Robot teaching device

Abstract

To provide a robot teaching device capable of simplifying setting work of coordinates of a peripheral region.SOLUTION: A robot teaching device includes a control unit that selects types (A to C) of regions, and the control unit sets coordinates of peripheral regions (R1 to R3) of a robot (200) according to the selected type.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to a robot teaching device. [Background technology]

[0002] When operating a robot, the coordinates of the surrounding area that defines the robot's operation must be set in the robot's control device. For example, when a robot transfers a workpiece from one storage container to another, the coordinates of the storage container and the coordinates of the destination container must be set as the coordinates of the surrounding area.

[0003] Patent Document 1 describes a device that searches for a movement path for a robot. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] International Publication No. 2012 / 063397 Summary of the Invention [Problem to be solved by the invention]

[0005] The task of setting the coordinates described above has conventionally required skill, been cumbersome, and taken a long time.

[0006] An object of the present invention is to provide a robot teaching device that can simplify the task of setting the coordinates of the surrounding area. [Means for solving the problem]

[0007] The robot teaching device according to the present invention comprises: a control unit for selecting a type of region; The control unit sets coordinates of the peripheral area of ​​the robot according to the selected type. [Effects of the Invention]

[0008] According to the present invention, it is possible to obtain an effect of simplifying the task of setting the coordinates of the surrounding area. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a configuration diagram showing a robot and a robot teaching device according to an embodiment of the present invention; [Figure 2] 10 is a flowchart showing a process of setting coordinates of a surrounding area executed by a control unit. [Figure 3] 10A and 10B are diagrams illustrating examples of designated locations corresponding to the types A to C of surrounding areas, respectively. [Figure 4] FIG. 10 is a diagram illustrating an example of setting a detail position in a peripheral region. [Figure 5] FIG. 10 is a diagram showing an example of a display of a surrounding area. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

[0011] First, let us define the terms. In this specification, "coordinates" refers to a combination of numerical values ​​that identify a position in three-dimensional space. However, when we say "coordinates of an area," we do not mean the coordinates of a single point within the area, but rather information that can identify the coordinates of the entire area (for example, the coordinates of each location in the area). In other words, when we say that the coordinates of an area have been set, we mean that information that can identify the coordinates of the entire area has been set. In other words, when we say that the coordinates of an area have been set, we mean that the position, shape, dimensions, and orientation of the area in three-dimensional space have been determined. Furthermore, to avoid confusion, the coordinates of any location within an area will be referred to as "position information" rather than as coordinates. "Position information" also refers to a combination of numerical values ​​that identify a position in three-dimensional space.

[0012] <Robot configuration> FIG. 1 is a configuration diagram showing a robot and a robot teaching device according to an embodiment of the present invention.

[0013] The robot 200 is, for example, a robot arm, and has multiple arm units 205, multiple joints 210, and a hand unit 220 that can pick and release a workpiece. "Picking" means holding a workpiece, and the method of picking is not limited to gripping, suction, scooping, etc.

[0014] The joint 210 connects a pair of adjacent arm sections 205 so that the angle can be changed. A drive device that drives one arm section 205 to rotate relatively with respect to the other arm section 205 is connected to each joint 210.

[0015] The hand unit 220 has a movable element capable of holding a workpiece, and a drive unit is connected to the movable element.

[0016] The robot 200 further includes a control device 240 that controls the drive devices of the joints 210 and the drive device of the hand unit 220 .

[0017] The configuration of the robot 200 is not limited to the above example, and may be any configuration that can drive and control movable elements. For example, the rotation mechanism of the joint 210 may be replaced with a slide mechanism, and the base of the robot 200 may be movable rather than fixed. Furthermore, the robot 200 is not limited to a workpiece transport device, and may be a robot that operates for various purposes, such as a processing device or a service device that provides services to people.

[0018] <Robot teaching device> The robot teaching device 100 of this embodiment is a device for setting the coordinates of the peripheral area of ​​the robot 200. The peripheral area means an area that defines the behavior of the robot 200, such as an area from which the robot 200 moves and an area to which the robot 200 moves, a passing area, a no-entry area, etc.

[0019] The robot teaching device 100 includes a sensor 110 for detecting the position of a predetermined location of the robot 200 (for example, the tip H of the hand unit 220), a control unit 120 for setting the coordinates of the surrounding area, an input device 130 for inputting operator operations, a display 140 for outputting images to the operator, and a communication unit 160 for sending data on the coordinates of the surrounding area to the control device 240 of the robot 200.

[0020] The sensor 110 includes an encoder that detects the rotation angle of each joint 210 of the robot 200, and an encoder that detects the amount of displacement of a movable element of the hand unit 220. The control unit 120 has in advance dimensional information of each part of the robot 200 (each arm unit 205, hand unit 220, etc.), and can calculate position information of the tip H of the hand unit 220 based on the dimensional information and the detection results of the sensor 110.

[0021] The input device 130 is a mouse, a keyboard, a touch panel, etc. The operator can send input commands to the control unit 120 via the input device 130, such as a command to start the coordinate setting process, a selection operation for a selection item during the setting process, and a registration operation during the setting process.

[0022] The control unit 120 of the robot teaching device 100 and the control device 240 of the robot 200 may be integrated into, for example, a single computer. The sensor 110 does not have to be a dedicated component for the robot teaching device 100, and may also be a component used for driving control of the robot 200.

[0023] <Coordinate setting process for surrounding area> The following describes a case where the robot 200 is configured to transport a workpiece. Fig. 2 is a flowchart showing the peripheral area coordinate setting process executed by the control unit. Fig. 3 is a diagram explaining examples of designated locations corresponding to the types A to C of peripheral areas. Fig. 4 is a diagram explaining an example of setting a detailed position in the peripheral area. Fig. 5 is a diagram showing an example of displaying the peripheral area.

[0024] When operating the robot 200, the operator sets the coordinates of one or more peripheral areas that define the operation of the robot 200. The operator inputs a command to start the peripheral area setting process to the control unit 120 via the input device 130, and the control unit 120 starts the setting process of FIG.

[0025] When the setting process starts, the control unit 120 has the operator select a category of the surrounding area (step S1). The categories of the surrounding area include a pick area where the work to be transported is located, a place area to which the work will be transported, and a no-entry area where the work or the robot 200 is prohibited from entering. In addition, the categories of the surrounding area may include a passing area that represents an area through which a predetermined portion of the work or the robot 200 must pass during the transport of the work.

[0026] The process of step S1 is realized by the control unit 120 displaying a plurality of selectable categories on the display unit 140 and allowing the operator to input via the input device 130 which category to select.

[0027] If the place area category is selected as a result of the selection in step S1, the control unit 120 allows the operator to select the type of surrounding area (step S2). The types of surrounding areas include pre-prepared types of surrounding area shapes, such as rectangular parallelepiped, cylindrical, and flat. In addition, the types of surrounding areas may include various types that can be classified by the structural characteristics of the surrounding area, such as a container-type with an opening at the top, a shelf-type with openings at the sides, a horizontal arrangement, and an oblique arrangement.

[0028] The process of step S2 is realized by the control unit 120 displaying a plurality of selectable types on the display unit 140 and allowing the operator to input via the input device 130 which type to select.

[0029] The selection between steps S1 and S2 may be made by, for example, an artificial intelligence instead of an operator.

[0030] Once the type of surrounding area is selected, the control unit 120 determines the designated points P1 to P11 (see FIG. 3) for which position information needs to be acquired according to the type of surrounding area, and presents the designated points (step S3). When identifying a certain area, if the structural characteristics of the area are known, the coordinates of the area can be calculated by specifying only a few positions. For example, if it is known that the surrounding area is a horizontally arranged rectangular parallelepiped, the coordinates of the rectangular parallelepiped surrounding area R1 can be calculated by specifying four diagonal vertices (P1 to P4) of the rectangular parallelepiped shown in FIG. 3(A). If it is known that the surrounding area is a plane, the coordinates of the planar surrounding area R2 can be calculated by specifying three points on the plane (three points P5 to P7 that do not overlap in a straight line) shown in FIG. 3(B). If it is known that the surrounding area is a cylinder, the coordinates of the cylindrical surrounding area R3 can be calculated by specifying one point (P8) on the bottom surface and three points (P9 to P11) on the top edge shown in FIG. 3(C).

[0031] In the process of step S3, designated points necessary to identify the coordinates of the surrounding area are presented according to the type of surrounding area selected in step S2. Fig. 3(A) is an example in which a horizontally placed rectangular parallelepiped is selected as the type of surrounding area R1, and designated points P1 to P4 are presented. Fig. 3(B) is an example in which a plane is selected as the type of surrounding area R2, and designated points P5 to P7 are presented. Fig. 3(C) is an example in which a cylinder is selected as the type of surrounding area R3, and designated points P8 to P11 are presented.

[0032] 3(A) to 3(C), the control unit 120 has in advance a correspondence table that associates a plurality of types of surrounding areas with information on a plurality of designated locations required to identify each surrounding area, and by extracting from the correspondence table a plurality of designated locations that correspond to the type selected in step S2, the control unit 120 can determine the plurality of designated locations and present them to the operator (for example, outputting an image on the display 140). For example, by outputting an image such as that shown in FIGS. 3(A) to 3(C), the operator can be shown which of the surrounding areas are the designated locations.

[0033] Next, the control unit 120 performs a process to have the operator acquire the position information of the specified location, specifically, a process to request that the tip H of the robot 200 point to the specified location (step S4). Furthermore, the control unit 120 determines whether or not the position information can be acquired based on the operator's input via the input device 130 (step S5). Then, if the position information cannot be acquired, the processes of steps S4 and S5 are repeated.

[0034] Specifically, the process of step S4 is a process of informing (by display or audio output) the operator to move the robot 200 and point to the designated location. Here, the operator manually moves the robot 200 so that the tip H overlaps the designated location. Then, when the tip H is in a state where it is pointing to the designated location, the operator notifies the state via the input device 130 (for example, by operating the "OK" button). Since the position information of the tip H can be calculated based on the output of the sensor 110, the position information of the designated location can be obtained when the tip H overlaps the designated location.

[0035] Therefore, if the answer is YES in step S5, the control unit 120 calculates the position information of the tip H based on the output of the sensor 110 provided on the robot 200 (step S6), and acquires (stores) the calculated value as the position information of the specified location.

[0036] Next, the control unit 120 determines whether or not the position information of all of the multiple designated locations has been acquired (step S7), and if not, returns to step S3 and repeats the processes of steps S3 to S6.

[0037] By repeating the above steps S3 to S7, the operator manually moves the robot 200 to acquire position information of the multiple designated locations presented by the control unit 120.

[0038] In the above example, the operator manually moves the robot 200. However, the operator may also drive the robot 200 (e.g., jog) to move the robot 200 so that the tip H overlaps the designated location. In the above example, the robot 200 is moved to acquire position information of the designated location. However, the method for acquiring the position information of the designated location is not limited to the above example, and any method may be employed. For example, an area including the surrounding area may be captured using a compound eye camera, a three-dimensional scanner, or the like, so that the position in three-dimensional space can be identified. The operator may then point to the designated location in the captured three-dimensional image, thereby acquiring the position information of the designated location. Furthermore, the process of the operator pointing to the designated location may be omitted. That is, the control unit 120 may perform image analysis or artificial intelligence analysis to detect the designated location from the image, and automatically acquire the position information of the designated location.

[0039] Once the position information of the multiple specified locations has been acquired, the control unit 120 identifies the surrounding area based on the position information and the type of surrounding area selected in step S2, and calculates the coordinates of the surrounding area (step S8). Note that the coordinates calculated here are position information required for control by the control device 240 of the robot 200, such as position information representing the outer frame of the surrounding area, position information representing the top surface (opening) of the surrounding area, and position information of the side surfaces, and in many cases will differ from the position information of the specified locations. The control unit 120 can identify how the surrounding area is located in three-dimensional space based on the above information, and can therefore calculate the coordinates of the surrounding area based on the above information.

[0040] In addition to setting the coordinates of the peripheral region, the control unit 120 may also perform a process of setting the detailed positions within the peripheral region (step S9). The process of step S9 can be applied to the process of setting the position of each workpiece E when the workpieces E are aligned within the peripheral region R1, for example, as shown in FIG. 4. When the workpieces E are aligned in two rows in the vertical direction and four rows and two columns in the horizontal direction, in step S9, the operator inputs two rows, four rows, and two columns to the control unit 120 via the input device 130. Then, the control unit 120 calculates the position information of each part of the two rows, four rows, and two columns within the peripheral region R1 from the coordinates of the peripheral region R1, and stores the position information as the position information of the detailed positions within the peripheral region.

[0041] After calculating the coordinates of the surrounding area in step S8, the control unit 120 outputs an image of the surrounding area to the display 140 based on the coordinates. Then, the control unit 120 prompts the operator to confirm whether the coordinates of the surrounding area have been calculated correctly (step S10). The image is, for example, an image in which the surrounding area is located in a virtual three-dimensional space. Images of environmental objects (e.g., the ground, a desk, a wall, and the robot 200) located in the actual space are similarly arranged in the virtual three-dimensional space, and the operator can roughly confirm whether the coordinates of the surrounding area have been calculated correctly by observing the relative relationship between the environmental objects and the surrounding area in the virtual three-dimensional space. Alternatively, the image in step S10 may be an image in which an image of the surrounding area is superimposed on a video of the area around the robot 200 captured by a camera. Even with such an image, the operator can roughly confirm whether the coordinates of the surrounding area have been calculated correctly.

[0042] If an abnormality is found in the confirmation in step S10, the calculation results of the coordinates of the surrounding area may be cancelled by an operator.

[0043] As a result of the selection in step S1, even if another category, such as the pick area category or the no-entry area category, is selected, the control unit 120 executes the same processes as steps S2 to S10. By this process, coordinates are similarly calculated for the surrounding areas of the other categories. For example, in the no-entry area category, the surrounding area R2, which is a plane shown in FIG. 3(B), can be set as a wall surface indicating the boundary between the no-entry area and the accessible area.

[0044] Then, the control unit 120 determines whether registration of the coordinates of all the surrounding areas has been completed (step S11). If registration has been completed, the control unit 120 sends the calculated coordinates of the surrounding areas to the control device 240 of the robot 200 and sets the coordinates of the surrounding areas (step S12). Then, the process of setting the surrounding areas ends. Note that the process of registering the coordinates of the surrounding areas in the control device 240 of the robot 200 may be performed sequentially as the coordinates of each surrounding area are calculated, rather than all at once.

[0045] The control device 240 of the robot 200 is able to control the drive of the hand unit 220 of the robot 200 to move back and forth between the pick area and the place area using the coordinates of each surrounding area set in step S12, along a path that does not enter any no-entry areas.

[0046] (Variation) FIG. 5 is a diagram illustrating a modified example of the designated location in the surrounding area.

[0047] In the aforementioned surrounding area coordinate setting process (FIG. 2), in step S3, control unit 120 presents multiple designated locations according to the type of surrounding area, and in steps S4 and S5, the operator registers position information for the multiple designated locations. Each of the designated locations presented in step S3 represents a single point. This modified example is an example in which the designated locations do not represent a single point.

[0048] In this modification, a movement trajectory Q1 as shown in FIG. 5 is adopted as the designated location presented by the control unit 120 in step S3. In this modification, too, the designated location presented in step S3 is determined according to the type of surrounding area selected in step S2. The example in FIG. 5 is an example in which a rectangular parallelepiped is selected as the type of surrounding area R4, and movement trajectory Q1 is determined as the designated location for which position information needs to be acquired. Movement trajectory Q1 includes a path along the inside of the four bottom sides of the surrounding area R4 and a path along the four top sides. If the type of surrounding area is flat, an arc-shaped movement trajectory or two linear movement trajectories with a curved portion sandwiched therebetween can be adopted as the designated location.

[0049] In the process of inputting and registering the position information of the designated location in steps S4 and S5 in the modified example, the operator notifies the control unit 120 via the input device 130, for example, when starting and ending movement along the movement trajectory. Then, based on the notification, the control unit 120 determines the timing of the start and end of movement and continuously acquires position information of the tip end H of the robot 200 during that time, thereby obtaining position information of the designated location, which is the movement trajectory. Then, the control unit 120 can calculate the coordinates of the surrounding area based on the continuous position information.

[0050] In the modified example, the same processes and configurations as those in the above-described embodiment can be applied, except for the processes in steps S3 to S5 of the coordinate setting process.

[0051] As described above, according to the robot teaching device 100 of this embodiment, when registering the peripheral area of ​​the robot 200, the control unit 120 allows the user to select the type of peripheral area (step S2) and sets the coordinates of the peripheral area according to the selected type. In other words, when a different type is selected, the coordinates of the peripheral area are calculated and set using different procedures or different elements. Therefore, by the simple process of selecting the type, the procedure or elements for calculating the coordinates of the peripheral area can be optimized, and the process of setting the coordinates can be simplified.

[0052] More specifically, the control unit 120 determines a designated location (P1 to P11 in FIG. 3, Q1 in FIG. 5, etc.) according to the selected type, and calculates the coordinates of the surrounding area based on the position information of the designated location. Therefore, it is possible to optimize the designated location from which position information should be obtained, and the process of setting the coordinates can be simplified.

[0053] Furthermore, according to the robot teaching device 100 of this embodiment, the control unit 120 acquires the position information of the designated location from the movement of the robot 200. Therefore, the robot 200 can be used to acquire the position information of the designated location, and it is not necessary to provide a dedicated device for acquiring the position information of the designated location. Therefore, it is possible to reduce the component cost of the robot teaching device 100 and make it more compact.

[0054] Furthermore, the robot teaching device 100 of this embodiment is provided with a display 140 that displays an image of the surrounding area located at the coordinates calculated by the control unit 120. Therefore, the operator can check whether the coordinates of the surrounding area to be set have been calculated correctly, and can contribute to normal drive control of the robot 200.

[0055] Furthermore, according to the robot teaching device 100 of this embodiment, the shape of the area can be selected as the type of the surrounding area. By selecting the shape of the area, it becomes possible to identify the surrounding area with little other information (position information of a few points). Therefore, by making the shape of the surrounding area selectable, the process of setting the coordinates of the surrounding area can be further simplified.

[0056] Furthermore, according to the robot teaching device 100 of this embodiment, the control unit 120 can set the coordinates of at least one of the pick area, place area, no-entry area, and pass area as the peripheral area. Therefore, in the robot 200 that transports a workpiece, it becomes easy to set the coordinates of the peripheral area that defines the operation of the robot 200.

[0057] The above describes an embodiment of the present invention. However, the present invention is not limited to the above embodiment. For example, in the above peripheral area coordinate setting process, the processing content is shown assuming that the robot 200 is configured to transport a workpiece. However, the present invention can also be applied to setting a peripheral area for a robot that operates for various other purposes. Furthermore, the details shown in the embodiment can be modified as appropriate without departing from the spirit of the invention. [Explanation of symbols]

[0058] 100 Robot teaching device 110 Sensors 120 control section 130 Input Devices 140 Display 200 robots 205 Arm 210 joints 220 Hand section 240 Control Device H Tip A-C Types of surrounding areas R1~R4 surrounding area E-Work P1~P11 designated locations Q1 Movement trajectory (specified location)

Claims

1. a control unit for selecting a type of region; The control unit of the robot teaching device sets the coordinates of the peripheral area of ​​the robot according to the selected type.

2. The control unit determining a designated portion of the surrounding area according to the selected type; calculating the coordinates of the surrounding area based on the position information of the specified location; The robot teaching device according to claim 1.

3. The control unit acquiring position information of the specified location based on the movement of the robot; 3. The robot teaching device according to claim 2.

4. a display for displaying an image of the surrounding area located at the calculated coordinates; The robot teaching device according to claim 1.

5. The shape of the surrounding area can be selected as the type of area. The robot teaching device according to claim 1.

6. The surrounding area includes at least one of a pick area, a place area, a no-entry area, and a pass-through area. The robot teaching device according to claim 1.

Images