Display control system, display control method, and program

Abstract

The objective is to provide a display control system, display control method, and program that can monitor the wear status of end effectors. [Solution] The system includes a display control means that displays an end effector image corresponding to an end effector 12 attached to a robot 11 on a display unit, wherein the end effector 12 is used to remove an object, and the length of the end effector image displayed on the display unit by the display control means corresponds to the remaining length of the end effector 12.

Description

Technical Field

[0001] The present disclosure relates to a display control system, a display control method, and a program.

Background Art

[0002] Conventionally, a work extraction system that extracts works one by one using a robot from a container that houses a plurality of works has been used. Patent Document 1 discloses that, in addition to displaying a two-dimensional image, a two-dimensional virtual hand that reflects the two-dimensional shape, size, direction (two-dimensional posture) of the extraction hand of the portion in contact with the work, and the combination of intervals is drawn and displayed on the two-dimensional image.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in Patent Document 1, it is not assumed that the end effector is consumed.

[0005] The present disclosure has been made in view of the above-described circumstances, and an object thereof is to provide a display control system, a display control method, and a program capable of grasping the consumption status of an end effector.

Means for Solving the Problems

[0006] A display control method according to one aspect of the present disclosure comprises a display control means for displaying an end effector image corresponding to an end effector attached to a robot on a display unit, wherein the end effector is used to remove an object, and the length of the end effector image displayed on the display unit by the display control means corresponds to the remaining length of the end effector. [Effects of the Invention]

[0007] This disclosure provides a display control system, a display control method, and a program that can grasp the wear status of an end effector. [Brief explanation of the drawing]

[0008] [Figure 1] This is a schematic diagram of the robot system and display control system according to the embodiment. [Figure 2] This is a schematic block diagram showing a specific example of the functional configuration of a terminal device. [Figure 3] This is the first example of various types of information displayed on the display unit by the display control means. [Figure 4] This is an example of a permission condition image that appears when an permitted image is selected. [Figure 5] This is an example of a message image displayed on the display unit. [Figure 6] This is an example of a warning image displayed on the display unit. [Figure 7] This is the first example of an alarm image displayed on the display unit. [Figure 8] This is a second example of an alarm image displayed on the display unit. [Figure 9] This is a second example of various types of information displayed on the display unit by the display control means. [Figure 10] This is a flowchart of the display control method according to the embodiment. [Figure 11] This figure shows a schematic example of the hardware configuration of the information processing device applied to this embodiment. [Modes for carrying out the invention]

[0009] A display control system, a display control method, and a program according to one embodiment of this disclosure will be described below with reference to the drawings. The display control system according to this embodiment is used by the user to understand the status of the robot system and to input instructions for controlling the robot system. First, the robot system according to this embodiment will be described.

[0010] (Regarding the robot system) Figure 1 is a schematic diagram of the robot system 1 and display control system 2 according to an embodiment. In this embodiment, the robot system 1 is positioned in front of the melting furnace M. The robot system 1 is used for maintenance of the melting furnace M, as described below. Details of the melting furnace M will be described later in conjunction with the operation of the robot system 1. As shown in Figure 1, the robot system 1 includes a robot 11, an end effector 12, and an attachment 13.

[0011] The robot 11 moves the end effector 12 toward the melting furnace M. More specifically, the robot 11 changes the position and orientation of the end effector 12 relative to the melting furnace M. In this embodiment, the robot 11 is a known 6-axis vertical articulated robot, for example, equipped with an arm 11A.

[0012] The end effector 12 is moved by the robot 11 and used to remove the target O. In this embodiment, the target O is the molten material in the melting furnace M. The molten material is, for example, metal or slag in the melting furnace M. The end effector 12 is used to poke and remove the molten material adhering to the melting furnace M. In this embodiment, the end effector 12 is a rod-shaped member. Alternatively, the end effector 12 may be a grabber with a movable part at its tip, or any other arbitrary tool.

[0013] The attachment 13 connects the robot 11 and the end effector 12. In this embodiment, the attachment 13 is stretchable. That is, in this embodiment, the end effector 12 is attached to the robot 11 via the stretchable attachment 13. When the attachment 13 connecting the robot 11 and the end effector 12 stretches and contracts, the end effector 12 moves back and forth. Thus, the end effector 12 moves to hit the target O. In this embodiment, the attachment 13 may be provided with a force sensor (not shown) for detecting that the end effector 12 has contacted a melt or the like. With the above-described respective configurations, the robot system 1 is constituted.

[0014] (Regarding the operation of the robot system) Next, the operation of the robot system 1 having the above-described configuration will be described. As described above, the robot system 1 is used for the maintenance of the melting furnace M. Specifically, the target O, which is metal or slag adhering to the melting furnace M, is hit and removed by the end effector 12. Hereinafter, the maintenance of the melting furnace M using the robot system 1 according to this embodiment will be described. In explaining the maintenance of the melting furnace M, first, the details of the melting furnace M will be described. The melting furnace M is used, for example, to melt and process waste. As shown in FIG. 1, the melting furnace M includes, for example, at least a furnace body M1 and a gate valve M2.

[0015] The furnace body M1 is where the introduced waste is melted. As shown in Figure 1, the furnace body M1 has a melting section M1a, which is a space for containing and melting waste. Waste is introduced into the melting section M1a from an inlet (not shown) located at the top. The waste introduced into the melting section M1a is melted as it moves to the outlet section M1c. The melted waste then flows out from the outlet section M1c shown in Figure 1. The outlet section M1c is a hole provided so that the melting section M1a communicates with the outer surface M1d of the furnace body M1. As shown in Figure 1, the outer surface M1d of the furnace body M1 where the outlet section M1c is provided is a wall-like surface that runs vertically. In addition, measuring plates M1f may be provided on the left and right sides of the outlet section M1c of the furnace body M1 when viewed from the direction in which the end effector 12 is located. The measuring plate M1f is the point where the tip of the end effector 12 is pressed against when the measuring means 21E2, described later, measures the remaining length of the end effector 12. In the furnace body M1 formed as described above, metal, slag, etc. (i.e., target O) may accumulate around the outlet portion M1c, as shown in Figure 1. In this embodiment, the end effector 12 is used to remove the target O that has accumulated in this manner.

[0016] The gate valve M2 is located between the furnace body M1 and the outside of the melting furnace M. The gate valve M2 is the place where the end effector 12 is received from the outside of the melting furnace M. As shown in Figure 1, the gate valve M2 is provided with an inlet hole M2a into which the end effector 12 is inserted. As shown in Figure 1, the gate valve M2 is provided in two locations, one above and one below. Specifically, the gate valve M2 has an upper gate valve M2A located on the upper side and a lower gate valve M2B located on the lower side. This contributes to widening the working area of ​​the end effector 12. Hereafter, when the upper gate valve M2A and the lower gate valve M2B are not distinguished, they will be referred to as gate valve M2.

[0017] In this embodiment, the end effector 12 is inserted from either the upper gate valve M2A or the lower gate valve M2B. Furthermore, in this embodiment, the end effector 12 inserted from the upper gate valve M2A and the end effector 12 inserted from the lower gate valve M2B may be provided separately. Hereinafter, in this embodiment, the end effector 12 inserted from the upper gate valve M2A will be referred to as the upper end effector 12A, and the end effector 12 inserted from the lower gate valve M2B will be referred to as the lower end effector 12B. When these are not distinguished, they will simply be referred to as the end effector 12.

[0018] As described above, the end effector 12 is moved toward the melting furnace M by the robot 11. At this time, it is preferable that the end effector 12, before being inserted into the upper gate valve M2A or the lower gate valve M2B, waits in a predetermined position provided in front of the upper gate valve M2A or the lower gate valve M2B. In this embodiment, the following configuration is provided near the upper gate valve M2A or the lower gate valve M2B in order to keep the end effector 12 in standby position.

[0019] In other words, near the upper gate valve M2A or the lower gate valve M2B, there is a tip support S1 and a base S2, as shown in Figure 1, which are designated positions for placing the standby end effector 12. In this embodiment, placing the end effector 12 on the tip support S1 and the base S2 is referred to as placing the end effector 12 in the designated position. The tip support portion S1 is the part that supports the tip of the end effector 12 before it is inserted into the upper gate valve M2A or the lower gate valve M2B. As shown in Figure 1, the tip support portion S1 is provided in front of the inlet holes M2a of the upper gate valve M2A and the lower gate valve M2B, respectively.

[0020] The base S2 is the part that supports the rear end of the end effector 12 before it is inserted into the upper gate valve M2A or the lower gate valve M2B. Here, the end effector 12 is worn down and its length decreases as the work of removing the target O progresses. In this embodiment, multiple bases S2 are provided to accommodate the length of such end effector 12. That is, as shown in Figure 1, the multiple units S2 include a first unit S2a, a second unit S2b, a third unit S2c, a fourth unit S2d, and a fifth unit S2e. When these are not distinguished, they are referred to as unit S2. Each of the multiple units S2 may be capable of detecting when the rear end of the end effector 12 is placed on it. For example, each of the multiple units S2 may be provided with a sensor (not shown) capable of detecting the weight of the rear end of the end effector 12. Each of the first unit S2a through the fifth unit S2e is installed in order from the side furthest from the gate valve M2. That is, the first unit S2a is located furthest from the gate valve M2, and the fifth unit S2e is located closest to the gate valve M2. In the multiple stands S2 provided in this manner, for example, when the end effector 12 is nearly unused and has little wear, in other words, when the end effector 12 is at its longest length, the rear end of the end effector 12 is placed on the first stand S2a. As the end effector 12 wears down and its length decreases, the rear end of the end effector 12 is placed on the stand S2 located closer to the gate valve M2. When the end effector 12 wears down and its length shortens, and the tip of the end effector 12 is supported by the tip support S1, and its rear end can no longer be placed on the fifth stand S2e, the end effector 12 is replaced. In this embodiment, the multiple bases S2 described above may be individually provided for the upper end effector 12A and the lower end effector 12B, as shown in Figure 1. Hereinafter, in this embodiment, the base S2 for supporting the upper end effector 12A will be referred to as the upper base S2A, and the base S2 for supporting the lower end effector 12B will be referred to as the lower base S2B. When these are not distinguished, they will simply be referred to as base S2.

[0021] Before being inserted into the upper gate valve M2A or the lower gate valve M2B, it is preferable that the end effector 12 is positioned on the tip support portion S1 and the base S2 as described above. When starting work using the end effector 12 from this state, the robot 11 first picks up the end effector 12 from the base S2. That is, for example, the robot 11 grasps the rear end of the end effector 12 with an attachment 13 that is pre-attached to the robot 11. Then, the robot 11 moves the attachment 13 to lift the rear end of the end effector 12 so that the tip of the end effector 12 is supported by the tip support part S1. In this embodiment, the robot 11 may automatically pick up the end effector 12 based on instructions from the user. Next, the robot 11 moves the end effector 12 to insert it into the inlet hole M2a of the gate valve M2, and moves its tip to the vicinity of the target O. Then, the attachment 13 extends and retracts in this state, causing the tip of the end effector 12 to strike the target O. This removes the target O that has accumulated inside the furnace body M1 of the melting furnace M. In this embodiment, the orientation of the end effector 12 when striking the target O may be determined, for example, based on instructions input by the user via the input unit 21B. After the above-described series of operations are completed, the robot 11 removes the end effector 12 from the gate valve M2 and places it on the tip support S1 and the base S2. The operation by the robot 11 to place the end effector 12 on the tip support S1 and the base S2 may be initiated, for example, based on instructions from the user. When the robot 11 places the end effector 12, it is preferable that the robot 11 appropriately selects one of the first base S2a to fifth base S2e to place the rear end of the end effector 12 on, depending on the remaining length of the end effector 12. The remaining length of the end effector 12 may be measured by the measuring means 21E2 described later. The robot 11 may automatically determine which base S2 to place the rear end of the end effector 12 on based on the measurement results of the measuring means 21E2. The operations described above are the same for both the upper end effector 12A and the lower end effector 12B. For example, the robot 11 may insert the upper end effector 12A from the upper gate valve M2A and perform the operation, then switch from the upper end effector 12A to the lower end effector 12B and perform the same operation.

[0022] (Regarding the display control system) Next, the display control system 2 according to this embodiment will be described. The display control system 2 acquires various information from the robot system 1 described above and displays it as visually accessible information. As shown in Figure 1, the display control system 2 comprises a terminal device 21 and an imaging device 22. The terminal device 21 and the imaging device 22, and the terminal device 21 and the robot 11 and attachment 13 are communicated to each other via a network 70. The network 70 may be a wireless communication network or a wired communication network. The network 70 may be configured using, for example, the Internet or a local area network (LAN). The network 70 may be configured by combining multiple networks.

[0023] Figure 2 is a schematic block diagram showing a specific example of the functional configuration of the terminal device 21. The terminal device 21 is configured using information devices such as smartphones, tablets, personal computers, and dedicated devices. The terminal device 21 includes a communication unit 21A, an input unit 21B, a display unit 21C, a storage unit 21D, and a control unit 21E.

[0024] The communication unit 21A is a communication device. The communication unit 21A may be configured, for example, as a network interface. The communication unit 21A communicates data with other devices via the network 70 in accordance with the control of the control unit 21E. The communication unit 21A may be a wireless communication device or a wired communication device.

[0025] The input unit 21B is configured using existing input devices such as a keyboard, pointing device (mouse, tablet, etc.), buttons, or touch panel. The input unit 21B is operated by the user when inputting user instructions to the terminal device 21. The input unit 21B may also be an interface for connecting the input device to the terminal device 21. In this case, the input unit 21B inputs the input signal generated in the input device in response to the user's input to the terminal device 21. The input unit 21B may also be configured using a microphone and a speech recognition device. In this case, the input unit 21B acquires the acoustic signal generated by the user's speech, performs speech recognition on the words spoken by the user, and inputs the recognized string information to the terminal device 21. The speech recognition processing may be performed by the control unit 21E. The input unit 21B may be configured in any way that allows user instructions to be input to the terminal device 21.

[0026] The display unit 21C outputs information in a format that the user can recognize. The display unit 21C may be an image display device such as a liquid crystal display or an organic EL (Electro-Luminescence) display. The display unit 21C may also be an interface for connecting an image display device to the terminal device 21. In this case, the display unit 21C generates a video signal for displaying image data and outputs the video signal to the image display device connected to it. The display unit 21C may also be a device that outputs sound, such as a speaker. The display unit 21C may also be an interface for connecting an audio output device such as a speaker or headphones to the terminal device 21. In this case, the display unit 21C generates an audio signal for playing audio data and outputs the audio signal to the audio output device connected to it. The display unit 21C may also be configured as a touch panel integrated with the input unit 21B.

[0027] The storage unit 21D is configured using a storage device such as a magnetic hard disk drive or a semiconductor storage device. The storage unit 21D stores data used by the control unit 21E. The storage unit 21D stores data necessary for the control unit 21E to perform processing.

[0028] The control unit 21E is composed of a processor such as a CPU (Central Processing Unit) and memory (main memory). The control unit 21E functions as a robot control means 21E1, a measuring means 21E2, a designation means 21E3, a detection means 21E4, and a display control means 21E5 when the processor executes a program. Note that all or part of the functions of the control unit 21E may be implemented using hardware such as an ASIC (Application Specific Integrated Circuit), a PLD (Programmable Logic Device), or an FPGA (Field Programmable Gate Array). The above program may be recorded on a computer-readable recording medium. Computer-readable recording media include, for example, portable media such as flexible disks, magneto-optical disks, ROMs, CD-ROMs, and semiconductor memory devices (e.g., SSDs: Solid State Drives), as well as storage devices such as hard disks and semiconductor memory devices built into computer systems. The above program may be transmitted via a telecommunications line.

[0029] The control unit 21E may execute an application installed on its own device (terminal device 21). The program installed on the terminal device 21 may cause the computer to function as a display control system according to this embodiment. A specific example of such an application is an application provided to the terminal device 21 as a dedicated application for the display control system 2. Another specific example of such an application is a web browser application. Such an application may be pre-installed on the terminal device 21, or it may be downloaded each time a determination process is executed. For example, if it is implemented as a web browser application, the terminal device 21 may download and execute the application from a device specified by the web server (for example, the web server itself or another server) when the terminal device 21 connects to a specific web server. The control unit 21E operates according to the program of the application being executed.

[0030] The robot control means 21E1 controls the operation of the robot 11 and the attachment 13. The robot control means 21E1 operates the robot 11 appropriately based on instruction information input by the user via the input unit 21B. Specifically, for example, the user specifies via the input unit 21B the movement speed of the end effector 12 when approaching the target O, the relative angle with respect to the target O, and the speed of the reciprocating movement of the end effector 12 due to the extension and retraction operation of the attachment 13. The robot control means 21E1 operates the robot 11 and the attachment 13 appropriately based on such instructions from the user. Hereinafter, when the robot 11 is operated by the robot control means 21E1, it will simply be referred to as the robot 11 operating. Similarly, when the attachment 13 is operated by the robot control means 21E1, it will simply be referred to as the attachment 13 operating.

[0031] The measuring means 21E2 is a means for measuring the remaining length of the end effector 12. The measuring means 21E2 measures the remaining length of the end effector 12, for example, as follows: When the measurement by the measuring means 21E2 is performed, the robot 11 moves so that the tip of the end effector 12 abuts against the length measuring plate M1f provided in the melting furnace M. Then, the measuring means 21E2 calculates the distance from the tip of the end effector 12 to the connection point between the arm 11A and the attachment 13 based on the posture of the robot 11A's arm 11A when the tip of the end effector 12 abuts against the length measuring plate M1f. Specifically, when the tip of the end effector 12 contacts the length measuring plate M1f, a force sensor (not shown) provided on the attachment 13 detects the load. At this time, the robot 11 moves so that the tip of the end effector 12 contacts a specific position (coordinate) on the length measuring plate M1f. The robot 11 may stop the movement of the tip of the end effector 12 when the load reaches a certain value or higher. The robot 11 stores the posture (coordinates) of the arm 11A when the load reaches a certain value or higher. Based on the information thus stored, the measuring means 21E2 calculates the distance from the tip of the end effector 12 to the connection point between the arm 11A and the attachment 13. In this way, the measuring means 21E2 measures the remaining length of the end effector 12. In this embodiment, the remaining length of the end effector 12 measured by the measuring means 21E2 may be stored in the storage unit 21D.

[0032] In this embodiment, the measuring means 21E2 measures the remaining length of the end effector 12, for example, at the timing described below. That is, for example, the measuring means 21E2 may measure the remaining length of the end effector 12 after the operation of picking up the end effector 12 is completed. In this case, after the robot 11 lifts the end effector 12, but before starting work using the end effector 12, it may operate so that the tip of the end effector 12 touches the measuring plate M1f. By measuring the remaining length of the end effector 12 at this timing, the tip of the end effector 12 can be accurately brought into contact with the target O after the work has started. Furthermore, for example, the measuring means 21E2 may measure the remaining length of the end effector 12 before starting the operation to place the end effector 12 in a predetermined position. In this case, after completing the work using the end effector 12, the robot 11 may operate to abut the tip of the end effector 12 against the measuring plate M1f before placing the end effector 12 in a predetermined position including the tip support S1 and the base S2. By measuring the remaining length of the end effector 12 at this timing, the robot 11 can accurately determine which of the first base S2a to the fifth base S2e described above the rear end of the end effector 12 should be placed on. Furthermore, for example, the measuring means 21E2 may measure the remaining length of the end effector 12 before starting the operation to switch from one end effector 12 to another. In this case, for example, when the robot 11 completes work using the upper end effector 12A and is about to move on to work using the lower end effector 12B, it may operate so as to abut the tip of the upper end effector 12A against the measuring plate M1f before placing it in a predetermined position. By measuring the remaining length of the end effector 12 at this timing, the robot 11 can accurately determine which of the first to fifth units S2a to S2e described above should be used to place the rear end of the end effector 12 (in the above example, the upper end effector 12A). Furthermore, for example, the measuring means 21E2 may measure the remaining length of the end effector 12 after the completion of the operation of switching from one end effector 12 to another. In this case, for example, when the robot 11 completes work using the upper end effector 12A and is about to move on to work using the lower end effector 12B, it may operate so as to bring the tip of the lower end effector 12B against the measuring plate M1f after completing the operation of switching to the lower end effector 12B. By measuring the remaining length of the end effector 12 (in the above example, the lower end effector 12B) at this timing, the tip of the end effector 12 can be accurately brought into contact with the target O after the start of the work. In this embodiment, the measuring means 21E2 may measure the remaining length of the end effector in any one of the examples described above. The user may decide as appropriate which of these situations the remaining length of the end effector 12 is measured in. The robot system 1 may automatically measure the remaining length of the end effector 12 in any of the above situations determined by the user.

[0033] Furthermore, the measuring means 21E2 may measure the remaining length of the end effector 12, for example, when the user replaces a worn-out end effector 12 with a new one. The fact that the end effector 12 has been replaced by the user may be detected, for example, based on which stand S2 the rear end of the end effector 12 is placed on. Specifically, for example, if the rear end of a worn and shortened end effector 12 is placed on the fifth unit S2e, and the user replaces the end effector 12 with a new one, the rear end of the new end effector 12 will be placed on the first unit S2a. As described above, the measured remaining length of the end effector 12 is stored in the memory unit 21D. The robot 11 recognizes which platform S2 the rear end of the end effector 12 should be placed on, based on the last stored remaining length of the end effector 12. In contrast, when the robot 11 actually picks up the end effector 12, the robot 11 operates based on the detection result of which platform S2 the rear end of the end effector 12 is actually placed on. Note that the platform S2 on which the rear end of the end effector 12 is placed may be detected by the detection means 21E4 described later. At this time, the robot 11 can determine that the end effector 12 has been replaced with a new one by detecting that the stand S2 on which the rear end of the end effector 12 is actually placed is further from the furnace body M1 than the stand S2 on which the robot 11 recognized as the appropriate place for the rear end of the end effector 12 as described above. Furthermore, the measuring means 21E2 may measure the remaining length of the end effector 12, for example, when the end effector 12 is replaced from a long one to a short one. Such a case is assumed to occur, for example, when the tip of the end effector 12 is cut off by the user due to an abnormality such as the tip of the end effector 12 bending during work. Replacing the end effector 12 from a long one to a short one may also mean that the end effector 12 is removed from the stand S2, its tip is cut off, and then it is returned to the stand S2. For example, if the rear end of the end effector 12 is placed on the first unit S2a during operation by the robot 11, and the user replaces the end effector 12 with a shorter one, the rear end of the replaced end effector 12 will be placed on one of the second unit S2b through the fifth unit S2e. At this time, the robot 11 can determine that the end effector 12 has been replaced from a long one to a short one by detecting that the stand S2 on which the rear end of the end effector 12 is actually placed is closer to the furnace body M1 than the stand S2 on which the robot 11 recognized as the place where the rear end of the end effector 12 should be placed as described above. In such cases, the robot 11 may lift the new end effector 12 and then move to bring the tip of the end effector 12 against the measuring plate M1f. By measuring the remaining length of the end effector 12 at this timing, the remaining length of the new end effector 12 can be measured again at an appropriate time.

[0034] Furthermore, the measuring means 21E2 may measure the remaining length of the end effector 12 based on instructions input from the user via the input unit 21B. In this case, when the robot 11 receives an instruction from the user to measure the remaining length of the end effector 12, it may operate to bring the tip of the end effector 12 against the measuring plate M1f. In this case, the measuring means 21E2 can measure the remaining length of the end effector 12 at a timing that is more in line with the user's intentions.

[0035] The designation means 21E3 specifies that the display mode of the end effector image G3, described later, should be changed according to the deformation of the end effector 12. The designation means 21E3 may also specify that the alarm image GF, described later, should be displayed. In this embodiment, when the end effector 12 is used to remove the target O, the end effector 12 may deform. Specifically, for example, the end effector 12 may wear down and its length may decrease, or the rod-shaped end effector 12 may bend. The designation means 21E3 specifies whether or not the display control means 21E5 should reflect the deformation of the end effector image G3 displayed on the display unit 21C when the end effector 12 is deformed in this manner. Details of the display on the display unit 21C by the display control means 21E5 will be described later.

[0036] The detection means 21E4 detects which of the multiple stands S2 on which the end effector 12 can be placed the end effector 12 will be placed. That is, the detection means 21E4 detects which of the first stand S2a to fifth stand S2e described above the rear end of the end effector 12 will be placed on. For example, the detection means 21E4 may detect which stand the rear end of the end effector 12 is placed on by receiving a signal that one of the sensors (not shown) provided in each of the first stand S2a to fifth stand S2e has detected the weight of the rear end of the end effector 12. The detection means 21E4 detects the platform on which the rear end of the end effector 12 is placed, allowing the robot 11 to determine, for example, which platform S2 to bring the attachment 13 closer to when lifting the end effector 12. Furthermore, the display control means 21E5 displays the platform S2 on which the rear end of the end effector 12 is placed, allowing the user to grasp the approximate remaining length of the end effector 12.

[0037] The display control means 21E5 causes the display unit 21C to display various information. The user visually checks the various information displayed on the display unit 21C by the display control means 21E5 to, for example, understand the status of the robot system 1 or to input instructions regarding the work to be performed by the robot system 1. The following describes the various types of information displayed on the display unit 21C by the display control means 21E5.

[0038] Figure 3 shows a first example of various information displayed on the display unit 21C by the display control means 21E5. As shown in Figure 3, the display control means 21E5 causes the display unit 21C to display, for example, a top image G1 of the melting furnace, a side image G2 of the melting furnace, an end effector image G3, a numerical image G4, a base image G5, a status display image G6, an operation preparation image G7, an operation image G8, an instruction image G9, and an permission image GA.

[0039] The melting furnace top view image G1 is a schematic diagram showing the melting furnace M as viewed from above. As shown in Figure 3, the melting furnace top view image G1 may be displayed on the left side of the display unit 21C, for example. The melting furnace top view image G1 includes a furnace body top view image G1a showing the furnace body M1 as viewed from above, and a gate valve top view image G1b showing the gate valve M2 as viewed from above. As shown in Figure 3, in the top view image G1 of the melting furnace, the left-right direction in the melting furnace M may be indicated by letters.

[0040] The melting furnace side view image G2 is a schematic diagram showing the melting furnace M as viewed from the side. As shown in Figure 3, the melting furnace side view image G2 may be displayed in the display unit 21C in an area including the center and the area to the right of the center. The melting furnace side view image G2 includes a furnace body side view image G2a showing the furnace body M1 as viewed from the side, and a gate valve side view image G2b showing the gate valve M2 as viewed from the side. As shown in Figure 3, the gate valve side view image G2b may include an upper gate valve side view image G2b1 showing the upper gate valve M2A, and a lower gate valve side view image G2b2 showing the lower gate valve M2B. As shown in Figure 3, in the side view image G2 of the melting furnace, the vertical direction in the melting furnace M may be indicated by text. Also, in the side view image G2 of the melting furnace M, the direction approaching the furnace body M1 ("pushing" direction) and the direction moving away from the furnace body M1 ("pulling" direction) may be indicated by text. Furthermore, as shown in Figure 3, the elapsed time (in seconds) since the start of operation by the end effector 12 may be displayed in the side view image G2 of the melting furnace.

[0041] The end effector image G3 is an image corresponding to the end effector 12 attached to the robot 11. The display control means 21E5 displays the end effector image G3 on the display unit 21C. The user can understand the state of the end effector 12 inside the melting furnace M by visually observing the end effector image G3 displayed on the display unit 21C. In this embodiment, the end effector image G3 is displayed in the melting furnace top image G1 and the melting furnace side image G2, respectively, as shown in Figure 3. The position of the end effector image G3 in the melting furnace top image G1 and the melting furnace side image G2 may appropriately reflect the actual position of the end effector 12. Information regarding the position of the end effector 12 may be obtained, for example, by receiving information regarding the posture of the robot 11 via the communication unit 21A. The display control means 21E5 may determine the position of the end effector image G3 in the melting furnace top image G1 and the melting furnace side image G2 based on the information regarding the position of the end effector 12 obtained in this way. In the example shown in Figure 3, the end effector image G3 is superimposed on the upper gate valve side view image G2b1 in the melting furnace side view image G2. This indicates that the upper end effector 12A has been inserted from the upper gate valve M2A and the operation is being carried out. In the following description, unless otherwise specified, it is assumed that the upper end effector 12A has been inserted from the upper gate valve M2A and that the operation to remove the target O is being carried out.

[0042] In this embodiment, the length of the end effector image G3 displayed on the display unit 21C by the display control means 21E5 may correspond to the remaining length of the end effector 12. That is, the length of the end effector image G3 displayed on the display unit 21C may be displayed to shorten in accordance with the wear and tear caused by the operation of the end effector 12.

[0043] Furthermore, the length of the end effector image G3 displayed on the display unit 21C by the display control means 21E5 may correspond to the remaining length of the end effector 12 and the distance of the extension and retraction movement of the attachment 13. That is, for example, as shown in Figure 3, the display control means 21E5 may display the portion of the end effector image G3 corresponding to the actual end effector 12 from the rear end to the front end in a first color, and the range in which the front end of the end effector 12 moves due to the extension and retraction movement of the attachment 13 may be displayed in a second color different from the first color. In this case, the portion displayed in the second color may be displayed with a thinner line than the portion displayed in the first color. Also, the length of the portion displayed in the second color may change as appropriate in accordance with the actual back-and-forth movement of the end effector. Specifically, for example, as the front end of the end effector approaches the target O and approaches the limit of the movement range, the portion displayed in the second color may become longer. Also, as the front end of the end effector moves away from the target O, the portion displayed in the second color may become shorter.

[0044] Furthermore, the display mode of the end effector image G3 that the display control means 21E5 causes to be displayed on the display unit 21C may change in accordance with the deformation of the end effector 12. That is, for example, if the rod-shaped end effector 12 is bent during operation, the deformation may be reflected in the end effector image G3 displayed on the display unit 21C. Specifically, for example, the end effector image G3 may be displayed as bent on the display unit 21C. The deformation of the end effector 12 may be detected by the control unit 21E based on an image of the inside of the melting furnace M captured by the imaging device 22, for example. Furthermore, the color of the portion of the end effector image G3 corresponding to the curved portion of the end effector 12 may be displayed in a different color from the other portions. Specifically, for example, in the end effector image G3, only the portion corresponding to the curved portion of the end effector 12 (the inflection point) may be displayed in a different color from the other portions, or the portions of the end effector 12 that are curved may be displayed in different colors from each other. In this case, the end effector image G3 does not need to be displayed as curved in the display unit 21C.

[0045] Furthermore, the display mode of the end effector image G3 may also change in response to the specification process performed by the specification means 21E3. In other words, for example, if the designation means 21E3 specifies that the deformation of the end effector 12 should be reflected in the end effector image G3, the display mode of the end effector image G3 displayed by the display control means 21E5 may change according to the deformation of the end effector 12. Such a mode is suitable, for example, when the user is not visually inspecting the image of the inside of the melting furnace M captured by the imaging device 22, and the user is able to easily grasp the deformation of the end effector 12. Furthermore, if the designation means 21E3 does not specify that the deformation of the end effector 12 should be reflected in the end effector image G3, the display mode of the end effector image G3 displayed by the display control means 21E5 does not need to change in accordance with the deformation of the end effector 12. Such mode is effective, for example, when the user is visually inspecting an image of the inside of the melting furnace M captured by the imaging device 22 (for example, when the work performed by the end effector 12 is carried out by the user operating the robot 11). In such mode, the user may, for example, visually inspect an image of the end effector 12 inside the melting furnace M captured by the imaging device 22 to confirm the actual deformation state of the end effector 12 while performing the work. The image of the inside of the melting furnace M captured by the imaging device 22 may be displayed on a screen separate from the display unit 21C of the terminal device 21, as appropriate.

[0046] The numerical image G4 is an image corresponding to the numerical value of the remaining length of the end effector 12. The display control means 21E5 displays the numerical image G4 on the display unit 21C in association with the end effector image G3. The numerical image G4 may be displayed, for example, above the melting furnace side image G2 on the display unit 21C. The numerical image G4 displays, for example, the remaining length of the end effector 12 in millimeters (mm). In the example shown in Figure 3, the numerical image G4 displays the remaining length of the upper end effector 12A and the remaining length of the lower end effector 12B as "upper row" and "lower row," respectively. The remaining length of the end effector 12 displayed by the numerical image G4 may be, for example, the result measured by the measuring means 21E2.

[0047] The base image G5 is an image corresponding to the base S2 on which the rear end of the end effector 12 is placed. As shown in Figure 3, the base image G5 may be displayed, for example, above the melting furnace side image G2 in the display unit 21C. The base image G5 includes the first base image G5a, the second base image G5b, the third base image G5c, the fourth base image G5d, and the fifth base image G5e, corresponding to the first base S2a to the fifth base S2e described above, as shown in Figure 3. Hereafter, when these are not distinguished, they will be referred to as the base image G5. Furthermore, each of the first base image G5a to the fifth base image G5e may be provided in two stages, one above the other, corresponding to the upper base S2A and the lower base S2B described above.

[0048] In this embodiment, the display control means 21E5 displays the stage image G5, which shows multiple stages S2, on the display unit 21C in association with the end effector image G3. The display control means 21E5 may also change the display mode of the portion of the stage image G5 that corresponds to the stage S2 on which the end effector 12 is detected by the detection means 21E4. That is, the image of the portion of the stage image G5 displayed as described above that corresponds to the stage S2 on which the rear end of the end effector 12 is placed may be displayed in a different manner than the portion that corresponds to the stage S2 on which the rear end of the end effector 12 is not placed. This allows the user to determine which of the multiple stages S2 has the rear end of the end effector 12 placed by visually inspecting the display unit 21C. In the example shown in Figure 3, as described above, the upper end effector 12A is performing the operation, and the lower end effector 12B is in a waiting position. Also in the example shown in Figure 3, the fourth unit image G5d, which corresponds to the fourth unit S2d on the lower unit S2B, is displayed in a different color from the other unit images G5. In this case, the fourth unit image G5d may be displayed in a brighter color than the other unit images G5, for example. This indicates that the rear end of the lower end effector 12B is placed on the fourth unit S2d on the lower unit S2B. In addition to the fourth unit image G5d being displayed in a different color from the other unit images G5, as shown in Figure 3, an end effector rear end image G5f, which indicates the rear end of the end effector 12, may be displayed above the fourth unit image G5d. Furthermore, for example, when the robot 11 is performing the operation of placing the rear end of the end effector 12 on a base S2, the display control means 21E5 may cause the base image G5 corresponding to the base S2 on which the rear end of the end effector 12 is about to be placed to flash on the display unit 21C using varying degrees of brightness. This allows the user to understand which base S2 the robot 11 is about to place the rear end of the end effector 12 on. This allows the user to quickly stop the robot 11 if it performs an abnormal operation. Specifically, for example, if the end effector 12 has just been replaced with a new one, and the robot 11 is about to place the rear end of the end effector 12 on a base S2 other than the first base S2a, the user can detect the abnormality and stop the robot 11 before the rear end of the end effector 12 is actually placed on the base S2.

[0049] The status display image G6 is an image that displays the status of the robot system 1. As shown in Figure 3, the status display image G6 may be displayed, for example, above the melting furnace side view image G2 in the display unit 21C. In the example shown in Figure 3, the status display image G6 includes an upper gate valve open / closed image G6a, a lower gate valve open / closed image G6b, and a gripping status image G6c. The upper gate valve opening / closing image G6a is an image showing the opening / closing state of the upper gate valve M2A. The lower gate valve opening / closing image G6b is an image showing the opening / closing state of the lower gate valve M2B. As described above, in the example shown in FIG. 3, the upper end effector 12A is inserted from the upper gate valve M2A, and the operation of removing the object O is being performed. Therefore, the upper gate valve M2A is in an open state, and the lower gate valve M2B is in a closed state. Corresponding to this, as shown in FIG. 3, the upper gate valve opening / closing image G6a is displayed with "Open", and the lower gate valve opening / closing image G6b is displayed with "Closed". At this time, the display of "Open" and the display of "Closed" may be different colors from each other. The gripping status image G6c is an image showing whether the attachment 13 is gripping the end effector 12. In the example shown in FIG. 3, since the attachment 13 is gripping the upper end effector 12A, a display of "Grip" indicating that it is gripping is shown. When the attachment 13 is not gripping the end effector 12, for example, a display of "Release" may be shown. At this time, the display of "Grip" and the display of "Release" may be different colors from each other.

[0050] The operation preparation image G7 is an image showing the operation preparation status of the robot system 1. As shown in FIG. 3, the operation preparation image G7 may be displayed, for example, above the melting furnace side image G2 on the display unit 21C. The operation preparation status of the robot system 1 may be, for example, a status related to the preparation for starting the operation of removing the object O using the end effector 12 by the robot 11. In the present embodiment, the operation preparation image G7 indicates the status by color or the brightness of the color. In the example shown in FIG. 3, the operation preparation image G7 is displayed in a relatively bright color, indicating that the operation preparation of the robot system 1 is in progress. Also, the operation preparation image G7 may indicate that the operation preparation is in progress by blinking, for example, and indicate that the operation preparation is completed by lighting up. The blinking of the operation preparation image G7 may be indicated, for example, by the brightness of the color. In the present embodiment, the operation preparation of the robot system 1 may be started, for example, when the user selects the operation preparation image G7 displayed on the display unit 21C by clicking or tapping or the like.

[0051] Operation image G8 is an image that indicates whether or not the operation of the robot system 1 has started. As shown in Figure 3, operation image G8 may be displayed, for example, above the melting furnace side image G2 on the display unit 21C. Whether or not the operation of the robot system 1 has started may mean whether or not the removal of target O using the end effector 12 by the robot 11 has started. In this embodiment, operation image G8 indicates the situation by color or the brightness of the color. In the example shown in Figure 3, operation image G8 is displayed in a relatively dark color, indicating that the operation of the robot system 1 has not started. In this embodiment, operation of the robot system 1 may be initiated, for example, by the user selecting an operation image G8 displayed on the display unit 21C by clicking or tapping it.

[0052] The instruction image G9 is an image used to give instructions to the robot 11 while it is in operation. As shown in Figure 3, the instruction image G9 may be displayed, for example, below the side view image G2 of the melting furnace on the display unit 21C. The user inputs instructions to the robot 11 by selecting the instruction image G9 displayed on the display unit 21C by clicking or tapping. In this embodiment, the instruction image G9 includes, as shown in Figure 3, a pickup instruction image G9a, a drop instruction image G9b, a hand change instruction image G9c, a work stage switching instruction image G9d, a return instruction image G9e, and a measurement instruction image G9f.

[0053] The pickup instruction image G9a is an image used to instruct the robot to pick up the end effector 12. In the example shown in Figure 3, the pickup instruction image G9a is labeled "Pick up rod" on the display unit 21C. When the user selects the pickup instruction image G9a, the robot 11 starts the operation to grasp the end effector 12. If the pickup instruction image G9a is selected, after the robot 11 grasps the end effector 12, the remaining length of the end effector 12 may be measured by the measuring means 21E2 as described above.

[0054] The drop instruction image G9b is an image used to instruct the robot to place the end effector 12 in a predetermined position. In the example shown in Figure 3, the drop instruction image G9b is labeled "Place Rod" on the display unit 21C. When the user selects the drop instruction image G9b, the robot 11 starts the operation to place the end effector 12 in a predetermined position. If the drop instruction image G9b is selected, the remaining length of the end effector 12 may be measured by the measuring means 21E2 as described above, before the robot 11 starts the operation to place the end effector 12 in a predetermined position.

[0055] The grip change instruction image G9c is an image used to instruct the robot to switch grips from one end effector 12 to another. In the example shown in Figure 3, the grip change instruction image G9c is labeled "Grip Change" on the display unit 21C. When the user selects the grip change instruction image G9c, the robot 11, for example, places the upper end effector 12A it is gripping in a predetermined position and begins an operation to grip the lower end effector 12B. Alternatively, the robot 11 may place the lower end effector 12B it is gripping in a predetermined position and begin an operation to grip the upper end effector 12A. When the grip change instruction image G9c is selected, before the robot 11 begins the operation to place the gripped end effector 12 in a predetermined position, the remaining length of the end effector 12 may be measured by the measuring means 21E2 as described above. Furthermore, if the grip change instruction image G9c is selected, the robot 11 may place the end effector 12 it is gripping in a predetermined position, grip another end effector 12, and then, as described above, measure the remaining length of the end effector 12 using the measuring means 21E2.

[0056] The work stage switching instruction image G9d is an image used to select whether to perform the work using the upper end effector 12A or the lower end effector 12B. In the example shown in Figure 3, the work stage switching instruction image G9d is labeled "Upper Stage" and "Lower Stage" on the display unit 21C. In addition, in the example shown in Figure 3, the part labeled "Upper Stage" in the work stage switching instruction image G9d is highlighted, indicating that the work using the upper end effector 12A has been selected. For example, when starting work using the end effector 12, if the user selects the part labeled "upper" in the work stage switching instruction image G9d and then selects the pickup instruction image G9a, the robot 11 may start an operation to grasp the upper end effector 12A. Similarly, when starting work using the end effector 12, if the user selects the part labeled "lower" in the work stage switching instruction image G9d and then selects the pickup instruction image G9a, the robot 11 may start an operation to grasp the lower end effector 12B. Furthermore, the work stage switching instruction image G9d may change its display as follows when the end effector 12 is switched by selecting the hand change instruction image G9c. That is, for example, when the hand change instruction image G9c is selected to switch from the upper end effector 12A to the lower end effector 12B, when the robot 11 has finished placing the upper end effector 12A on the stand S2, the highlighted portion of the work stage switching instruction image G9d may switch from "upper stage" to "lower stage". After that, the robot 11 may start picking up the lower end effector 12B. Similarly, when the hand change is made from the lower end effector 12B to the upper end effector 12A, when the robot 11 has finished placing the lower end effector 12B on the stand S2, the highlighted portion of the work stage switching instruction image G9d may switch from "lower stage" to "upper stage". After that, the robot 11 may start picking up the upper end effector 12A.

[0057] The return instruction image G9e is an image used to instruct the robot 11 to return to its initial position. In this embodiment, the initial position of the robot 11 refers to the initial position when the robot 11 starts working with the end effector 12. In other words, when the robot 11 returns to its initial position, it means that the robot 11 has inserted the end effector 12 it is gripping into the melting furnace M by a certain length without any angle. In the example shown in Figure 3, the return instruction image G9e is labeled "Return to Initial Position" on the display unit 21C. When the user selects the return instruction image G9e, the robot 11 returns to its initial position. If the robot 11 is gripping the end effector 12 when the user selects the return instruction image G9e, the robot 11 may return to the initial position as described above.

[0058] The measurement instruction image G9f is an image used to instruct the robot to measure the remaining length of the end effector 12. The display control means 21E5 displays the measurement instruction image G9f, which instructs the robot to measure the remaining length of the end effector 12, on the display unit 21C in association with the end effector image G3. In the example shown in Figure 3, the measurement instruction image G9f is labeled "Measure Rod Length" on the display unit 21C. When the user selects the measurement instruction image G9f, the robot 11 starts an operation to bring the tip of the end effector 12 against the measuring plate M1f. This causes the measurement of the remaining length of the end effector 12 to be performed by the measurement means 21E2. The measurement of the remaining length of the end effector 12 by selecting the measurement instruction image G9f may be performed at any timing according to the user's intention.

[0059] In this embodiment, the display control means 21E5 may display one of the pickup instruction image G9a, drop instruction image G9b, and hand change instruction image G9c on the display unit 21C in association with the end effector image G3. Alternatively, the display control means 21E5 may display all of these simultaneously on the display unit 21C in association with the end effector image G3.

[0060] One permission image GA is provided for each of the operation preparation image G7 and operation image G8, and for each of the instruction image G9. The display control means 21E5 causes the permission image GA to be displayed on the display unit 21C. For example, the permission image GA displayed next to the operation preparation image G7 is a permission image GA that authorizes the execution of the operation preparation for the robot system 1. In the example shown in Figure 3, the corresponding permission image GA is labeled "Start Up" on the display unit 21C. The permission image GA, displayed next to the operation image G8, is an image that authorizes the execution of the operation of the robot system 1. In the example shown in Figure 3, the corresponding permission image GA is labeled "Start Up" on the display unit 21C. The permission image GA, displayed next to the pickup instruction image G9a, is an image that authorizes the execution of the operation to pick up the end effector 12. In the example shown in Figure 3, the corresponding permission image GA is labeled "Activateable" on the display unit 21C. The permission image GA, displayed next to the drop instruction image G9b, is an image that authorizes the execution of the action of placing the end effector 12 in a predetermined position. In the example shown in Figure 3, the corresponding permission image GA is labeled "Activate" on the display unit 21C. The permission image GA, displayed next to the hand-switching instruction image G9c, is an image that authorizes the execution of the action of switching from one end effector 12 to another end effector 12. In the example shown in Figure 3, the corresponding permission image GA is labeled "Activate" on the display unit 21C. The permission image GA, displayed next to the work stage switching instruction image G9d, is an image that allows the user to select whether to perform the work using the upper end effector 12A or the lower end effector 12B. In the example shown in Figure 3, the corresponding permission image GA is labeled "Changeable" on the display unit 21C. The permission image GA, displayed next to the return instruction image G9e, is an image that authorizes the execution of the action to return the robot 11 to its initial position. In the example shown in Figure 3, the corresponding permission image GA is labeled "Start Up" on the display unit 21C. The permission image GA, displayed next to the measurement instruction image G9f, is an image that authorizes the execution of the measurement process of the measurement means 21E2, that is, an image that authorizes the execution of the operation to measure the remaining length of the end effector 12. In the example shown in Figure 3, the corresponding permission image GA is labeled "Startable" on the display unit 21C.

[0061] In the example shown in Figure 3, for instance, the permission image GA displayed next to the operation preparation image G7 is highlighted with the words "Start Up". This indicates that it is possible to select the operation preparation image G7 and perform the operation preparation of the robot system 1. In this case, the robot system 1 may start the operation preparation based on the user's selection of the operation preparation image G7. Furthermore, for example, in the permission image GA displayed next to the operation image G8, the "Startable" indicator is grayed out. This indicates that it is not possible to select operation image G8 and start the operation of robot system 1. In this case, robot system 1 does not need to start operating even if the user selects operation image G8. As shown in the example above, in this embodiment, when the permitted image GA is highlighted, it indicates that the action related to the corresponding image is possible (permitted), and when the permitted image GA is grayed out, it indicates that the action related to the corresponding image is not possible (not permitted). The user can determine whether each of the above actions is possible or not by visually checking the permitted image GA.

[0062] Figure 4 shows an example of an permission condition image GAa that is displayed when an permission image GA is selected. In this embodiment, when the permission image GA shown in Figure 3 is selected, the permission condition image GAa may be displayed as shown in Figure 4. The permission condition image GAa is an image that shows the conditions for the operation corresponding to the selected permission image GA to be permitted. The permission condition image GAa may be displayed superimposed on the screen shown in Figure 3, for example. The example shown in Figure 4 represents the conditions corresponding to the permission image GA displayed next to the measurement instruction image G9f, and shows the conditions necessary for measuring the remaining length of the end effector 12 to be performed. In the example shown in Figure 4, the icon in the section labeled "Not in operation" is displayed in a relatively dark color, while all other icons are displayed in relatively bright colors. This indicates that the measurement of the remaining length of the end effector 12 is not possible because the robot 11 is in operation. In such cases, for example, if the user stops operating the robot 11 and the robot 11 is no longer in operation, the icon in the section labeled "Not in operation" will be displayed in a relatively bright color, making it possible to measure the remaining length of the end effector 12. In this embodiment, in the permission condition image GAa showing the conditions as shown in Figure 4, if the icons corresponding to all conditions are displayed in a relatively bright color, the operation corresponding to the permission image GA may be permitted. Note that the icon colors are not limited to those described above and may be any color.

[0063] Figure 5 shows an example of a message image GC displayed on the display unit 21C. The message image GC shown in Figure 5 is an image that displays a message prompting the replacement of the end effector 12. In this embodiment, the display control means 21E5 may display the message image GC on the display unit 21C when the remaining length to be measured is less than or equal to a predetermined length. Such a message image GC may be displayed, for example, in the margin of the screen shown in Figure 3, or superimposed on the screen shown in Figure 3. Displaying the message image GC helps, for example, enable the user to replace the end effector 12 at an appropriate time.

[0064] Figure 6 shows an example of a warning image GD displayed on the display unit 21C. As mentioned above, the end effector 12 wears down and its length decreases with use in the work. Except in cases such as when the end effector 12 is replaced, an increase in the remaining length of the end effector 12 measured by the measuring means 21E2 compared to the previous measurement suggests that the measurement result is abnormal. Therefore, in this embodiment, the display control means 21E5 may display a warning image GD on the display unit 21C if the result of the remaining length of the end effector 12 being measured is longer than the remaining length measured before that measurement. Such a display may be shown, for example, in a measurement performed before the start of the operation of placing the end effector 12 in a predetermined position or before the start of the operation of switching from one end effector 12 to another. In the example shown in Figure 6, the warning image GD indicates that the robot 11 is attempting to place the rear end of the end effector 12 on a stand S2 located further from the furnace body M1 than the stand S2 on which the rear end was placed when it was picked up, because the remaining length of the end effector 12 being measured has increased compared to the previous measurement. In the example shown in Figure 6, the stand S2 on which the rear end of the end effector 12 was placed when it was picked up is indicated as the second stand S2b, which is labeled "B at rod picking time," and the stand S2 on which the robot is attempting to place the rear end of the end effector 12 is indicated as the first stand S2a, which is labeled "A planned rod placement." At the top of the warning image GD, it is written, "The robot is attempting to place the rod on a different stand than the one on which it was picked up. (The robot has determined that the rod has become longer)." As shown in Figure 6, the warning image GD may display the cause of such measurement results and how to address the cause. In addition, the warning image GD may display a rod placement instruction image GDa, which is an image that instructs the user to place the rear end of the end effector 12 on the stand S2 on which the rear end was placed when it was picked up, regardless of the measurement results from the measurement means 21E2. In the example shown in Figure 6, the rod placement instruction image GDa is displayed on the display unit 21C with the text "Place the rod on the stand used when picking up the rod".

[0065] Figure 7 shows a first example of the alarm image GF displayed on the display unit 21C. The alarm image GF shown in Figure 7 is an image for notifying the user of deformation of the end effector 12. In this embodiment, the display control means 21E5 may display the alarm image GF shown in Figure 7 on the display unit 21C in response to deformation of the end effector 12 and the specification process by the specification means 21E3. For example, the alarm image GF shown in Figure 7 may be displayed when the end effector 12 has been detected to bend during operation by the imaging device 22 or the like, and the specification means 21E3 has specified that this fact be displayed on the display unit 21C as an alarm image GF. Such an alarm image GF may be displayed, for example, in the margin of the screen shown in Figure 3, or superimposed on the screen shown in Figure 3. Such an embodiment is suitable, for example, when the user is not visually inspecting the image of the inside of the melting furnace M captured by the imaging device 22, and the deformation of the end effector 12 can be easily determined.

[0066] Figure 8 shows a second example of the alarm image GF displayed on the display unit 21C. The alarm image GF shown in Figure 8 is an image for notifying the user that the end effector 12 may have been replaced. In this embodiment, the display control means 21E5 may display the alarm image GF shown in Figure 8 on the display unit 21C when it is detected that the stand S2 on which the rear end of the end effector 12 is actually placed is different from the stand S2 on which the robot 11 recognized as the stand on which the rear end of the end effector 12 should be placed, as described above. Such an alarm image GF may be displayed, for example, in the margin of the screen shown in Figure 3, or it may be displayed superimposed on the screen shown in Figure 3. When the alarm image GF shown in Figure 8 is displayed, the measuring means 21E2 may measure the remaining length of the end effector 12. In this case, the measurement of the remaining length may be performed after the completion of the operation to pick up the end effector 12, even if "execute when picking up the rod" is not selected in the first setting unit St2 shown in Figure 9, which will be described later. When the remaining length of the end effector 12 is measured in this way, the display of the alarm image GF shown in Figure 8 helps to prevent the user from mistakenly believing that the robot 11 has performed an abnormal operation.

[0067] Figure 9 shows a second example of various information displayed on the display unit 21C by the display control means 21E5. The image shown in Figure 9 is a management screen for managing settings related to the operation of robot system 1. The image shown in Figure 9 may be displayed in a separate window from the screen shown in Figure 3, or it may be displayed superimposed on the screen shown in Figure 3. The image shown in Figure 9 includes the first setting unit St2. The first setting unit, St2, is labeled "Automatic Bar Length Measurement". In the first setting unit, St2, two options are available: "Execute when bar is picked up" and "Execute when bar is placed". If "Execute when picking up the rod" is selected in the first setting unit St2, the remaining length of the end effector 12 will be measured after the operation of picking up the end effector 12 is completed, or after the operation of switching from one end effector 12 to another is completed. If "Execute when placing the rod" is selected in the first setting unit St2, the remaining length of the end effector 12 is measured before the start of the operation to place the end effector 12 in a predetermined position, or before the start of the operation to switch from one end effector 12 to another.

[0068] The imaging device 22 is a device for imaging the inside of the furnace body M1. The imaging device 22 may appropriately use known configurations such as a CCD camera, a CMOS camera, or an infrared camera. The imaging device 22 may, for example, image the inside of the furnace body M1 through a viewing window (not shown) provided in the furnace body M1. The imaging by the imaging device 22 may be performed continuously as a video, or as still images every few seconds.

[0069] (Display control method) Next, the display control method according to this embodiment will be described. The display control method is, in particular, a method by which the display control means 21E5 causes various information to be displayed on the display unit 21C. Figure 10 shows a flowchart of the display control method according to the embodiment. As shown in Figure 10, the display control method according to this embodiment includes an information acquisition step F1 and a display control step F2.

[0070] The information acquisition step F1 is a step in which the control unit 21E acquires information to be displayed on the display unit 21C by the display control means 21E5. In the information acquisition step F1, for example, input instructions from the user may be acquired via the input unit 21B, or images captured by the imaging device 22, information regarding the posture of the robot 11, and the extension / retraction status of the attachment 13 may be acquired via the communication unit 21A.

[0071] The display control step F2 is a step in which the display control means 21E5 causes the display unit 21C to display various information based on the various information acquired in the information acquisition step F1. In the display control step F2, various pieces of information related to Figures 3 to 9 described above may be displayed on the display unit 21C as appropriate. Specifically, for example, in the display control step F2, an end effector image G3 corresponding to the end effector 12 attached to the robot 11 may be displayed on the display unit 21C. In this case, the length of the end effector image G3 displayed on the display unit 21C by the display control step F2 may correspond to the remaining length of the end effector 12. The information acquisition step F1 and the display control step F2 may be repeated at any time from the time preparation for the work by the end effector 12 begins until the work is completed. Furthermore, while the information acquisition step F1 and the display control step F2 are being repeated, the terminal device 21 may control the work performed by the robot 11 using the end effector 12 at any time.

[0072] Figure 11 is a schematic diagram showing an example of the hardware configuration of the information processing device 90 applied to this embodiment. The information processing device 90 comprises a processor 91, main memory 92, communication interface 93, auxiliary storage device 94, input / output interface 95, and internal bus 96. The processor 91, main memory 92, communication interface 93, auxiliary storage device 94, and input / output interface 95 are connected to each other via the internal bus 96 so as to be able to communicate with each other. The information processing device 90 may be applied to, for example, a terminal device 21. In this case, for example, the communication unit 21A may be configured using the communication interface 93. For example, the storage unit 21D may be configured using the auxiliary storage device 94. Furthermore, the control unit 21E may be configured using the processor 91 and the main memory 92.

[0073] As described above, according to the display control system 2 of this embodiment, the length of the end effector image G3 displayed on the display unit 21C by the display control means 21E5 corresponds to the remaining length of the end effector 12. This allows the display unit 21C to display an end effector image G3 of an appropriate length according to the remaining length of the end effector 12. Therefore, the user can easily grasp the remaining length of the end effector 12. In other words, they can grasp the wear status of the end effector 12.

[0074] Furthermore, the display control means 21E5 displays a numerical image G4 corresponding to the remaining length of the end effector 12 on the display unit 21C, in association with the end effector image G3. This allows the user to roughly grasp the remaining length of the end effector 12 using the end effector image G3, and to grasp it in more detail using the numerical image G4.

[0075] Furthermore, the display control means 21E5 displays a measurement instruction image G9f for instructing the measurement of the remaining length of the end effector 12 on the display unit 21C, in association with the end effector image G3. In this way, because the measurement instruction image G9f is associated with the end effector image G3, the user can, for example, understand the remaining length of the end effector 12 based on the length of the end effector image G3 displayed on the display unit 21C, and then instruct the measurement of the remaining length of the end effector 12 using the measurement instruction image G9f. Thus, the user can easily check the measurement result of the remaining length of the end effector 12 at an appropriate time.

[0076] Furthermore, the display control means 21E5 displays a message on the display unit 21C prompting the replacement of the end effector 12 when the remaining length of the end effector 12 being measured is less than or equal to a predetermined length. This allows, for example, the user to easily understand the appropriate time to replace the end effector 12. Therefore, for example, it is possible to prevent delays in work using the end effector 12 due to wear and tear on the end effector 12.

[0077] Here, the end effector 12 wears down and decreases in length through use in the work. An increase in the length of the end effector 12 would, for example, suggest that the end effector 12 has been replaced. An increase in the measurement of the remaining length of the end effector 12 without the end effector 12 being replaced suggests that the measurement result is abnormal. Therefore, the display control means 21E5 displays a warning image GD on the display unit 21C if the remaining length of the end effector 12 being measured is longer than the remaining length measured before the measurement. In other words, the warning image GD is displayed on the display unit 21C when the measurement result of the remaining length of the end effector 12 exceeds the previous measurement result of the measurement in question. This makes it easier for the user to understand that the measurement result of the remaining length of the end effector 12 is abnormal.

[0078] The system also includes a measuring means 21E2. The measuring means 21E2 measures the remaining length of the end effector 12 at one of the following times: after the robot 11 has completed the operation of picking up the end effector 12, before the robot 11 has started the operation of placing the end effector 12 in a predetermined position, before the robot 11 has started the operation of switching from one end effector 12 to another, and after the robot 11 has completed the operation of switching from one end effector 12 to another. This makes it possible to measure the remaining length of the end effector 12 at an appropriate time. Therefore, for example, when the robot 11 is working with the end effector 12, it is possible to prevent the robot 11 from misrecognizing the remaining length of the rod.

[0079] Furthermore, the display control means 21E5 causes the display unit 21C to display a permission image GA to authorize the execution of the measurement process of the measurement means 21E2. This makes it possible, for example, for the user to easily confirm by visually checking the display unit 21C whether or not they can perform the measurement process for the remaining length of the end effector 12.

[0080] Furthermore, the display control means 21E5 displays one of the following images on the display unit 21C, associated with the end effector image G3: an image for instructing the robot 11 to pick up the end effector 12, an image for instructing the robot 11 to place the end effector 12 in a predetermined position, and an image for instructing the robot 11 to switch from the end effector 12 it is currently holding to another end effector 12. This allows the user to accurately instruct the robot 11 to perform these actions using the display unit 21C, for example, depending on the remaining length of the end effector 12.

[0081] In this disclosure, the end effector 12 is used to remove the target O. The target O removed by the end effector 12 is the molten material in the melting furnace M. Thus, the end effector 12 can remove the molten material in the melting furnace M. Therefore, for example, the robot 11 and the end effector 12 can be used for the maintenance of the melting furnace M.

[0082] Furthermore, the display mode of the end effector image G3, which the display control means 21E5 displays on the display unit 21C, changes in accordance with the deformation of the end effector 12. This allows the user to intuitively grasp the state of the end effector 12 by visually inspecting the display unit 21C.

[0083] The system further includes a designation means 21E3. The designation means 21E3 specifies that the display mode of the end effector image G3 should be changed according to the deformation of the end effector 12. The display mode of the end effector image G3 also changes in response to the designation process by the designation means 21E3. This makes it possible, for example, for the user to easily understand the deformation of the end effector 12.

[0084] Furthermore, the display control means 21E5 displays an alarm image GF on the display unit 21C to notify the user of the deformation of the end effector 12, in response to the deformation of the end effector 12 and the designation process by the designation means 21E3. This makes it easy for the user to understand that the end effector 12 has been deformed. Therefore, for example, it becomes easier for the user to quickly respond to the deformation of the end effector 12.

[0085] Here, in order to remove the target O by striking it with the end effector 12, the end effector 12 needs to be moved at a sufficient speed. However, if the robot 11 moves the end effector 12 at a sufficient speed, it becomes difficult to control the position of the tip of the end effector 12, making it difficult to accurately strike the target O with the tip of the end effector 12. Therefore, the robot 11 is fitted with an end effector 12 via an extendable attachment 13. This allows the end effector 12 to move back and forth by the extension and retraction of the attachment 13. Thus, the task of poking and removing the target O with the end effector 12 can be performed by the extension and retraction of the attachment 13. As a result, the end effector 12 can move at a sufficient speed and accurately poke the target O with the tip of the end effector 12. Thus, work efficiency can be improved. Furthermore, the length of the end effector image G3 displayed on the display unit 21C by the display control means 21E5 corresponds to the remaining length of the end effector 12 and the distance of the extension and retraction movement of the attachment 13. This allows the user to understand, for example, the remaining length of the end effector 12, the amount of movement of the end effector 12 due to the extension and retraction movement of the attachment 13, and the change in the position of the tip of the end effector 12 due to the movement of the end effector 12 by visually checking the display unit 21C. Thus, it becomes easier for the user to perform work with the end effector 12.

[0086] The system also includes a detection means 21E4. The detection means 21E4 detects which of the multiple platforms S2 on which the end effector 12 can be placed the end effector 12 will be placed on. This makes it possible to determine, for example, the remaining length of the end effector 12 based on which of the multiple platforms S2 the end effector 12 is placed on. Also, for example, based on which of the multiple platforms S2 the end effector 12 is placed on, the robot 11 can determine which platform S2 to pick up the end effector 12 from when picking it up. Furthermore, the display control means 21E5 displays a stage image G5 representing multiple stages S2 on the display unit 21C, associating it with the end effector image G3. The display control means 21E5 then changes the display mode of the portion of the stage image G5 that corresponds to the stage S2 on which the end effector 12 is detected by the detection means 21E4. This allows, for example, a user to intuitively understand which of the multiple stages S2 has the end effector 12 by visually inspecting the display unit 21C.

[0087] The technical scope of this disclosure is not limited to the embodiments described above, and various modifications can be made without departing from the spirit of this disclosure. For example, if the detection result from the detection means 21E4 indicates that the rear end of the end effector 12 is located on multiple units S2 from the first unit S2a to the fifth unit S2e, the operation of the robot system 1 may be stopped as an error has occurred. Alternatively, if the detection result from the detection means 21E4 indicates that the rear end of the end effector 12 is not located on any of the first unit S2a to the fifth unit S2e, this may be displayed on the display unit 21C to prompt the user for confirmation. Furthermore, the end effector 12 may be used for any operation other than removing the target O. Furthermore, the length of the end effector image G3 does not necessarily have to correspond to the remaining length of the end effector 12. Furthermore, the numerical image G4, measurement instruction image G9f, pickup instruction image G9a, drop instruction image G9b, hand change instruction image G9c, and base image G5 do not necessarily have to be displayed on the display unit 21C in correspondence with the end effector image G3. Furthermore, the message prompting the replacement of the end effector 12 may not be displayed on the display unit 21C, but may be notified by voice. Furthermore, the warning image GD and alarm image GF do not necessarily have to be displayed on the display unit 21C. In this case, the content corresponding to the warning image GD and alarm image GF may be notified by voice. Furthermore, the permitted image GA does not necessarily have to be displayed on the display unit 21C. Furthermore, the object O may be anything other than the molten material in the melting furnace M. Furthermore, the display mode of the end effector image G3 does not need to change in response to the deformation of the end effector 12. Furthermore, the designation means 21E3 does not need to be provided. Furthermore, the end effector 12 may be attached to the robot 11 without using the attachment 13. Furthermore, the melting furnace M may be used to melt any material other than waste.

[0088] Furthermore, it is possible to replace the components in the above embodiments with well-known components as appropriate, without departing from the spirit of this disclosure, and the above-described modifications may be combined as appropriate.

[0089] (Note) The display control system, display control method, and program according to the above embodiment can be understood, for example, as follows.

[0090] <1> A display control system according to one aspect of the present disclosure comprises a display control means for displaying an end effector image corresponding to an end effector attached to a robot on a display unit, wherein the end effector is used to remove an object, and the length of the end effector image displayed on the display unit by the display control means corresponds to the remaining length of the end effector.

[0091] According to the display control system described above, the length of the end effector image displayed on the display unit by the display control means corresponds to the remaining length of the end effector. This allows the display unit to show an end effector image of an appropriate length according to the remaining length of the end effector. Therefore, the user can easily understand the remaining length of the end effector, and thus understand the wear status of the end effector.

[0092] <2> the above <1> In the display control system relating to the above, the display control means may employ a configuration characterized by displaying a numerical image corresponding to the numerical value of the remaining length on the display unit in association with the end effector image.

[0093] Furthermore, the display control means displays a numerical image corresponding to the remaining length of the end effector on the display unit, associating it with the end effector image. This allows the user to roughly grasp the remaining length of the end effector using the end effector image, and to grasp it in more detail using the numerical image.

[0094] <3> the above <1> or <2> In the display control system relating to the above, the display control means may adopt a configuration characterized by displaying a measurement instruction image for instructing the measurement of the remaining length on the display unit in association with the end effector image.

[0095] Furthermore, the display control means displays a measurement instruction image on the display unit, associated with the end effector image, to instruct the measurement of the remaining length of the end effector. In this way, because the measurement instruction image is associated with the end effector image, the user can, for example, understand the remaining length of the end effector based on the length of the end effector image displayed on the display unit, and then instruct the measurement of the remaining length of the end effector using the measurement instruction image. Therefore, the user can easily check the measurement result of the remaining length of the end effector at an appropriate time.

[0096] <4> the above <3> In the display control system relating to the above, the display control means may be configured to display a message prompting the replacement of the end effector on the display unit when the remaining length to be measured is less than or equal to a predetermined length.

[0097] Furthermore, the display control means displays a message prompting the user to replace the end effector when the remaining length of the end effector being measured is less than or equal to a predetermined length. This allows, for example, the user to easily understand the appropriate time to replace the end effector. Therefore, for example, it is possible to prevent delays in work using the end effector due to wear and tear.

[0098] <5> the above <3> or <4> In the display control system relating to the above, the display control means may be configured to display a warning image on the display unit when the remaining length to be measured is longer than the remaining length measured before the measurement.

[0099] Here, the end effector wears down and decreases in length through use in the work. An increase in the length of the end effector would, for example, suggest that the end effector has been replaced. An increase in the measurement of the remaining length of the end effector without the end effector being replaced suggests that the measurement result is abnormal. Therefore, the display control means displays a warning image on the display unit if the remaining length of the end effector being measured is longer than the remaining length measured before the measurement. In other words, a warning image is displayed on the display unit when the measurement result of the remaining length of the end effector exceeds the previous measurement result for that measurement. This makes it easier for the user to understand that the measurement result of the remaining length of the end effector is abnormal.

[0100] <6> the above <3> from <5> A display control system according to any one of the above embodiments may further include a measuring means for measuring the remaining length at any one of the following times: after the completion of the operation to pick up the end effector, before the start of the operation to place the end effector in a predetermined position, before the start of the operation to switch from one end effector to another, and after the completion of the operation to switch from one end effector to another.

[0101] The system also includes a measuring means. The measuring means measures the remaining length of the end effector at one of the following times: after the robot has completed the action of picking up the end effector, before the robot has started the action of placing the end effector in a predetermined position, before the robot has started the action of switching from one end effector to another, and after the robot has completed the action of switching from one end effector to another. This makes it possible to measure the remaining length of the end effector at an appropriate time. Therefore, for example, when the robot is working with an end effector, it is possible to prevent the robot from misinterpreting the remaining length of the rod.

[0102] <7> the above <6> In the display control system relating to the above, the display control means may be configured to display an authorization image on the display unit to authorize the execution of the measurement process of the measurement means.

[0103] Furthermore, the display control means displays a permission image on the display unit to authorize the execution of the measurement process by the measurement means. This allows, for example, a user to easily confirm by visually checking the display unit whether or not they can perform the measurement process for the remaining length of the end effector.

[0104] <8> the above <1> from <7> In a display control system according to any one of the above embodiments, the display control means may be configured to display on the display unit one of the following images in association with the end effector image: an image for instructing the operation of picking up the end effector, an image for instructing the operation of placing the end effector in a predetermined position, and an image for instructing the operation of switching from one end effector to another.

[0105] Furthermore, the display control means displays one of the following images on the display unit, associated with the end effector image: an image for instructing the robot to pick up the end effector, an image for instructing the robot to place the end effector in a predetermined position, and an image for instructing the robot to switch from the end effector it is currently holding to another end effector. This allows the user to accurately instruct the robot to perform these actions using the display unit, for example, depending on the remaining length of the end effector.

[0106] <9> the above <1> from <8> In a display control system according to any one of the above embodiments, the object may be characterized in that the object is the molten material of a melting furnace.

[0107] In this disclosure, the end effector is used to remove an object, which is the molten material in a melting furnace. Thus, the end effector can remove the molten material from the melting furnace. For example, the robot and the end effector can be used for the maintenance of a melting furnace.

[0108] <10> the above <1> from <9> In a display control system according to any one of the above embodiments, the display mode of the end effector image that the display control means causes to be displayed on the display unit may be characterized in that it changes in accordance with the deformation of the end effector.

[0109] Furthermore, the display mode of the end effector image displayed on the display unit by the display control means changes in accordance with the deformation of the end effector. This allows the user to intuitively grasp the state of the end effector by visually inspecting the display unit.

[0110] <11> the above <10> The display control system may further include a designation means for specifying that the display mode be changed according to the deformation, and the display mode may also change in response to the designation process by the designation means.

[0111] Furthermore, the system includes a designation means. The designation means specifies that the display mode of the end effector image should be changed according to the deformation of the end effector. The display mode of the end effector image also changes according to the designation process performed by the designation means. This makes it possible, for example, for the user to easily understand the deformation of the end effector.

[0112] <12> the above <11> In the display control system relating to the above, the display control means may be configured to display an alarm image on the display unit to notify the user of the deformation of the end effector in accordance with the deformation of the end effector and the designation process by the designation means.

[0113] Furthermore, the display control means displays an alarm image on the display unit to notify the user of the deformation of the end effector, in response to the deformation of the end effector and the specified processing by the specification means. This makes it easy for the user to understand that the end effector has been deformed. Therefore, for example, it becomes easier for the user to quickly respond to the deformation of the end effector.

[0114] <13> the above <1> from <12> In a display control system according to any one of the embodiments, the robot may be configured such that the end effector is attached via an extendable attachment, and the length of the end effector image displayed on the display unit by the display control means corresponds to the remaining length of the end effector and the distance of the extension and retraction movement of the attachment.

[0115] Here, in order to pierce and remove the target with the end effector, the end effector needs to be moved at a sufficient speed. However, if the robot moves the end effector at a sufficient speed, it becomes difficult to control the position of the tip of the end effector, making it difficult to accurately pierce the target with the tip of the end effector. Therefore, the robot is fitted with an end effector via an extendable attachment. This allows the end effector to move back and forth by extending and retracting the attachment. Thus, the task of poking and removing an object with the end effector can be performed by the extension and retraction of the attachment. As a result, the end effector can move at a sufficient speed and accurately poke the object with its tip. This improves work efficiency. Furthermore, the length of the end effector image displayed on the display unit by the display control means corresponds to the remaining length of the end effector and the distance of the attachment's extension and retraction movement. This allows the user to visually observe the display unit and understand, for example, the remaining length of the end effector, the amount of movement of the end effector due to the attachment's extension and retraction movement, and the change in the position of the end effector's tip due to the end effector's movement. Thus, it becomes easier for the user to perform tasks using the end effector.

[0116] <14> the above <1> from <13> A display control system according to any one of the embodiments may further include a detection means for detecting which of a plurality of stands on which the end effector can be placed, the end effector will be placed on the display unit, the display control means causes a stand image representing the plurality of stands to be displayed on the display unit in association with the end effector image, and the display control means changes the display mode of the portion of the stand image corresponding to the stand on which the detection means has detected that the end effector will be placed.

[0117] Furthermore, the system is equipped with a detection means. The detection means detects which of the multiple platforms on which the end effector can be placed the end effector will be placed. This makes it possible, for example, to determine the remaining length of the end effector based on which of the multiple platforms the end effector is placed on. Also, for example, based on which of the multiple platforms the end effector is placed on, it is possible to determine which platform the robot should pick up the end effector from when picking it up. Furthermore, the display control means displays images of multiple units on the display unit, associating them with the end effector images. The display control means then changes the display mode of the portion of the unit image corresponding to the unit on which the detection means has detected that an end effector is placed. This allows, for example, a user to intuitively understand which of the multiple units has an end effector placed on it by visually inspecting the display unit.

[0118] <15> A display control method according to one aspect of the present disclosure comprises a display control step of displaying an end effector image corresponding to an end effector attached to a robot on a display unit, wherein the end effector is used to remove an object, and the length of the end effector image displayed on the display unit by the display control step corresponds to the remaining length of the end effector.

[0119] <16> A program relating to one aspect of this disclosure controls a computer as described above. <1> from <14> It is characterized by functioning as a display control system according to any one of the following embodiments. [Explanation of Symbols]

[0120] 1. Robot System 2. Display control system 11 Robots 11A arm 12 End Effectors 12A Upper End Effector 12B Lower End Effector 13 Attachments 21 Terminal device 21A Communication Department 21B Input Section 21C Display section 21D storage section 21E Control Unit 21E1 Robot control means 21E2 Measurement means 21E3 Designation means 21E4 Detection means 21E5 Display control means 22 Imaging device 70 Networks 90 Information Processing Equipment F1 Information Acquisition Steps F2 Display control step G1 Top view image of the melting furnace G2 Side view of the melting furnace G3 End Effector Image G4 Numerical Image G5 unit image G6 Status Display Image G7 Operation Preparation Image G8 Operation Image G9 instruction image G9a Pickup Instruction Image G9b Drop Instruction Image G9c grip change instruction image G9d Workstage Switching Instruction Image G9e recovery instruction image G9f Measurement Instruction Image GA-approved images GC message image GD warning image GDa rod placement instruction image GF Alarm Image M Melting Furnace M1 Furnace Body M1a Molten section M1c outlet M1d outer surface M1f measuring plate M2 Gate Valve M2a Entrance Hole M2A Upper Gate Valve M2B Lower Gate Valve O Target S1 Tip support part S2 units S2a Unit 1 S2b Unit 2 S2c 3rd unit S2d Unit 4 S2e 5th unit S2A Upper base S2B lower stand St2 1st setting section

Claims

1. A display control means for displaying an end effector image corresponding to an end effector attached to a robot on a display unit. Equipped with, The end effector is used to remove the target, The length of the end effector image displayed on the display unit by the display control means corresponds to the remaining length of the end effector. A display control system characterized by the following features.

2. The display control means causes the display unit to display a numerical image corresponding to the numerical value of the remaining length, in association with the end effector image. The display control system according to claim 1, characterized in that it is as described above.

3. The display control means causes the display unit to display a measurement instruction image for instructing the measurement of the remaining length, in association with the end effector image. The display control system according to claim 1 or 2, characterized in that it is the same as described in claim 1 or 2.

4. The display control means causes the display unit to display a message prompting the replacement of the end effector when the measured remaining length is less than or equal to a predetermined length. The display control system according to claim 3, characterized in that it is as follows.

5. The display control means causes a warning image to be displayed on the display unit if the remaining length to be measured is longer than the remaining length measured before the measurement. The display control system according to claim 4, characterized in that it is as described above.

6. After the operation of picking up the end effector is completed, before the operation of placing the end effector in a predetermined position is started, before the operation of switching from one end effector to another is started, and after the operation of switching from one end effector to another is completed, the measuring means for measuring the remaining length, The display control system according to claim 1 or 2, further comprising the following:

7. The display control means causes the display unit to display an permission image to authorize the execution of the measurement process of the measurement means. The display control system according to claim 6, characterized in that way.

8. The display control means displays one of the following images on the display unit, in association with the end effector image: an image for instructing the operation of picking up the end effector, an image for instructing the operation of placing the end effector in a predetermined position, and an image for instructing the operation of switching from one end effector to another. The display control system according to claim 1 or 2, characterized in that it is the same as described in claim 1 or 2.

9. The aforementioned subject is the molten material of a melting furnace. The display control system according to claim 1 or 2, characterized in that it is the same as described in claim 1 or 2.

10. The display mode of the end effector image displayed on the display unit by the display control means changes according to the deformation of the end effector. The display control system according to claim 1 or 2, characterized in that it is the same as described in claim 1 or 2.

11. A designating means for specifying that the display mode is changed according to the deformation, Furthermore, The aforementioned display mode also changes in accordance with the designation process performed by the designation means. The display control system according to claim 10, characterized in that way.

12. The display control means causes the display unit to display an alarm image to notify the user of the deformation of the end effector in accordance with the designation process performed by the designation means. The display control system according to claim 11, characterized in that it is as described above.

13. The robot is fitted with the end effector via an extendable attachment, The length of the end effector image displayed on the display unit by the display control means corresponds to the remaining length of the end effector and the distance of the extension and retraction movement of the attachment. The display control system according to claim 1 or 2, characterized in that it is the same as described in claim 1 or 2.

14. A detection means for detecting which of the multiple units on which the end effector can be placed will be placed. Furthermore, The display control means causes the display unit to display the images of the multiple units in association with the end effector images. The display control means changes the display mode of the portion of the stand image that corresponds to the stand on which the detection means detects that the end effector is placed. The display control system according to claim 1 or 2, characterized in that it is the same as described in claim 1 or 2.

15. A display control step that displays an end effector image corresponding to an end effector attached to a robot on the display unit. Equipped with, The end effector is used to remove the target, The length of the end effector image displayed on the display unit by the display control step corresponds to the remaining length of the end effector. A display control method characterized by the following:

16. The computer is made to function as the display control system described in claim 1 or 2. A program characterized by the following features.

Images