Teaching support system, teaching support program generation device, method for generating teaching support program, and teaching support program

Abstract

To complement a teaching line on the basis of a teaching point and support teaching operation by an operator.SOLUTION: A teaching support system includes an MR device that is worn by an operator. The teaching support system acquires at least one teaching point that is taught by the MR device to a real-world workpiece that is welded by a welding robot, generates a first operation locus that is taught by the welding robot on the basis of the acquired teaching point, and generates and outputs a display image in which an image of the first operation locus is superposed on the filmed image in which the workpiece is filmed.SELECTED DRAWING: Figure 6

Description

[Technical Field]

[0001] The present disclosure relates to a teaching assistance system, a teaching assistance program generation device, a teaching assistance program generation method, and a teaching assistance program. [Background technology]

[0002] Patent Document 1 discloses an offline teaching device that includes a display unit that displays a teaching program and a model diagram, a memory unit that stores instructions that constitute the teaching program and model data for the model diagram, and a control unit that controls the display unit and the memory unit.The offline teaching device includes a teaching program that includes a position detection program that includes multiple position detection instructions and a welding program that includes multiple welding instructions, and displays the movement trajectory of the robot when the teaching program is executed on the model diagram, and displays some of the multiple position detection instructions and some of the multiple welding instructions on the model diagram. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2016 / 021130 Summary of the Invention [Problem to be solved by the invention]

[0004] The present disclosure aims to provide a teaching support system, a teaching support program generation device, a teaching support program generation method, and a teaching support program that complement teaching lines based on teaching points and support teaching work by an operator. [Means for solving the problem]

[0005] The present disclosure provides a teaching support system including an MR device worn by a worker, the MR device including: an acquisition unit that acquires at least one teaching point that is taught to a real-world workpiece to be welded by a welding robot; a generation unit that generates a first movement trajectory to be taught to the welding robot based on the acquired teaching point; and an output unit that generates and outputs a display image in which an image of the first movement trajectory is superimposed on an image of the workpiece.

[0006] The present disclosure also provides a teaching assistance program generation device having at least one processor, wherein the teaching assistance program is executed by an MR device worn by a worker and captures an image of a workpiece in the real world, and generates the teaching assistance program to execute the following steps: acquiring at least one teaching point taught to the workpiece to be welded by a welding robot; generating a first movement trajectory to be taught to the welding robot based on the acquired teaching point; and generating and outputting a display image in which an image of the first movement trajectory is superimposed on an image of the workpiece.

[0007] The present disclosure also provides a method for generating a teaching assistance program to be performed by an apparatus having at least one processor, wherein the teaching assistance program is executed by an MR device worn by a worker and capturing an image of a workpiece in the real world, and generates the teaching assistance program to execute the following steps: acquiring at least one teaching point taught to the workpiece to be welded by a welding robot; generating a first movement trajectory to be taught to the welding robot based on the acquired teaching point; and generating and outputting a display image in which an image of the first movement trajectory is superimposed on an image of the workpiece.

[0008] The present disclosure also provides a teaching assistance program that is worn by a worker and executed by an MR device that images a workpiece in the real world, the teaching assistance program executing the following steps: acquiring at least one teaching point that is taught to the workpiece to be welded by a welding robot; generating a first movement trajectory that is taught to the welding robot based on the acquired teaching point; and generating and outputting a display image in which an image of the first movement trajectory is superimposed on an image of the workpiece. [Effects of the Invention]

[0009] According to the present disclosure, teaching lines can be supplemented based on teaching points, and teaching work by an operator can be supported. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 is a diagram showing an example of a welding teaching support system according to an embodiment. [Figure 2] FIG. 1 shows an example of the internal configuration of an MR device and a processing device. [Figure 3] A diagram explaining an example of teaching line display [Figure 4] A diagram showing an example of selecting a completion mode [Figure 5] A diagram showing an example of a complementary form [Figure 6] Transition diagram of teaching images showing an example of the procedure for completing teaching lines of an arc shape [Figure 7] Transition diagram of teaching images showing an example of the procedure for completing teaching lines of an arc shape [Figure 8] Transition diagram of teaching images showing an example of the procedure for completing a straight teaching line [Figure 9] Transition diagram of teaching images showing an example of the procedure for completing a straight teaching line [Figure 10] 10 is a flowchart showing an example of an operation procedure of an MR device according to an embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0011] (Background to this disclosure) Previously, the teaching work of teaching welding operations to a welding robot required selecting a supplementary form to complement the shape of the weld line according to the welding location. However, if there was no 3D model of the workpiece to be welded, the worker had to compare the actual workpiece with the teaching data and actually operate the welding robot to complement the welding location, which was very time-consuming. In addition, although there was a set work procedure for the supplementary work, there was an issue that the work procedure was difficult to understand for workers who were unfamiliar with teaching work.

[0012] Therefore, in the following embodiments, we will explain a teaching support system, a teaching support program generation device, a teaching support program generation method, and a teaching support program that complement teaching lines based on teaching points and support teaching work by workers.

[0013] Hereinafter, with reference to the accompanying drawings as appropriate, detailed descriptions of embodiments specifically disclosing the teaching assistance system, teaching assistance program generation device, teaching assistance program generation method, and teaching assistance program according to the present disclosure will be described in detail. However, more detailed descriptions than necessary may be omitted. For example, detailed descriptions of well-known matters or redundant descriptions of substantially identical configurations may be omitted. This is to avoid unnecessary redundancy in the following description and to facilitate understanding by those skilled in the art. Note that the accompanying drawings and the following description are provided to enable those skilled in the art to fully understand the present disclosure and are not intended to limit the subject matter recited in the claims.

[0014] First, a welding teaching support system 100 according to an embodiment will be described with reference to Fig. 1. Fig. 1 is a diagram showing an example of welding teaching support system 100 according to an embodiment. Note that welding teaching support system 100 shown in Fig. 1 is an example and is not limited to this.

[0015] The welding teaching support system 100 accepts teaching operations of teaching points for a real (i.e., actual) workpiece Wk or a virtual workpiece VWk existing in the real world through operator operations using a teaching tool TL or a virtual teaching tool VTL. The welding teaching support system 100 complements teaching lines taught using teaching points based on information on the complementation form selected by the operator operations. The welding teaching support system 100 outputs the teaching points taught for the workpiece Wk or the virtual workpiece VWk and the complemented teaching lines to the MR device DV and visualizes them for the operator. Note that the complementation form here refers to the form of the teaching line (e.g., a straight line, an arc, a sine wave, or a weaving) that passes through the teaching line and is generated by the complementation process.

[0016] In addition, in the following explanation of this disclosure, an example will be described in which the position and posture of the teaching point are taught by the position and posture of the worker's fingers, but teaching may also be performed by a teaching tool TL that resembles a welding torch equipped on a welding robot, or a virtual teaching tool VTL displayed on display unit 13, or a virtual welding torch VTC.

[0017] Furthermore, in the present disclosure, the workpiece used to teach the teaching points and teaching lines may be either an actual workpiece or a virtual workpiece constructed based on 3D model data, etc. Furthermore, in the present disclosure, an example will be described in which welding points indicating welding locations are taught as an example of teaching points, and welding lines indicating the welding operation trajectory along which the welding robot RB performs the welding operation are taught as an example of teaching lines, but the teaching points and teaching lines are not limited to this.

[0018] The teaching point may be, for example, an approach point indicating an approach position for the welding robot (welding torch) to approach the workpiece, an avoidance point indicating an avoidance position for the welding robot (welding torch) to avoid an obstacle, a free-running point indicating a free-running position for the welding torch to free-run, or a departure point indicating a departure position for the welding robot (welding torch) to move away from the workpiece, etc. Similarly, the teaching line may be, for example, an approach line indicating a movement trajectory for the welding robot (welding torch) to approach the workpiece, an avoidance line indicating a movement trajectory for the welding robot (welding torch) to avoid an obstacle, a free-running line indicating a movement trajectory for the welding torch to free-run, or a departure line indicating a movement trajectory for the welding robot (welding torch) to move away from the workpiece, etc.

[0019] The welding teaching support system 100 includes a reference position acquisition marker Mk1, an MR device DV, and a processing device P1. If the MR device DV can realize the function of the processing device P1, the processing device P1 may be omitted.

[0020] Furthermore, welding teaching support system 100 may include workpiece Wk or virtual workpiece VWk, teaching tool TL, or real (i.e., actual) welding robot RB or virtual welding robot VRB. Furthermore, welding teaching support system 100 may omit teaching tool TL from its configuration when the worker uses his or her own fingers instead of teaching tool TL to teach teaching points.

[0021] The reference position acquisition marker Mk1 is realized by, for example, a barcode or a two-dimensional barcode such as a QR code (registered trademark). The reference position acquisition marker Mk1 is a square-shaped marker placed in the real world and has information indicating the reference position for welding the workpiece Wk by the welding robot RB. Furthermore, the reference position acquisition marker Mk1 makes it possible to acquire the relative position and relative angle (relative posture) between the reference position acquisition marker Mk1 and the MR device DV based on the shape and size of the reference position acquisition marker Mk1 that appears in the captured image captured by the camera 15 of the MR device DV.

[0022] The MR device DV is a so-called head-mounted display, and is connected to the processing device P1 so as to be able to communicate data with it. The MR device DV is worn on the head of the worker, and forms a virtual space in which images of virtual production equipment (for example, a virtual workpiece Wk, a virtual welding robot VRB, or a virtual jig) are superimposed on a captured image of a real space corresponding to the worker's field of vision, and displays the virtual space on the display unit 13, thereby visualizing the virtual space for the worker.

[0023] The MR device DV detects a real-world reference position acquisition marker Mk1 from an image captured by the camera 15 and reads reference position information from the reference position acquisition marker Mk1. The MR device DV generates a virtual workpiece VWk, a virtual welding robot VRB, a virtual teaching point, a virtual teaching line, a virtual operation button, or the like. The MR device DV generates an image in which the virtual workpiece VWk, the virtual welding robot VRB, the virtual teaching point, the virtual teaching line, or the virtual operation button, or the like, is superimposed based on the reference position on the image captured by the camera 15, and displays the image on the display unit 13. The MR device DV generates a teaching line (i.e., a welding operation trajectory of the welding robot RB) based on the teaching point and the interpolation form of the teaching line selected by the worker.

[0024] The processing device P1 is connected between the MR device DV and the robot controller so that data can be communicated between them. The processing device P1 transmits information on the positions (three-dimensional) of teaching points and the posture (three-dimensional) of the welding torch TC at the teaching points to the MR device DV. The processing device P1 also transmits the information on the positions and postures of the teaching points to the robot controller that controls and drives the welding robot in the real world, thereby performing teaching processing for each teaching point.

[0025] The teaching tool TL is held by the worker and receives teaching of teaching points for a real-world workpiece Wk0 or a virtual workpiece VWk0, i.e., teaching positions for the workpiece and the posture (three-dimensional) of the welding torch at the teaching points. The teaching tool TL includes a marker Mk2 for detecting the position and posture of the teaching tool TL and a tip TC that resembles the tip of the welding torch. The teaching tool TL is connected to the MR device DV via wireless or wired communication and transmits information about the position and posture of the teaching points taught by the worker.

[0026] The marker Mk2 is a hexahedron having a cubic shape, and has a two-dimensional code (e.g., a barcode, a QR code (registered trademark), etc.) on each surface that can be read by the MR device DV. The marker Mk2 makes it possible to read the attitude of the teaching tool TL using the two-dimensional code on each surface. The attitude that can be read by the marker Mk2 is information on the tilt angle, forward / rearward advance angle, and twist angle of the teaching tool TL on a coordinate system set for the teaching tool TL.

[0027] Next, an example of the internal configuration of the MR device DV and the processing device P1 will be described with reference to Fig. 2. Fig. 2 is a diagram showing an example of the internal configuration of the MR device DV and the processing device P1.

[0028] The MR device DV includes a communication unit 10, a processor 11, a memory 12, a display unit 13, a depth sensor 14, and a camera 15.

[0029] The communication unit 10 is connected to the teaching tool TL and the processing device P1 so as to be able to communicate wirelessly or via wires, and transmits and receives data. The communication unit 10 outputs various data transmitted from the teaching tool TL and the processing device P1 to the processor 11. The communication unit 10 transmits various data output from the processor 11 to the processing device P1. The wireless communication here refers to communication via a wireless local area network (LAN) such as Wi-Fi (registered trademark). When the processing device P1 is omitted from the welding teaching support system 100, the communication unit 10 is connected to the robot controller so as to be able to communicate data.

[0030] The processor 11 is configured using, for example, a central processing unit (hereinafter referred to as "CPU") or a field programmable gate array (hereinafter referred to as "FPGA"), and performs various processes and controls in cooperation with the memory 12. Specifically, the processor 11 refers to the programs and data stored in the memory 12 and executes the programs to realize various functions for executing the teaching form of a teaching line, accepting teaching operations for teaching points, and generating and displaying a teaching image that displays the taught teaching line. Note that when the processing device P1 is omitted from the welding teaching support system 100, the processor 11 is configured to be able to realize functions similar to those of the processor 21 of the processing device P1.

[0031] The memory 12 includes, for example, a random access memory (hereinafter referred to as "RAM") as a work memory used when executing each process of the processor 11, and a read only memory (hereinafter referred to as "ROM") that stores programs and data that define the operations of the processor 11. The RAM temporarily stores data or information generated or acquired by the processor 11. The ROM stores programs that define the operations of the processor 11.

[0032] Display unit 13 is configured using, for example, a Liquid Crystal Display (LCD) or an organic electroluminescence (EL). Display unit 13 displays an image of the real world itself or a virtual space in which virtual production equipment is superimposed on the real world. Display unit 13 realizes mixed reality by displaying, for example, an image of the virtual space in which virtual production equipment generated by processor 11 is superimposed on an image of the real world captured by camera 15, or a simulated image of a welding robot.

[0033] The depth sensor 14 is a sensor that measures the distance between the MR device DV and an object in the real world and recognizes the three-dimensional shape of the object in the real world (for example, a worker's fingers, a workpiece Wk, or a jig). The depth sensor 14 outputs the recognition result to the processor 11. Based on the recognition result output from the depth sensor 14, the processor 11 recognizes the position, shape, or posture of the worker's fingers in the air, or recognizes the movement of the worker's fingers in the air, and accepts the worker's operation in the air (hereinafter referred to as "air operation").

[0034] The camera 15 captures an image of an area (real world) corresponding to the field of view of the worker wearing the MR device DV. The camera 15 outputs the captured image to the processor 11.

[0035] The processing device P1 includes a communication unit 20, a processor 21, and a memory 22.

[0036] The communication unit 20 is connected to the MR device DV and the robot controller so as to be able to communicate wirelessly or via wires, and transmits and receives data. The communication unit 20 outputs various data transmitted from the MR device DV to the processor 21. The communication unit 20 transmits various data output from the processor 21 to the MR device DV or the robot controller. The wireless communication here refers to communication via a wireless LAN such as Wi-Fi (registered trademark).

[0037] Processor 21 is configured using, for example, a CPU or FPGA, and performs various processes and controls in cooperation with memory 22. Specifically, processor 21 references the programs and data stored in memory 22 and executes the programs to realize various functions for generating a welding teaching program.

[0038] The memory 22 includes, for example, a RAM as a work memory used when executing each process of the processor 21, and a ROM for storing programs and data that define each operation of the processor 21. The RAM temporarily stores data or information generated or acquired by the processor 21. The ROM has written therein programs that define the operation of the processor 21. The memory 22 includes a teaching information recording unit 221 and a work information recording unit 222. The teaching information recording unit 221 and the work information recording unit 222 may be recorded in the memory 12 of the MR device DV. The memory 22 records a 3D model of the welding robot, information related to the coordinate system of the welding robot, etc.

[0039] The teaching information recording unit 221 records information on the positions and orientations of multiple teaching points for each workpiece Wk. The workpiece information recording unit 222 records a 3D model of the workpiece Wk. The 3D model of the workpiece Wk may be generated based on the external shape of the workpiece Wk detected by the depth sensor 14 of the MR device DV.

[0040] Next, a display example of a teaching line generated by interpolation will be described with reference to Fig. 3. Fig. 3 is a diagram for explaining a display example of a teaching line. Note that the teaching line shown in Fig. 3 is an example of a weld line.

[0041] The MR device DV generates a teaching line generated by the interpolation process and each of the teaching points used in the interpolation process of the teaching line. The MR device DV generates a teaching image SC10 in which the virtual workpiece VWk, the virtual welding robot VRB, and each of the generated teaching lines and teaching points are superimposed on the captured image captured by the camera 15, and displays the generated teaching image SC10 on the display unit 13.

[0042] The teaching line WL1 shown in FIG. 3 is generated by interpolation processing using each of the teaching points Pt11, Pt12, and Pt21. The teaching line WL1 is a welding line that causes the welding robot RB to perform linear weaving welding. Here, the teaching point Pt21 is continuous with the teaching line WL1 and is the starting point of the teaching line WL2 on which the welding operation is performed after the teaching line WL1. The MR device DV generates and visualizes (draws) the teaching line WL1 based on the input of the starting point (teaching point Pt21) of the teaching line WL2. Note that the teaching line WL1 may be visualized as a dashed line as shown in FIG. 3, or the dashed line may be omitted and only the welding line (i.e., only the teaching line WL1 shown as a solid line) may be displayed.

[0043] The teaching line WL2 is generated by interpolation processing using each of the teaching points Pt21, Pt22, and Pt31. The teaching line WL2 is a welding line that causes the welding robot RB to perform arc-shaped welding. Here, the teaching point Pt31 is the starting point of the teaching line WL3, which is continuous with the teaching line WL2 and on which the welding operation is performed after the teaching line WL2. The MR device DV generates and visualizes (draws) the teaching line WL2 based on the input of the starting point (teaching point Pt31) of the teaching line WL3.

[0044] The teaching line WL3 is generated by interpolation processing using the teaching points Pt31 and Pt32. The teaching line WL3 is a welding line that causes the welding robot RB to perform linear welding. The MR device DV generates and visualizes (draws) the teaching line WL3 based on the input of the end point (teaching point Pt32) of the teaching line WL3.

[0045] Next, a method for selecting a complement form will be described with reference to Fig. 4. Fig. 4 is a diagram showing an example of selecting a complement form. Note that the complement form shown in Fig. 4 is an example and is not limited to this. Furthermore, the complement form may further allow selection of whether the teaching line generated by the complement process is a weld line, an avoidance line, a free running line, an approach line, or a departure line.

[0046] When teaching welding operations for a new workpiece, the MR device DV generates a virtual workpiece VWk based on a 3D model of the workpiece and a virtual welding robot VRB based on a 3D model of the welding robot RB that will weld the workpiece. Based on the reference position recognized by the reference position acquisition marker Mk1, the MR device DV generates a teaching start image SC11 in which the virtual workpiece VWk, the virtual welding robot VRB, and a virtual setting button VBT that can accept operator operation are superimposed on a captured image of the real world, and displays the teaching start image SC11 on the display unit 13.

[0047] When the MR device DV determines that the virtual setting button VBT has been selected (pressed) based on the position and movement of the operator's fingers, the MR device DV generates a virtual teaching mode selection menu VMD. The MR device DV generates a teaching mode selection image SC12 in which the virtual teaching mode selection menu VMD is superimposed instead of the virtual setting button VBT, and displays the image on the display unit 13.

[0048] The virtual teaching mode selection menu VMD here is generated so as to be able to accept settings of the completion form of the teaching line generated by the completion process. The virtual teaching mode selection menu VMD shown in Fig. 4 includes, as an example, a PTP (Point To Point) button MD11, a straight line completion button MD12, an arc weaving button MD13, a straight line weaving button MD14, and an arc completion button MD15.

[0049] When the PTP button MD11 is selected (pressed) by the worker through air operation, the MR device DV starts a complementation process to complement a teaching line from a specific point to another specific point. When the straight line complement button MD12 is selected (pressed) by the worker through air operation, the MR device DV starts a complementation process to complement a straight teaching line. When the arc weaving button MD13 is selected (pressed) by the worker through air operation, the MR device DV starts a complementation process to complement a teaching line whose weaving center line draws an arc shape. When the straight line weaving button MD14 is selected (pressed) by the worker through air operation, the MR device DV starts a complementation process to complement a teaching line whose weaving center line draws a straight line. Furthermore, when the arc complement button MD15 is selected (pressed) by the worker through air operation, the MR device DV starts a complementation process to complement a teaching line whose weaving center line draws an arc shape.

[0050] <Teaching line complement method> Next, the complementing method in each complementing mode will be described with reference to Fig. 5. Fig. 5 is a diagram showing an example of the complementing mode.

[0051] When the PTP button MD11 is selected (pressed) by the operator in the air, the MR device DV accepts teaching operations for the teaching points in the order of teaching point Pt1A, which is the start point of the teaching line, and teaching point Pt2A, which is the end point of the teaching line. The MR device DV automatically generates a teaching line WLA connecting teaching point Pt1A, which is a specific taught point, and teaching point Pt2A. Note that the teaching line WLA in FIG. 5 shows, as an example, a teaching line that draws a sine wave connecting teaching point Pt1A and teaching point Pt2A.

[0052] When the operator selects (presses) the straight line interpolation button MD12 in mid-air, the MR device DV accepts teaching operations for the teaching points in the order of teaching point Pt1B, which is the start point of the teaching points, and teaching point Pt2B, which is the end point of the teaching points. The MR device DV automatically generates a teaching line WLB, which is a straight line connecting the teaching points Pt1B and Pt2B.

[0053] When the operator selects (presses) the arc weaving button MD13 through midair operation, the MR device DV accepts teaching operations for the teaching points in the following order: teaching point Pt1C, which is the start point of the teaching point; teaching point Pt2C, which is the end point of the teaching point; teaching point Pt3C, which specifies the weaving width; and teaching point Pt4C, which specifies the position of the weaving center line. The MR device DV generates an arc that passes through teaching point Pt1C, an arc (center line) that passes through teaching point Pt4C, and an arc that passes through teaching point Pt3C, each of which has the same center point. The MR device DV determines the weaving width to be twice the distance between the arc that passes through teaching point Pt1C and the arc that passes teaching point Pt3C, with the arc that passes teaching point Pt4C as the center. The MR device DV automatically generates a teaching line WLC that weaves along an arc passing through teaching point Pt4C between the start point (teaching point Pt1C) and the end point (teaching point Pt2C) with a weaving width determined based on teaching point Pt3D.

[0054] When the operator selects (presses) the straight line weaving button MD14 through midair operation, the MR device DV accepts teaching operation of the teaching points in the following order: teaching point Pt1D, which is the start point of the teaching points; teaching point Pt2D, which is the end point of the teaching points; and teaching point Pt3D, which specifies the weaving width. The MR device DV generates a straight line (center line) that passes through each of the two teaching points Pt1D and Pt2D, each of which has the same center point, and a straight line that passes through teaching point Pt3C and is parallel to the line that passes through teaching points Pt1D and Pt2D. The MR device DV determines the weaving width to be twice the distance between the line that passes through teaching point Pt1D and Pt2D and the line that passes teaching point Pt3C. The MR device DV automatically generates a teaching line WLD that weaves along a straight line passing through each of the teaching points Pt1D and Pt2D between the start point (teaching point Pt1D) and the end point (teaching point Pt2D) with a weaving width determined based on the teaching point Pt3D.

[0055] When the operator selects (presses) the arc completion button MD15 through mid-air operation, the MR device DV accepts teaching operations for the teaching points in the following order: teaching point Pt1E, which is the start point of the teaching point, teaching point Pt2E, which specifies the curvature of the teaching line, and teaching point Pt3E, which is the end point of the teaching point. The MR device DV automatically generates a teaching line WLE having an arc shape that passes through the three taught teaching points Pt1E, Pt2E, and Pt3E.

[0056] As described above, the MR device DV in the embodiment receives a teaching operation of a teaching point corresponding to a completion form, and automatically generates a teaching line corresponding to the selected completion form. This allows the MR device DV to support the teaching work of the operator.

[0057] For ease of explanation, an example in which teaching lines are generated independently is described here; however, except in the case where the teaching line being taught is the first teaching line in the welding operation trajectory of the welding robot RB, the starting point of the next consecutive teaching line in the order of welding operation execution is shared as the end point of this teaching line.

[0058] 3, the MR device DV may set the teaching point Pt21, which is the end point of the immediately preceding teaching line WL1, as the starting point for the teaching line WL2 in the execution of the welding operation. Also, if the teaching lines WL1 and WL3 have already been taught, the teaching line WL2 can be generated by only teaching the teaching point Pt22, with the teaching point Pt21, which is the end point of the immediately preceding teaching line WL1, as the starting point and the teaching point Pt31, which is the start point of the immediately following teaching line WL3, as the end point.

[0059] As a result, when teaching lines are generated in accordance with the execution order of welding operations as described above, the MR device DV can reduce the number of teaching points required for each interpolation by one by using the start point of successive teaching lines as the end point of the previous teaching line, thereby making the input operation of teaching points more efficient.In addition, the MR device DV can more effectively suppress positional deviations between the start and end points of successive teaching lines, i.e., positional deviations of successive teaching lines, by using the position of the start point of the next teaching line as the position of the end point of the previous teaching line.

[0060] Specifically, when the selected complement form is PTP or straight line complement and the complemented teaching line is continuous with another teaching line, the MR device DV generates the teaching line based on the teaching of any one teaching point corresponding to the start point or end point. Also, when the selected complement form is arc weaving and the complemented teaching line is continuous with another teaching line, the MR device DV generates the teaching line based on the teaching of any one teaching point corresponding to the start point or end point and the teaching of a teaching point specifying the weaving width. Also, when the selected complement form is straight line weaving or arc complement and the complemented teaching line is continuous with another teaching line, the MR device DV generates the teaching line based on the teaching of any one teaching point corresponding to the start point or end point and the teaching of a teaching point specifying the weaving width or the curvature of the arc.

[0061] Next, an example of the process of complementing the arc-shaped teaching line WL4 will be described with reference to Fig. 6 and Fig. 7. Fig. 6 is a transition diagram of teaching images showing an example of the procedure of complementing the arc-shaped teaching line WL4. Fig. 7 is a transition diagram of teaching images showing an example of the procedure of complementing the arc-shaped teaching line WL4.

[0062] 6 and 7 are images that are generated when the arc completion button MD15 is selected (pressed) in the teaching mode selection image SC12, and that accept teaching of a teaching line having an arc shape to be displayed on the display unit 13. Each of the teaching images SC21 to SC24 shown in FIGS. 6 and 7 is an example, and the present invention is not limited to this.

[0063] When the arc completion button MD15 is selected (pressed) in the teaching mode selection image SC12, the MR device DV generates teaching images SC21 to SC24 to support the worker in completing the teaching line WL4 in accordance with the progress of the completion process, and displays them on the display unit 13. In the teaching images SC21 to SC24, the MR device DV accepts teaching (input) operations for teaching points (hereinafter referred to as "step points") that are temporarily input (set) before being registered as teaching points.

[0064] Here, the difference between a step point and a teaching point will be explained. As described above, a step point is a point that is temporarily input (set) before being registered as a teaching point, and is a point that is temporarily held (stored) until it is confirmed as a teaching point and added (registered). In response to a request for addition (registration) of a teaching point by an operator or in a complementation process, the MR device DV adds (registers) a step point as a teaching point based on the teaching of a step point or teaching point that corresponds to the start point of the next consecutive teaching line.

[0065] In the teaching images SC21 to SC24, the step points and teaching points are not visually distinguished from each other, but they may be displayed so as to be distinguishable. In the following description, the step points may be read as teaching points.

[0066] The teaching images SC21 to SC24 include a virtual workpiece VWk, a virtual welding robot VRB, a completion guide (e.g., completion guides VAX11, VAX12, VAX13) corresponding to the progress of the completion process, virtual operation buttons VSL1, VSL2, and a virtual setting button VBT.

[0067] The completion guide VAX11 is an image that assists the operator in the teaching operation, and shows the teaching procedure of the teaching points or step points required to execute the selected completion process (arc completion in this case). The completion guide VAX11 shown in Fig. 6 shows, on the teaching line of the arc shape generated by arc completion, three teaching points Pt41A, Pt42A, and Pt43A required for arc completion, and numbers indicating the teaching order of the three teaching points Pt41A, Pt42A, and Pt43A required for arc completion.

[0068] Specifically, the complementary guide VAX11 indicates a currently taught or untaught teaching point (for example, teaching point Pt42A in teaching image SC21) with a solid white circle, and a taught teaching point (for example, teaching point Pt41A) with a solid black circle, and displays numbers indicating the teaching order superimposed on these circles or black circles. Note that the teaching point taught by teaching the starting point of the next consecutive teaching line (here, teaching point Pt43A) is displayed as a solid white circle, and the superimposed numbers indicating the teaching order are omitted.

[0069] As a result, the complementary guide VAX11 can support the operator in teaching work by visualizing to the operator the position of each teaching point to be taught, the teaching content to be taught by each teaching point (for example, curvature, weaving width, etc.), the teaching order of the teaching points, or the teaching status of the teaching points (for example, not taught, taught, currently being taught, or no teaching required, etc.).The complementary guide VAX11 allows the operator to intuitively grasp the teaching points to be taught (teaching work).

[0070] The virtual operation buttons VSL1 and VSL2 are buttons that can receive mid-air operation by the operator and receive a selection operation of a previously taught teaching point to be corrected. When the virtual operation button VSL1 is selected (pressed) by the operator, the MR device DV changes the teaching point to be corrected to the teaching point taught one point earlier, and when the virtual operation button VSL2 is selected (pressed) by the operator, the MR device DV changes the teaching point to be corrected to the teaching point taught one point later. Note that the operation to start correcting the teaching point may be started by receiving any operation; for example, the acceptance of a correction operation for the currently selected teaching point may be started by selecting (pressing) the virtual setting button VSL.

[0071] 6, the step point Pt41 corresponding to the first teaching point Pt41A has already been taught, and an image showing the taught step point Pt41 is superimposed on the virtual workpiece VWk. The complementary guide VAX11 in the teaching image SC21 displays the step point Pt41 that was taught first as a black circle with the number "1" indicating the teaching order superimposed thereon, and displays the teaching point Pt42A that was taught second and is currently being taught as a white circle with the number "2" indicating the teaching order superimposed thereon.

[0072] When the MR device DV receives the teaching operation for the step point Pt42 corresponding to the second teaching point Pt42A, it generates a teaching image SC22 and displays it on the display unit 13. Based on the operator's operation on the teaching image SC22, the MR device DV receives a teaching operation for the step point corresponding to the third teaching point Pt43A, which is also the starting point of the next teaching line.

[0073] 6 shows that the step point Pt41 corresponding to the first taught point Pt41A and the step point Pt42 corresponding to the second taught point Pt42A have been taught, and images showing the taught step points Pt41 and Pt42 are superimposed on the virtual workpiece VWk. The complementary guide VAX12 in the teaching image SC22 displays the first and second taught step points Pt41 and Pt42 as black dots, and also displays the numbers "1" and "2" indicating the teaching order superimposed thereon.

[0074] When the MR device DV receives a teaching operation for the step point Pt43 corresponding to the third teaching point Pt43A, it generates a teaching line WL4 interpolated based on the taught step points Pt41 to Pt43. The MR device DV further superimposes the teaching line WL4 to generate a teaching image SC23 and displays it on the display unit 13.

[0075] 7 shows that step point Pt41 corresponding to the first taught point Pt41A, step point Pt42 corresponding to the second taught point Pt42A, and step point Pt43 corresponding to the start point of the next consecutive taught point have been taught, and images showing each of the taught step points Pt41-Pt43 and a teaching line WL4 completed by additionally registering these step points are superimposed on the virtual workpiece VWk. The completion guide VAX13 in the teaching image SC23 displays each of the taught step points Pt41-Pt42 as a black ● and superimposed with the numbers "1"-"2" indicating the teaching order.

[0076] When the MR device DV receives a teaching operation of the virtual operation button VSL1, it generates a teaching image SC24 in which the selected teaching point to be corrected is highlighted, and displays the generated teaching image SC24 on the display unit 13. The MR device DV receives a correction operation for any of the teaching points based on the operator's operation on the teaching image SC24.

[0077] 7 shows an example of an image in which the second step point Pt42 is selected as the correction target. The second step point Pt42 is highlighted with a thick line indicating the teaching point, compared to the other step points Pt41 and Pt43. The highlighting method is not limited to this.

[0078] Next, an example of the process of complementing the linear teaching line WL5 will be described with reference to Fig. 8 and Fig. 9. Fig. 8 is a transition diagram of teaching images showing an example of the procedure of complementing the linear teaching line WL5. Fig. 9 is a transition diagram of teaching images showing an example of the procedure of complementing the linear teaching line WL5.

[0079] 8 and 9 are images that are generated when the straight line completion button MD12 is selected (pressed) in the teaching mode selection image SC12, and that accept teaching of a teaching line having an arc shape to be displayed on the display unit 13. Each of the teaching images SC31 to SC33 shown in Fig. 8 and 9 is an example, and the present invention is not limited to this.

[0080] When the straight line completion button MD12 is selected (pressed) in the teaching mode selection image SC12, the MR device DV generates teaching images SC31 to SC33 to assist the worker in completing the teaching line WL5 in accordance with the progress of the completion process and displays them on the display unit 13.

[0081] The teaching images SC31 to SC33 each include a virtual workpiece VWk, a virtual welding robot VRB, a completion guide (for example, completion guide VAX21) corresponding to the progress of the completion process, and a virtual setting button VBT.

[0082] The completion guide VAX21 is an image that assists the operator in the teaching operation and shows the teaching procedure of teaching points (step points) necessary to execute the selected interpolation process (here, linear interpolation). The completion guide VAX21 shown in Figures 8 and 9 shows one teaching point Pt51A necessary for linear interpolation and a number indicating the teaching order of the teaching point Pt51A on a linear teaching line generated by linear interpolation. Note that the teaching point (here, teaching point Pt52A) taught by teaching the starting point of the next consecutive teaching line is displayed as a solid circle (white), and the number indicating the teaching order is not superimposed.

[0083] 8, the step point Pt51 corresponding to the first teaching point Pt51A has already been taught, and an image showing the taught step point Pt51 is superimposed on the virtual workpiece VWk. The complementary guide VAX21 in the teaching image SC31 displays the step point Pt51, which was taught first and has already been taught, as ● (black) and with the number "1" indicating the teaching order superimposed.

[0084] The MR device DV adds (registers) step point Pt51 as a teaching point through an operator operation. When the MR device DV receives a teaching operation for step point Pt52 corresponding to the start point of the next consecutive teaching line, it executes interpolation processing based on the point registered as the teaching point (i.e., step point Pt51) and step point Pt52 corresponding to the start point to generate teaching line WL5. The MR device DV generates teaching image SC32 by further superimposing teaching line WL5 and displays it on the display unit 13.

[0085] In the teaching image SC32 shown in FIG. 8, an image showing the teaching point (step point Pt51) corresponding to the first teaching point Pt51A and an image of the teaching line WL5 are superimposed on the virtual workpiece VWk.

[0086] When a step point Pt52 corresponding to the starting point of the next consecutive teaching line is added (registered) as a teaching point, the MR device DV generates a teaching image SC33 on which an image of the teaching point (step point Pt52) is superimposed and displays it on the display unit 13.

[0087] The teaching image SC33 shown in Figure 9 has an image showing the teaching point (step point Pt51) corresponding to the first teaching point Pt51A, an image showing the teaching point (step point Pt52) corresponding to the second teaching point Pt52A, and an image of the teaching line WL5 superimposed on a virtual workpiece VWk.

[0088] Next, an example of an operation procedure of the MR device DV in the embodiment will be described with reference to Fig. 10. Fig. 10 is a flowchart showing an example of an operation procedure of the MR device DV in the embodiment.

[0089] The MR device DV accepts any input operation (air operation) by the operator based on the recognition result by the depth sensor 14 or the camera 15 (St11). The MR device DV determines whether the input operation is an operation to change the teaching mode (St12). Note that the operation to change the teaching mode here is an operation to display a virtual teaching mode selection menu VMD by selecting (pressing) the virtual setting button VBT.

[0090] If the MR device DV determines in step St12 that the input operation is an operation to change the teaching mode (St12, YES), it generates a virtual teaching mode selection menu VMD and displays it on the display unit 13, superimposed on the currently displayed image (St13).

[0091] The MR device DV determines whether the operator has selected (pressed) any button corresponding to a teaching mode (i.e., PTP button MD11, straight line completion button MD12, arc weaving button MD13, straight line weaving button MD14, or arc completion button MD15) in the virtual teaching mode selection menu VMD (St14).

[0092] When the MR device DV determines in step St14 that the operator has selected (pressed) a button corresponding to one of the teaching modes (St14, YES), it generates a teaching image capable of accepting a complement process corresponding to the selected teaching mode (St15).The MR device DV switches the image currently displayed on the display unit 13 to the generated image and displays it (St15).

[0093] In addition, if a teaching mode different from the currently displayed teaching mode is selected in the virtual teaching mode selection menu VMD in the processing of step St15, the MR device DV deletes all teaching points and step points taught in the complementation processing corresponding to the currently displayed teaching mode. After deleting all the taught teaching points and step points, the MR device DV switches the display from the currently displayed teaching image to a teaching image for executing the complementation processing in the selected teaching mode.

[0094] On the other hand, when the MR device DV determines in step St14 that the operator has not selected (pressed) any button corresponding to the teaching mode (St14, NO), the MR device DV returns to the processing of step St11.

[0095] Furthermore, if the MR device DV determines in step St12 that the input operation is not an operation to change the teaching mode (St12, NO), it determines whether the input operation is an operation to request additional registration of a new teaching point (St16).

[0096] If the MR device DV determines in step St16 that the input operation is an operation requesting the additional registration of a new teaching point (St16, YES), it further determines whether there is a teaching line that can be drawn using the teaching point that has already been taught, and whether there is a teaching point for which this teaching line has not yet been drawn (St17).

[0097] On the other hand, in step St16, if it is determined that the input operation is not an operation requesting the additional registration of a new teaching point (St16, NO), the process proceeds to step St19.

[0098] In step St17, if the MR device DV determines that there is a teaching line that can be drawn using the teaching points that have already been taught, and that there is a teaching point at which this teaching line has not yet been drawn (St17, YES), the MR device DV generates a teaching line that has not yet been drawn based on the position of this teaching point and a step point that has not yet been added (registered) as a teaching point (St18). The MR device DV generates a teaching image in which the generated teaching line is superimposed (drawn), and displays it on the display unit 13 (St18).

[0099] On the other hand, if the MR device DV determines in step St17 that there is no teaching line that can be drawn using the already taught teaching points and that there is no teaching point for which a teaching line has not yet been drawn (St17, NO), it proceeds to the processing of step St19.

[0100] The MR device DV determines whether or not the operator has performed an input operation of a step point (St19).

[0101] If the MR device DV determines in step St19 that the operator has input a step point (St19, YES), it adds the input step point and generates a teaching image by further superimposing an image corresponding to this step point (St20). The MR device DV switches the image currently displayed on the display unit 13 to the generated image and displays it (St20).

[0102] On the other hand, if the MR device DV determines in step St19 that no step point has been input by the operator (St19, NO), it additionally registers at least one step point that has already been input as a teaching point (St21) and returns to the processing of step St11.

[0103] The MR device DV determines whether or not input of all step points required for generating the teaching line has been completed in the currently selected complementation mode (St22).

[0104] If the MR device DV determines in step St22 that the input of all step points required for generating the teaching line has been completed (St22, YES), it adds (registers) the input step points as teaching points (St23).

[0105] On the other hand, when it is determined in step St22 that the input of all step points necessary for generating the teaching line has not been completed (St22, NO), the MR device DV returns to the processing of step St11.

[0106] As described above, the MR device DV in the embodiment can support the teaching work by the operator and automatically generate teaching lines based on the taught teaching points.

[0107] (Addendum) The above description of each embodiment discloses the following techniques.

[0108] (Technology 1) A teaching support system (welding teaching support system 100) equipped with an MR device DV worn by a worker, The MR device DV is an acquisition unit (communication unit 10) that acquires at least one teaching point that is taught to a workpiece Wk in the real world to be welded by the welding robot RB; a generation unit (processor 11) that generates a first movement trajectory (teaching line) to be taught to the welding robot RB based on the acquired teaching points; An output unit (display unit 13) that generates and outputs a display image (teaching image) in which an image of the first movement trajectory (teaching line) is superimposed on a captured image of the workpiece Wk, Teaching support system (welding teaching support system 100). With this configuration, welding teaching support system 100 can support the teaching work by the worker, automatically generate teaching lines based on the taught teaching points, and visualize the generated teaching lines.

[0109] (Technology 2) The acquisition unit (communication unit 10) acquires information on the form of the first movement trajectory (teaching line), The output unit (display unit 13) generates a teaching auxiliary image (complementary guide) by superimposing an image of the teaching point on the first motion trajectory (teaching line) at a position where the teaching point is taught, on the image of the first motion trajectory (teaching line), based on information on the form of the first motion trajectory (teaching line), and further superimposes the teaching auxiliary image (complementary guide) on the display image including the teaching auxiliary image (complementary guide) and outputs the generated image. The teaching support system (welding teaching support system 100) described in (Technology 1). With this configuration, welding teaching support system 100 can support the teaching work by the worker by visualizing the positions of teaching points to be taught when generating teaching lines.

[0110] (Technology 3) The output unit (display unit 13) generates the teaching auxiliary image (complementary guide) that notifies the operator of any teaching point to be taught among the teaching points that teach the first movement trajectory (teaching line), and generates and outputs the display image including the teaching auxiliary image (complementary guide). The teaching support system (welding teaching support system 100) described in (Technology 2). With this configuration, welding teaching support system 100 can support the teaching work by the worker by visualizing the positions of teaching points to be taught in the teaching work of the teaching line to be taught.

[0111] (Technology 4) The output unit (display unit 13) generates an image of the teaching points including information on the teaching order of the teaching points. The teaching support system (welding teaching support system 100) described in (Technology 2). With this configuration, welding teaching support system 100 can support the teaching work by visualizing the teaching order of teaching points (that is, the work order) to the worker.

[0112] (Technology 5) The generation unit (processor 11) determines whether or not there is an untaught teaching point among the teaching points that teach the first movement trajectory (teaching line); When the generation unit (processor 11) determines that there is no untaught teaching point among the teaching points that teach the first motion trajectory (teaching line), the acquisition unit (communication unit 10) acquires information on the shape of a second motion trajectory (teaching line) that is continuous with the first motion trajectory (teaching line) and a teaching point that indicates the starting position of the second motion trajectory (teaching line) (i.e., a teaching point that corresponds to the starting point of the next teaching line), The generation unit (processor 11) generates the first movement trajectory (teaching line) based on the teaching point indicating a start position of the second movement trajectory (teaching line) and the teaching point that teaches the first movement trajectory (teaching line). The teaching support system (welding teaching support system 100) described in (Technology 1). With this configuration, when welding teaching support system 100 determines in the complementation process that teaching of teaching points necessary for complementing a teaching line has been completed, it can prompt the operator to teach the next teaching line and automatically generate a teaching line using the teaching points of the next teaching line. This allows welding teaching support system 100 to support the teaching work performed by the operator.

[0113] (Technology 6) The generation unit (processor 11) determines whether or not there is an untaught teaching point among the teaching points that teach the first movement trajectory (teaching line); When the generation unit (processor 11) determines that there is an untaught teaching point among the teaching points that teach the first movement trajectory (teaching line), the output unit (display unit 13) generates a teaching auxiliary image (complementary guide) that notifies the operator of the untaught teaching point, and generates and outputs the display image including the teaching auxiliary image (complementary guide). The teaching support system (welding teaching support system 100) described in (Technology 1). With this configuration, if the welding teaching support system 100 determines during the completion process that the teaching of the teaching points required to complete the teaching line has not been completed, it can support the teaching work performed by the worker by prompting the worker to teach the teaching points that have not been taught yet.

[0114] (Technology 7) A teaching assistance program generation device (MR device DV) including at least one processor 11, the teaching assistance program is executed by an MR device DV worn by a worker and configured to capture an image of a workpiece Wk in the real world; A step of acquiring at least one teaching point taught to the workpiece Wk to be welded by the welding robot RB; generating a first movement trajectory (teaching line) to be taught to the welding robot RB based on the acquired teaching points; generating and outputting a display image in which an image of the first movement trajectory (teaching line) is superimposed on a captured image of the workpiece Wk; Teaching support program generation device (MR device DV). With this configuration, welding teaching support system 100 can support the teaching work by the worker, automatically generate teaching lines based on the taught teaching points, and visualize the generated teaching lines.

[0115] (Technology 8) A method for generating a teaching assistance program performed by an apparatus (MR device DV) having at least one processor 11, the teaching assistance program is executed by an MR device DV worn by a worker and configured to capture an image of a workpiece Wk in the real world; A step of acquiring at least one teaching point taught to the workpiece Wk to be welded by the welding robot RB; generating a first movement trajectory (teaching line) to be taught to the welding robot RB based on the acquired teaching points; generating and outputting a display image in which an image of the first movement trajectory (teaching line) is superimposed on a captured image of the workpiece Wk; A method for generating a teaching support program. With this configuration, welding teaching support system 100 can support the teaching work by the worker, automatically generate teaching lines based on the taught teaching points, and visualize the generated teaching lines.

[0116] (Technology 9) A teaching assistance program executed by an MR device DV worn by a worker and capturing an image of a workpiece Wk in the real world, A step of acquiring at least one teaching point taught to the workpiece Wk to be welded by the welding robot RB; generating a first movement trajectory (teaching line) to be taught to the welding robot RB based on the acquired teaching points; and generating and outputting a display image in which an image of the first movement trajectory (teaching line) is superimposed on a captured image of the workpiece Wk. Teaching support program. With this configuration, welding teaching support system 100 can support the teaching work by the worker, automatically generate teaching lines based on the taught teaching points, and visualize the generated teaching lines.

[0117] Although various embodiments have been described above with reference to the accompanying drawings, the present disclosure is not limited to such examples. It is clear that those skilled in the art can conceive of various modifications, alterations, substitutions, additions, deletions, and equivalents within the scope of the claims, and it is understood that these also fall within the technical scope of the present disclosure. Furthermore, the components of the various embodiments described above may be combined in any manner without departing from the spirit of the invention. [Industrial Applicability]

[0118] INDUSTRIAL APPLICABILITY The present disclosure is useful as a teaching support system, a teaching support program generating device, a teaching support program generating method, and a teaching support program that complement teaching lines based on teaching points and support teaching work by an operator. [Explanation of symbols]

[0119] 10,20 Communications Department 11,21 processor 12,22 memory 13 Display section 14 Depth Sensor 15 Camera 100 Welding teaching support system 221 Instruction Information Recording Unit 222 Work information recording unit DV MR device P1 Processing Unit Pt11, Pt12, Pt21, Pt22, Pt31, Pt32 Teaching points RB welding robot SC10, SC21, SC22, SC23, SC24, SC31, SC32, SC33 Teaching images SC11 Teaching start image SC12 Teaching mode selection image TL Teaching Tool VAX11, VAX12, VAX13, VAX21 Complementary Guide VMD teaching mode selection menu VRB Virtual Welding Robot VTC Virtual Welding Torch VTL Virtual Teaching Tool VWk,VWk0 Virtual work Wk,Wk0 Work WL1, WL2, WL3, WL4, WL5 teaching lines

Claims

1. A teaching support system including an MR device worn by an operator, The MR device is an acquisition unit that acquires at least one teaching point that is taught to a real-world workpiece to be welded by the welding robot; a generating unit that generates a first movement trajectory to be taught to the welding robot based on the acquired teaching points; an output unit that generates and outputs a display image in which an image of the first movement trajectory is superimposed on a captured image of the workpiece, Teaching support system.

2. the acquisition unit acquires information on a form of the first motion trajectory; the output unit generates a teaching assistant image by superimposing an image of the teaching point on the first movement trajectory at a position where the teaching point on the first movement trajectory is to be taught, based on information on the form of the first movement trajectory, and outputs the teaching assistant image by further superimposing the teaching assistant image on the display image including the teaching assistant image. The teaching support system according to claim 1 .

3. the output unit generates the teaching assistance image that notifies the operator of any teaching point to be taught among the teaching points that teach the first movement trajectory, and generates and outputs the display image including the teaching assistance image. The teaching support system according to claim 2 .

4. the output unit generates an image of the teaching points including information on the teaching order of the teaching points. The teaching support system according to claim 2 .

5. the generation unit determines whether or not there is an untaught teaching point among the teaching points that teach the first movement trajectory; When the generation unit determines that there is no untaught teaching point among the teaching points that teach the first movement trajectory, the acquisition unit acquires information on a form of a second movement trajectory that is continuous with the first movement trajectory and a teaching point that indicates a start position of the second movement trajectory; the generating unit generates the first movement trajectory based on the teaching point indicating a start position of the second movement trajectory and the teaching point that teaches the first movement trajectory. The teaching support system according to claim 1 .

6. the generation unit determines whether or not there is an untaught teaching point among the teaching points that teach the first movement trajectory; When the generation unit determines that there is an untaught teaching point among the teaching points that teach the first movement trajectory, the output unit generates a teaching assist image that notifies the operator of the untaught teaching point, and generates and outputs the display image including the teaching assist image. The teaching support system according to claim 1 .

7. A teaching assistance program generation device including at least one processor, the teaching assistance program is executed by an MR device worn by a worker and capturing an image of a workpiece in the real world; a step of acquiring at least one teaching point taught to the workpiece to be welded by a welding robot; generating a first movement trajectory to be taught to the welding robot based on the acquired teaching points; generating and outputting a display image in which an image of the first movement trajectory is superimposed on a captured image of the workpiece; A device for generating a teaching support program.

8. A method for generating a teaching assistance program performed by an apparatus having at least one processor, comprising: the teaching assistance program is executed by an MR device worn by a worker and capturing an image of a workpiece in the real world; a step of acquiring at least one teaching point taught to the workpiece to be welded by a welding robot; generating a first movement trajectory to be taught to the welding robot based on the acquired teaching points; generating and outputting a display image in which an image of the first movement trajectory is superimposed on a captured image of the workpiece; A method for generating a teaching support program.

9. A teaching assistance program executed by an MR device worn by a worker and capturing an image of a workpiece in the real world, a step of acquiring at least one teaching point taught to the workpiece to be welded by a welding robot; generating a first movement trajectory to be taught to the welding robot based on the acquired teaching points; generating and outputting a display image in which an image of the first movement trajectory is superimposed on a captured image of the workpiece; Teaching support program.

Images