Information processing device, information processing method, and information processing program

Abstract

This invention provides an information processing device that can detect and calibrate errors in the interlock setting area when different types of robots work together. [Solution] The system includes: an operation identification unit that breaks down the movements of individual robots to set operation steps and attaches operation information that defines the specific movements included in the operation steps to the operation steps; an interference identification unit that identifies operation steps in which there is a possibility of collision between robots as interference steps; a setting unit that arranges the operation steps of each robot that are the target of the interference step in chronological order to form a step list, and sets interlocks in the step list to prevent collisions etc. based on the interference steps, and calibrates the interlocks present in the step list based on the operation information of each robot that are the target of the interference step.

Description

Technical Field

[0001] The present invention relates to an information processing apparatus, an information processing method, and an information processing program, and more particularly to an information processing apparatus, a method thereof, and a program for adjusting an interlock for avoiding interference and collision between robots when a plurality of industrial robots for different uses cooperate with each other.

Background Art

[0002] Currently, in production sites such as automobile manufacturing, automation is achieved by using industrial robots. Usually, a plurality of industrial robots are used simultaneously. To prevent interference or collision between robots, an interlock is provided. Therefore, a technique has been proposed in which the mutual operations of a plurality of robots are combined for each predetermined operation process or operation time to check the presence or absence of interference, and an interlock is provided at a location where interference occurs (see Patent Document 1, etc.).

[0003] In the technique described in Patent Document 1, since an interlock is only provided at each location (interference area) where interference occurs, depending on the method of selecting a robot that preferentially operates in each interference area, the processing time of the entire work may become longer. In view of this point, a process for shortening the processing time of the entire work has been proposed (see Patent Document 2, etc.).

[0004] The setting of the interlock between robots is usually performed between robots having the same structure, such as between welding robots and between painting robots. Considering the actual production site, collaborative work is performed between robots of different types, such as between a welding robot and a transfer robot, and the demand for accurate setting of the interlock between robots of different types is increasing.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Patent Document 2

[0006] However, existing methods for setting interlocks between robots have resulted in errors in the setting range when interlocks are set during collaborative work between different types of robots. Therefore, manual verification and calibration of the interlock setting range have been performed.

[0007] The present invention has been made in view of the above points, and provides an information processing device, an information processing method, and an information processing program that can detect and calibrate errors in the interlock setting area when different types of robots work together. [Means for solving the problem]

[0008] In other words, the information processing device of this embodiment includes: an operation identification unit that identifies the operation of each robot by breaking down the operation of each robot into predetermined units of operation and setting operation steps, and attaching operation information that defines the specific operation of each robot included in the operation step to the operation step; an interference identification unit that identifies operation steps in which there is a possibility of collision or contact between robots as interference steps; a setting unit that arranges the operation steps of each robot that are the subject of the interference step in chronological order to form a step list, and sets interlocks in the step list to prevent collision or contact based on the interference step, and is characterized by calibrating the interlocks present in the step list based on the operation information of each robot that are the subject of the interference step.

[0009] Furthermore, the information processing device may be equipped with a calibration unit that, when calibrating interlocks, calibrates the interlocks in the step list table based on the operation information of each robot that is the target of the interference step and generates calibration information.

[0010] Furthermore, the information processing device may also include an output unit that displays calibration information in a step list and outputs the interlock after calibration.

[0011] Furthermore, in the information processing device, the step list may be configured such that the vertical axis represents the operation steps of the first robot and the horizontal axis represents the operation steps of the second robot, each arranged in chronological order to form a grid.

[0012] Furthermore, in an information processing device, the step list may include one or more pieces of operation information corresponding to a single operation step.

[0013] Furthermore, in the information processing device, the operation information consists of operation symbols assigned according to the specific operation manner of each robot, and the calibration unit may compare the operation symbols of the operation information of each robot that is subject to the interference step and calibrate the interlocks present in the step list table. [Effects of the Invention]

[0014] According to the information processing device of the present invention, when robots of different purposes operate independently while working together, the device includes: an operation identification unit that decomposes the operation of each robot into predetermined units of operation and sets operation steps, attaches operation information that defines the specific operation of each robot included in the operation step to the operation step to identify the operation of each robot; an interference identification unit that identifies operation steps in which there is a possibility of collision or contact between robots as interference steps; and a setting unit that arranges the operation steps of each robot that are the target of the interference step in chronological order to form a step list, and sets interlocks in the step list to prevent collision or contact based on the interference steps. The device also includes a setting unit that calibrates the interlocks in the step list based on the operation information of each robot that are the target of the interference step, making it possible to easily detect and calibrate errors in the interlock setting area when different types of robots are working together. [Brief explanation of the drawing]

[0015] [Figure 1] This is a schematic diagram showing an overview of the information processing device according to the embodiment. [Figure 2] This is a block diagram showing the configuration of the computer in the information management device. [Figure 3] This is a schematic diagram showing an example of a step-by-step chart. [Figure 4] This is a schematic diagram illustrating an example of a malfunction when detecting collisions or contact between robots. [Figure 5] This schematic diagram shows an example of a step list with interlock information attached as operational information. [Figure 6] (A) is a magnified view of the first part of Figure 5, and (B) is a magnified view of the second part of Figure 5. [Figure 7] (A) is a first flowchart illustrating the information processing method of the embodiment, and (B) is a second flowchart. [Modes for carrying out the invention]

[0016] The schematic diagram of FIG. 1 shows an overview of the information processing apparatus 1 of the embodiment. An industrial robot (hereinafter referred to as "robot 200") used for processing of passenger cars, industrial machines, etc. operates under the control of a control program that controls the operation of the robot 200. This control program includes, as operation steps, operations decomposed into one or a plurality of time-series units of predetermined operations referred to during the operation of the robot 200. The "operation step" is, for example, position information in space where the robot sequentially stops in order to perform work such as spot welding, and is information that is a unit of movement (operation) of the robot 200. The position information is relative position coordinates from a reference position of the robot 200, and is, for example, three-dimensional position coordinates of the tip of an arm that the robot 200 has. Therefore, the information processing apparatus 1 calculates the interlock between a plurality of robots 200 and is used for safety management of the operations between the robots 200. The interlock referred to here indicates a space or area for preventing robots from approaching or colliding with each other more than necessary when two or more robots operate.

[0017] The plurality of robots 200 that are the targets of interlock processing and calculation by the information processing apparatus 1 of the embodiment are not limited to robots of the same type, but are robots for different uses. Specifically, combinations such as a welding robot and a painting robot, a welding robot and a transfer robot, a painting robot and a transfer robot, etc. are possible. For example, in a scene where a vehicle body is assembled, when welding progresses step by step in a flow operation, it is a collaborative operation between welding robots. Here, when the intermediate product after welding is relocated to the next location, the welding robot and the transfer robot perform a collaborative operation. The robot 200 in the figure assumes, as an example, a collaborative operation by a welding robot 200a and a transfer robot 200b.

[0018] The robot 200 (200a, 200b) can be either an actual machine or a setting within a simulation program. The information processing device 1 simulates the operation information between robots. The operation information includes the amount of movement of the robot per unit time, the movement direction of the tip of the robot, the rotation angle and rotation direction of each axis incorporated in the robot, and further includes the interlock information between the robots. In particular, in the embodiment, the information processing device 1 simulates the interlock between robots. That is, the information processing device 1 calculates in advance the risk of mutual interference such as collision or contact when robots 200 (200a, 200b) of different uses cooperate while operating independently. Therefore, the information processing device 1 includes an arithmetic device (processing unit 100 (computer)) for arithmetic processing. The processing unit 100 (computer) is provided with a display device 2 to notify the user of the information of the processing unit 100 (computer). The display device 2 is, for example, a liquid crystal monitor, an organic EL monitor, or the like.

[0019] FIG. 2 is a diagram schematically showing the configuration of the information processing device 1 of the embodiment, that is, the processing unit 100 (computer). Hardware-wise, the processing unit 100 (computer) implements an arithmetic unit 101, a ROM 102, a RAM 103, a storage unit 104, an input / output interface (I / O) 105, and the like. As the configuration of the functional units within the arithmetic unit 101, the arithmetic unit 101 includes an operation specifying unit 110, an interference specifying unit 120, a setting unit 130, a calibration unit 140, an output unit 150, and the like.

[0020] The processing unit 100 (computer) is implemented using various electronic computers (computational resources) such as personal computers (PCs), mainframes, workstations, cloud computing systems, and tablet terminals. When each functional part of the processing unit 100 (computer) is implemented by software, it is implemented by executing instructions of a program, which is the software that implements each function. The recording medium for storing this program can be a "non-temporary tangible medium," such as a CD, DVD, semiconductor memory, or programmable logic circuit. This program may also be supplied to the processing unit 100 (computer) via any transmission medium capable of transmitting the program (network lines, communication networks, broadcast waves, etc., not shown). The arithmetic unit 101 is composed of arithmetic elements such as a CPU and GPU. The storage unit 104 is composed of storage elements such as an HDD and SSD. In addition to the display device 2 being connected to I / O 105, control information for the actual robot may also be input. Other input devices such as a keyboard and mouse, not shown, are connected to I / O 105.

[0021] The motion identification unit 110, when robots with different applications (for example, a welding robot 200a and a transport robot 200b) work together while operating independently, breaks down the movements of each robot 200a and 200b into predetermined units of movement and sets up movement steps. The motion identification unit 110 then identifies the movements of each robot by attaching movement information that defines the specific movements of each robot included in the movement steps to the movement steps.

[0022] Collaborative work between robots with different purposes involves work performed by dissimilar robots whose tasks differ from each other. As mentioned above, the setting of the operation steps involves breaking down the operation of each robot into predetermined units of time-series movement. These decomposed units of movement are called operation steps. Furthermore, in the information processing device 1 of this embodiment, in addition to breaking down into operation steps, operation information is attached to each individual operation step. It should be noted that in collaborative work between robots, the robots themselves may be the same type of articulated robot, but the work content may differ depending on the attached parts.

[0023] Setting the interlock area through conventional motion step analysis is relatively easy between robots of the same type. However, setting the interlock area between robots of different types is more difficult than with robots of the same type, and errors are more likely to occur. Therefore, to complement the motion step analysis, specific movements of individual robots are defined, and motion information that subdivides the movements is provided. Motion information includes, for example, the amount of movement (distance) that each robot's working part (endpiece) moves in the unit time that constitutes the motion step, the direction of movement of the endpiece, and the rotation angles and directions of rotation of each axis of the robot's joints that realize the movement, further subdividing the motion characteristics. The interlock information included in the motion information is shown as motion symbol 50 consisting of numbers in Figures 5 and 6 below. The interlock information referred to here simulates interlocks between robots and provides information on the risk of collision or contact and mutual interference when robots with different applications work together while operating independently.

[0024] In the information processing device 1 of this embodiment, one or more motion symbols indicating motion information are included within each motion step. For example, focusing on the welding device at the tip of a welding robot, by attaching motion information, it becomes possible to grasp the dynamic movement of the robot in more detail than when only the movement of the welding robot is defined in the motion step. In the movement of the robot within a single motion step, the amount of movement is calculated from the start point and the end point. However, in the case of articulated robots, which are currently widely used, due to the constraints of the drive amount (rotation amount) of each joint, it is unavoidable to turn the robot's tip to the left while turning it to the right due to the rotation of the joints. Individual motion information is picked up for movements that would be buried if only the motion step were used, and the analysis of the motion step is complemented.

[0025] The interference identification unit 120 identifies as interference steps any operation steps in which there is a possibility of collision or contact between the robots 200 (for example, a welding robot 200a and a transport robot 200b).

[0026] The interference identification unit 120 identifies operational steps that may cause collision or contact between robots from the operational steps set for each robot between robots with different applications. In the first stage, operational steps that pose a risk to the robots' movements are extracted. In this embodiment, the interference identification unit 120 acquires a pair of two different robots from among the multiple robots 200, and acquires a pair of trajectories from among the trajectories that each robot can take, based on the robot's movement trajectories acquired by the movement identification unit 110. Next, the interference identification unit 120 compares whether the operational steps included in the acquired pair of trajectories are less than a predetermined distance apart. This comparison is a process of determining the distance between two points that exist discretely in the simulation space. The processing of the interference identification unit 120 is also called a position check, etc.

[0027] The setting unit 130 arranges the operation steps for each robot that is subject to the interference step in chronological order to form a step list. Then, the setting unit 130 sets interlocks in the step list to prevent collision or contact based on the interference step.

[0028] Figure 3 shows a schematic diagram of an example of the step list table 20, which is displayed on the display device 2, etc. In the illustrated example, the first operation step time series 21a is formed by arranging the operation steps of the welding robot 200a (first robot) in chronological order along the horizontal direction (vertical axis). Similarly, the second operation step time series 21b is formed by arranging the operation steps of the transport robot 200b (second robot) in chronological order along the vertical direction (horizontal axis). The step list table 20 is formed as a two-dimensional grid (matrix) with vertical and horizontal grids formed by the intersection of the first operation step time series 21a and the second operation step time series 21b. In the formed step list table 20, the operation steps of the welding robot 200a and the operation steps of the transport robot 200b can be compared in chronological order. Since the interference steps of both robots 200a and 200b are known, an interlock is set in the corresponding grid for the interference step. In this context, the setting of an interlock means that the interference identification unit 120 marks (encloses with a thick dashed line 22) the operation steps that interfere with each other.

[0029] In Figure 3, an abnormal proximity area 23 (near miss area) and a contact area 24 are set within the interlock area 22 (indicated by the thick dashed line in the figure) where the interlock is set. The abnormal proximity area is when the robots are closer than a predetermined distance, and the contact area is when the robots are in contact with each other. The abnormal proximity area 23 and the contact area 24 should ideally be located within the interlock area 22. However, when forming a step list table 20 from the operation steps of robots with different applications, the abnormal proximity area 23 or the contact area 24 may occasionally be set outside the interlock area 22. The figure shows a state where an incorrect abnormal proximity area 25 has been set. Such abnormalities are likely to occur in the exchange of control signals between robots when robots with different applications are working together.

[0030] To resolve the problem of location discrepancies where the abnormal proximity area 23 or contact area 24 that requires attention is located outside the interlock area 22, until now, abnormal proximity areas 23 or contact areas 24 outside the interlock area 22 in Figure 3 have been individually checked visually (manually) from the step list 20 to identify incorrect abnormal proximity areas 25, etc.

[0031] The schematic diagram in Figure 4 is an example of an analysis sheet 40 for analyzing an incorrect abnormal approach or contact area outside the interlock area in Figure 3. The analysis sheet 40 is a sheet that displays the check results 41 vertically in conjunction with the step list table 20, and displays the interlock area 42 and check area 43 along with the check results 41. In the illustration, the check result 41 is displayed as "interference" or "near miss" to indicate the possibility of collision or contact between robots. Then, in the location of the interlock area 42 in the corresponding row, "presence" or "absence" of danger is displayed, and "warning" or "danger" is displayed in the check area 43.

[0032] In the analysis sheet 40 in Figure 4, three main patterns requiring attention and verification are illustrated: Pattern 1 (P1), Pattern 2 (P2), and Pattern 3 (P3). Pattern 1 (P1) is a state where operational problems between robots remain outside the interlock area. In Pattern 2 (P2), the interlock in the interlock area 42 is not set, so a danger warning is displayed in the check area 43. In Pattern 3 (P3), the check result 41 indicates an operational problem with the robots as interference, and the interlock area 42 is set, so no problem is indicated in the check area 43. However, the interlock area may not be set correctly. In particular, re-checking Pattern 1 (P1) and Pattern 2 (P2), as well as Pattern 3 (P3), is necessary.

[0033] Therefore, in the information processing device 1 of this embodiment, a process is performed to calibrate the interlocks present in the step list table 20. In this process, the interlocks present in the step list table 20 are calibrated based on the interlock information contained in the operation information of each robot that is the target of the interference step.

[0034] Regarding interlocks requiring re-checking, such as patterns 2 (P2) and 3 (P3) that may occur in the analysis sheet 40 of Figure 4, interlock information attached to the operation steps is used to improve the efficiency and accuracy of the re-checking process. Specifically, one or more pieces of interlock information are attached to each operation step in the step list table 20 to complement that operation step.

[0035] In the schematic diagram of the step list table 20 in Figure 5, operation symbols 50 (numbers) that define more detailed operations corresponding to each operation step are displayed. The operation symbols 50 correspond to operation information, and the operation symbols 50 are operation numbers assigned to a list of movement amounts (direction, distance) and specific operations in place as more detailed operation modes for each robot. The operation symbols 50a for interlock information corresponding to the operation steps of welding robot 200a (first robot) and the operation symbols 50b for interlock information corresponding to the operation steps of transport robot 200b (second robot) are displayed. The operation symbols 50 that indicate operation information include operation symbols 50a and 50b that indicate interlock information. The schematic diagram in Figure 6 is a magnified view of the interlock information operation symbols 50a and 50b in Figure 5.

[0036] In Figure 6, the operation symbol 50a "63,-63,71" indicating interlock information is attached to the operation step "30" in the time-series sequence for the welding robot 200a (first robot) (see Figure 6(A)). For example, when the welding robot 200a transmits an interlock signal 63 in step "30", the transport robot 200b (second robot), which is waiting in step "50", receives the signal 63 and starts operating. In addition, the operation symbol 50b "64,65" indicating interlock information is attached to the operation step "50" in the time-series sequence for the transport robot 200b (second robot) (see Figure 6(B)).

[0037] For interlock calibration, the information processing device 1 of this embodiment is equipped with a calibration unit 140. The calibration unit 140 generates calibration information by calibrating the interlocks present in the step list table 20 based on the interlock information for each of the robots 200 (200a, 200b) that are the targets of the interference step.

[0038] The calibration unit 140 compares the operation symbols of the interlock information corresponding to the operation steps of the two robots 200 (200a, 200b) that are subject to interference steps. The calibration unit 140 then determines the possibility of collision or contact between the robots as a practical matter, corrects any malfunctions in the interlock settings present in the step list table 20, and generates calibration information to calibrate the interlocks from the corrected information.

[0039] The output unit 150 presents the calibration information in a step list and outputs the post-calibration interlock. The calibration information (calibration information generated by the calibration unit 140) is reflected in the step list 20 shown in Figure 3, and the interlock area is changed. As a result, the pattern requiring re-checking in Figure 4 is eliminated. Note that the change in the interlock area is not limited to once, but may be performed multiple times.

[0040] Next, using the flowcharts in Figures 7(A) and 7(B), we will explain both the information processing method and the information processing program in the information processing device 1 of this embodiment. The information processing method is executed by the arithmetic unit 101 of the processing unit 100 (computer) based on the information processing program. The information processing program causes the processing unit 100 (computer) in Figures 1 and 2 to execute functions such as operation identification, interference identification, setting, calibration, and output. Since each function overlaps with the explanation of the information processing device 1 above, details will be omitted.

[0041] As shown in the flowcharts in Figures 7(A) and (B), the actual processing of the processing unit 100 (computer) includes various steps such as a setting step (S130) to confirm the simulation results, an operation identification step (S110), an interference identification step (S120), a calibration storage step (S140), and an output step (S150). Of course, the various steps necessary for the operation of the processing unit 100 (computer) itself are naturally included.

[0042] The motion identification function identifies the actions of individual robots 200 (200a, 200b) when they are working together while operating independently. This function breaks down the actions of each robot 200 (200a, 200b) into predetermined units of motion, sets motion steps, and attaches motion information that defines the specific actions of each robot 200 (200a, 200b) included in each motion step to the motion steps, thereby identifying the actions of each robot (S110; motion identification step). The interference identification function identifies motion steps in which there is a possibility of collision or contact between robots 200 (200a, 200b) as interference steps (S120; interference identification step). The setting function arranges the motion steps for each robot 200 (200a, 200b) that are subject to interference steps in chronological order to form a step list table 20, and sets interlocks (interlock areas 22) in the step list table 20 to prevent collision or contact based on the interference steps (S130; setting step).

[0043] The configuration function generates calibration information by calibrating the interlocks (interlock areas 22) present in the step list table 20 based on the interlock information contained in the operation information of each of the robots 200 (200a, 200b) that are the targets of the interference step (S140; calibration step). The output function presents the calibration information in the step list table 20 and outputs the calibrated interlocks (interlock areas 22) (S150; output step).

[0044] The computer program of the present invention described above may be recorded on a processor-readable recording medium, and as the recording medium, a "non-temporary tangible medium" such as tape, disk, card, semiconductor memory, or programmable logic circuit can be used.

[0045] The above computer program can be implemented using, for example, scripting languages ​​such as ActionScript and JavaScript®, object-oriented programming languages ​​such as Objective-C and Java®, and markup languages ​​such as HTML5. [Explanation of symbols]

[0046] 1. Information Processing Device 2 Display device 20-Step List 21a Time series of the first operation step 21b Second Operation Step Time Series 22 Interlock Area 23 Abnormal approach area 24 Contact area 25. Incorrect approach area 40 Analysis Sheets 50 Action Symbols 100 Processing Unit 101 Arithmetic section 102 ROM 103 RAM 104 Storage section 105 Input / Output Interface (I / O) 110 Operation identification part 120 Interference Identification Section 130 Setting section 140 Calibration Department 150 Output section 200 (200a, 200b) Robot

Claims

1. When robots with different purposes work together while operating independently, the operation of each robot is broken down into predetermined units of operation to set operation steps, and operation information defining the specific operation of each robot included in the operation step is attached to the operation step to identify the operation of each robot. An interference identification unit identifies as interference steps any operation steps in the aforementioned operation steps in which there is a possibility of collision or contact between robots, The system includes a setting unit that arranges the operation steps in chronological order for each of the robots that are the targets of the interference step to form a step list, and sets interlocks in the step list to prevent collision or contact based on the interference step, The interlocks present in the step list are calibrated based on the operation information of each robot that is the target of the interference step. An information processing device characterized by the following:

2. When calibrating the aforementioned interlock, The information processing apparatus according to claim 1, further comprising a calibration unit that generates calibration information by calibrating the interlocks present in the step list table based on the operation information of each robot that is subject to the interference step.

3. The information processing apparatus according to claim 2, further comprising an output unit that displays the calibration information in the step list and outputs the interlock after calibration.

4. The information processing apparatus according to claim 2, wherein the step list table has a grid formed by arranging the operation steps of the first robot on the vertical axis and the operation steps of the second robot on the horizontal axis in chronological order.

5. The information processing apparatus according to claim 4, wherein the step list is accompanied by one or more pieces of operation information corresponding to one operation step.

6. The aforementioned operation information consists of operation symbols assigned according to the specific operation patterns of each robot. The information processing device according to claim 5, wherein the calibration unit compares the operation symbols of the operation information of each of the robots that are the targets of the interference step and calibrates the interlocks present in the step list table.

7. Computers When robots with different purposes work together while operating independently, the operation of each robot is broken down into predetermined units of operation to set operation steps, and operation information that defines the specific operation of each robot included in the operation steps is attached to the operation steps to identify the operation of each robot. An interference identification step is used to identify, in the aforementioned operation steps, any operation steps in which there is a possibility of collision or contact between robots as interference steps. A setting step involves arranging the operation steps in chronological order for each robot that is subject to the interference step to form a step list, and setting interlocks in the step list to prevent collision or contact based on the interference step. The system includes a calibration step which generates calibration information by calibrating the interlocks present in the step list based on the operation information of each robot that is the target of the interference step. An information processing method characterized by the following:

8. On the computer, When robots with different purposes work together while operating independently, the system includes an operation identification function that decomposes the operation of each robot into predetermined units of operation, sets operation steps, and attaches operation information that defines the specific operation of each robot included in the operation steps to the operation steps to identify the operation of each robot. An interference identification function identifies as interference steps any operation steps in the aforementioned operation steps in which there is a possibility of collision or contact between robots, A setting function that arranges the operation steps in chronological order for each robot that is subject to the interference step to form a step list, and sets interlocks in the step list to prevent collision or contact based on the interference step, A calibration function is implemented that generates calibration information by calibrating the interlocks present in the step list table based on the operation information of each robot that is the target of the interference step. An information processing program characterized by the following features.

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