Information processing apparatus, robot system, and information processing method

Abstract

To provide an information processor, a robot system, and an information processing method capable of accurately and quickly storing first specific operation information and second specific operation information corresponding to trigger conditions in a second memory even when the trigger conditions frequently occur in a short time.SOLUTION: An information processing apparatus comprising: a first memory; a determination unit that determines whether or not a predetermined trigger condition has occurred; a writing unit; a transmission unit; and a third memory, wherein the writing unit writes second specified operation information stored in the third memory to a second memory after transmission of first specified operation information by the transmission unit is completed.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to an information processing device, a robot system, and an information processing method. [Background technology]

[0002] In recent years, due to rising labor costs and labor shortages in factories, automation of tasks that have been performed manually using various robots and their peripheral devices has been accelerating. It is known that for such robots, robot operation information is stored using a robot control device such as that shown in Patent Document 1. This makes it possible to analyze the robot operation information when an error occurs and identify the cause and extent of the error.

[0003] The robot control device described in Patent Document 1 includes a first storage unit that stores operation information for a certain period of time in real time, a second storage unit that, when an error occurs, extracts and stores operation information corresponding to the error from the operation information stored in the first storage unit, and a transmission unit that backs up the operation information stored in the second storage unit.

[0004] The first storage unit is configured as a ring buffer, temporarily stores the operation information, erases the operation information after a predetermined time has elapsed, and stores new operation information. The transmission unit transmits the operation information stored in the second storage unit to the outside at a predetermined timing. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Laid-Open No. 2015-112631 Summary of the Invention [Problem to be solved by the invention]

[0006] However, in Patent Document 1, the first storage unit is configured as a ring buffer, so data is erased after a certain period of time has passed. Therefore, if an error occurs multiple times, for example, two times at different times, the following inconvenience occurs. If a second error occurs while a backup is being performed by storing operation information related to a first error in a second storage unit and transmitting the operation information stored in the second storage unit to an external device, the operation information related to the second error is stored in the second storage unit after the backup is completed. In other words, if a new error occurs during backup, data related to the newly occurred error cannot be saved from the first storage unit to the second storage unit until the backup is completed. Therefore, while waiting for the backup to complete, necessary data in the first storage unit, i.e., the operation information related to the second error, may be overwritten and lost, or all or part of the data may be lost or corrupted. [Means for solving the problem]

[0007] The information processing device of the present invention includes a first memory that stores operational information for a certain period of time in real time when a robot having a robot arm is operating; a determination unit that determines whether a predetermined trigger condition occurs; a writing unit that, when the determining unit determines that the trigger condition has occurred, extracts first specific operation information corresponding to a cause of the occurrence of the trigger condition from the operation information stored in the first memory and writes the first specific operation information into a second memory; a transmitting unit that transmits the first specified operation information stored in the second memory to an outside of the second memory; a third memory for storing, by the writing unit, second specified operation information corresponding to the cause of the occurrence of another trigger condition when the determining unit determines that another trigger condition has occurred before the transmitting unit finishes transmitting the first specified operation information; The writing unit writes the second specified operation information stored in the third memory into the second memory after the transmission unit has finished transmitting the first specified operation information.

[0008] The robot system of the present invention includes: a robot having a robot arm; an information processing device that processes operation information of the robot, The information processing device includes a first memory that stores the operation information in real time for a certain period of time; a determination unit that determines whether a predetermined trigger condition occurs; a writing unit that, when the determining unit determines that the trigger condition has occurred, extracts first specific operation information corresponding to a cause of the occurrence of the trigger condition from the operation information stored in the first memory and writes the first specific operation information into a second memory; a transmitting unit that transmits the first specified operation information stored in the second memory to an outside of the second memory; a third memory for storing, by the writing unit, second specified operation information corresponding to the cause of the occurrence of another trigger condition when the determining unit determines that another trigger condition has occurred before the transmitting unit finishes transmitting the first specified operation information; The writing unit writes the second specified operation information stored in the third memory into the second memory after the transmission unit has finished transmitting the first specified operation information.

[0009] The information processing method of the present invention includes a first step of writing operation information of a robot having a robot arm into a first memory that stores the operation information in real time for a certain period of time; a second step of determining whether a predetermined trigger condition has occurred; a third step of writing, into a second memory, first specific operation information, among the operation information stored in the first memory, that corresponds to a cause of occurrence of the trigger condition, when it is determined in the second step that the trigger condition has occurred; a fourth step of transmitting the first specified operation information stored in the second memory to an outside of the second memory; a fifth step of extracting second specified operation information corresponding to a cause of another trigger condition from the operation information and storing the second specified operation information in a third memory when another trigger condition occurs before the transmission of the first specified operation information is completed in the fourth step; and a sixth step of writing the second specified operation information stored in the third memory into the second memory after the transmission of the first specified operation information is completed. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 is a diagram showing the overall configuration of a robot system according to an embodiment of the present invention. [Figure 2] FIG. 2 is a block diagram of the robot system shown in FIG. [Figure 3] FIG. 3 is a functional block diagram of an information processing device included in the robot system shown in FIG. [Figure 4] FIG. 4 is a schematic diagram illustrating a state in which operating information is written to a first memory in an information processing device, and a state in which the first specific operating information stored in the first memory is written to a second memory when a trigger condition occurs. [Figure 5] FIG. 5 is a schematic diagram illustrating a state in which the first specific operation information stored in the second memory is written to a location outside the second memory in the information processing device. [Figure 6] FIG. 6 is a schematic diagram illustrating a state in which, when a trigger condition occurs in an information processing device, second specific operation information stored in a first memory is written to a third memory. [Figure 7] FIG. 7 is a schematic diagram illustrating a state in which the second specific operation information stored in the third memory is being written to the second memory in the information processing device. [Figure 8] FIG. 8 is a flowchart illustrating an example of an information processing device and an information processing method according to the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0011] <Embodiment> FIG. 1 is a diagram illustrating the overall configuration of a robot system according to an embodiment of the present invention. FIG. 2 is a block diagram of the robot system shown in FIG. 1. FIG. 3 is a functional block diagram of an information processing device included in the robot system shown in FIG. 1. FIG. 4 is a schematic diagram illustrating a state in which operation information is written to a first memory in the information processing device and a state in which the first specified operation information stored in the first memory is written to a second memory when a trigger condition occurs. FIG. 5 is a schematic diagram illustrating a state in which the first specified operation information stored in the second memory is written outside the second memory in the information processing device. FIG. 6 is a schematic diagram illustrating a state in which the second specified operation information stored in the first memory is written to a third memory when a trigger condition occurs in the information processing device. FIG. 7 is a schematic diagram illustrating a state in which the second specified operation information stored in the third memory is written to the second memory in the information processing device. FIG. 8 is a flowchart illustrating an example of an information processing device and an information processing method according to the present invention.

[0012] The information processing device, robot system, and information processing method of the present invention will be described in detail below with reference to preferred embodiments shown in the accompanying drawings. For ease of explanation, the robot arm will be referred to hereinafter as having a base 11 side in FIG. 1 as the "base end" and an opposite side, i.e., the end effector 20 side as the "tip end."

[0013] As shown in FIGS. 1 and 2, the robot system 100 includes a robot 1, an information processing device 3 having a function of processing operation information of the robot 1, and a teaching device 4.

[0014] First, the robot 1 will be described. 1 is a single-arm, six-axis, vertically articulated robot in this embodiment, and includes a base 11 and a robot arm 10. An end effector 20 can be attached to the tip of the robot arm 10. The end effector 20 may or may not be a component of the robot 1.

[0015] The robot 1 is not limited to the configuration shown in the figure, and may be, for example, a double-arm articulated robot or a horizontal articulated robot.

[0016] The base 11 is a support that drivably supports the robot arm 10 from below in Fig. 1, and is fixed to, for example, the floor of a factory. The base 11 of the robot 1 is electrically connected to the information processing device 3 via a relay cable. Note that the connection between the robot 1 and the information processing device 3 is not limited to a wired connection as in the configuration shown in Fig. 1, and may be, for example, a wireless connection, or may be a connection via a network such as the Internet.

[0017] In this embodiment, the robot arm 10 has a first arm 12, a second arm 13, a third arm 14, a fourth arm 15, a fifth arm 16, and a sixth arm 17, which are connected in this order from the base 11 side. The number of arms that the robot arm 10 has is not limited to six, and may be, for example, one, two, three, four, five, or seven or more. The size of each arm, such as its overall length, is not particularly limited and can be set as appropriate.

[0018] The base 11 and the first arm 12 are connected via a joint 171. The first arm 12 is rotatable around a first rotation axis that is parallel to the vertical direction relative to the base 11. The first rotation axis coincides with the normal to the floor to which the base 11 is fixed.

[0019] The first arm 12 and the second arm 13 are connected via a joint 172. The second arm 13 is rotatable relative to the first arm 12 about a second rotation axis parallel to the horizontal direction. The second rotation axis is parallel to an axis perpendicular to the first rotation axis.

[0020] The second arm 13 and the third arm 14 are connected via a joint 173. The third arm 14 is rotatable about a third rotation axis that is parallel to the horizontal direction relative to the second arm 13. The third rotation axis is parallel to the second rotation axis.

[0021] The third arm 14 and the fourth arm 15 are connected via a joint 174. The fourth arm 15 is rotatable relative to the third arm 14 around a fourth rotation axis that is parallel to the central axis of the third arm 14. The fourth rotation axis is perpendicular to the third rotation axis.

[0022] The fourth arm 15 and the fifth arm 16 are connected via a joint 175. The fifth arm 16 is rotatable relative to the fourth arm 15 around a fifth rotation axis. The fifth rotation axis is perpendicular to the fourth rotation axis.

[0023] The fifth arm 16 and the sixth arm 17 are connected via a joint 176. The sixth arm 17 is rotatable around a sixth rotation axis relative to the fifth arm 16. The sixth rotation axis is perpendicular to the fifth rotation axis.

[0024] The sixth arm 17 is the robot tip located at the most distal end of the robot arm 10. The sixth arm 17 can be rotated together with the end effector 20 by being driven by the robot arm 10.

[0025] The robot 1 includes motors M1, M2, M3, M4, M5, and M6 as drive units, and encoders E1, E2, E3, E4, E5, and E6. Motor M1 is built into joint 171 and rotates the base 11 and the first arm 12 relative to each other. Motor M2 is built into joint 172 and rotates the first arm 12 and the second arm 13 relative to each other. Motor M3 is built into joint 173 and rotates the second arm 13 and the third arm 14 relative to each other. Motor M4 is built into joint 174 and rotates the third arm 14 and the fourth arm 15 relative to each other. Motor M5 is built into joint 175 and rotates the fourth arm 15 and the fifth arm 16 relative to each other. The motor M6 is built into the joint 176 and rotates the fifth arm 16 and the sixth arm 17 relative to each other.

[0026] Additionally, encoder E1 is built into joint 171 and detects the position of motor M1. Encoder E2 is built into joint 172 and detects the position of motor M2. Encoder E3 is built into joint 173 and detects the position of motor M3. Encoder E4 is built into joint 174 and detects the position of motor M4. Encoder E5 is built into fifth arm 16 and detects the position of motor M5. Encoder E6 is built into sixth arm 17 and detects the position of motor M6.

[0027] Encoders E1 to E6 are electrically connected to the information processing device 3, and transmit position information of motors M1 to M6, i.e., the amount of rotation, as electrical signals to the information processing device 3. Then, based on this information, the information processing device 3 drives motors M1 to M6 via motor drivers D1 to D6. In other words, controlling the robot arm 10 means controlling motors M1 to M6.

[0028] Furthermore, in the robot 1, a force detection unit 19 that detects stress applied to the robot arm 10 is installed at the tip of the robot arm 10. The robot arm 10 can be driven with the force detection unit 19 installed. In this embodiment, the force detection unit 19 is a six-axis force sensor. That is, the force detection unit 19 is a torque sensor that detects the magnitude of force on three mutually orthogonal detection axes and the magnitude of torque around the three detection axes. Furthermore, the force detection unit 19 is not limited to a six-axis force sensor, and may have another configuration.

[0029] An end effector 20 can be detachably attached to the force detection unit 19. In this embodiment, the end effector 20 is configured as a hand having a pair of claws that can move toward and away from each other and that grip and release a work object with each claw. Note that the end effector 20 is not limited to the configuration shown in the figure and may also be a hand that grips a work object by suction. Furthermore, the end effector 20 may also be, for example, a polishing machine, grinding machine, cutting machine, or a tool such as a screwdriver or wrench.

[0030] In addition, in the robot coordinate system, a control point TCP is set at the tip of the end effector 20. In the robot system 100, by knowing the position of the control point TCP in the robot coordinate system, the control point TCP can be used as a reference for control.

[0031] Next, the teaching device 4 will be described. 1 and 2, the teaching device 4 has a display unit 40 and has a function of creating and inputting an operation program for the robot arm 10. The teaching device 4 is not particularly limited, and examples thereof include a tablet, a personal computer, a smartphone, and a teaching pendant.

[0032] Specifically, the teaching device 4 includes a control unit 41, a storage unit 42, and a communication unit 43. The control unit 41 is configured by, for example, a CPU (Central Processing Unit), and reads out various programs such as a teaching program stored in the storage unit .

[0033] The storage unit 42 stores various programs and the like that can be executed by the control unit 41. Examples of the storage unit 42 include a volatile memory such as a RAM (Random Access Memory), a non-volatile memory such as a ROM (Read Only Memory), and a removable external storage device.

[0034] The communication unit 43 transmits and receives signals to and from the information processing device 3 using an external interface such as a wired LAN (Local Area Network) or a wireless LAN.

[0035] Next, the information processing device 3 will be described. 1, 2, and 3, the information processing device 3 has a function of acquiring and storing operation information of the robot 1, as well as a function of controlling the operation of the robot 1. In this sense, the information processing device 3 can also be said to be a robot control device having a function of storing operation information of the robot 1.

[0036] The information processing device 3 does not necessarily have to have a function of controlling the operation of the robot 1. In this case, a robot control device is provided separately from the information processing device 3.

[0037] 1, in this embodiment, the information processing device 3 is installed at a position separate from the robot 1. However, this configuration is not limiting, and for example, the information processing device 3 may be built into the base 11 of the robot 1.

[0038] 2, the information processing device 3 includes a control unit 31, a storage unit 32, and a communication unit 33. These units are connected to each other via a bus, for example, so as to be able to communicate with each other.

[0039] The control unit 31 is configured by, for example, a CPU (Central Processing Unit), and reads and executes various programs such as operation programs stored in the storage unit 32. Signals generated by the control unit 31 are transmitted to each part of the robot 1 via the communication unit 33. This allows the robot arm 10 to perform a predetermined task under predetermined conditions.

[0040] The storage unit 32 stores various programs executable by the control unit 31. Examples of the storage unit 32 include volatile memory such as RAM (Random Access Memory), non-volatile memory such as ROM (Read Only Memory), and removable external storage devices. The storage unit 32 stores a program for executing the information processing method of the present invention. However, the present invention is not limited to this configuration, and the program for executing the information processing method of the present invention may be stored in a storage device other than the storage unit 32, such as the storage unit 42 of the teaching device 4 or the server 200.

[0041] The communication unit 33 transmits and receives signals to and from the robot 1 using an external interface such as a wired LAN (Local Area Network) or a wireless LAN.

[0042] In such a robot system 100, the information processing device 3 acquires operation information data (hereinafter referred to as "operation information S") in real time as needed while the robot 1 is operating, and stores the acquired operation information S as needed. The operation information S of the robot 1 includes stress information related to stress applied to the robot arm 10 and speed information related to the speed of the robot arm 10.

[0043] Stress information related to the stress applied to the robot arm 10 is obtained based on the detection values ​​of the force detection unit 19. That is, the stress information related to the stress applied to the robot arm 10, particularly the stress information related to the stress applied to the tip (control point TCP) of the robot arm 10, includes information on the force values ​​on three mutually orthogonal detection axes set in the force detection unit 19 and the torque values ​​around the three detection axes.

[0044] It should be noted that the present invention is not limited to the above configuration, and the stress information regarding the stress applied to the robot arm 10 is not limited to the detection value of the force detection unit 19, but may also be, for example, stress information detected by a force detection unit (not shown) similar to the force detection unit 19 installed on the base 11 or each of the joints 171 to 176.

[0045] Furthermore, the stress information relating to the stress applied to the robot arm 10 is not limited to that obtained by the force detection unit 19 or the like, but may be a detection value from other sensors, such as a vibration sensor or an inertial sensor.

[0046] The velocity information regarding the velocity of the robot arm 10 is information regarding the velocity of the control point TCP. The velocity of the control point TCP can be obtained from the rotational velocity of each of the joints 171, 172, 173, 174, 175, and 176. The rotational velocity of each of the joints 171, 172, 173, 174, 175, and 176 can be obtained from the detection values ​​of the encoders E1, E2, E3, E4, E5, and E6. In other words, the detection values ​​of the encoders E1, E2, E3, E4, E5, and E6 can be said to be velocity information regarding the velocity of the robot arm 10.

[0047] In addition, without being limited to the above configuration, the speed information regarding the speed of the robot arm 10 may include speed information regarding the speed of a point other than the control point TCP, for example, a specified part of each arm that constitutes the robot arm 10.

[0048] Furthermore, the speed information regarding the speed of the robot arm 10 may be information obtained by calculation from the image capture results of a camera (not shown), or may be information obtained by calculation from the detection value of a speed sensor (not shown).

[0049] Furthermore, if the velocity of the control point TCP can be calculated from the detection value of the force detection unit 19, this calculated value may be used as velocity information relating to the velocity of the robot arm 10 (control point TCP).

[0050] The information processing device 3 acquires such operation information S and performs the following process, which will be described below.

[0051] 3, the information processing device 3 includes, as functional units 5, an operation information acquisition unit 51, a writing unit 52, a determination unit 53, a first memory 54, a second memory 55, a third memory 56, a backup request signal acquisition unit 57, and a transmission unit 58. When the backup request signal acquisition unit 57 acquires (receives) a backup request signal, which will be described later, the transmission unit 58 transmits the first specific operation information S1 stored in the second memory 55 to an outside of the second memory 55. These functional units 5 can be realized by the hardware configuration example shown in FIG. 2.

[0052] The operation information acquisition unit 51 acquires the above-mentioned operation information S from each part of the robot 1 in real time while the robot arm 10 is operating.

[0053] As shown in FIGS. 3, 4, 5, 6, and 7, the writing unit 52 has the following functions: a function of writing the operation information S acquired by the operation information acquiring unit 51 to the first memory 54 (normal writing function); a function of writing first specified operation information S1 (described later) to the second memory 55 (hereinafter referred to as the "first writing function"); a function of writing second specified operation information S2 (described later) to the third memory 56 (hereinafter referred to as the "second writing function"); and a function of writing the second specified operation information S2 stored in the third memory 56 to the second memory 55 (hereinafter referred to as the "third writing function"). Each function may be performed by a single processor or by multiple different processors. When multiple different processors are used to perform each function, the processors are collectively referred to as the writing unit 52.

[0054] Furthermore, when the writing unit 52 writes information, the memory into which the information is written stores the information as data in a predetermined format. Furthermore, when the writing unit 52 writes information, it can mean either duplicating the information data or deleting and moving the originally existing information data, but in the following description it will be described as duplicating the information data.

[0055] The first memory 54 is a storage device provided in the information processing device 3, and is configured as a volatile memory such as a ring buffer. That is, the first memory 54 stores the operation information S in real time for a certain period of time (hereinafter, described as 30 seconds), and after the certain period of time has elapsed, the old operation information S is overwritten with the new operation information S.

[0056] In FIG. 4, the first memory 54 is shown as a rectangle, and the area inside the rectangle is the area for storing information. Within this rectangle, operation information S is written in real time from top to bottom, as indicated by the arrow in FIG. 4. If the entire area inside the rectangle is an area for storing, for example, 30 seconds' worth of operation information S, operation information is stored from 0 seconds (the top end of the rectangle) toward the bottom. After 30 seconds' worth of operation information S has been stored, the operation information S (oldest operation information S) from 0 seconds (the top end of the rectangle) is subsequently overwritten sequentially. The writing unit 52 performs such operations in real time while the robot 1 is in operation. This writing function is the normal writing function.

[0057] The operation information S of the robot 1 becomes enormous in volume as the operating time of the robot 1 becomes longer, so the configuration described above in which the operation information S is stored in the first memory 54 in real time for a certain period of time is advantageous in terms of preventing the first memory 54 from becoming larger, suppressing an increase in memory capacity, and suppressing costs.

[0058] The second memory 55 is a storage device that is detachably attached to the information processing device 3. The second memory 55 is configured, for example, by an SD card, a CD-ROM, a USB memory, etc. The user can remove the second memory 55 in which the operation information S is stored from the information processing device 3 and use another device to, for example, play and analyze the operation information S.

[0059] In this embodiment, the second memory 55 is not a component of the information processing device 3, but may be a component.

[0060] The third memory 56 is a storage device provided in or connectable to the information processing device 3. The third memory 56 may be a volatile memory or a non-volatile memory. Furthermore, the third memory 56 may be detachable from the information processing device 3.

[0061] The determination unit 53 determines whether a predetermined trigger condition has occurred. The occurrence of the predetermined trigger condition means that the conditions for the writing unit 52 to perform the first writing function or the second writing function have been satisfied.

[0062] The occurrence of a trigger condition means that some kind of error, i.e., an abnormal situation, has occurred in the robot 1. In this embodiment, the trigger condition is that the stress applied to the robot arm 10 exceeds a predetermined value (stress threshold) and that the speed of the robot arm 10 exceeds a predetermined value (speed threshold). That is, the determination unit 53 determines that a predetermined trigger condition has occurred when at least one of the two conditions, that is, that the stress applied to the robot arm 10 exceeds a predetermined value (stress threshold) or that the speed of the robot arm 10 exceeds a predetermined value (speed threshold), is satisfied. In this case, the trigger condition may occur in three cases: excessive stress applied to the robot arm 10, excessive speed of the robot arm 10, or both.

[0063] If the operation information S includes information other than stress information and speed information, the predetermined trigger condition is set appropriately in accordance with the information other than stress information and speed information. For example, if the operation information S is information on an image of the surroundings of the robot 1 captured by a separately installed camera, the predetermined trigger condition is that an intruding object is confirmed in the captured image of the surroundings of the robot 1. In other words, when it is detected that an intruding object has approached the robot 1, a trigger signal is emitted, and receiving this signal satisfies the trigger condition.

[0064] Additionally, or instead of the above, the predetermined trigger condition may be a condition that the user issues a write instruction to the second memory 55. The user can issue a write instruction using, for example, the teaching device 4.

[0065] Each writing function will be explained below. (First writing function) When the determination unit 53 determines that a trigger condition has occurred, the writing unit 52 extracts first specific operation information S1 corresponding to the cause of the occurrence of the trigger condition from the operation information S stored in the first memory 54, and writes the extracted information into the second memory 55. For example, as shown in FIG. 4 , when the stress applied to the robot arm 10 at time T1 exceeds a predetermined value, the information including stress information from the operation information S stored in the first memory 54, i.e., the first specific operation information S1, is stored into the second memory 55.

[0066] The first specified operation information S1 may be an extracted version of only the information corresponding to the cause of occurrence of the trigger condition, or may include other information in addition to the information corresponding to the cause of occurrence of the trigger condition.

[0067] Furthermore, the first specified operation information S1 includes operation information S for a predetermined time (previous time BT1) before the time T1 when the trigger condition occurred, and operation information S for a predetermined time (after time AT1) after the time T1 when the trigger condition occurred. That is, the first specified operation information S1 is operation information S for several seconds before and after the time T1 when the trigger condition occurred. This makes it possible to store in the second memory 55 the operation information S of the robot 1 before and after (before and after) the time T1 when the trigger condition occurred, and to grasp the behavior before and after the time T1 when the trigger condition occurred.

[0068] The number of seconds for each of the previous time BT1 and the subsequent time AT1 is not particularly limited, but the previous time BT1 is preferably 2 seconds or more and 8 seconds or less, and the subsequent time AT1 is preferably 1 second or more and 2 seconds or less.

[0069] Furthermore, the ratio AT1 / BT1 of the previous time BT1 to the subsequent time AT1 is not particularly limited, but is preferably 1 or more and 4 or less.

[0070] At this time, the writing unit 52 performs a compression process (compression encoding process) on the first specified operation information S1 and writes it to the second memory 55. This allows the second memory 55 to store a sufficient amount of information.

[0071] (Second writing function) If the determination unit 53 determines that another (new) trigger condition has occurred before the transmission of the first specified operation information S1 by the transmission unit 58 (described later) to outside the second memory 55 is completed, the writing unit 52 extracts the second specified operation information S2 corresponding to the cause of the occurrence from the operation information S and stores it in the third memory 56. For example, as shown in FIG. 6 , if the stress applied to the robot arm 10 exceeds a predetermined value (stress threshold) at time T2 before the transmission of the first specified operation information S1 by the transmission unit 58 (described later) is completed, the writing unit 52 extracts information including stress information from the operation information S stored in the first memory 54, i.e., the second specified operation information S2, and stores it in the third memory 56.

[0072] The trigger condition for performing the second write function may be the same as or different from the trigger condition for performing the first write function.

[0073] The second specified operation information S2 may be an extracted version of only the information corresponding to the cause of the occurrence of the trigger condition, or may include other operation information S in addition to the information corresponding to the cause of the occurrence of the trigger condition.

[0074] The second specified operation information S2 also includes operation information S for a predetermined time (previous time BT2) before the time T2 when the trigger condition occurred, and operation information S for a predetermined time (after time AT2) after the time T2 when the trigger condition occurred. That is, the second specified operation information S2 is operation information S for several seconds before and after the time T2 when the trigger condition occurred. This allows the operation information S of the robot 1 before and after the time T2 when the trigger condition occurred to be stored in the third memory 56.

[0075] The time periods (BT2, AT2) before and after the time T2 when the trigger condition occurred in the second specific operation information S2 are approximately the same as the time periods (BT1, AT1) before and after the time T1 when the trigger condition occurred in the first specific operation information S1. The preferable value of AT2 / BT2 is also similar to the above-mentioned AT1 / BT1.

[0076] However, without being limited to this configuration, the times (BT2, AT2) before and after the time T2 when the trigger condition occurred in the second specified operation information S2 may be different from the times (BT1, AT1) before and after the time T1 when the trigger condition occurred in the first specified operation information S1. Furthermore, AT2 / BT2 may be the same as or different from AT1 / BT1.

[0077] (Third writing function) As shown in Figure 7, when the transmission unit 58, which will be described later, has finished transmitting the first specific operation information S1 out of the second memory 55, the writing unit 52 writes the second specific operation information S2 stored in the third memory 56 into the second memory 55.

[0078] At this time, the second specified operation information S2 is compressed and written to the second memory 55. This allows the second memory 55 to store a sufficient amount of information.

[0079] 5, the transmitting unit 58 has a function of transmitting the first specific operation information S1 stored in the second memory 55 to a location outside the second memory 55. "Outside the second memory 55" is not particularly limited as long as it is a location other than the second memory 55, and examples thereof include a server, a client, another PC, a storage unit on the cloud, a USB memory, other memory, a hard disk, a CD-ROM, etc., all of which are not shown, and the locations where these are installed are not particularly limited.

[0080] When the transmitting unit 58 transmits the first specified operation information S1 "outside the second memory 55", it means that backup data of the first specified operation information S1 is stored "outside the second memory 55", that is, it is backed up.

[0081] In this way, by transmitting and storing (backing up) the first specific operation information S1 in a location other than the second memory 55, even if the data in the second memory 55 is corrupted, the user can obtain the first specific operation information S1 from another storage device outside the second memory 55.

[0082] It should be noted that even if the first specified operation information S1 is transmitted from the second memory 55 to a location outside the second memory 55, the first specified operation information S1 remains in the second memory 55 as it is.

[0083] In the following description, the “outside of the second memory 55 ” that is the transmission target of the transmission unit 58 is the server 200 .

[0084] The transmission path (transmission method) from the transmission unit 58 to the server 200 may be wired, wireless, or a combination of these. Alternatively, the data may be transmitted via a network such as the Internet.

[0085] The first specific operation information S1 transmitted to the server 200 may be encrypted. In this case, the encryption process takes time, which may increase the total transmission time, but this has the advantage of ensuring higher security. The longer transmission time is fully compensated for by the effects of the present invention, which will be described later, so applying the present invention is a great advantage.

[0086] The backup request signal acquisition unit 57 acquires a signal requesting a backup from the user (hereinafter referred to as a "backup request signal"). The backup request signal can be input / output by the user using, for example, the teaching device 4. In FIGS. 5 and 6, the backup is started at time T3.

[0087] When the transmission unit 58 acquires the backup request signal, it transmits the first specified operation information S1 to outside the second memory 55 at this timing. Note that the transmission unit 58 may transmit the first specified operation information S1 to outside the second memory 55 at a predetermined timing.

[0088] The backup request signal is not limited to being issued in response to a user instruction as described above, but may also be issued automatically or according to a predetermined rule (algorithm) without the involvement of a user, either inside or outside the information processing device 3. One example of such a rule is to determine the necessity of backup in consideration of various conditions such as the type of trigger condition, its importance, and the time of occurrence, and then select whether or not to output a backup request signal depending on the result of that determination, and then execute the backup.

[0089] Backing up the first specified operation information S1 can take a relatively long time depending on the data volume, whether encryption processing is performed, the data transmission method, and other factors. If another trigger condition occurs during the backup of the first specified operation information S1, and the second specified operation information S2 is written directly from the first memory 54 to the second memory 55 immediately after the trigger condition occurs, a time period is required for the writing process of the second specified operation information S2 by the writing unit 52 and the backup process by the transmission unit 58 to be performed simultaneously. This places a burden on the processor performing each process, further extending the time required for each process. In some cases, the second specified operation information S2 in the first memory 54 may be overwritten with the next piece of operation information S before writing of the second specified operation information S2 begins, potentially preventing the second specified operation information S2 from being written to the second memory 55.

[0090] In contrast, in the information processing device 3, if another trigger condition occurs while the transmission unit 58 is transmitting the first specified operation information S1, the writing unit 52 temporarily writes the second specified operation information S2 into the third memory 56, and saves the second specified operation information S2 so that it is not overwritten by new operation information S. Then, when the transmission unit 58 has finished transmitting the first specified operation information S1, the writing unit 52 writes the second specified operation information S2 saved in the third memory 56 into the second memory 55, as shown in FIG.

[0091] With this configuration, even if the trigger condition occurs frequently (occurs multiple times) in a short period of time, it is possible to prevent or suppress inconveniences such as the second specified operation information S2 being overwritten and erased or part of the data being corrupted, regardless of the timing of the backup. Therefore, even if the trigger condition occurs frequently in a short period of time, it is possible to accurately store the operation information S corresponding to the cause of occurrence of each trigger condition in the second memory 55, regardless of the timing of the backup.

[0092] In this embodiment, when the second specified operation information S2 stored in the third memory 56 is written to the second memory 55, the second specified operation information S2 is also transmitted from the second memory 55 in response to a backup request signal, as is the case with the first specified operation information S1, as indicated by the dashed dotted line in FIG. 7. In this case, upon receiving the backup request signal, the transmitter 58 transmits the second specified operation information S2 from the second memory 55 immediately or after a predetermined time has elapsed. Even if another trigger condition (corresponding to the third specified operation information) occurs before the transmission of the second specified operation information S2 is completed, that is, during the backup of the second specified operation information S2, the same operations as those for backing up the first specified operation information S1 and the subsequent writing of the second specified operation information S2 from the third memory 56 to the second memory 55 are performed.

[0093] As described above, the information processing device 3 includes the first memory 54 that stores the operation information S for a certain period of time in real time when the robot 1 having the robot arm 10 is operating, the determination unit 53 that determines whether a predetermined trigger condition has occurred, the writing unit 52 that extracts the first specific operation information S1 corresponding to the cause of the occurrence of the trigger condition from the operation information S stored in the first memory 54 when the determination unit 53 determines that the trigger condition has occurred, and writes the extracted first specific operation information S1 into the second memory 55, and The system includes a transmitting unit 58 that transmits the information S1 to a location outside the second memory 55 (server 200), and a third memory 56 that, if the determining unit 53 determines that another trigger condition has occurred before the transmitting unit 58 has finished transmitting the first specified operation information S1, extracts from the operation information S second specified operation information S2 corresponding to the cause of the occurrence and stores the extracted information by the writing unit 52. After the transmitting unit 58 has finished transmitting the first specified operation information S1, the writing unit 52 writes the second specified operation information S2 stored in the third memory 56 to the second memory 55. As a result, even if the trigger condition occurs frequently within a short period of time, the first specified operation information S1 and the second specified operation information S2 can be accurately stored in the second memory 55 regardless of the timing of the transmitting unit 58's transmission of the first specified operation information S1 to a location outside the second memory 55.

[0094] The robot system 100 also includes a robot 1 having a robot arm 10, and an information processing device 3 that processes operation information S of the robot 1. The information processing device 3 includes a first memory 54 that stores the operation information S in real time for a certain period of time, a determination unit 53 that determines whether a predetermined trigger condition has occurred, a writing unit 52 that, when the determination unit 53 determines that the trigger condition has occurred, extracts first specific operation information S1 corresponding to the cause of the occurrence of the trigger condition from the operation information S stored in the first memory 54 and writes the extracted first specific operation information S1 into a second memory 55, and and a third memory 56 for storing second specified operation information S2 corresponding to the cause of the occurrence of another trigger condition, when the determination unit 53 determines that another trigger condition has occurred before the transmission of the first specified operation information S1 by the transmission unit 58 is completed. After the transmission of the first specified operation information S1 by the transmission unit 58 is completed, the writing unit 52 writes the second specified operation information S2 stored in the third memory 56 into the second memory 55. This allows the first specified operation information S1 and the second specified operation information S2 to be accurately stored in the second memory 55, regardless of the timing of the transmission of the first specified operation information S1 by the transmission unit 58 to the outside of the second memory 55, even if the trigger condition occurs frequently within a short period of time. Therefore, for example, the behavior of the robot arm 10 before and after the trigger condition occurs, the cause of the trigger condition, etc. can be analyzed more effectively, and this can be reflected in the appropriate operation of the robot arm 10 from the next time onwards.

[0095] The writing unit 52 may be configured to write the second specific operation information S2 stored in the third memory 56 into the second memory 55 immediately after the transmission of the first specific operation information S1 by the transmission unit 58 is completed, or may be configured to write the second specific operation information S2 stored in the third memory 56 into the second memory 55 after a predetermined time has elapsed since the transmission of the first specific operation information S1 by the transmission unit 58 was completed.

[0096] Furthermore, if another trigger condition occurs while the second specific operation information S2 stored in the third memory 56 is being written to the second memory 55, it is preferable to extract the third specific operation information corresponding to the cause of the occurrence from the operation information S and write it to the third memory 56.

[0097] Furthermore, as described above, when writing the second specified operation information S2 stored in the third memory 56 to the second memory 55, the writing unit 52 compresses the data of the second specified operation information S2 and writes it to the second memory 55. This enables the writing process to be performed quickly, and therefore the time required to store the second specified operation information S2 in the second memory 55 can be more effectively reduced, thereby shortening the time required to complete writing of the second specified operation information S2 to the second memory 55. Furthermore, the second memory 55 can store a sufficient amount of information.

[0098] When writing the second specified operation information S2 stored in the third memory 56 to the second memory 55, the writing unit 52 may write the data of the second specified operation information S2 to the second memory 55 without compressing it.

[0099] The operation information S includes at least one (in this embodiment, both) of stress information related to the stress applied to the robot arm 10 and speed information related to the speed of the robot arm 10. This allows for accurate storage of stress information and speed information of high importance.

[0100] The operation information S may include only one of the stress information and the speed information.

[0101] Furthermore, the operation information S may include information other than the stress information and the speed information, or may not include the stress information and the speed information and may include only the information other than the stress information and the speed information. The information other than the stress information and the speed information is as described above.

[0102] When the operation information S includes stress information, the determination unit 53 determines that a trigger condition has occurred when the stress exceeds a predetermined value (stress threshold), and when the operation information S includes speed information, the determination unit 53 determines that a trigger condition has occurred when the speed exceeds a predetermined value (speed threshold). This allows the necessary information to be stored accurately.

[0103] The first specified operation information S1 and the second specified operation information S2 each include operation information S for a predetermined time period (previous times BT1, BT2) before the time T1, T2 when the trigger condition occurred, and operation information S for a predetermined time period (after times AT1, AT2) after the time T1, T2 when the trigger condition occurred. This allows the operation information S of the robot 1 before and after the time T1, T2 when the trigger condition occurred to be stored in the second memory 55, making it possible to grasp the behavior of the robot arm 10 before and after the time T1, T2 when the trigger condition occurred. In particular, this behavior can be analyzed more effectively and in more detail. As a result, this information can be reflected in the appropriate operation of the robot arm 10 from the next time onwards.

[0104] The first specific operation information S1 and the second specific operation information S2 may each be only the operation information S for a predetermined time period (previous times BT1, BT2) before the time T1, T2 when the trigger condition occurred, or only the operation information S for a predetermined time period (after times AT1, AT2) after the time T1, T2 when the trigger condition occurred, or only the operation information S for the time T1, T2 when the trigger condition occurred.

[0105] The robot system 100 may have a notification unit that notifies the occurrence of a trigger condition, the occurrence of the trigger condition and the cause of the occurrence, the execution of writing the first specified operation information S1 to the second memory 55, the execution of writing the second specified operation information S2 to the third memory 56, the execution of transmitting data from the second memory 55 by the transmitter 58, and the execution of writing the second specified operation information S2 from the third memory 56 to the second memory 55. An example of such a notification unit is the above-mentioned display unit 40, and the above notification contents can be displayed on the display unit 40 using characters, figures, etc. Furthermore, although not shown, the information processing device 3 may have a display unit similar to the display unit 40, and the above notification contents may be notified by the display unit.

[0106] Next, an example of an information processing device and an information processing method according to the present invention will be described with reference to the flowchart shown in FIG.

[0107] While the robot arm 10 is operating, first, in step S100, the operation information S is stored in real time for a certain period of time. That is, the operation information acquisition unit 51 acquires the operation information S from the robot 1, and the writing unit 52 writes the acquired operation information S into the first memory 54. This step S100 is the first step.

[0108] Next, in step S101, it is determined whether or not a predetermined trigger condition has occurred. This step S101 is the second step. The determination in this step is made by the determination unit 53, as described above.

[0109] In step S101, if it is determined that a predetermined trigger condition has occurred (step S101: YES), the process proceeds to step S102, and if it is determined that a trigger condition has not occurred (step S101: NO), the process proceeds to step S106.

[0110] In step S102, writing of the first specified operation information S1 to the second memory 55 is started. That is, the writing unit 52 extracts the first specified operation information S1 corresponding to the cause of occurrence of the trigger condition from the operation information S stored in the first memory 54, and starts writing it to the second memory 55. Step S102 is the third step.

[0111] Next, in step S103, it is determined whether or not a backup request has been made. The determination in this step is made based on whether or not the backup request signal acquisition unit 57 has acquired a backup request signal.

[0112] If it is determined in step S103 that a backup request has been made (step S103: YES), backup is started in step S103A. That is, the transmission unit 58 transmits the first specified operation information S1 stored in the second memory 55 to the server 200. Step S103A is the fourth step.

[0113] On the other hand, if it is determined in step S103 that there is no backup request (step S103: NO), the process proceeds to step S105.

[0114] Next, in step S104, it is determined whether or not a trigger condition has occurred during the backup (until the transmission to the server 200 is completed). That is, it is determined whether or not another (new) trigger condition has occurred while the transmission unit 58 is transmitting the first specific operation information S1 to the server 200. The determination in this step is made by the determination unit 53, as described above.

[0115] In step S104, if it is determined that the trigger condition has occurred (step S104: YES), the process proceeds to step S107, and if it is determined that the trigger condition has not occurred (step S104: NO), the process proceeds to step S105.

[0116] In step S105, it is determined whether or not writing of the first specific operation information S1 to the second memory 55 is complete. If it is determined in step S105 that writing is complete (step S105: YES), the process proceeds to step S106, and if it is determined that writing is not complete (step S105: NO), the process returns to step S104.

[0117] On the other hand, if it is determined in step S104 that a trigger condition has occurred, this means that another trigger condition has occurred during backup. In this case, in step S107, second specific operation information S2 corresponding to the cause of the occurrence is extracted from the operation information S in the first memory 54 and written to the third memory 56. This step S107 is the fifth step. The writing in this step is performed by the writing unit 52, as described above.

[0118] Next, when the backup is completed, in step S108, the second specific operation information S2 stored in the third memory 56 is written to the second memory 55. This step S108 is the sixth step. The writing in this step is performed by the writing unit 52, as described above.

[0119] Next, in step S106, it is determined whether the operation of the robot 1, i.e., the operation of the robot arm 10, has ended. If it is determined in step S106 that the operation of the robot 1 has ended, the program is terminated. If it is determined in step S106 that the operation of the robot 1 has not ended, the program returns to step S100.

[0120] As described above, the information processing method includes a first step of writing operation information S of the robot 1 having the robot arm 10 into the first memory 54, which stores the operation information S for a certain period of time in real time; a second step of determining whether a predetermined trigger condition has occurred; a third step of writing, if it is determined in the second step that the trigger condition has occurred, first specific operation information S1 from the operation information S stored in the first memory 54, which corresponds to the cause of the trigger condition, into the second memory 55; a fourth step of transmitting the first specific operation information S1 stored in the second memory 55 to an external device (the server 200); a fifth step of extracting second specific operation information S2 corresponding to the cause of the trigger condition from the operation information S and storing it in the third memory 56, if another trigger condition has occurred before the transmission of the first specific operation information S1 is completed in the fourth step; As a result, even if a trigger condition occurs frequently within a short period of time, the first specific operation information S1 and the second specific operation information S2 corresponding to the trigger condition can be accurately and quickly stored in the second memory 55. Therefore, for example, the behavior of the robot arm 10 before and after the occurrence of the trigger condition, the cause of the occurrence of the trigger condition, etc. can be more effectively analyzed, and this can be reflected in the appropriate operation of the robot arm 10 from the next time onwards.

[0121] The program for executing the information processing method of the present invention is stored in the storage unit 32 of the information processing device 3. However, the present invention is not limited to this configuration, and the program may be stored in the storage unit 42 of the teaching device 4 or in another storage device.

[0122] Although the information processing device, robot system, and information processing method of the present invention have been described above with reference to the illustrated embodiments, the present invention is not limited to these. Furthermore, each part and each step of the information processing device, robot system, and information processing method can be replaced with any structure or step that can perform the same function. Furthermore, any structure or step may be added. [Explanation of symbols]

[0123] 1...robot, 3...information processing device, 4...teaching device, 5...functional unit, 10...robot arm, 11...base, 12...first arm, 13...second arm, 14...third arm, 15...fourth arm, 16...fifth arm, 17...sixth arm, 19...force detection unit, 20...end effector, 31...control unit, 32...memory unit, 33...communication unit, 40...display unit, 41...control unit, 42...memory unit, 43...communication unit, 51...operation information acquisition unit, 52...writing unit, 53...judgment unit, 54...first memory, 55...second memory, 56...third memory, 57...backup request signal acquisition unit, 58...transmission unit, 100...robot system, 171...joint, 172...joint, 173...joint, 174...joint, 17 5...joint, 176...joint, 200...server, AT1...later time, AT2...later time, BT1...previous time, BT2...previous time, D1...motor driver, D2...motor driver, D3...motor driver, D4...motor driver, D5...motor driver, D6...motor driver, E1...encoder, E2...encoder, E3...encoder, E4...encoder, E5...encoder, E6...encoder, M1...motor, M2...motor, M3...motor, M4...motor, M5...motor, M6...motor, S...operation information, S1...first specific operation information, S2...second specific operation information, T1...time, T2...time, T3...time, TCP...control point

Claims

1. a first memory that stores operational information for a certain period of time in real time when a robot having a robot arm is operating; a determination unit that determines whether a predetermined trigger condition occurs; a writing unit that, when the determining unit determines that the trigger condition has occurred, extracts first specific operation information corresponding to a cause of the occurrence of the trigger condition from the operation information stored in the first memory and writes the first specific operation information into a second memory; a transmitting unit that transmits the first specific operation information stored in the second memory to an outside of the second memory; a third memory for storing, by the writing unit, second specific operation information corresponding to the cause of the occurrence of another trigger condition when the determining unit determines that another trigger condition has occurred before the transmitting unit finishes transmitting the first specific operation information, The information processing device is characterized in that the writing unit writes the second specific operation information stored in the third memory to the second memory after the transmission unit has completed transmitting the first specific operation information.

2. 2 . The information processing apparatus according to claim 1 , wherein when the writing unit writes the second specific operation information stored in the third memory to the second memory, the writing unit compresses data of the second specific operation information and writes the compressed data to the second memory.

3. The information processing apparatus according to claim 1 , wherein the operation information includes at least one of stress information relating to stress applied to the robot arm and speed information relating to a speed of the robot arm.

4. When the operation information includes the stress information, the determination unit determines that the trigger condition has occurred when the stress exceeds a predetermined value; The information processing apparatus according to claim 3 , wherein, when the operation information includes the speed information, the determining unit determines that the trigger condition has occurred when the speed exceeds a predetermined value.

5. 3. The information processing device according to claim 1, wherein the first specific operation information and the second specific operation information each include the operation information for a predetermined time period before the time when the trigger condition occurs and the operation information for a predetermined time period after the time when the trigger condition occurs.

6. a robot having a robot arm; an information processing device that processes operation information of the robot, The information processing device includes a first memory that stores the operation information in real time for a certain period of time; a determination unit that determines whether a predetermined trigger condition occurs; a writing unit that, when the determining unit determines that the trigger condition has occurred, extracts first specific operation information corresponding to a cause of the occurrence of the trigger condition from the operation information stored in the first memory and writes the first specific operation information into a second memory; a transmitting unit that transmits the first specific operation information stored in the second memory to an outside of the second memory; a third memory for storing, by the writing unit, second specific operation information corresponding to the cause of the occurrence of another trigger condition when the determining unit determines that another trigger condition has occurred before the transmitting unit finishes transmitting the first specific operation information, The robot system is characterized in that the writing unit writes the second specific operation information stored in the third memory to the second memory after the transmission unit has completed transmitting the first specific operation information.

7. a first step of writing operational information of a robot having a robot arm into a first memory that stores the operational information in real time for a certain period of time; a second step of determining whether a predetermined trigger condition has occurred; a third step of writing, into a second memory, first specific operation information, among the operation information stored in the first memory, that corresponds to a cause of occurrence of the trigger condition, when it is determined in the second step that the trigger condition has occurred; a fourth step of transmitting the first specific operation information stored in the second memory to a location outside the second memory; a fifth step of extracting second specific operation information corresponding to a cause of another trigger condition from the operation information and storing the second specific operation information in a third memory when another trigger condition occurs before the transmission of the first specific operation information is completed in the fourth step; and a sixth step of writing the second specific operation information stored in the third memory to the second memory after the transmission of the first specific operation information is completed.

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