Offline teaching device

Abstract

This invention provides an offline teaching device that simplifies the teaching process and reduces the workload for the operator when performing offline teaching using a simulator. [Solution] The offline teaching device 100 according to the present invention is an offline teaching device for a robot using a simulator, comprising: a text input device 104 that accepts text input; a language model 112; a natural language processing device 110 that generates robot work content 120 from text by referring to the language model; a program creation tool 114 that creates a robot operation program according to the generated robot work content; and a display device 118. The program creation tool displays the operation procedure 122 that the user should perform according to the work content on the display device.

Description

[Technical Field]

[0001] The present invention relates to an offline teaching apparatus for robots using a simulator. [Background Art]

[0002] Offline teaching is known as a method for teaching movements to a robot, for example, an industrial robot such as an articulated robot. In offline teaching, an operator (user) creates a robot operation program using computer software without operating the actual robot (offline).

[0003] As an example, by arranging a robot and a workpiece on a robot simulator and creating the robot operation program, a user can check the operation of the robot without using an actual robot.

[0004] In recent years, in order to reduce the burden on users, functions for simplifying work on simulators and improving efficiency have been developed. For example, the simulation apparatus of Patent Document 1 has a function that supports creation of a control program that gives consideration to both the safety and productivity of a robot. [Prior Art Documents] [Patent Documents]

[0005] [Patent Document 1] Japanese Unexamined Patent Publication No. 2024-6163 [Summary of the Invention] [Problem to be Solved by the Invention]

[0006] In offline teaching of industrial robots using a simulator, tasks such as setting robot and workpiece parameters and creating robot motion programs are performed. However, simulators have various functions to perform the desired tasks, and they also contain numerous items (parameters) for operating these functions.

[0007] Therefore, when using a simulator, the operating procedures required to perform the desired task become complex. As a result, first-time users of the simulator spend considerable time learning how to use it, which can significantly increase the overall work time. Furthermore, while the simulation device described in Patent Document 1 assists in the creation of control programs, it does not incorporate any features to alleviate the effort required when the desired task involves numerous operating procedures.

[0008] In view of these problems, the present invention aims to provide an offline teaching device that can simplify teaching and reduce the workload of the operator when performing offline teaching using a simulator. [Means for solving the problem]

[0009] To solve the above problems, a typical configuration of the offline teaching device according to the present invention is an offline teaching device for a robot using a simulator, comprising: a text input device that accepts text input; a language model; a natural language processing device that generates robot work content from text by referring to the language model; a creation tool that creates a robot operation program according to the generated robot work content; and a display device, wherein the creation tool displays the operation procedures that the operator should perform according to the work content on the display device.

[0010] The system further includes a speech recognition device that recognizes the operator's voice, and it is preferable that the speech recognition device converts the voice into text and inputs it into a text input device.

[0011] The above-mentioned natural language processing device preferably automatically sets the initial values ​​of parameters related to the operating procedure.

[0012] The creation tool described above preferably displays the current parameters related to the operating procedure shown on the display device. [Effects of the Invention]

[0013] According to the present invention, when performing offline teaching using a simulator, it is possible to provide an offline teaching device that simplifies teaching and reduces the workload of the operator. [Brief explanation of the drawing]

[0014] [Figure 1] Block diagram showing the functions of an offline teaching device in an embodiment of the present invention. [Figure 2] Figure 1 is a flowchart showing the operation of the offline teaching device. [Figure 3] Figure 1 shows an example of a screen displayed on a display device by the program creation tool. [Figure 4] Figure 3 is followed by a diagram showing an example of a screen displayed on a display device by the program creation tool. [Figure 5] Following Figure 4, this figure shows an example of a screen displayed on a display device by the program creation tool. [Modes for carrying out the invention]

[0015] Preferred embodiments of the present invention will be described in detail below with reference to the attached drawings. The dimensions, materials, and other specific numerical values ​​shown in these embodiments are merely examples to facilitate understanding of the invention and do not limit the present invention unless otherwise specified. In this specification and drawings, elements having substantially the same function and configuration are denoted by the same reference numerals to avoid redundant explanations, and elements not directly related to the present invention are omitted from the illustrations.

[0016] FIG. 1 is a block diagram showing functions of an offline teaching apparatus according to an embodiment of the present invention. The offline teaching apparatus (hereinafter referred to as teaching apparatus 100) comprises a computer 101 and software executed on the computer 101.

[0017] The teaching apparatus 100 is an apparatus that allows an operator (user) to create a robot operation program via software on the computer 101 without operating an industrial robot (actual machine) such as an articulated robot.

[0018] The teaching apparatus 100 includes an input device 102, a text input device 104, a microphone 106, and a voice recognition device 108. The input device 102 is a keyboard, a mouse, a touch panel, or the like, and is a device operated by a user to input text and parameters (described later). The text includes words indicating work content that the user desires to perform (such as palletizing, pick and place, conveyor use, names and model numbers of robots and various devices).

[0019] The text input device 104 is a device that accepts text input. The microphone 106 is a device that inputs a user's voice. The voice recognition device 108 is a device that recognizes the user's voice, converts the voice into text, and inputs the text to the text input device 104. As described above, the text input device 104 not only accepts text input from the input device 102, but also accepts text based on voice input from the microphone 106.

[0020] Further, the teaching apparatus 100 includes a natural language processing apparatus 110, a language model 112, a program creation tool 114, a storage device 116, and a display device 118. The natural language processing apparatus 110 is a so-called generative AI, which refers to the language model 112 and generates robot work content 120 (see FIG. 3) from the text received by the text input device 104. As an example, if the text includes the word "use conveyor", the natural language processing apparatus 110 generates the word and converts it into the work content 120 of "conveyor function".

[0021] Further, the natural language processing apparatus 110 sets initial values of parameters according to the input text. The parameters are items included in the operation procedure 122 corresponding to the work content 120, and include, for example, the selected equipment (conveyor, robot, tool, etc.), the quantity, dimensions, operating speed and the like thereof. For example, if the text includes the names and model numbers of robots and various types of equipment, it is set that such equipment is to be used. Further, for the equipment, initial values of parameters corresponding to the work content 120 are automatically set. The types of equipment and the initial values of the parameters are stored in advance in the storage device 116.

[0022] Then, the natural language processing apparatus 110 inputs the generated work content and the initial values of the parameters into the program creation tool 114. The program creation tool 114 creates an operation program for the robot in accordance with the robot work content 120 generated by the natural language processing apparatus 110.

[0023] Further, when a user operates the input device 102 to input parameters, the program creation tool 114 preferentially receives the parameters input from the input device 102 instead of the initial values of the parameters to create the operation program. Furthermore, the program creation tool 114 displays the operation procedure 122 on the display device 118 (see FIG. 3).

[0024] Figure 2 is a flowchart showing the operation of the teaching device 100 in Figure 1. Figure 3 is a diagram showing an example of a screen displayed on the display device 118 by the program creation tool 114 in Figure 1. When the teaching device 100 is started, the program creation tool 114 displays the scene view (virtual work area 124) shown in Figure 3 on the screen of the display device 118 (step S100).

[0025] Next, when the user operates the input device 102 or inputs voice into the microphone 106, the text input device 104 receives the input text. The text input device 104 receives the purpose (content) of the simulation entered by the user (step S101). The content of the simulation is, for example, a task in which a robot picks up a workpiece 136 transported by the conveyor 132 shown in Figure 5 and moves it to a table 138.

[0026] Subsequently, the natural language processing device 110 generates words (for example, "conveyor use") from the text received by the text input device 104 and converts them into robot operation content 120 (in this case, "conveyor function"). Furthermore, the program creation tool 114 displays the operation content 120 on the screen of the display device 118, as shown in Figure 3 (step S102).

[0027] Next, the program creation tool 114 displays the operation procedure 122 shown in Figure 3, which the user should perform according to the work content 120, on the screen of the display device 118 (step S104). The "operation" in the operation procedure 122 refers to selecting and arranging equipment, and inputting parameters such as their quantity, dimensions, and operating speed.

[0028] Operation procedure 122 includes multiple operation procedures 122a to 122e, as shown in Figure 3. Each operation procedure 122a to 122e is "conveyor placement, robot placement, tool installation, conveyor operation settings, and program creation," respectively.

[0029] Figure 4 shows an example of a screen displayed on the display device 118 by the program creation tool 114, following Figure 3. In the figure, an example of a screen is shown when a user operates the input device 102 and selects (clicks) operation procedure 122a on the display device 118 screen.

[0030] In this case, the program creation tool 114 displays the conveyor setting screen 126 as shown in Figure 4. The parameters shown in Figure 4 are just an example. When the user operates the input device 102 to input parameters into the conveyor setting screen 126 (step S106), the program creation tool 114 accepts the parameter input from the input device 102.

[0031] Before the user enters parameters into the conveyor settings screen 126, the program creation tool 114 displays the initial values ​​of the parameters generated by the natural language processing unit 110 on the conveyor settings screen 126.

[0032] Figure 5 shows an example of a screen displayed on the display device 118 by the program creation tool 114, following Figure 4. When parameters are entered in step S106, the program creation tool 114 displays a parameter confirmation screen 128 on the display device 118 (step S108).

[0033] The parameter confirmation screen 128 displays the current parameters related to each operation procedure 122a to 122e shown in Figure 4. In other words, the parameter confirmation screen 128 displays the parameters that have been operated on (input). In this case, the conveyor confirmation screen 128a and the robot confirmation screen 128b are displayed as parameter confirmation screens 128.

[0034] The conveyor confirmation screen 128a is a confirmation screen displayed in place of the operation procedure 122a after the user has entered parameters into the conveyor setting screen 126 (see Figure 4). Similarly, the robot confirmation screen 128b is a confirmation screen displayed in place of the operation procedure 122b after the user has selected the operation procedure 122b and entered parameters into the setting screen (not shown).

[0035] Furthermore, the program creation tool 114 displays the conveyor confirmation screen 128a and the robot confirmation screen 128b, and then displays the robot model 130 and the conveyor 132 in the work area 124 on the display device 118 screen. In other words, the program creation tool 114 functions as a simulator, a module that visualizes movement by virtually showing the user the movements of the robot model 130 and the conveyor 132 instead of the actual machine.

[0036] Subsequently, if the user selects operation procedures 122c and 122d and enters parameters in the settings screen (not shown), the program creation tool 114 displays the robot model 130 and conveyor 132, as well as the tool 134, workpiece 136, and platform 138 in the work area 124 on the screen. This allows the user to teach a "pick and place" movement, such as picking up the workpiece 136 being carried on the conveyor 132 with the tool 134 of the robot model 130 and placing it on the platform 138.

[0037] Returning to Figure 2, the teaching device 100 determines whether all operation steps 122a to 122e have been performed by the user (step S110). If operation steps 122a to 122e have not been performed in step S110 (No), the process returns to step S106 to input parameters. If they have been performed (Yes), the program creation tool 114 creates a robot operation program corresponding to the robot's work content 120 (step S112).

[0038] As shown in Figure 3, the teaching device 100 displays the operation procedures 122a to 122e corresponding to the robot's work content 120 on the display device 118. Therefore, the user can operate the robot without confusion or omissions by using the operation procedures 122a to 122e as a guide.

[0039] Therefore, the teaching device 100 simplifies and simplifies the teaching process, reducing the burden on the user. In other words, teaching, which is difficult for anyone but an expert, can be easily performed by a beginner. It also shortens the time required for beginners to learn teaching.

[0040] Furthermore, the teaching device 100 is equipped with a microphone 106 and a voice recognition device 108 as shown in Figure 1. Therefore, users can easily teach the system by simply inputting the desired task by voice, and the operating procedure for the desired task will be displayed.

[0041] Furthermore, the teaching device 100 automatically sets the parameters related to the operating procedure using values ​​generated by the natural language processing device 110 before the user inputs the parameters. This makes teaching easier for the user.

[0042] Furthermore, the teaching device 100 displays the parameter confirmation screen 128 shown in Figure 5 on the display device 118. This allows the user to easily understand the current status by visually confirming the current parameters related to the operation procedure 122 on the display device 118, making teaching easier and more reliable.

[0043] Preferred embodiments of the present invention have been described above with reference to the attached drawings, but it goes without saying that the present invention is not limited to these examples. It will be obvious to those skilled in the art that various modifications or alterations can be conceived within the scope of the claims, and these will naturally also fall within the technical scope of the present invention. [Industrial applicability]

[0044] This invention can be used as an offline teaching device for robots using a simulator. [Explanation of Symbols]

[0045] 100...Offline teaching device, 101...Computer, 102...Input device, 104...Text input device, 106...Microphone, 108...Speech recognition device, 110...Natural language processing device, 112...Language model, 114...Program creation tool, 116...Storage device, 118...Display device, 120...Work content, 122, 122a~122e...Operating procedure, 124...Work area, 126...Setting screen, 128, 128a, 128b...Parameter confirmation screen, 130...Robot model, 132...Conveyor, 134...Tool, 136...Workpiece, 138...Unit

Claims

1. In an offline robot teaching device using a simulator, A text input device that accepts text input, Language models and, A natural language processing device that generates the robot's work content from the text by referring to the language model, A creation tool for creating an operation program for the robot according to the work content of the generated robot, A display device, The creation tool is an offline teaching device characterized by displaying the operating procedures that the operator should perform according to the work content on the display device.

2. It is further equipped with a voice recognition device that recognizes the operator's voice, The offline teaching device according to claim 1, characterized in that the speech recognition device converts the speech into text and inputs it to the text input device.

3. The offline teaching device according to claim 1, characterized in that the natural language processing device automatically sets initial values ​​for parameters related to the operation procedure.

4. The offline teaching device according to claim 1, characterized in that the creation tool displays the current parameters related to the operation procedure displayed on the display device.

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