Information processing device, information processing method, and working robot system

Abstract

To generate control information for tool control that takes into account the posture of a work tool, which has not been possible with conventional methods.SOLUTION: According to one aspect of the present invention, an information processing device comprises: a work path extraction unit (61) that extracts a work path along which a work tool is moved from a work target location on a workpiece; a coordinate point setting unit (62) that defines tool posture coordinate points having X-, Y-, and Z-axes that define three-dimensional space as the start and end points of the work path; and a tool posture setting unit (63) that associates a point of action of a part of the work tool that acts on the workpiece with the tool posture coordinate point, and generates tool posture control information that commands the posture of the work tool so that the tool control central axis extending from the point of action in the extension direction of the work tool coincides with the Z-axis of the tool posture coordinate point.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present invention relates to an information processing device, an information processing method, and a working robot system, and more particularly to an information processing device, an information processing method, and a working robot system that change the posture of a tool depending on the location of a work target. [Background technology]

[0002] In a work robot system that uses a work robot to perform work on a workpiece, the work tool that performs the work is moved along a work path that is set to the location on the workpiece to be worked on. Patent Document 1 discloses a method for setting a movement path for the work tool that follows the work path. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 5713779 specification Summary of the Invention [Problem to be solved by the invention]

[0004] However, while the technology described in Patent Document 1 can create teaching data for a work robot that performs work on a work path that has welding sections and non-welding sections, it has the problem of not being able to generate control information for tool control that takes into account the posture of the work tool.In this way, when tool control is performed without taking into account the tool posture, the work tool and workpiece come into contact in cases where the work path is set in a narrow space where there is not enough space to move the work tool in a free posture, and the work cannot be performed correctly. [Means for solving the problem]

[0005] One aspect of the present invention is an information processing device comprising: a work path extraction unit that extracts a work path along which a work tool is moved from a work target location on a workpiece; a coordinate point setting unit that defines tool attitude coordinate points having X, Y, and Z axes that define three-dimensional space as the start and end points of the work path; and a tool attitude setting unit that associates a point of action of the work tool that acts on the workpiece with the tool attitude coordinate point, and generates tool attitude control information that instructs the attitude of the work tool so that a tool control central axis extending from the point of action in the extension direction of the work tool coincides with the Z axis of the tool attitude coordinate point.

[0006] One aspect of the present invention is an information processing method that causes a computer to execute the following steps: a work path extraction process that extracts a work path along which a work tool will be moved from a work target location on a workpiece; a coordinate point setting process that defines tool attitude coordinate points having X, Y, and Z axes that define three-dimensional space as the start and end points of the work path; and a tool attitude setting process that associates a point of action of the work tool that acts on the workpiece with the tool attitude coordinate point, and generates tool attitude control information that instructs the attitude of the work tool so that a tool control central axis extending from the point of action in the extension direction of the work tool coincides with the Z axis of the tool attitude coordinate point.

[0007] One aspect of the present invention is a robot arm comprising a tool attitude control information generation unit that generates tool attitude control information that specifies the attitude of a work tool, a tool path setting unit that uses the tool attitude control information to generate tool path information that shows the movement trajectory of the work tool, a work information data generation unit that generates work information data including the tool path information and the details of the work to be performed by the work tool, and a robot arm to which the work tool is attached at its tip and which moves the work tool based on the work information data to perform work on a workpiece with the work tool, wherein the tool attitude control information generation unit includes a work path extraction unit that extracts a work path for moving the work tool from a work target location on a workpiece to be worked on, and a tertiary The work robot system includes a coordinate point setting unit that defines tool attitude coordinate points having X-, Y-, and Z-axes that define an original space at the start point and end point of the work path, respectively; and a tool attitude setting unit that associates a point of action that acts on the workpiece among parts of the work tool with the tool attitude coordinate point and generates the tool attitude control information so that a tool control central axis extending from the point of action in the extension direction of the work tool coincides with the Z-axis of the tool attitude coordinate point, wherein the tool path setting unit generates, as the tool path information, a movement trajectory for moving the work tool so as to connect the tool attitude control information that corresponds to the start point and end point of the work path.

[0008] According to one aspect of the present invention, when setting the coordinates of the start and end points of a work path, the inclination of the tool attitude coordinate point is adjusted taking into account the tool attitude, and tool attitude control information can be generated that intentionally indicates the tool attitude using one coordinate axis (e.g., the Z axis) of the tool attitude coordinate point. [Effects of the Invention]

[0009] According to one aspect of the present invention, it is possible to improve the workability of a robot arm using a torch. [Brief explanation of the drawings]

[0010] [Figure 1] 1 is a schematic diagram of a working robot system according to a first embodiment. [Figure 2] FIG. 1 is a schematic view of an end tool according to a first embodiment. [Figure 3] FIG. 2 is a diagram illustrating a state of work performed by the working robot system according to the first embodiment. [Figure 4] 1 is a block diagram of a work information data generation system according to a first embodiment. [Figure 5] 3 is a flowchart illustrating a work flow in the working robot system according to the first embodiment. [Figure 6] 10 is a flowchart illustrating a flow of work information data generation processing according to the first embodiment. [Figure 7] FIG. 2 is a diagram specifically illustrating the coordinate point setting process according to the first embodiment. [Figure 8] 5A to 5C are diagrams specifically illustrating the tool attitude setting process according to the first embodiment. [Figure 9] FIG. 10 is a schematic view of an end tool according to a second embodiment. [Figure 10] 10 is a flowchart illustrating the flow of work information data generation processing according to the second embodiment. [Figure 11] 10A to 10C are diagrams specifically illustrating a tool attitude setting process according to the second embodiment. [Figure 12] FIG. 10 is a block diagram of a work information data generation system according to a third embodiment. [Figure 13] 11 is a flowchart illustrating the flow of work information data generation processing according to the third embodiment. [Figure 14] 13 is a flowchart illustrating the flow of work information data generation processing according to the fourth embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0011] For clarity of explanation, the following description and drawings have been omitted and simplified as appropriate. Furthermore, 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 with a program loaded into memory, etc. Therefore, those skilled in the art will understand that these functional blocks can be realized in various forms using only hardware, only software, or a combination thereof, and are not limited to any one of these. In addition, the same elements are designated by the same reference numerals in each drawing, and redundant explanations are omitted as necessary.

[0012] Furthermore, the above-described program includes a set of instructions (or software code) that, when loaded into a computer, causes the computer to perform one or more functions described in the embodiments. The program may be stored in a non-transitory computer-readable medium or a tangible storage medium. By way of example and not limitation, computer-readable media or tangible storage media include 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) disc or other optical disk storage, magnetic cassette, magnetic tape, magnetic disk storage or other magnetic storage device. The program may also be transmitted on a transitory computer-readable medium or communication medium. By way of example and not limitation, transitory computer-readable media or communication media include electrical, optical, acoustic, or other forms of propagated signals.

[0013] Embodiment 1 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 1 according to the first embodiment. As shown in Fig. 1, in the working robot system 1 according to the first embodiment, a work tool (e.g., an end tool 20) is attached to a tool attachment portion 11 provided at the tip of a robot arm 10. Also as shown in Fig. 1, the robot arm 10 is provided with a control portion (e.g., a robot controller 12) and a work information data generation system 40.

[0014] The robot controller 12 operates the robot arm 10 based on the work information data generated by the work information data generation system 40. In addition, if the end tool 20 has a sensor such as a three-dimensional sensor that acquires the three-dimensional shape of the workpiece, the robot controller 12 may transmit the three-dimensional shape measurement data of the workpiece acquired by the three-dimensional sensor to the work information data generation system 40.

[0015] In the working robot system 1, the end tool 20 is moved by the robot arm 10 to operate the end tool 20 at a position, angle, and speed suitable for the work to be performed on a workpiece placed on a workbench. Here, in the working robot system 1, tool attitude control information that instructs the attitude of the end tool 20 is generated within the work information data generation system 40 and included in the work information data.

[0016] Here, various types of tools suitable for the work to be performed, such as welding, painting, drilling, and robotic hands, can be attached to end tool 20. In working robot system 1 according to the first embodiment, an example is described in which a tool holder optimal for a welding tool that performs welding is applied as end tool 20, but the scope of application of working robot system 1 described in embodiment 1 is not limited to this.

[0017] Fig. 2 is a schematic diagram of end tool 20 according to the first embodiment. As shown in Fig. 2, end tool 20 according to the first embodiment has an end tool holder. The end tool holder has an attachment base 21 that is attached to tool attachment portion 11 of robot arm 10, and a torch holder 22 that is attached to attachment base 21 and holds torch 23. A replaceable torch 23 is attached to torch holder 22. Torch 23 has torch rod 23a that protrudes from the torch body, and torch tip 23b at the tip of torch rod 23a.

[0018] Torch 23 is replaceable and has various shapes depending on the torch manufacturer or specifications, so it is preferable that base portion 21 and torch holder 22 have a separable structure to accommodate these different torch shapes.

[0019] The torch 23 has a point of action PX at which it acts on the workpiece. In the working robot system 1 according to the first embodiment, the axis extending from the point of action PX of the end tool 20 in the direction in which the torch 23 extends is set as the tool control central axis RX. This tool control central axis RX is the reference axis that defines the posture of the end tool 20. Furthermore, while the end tool 20 is being used to work on the workpiece, the working location of the workpiece will be on an extension of the tool control central axis RX, and therefore the tool control central axis RX can also be regarded as the axis of action of the tool.

[0020] Furthermore, as shown in FIG. 2 , the end tool 20 includes a scanner holding part 30 connected to the base part 21 and holding a scanner unit 31 that scans the shape of a work area where work is to be performed with a torch 23. In the example shown in FIG. 2 , the base part 21 and the scanner holding part 30 are attached to the tool mounting part 11 in such an order that the scanner holding part 30 is sandwiched between the tool mounting part 11 and the base part 21. One end of the base part 21 and the scanner holding part 30 are fixed to the tool mounting part 11 with bolts, for example, in a state where they are overlapped so that the recesses and protrusions on the opposing surfaces fit together. Alternatively, the base part 21 and the scanner holding part 30 may be fixed to the tool mounting part 11 using a standardized joint structure that connects them. A torch holder 22 that holds the torch 23 is attached to the other end of the base part 21. The scanner unit 31 is attached to the other end of the scanner holding part 30 via a scanner joint 32.

[0021] Here, we will explain the work performed by the working robot system 1. FIG. 3 is a diagram illustrating the state of work performed by the working robot system 1 according to the first embodiment. In the example shown in FIG. 3, plate materials WB and WC are assembled at right angles, and members WA and WB are welded to the plate materials WB and WC, respectively. In the example shown in FIG. 3, the work path RT is set at the point where the members WA and WB meet. In other words, in the example shown in FIG. 3, the work path RT exists within a narrow space surrounded by the members WA to WD. In such a case, when the application point PX of the torch 23 is moved along the work path RT, the torch 23, the end tool 20, or the tool attachment unit 11 may interfere with the member WD, making it impossible to perform the work. Such work problems may be avoided by adjusting the posture of the torch 23.

[0022] However, without using the working robot system 1, it is not possible to intentionally set the tool attitude, which can make it difficult to resolve work problems. Therefore, the working robot system 1 generates work information data that enables work in a small space such as the one shown in Fig. 3 by controlling the attitude of the torch 23 using the tool control central axis RX. The following description will provide a detailed explanation of the work information data generation system 40 and the method for generating work information data using the work information data generation system 40, which are specific examples of the information processing device and information processing method according to the first embodiment.

[0023] In the working robot system 1 according to the first embodiment, work information data is generated using a work information data generation system 40. FIG. 4 is a block diagram of the work information data generation system according to the first embodiment. The work information data generation system 40 can be executed, for example, by a computer having a calculation unit capable of executing a work information data generation program. As shown in FIG. 4, the work information data generation system 40 has a calculation unit 41, a memory unit 42, an input unit 43, a display unit 44, and an output unit 45.

[0024] The input unit 43 is an input interface for a computer, such as a keyboard, a communication interface, or a USB (registered trademark) terminal. The display unit 44 is one of the user interfaces that presents various information to the user. The output unit 45 is an output interface for a computer, such as a communication interface or a USB (registered trademark) terminal. The memory unit 42 is at least one of a large-scale storage device such as a hard disk or a temporary storage device such as a DRAM mounted on the computer, and stores the work information data generation program, intermediate data required when generating work information data, and the generated work information data.

[0025] The calculation unit 41 executes a work information data generation program to realize functions equivalent to the following functional blocks. Note that, as an example of a method for realizing the following functional blocks, it is conceivable to configure the work information data generation program as a combination of a tool attitude control information generation program, a tool path setting program, and a work information data generation program. In the example shown in FIG. 4, a tool attitude control information generation unit 51, a tool path setting unit 52, and a work information data generation unit 53 are realized by executing the tool attitude control information generation program, the tool path setting program, and the work information data generation program in the calculation unit 41.

[0026] The tool attitude control information generation unit 51 generates tool attitude control information. Here, the tool attitude control information also includes information that clearly indicates the work path. The tool path setting unit 52 generates tool path information that sets the trajectory along which the end tool 20 (e.g., a torch) will move, using the tool attitude control information generated by the tool attitude control information generation unit 51. The work information data generation unit 53 generates work information data by applying the tool path information generated by the tool path setting unit 52 to the work information in the work information data.

[0027] Here, the tool attitude control information generation unit 51 will be described in detail. One aspect of the information processing device comprises a work path extraction unit 61 that extracts a work path along which a work tool will be moved from a work target location on a workpiece, a coordinate point setting unit 62 that defines tool attitude coordinate points having X, Y, and Z axes that define three-dimensional space as the start and end points of the work path, and a tool attitude setting unit 63 that associates a point of action on the workpiece among parts of the work tool with the tool attitude coordinate point and generates tool attitude control information that instructs the attitude of the work tool so that a tool control central axis extending from the point of action in the extension direction of the work tool coincides with the Z axis of the tool attitude coordinate point.

[0028] The information processing device further includes a tool path setting unit 52 that uses the tool attitude control information to generate tool path information indicating the movement trajectory of the work tool, and a work information data generation unit 53 that generates work information data including the tool path information and the content of the work performed by the work tool.

[0029] If the technical features of the above information processing device are considered to be a method, it can be considered an information processing method that causes a computer to execute the following steps: a work path extraction process that extracts a work path along which a work tool will be moved from a work target location on a workpiece; a coordinate point setting process that defines tool attitude coordinate points having X-, Y-, and Z-axes that define three-dimensional space as the start and end points of the work path; and a tool attitude setting process that associates a point of action that acts on the workpiece among parts of the work tool with the tool attitude coordinate point, and generates tool attitude control information that instructs the attitude of the work tool so that a tool control central axis extending from the point of action in the extension direction of the work tool coincides with the Z-axis of the tool attitude coordinate point.

[0030] Further, a work robot system including the technical features of the information processing device comprises a tool attitude control information generation unit 51 that generates tool attitude control information that specifies the attitude of a work tool, a tool path setting unit 52 that uses the tool attitude control information to generate tool path information that shows the movement trajectory of the work tool, a work information data generation unit 53 that generates work information data that includes the tool path information and the content of the work to be done by the work tool, and a robot arm 10 to which the work tool is attached at its tip and which moves the work tool based on the work information data to perform work on a workpiece with the work tool, and the tool attitude control information generation unit 51 generates a work path that moves the work tool from a work target location on the workpiece to be worked on. a coordinate point setting unit 62 that defines tool attitude coordinate points having X-, Y-, and Z-axes that define a three-dimensional space at the start and end points of the work path, and a tool attitude setting unit 63 that associates a point of action that acts on the workpiece among parts of the work tool with the tool attitude coordinate point and generates the tool attitude control information so that a tool control central axis extending from the point of action in the extension direction of the work tool coincides with the Z-axis of the tool attitude coordinate point, and the tool path setting unit 52 generates, as the tool path information, a movement trajectory for moving the work tool so as to connect the tool attitude control information corresponding to the start and end points of the work path.

[0031] Furthermore, the information processing program executed on the information processing device causes the computer to execute a work path extraction process that extracts a work path along which a work tool will be moved from a work target location on a workpiece to be worked on; a coordinate point setting process that defines tool attitude coordinate points having X-, Y-, and Z-axes that define three-dimensional space as the start and end points of the work path; and a tool attitude setting process that associates a point of action that acts on the workpiece among parts of the work tool with the tool attitude coordinate point, and generates tool attitude control information that instructs the attitude of the work tool so that a tool control central axis extending from the point of action in the extension direction of the work tool coincides with the Z-axis of the tool attitude coordinate point.

[0032] 4, the tool attitude control information generation unit 51 has a work path extraction unit 61, a coordinate point setting unit 62, and a tool attitude setting unit 63. The work path extraction unit 61 performs work path extraction processing to extract a work path along which the work tool is moved from a work target location on a workpiece to be worked on.

[0033] Here, the work path extraction unit extracts the work path RT based on either three-dimensional model data or three-dimensional shape measurement data of the workpiece. The work path extraction unit also extracts the work path RT from teaching data obtained by a teaching operation in which an operator operates the robot arm 10 to which a work tool (e.g., end tool 20) is attached, thereby teaching the work path to the robot arm 10.

[0034] The three-dimensional model data includes three-dimensional CAD data and attribute data, which will be described later. CAD data may be data containing surface information that indicates the shape of the work object. CAD data may be in a format such as STEP (Standard for the Exchange of Product model data), IGES (Intial Graphics Exchange Specification), or STL (STereoLithography). The attribute data may also include data such as part names, part numbers, materials, dimensions, work conditions, and contour shapes. As will be described later, the attribute data may also include work object lines. The attribute data may be data included in model data in a computer-readable data format, or may be assembly or part data (e.g., ASSY (Assembly) data) that is written on a paper drawing. When data acquired using a scanner is provided, it is preferable for the user to add attribute data to the acquired data.

[0035] The three-dimensional shape measurement data of the workpiece is obtained as point cloud data representing the shape of the workpiece by the scanner unit 31 attached to the end tool 20. This point cloud data is data that allows the shape of the work area to be grasped in three dimensions. The work path extraction unit 61 extracts a work path from the work area that appears in this point cloud data.

[0036] In the work path extraction process, when extracting a work path from data obtained by a teaching operation, the work path extraction unit 61 adopts the movement trajectory of the end tool 20 obtained by the teaching operation as the work path as is. The movement trajectory is, for example, coordinate data in the control coordinate system of the robot arm 10.

[0037] The coordinate point setting unit 62 performs a coordinate point setting process to define tool attitude coordinate points having X-, Y-, and Z-axes that define a three-dimensional space at the start and end points of the work path RT. Here, the tool attitude coordinate points indicate, for example, the position of the work path RT in the control coordinate system of the robot arm 10. The tool attitude coordinate points can be set at any inclination corresponding to the moving direction and inclination of the end tool 20 with respect to the X-axis (horizontal position), Y-axis (vertical position), and Z-axis (height position) that are set with respect to the origin of the control coordinate system of the robot arm 10. The X-, Y-, and Z-axes of the tool attitude coordinate points are mutually orthogonal coordinate axes, and have a predetermined inclination with respect to the X-, Y-, and Z-axes that are set with respect to the origin of the control coordinate system of the robot arm 10.

[0038] The tool attitude setting unit 63 associates the point of action PX, which acts on the workpiece among the parts of the end tool 20, with the tool attitude coordinate point, and generates tool attitude control information that instructs the attitude of the work tool so that the tool control central axis RX extending from the point of action PX in the extension direction of the work tool coincides with the Z axis of the tool attitude coordinate point. Note that in this specification, the axis of the tool attitude coordinate point that coincides with the tool control central axis RX is the Z axis, but which of the three axes of the tool attitude coordinate point should be set as the X axis, Y axis, or Z axis can be arbitrarily determined. In other words, the tool attitude setting unit 63 only sets the axis that sets the tool attitude as the Z axis, and the axis that coincides with the tool control central axis RX can be any of the X axis, Y axis, or Z axis as long as it is an axis that sets the tool attitude. In addition, the tool attitude control information includes tool attitude coordinate points that correspond to the start point and end point of the work path RT. In other words, the trajectory connecting the tool attitude coordinate points included in the tool attitude control information coincides with the work path RT. In other words, the tool attitude control information also includes information on the work path RT.

[0039] Next, a procedure for generating work information data using work information data generation system 40 according to embodiment 1 will be described. Fig. 5 is a flowchart illustrating the flow of work in working robot system 1 according to embodiment 1. Note that, although the following description will be given of an example in which a welding torch is used as end tool 20, working robot system 1 can also be applied to devices other than welding torches.

[0040] 5, working robot system 1 first determines the workpiece to be welded (work) and the welding tote that will be the welding tool for welding (step S1). Next, work information data generation system 40 performs a work information data generation process that generates work information data that defines the type of work to be performed and the type of work path (step S2). This work information data will be described in detail later.

[0041] Next, in working robot system 1, the work information data generated in step S2 is read into the working robot (step S3). More specifically, the work information data generated by work information data generation system 40 is read into robot controller 12. After that, in working robot system 1, robot arm 10 is operated to perform a task on the workpiece (step S4).

[0042] Here, a detailed description will be given of the work data generation process performed by the work information data generation system 40. Fig. 6 is a flowchart illustrating the flow of the work information data generation process according to the first embodiment.

[0043] 6, in the work data generation process, first, a tool attitude control information generation process is executed by the tool attitude control information generation unit 51. In this tool attitude control information generation process, a work path extraction process (step S10) using the work path extraction unit 61, a coordinate point setting process (step S11) by the coordinate point setting unit 62, and a tool attitude setting process (step S12) by the tool attitude setting unit 63 are executed.

[0044] In the work path extraction process of step S10, a work path RT along which the work tool will move is extracted from the work target location on the workpiece to be worked on. In the coordinate point setting process of step S11, tool attitude coordinate points having the X-axis, Y-axis, and Z-axis that define the three-dimensional space are defined as the start point and end point of the work path RT. The coordinate point setting process will now be described in more detail with reference to FIG. 7. FIG. 7 is a diagram specifically explaining the coordinate point setting process according to the first embodiment.

[0045] As shown in FIG. 7 , in the coordinate point setting process, a tool attitude coordinate point PC1 is set at the start point of the work path RT, and a tool attitude coordinate point PC2 is set at the end point of the work path RT. The X-, Y-, and Z-axes of the tool attitude coordinate points PC1 and PC2 are mutually orthogonal coordinate axes. The coordinate axes of the tool attitude coordinate points PC1 and PC2 are inclined with respect to a reference coordinate system based on the origin of the robot arm 10. This inclination is determined based on the movement direction of the end tool 20 and the desired inclination of the end tool 20. The inclination of the tool attitude coordinate points PC1 and PC2 may be calculated by computation based on the position, length, and direction of the work path RT and the work content of the end tool 20, or may be determined by the operator. The inclination of the tool attitude coordinate points PC1 and PC2 may be calculated by computation and subsequently corrected by the operator, taking into account the positional relationship between the end tool 20 and the workpiece.

[0046] When multiple work paths RT are set for one workpiece, the coordinate point setting process defines tool attitude coordinate points PC1 and PC2 at the start and end points of each of the multiple work paths RT. The multiple work paths are formed by dividing one continuous curved or meandering work path.

[0047] More specifically, when a single workpiece is divided into multiple work target locations, multiple work paths RT are set for that single workpiece. In this case, the coordinate point setting process sets tool attitude coordinate points PC1, PC2 for each of the multiple work paths RT. Furthermore, when a single continuous work path is curved or meandering, the work path extraction process sets multiple work paths RT that linearly approximate the curved or meandering work path. Then, the coordinate point setting process sets tool attitude coordinate points PC1, PC2 for each of the multiple work paths RT.

[0048] In the tool attitude setting process of step S12, the point of action PX of the work tool that acts on the workpiece is associated with the tool attitude coordinate points PC1 and PC2, and tool attitude control information is generated that instructs the attitude of the work tool so that the tool control central axis RX extending from the point of action PX in the extension direction of the end tool 20 coincides with the Z axis of the tool attitude coordinate points PC1 and PC2. In other words, the tool attitude control information includes attitude information of two tools positioned at two points, the start point and the end point of the work path RT. The tool attitude setting process will now be described in more detail with reference to FIG. 8. FIG. 8 is a diagram specifically explaining the tool attitude setting process according to the first embodiment.

[0049] 8, in the tool attitude setting process, the position and inclination of the tool control central axis RX are set so that the Z axis, which is the setting axis of the tool attitude at the tool attitude coordinate points PC1 and PC2, coincides with an extension of the tool control central axis RX. Then, in the tool attitude setting process, information regarding the position and inclination of the tool control central axis RX on the start point side of the work path RT and the position and inclination of the tool control central axis RX on the end point side of the work path RT is output as tool attitude control information.

[0050] Here, reference is made again to Fig. 6. As shown in Fig. 6, after the tool attitude setting process in step S12 is completed, the work information data generation system 40 performs a tool path setting process in which the tool path setting unit 52 generates tool path information that sets the trajectory along which the end tool 20 (e.g., a torch) will move, using the tool attitude control information generated by the tool attitude control information generation unit 51 (step S13). Next, the work information data generation unit 53 performs a work data generation process in which the work information data is generated by applying the tool path information generated by the tool path setting unit 52 to the work information in the work information data (step S14).

[0051] As explained above, in the work information data generation system 40 according to the first embodiment, the tool attitude control information generation unit 51 generates tool attitude control information in which the position and inclination of the tool are intentionally set, and generates tool path information and work information data based on this tool attitude control information. As a result, the work information data generation system 40 according to the first embodiment can generate work information data for moving the tool with a tool attitude that prevents the end tool 20 from interfering with the workpiece.

[0052] In particular, when performing work on a work path set in a narrow space, it is necessary to adjust the work information data through repeated trial and error to avoid interference between the end tool 20 and the robot arm 10 and the workpiece. However, by using the work information data generation system 40 according to the first embodiment, the number of trials can be reduced.

[0053] Furthermore, repeated trial and error to adjust work information data increases the possibility of damaging the end tool 20 or the robot arm 10, but by using the work information data generation system 40 according to the first embodiment to reduce the number of trials, it is possible to reduce the risk of failure of the end tool 20 or the robot arm 10.

[0054] Embodiment 2 In the second embodiment, a working robot system will be described that has an end tool 20a that is different from the end tool 20. In the description of the second embodiment, the same components as those described in the first embodiment will be assigned the same reference numerals as in the first embodiment, and the description thereof will be omitted.

[0055] Fig. 9 is a schematic diagram of an end tool 20a according to embodiment 2. As shown in Fig. 9, the end tool 20 according to embodiment 2 uses a torch 23 that performs welding similarly to the end tool 20 as a working tool.

[0056] Although there are various types of welding tools, the end tool 20a described below is a torch used for non-consumable electrode welding that uses a filler guide that supplies a rod-shaped filler of molten metal. Note that the torch used as the end tool 20 described below is, for example, a well-known TIG (Tungsten Inert Gas) torch, but this does not limit its application to other welding torches such as laser welding torches.

[0057] As shown in Figure 9, end tool 20a is configured by adding a rotating base 24, a motor 25, a filler guide 26, and a filler guide fixing portion 27 to end tool 20. Rotating base 24 is attached to mounting base 21, and motor 25, to which torch holder 22 is attached so as to rotate torch holder 22 in response to the rotation of motor 25, transmits a rotational force to rotating base 24, thereby rotating torch holder 22 and torch 23. Here, in end tool 20a, each component is assembled so that when torch holder 22 and torch 23 are rotated by the driving force of the motor, the central axis of rotation of torch 23 coincides with tool control central axis RX of torch 23. Filler guide 26 supplies filler FIR to the tip of torch 23 (torch tip portion 23b). Filler guide 26 includes filler guide fixing portion 27 that fixes filler guide 26 to torch 23 so that filler guide 26 rotates together with torch 23. That is, in end tool 20a, filler guide 26 rotates together with torch 23 around tool control central axis RX as the rotation axis. In FIG. 9, θz is shown as a symbol indicating the rotational position of filler guide 26.

[0058] In controlling the end tool 20a according to the second embodiment, it is preferable that the filler guide 26 is controlled so as to supply the filler FIR to the vicinity of the torch tip 23b from the traveling direction of the end tool 20a. Therefore, in the second embodiment, the coordinate point setting unit 62 of the tool attitude control information generating unit 51 includes information specifying the rotation angle of the filler guide 26 in the tool attitude control information so that the filler guide 26 is positioned as desired.

[0059] That is, in the second embodiment, the work tool is a welding tool that welds a workpiece while receiving a supply of filler, and includes a filler guide 26 that supplies filler FIR and is attached to the welding tool so as to be rotatable about the tool control center axis RX of the welding tool, and the coordinate point setting unit 62 defines Z-axis rotation angle information θz in addition to coordinate information of the tool attitude coordinate points PC1 and PC2 and tilt information of the tool attitude coordinate points PC1 and PC2.

[0060] Fig. 10 is a flowchart illustrating the flow of work information data generation processing according to the second embodiment. As shown in Fig. 10, in the work information data generation processing according to the second embodiment, a filler guide rotation angle setting processing in step S20 is added to the work information data generation processing according to the first embodiment. The filler guide rotation angle setting processing in step S20 is a processing performed as one of the processings of the coordinate point setting unit 62, and is performed between the coordinate point setting processing (step S11) and the tool attitude setting processing (step S12).

[0061] In the filler guide rotation angle setting process, in addition to coordinate information of the tool attitude coordinate points PC1 and PC2 and tilt information of the tool attitude coordinate points PC1 and PC2, rotation angle information θz of the Z axis is defined. Here, the filler guide rotation angle setting process will be described in more detail with reference to Fig. 11. Fig. 11 is a diagram specifically explaining the tool attitude setting process according to the second embodiment.

[0062] As shown in FIG. 11 , in the filler guide rotation angle setting process, a rotation angle θZ of the filler guide 26 is set with respect to the Z axis of the tool attitude coordinate point PC1 set at the start point of the work path RT in the coordinate point setting process and the tool attitude coordinate point PC2 set at the end point of the work path RT. This rotation angle θz is set based on the movement direction of the end tool 20a. The rotation angle θz may be calculated by calculation based on the traveling direction of the end tool 20a, or may be determined by the operator. Furthermore, the rotation angle θz may be a value calculated by calculation that the operator later corrects by taking into account the positional relationship between the end tool 20a and the workpiece.

[0063] As described above, in the second embodiment, when using an end tool 20a having a filler guide 26, it is possible to include in the work information data a value specifying the rotation angle θz of the filler guide 26. This makes it easy to generate work information data for performing appropriate work using the filler guide 26 in the second embodiment.

[0064] Embodiment 3 In the third embodiment, a work information data generation system 40a will be described, which is another embodiment of the work information data generation system 40 of the first embodiment. In the description of the third embodiment, the same components as those described in the first embodiment will be assigned the same reference numerals as those in the first embodiment, and the description thereof will be omitted.

[0065] The work information data generation system 40a according to the third embodiment includes a contact determination unit 74 that determines whether the work tool will come into contact with the workpiece when the work tool is moved based on the tool attitude control information. If the contact determination unit 74 determines that the workpiece will come into contact with the work tool, it instructs the coordinate point setting unit 62 to correct the inclination of the tool attitude coordinate point so that the workpiece and the work tool do not come into contact.

[0066] Fig. 12 is a block diagram of a work information data generation system 40a according to the third embodiment. As shown in Fig. 10, the work information data generation system 40a according to the third embodiment has a calculation unit 41 instead of the calculation unit 41. The calculation unit 41 includes a machine shape data generation program, an object shape data generation program, a virtual data generation program, and a contact detection program in the work information data generation program, thereby realizing a machine shape data generation unit 71, an object shape data generation unit 72, a virtual data generation unit 73, and a contact detection unit 74.

[0067] The machine shape data generation unit 71 generates three-dimensional model data that represents the shapes of the robot arm 10 and the end tool 20 in three dimensions as machine shape data. The object shape data generation unit 72 generates three-dimensional model data that represents, for example, the shape of a workpiece in three dimensions as object shape data. Here, data input to the machine shape data generation unit 71 and the object shape data generation unit 72 may include design data or data obtained by measurement using a scanner. The data is stored in the storage unit 42 of the work information data generation system 40a, or is provided to the work information data generation system 40a from the input unit 43 via communication or a portable storage device (e.g., USB (registered trademark) memory), etc.

[0068] The design data is, for example, CAD data information indicating the shapes of the robot arm 10, the end tool 20, and the workpiece. The CAD data information may represent the two-dimensional shapes of the robot arm 10, the end tool 20, and the workpiece, or may represent the three-dimensional shapes. The design data may be the design data of the robot arm 10, the end tool 20, and the workpiece itself, or may be data generated by processing the design data of the robot arm 10, the end tool 20, and the workpiece. The shape data output by the machine shape data generation unit 71 and the object shape data generation unit 72 may be data that can represent the shapes of the robot arm 10, the end tool 20, and the workpiece in three dimensions. The shape data output by the machine shape data generation unit 71 and the object shape data generation unit 72 can be in various formats, such as primitive shape data that represents the shapes of the robot arm 10, end tool 20, and workpiece using a combination of primitive shapes such as three-dimensional blocks, mesh data that represents the three-dimensional shapes of the robot arm 10, end tool 20, and workpiece using mesh shape data, and point cloud data that represents the robot arm 10, end tool 20, and workpiece in three dimensions using a collection of point clouds.

[0069] The three-dimensional model data includes three-dimensional CAD data and attribute data, which will be described later. The CAD data may be data containing surface information that indicates the shape of the workpiece. The CAD data may be in a format such as STEP (Standard for the Exchange of Product model data), IGES (Intial Graphics Exchange Specification), or STL (STereoLithography). The attribute data may include data such as part names, part numbers, materials, dimensions, work conditions, and contour shapes. As will be described later, the attribute data may also include workpiece lines. The attribute data may be data included in the model data in a computer-readable data format, or may be assembly or part data (e.g., ASSY (Assembly) data) that is written on a paper drawing. When data acquired using a scanner is provided to the machine shape data generation unit 71 and the object shape data generation unit 72, it is preferable for the user to add attribute data to the acquired data.

[0070] The virtual data generation unit 73 extracts a portion of the object shape data where the machine shape data will enter when the machine shape data is moved relative to the object shape data in accordance with the tool path information. The contact determination unit 74 determines whether the virtual data generation unit 73 has a portion in the object shape data where the machine shape data will enter. In the third embodiment, the work information data generation unit 53 applies the tool path information for which the contact determination unit 74 has determined that there is no portion in the object shape data where the machine shape data will enter to the work information in the work information data, generating work information data. Furthermore, when the contact determination unit 74 determines that there is a portion in the object shape data where the machine shape data will enter, the work information data generation unit 53 according to the third embodiment instructs the coordinate point setting unit 62 to perform an attitude correction process to correct the inclination of the tool attitude coordinate points so that the workpiece and the work tool do not come into contact.

[0071] Next, a description will be given of a process for generating work information data using the work information data generation system 40a according to the third embodiment. Fig. 13 is a flowchart illustrating the flow of the work information data generation process according to the third embodiment.

[0072] 13, in the work information data generation process according to the third embodiment, a contact confirmation process is added between the tool path setting process (step S13) and the work information data generation process (step S14) of the work information data generation process according to the first embodiment. The contact confirmation process is performed by a machine shape data generation unit 71, an object shape data generation unit 72, a virtual data generation unit 73, and a contact determination unit 74.

[0073] In the contact confirmation process, a machine shape data generation process is performed using a machine shape data generation unit 71 to generate machine shape data representing the shapes of the robot arm 10 and the end tool 20 using point cloud data (step S30). Next, an object shape data generation process is performed using an object shape data generation unit 72 to generate object shape data representing the shape of the workpiece using point cloud data (step S31). Next, a virtual data generation process is performed using a virtual data generation unit 73 to extract a portion of the object shape data where the machine shape data would fit into the object shape data if the machine shape data were moved relative to the object shape data along the tool path information (step S32). Next, a contact determination process is performed using a contact determination unit 74 to determine whether or not there is a portion of the object shape data where the machine shape data would fit into the object shape data in the virtual data generation unit 73 (steps S33 and S34). Then, if it is determined in the contact determination process that there is no contact between the workpiece and the end tool 20, etc. (for example, if there is no portion in the object shape data where machine shape data fits in), a work information data generation process is executed to generate work information data including, as work information, the tool path information for which it has been determined that there is no contact, and the work information data generation process is terminated (step S14). On the other hand, if it is determined in the contact determination process that there is contact between the workpiece and the end tool 20 (for example, if there is a portion in the object shape data where machine shape data fits in), an attitude correction process is instructed to the coordinate point setting unit 62 to correct the inclination of the tool attitude coordinate point so that there is no contact between the workpiece and the work tool, and the process is executed again from the tool path setting process (step S13).

[0074] The work information data generating system 40a repeats the processes of steps S13 and S30 to S35 a predetermined number of times until it is determined in steps S33 and S34 that the workpiece and the end tool 20 are not in contact with each other.

[0075] Another example of a variation of the work information data generation system 40a is a difference in the method of generating the trajectory data of the machine shape data referenced by the contact determination unit 74. The trajectory data of the machine shape data is generated by first reading the tool trajectory (tool path) generated by the tool path setting unit 52 into the machine shape data generation unit 71. The machine shape data generation unit 71 then moves the design data of the robot arm 10 and the end tool 20 along the tool path, generating three-dimensional tool trajectory data of the three-dimensional shape, and outputs it as machine shape data. The machine shape data generation unit 71 can generate the three-dimensional shape of the tool trajectory along the tool path regardless of whether the input is two-dimensional data or three-dimensional data. The contact determination unit 74 can then determine whether the machine shape data generated in this manner overlaps with the object shape data generated by the object shape data generation unit 72.

[0076] The work information data generation system 40a according to the third embodiment verifies in advance whether the robot arm 10 and the end tool 20 will come into contact with the workpiece when they are moved, and generates work information data that is considered to prevent the robot arm 10 and the end tool 20 from coming into contact with the workpiece. Therefore, by using the work information data generation system 40a according to the third embodiment, it is possible to further reduce the number of trials in the work information data generation process compared to the first embodiment.

[0077] Embodiment 4 In the fourth embodiment, an example will be described in which the contact confirmation process described in the third embodiment is applied to the end tool 20a having the filler guide 26 described in the second embodiment.

[0078] In other words, the work information data generation system according to the third embodiment includes a contact determination unit 74 that determines whether or not there is contact between the workpiece and the welding tool and between the workpiece and the filler guide 26 when the work tool is moved based on the tool attitude control information, and when it is determined that there is contact between at least one of the workpiece and the welding tool and the workpiece and the filler guide 26, the contact determination unit 74 instructs the coordinate point setting unit 62 to correct the inclination of the tool attitude coordinate point and the rotation angle of the Z axis so that neither the welding tool nor the filler guide 26 comes into contact with the workpiece.

[0079] In the description of the fourth embodiment, the same components as those described in the first to third embodiments are denoted by the same reference numerals as those in the first to third embodiments, and the description thereof will be omitted.

[0080] 14 is a flowchart illustrating the flow of work information data generation processing according to the fourth embodiment. In the fourth embodiment, in the machine shape data generation processing performed in step S30, machine shape data is generated taking into consideration the shape of the end tool 20, the shape of the filler guide 26, and the position of the filler guide 26 after opening. Then, in the contact determination processing of steps S33 and S44, it is determined whether or not there is contact between the workpiece and the welding tool and between the workpiece and the filler guide 26. Then, if it is determined in the contact determination processing that there is contact between at least one of the workpiece and the welding tool and the workpiece and the filler guide 26, the coordinate point setting unit 62 is instructed to perform an attitude correction processing that corrects the tilt of the tool attitude coordinate point and the rotation angle of the Z axis so that neither the welding tool nor the filler guide 26 comes into contact with the workpiece.

[0081] As explained above, in the work information data generation process according to the fourth embodiment, when an end tool 20a including a filler guide 26 is used, verification is performed in advance as to whether or not the robot arm 10 and the end tool 20a will come into contact with the workpiece when they are moved. Therefore, by performing the work information data generation process according to the fourth embodiment, it is possible to further reduce the number of trials in the work information data generation process compared to the first embodiment.

[0082] The present invention is not limited to the above-described embodiments, and can be modified as appropriate without departing from the spirit of the present invention. For example, a person skilled in the art can easily conceive of implementing the present invention by appropriately combining the features described in each embodiment.

[0083] Finally, the embodiments of the present invention will be summarized with reference to the drawings etc. As shown in Figs. 1 to 8, the embodiments of the present invention are described below.

[0084] (Appendix 1) a work path extraction unit (61) that extracts a work path (RT) along which a work tool (20) is moved from a work target location on a workpiece; a coordinate point setting unit (62) that defines tool attitude coordinate points (PC1, PC2) having X-axis, Y-axis, and Z-axis that define a three-dimensional space as the start point and end point of the work path (RT), respectively; a tool attitude setting unit (63) that associates a point of action (PX) that acts on the workpiece among parts of the work tool (20) with the tool attitude coordinate points (PC1, PC2), and generates tool attitude control information that instructs the attitude of the work tool (20) so that a tool control central axis (RX) extending from the point of action (PX) in the extension direction of the work tool (20) coincides with the Z axis of the tool attitude coordinate points (PC1, PC2); An information processing device comprising:

[0085] (Appendix 2) 2. The information processing device according to claim 1, wherein the work path extraction unit (61) extracts the work path (RT) based on either three-dimensional model data or three-dimensional shape measurement data of the workpiece.

[0086] (Appendix 3) The information processing device according to claim 1 or 2, wherein the work path extraction unit (61) extracts the work path (RT) from teaching data obtained by a teaching operation in which a worker operates a robot arm to which the work tool (20) is attached, thereby teaching the work path (RT) to the robot arm.

[0087] (Appendix 4) The information processing device according to any one of appendices 1 to 3, wherein, when a plurality of work paths (RT) are set for one workpiece, the coordinate point setting unit (62) defines the tool attitude coordinate points (PC1, PC2) at the start point and end point of each of the plurality of work paths (RT).

[0088] (Appendix 5) 5. The information processing device according to claim 4, wherein the plurality of work paths (RT) are obtained by dividing one continuous work path (RT) that is curved or meandering.

[0089] (Appendix 6) The work tool (20) is a welding tool that performs welding on the workpiece while receiving a supply of filler (FIR), a filler guide (26) that supplies the filler (FIR) and is attached to the welding tool so as to be rotatable about the tool control central axis (RX) of the welding tool; The information processing device according to any one of appendices 1 to 5, wherein the coordinate point setting unit (62) defines rotation angle information (θz) of the Z axis in addition to coordinate information of the tool attitude coordinate points (PC1, PC2) and tilt information of the tool attitude coordinate points (PC1, PC2).

[0090] (Appendix 7) a contact determination unit (74) that determines whether or not there is contact between the workpiece and the welding tool and whether or not there is contact between the workpiece and the filler guide (26) when the work tool (20) is moved based on the tool attitude control information, The information processing device according to Appendix 6, wherein, when it is determined that there is at least one of contact between the workpiece and the welding tool and contact between the workpiece and the filler guide (26), the contact determination unit (74) instructs the coordinate point setting unit (62) to correct the inclination of the tool attitude coordinate points (PC1, PC2) and the rotation angle of the Z axis so that neither the welding tool nor the filler guide (26) comes into contact with the workpiece.

[0091] (Appendix 8) a contact determination unit (74) that determines whether the work tool (20) is in contact with the workpiece when the work tool (20) is moved based on the tool attitude control information, The information processing device according to any one of appendices 1 to 7, wherein, when it is determined that the workpiece and the work tool (20) will come into contact with each other, the contact determination unit (74) instructs the coordinate point setting unit to correct the inclination of the tool attitude coordinate points (PC1, PC2) so that the workpiece and the work tool (20) do not come into contact with each other.

[0092] (Appendix 9) a tool path setting unit (52) that generates tool path information indicating a movement trajectory of the work tool using the tool attitude control information; a work information data generation unit (53) that generates work information data including the tool path information and the details of the work performed by the work tool; 9. The information processing device according to any one of claims 1 to 8, further comprising:

[0093] (Appendix 10) a work path extraction process (S10) for extracting a work path (RT) along which a work tool (20) is moved from a work target location on a workpiece; a coordinate point setting process (S11) for defining tool attitude coordinate points (PC1, PC2) having X-axis, Y-axis, and Z-axis that define a three-dimensional space as the start point and end point of the work path (RT), respectively; a tool attitude setting process (S12) for associating a point of action (PX) of the work tool (20) that acts on the workpiece with the tool attitude coordinate points (PC1, PC2), and generating tool attitude control information that instructs the attitude of the work tool (20) so that a tool control central axis (RX) extending from the point of action (PX) in the extension direction of the work tool (20) coincides with the Z axis of the tool attitude coordinate points (PC1, PC2); An information processing method that causes a computer to execute the above.

[0094] (Appendix 11) a tool attitude control information generating unit (51) that generates tool attitude control information that specifies the attitude of the work tool (20); a tool path setting unit (52) that generates tool path information indicating a movement trajectory of the work tool (20) using the tool attitude control information; a work information data generating unit (53) that generates work information data including the tool path information and the details of the work performed by the work tool (20); a robot arm having the work tool (20) attached to its tip, which moves the work tool (20) based on the work information data and performs work on a workpiece with the work tool (20); The tool attitude control information generation unit a work path extraction unit (61) that extracts a work path (RT) along which a work tool (20) is moved from a work target location on a workpiece; a coordinate point setting unit (62) that defines tool attitude coordinate points (PC1, PC2) having X-axis, Y-axis, and Z-axis that define a three-dimensional space as the start point and end point of the work path (RT), respectively; a tool attitude setting unit (63) that associates a point of action (PX) that acts on the workpiece among parts of the work tool (20) with the tool attitude coordinate points (PC1, PC2), and generates the tool attitude control information so that a tool control central axis (RX) extending from the point of action (PX) in the extension direction of the work tool (20) coincides with the Z axis of the tool attitude coordinate points (PC1, PC2), The tool path setting unit (52) A working robot system that generates, as the tool path information, a movement trajectory for moving the work tool (20) so as to connect between the tool attitude control information corresponding to each of the start point and end point of the work path (RT).

[0095] (Appendix 12) A work path extraction process (S10) extracts a work path along which a work tool is moved from a work target location on a workpiece to be worked on; a coordinate point setting process (S11) for defining tool attitude coordinate points having X-axis, Y-axis, and Z-axis that define a three-dimensional space at the start point and end point of the work path, respectively; a tool attitude setting process (S12) that associates a point of action that acts on the workpiece among parts of the work tool with the tool attitude coordinate point, and generates tool attitude control information that instructs the attitude of the work tool so that a tool control central axis extending from the point of action in the extension direction of the work tool coincides with the Z axis of the tool attitude coordinate point; An information processing program that causes a computer to execute the above. [Explanation of symbols]

[0096] 1. Working robot system 10 Robotic Arm 11 Tool mounting part 12 Robot Controller 20 End Tools 21 Base 22 Torch holder 23 Torch 23a Torch stick 23b Torch tip 24 Rotating base 25 motor 26 Filler Guide 27 Filler guide fixing part 30 Scanner holder 31 Scanner unit 32 Scanner Joint 40 Work information data generation system 41 Arithmetic section 42 Storage section 43 Input section 44 Display section 45 Output section 51 Tool attitude control information generation unit 52 Tool path setting section 53 Work information data generation unit 61 Work path extraction unit 62 Coordinate point setting section 63 Tool attitude setting unit 71 Machine shape data generation unit 72 Object shape data generation unit 73 Virtual Data Generation Unit 74 Contact determination section

Claims

1. a work path extraction unit that extracts a work path along which a work tool is moved from a work target location on a workpiece; a coordinate point setting unit that defines tool attitude coordinate points having X-axis, Y-axis, and Z-axis that define a three-dimensional space at the start point and end point of the work path, respectively; a tool attitude setting unit that associates a point of action that acts on the workpiece among parts of the work tool with the tool attitude coordinate point, and generates tool attitude control information that instructs the attitude of the work tool so that a tool control central axis extending from the point of action in the extension direction of the work tool coincides with the Z axis of the tool attitude coordinate point; An information processing device comprising:

2. The information processing apparatus according to claim 1 , wherein the work path extraction unit extracts the work path based on either three-dimensional model data or three-dimensional shape measurement data of the workpiece.

3. 2. The information processing device according to claim 1, wherein the work path extraction unit extracts the work path from teaching data obtained by a teaching operation in which a worker operates a robot arm to which the work tool is attached to teach the robot arm a work path.

4. The information processing apparatus according to claim 1 , wherein when a plurality of the work paths are set for one workpiece, the coordinate point setting unit defines the tool attitude coordinate points at the start point and end point of each of the plurality of the work paths.

5. The information processing apparatus according to claim 4 , wherein the plurality of work paths are obtained by dividing a single continuous work path that is curved or meandering.

6. the work tool is a welding tool that performs welding on the workpiece while receiving a supply of filler, a filler guide that supplies the filler and is attached to the welding tool so as to be rotatable about the tool control central axis of the welding tool; The information processing apparatus according to claim 1 , wherein the coordinate point setting unit defines rotation angle information of the Z axis in addition to coordinate information of the tool attitude coordinate points and tilt information of the tool attitude coordinate points.

7. a contact determination unit that determines whether or not there is contact between the workpiece and the welding tool and whether or not there is contact between the workpiece and the filler guide when the work tool is moved based on the tool attitude control information, 7. The information processing device according to claim 6, wherein, when it is determined that there is at least one of contact between the workpiece and the welding tool and contact between the workpiece and the filler guide, the contact determination unit instructs the coordinate point setting unit to correct the inclination of the tool attitude coordinate point and the rotation angle of the Z axis so that neither the welding tool nor the filler guide comes into contact with the workpiece.

8. a contact determination unit that determines whether the work tool is in contact with the workpiece when the work tool is moved based on the tool attitude control information, 2. The information processing device according to claim 1, wherein, when it is determined that the workpiece and the work tool will come into contact, the contact determination unit instructs the coordinate point setting unit to correct the inclination of the tool attitude coordinate point so that the workpiece and the work tool do not come into contact.

9. a tool path setting unit that generates tool path information indicating a movement trajectory of the work tool using the tool attitude control information; a work information data generation unit that generates work information data including the tool path information and the details of the work performed by the work tool; The information processing device according to claim 1 , further comprising:

10. A work path extraction process for extracting a work path along which the work tool is moved from a work target location on the workpiece; a coordinate point setting process for defining tool attitude coordinate points having X-axis, Y-axis, and Z-axis that define a three-dimensional space at the start point and end point of the work path, respectively; a tool attitude setting process that associates a point of action that acts on the workpiece among parts of the work tool with the tool attitude coordinate point, and generates tool attitude control information that instructs the attitude of the work tool so that a tool control central axis extending from the point of action in the extension direction of the work tool coincides with the Z axis of the tool attitude coordinate point; An information processing method that causes a computer to execute the above.

11. a tool attitude control information generating unit that generates tool attitude control information that specifies the attitude of the work tool; a tool path setting unit that generates tool path information indicating a movement trajectory of the work tool using the tool attitude control information; a work information data generation unit that generates work information data including the tool path information and the details of the work performed by the work tool; a robot arm having the work tool attached to a tip thereof, and moving the work tool based on the work information data to perform work on a workpiece with the work tool; The tool attitude control information generation unit a work path extraction unit that extracts a work path along which a work tool is moved from a work target location on a workpiece; a coordinate point setting unit that defines tool attitude coordinate points having X-axis, Y-axis, and Z-axis that define a three-dimensional space at the start point and end point of the work path, respectively; a tool attitude setting unit that associates a point of action that acts on the workpiece among parts of the work tool with the tool attitude coordinate point, and generates the tool attitude control information so that a tool control central axis extending from the point of action in an extension direction of the work tool coincides with the Z axis of the tool attitude coordinate point, The tool path setting unit a working robot system that generates, as the tool path information, a movement trajectory for moving the work tool so as to connect between the tool attitude control information corresponding to each of the start point and end point of the work path;

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