the robot control unit is causing the robot to perform an operation for operation verification, the display control unit may be configured to superimpose and display a virtual image of the workpiece on the real image displayed on the display unit based on the 3D data of the workpiece stored in the image data storage unit.

[0020] According to the robot control device configured as described above, the user can cause the robot control unit to operate the robot based on the operation data corrected by the correction unit and perform an operation verification task. Also, at this time, on the display unit, an image in which a virtual image of the workpiece is superimposed on the actual image of the work space is displayed using AR technology, so the user can confirm the movement of the robot and the working position with respect to the workpiece on the display screen.

[0021] Therefore, according to the robot control device of the present disclosure, the user can confirm the operation of the robot with respect to the workpiece without actually mounting the workpiece on the equipment (for example, jigs) in the work space, and can easily perform the confirmation task.

[0022] Also, in the robot control device of the present disclosure, the reference position may be set outside the equipment in the work space. In this way, when the robot control unit moves the working tool of the robot to the reference position, interference between the robot and the equipment in the work space can be better suppressed, and the correction of the operation data can be performed more safely.

Brief Description of the Drawings

[0023]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Embodiments for Carrying Out the Invention

[0024] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. [Embodiment] [Configuration] As shown in FIG. 1, the robot 2 is fixed at a predetermined position within a work space 10 that includes equipment 8 to be worked on. The equipment 8 within the work space 10 is composed of various devices including a jig 6 to which a workpiece 4 is attached, and the robot 2 performs predetermined work on the workpiece 4 attached to the jig 6. Note that the robot 2 in the present embodiment is a welding robot that performs welding work on a metal workpiece 4.

[0025] The robot 2 includes a base 12 positioned and fixed within the work space 10, a first arm 14 having one end fixed to the base 12, a second arm 16 fixed to the other end of the first arm 14, and a head 20 fixed to the tip of the second arm 16.

[0026] The first arm 14 is fixed to the base 12 so as to be swingable in the direction of arrow A and rotatable in the direction of arrow B (in other words, around the axis of the first arm 14). Further, the second arm 16 is fixed to the first arm 14 so as to be rotatable in the direction of arrow C. Further, the head 20 is fixed to the tip of the second arm 16 so as to be swingable in the direction of arrow D and rotatable in the direction of arrow E (in other words, around the axis of the second arm 16).

[0027] And, at the fixed portions of the first arm 14, the second arm 16, and the head 20, actuators (not shown) for swinging or rotating these respective parts are provided. Note that the actuator is composed of a motor or the like.

[0028] Therefore, the robot 2 can move the head 20 within the work space 10 and adjust the position and orientation of the head 20 by swinging or rotating these respective parts via these actuators.

[0029] Next, on the head 20, as working tools, a pair of electrodes 22 and 24 for spot welding project. Inside the head 20, an actuator (not shown) is provided for sandwiching the work 4 between the electrodes 22 - 24 by swinging one electrode 22 in the direction of arrow F and adjusting the pressing force during welding.

[0030] Therefore, the robot 2 can drive the above - mentioned actuators to sequentially move the head 20 to a plurality of preset welding points Pw as working positions with respect to the work 4, and perform welding operations at each welding point Pw.

[0031] And, in order to be able to automatically perform such welding operations, a drive control circuit 28 for driving the above - mentioned actuators according to the operation data stored in the memory is provided inside the base 12.

[0032] The above - mentioned operation data is generated by the information processing device 30 by the above - mentioned OLP without actually operating the robot 2. That is, the information processing device 30 corresponds to the robot control device of the present disclosure and functions as the above - mentioned offline teaching device.

[0033] The information processing device 30 is, for example, a portable information processing device that can be held and operated by a user, such as a tablet terminal or a notebook computer, and is configured as shown in FIG. 2. That is, the information processing device 30 is provided with a camera 32, a display unit 34, an operation unit 36, a communication unit 38, a microcomputer (hereinafter, referred to as a microcontroller) 40, and a storage unit 48.

[0034] Among these, the camera 32 is for imaging the surroundings of the information processing device 30, and can image the work space 10 where the robot 2 is installed as a surrounding image. Note that the camera 32 corresponds to an example of the imaging unit of the present disclosure.

[0035] In addition, the display unit 34 is for displaying various types of information such as the captured image captured by the camera 32 and the operation guidance image for the user, and is configured by, for example, a liquid crystal display panel.

[0036] In addition, the operation unit 36 is for inputting various types of information or commands when the user operates, and is configured by, for example, a touch panel provided on the display screen of the display unit 34, or a keyboard, a mouse, etc. Note that the operation unit 36 corresponds to an example of the input unit of the present disclosure.

[0037] In addition, the communication unit 38 is for performing wireless communication with an external device such as the drive control circuit 28 of the robot 2. In this embodiment, it is used to transmit the operation data of the robot 2 generated by the information processing device 30 to the drive control circuit 28 of the robot 2. The communication unit 38 is also used to transmit a predetermined drive command to the robot 2 or to acquire the operation state of the robot 2 from the robot 2.

[0038] Next, the microcomputer 40 includes a CPU (Central Processing Unit) 42, a GPU (Graphics Processing Unit) 44, and a memory 46, and can execute various image processes using the GPU 44. Note that this image process includes the superimposed display of virtual images on real images using AR technology.

[0039] In addition, the storage unit 48 is a storage for storing various types of data, and is configured by a hard disk, a solid state drive, etc. The storage unit 48 stores the OLP data 50 used to generate the operation data of the robot 2 or correct the operation data with the above-described OLP.

[0040] The OLP data 50 includes the 3D data 52, 54, 56 of the jig 6, the facility 8, and the workpiece 4, and the position data 58 of the welding point Pw of the workpiece 4, which are used to display the virtual images of the jig 6, the facility 8, and the workpiece 4 on the display unit 34.

[0041] In addition, the storage unit 48 stores the operation data 60 of the robot 2 generated by the OLP, and also stores 3D data 62 used to display a virtual image of the head 20 of the robot 2 when the head 20 is moved to the reference position Ps shown in FIG. 1. Therefore, the storage unit 48 corresponds to an example of the 3D data storage unit and the operation data storage unit of the present disclosure.

[0042] Note that the 3D data 62 of the head 20 is used to display a virtual image of the head 20 by enlarging and displaying the vicinity of the reference position Ps on the display unit 34 as illustrated in FIG. 4 when the head 20 of the robot 2 is moved to a preset reference position Ps in the correction process described later.

[0043] And by this display, the user can compare the real image and the virtual image of the head 20 on the display screen of the display unit 34, confirm the deviation of the head 20 of the robot 2 from the reference position Ps, and correct the operation data 60 so that the deviation disappears.

[0044] That is, the operation data 60 of the robot 2 generated by the OLP is generated based on the virtual images of the jig 6, the equipment 8, and the workpiece 4 displayed in the virtual space without actually operating the robot 2. Therefore, when the generated operation data 60 of the robot 2 is transmitted to the drive control circuit 28 of the robot 2 to operate the robot 2, the working position by the robot 2 may deviate from the working position designated by the user due to the installation error of the robot 2 or the like.

[0045] Therefore, in the present embodiment, by executing the correction process shown in FIG. 3, the head 20 of the robot 2 is moved to the reference position Ps for checking the positional deviation, so that the user can confirm the positional deviation of the head 20 from the real image and the virtual image enlarged and displayed on the display unit 34.

[0046] Note that the reference position Ps for checking misalignment is set outside the facility 8 so that when the head 20 of the robot 2 is moved to the reference position Ps, the arms 14 and 16 of the robot 2 and the head 20 do not interfere with the facility 8 in the work space 10.

[0047] [Processing] Hereinafter, in order for the user to check the misalignment of the head 20 and correct the operation data 60 as described above, the correction process executed in the microcomputer 40 will be described.

[0048] Note that when executing this correction process, it is assumed that the operation data 60 of the robot 2 is generated by the OLP and stored in the storage unit 48. Also, the generation process of the operation data 60 by the OLP is a known technique as described in Patent Documents 1, 2, etc., and thus the description thereof will be omitted here.

[0049] The correction process shown in FIG. 3 is started when the user points the camera 32 at the work space 10 and inputs an execution command for the correction process via the operation unit 36. When the correction process is started, first, in S110, imaging of the work space 10 by the camera 32 is started, and the captured image is displayed on the display unit 34 as an image of a virtual space corresponding to the real space. For this reason, the user can adjust the orientation of the camera 32 so that a desired area of the work space 10 is imaged while viewing the image of the virtual space displayed on the display unit 34.

[0050] When imaging of the work space 10 is started in S110, the process proceeds to S120, and based on the 3D data 52 and 54 of the facility 8 and the jig 6 stored in the storage unit 48, association is made between the real space imaged by the camera 32 and the virtual space displayed on the display unit 34. That is, the three-dimensional position coordinates of the virtual space displayed on the display unit 34 are set so that the positions of the facility 8 and the jig 6 in the virtual space displayed on the display unit 34 correspond to the actual positions in the real space.

[0051] Then, in subsequent S130, based on the position coordinates of the virtual space set in S120, within the virtual space displayed on the display unit 34, a reference position Ps preset for position correction is specified, and the reference position Ps is displayed in the virtual space displayed on the display unit 34.

[0052] In this state, if the user changes the orientation or imaging range of the camera 32, the virtual space displayed on the display unit 34 also changes. Therefore, the processes of S120 and S130 are repeatedly executed during the execution of the correction process.

[0053] Therefore, during the execution of the correction process, if the user changes the orientation or imaging range of the camera 32, in conjunction with the change, the position coordinates of the virtual space displayed on the display unit 34 are updated, and the display position of the reference position Ps within the virtual space also changes.

[0054] Next, when the processes of S120 and S130 are started, in S140, it is determined whether a start command for position correction has been input by the user operating the operation unit 36. If it is determined in S140 that the start command for position correction has not been input, the process of S140 is repeatedly executed to wait for the start command for position correction to be input.

[0055] On the other hand, if it is determined in S140 that the start command for position correction has been input, the process proceeds to S150. In S150, a movement command to the reference position Ps is output to the robot 2, and as shown in FIG. 4, the head 20 of the robot 2 is moved to the reference position Ps.

[0056] Note that the operation data 60 of the robot 2 also includes movement data for moving the head 20 to the reference position Ps. In S150, by transmitting this movement data to the drive control circuit 28 of the robot 2, the head 20 is moved to the reference position Ps.

[0057] Next, in S160, it is determined whether the robot 2 has moved the head 20 to the reference position Ps, waiting for the head 20 to move to the reference position Ps. When it is determined that the movement of the head 20 to the reference position Ps is completed, the process proceeds to S170. Note that the determination process in S160 is performed, for example, by determining whether a movement completion signal transmitted from the drive control circuit 28 of the robot 2 is received when the movement of the head 20 is completed.

[0058] Then, in S170, the display image on the display unit 34 is changed so that the display image is an enlarged image around the reference position Ps in the work space 10. Also, in S170, based on the 3D data 62 of the head 20, as shown in FIG. 4, a virtual image of the head 20 when the welding operation is performed at the reference position Ps is superimposed and displayed on the enlarged real image displayed on the display unit 34.

[0059] As a result, the user can confirm the deviation of the head 20 of the robot 2 from the reference position Ps by comparing the real image and the virtual image of the head 20 of the robot 2 on the display screen of the display unit 34.

[0060] Next, in S180, it is determined whether the user has input the amount of positional deviation of the head 20 of the robot 2 by operating the operation unit 36. That is, since the user can confirm the deviation of the head 20 from the reference position Ps on the display screen of the display unit 34, in S180, it is determined whether the user has input the amount of positional deviation of the head 20 in order to eliminate the deviation.

[0061] Then, when it is determined in S180 that the user has input the amount of positional deviation of the head 20, the process proceeds to S190, and a movement command for moving the head 20 in the direction opposite to the positional deviation direction by the amount of positional deviation input by the user is transmitted to the drive control circuit 28 of the robot 2.

[0062] Then, the drive control circuit 28 of the robot 2 moves the head 20 in response to the movement command transmitted from the information processing device 30. As a result, on the display screen of the display unit 34, since the real image of the head 20 moves, the user can confirm that the position of the head 20 has been corrected by determining whether the real image coincides with the virtual image due to the movement.

[0063] Next, if it is determined in S190 to transmit the movement command of the head 20 to the drive control circuit 28 of the robot 2, or if it is determined in S180 that the amount of misalignment has not been input, the process proceeds to S200. Then, in S200, it is determined whether the user has input the completion of position correction by operating the operation unit 36. If the completion of position correction has not been input, the process proceeds to S180 and the determination process in S180 is executed again.

[0064] Also, if it is determined in S200 that the completion of position correction has been input, the process proceeds to S210, and based on the amount of position correction obtained by moving the head 20 of the robot 2 in the processes of S180 and S190, the operation data 60 of the robot 2 is corrected. For example, the position and angle of the head 20 at each welding point Pw defined in the operation data 60, the movement trajectory of the head 20 to each welding point Pw, etc. are corrected based on the amount of position correction.

[0065] As a result, by transmitting the corrected operation data 60 to the drive control circuit 28 of the robot 2 and storing it, the robot 2 can be made to accurately perform welding operations at each welding point Pw of the workpiece 4. Then, when the correction of the operation data 60 in S210 is completed, the above series of correction processes is terminated.

[0066] Note that in the above correction process, the process of S150 corresponds to an example of the robot control unit of the present disclosure, the process of S170 corresponds to an example of the display control unit of the present disclosure, and the process of S210 corresponds to an example of the correction unit of the present disclosure.

[0067] Next, in order to confirm whether the welding operation can be normally performed at each welding point Pw of the workpiece 4 when the robot 2 is operated with the operation data 60 transmitted to the drive control circuit 28 of the robot 2, the microcomputer 40 performs the operation confirmation process shown in FIG. 5. Note that this operation confirmation process is executed when the user inputs an execution command for the operation confirmation process via the operation unit 36.

[0068] As shown in FIG. 5, when the operation confirmation process is started, first, at 310, similar to S110 shown in FIG. 3, imaging of the work space 10 by the camera 32 is started, and the captured image is displayed on the display unit 34 as an image of the virtual space with respect to the real space.

[0069] Also in S320, similar to S120 shown in FIG. 3, based on the 3D data 52 and 54 of the equipment 8 and the jig 6 stored in the storage unit 48, the real space imaged by the camera 32 is associated with the virtual space displayed on the display unit 34.

[0070] Then, in the subsequent S330, based on the position coordinates of the jig 6 and the equipment 8 in the virtual space obtained by the association between the real space and the virtual space in S320, and the 3D data 56 of the workpiece 4, a virtual image of the workpiece 4 is displayed on the display unit 34 with respect to the actual image of the jig 6. Hereinafter, the virtual image of the workpiece 4 is also referred to as a virtual workpiece.

[0071] Next, in S340, a welding command to the virtual workpiece is output to the drive control circuit 28 of the robot 2. Then, the robot 2 starts a welding operation on the workpiece 4 that does not exist in the real space according to the operation data 60 acquired from the information processing apparatus 30.

[0072] Note that since this welding operation is executed according to the welding command to the virtual workpiece, although the robot 2 moves the head 20 according to the operation data 60, it does not perform a welding operation in which a voltage is applied between the electrodes 22 - 24.

[0073] Thus, when the robot 2 starts the welding operation on the virtual workpiece, it proceeds to S350, obtains the position of the head 20 from the robot 2, and determines whether the head 20 has approached a predetermined distance in front of the welding point Pw of the virtual workpiece.

[0074] If the head 20 has not approached the welding point Pw, the process of S350 is executed again to wait for the head 20 to approach the welding point Pw. If the head 20 has approached the welding point Pw, it proceeds to S360.

[0075] In S360, until the head 20 passes the welding point Pw being approached, the head 20 of the robot 2 is enlarged and displayed on the display screen of the display unit 34. As a result, the user can confirm the orientation of the head 20 of the robot 2 and the positions of the electrodes 22 and 24 at the welding point Pw of the virtual workpiece on the display screen of the display unit 34.

[0076] Also, when the head 20 passes the welding point Pw and the enlarged display in S360 ends, it proceeds to S370 to determine whether there is a next welding point Pw in the virtual workpiece. If there is a next welding point Pw, it proceeds to S350.

[0077] In S350, it waits for the head 20 to approach the next welding point Pw and executes the process of S360 again. Also, if it is determined in S370 that there is no next welding point Pw, the robot 2 ends the welding operation on the virtual workpiece, and thus the operation confirmation process in the information processing apparatus 30 also ends.

[0078] Note that in the above operation confirmation process, the processes of S330 and S360 correspond to an example of the display control unit of the present disclosure, and the process of S340 corresponds to an example of the robot control unit of the present disclosure. [Effect] As described above, the information processing apparatus 30 of the present embodiment has a function as the robot control apparatus of the present disclosure, and the user can confirm the positional deviation of the head 20 caused by installation errors of the robot 2 or the like from the display image on the display unit 34.

[0079] Also, in order to be able to confirm the displacement of the head 20, in this embodiment, instead of operating the robot 2 in the same manner as during the welding operation, the head 20 is moved to a reference position Ps set outside the facility 8. Then, by using AR technology to display a virtual image of the head 20 at the reference position Ps on the display screen, the user can confirm the displacement of the head 20 from the deviation between the actual image and the virtual image of the head 20.

[0080] Therefore, the user can easily confirm the displacement of the head 20 by looking at the display screen of the display unit 34. Also, since the reference position Ps is set outside the facility 8, it is possible to suppress interference between the robot 2 and the facility 8 in the work space 10 when moving the head 20 of the robot 2 to the reference position Ps.

[0081] Also, in this embodiment, the user can move the head 20 of the robot 2 so as to eliminate the displacement of the head 20 confirmed on the display screen of the display unit 34, and correct the operation data 60 of the robot 2 based on the amount of movement (in other words, the position correction amount).

[0082] Therefore, according to this embodiment, even if an installation error occurs when the robot 2 is installed in the work space 10, the user can appropriately correct the operation data 60 so that the welding point by the head 20 of the robot 2 does not deviate from the welding point Pw of the workpiece 4.

[0083] Also, after transmitting the operation data 60 to the drive control circuit 28 of the robot 2, the information processing apparatus 30 of this embodiment causes the microcomputer 40 to execute a work confirmation process, so that the user can confirm that the robot 2 can normally perform the welding operation with the operation data 60.

[0084] In this operation confirmation process, since the virtual image of the workpiece 4 is displayed for the actual image of the jig 6 displayed on the display unit 34, the user can confirm the welding operation by the robot 2 without attaching the workpiece 4 to the jig 6 in the work space 10.

[0085] Therefore, in the present embodiment, there is no need to waste the workpiece 4 for confirming the operation of the robot 2, and the operation can be confirmed even without the workpiece 4. Thus, the usability of the information processing device 30 as a robot control device can be improved.

[0086] [Other Embodiments] As described above, the embodiments of the present disclosure have been described. However, the present disclosure is not limited to the above-described embodiments and can be implemented with various modifications.

[0087] For example, in the above embodiment, the reference position Ps for confirming the misalignment is described as being set outside the facility 8. However, the reference position Ps may be a position where the arms 14 and 16 and the head 20 of the robot 2 do not interfere with the facility 8 in the work space 10 when the head 20 is moved to the reference position Ps. For this reason, the reference position Ps may be set, for example, inside the facility 8 at a position away from the work area for the workpiece 4.

[0088] Also, in the above embodiment, when the robot 2 is moved to the reference position Ps and the actual image and the virtual image of the head 20 are enlarged and displayed on the display unit 34, it is described that the user can manually move the head 20 of the robot 2 to correct the misalignment of the head 20.

[0089] However, in the correction process shown in FIG. 3, when the actual image and the virtual image of the head 20 are enlarged and displayed on the display unit 34, the operation data 60 of the robot 2 may be directly corrected based on the misalignment amount input via the operation unit 36. In this way, since it is not necessary to move the head 20 of the robot 2 based on the misalignment amount input via the operation unit 36, the correction of the operation data 60 can be performed more safely.

[0090] Also, in the above embodiment, a portable information processing device that generates, corrects, and confirms the operation data 60 of the robot 2 has been described as the robot control device. However, the robot control device of the present disclosure does not necessarily have to be configured as a portable information processing device.

[0091] For example, the robot control device of the present disclosure may be configured to perform correction processing and work confirmation operations while switching the captured images displayed on the display device in a monitoring device that monitors the movement of the robot 2 using a plurality of fixed cameras installed in the facility 8 as the imaging unit.

[0092] Also, in the above embodiment, a welding robot that performs spot welding has been described as an example of the robot 2. However, the robot control device of the present disclosure can be applied to a welding robot different from spot welding or a robot that performs operations other than welding. Examples of robots that perform operations other than welding include robots that perform processing such as bending and cutting of workpieces, and robots that move or transport workpieces and jigs.

[0093] Further, the robot control device and its method of the present disclosure may be implemented by a dedicated computer provided by configuring a processor and a memory programmed to execute one or more functions embodied by a computer program. Alternatively, the robot control device and its method of the present disclosure may be implemented by a dedicated computer provided by configuring a processor with one or more dedicated hardware logic circuits. Or, the robot control device and its method of the present disclosure may be implemented by one or more dedicated computers configured by a combination of a processor and a memory programmed to execute one or more functions and a processor configured by one or more hardware logic circuits. Further, the computer program may be stored in a computer-readable non-transitory tangible recording medium as instructions executable by a computer. The method for realizing the functions of each part included in the robot control device does not necessarily have to include software, and all of its functions may be realized using one or a plurality of hardware.

[0094] A plurality of functions of one component in the above embodiment may be realized by a plurality of components, or one function of one component may be realized by a plurality of components. Also, a plurality of functions of a plurality of components may be realized by one component, or one function realized by a plurality of components may be realized by one component. Also, a part of the configuration of the above embodiment may be omitted. Also, at least a part of the configuration of the above embodiment may be added to or replaced with the configuration of another of the above embodiments.

[0095] Further, the technology of the present disclosure can be realized in various forms, such as, in addition to the robot control device, a robot control system having the robot control device as a component, a program for causing a computer to function as the robot control device, a non-transitory tangible recording medium such as a semiconductor memory storing this program, a method for correcting operation data of a robot, and the like.

[0096] [Technical idea disclosed in this specification] [Item 1] A robot control device for controlling the operation of a robot equipped with a working tool for performing a predetermined operation on a workpiece, a 3D data storage unit storing 3D data including 3D data of the robot and 3D data of equipment in a work space where the robot is installed, an operation data storage unit storing operation data representing the movement of the robot taught in advance for performing the operation on the workpiece, an imaging unit configured to be able to image the work space including the equipment, the robot, and the workpiece, a display unit configured to be able to display a real image of the work space imaged by the imaging unit, a display control unit configured to identify a predetermined reference position away from the work area for the workpiece in the real image based on the real image of the equipment in the work space displayed on the display unit and the 3D data of the equipment, and to superimpose and display a virtual image of the working tool when the working tool of the robot is moved to the reference position based on the 3D data of the robot on the real image displayed on the display unit; a robot control unit configured to move the working tool of the robot to the reference position in the work space based on the operation data and to perform an operation for confirming the operation position on the working tool; A robot control device comprising the above.

[0097] [Item 2] The robot control device according to Item 1, an input unit configured to be able to input a displacement amount between the virtual image and the real image of the working tool displayed at the reference position, a correction unit configured to correct the operation data based on the displacement amount of the working tool at the reference position input from the input unit so that no displacement occurs at a plurality of working points by the robot; A robot control device comprising the above.

[0098] Item 3 The robot control device according to Item 2, wherein the 3D data storage unit stores 3D data of the workpiece that is the work target of the robot, the robot control unit operates the robot based on the operation data corrected by the correction unit to perform an operation for operation verification, and the display control unit, when the robot control unit is causing the robot to perform the operation for operation verification, superimposes and displays a virtual image of the workpiece on the real image displayed on the display unit based on the 3D data of the workpiece stored in the 3D data storage unit. A robot control device.

[0099] [Item 4] The robot control device according to any one of Items 1 to 3, wherein the reference position is set outside the facility within the work space. A robot control device.

Description of Signs

[0100] 2... Robot, 4... Workpiece, 8... Facility, 10... Work space, 20... Head, 22, 24... Electrodes, 30... Information processing device, 32... Camera, 34... Display unit, 36... Operation unit, 40... Microcomputer, 48... Storage unit, 50... OLP data.

Claims

1. A robot control device for controlling the operation of a robot equipped with a working tool for performing a predetermined operation on a workpiece, a 3D data storage unit storing 3D data including 3D data of the robot and 3D data of equipment in a working space where the robot is installed, an operation data storage unit storing operation data representing the movement of the robot taught in advance for performing an operation on the workpiece, an imaging unit configured to be able to image the working space including the equipment, the robot, and the workpiece, a display unit configured to be able to display a real image of the working space imaged by the imaging unit, a display control unit configured to identify a predetermined reference position away from a working area for the workpiece in the real image based on the real image of the equipment in the working space displayed on the display unit and the 3D data of the equipment, and to superimpose and display a virtual image of the working tool when the working tool of the robot is moved to the reference position on the real image displayed on the display unit based on the 3D data of the robot, a robot control unit configured to move the working tool of the robot to the reference position in the working space based on the operation data and to perform an operation for confirming the operation position on the working tool, A robot control device comprising the above.

2. The robot control device according to claim 1, an input unit configured to be able to input a displacement amount between the virtual image and the real image of the working tool displayed at the reference position, a correction unit configured to correct the operation data based on the displacement amount of the working tool at the reference position input from the input unit so that no displacement occurs at a plurality of working points by the robot, A robot control device comprising the above.

3. The robot control device according to claim 2, the 3D data storage unit stores 3D data of the workpiece to be worked on by the robot, the robot control unit operates the robot based on the operation data corrected by the correction unit to perform an operation for operation verification, The display control unit is a robot control device that, when the robot control unit causes the robot to perform the operation verification work, superimposes and displays a virtual image of the workpiece on the real image displayed on the display unit based on the 3D data of the workpiece stored in the 3D data storage unit.

4. The robot control device according to any one of Claims 1 to 3, wherein the reference position is set outside the facility within the work space.

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