Robot system and method for controlling the robot system

Abstract

This invention provides a robot system that allows for easy instruction of the robot's movement path and enables the robot to perform precise work on a workpiece using its work unit. [Solution] In this robot system 100, the robot control unit 61 controls the measurement robot 50 to teach it the movement path of the workpiece 200 with respect to the work line WL on which the work robot 10 will perform work using the work unit 30. The robot control unit 61 controls the measurement robot 50 to move the measurement unit 70 relative to the workpiece 200 according to the movement path, and the measurement control unit 80 controls the measurement unit 70 to perform measurements on the workpiece 200. The robot control unit 21 controls the work robot 10 to teach it a corrected movement path, which is a corrected movement path obtained by correcting the movement path based on the information acquired when the measurement unit 70 performed measurements on the workpiece 200.

Description

Technical Field

[0001] The present disclosure relates to a robot system and a control method for a robot system.

Background Art

[0002] Conventionally, robot systems including a robot have been known. Patent Document 1 discloses a robot system including a welding robot. Teaching has been performed for the welding robot, which performs welding on a work that is an assembled body serving as a vehicle body.

Prior Art Literature

Patent Literature

[0003]

Patent Document 1

Summary of the Invention

Problem to be Solved by the Invention

[0004] However, in the robot system described in Patent Document 1, in order to perform teaching on the welding robot, a user needs to specify a large number of teaching points, so teaching the motion path to the welding robot is complicated. In particular, in the case of a work with a complex shape, the user needs to specify more teaching points. Further, since an error occurs in the relative position of the welding robot with respect to the work due to factors such as work positioning error, even if the welding robot is operated according to a pre-taught motion path, it may be difficult to perform the welding work on the work with high accuracy. Since welding accuracy has a great influence on welding quality, it is important to perform welding work on the work with high accuracy. Further, even when performing work other than welding work, the same problem arises if work accuracy has a great influence on work quality. For these reasons, it is desired to easily teach a motion path to a work robot while performing work on a work with high accuracy.

[0005] This disclosure was made to solve the above-mentioned problems, and one of the objectives of this disclosure is to provide a robot system and a control method for the robot system that enable easy teaching of the working path to the working robot and enable the working robot to perform work on a workpiece with high precision using the working part. [Means for solving the problem]

[0006] To achieve the above objective, the robot system in the first phase comprises: a work robot having a work unit and performing work on a workpiece using the work unit; a measuring robot having a measuring unit and performing measurements on a workpiece using the measuring unit; a control unit that teaches the measuring robot the movement path of the workpiece relative to the work line on which the work robot performs work using the work unit; a control unit that causes the measuring robot to move the measuring unit relative to the workpiece according to the movement path and performs measurements on the workpiece using the measuring unit; and a control unit that teaches the work robot a corrected movement path obtained by correcting the movement path based on the information acquired when the measuring unit performs measurements on the workpiece.

[0007] The robot system in the first phase includes a control unit that performs the following functions: control to teach the measurement robot the motion path relative to the work line of the workpiece to be worked on by the work robot using the work unit; control to move the measurement unit relative to the workpiece by the measurement robot according to the motion path and to perform measurements on the workpiece by the measurement unit; and control to teach the work robot a corrected motion path, which is obtained by correcting the motion path based on the information acquired when the measurement unit performed measurements on the workpiece. As a result, the measurement robot is taught the work line of the workpiece, which will later be taught to the work robot, as a relatively rough motion path, while the work robot is taught a relatively accurate corrected motion path, which is a correction of the relatively rough motion path taught to the measurement robot. As a result, the user only needs to teach the measurement robot a relatively rough motion path, making it easy to teach the motion path to the measurement robot. In addition, the control unit can automatically teach the motion path to the work robot as a corrected motion path. As a result, it is easy to teach the motion path to the work robot. Furthermore, since the robot can be taught a relatively accurate corrective motion path, it can perform work on the workpiece with high precision based on this corrective motion path. As a result, it is possible to teach the robot a motion path easily while performing work on the workpiece with high precision.

[0008] To achieve the above objective, the control method of the robot system in the second phase comprises: teaching the measuring robot the motion path of the workpiece with respect to the work line of the workpiece on which the work robot will perform work using the work unit; moving the measuring unit relative to the workpiece by the measuring robot according to the motion path and performing measurements on the workpiece by the measuring unit; and teaching the working robot a corrected motion path obtained by correcting the motion path based on the information acquired when the measuring unit performed measurements on the workpiece.

[0009] The second phase of the robot system control method, as described above, comprises teaching the measurement robot the motion path relative to the work line of the workpiece on which the work unit of the work robot will perform work; moving the measurement unit relative to the workpiece by the measurement robot according to the motion path and performing measurements on the workpiece by the measurement unit; and teaching the work robot a corrected motion path, which is obtained by correcting the motion path based on the information acquired when the measurement unit performed measurements on the workpiece. As a result, the measurement robot is taught the work line of the workpiece, which will be taught to the work robot later, as a relatively rough motion path, while the work robot is taught a relatively accurate corrected motion path, which is a correction of the relatively rough motion path taught to the measurement robot. As a result, the user only needs to teach the measurement robot a relatively rough motion path, making it easy to teach the motion path to the measurement robot. In addition, the control unit can automatically teach the motion path to the work robot as a corrected motion path. As a result, it is easy to teach the motion path to the work robot. Furthermore, since a relatively accurate corrective motion path can be taught to the work robot, it can perform work on the workpiece with high precision based on this relatively accurate corrective motion path. As a result, it is possible to provide a control method for a robot system that allows for easy teaching of motion paths to the work robot while performing work on the workpiece with high precision. [Effects of the Invention]

[0010] According to this disclosure, as described above, it is possible to easily teach the robot a movement path and to perform work on a workpiece with high precision using the work unit of the robot. [Brief explanation of the drawing]

[0011] [Figure 1] This figure shows a schematic diagram of the robot system according to the first embodiment. [Figure 2] This is a block diagram of a robot system according to the first embodiment. [Figure 3]This figure illustrates an example of a signal generated by a robot system according to the first embodiment. [Figure 4] This figure illustrates the relative movement of the measurement unit of the inspection system according to the first embodiment. [Figure 5] This figure illustrates the measurement of relative movement of the measurement unit of the robot system according to the first embodiment. [Figure 6] This figure illustrates the curved relative movement of the measurement unit of the robot system according to the first embodiment. [Figure 7] Figure (1) illustrates the coordinate transformation information of the robot system according to the first embodiment. [Figure 8] Figure (1) illustrates the coordinate transformation information of the robot system according to the first embodiment. [Figure 9] This figure illustrates the amount of deviation of the actual work line from the operating path of the robot system according to the first embodiment. [Figure 10] This is a plan view of the robot system according to the first embodiment. [Figure 11] This is a flowchart illustrating the control process of the robot system according to the first embodiment. [Figure 12] This figure shows a schematic diagram of the robot system according to the second embodiment. [Figure 13] This is a block diagram of a robot system according to the second embodiment. [Figure 14] This is a flowchart illustrating the control process of the robot system according to the second embodiment. [Figure 15] Figure (1) illustrates the coordinate transformation information according to the second embodiment. [Figure 16] Figure (2) illustrates the coordinate transformation information according to the second embodiment. [Figure 17] This is a diagram illustrating the inspection image according to the second embodiment. [Figure 18] This diagram illustrates how to show the position of the target in the second embodiment on an actual workpiece. [Figure 19]FIG. 4 is a diagram for explaining that the position of a target according to a second embodiment is shown in a three-dimensional image of a workpiece. [Figure 20] It is a flowchart for explaining the control processing of a robot system according to a third embodiment. [Figure 21] It is a diagram for explaining an operation image for displaying an inspection image according to the third embodiment. MODE FOR CARRYING OUT THE INVENTION

[0012] [First Embodiment] The configuration of a robot system 100 according to a first embodiment will be described.

[0013] As shown in FIG. 1, the robot system 100 performs work on a workpiece 200. The robot system 100 includes a work robot 10 and a control device 20 that controls the work robot 10. The robot system 100 also includes a working unit 30 and a work control unit 40 that controls the working unit 30. Furthermore, the robot system 100 includes a measurement robot 50 and a control device 60 that controls the measurement robot 50. Additionally, the robot system 100 includes a measurement unit 70 and a measurement control unit 80 that controls the measurement unit 70. The robot system 100 also includes a PC 90 for transmitting and receiving information between the control device 20 and the control device 60. The PC 90 is a personal computer including a CPU (Central Processing Unit), a memory, an input device, and the like. The measurement control unit 80 is an example of the control unit.

[0014] The work robot 10 is, for example, an industrial robot. The work robot 10 includes multiple joints. For example, the work robot 10 includes a 6-axis vertical articulated joint. The work robot 10 includes an articulated robot arm. The work robot 10 is powered by AC power supplied from an external source. The work robot 10 has a work unit 30. The work robot 10 moves the work unit 30 relative to the workpiece 200. The work robot 10 performs work on the workpiece 200 using the work unit 30. The work robot 10 and the measuring robot 50 are composed of separate robots that are independent of each other.

[0015] As shown in Figure 2, the control device 20 includes a robot control unit 21 and a signal output unit 22. The robot control unit 21 is an example of a control unit and a first control unit.

[0016] The robot control unit 21 controls the work robot 10. The robot control unit 21 controls the movement of the work robot 10. Specifically, the robot control unit 21 controls the movement of the work robot 10 by controlling the power supplied to the motors 14 provided at each joint of the work robot 10. The robot control unit 21 also includes a CPU (Central Processing Unit) and memory. The robot control unit 21 controls the operation of the work robot 10 by executing a predetermined program. The robot control unit 21 also receives instructions for the operation of the work robot 10, as described later, and controls the work robot 10 to perform the operation based on the instructions. Specifically, the robot control unit 21 receives the position and orientation of the control points of the work robot 10 and calculates the movement of each joint of the work robot 10.

[0017] As shown in Figure 1, the work robot 10 includes six joints 12a, 12b, 12c, 12d, 12e, and 12f, and links 13a, 13b, 13c, 13d, and 13e connecting each joint. Each of the six joints 12a through 12f is also provided with a motor 14 consisting of a servo motor and a position detection unit 15 for detecting the rotational position of each joint, as shown in Figure 2. Furthermore, as shown in Figure 1, a work unit 30 is attached to one end of the work robot 10. The work robot 10 also includes a base 11 at the other end, which can be attached to a floor, wall, column, etc.

[0018] Each of the six joints 12a to 12f rotates under the drive of motor 14.

[0019] The first axis joint 12a is connected to the base 11. Joint 12a rotates link 13a relative to the base 11. The second axis joint 12b rotates link 13b relative to link 13a. The third axis joint 12c rotates link 13c relative to link 13b. The fourth axis joint 12d rotates link 13d relative to link 13c. The fifth axis joint 12e rotates link 13e relative to link 13d. The sixth axis joint 12f rotates the work section 30 relative to link 13e.

[0020] The work unit 30 performs operations on the workpiece 200. Specifically, the work unit 30 includes a welding unit that performs welding operations on the workpiece 200. The welding unit, for example, performs arc welding on the workpiece 200. The welding unit has a torch for performing arc welding. The work unit 30 performs welding operations on the workpiece 200 while moving relative to the workpiece 200. The work robot 10 includes a welding robot.

[0021] The work control unit 40 controls the work performed by the work unit 30 on the workpiece 200. In other words, the work control unit 40 controls the welding work performed by the work unit 30 on the workpiece 200. The work control unit 40 controls the work performed by the work unit 30 on the workpiece 200 based on the signal output unit 22 of the control device 20.

[0022] The measuring robot 50 is, for example, an industrial robot. The measuring robot 50 includes multiple joints. For example, the measuring robot 50 includes a 6-axis vertical articulated joint. The measuring robot 50 includes an articulated robot arm. The measuring robot 50 is powered by AC power supplied from an external source. A measuring unit 70 is located on the measuring robot 50. The measuring robot 50 moves the measuring unit 70 relative to the workpiece 200. The measuring robot 50 uses the measuring unit 70 to perform measurements on the workpiece 200.

[0023] As shown in Figure 2, the control device 60 includes a robot control unit 61 and a signal output unit 62. The signal output unit 62 has an enable generation unit 63 and a pulse generation unit 64. The robot control unit 61 and the signal output unit 62 are examples of control units. The robot control unit 61 is also an example of a second control unit.

[0024] The robot control unit 61 controls the measurement robot 50. The robot control unit 61 controls the movement of the measurement robot 50. Specifically, the robot control unit 61 controls the operation of the measurement robot 50 by controlling the power supplied to the motors 54 provided at each joint of the measurement robot 50. The robot control unit 61 also includes a CPU (Central Processing Unit) and memory. The robot control unit 61 controls the operation of the measurement robot 50 by executing a predetermined program. The robot control unit 61 also receives instructions for the operation of the measurement robot 50, as described later, and controls the measurement robot 50 to perform the operation based on the instructions. Specifically, the robot control unit 61 receives the position and orientation of the control points of the measurement robot 50 and calculates the operation of each joint of the measurement robot 50.

[0025] As shown in Figure 1, the measuring robot 50 includes six joints 52a, 52b, 52c, 52d, 52e, and 52f, and links 53a, 53b, 53c, 53d, and 53e connecting each joint. Each of the six joints 52a through 52f is also provided with a motor 54 consisting of a servo motor and a position detection unit 55 for detecting the rotational position of each joint, as shown in Figure 2. Furthermore, as shown in Figure 1, a measuring unit 70 is attached to one end of the measuring robot 50. The measuring robot 50 also includes a base 51 at the other end, which can be attached to a floor, wall, column, etc.

[0026] Each of the six joints 52a to 52f rotates under the drive of motor 54.

[0027] The first axis joint 52a is connected to the base 51. Joint 52a rotates link 53a relative to the base 51. The second axis joint 52b rotates link 53b relative to link 53a. The third axis joint 52c rotates link 53c relative to link 53b. The fourth axis joint 52d rotates link 53d relative to link 53c. The fifth axis joint 52e rotates link 53e relative to link 53d. The sixth axis joint 52f rotates the measuring unit 70 relative to link 53e.

[0028] The measuring unit 70 performs measurements on the workpiece 200. Specifically, the measuring unit 70 performs measurements on the work line WL (see Figure 4) of the workpiece 200 where work is performed by the work robot 10 using the work unit 30. The work line WL is the welding line where welding is performed and is composed of a groove. The groove is composed of a groove where welding is performed. The measuring unit 70 measures the groove of the workpiece 200.

[0029] The measuring unit 70 performs measurements on the workpiece 200 while moving relative to the workpiece 200. The measuring unit 70 includes at least one of a laser profile sensor, a camera, and a contact sensor. The laser profile sensor projects laser light onto the workpiece 200 while moving relative to the workpiece 200 to take an image and measures the three-dimensional shape of the work line WL of the workpiece 200 by the light section method. The camera takes an image of the work line WL of the workpiece 200 while moving relative to the workpiece 200. The camera includes at least one of an area camera and a line camera. The contact sensor performs measurements by contacting the work line WL of the workpiece 200 while moving relative to the workpiece 200. The contact sensor includes at least one of a contact probe sensor and a wire touch sensor.

[0030] The measurement control unit 80 controls the measurement of the workpiece 200 by the measurement unit 70. The measurement control unit 80 controls the measurement of the workpiece 200 by the measurement unit 70 based on the signal output unit 62 of the control device 60.

[0031] Here, the measurement control unit 80 controls the measurement of the workpiece 200 by the measurement unit 70 based on the signal output unit 62 of the control device 60.

[0032] Furthermore, the signal output unit 62 outputs a signal based on the relative movement of the measurement unit 70 relative to the workpiece 200 for each movement of the measurement unit 70, which is provided at the tip of the measuring robot 50. Specifically, the signal output unit 62 generates a pulse signal based on the relative movement of the measurement unit 70 based on the detection result of the position detection unit 55. More specifically, the robot control unit 61 acquires the detection result of the position detection unit 55 and calculates the relative movement of the measurement unit 70 based on the acquired detection result of the position detection unit 55. The signal output unit 62 acquires the relative movement of the measurement unit 70 calculated by the robot control unit 61 and generates a pulse signal based on the relative movement of the measurement unit 70 based on the acquired relative movement of the measurement unit 70.

[0033] Specifically, the signal output unit 62 outputs a variable-frequency pulse signal based on the relative movement of the measurement unit 70 relative to the workpiece 200 for each relative movement of the measurement unit 70. For example, the signal output unit 62 generates a pulse enable using the enable generation unit 63. The signal output unit 62 also generates a pulse signal using the pulse generation unit 64 based on the pulse enable generated by the enable generation unit 63.

[0034] Furthermore, the signal output unit 62 outputs a pulse signal corresponding to the relative movement amount of the measurement unit 70 relative to the workpiece 200 for each relative movement amount. For example, as shown in Figure 3, the signal output unit 62 generates and outputs a pulse signal based on the relative movement amount of the measurement unit 70 at predetermined processing cycles. In other words, the signal output unit 62 acquires the end-effector movement amount as the relative movement amount of the measurement unit 70 relative to the workpiece 200 at predetermined processing cycles. The signal output unit 62 then generates a number of pulse signals corresponding to the acquired relative movement amount. A pulse signal is generated for every x mm of relative movement. For example, if the relative movement is 5x mm in a predetermined cycle, five pulse signals are generated within the predetermined cycle. A pulse signal is counted as one on its rising edge and one on its falling edge. In other words, a pulse signal is counted as two due to its rising and falling edges. The frequency of the output pulse is variable, for example, in the range from 0 Hz to several MHz. In other words, as the relative movement amount increases, the frequency of the output pulse increases, and as the relative movement amount decreases, the frequency of the output pulse decreases.

[0035] In the example shown in Figure 3, the control period is 2 msec, and the amount of movement is acquired at each control period, with a pulse signal output based on the amount of movement. Note that the end-effector movement in Figure 3 represents the cumulative amount of movement from 0 mm. In other words, the difference in end-effector movement from the previous control period is acquired as the relative movement in the current control period. For example, if the end-effector movement in the previous control period was 10 mm and the end-effector movement in the current control period is 16 mm, the relative movement in the current control period will be acquired as 6 mm. Also, in the example shown in Figure 3, the pulse resolution is set to 1 mm / pulse. In other words, one pulse signal is output for every 1 mm movement. For example, if the movement is 2 mm, the number of output pulses is set to 2, and the pulse frequency is 1 kHz. If the movement is 3 mm, the number of output pulses is set to 3, and the pulse frequency is 1.5 kHz.

[0036] The signal output unit 62 outputs a pulse enable signal from the enable generation unit 63 at the start of a predetermined processing cycle, and the pulse generation unit 64 starts outputting pulses simultaneously with the pulse enable signal output. Furthermore, when the pulse generation unit 64 outputs its last pulse, the signal output unit 62 stops outputting the pulse enable signal from the enable generation unit 63. This prevents a surge in processing at the beginning of a predetermined processing cycle. As a result, there is no need to provide buffer time for calculations.

[0037] The signal output unit 62 may continuously output a pulse enable signal to the pulse generation unit 64 via the enable generation unit 63. Alternatively, the signal output unit 62 may stop outputting the pulse enable signal for a sufficiently small calculation period correction amount relative to the processing cycle via the enable generation unit 63. This ensures sufficient buffer time for calculations by the amount of the calculation period correction amount. For example, the calculation period correction amount is 40 μsec for a processing cycle of 2 msec.

[0038] Furthermore, the signal output unit 62 may, within the processing cycle, initially pause before generating pulses from the pulse generation unit 64. In other words, the signal output unit 62 outputs a pulse signal corresponding to the relative movement amount of the measurement unit 70 relative to the workpiece 200, so it does not output a pulse when the relative movement of the measurement unit 70 starts, which is when the relative movement amount is zero.

[0039] The signal output unit 62 includes, for example, an FPGA (Field Programmable Gate Array), and processing is performed by the FPGA.

[0040] If the CPU controlling the measurement robot 50 were to directly control the pulse output function, the CPU load would increase, potentially making it impossible to accurately control high-frequency pulses. Therefore, the pulse output is controlled using a pulse control processing unit, such as an FPGA, which is separate from the CPU controlling the measurement robot 50.

[0041] The CPU controlling the measurement robot 50 calculates the relative movement of the end-effector, and the pulse control processing unit controls the pulse frequency and number of pulses based on the relative movement of the end-effector. By dividing the processing in this way, accurate pulse output is possible. Furthermore, since the pulse output section is controlled by a separately provided processing unit, the pulse output specifications, such as pulse-to-distance conversion and n-multiplied pulses, can be easily changed and expanded by changing the control parameters.

[0042] Furthermore, the signal output unit 62 acquires the relative movement amount of the measurement unit 70 during a predetermined processing cycle and outputs a pulse signal assuming that the relative movement is constant during the predetermined processing cycle. However, since the predetermined processing cycle is sufficiently small, even assuming a constant relative movement, it is not significantly different from the actual relative movement amount of the measurement unit 70.

[0043] Furthermore, the signal output unit 62 may acquire the relative movement amount of the measurement unit 70 based on the actual movement of the measurement unit 70, or it may acquire the relative movement amount of the measurement unit 70 based on the movement command of the measurement robot 50 from the robot control unit 61.

[0044] Furthermore, when the measuring robot 50 is moved by an external moving mechanism, the signal output unit 62 takes into account the movement by the external moving mechanism to obtain the relative movement amount of the measuring unit 70 with respect to the workpiece 200. The external moving mechanism includes a travel axis and a rotary table that move the base 51 of the measuring robot 50.

[0045] The relative movement of the measurement unit 70 with respect to the workpiece 200 is obtained based on the movement of the control point TCP shown in Figure 4, which controls the movement of the measurement robot 50. The control point TCP for controlling the movement of the measurement robot 50 is set, for example, at the measurement position relative to the workpiece 200 by the measurement unit 70.

[0046] The measurement control unit 80 controls the measurement of the workpiece 200 by the measurement unit 70 based on the pulse signal generated by the signal output unit 62. Specifically, the measurement control unit 80 controls the measurement of the workpiece 200 by the measurement unit 70 using the pulse signal output from the signal output unit 62 as a trigger. The measurement control unit 80 controls the timing of the measurement of the workpiece 200 by the measurement unit 70 based on the pulse signal generated by the signal output unit 62. Based on the pulse signal output from the signal output unit 62, the measurement control unit 80 causes the measurement unit 70 to perform a measurement on the workpiece 200 at regular intervals. For example, the measurement control unit 80 counts the pulse signals output from the signal output unit 62 to obtain the relative movement amount of the measurement unit 70. Then, the measurement control unit 80 causes the measurement unit 70 to perform a measurement on the workpiece 200 each time the measurement unit 70 moves by a regular amount.

[0047] The robot control unit 61 moves the measurement unit 70 relative to the workpiece 200 along the surface of the workpiece 200 using the measurement robot 50. As shown in Figure 4, the robot control unit 61 moves the measurement unit 70 relative to the work line WL of the workpiece 200 using the measurement robot 50. In this case, the measurement control unit 80 controls the measurement unit 70 to perform a measurement on the workpiece 200 for each movement amount L1 of the control point TCP.

[0048] Furthermore, as shown in Figure 6, the robot control unit 61 moves the measurement unit 70 in a curved relative motion along the curved section of the workpiece 200 using the measurement robot 50. In this case, the measurement control unit 80 controls the measurement unit 70 to perform measurements on the workpiece 200 for each movement amount L1 of the control point TCP.

[0049] Specifically, as shown in Figure 5, a signal A is turned on in response to the output of a pulse signal for each movement amount L1, causing the measurement unit 70 to perform measurement on the workpiece 200. In addition, the measurement control unit 80 turns on a signal A for each movement amount L1 of the measurement unit 70, regardless of the movement speed of the measurement unit 70, causing the measurement unit 70 to perform measurement on the workpiece 200.

[0050] (Robot instruction) In this embodiment, the robot control unit 61 controls the measurement robot 50 to teach it the movement path of the workpiece 200 relative to the work line WL on which the work robot 10 will perform work using the work unit 30. The robot control unit 61 also controls the measurement robot 50 to move the measurement unit 70 relative to the workpiece 200 according to the movement path, and the measurement control unit 80 controls the measurement unit 70 to perform measurements on the workpiece 200. The robot control unit 21 also controls the work robot 10 to teach it a corrected movement path, which is a corrected movement path based on the information acquired when the measurement unit 70 performed measurements on the workpiece 200. The information acquired when the measurement unit 70 performed measurements on the workpiece 200 includes the relative movement amount of the measurement unit 70 relative to the workpiece 200, the coordinate values ​​of the position of the measurement unit 70, and the measurement results of the measurement unit 70.

[0051] Furthermore, in this embodiment, as shown in Figures 7 and 8, the robot control unit 61 performs control to create coordinate transformation information CT, which associates the relative movement amount of the measurement unit 70 with the workpiece 200 as information with the coordinate values ​​relating to the position of the measurement unit 70 as information. Also, as shown in Figure 9, the robot control unit 61 performs control to acquire the amount of deviation D of the work line WL of the actual workpiece 200 with respect to the operation path, based on the measurement results of the measurement unit 70 as information. The robot control unit 21 performs control to acquire a corrected operation path based on the coordinate transformation information CT and the amount of deviation D.

[0052] As shown in Figures 7 and 8, the robot control unit 61 performs control to acquire coordinate values ​​related to the position of the measurement unit 70 at each constant relative movement of the measurement unit 70 relative to the workpiece 200 along the movement path, and to create coordinate transformation information CT. That is, the robot control unit 61 performs control to acquire coordinate values ​​related to the position of the measurement unit 70 at each position measured on the workpiece 200 by the measurement unit 70, and to create coordinate transformation information CT. The constant relative movement of the measurement unit 70 relative to the workpiece 200 is the movement of the control point TCP. The robot control unit 61 performs control to acquire coordinate values ​​related to the position of the control point TCP at each constant relative movement of the control point TCP along the movement path.

[0053] The measurement interval, which is the interval between movement amounts for acquiring coordinate values, will later become the interval between teaching points to be taught to the work robot 10. Therefore, it can be set considering the work accuracy required for the work robot 10. For example, if the shape of the workpiece 200 is complex, the measurement interval will be set to be relatively small, and if the shape of the workpiece 200 is simple, the measurement interval will be set to be relatively large. The measurement interval is not particularly limited, but for example, it can be set to about 5 mm.

[0054] For example, the robot control unit 61 performs control to create the coordinate transformation information CT shown in Figure 7. The coordinate transformation information CT shown in Figure 7 is a coordinate transformation table that associates the relative movement amount of the measurement unit 70 with respect to the workpiece 200 in the movement path of the measurement robot 50 with the coordinate values ​​representing the measurement unit 70 in the robot coordinate system relative to the robot. The path number represents the number of the movement path of the measurement robot 50, the position number represents the number of the control point TCP, the movement amount represents the movement amount of the control point TCP in the movement path of the measurement robot 50, and the coordinate value represents the coordinate value of the control point TCP in the robot coordinate system. The coordinate transformation information CT uses coordinate values ​​that represent the position and orientation of the control point TCP in the robot coordinate system.

[0055] Furthermore, for example, the robot control unit 61 performs control to create the coordinate transformation information CT shown in Figure 8. The coordinate transformation information CT shown in Figure 8 is a coordinate transformation table that associates the relative movement amount of the measurement unit 70 with respect to the workpiece 200 in the movement path of the measurement robot 50 with the coordinate values ​​representing the measurement unit 70 in the work coordinate system based on the workpiece 200. The path number represents the number of the movement path of the measurement robot 50, the position number represents the number of the control point TCP, the movement amount represents the movement amount of the control point TCP in the movement path of the measurement robot 50, and the coordinate value represents the coordinate value of the control point TCP in the work coordinate system. In the coordinate transformation information CT, the coordinate value that indicates the position of the control point TCP in the work coordinate system is used.

[0056] As shown in Figure 9, the robot control unit 61 performs control to detect the work line WL of the actual workpiece 200 based on the measurement results of the measurement unit 70. If the measurement unit 70 is a laser profile sensor, irregularities are detected by the light section method, and the grooves that make up the work line WL are detected. If the measurement unit 70 is a camera, the grooves that make up the work line WL are detected by image processing. If the measurement unit 70 is a contact sensor, changes in the contact position are detected, and the grooves that make up the work line WL are detected.

[0057] The robot control unit 61 performs control to acquire the displacement amount D as the distance between the detected position of the work line WL of the actual workpiece 200 and the reference position RE in the measurement coordinate system defined for the measurement unit 70. The reference position RE in the measurement coordinate system is, for example, the origin of the measurement coordinate system and is located on the movement path taught to the measurement robot 50. Therefore, the distance between the detected position of the work line WL of the actual workpiece 200 and the reference position RE in the measurement coordinate system is acquired as the displacement amount D of the work line WL of the actual workpiece 200 relative to the movement path. In addition, the robot control unit 61 performs control to acquire the displacement amount D for each measurement position of the measurement unit 70 based on the measurement results of the measurement unit 70 acquired at each constant relative movement amount of the measurement unit 70 with respect to the workpiece 200 according to the movement path.

[0058] The robot control unit 61 performs control to transmit the acquired coordinate transformation information CT and displacement amount D to the PC 90. The PC 90 receives the coordinate transformation information CT and displacement amount D transmitted from the robot control unit 61 and performs control to store them. Furthermore, if the PC 90 receives a request signal from the robot control unit 21 requesting the coordinate transformation information CT and displacement amount D, it performs control to transmit the coordinate transformation information CT and displacement amount D to the robot control unit 21. The robot control unit 21 receives and acquires the coordinate transformation information CT and displacement amount D transmitted from the PC 90. The coordinate transformation information CT and displacement amount D are transmitted from the robot control unit 61 to the robot control unit 21 via the PC 90. Alternatively, the displacement amount D may be transmitted to the PC 90 from an image processing device that calculates the displacement amount D by image processing, or the displacement amount D may be transmitted to the PC 90 from the robot control unit 61 that has acquired the displacement amount D from the image processing device.

[0059] Furthermore, in this embodiment, the robot control unit 21 corrects the coordinate values ​​included in the coordinate transformation information CT based on the displacement amount D and performs control to acquire teaching points for the corrected operation path. Specifically, the robot control unit 21 corrects the coordinate values ​​included in the coordinate transformation information CT by adding the displacement amount D to the coordinate values ​​included in the coordinate transformation information CT. The robot control unit 21 corrects the coordinate values ​​included in the coordinate transformation information CT based on the displacement amount D so that the corrected coordinate values ​​match the work line WL of the actual workpiece 200. The robot control unit 21 performs control to acquire the corrected coordinate values ​​as teaching points. In addition, the robot control unit 21 corrects each of the coordinate values ​​included in the coordinate transformation information CT based on the corresponding displacement amount D and performs control to acquire teaching points corresponding to each of the coordinate values ​​included in the coordinate transformation information CT. That is, the robot control unit 21 performs control to acquire teaching points for each constant relative movement amount of the work unit 30 with respect to the workpiece 200. As a result, the robot control unit 21 performs control to acquire a corrected operation path based on the teaching points.

[0060] As will be described later, when the work robot 10 and the measurement robot 50 are positioned at the same location relative to the workpiece 200, the position and orientation of the work robot 10 relative to the workpiece 200 and the position and orientation of the measurement robot 50 relative to the workpiece 200 become the same. In this case, it is possible to express the coordinate values ​​of the workpiece 200 expressed in the robot coordinate system of the work robot 10 and the coordinate values ​​of the workpiece 200 expressed in the robot coordinate system of the measurement robot 50 using the same coordinate values. In this case, the robot control unit 61 performs control to create coordinate transformation information CT shown in Figure 7, which includes the coordinate values ​​of the robot coordinate system, and the robot control unit 21 performs control to acquire the coordinate transformation information CT shown in Figure 7. Then, the robot control unit 21 corrects the coordinate values ​​of the robot coordinate system included in the coordinate transformation information CT based on the amount of deviation D, and performs control to acquire the corrected coordinate values ​​of the robot coordinate system as teaching points.

[0061] Furthermore, if the work robot 10 and the measurement robot 50 are not positioned at the same location relative to the workpiece 200, the position and orientation of the work robot 10 relative to the workpiece 200 will not be the same as the position and orientation of the measurement robot 50 relative to the workpiece 200. In this case, the robot control unit 61 performs control to create coordinate transformation information CT shown in Figure 8, which includes the coordinate values ​​of the workpiece coordinate system, and the robot control unit 21 performs control to acquire the coordinate transformation information CT shown in Figure 8. The robot control unit 21 then corrects the coordinate values ​​of the workpiece coordinate system included in the coordinate transformation information CT based on the amount of deviation D, converts the corrected coordinate values ​​of the workpiece coordinate system into the coordinate values ​​of the robot coordinate system of the work robot 10, and performs control to acquire the converted coordinate values ​​of the robot coordinate system of the work robot 10 as teaching points. In this way, even when the work robot 10 and the measurement robot 50 are not positioned at the same location relative to the workpiece 200, it is possible to teach a corrective operation path by using the coordinate values ​​of the workpiece coordinate system.

[0062] The robot control unit 21 controls the work robot 10 to move the work unit 30 relative to the workpiece 200 according to the acquired correction movement path, and the work control unit 40 controls the work unit 30 to perform work on the workpiece 200. In other words, the work robot 10 moves the work unit 30 relative to the workpiece 200 according to the correction movement path, and the work unit 30 performs welding work on the workpiece 200.

[0063] Furthermore, in this embodiment, as shown in Figures 1 and 10, the robot system 100 is The system comprises a moving mechanism 110, a plurality of placement sections 120 on which workpieces 200 are each placed, and a placement section 130 on which a work robot 10 and a measuring robot 50 are placed.

[0064] The moving mechanism 110 moves the workpiece 200 relative to the work robot 10 and the measuring robot 50 so that the work robot 10 and the measuring robot 50 are positioned in the same position relative to the workpiece 200. The moving mechanism 110 moves the workpiece 200 relative to the work robot 10 and the measuring robot 50 by moving the workpiece 200. The moving mechanism 110 includes a rotation mechanism that rotates the workpiece 200 relative to the work robot 10 and the measuring robot 50. The moving mechanism 110 rotates the workpiece 200 around a rotation axis AX that extends in the vertical direction. In the example shown in Figure 10, the work robot 10 and the measuring robot 50 are positioned point-symmetrically with respect to the rotation axis AX, and the moving mechanism 110 rotates the workpiece 200 by 180 degrees so that the position of the measuring robot 50 as seen from the workpiece 200 before rotation and the position of the work robot 10 as seen from the workpiece 200 after rotation are the same.

[0065] The moving mechanism 110 includes a drive unit 111 and a support unit 112. The drive unit 111 includes a drive source such as a motor and is connected to the support unit 112. The support unit 112 supports a plurality of placement units 120 and rotates around the rotation axis AX by the driving force from the drive unit 111. The moving mechanism 110 rotates the plurality of placement units 120 by rotating the support unit 112 with the drive unit 111, thereby rotating the plurality of workpieces 200.

[0066] The placement section 120 is a table on which the workpiece 200 is placed. There are two placement sections 120. The two placement sections 120 are positioned on opposite sides of the placement section 130. The moving mechanism 110 rotates the two placement sections 120 by 180 degrees, so that the workpiece 200 that was placed in front of the measuring robot 50 moves in front of the work robot 10, and the workpiece 200 that was placed in front of the work robot 10 moves in front of the measuring robot 50.

[0067] Furthermore, in this embodiment, the robot system 100 performs, in parallel, measurements of a workpiece 200 placed in one placement area 120 using the measurement unit 70 by the measurement robot 50, and operations on workpieces 200 placed in other placement areas 120 using the operations unit 30 by the work robot 10. That is, after the measurement of the first workpiece 200 is performed by the measurement robot 50 using the measurement unit 70, the measured workpiece 200 is moved in front of the operations robot 10. Then, the measurement of the second workpiece 200 using the measurement unit 70 by the measurement robot 50 and operations on the first workpiece 200 using the operations unit 30 by the operations robot 10 are performed in parallel. Then, the first workpiece 200 that has been worked on is removed, and a third new workpiece 200 is placed. Then, the third workpiece 200 is moved in front of the measurement robot 50, and the second workpiece 200 is moved in front of the operations robot 10. Then, the measurement of the third workpiece 200 by the measurement robot 50 using the measurement unit 70 and the work performed on the second workpiece 200 by the work robot 10 using the work unit 30 are carried out in parallel. The same operation is repeated thereafter.

[0068] Furthermore, the placement unit 120 may not only be rotated around the rotation axis AX by the moving mechanism 110, but may also be rotated around itself. For example, if there is a target part of the workpiece 200 that is not within the operating range of the work robot 10 or the measuring robot 50, the placement unit 120 itself may be rotated so that the target part of the workpiece 200 is within the operating range of the work robot 10 or the measuring robot 50.

[0069] The placement section 130 is a table on which the work robot 10 and the measuring robot 50 are placed. There is one placement section 130. The placement section 130 is separated from the moving mechanism 110 and is fixed so as not to rotate around the rotation axis AX.

[0070] (Control processing for robot systems) Next, with reference to Figure 11, the control process by the robot system 100 of this embodiment will be explained based on a flowchart.

[0071] As shown in Figure 11, in step S1, the robot control unit 61 controls the measurement robot 50 to teach it the movement path of the workpiece 200 relative to the work line WL. Specifically, the robot control unit 61 receives instructions from the user for the measurement robot 50's movements and controls the measurement robot 50 to teach it the movement path of the work line WL. The user can teach relatively rough movements because even if the movement path to be taught deviates slightly from the actual work line WL of the workpiece 200, it will be corrected later.

[0072] Then, in step S2, the robot control unit 61 controls the measurement robot 50 to move the measurement unit 70 relative to the workpiece 200 according to the movement path, and the measurement control unit 80 performs measurements on the workpiece 200 by the measurement unit 70. That is, while the measurement robot 50 moves the measurement unit 70 relative to the workpiece 200 according to the movement path, the measurement unit 70 performs measurements on the workpiece 200. At this time, the measurement unit 70 performs measurements on the workpiece 200 at intervals of a certain amount of relative movement of the measurement unit 70 relative to the workpiece 200. At intervals of a certain amount of relative movement of the measurement unit 70 relative to the workpiece 200, the relative movement amount of the measurement unit 70 relative to the workpiece 200 in the movement path of the measurement robot 50, the coordinate values ​​of the position of the measurement unit 70, and the measurement result of the measurement unit 70 are acquired.

[0073] Then, in step S3, the robot control unit 61 performs control to acquire coordinate transformation information CT and displacement amount D based on the information acquired when the measurement unit 70 performs measurement on the workpiece 200. Specifically, the robot control unit 61 performs control to create and acquire coordinate transformation information CT by associating the relative movement amount of the measurement unit 70 with the workpiece 200 in the operating path of the measuring robot 50 and the coordinate value of the position of the measurement unit 70 for each certain relative movement amount of the measurement unit 70 with the workpiece 200. The robot control unit 61 also performs control to acquire displacement amount D based on the measurement results of the measurement unit 70.

[0074] Then, in step S4, the robot control unit 21 controls the robot to teach the working robot 10 a corrected operating path, which is obtained by correcting the operating path based on the information acquired when the measuring unit 70 performed measurements on the workpiece 200. At this time, the robot control unit 21 controls the robot to acquire the corrected operating path based on the coordinate transformation information CT and the displacement amount D. The corrected operating path is acquired and taught using the coordinate values ​​obtained by correcting each coordinate value included in the coordinate transformation information CT based on the corresponding displacement amount D as teaching points.

[0075] Then, in step S5, the robot control unit 21 controls the work robot 10 to move the work unit 30 relative to the workpiece 200 according to the corrected movement path, and the work control unit 40 controls the work unit 30 to perform work on the workpiece 200. That is, the work unit 30 performs welding work on the workpiece 200 while the work robot 10 moves the work unit 30 relative to the workpiece 200 according to the corrected movement path.

[0076] (Effects of the first embodiment) In the first embodiment, the following effects can be obtained.

[0077] In the first embodiment, as described above, the robot control unit 61 controls the measurement robot 50 to teach it the movement path of the work line WL of the workpiece 200, which will be worked on by the work robot 10 using the work unit 30. The robot control unit 61 controls the measurement robot 50 to move the measurement unit 70 relative to the workpiece 200 according to the movement path, and the measurement control unit 80 controls the measurement unit 70 to take measurements on the workpiece 200. The robot control unit 21 controls the work robot 10 to teach it a corrected movement path, which is a corrected movement path obtained by correcting the movement path based on the information acquired when the measurement unit 70 takes measurements on the workpiece 200. As a result, the measurement robot 50 is taught the work line WL of the workpiece 200, which will be taught to the work robot 10 later, as a relatively rough movement path, while the work robot 10 is taught a relatively accurate corrected movement path that corrects the relatively rough movement path taught to the measurement robot 50. As a result, the user only needs to teach the measurement robot 50 a relatively rough movement path, making it easy to teach the movement path to the measurement robot 50. Furthermore, the robot control unit 21 can automatically teach the robot 10 a corrective motion path. As a result, teaching the robot 10 a motion path is easy. In addition, since the robot 10 can be taught a corrective motion path with relatively high accuracy, it can perform work on the workpiece 200 with high accuracy based on this corrective motion path. As a result, it is possible to teach the robot 10 a motion path with high accuracy while performing work on the workpiece 200 with high accuracy.

[0078] Furthermore, in the first embodiment, as described above, the robot control unit 61 performs control to create coordinate transformation information CT that associates the relative movement amount of the measurement unit 70 with the workpiece 200 as information with the coordinate values ​​relating to the position of the measurement unit 70 as information, and control to acquire the amount of deviation D of the work line WL of the actual workpiece 200 with respect to the movement path based on the measurement results of the measurement unit 70 as information. The robot control unit 21 performs control to acquire a corrected movement path based on the coordinate transformation information CT and the amount of deviation D. This makes it possible to easily acquire a corrected movement path by effectively utilizing the information acquired when the measurement unit 70 performs measurements on the workpiece 200. In addition, by acquiring a corrected movement path based on the coordinate transformation information CT and the amount of deviation D, the processing when acquiring a corrected movement path can be simplified compared to when the 3D shape of the workpiece 200 is measured by a laser sensor or the like to generate a model of the workpiece 200 and acquire a corrected movement path. As a result, the processing burden on the robot control unit 21 can be reduced.

[0079] Furthermore, in the first embodiment, as described above, the robot control unit 21 corrects the coordinate values ​​included in the coordinate transformation information CT based on the displacement amount D and performs control to acquire teaching points for the corrected movement path. This makes it possible to easily acquire teaching points for the corrected movement path using the coordinate transformation information CT and the displacement amount D.

[0080] Furthermore, in the first embodiment, as described above, the robot system 100 includes a moving mechanism 110 that moves the workpiece 200 relative to the work robot 10 and the measuring robot 50 so that the work robot 10 and the measuring robot 50 are positioned at the same position relative to the workpiece 200. This makes it possible to make the relative position of the work robot 10 with respect to the workpiece 200 the same as the relative position of the measuring robot 50 with respect to the workpiece 200, which simplifies the process of acquiring a correction operation path based on coordinate transformation information CT and displacement amount D. As a result, the processing load on the robot control unit 21 can be reduced.

[0081] Furthermore, in the first embodiment, as described above, the moving mechanism 110 moves the workpiece 200, thereby moving the workpiece 200 relative to the work robot 10 and the measuring robot 50. As a result, there is no need to move the work robot 10 and the measuring robot 50, so if safety fences or the like are to be installed around the work robot 10 and the measuring robot 50, the area over which safety fences or the like are to be installed can be reduced.

[0082] Furthermore, in the first embodiment, as described above, the moving mechanism 110 includes a rotation mechanism that rotates the workpiece 200 relative to the work robot 10 and the measuring robot 50. By rotating the workpiece 200 using the rotation mechanism, the work robot 10 and the measuring robot 50 can be easily positioned at the same location relative to the workpiece 200.

[0083] Furthermore, in the first embodiment, as described above, the robot system 100 includes a plurality of placement sections 120 on which workpieces 200 are each placed, and performs in parallel measurements of workpieces 200 placed in one placement section 120 using a measurement section 70 by the measurement robot 50 and operations on workpieces 200 placed in other placement sections 120 using an operations section 30 by the work robot 10. As a result, the time required for measurements of workpieces 200 using the measurement section 70 by the measurement robot 50 and operations on workpieces 200 using the operations section 30 by the work robot 10 is reduced because these operations are performed in parallel.

[0084] Furthermore, in the first embodiment, as described above, the signal output unit 62 generates a pulse signal based on the relative movement amount of the measurement unit 70 with respect to the workpiece 200 for each relative movement amount of the measurement unit 70, and the measurement control unit 80 controls the measurement of the workpiece 200 by the measurement unit 70 based on the pulse signal generated by the signal output unit 62. As a result, the relative movement amount of the measurement unit 70 with respect to the workpiece 200 can be acquired for each relative movement, and the measurement of the workpiece 200 by the measurement unit 70 can be controlled, so that the measurement unit 70 can perform measurements on the workpiece 200 without having to set all working positions in advance. As a result, when the measurement robot 50 performs measurements while moving the measurement unit 70 relative to the workpiece 200, the complexity of the setting work can be suppressed.

[0085] Furthermore, in the first embodiment, as described above, the measurement unit 70 includes at least one of a laser profile sensor, a camera, and a contact sensor. This allows the workpiece 200 to be easily and appropriately measured by at least one of the laser profile sensor, camera, and contact sensor.

[0086] Furthermore, in the first embodiment, as described above, the work unit 30 includes a welding unit, and the work robot 10 includes a welding robot. This makes it possible to perform welding work on the workpiece 200 with high precision while easily teaching the welding robot the movement path when performing welding work on the workpiece 200 using the welding unit.

[0087] Furthermore, in the first embodiment, as described above, the work robot 10 and the measurement robot 50 are composed of separate robots that are independent of each other. This allows the work on the workpiece 200 using the work unit 30 by the work robot 10 and the measurement of the workpiece 200 using the measurement unit 70 by the measurement robot 50 to be performed by separate robots that are independent of each other. As a result, the work on the workpiece 200 using the work unit 30 by the work robot 10 and the measurement of the workpiece 200 using the measurement unit 70 by the measurement robot 50 can be performed easily and accurately.

[0088] Furthermore, in the first embodiment, as described above, a robot control unit 21 for controlling the work robot 10 and a robot control unit 61 for controlling the measuring robot 50 are provided. This allows the work robot 10 to be appropriately controlled by the robot control unit 21, and the measuring robot 50 to be appropriately controlled by the robot control unit 61.

[0089] [Second Embodiment] The configuration of the robot system 100a according to the second embodiment will be described.

[0090] As shown in Figures 12 and 13, the robot system 100a comprises a work robot 10, a control device 20a, a work unit 30, a work control unit 40, a measurement robot 50, a control device 60, a measurement unit 70, a measurement control unit 80, a PC 90, an inspection unit 220, an instruction unit 230, a robot control unit 240, an image processing device 250, and a result display device 260. The control device 20a includes a signal output unit 22 and a robot control unit 240.

[0091] The inspection unit 220 is located, for example, in the work unit 30 and inspects the workpiece 200. The inspection unit 220 is an imaging unit and images the workpiece 200. Specifically, the inspection unit 220 is a line-type camera and is moved along the surface of the workpiece 200 by the work robot 10 to scan and image the surface of the workpiece 200. The inspection unit 220 may be located in a part other than the work unit 30 as long as it moves together with the work robot 10. In addition, the inspection unit 220 inspects the work performed by the work unit 30 in parallel with the work performed by the work unit 30.

[0092] The indicator unit 230 is, for example, located in the work unit 30 and indicates the position of the target 201, which will be described later and acquired by inspection, to the workpiece 200. The indicator unit 230 is a laser irradiation unit and indicates the position of the target 201 to the workpiece 200 by irradiating it with laser light. Note that the indicator unit 230 may be located in a part other than the work unit 30 if it moves along with the movement of the work robot 10.

[0093] The robot control unit 240 includes a processing unit 241 and a storage unit 242. The processing unit 241 includes a processor and performs various processes related to the operation of the work robot 10. The storage unit 242 includes non-volatile memory and stores coordinate transformation information 271 and 272, which will be described later.

[0094] The image processing device 250 performs image processing on the image captured by the inspection unit 220. The image processing device 250 also controls the imaging timing performed by the inspection unit 220. The image processing device 250 includes a processing unit 251 and a storage unit 252. The processing unit 251 includes a processor and performs various processing related to the image captured by the inspection unit 220 and the imaging timing performed by the inspection unit 220. The storage unit 252 includes non-volatile memory and stores inspection images 221, which will be described later.

[0095] The result display device 260 displays the inspection results of the workpiece 200. The result display device 260 includes a processing unit 261, a storage unit 262, a display unit 263, and an operation unit 264. The processing unit 261 includes a processor and performs various processes related to displaying the inspection results of the workpiece 200. The storage unit 262 includes non-volatile memory and stores coordinate transformation information 272, a three-dimensional image of the workpiece 200, etc. The display unit 263 includes a monitor such as a liquid crystal monitor and displays the inspection results screen of the workpiece 200, etc. The operation unit 264 includes input devices such as a mouse and keyboard and accepts user input operations. Note that the display unit 263 and the operation unit 264 may be integrated. That is, the display unit 263 and the operation unit 264 may be configured as an operation unit / display unit such as a touch panel.

[0096] (Control processing for robot systems) The control process for the robot system 100a will be explained.

[0097] As shown in Figure 14, in step S11, the processing unit 241 of the robot control unit 240 performs a process to acquire the corrected operation path of the first embodiment as the operation path of the work robot 10 when the work robot 10 moves the inspection unit 220 relative to the workpiece 200 and has the work unit 30 perform the work. The corrected operation path of the work robot 10 is also the movement path when the work unit 30 performs the work and when the inspection unit 220 inspects the workpiece 200.

[0098] In step S12, the processing unit 241 of the robot control unit 240 performs the process of creating coordinate transformation information 271 shown in Figure 15 and coordinate transformation information 272 shown in Figure 16, based on the corrected operation path of the work robot 10. Coordinate transformation information 271 and 272 is information that converts the coordinate values ​​of the inspection coordinate system of the inspection image 221, which will be described later, obtained by inspecting the workpiece 200 by the inspection unit 220, into coordinate values ​​of a three-dimensional coordinate system that can represent the coordinate values ​​of the workpiece 200 in three dimensions. The inspection coordinate system is a two-axis orthogonal coordinate system with mutually orthogonal axes, and the three-dimensional coordinate system is a three-axis orthogonal coordinate system with mutually orthogonal axes. Details of the coordinate transformation using coordinate transformation information 271 and 272 will be described later.

[0099] As shown in Figures 15 and 16, the processing unit 241 acquires the coordinate values ​​of each teaching point that constitutes the correction operation path of the work robot 10, thereby acquiring coordinate values ​​of the 3D coordinate system at regular distance intervals along the correction operation path and generating coordinate transformation information 271 and 272. The regular distance interval is the distance interval of the control points of the work robot 10. The processing unit 241 acquires the coordinate values ​​of the 3D coordinate system of the control points of the work robot 10 at regular distance intervals. The control points of the work robot 10 may be set as work points of the work unit 30, or as the imaging focal position of the inspection unit 220. The work points of the work unit 30 and the imaging focal position of the inspection unit 220 may be the same position. The imaging focal position of the inspection unit 220 is set near the surface of the workpiece 200. The control points of the work robot 10 are provided for the purpose of acquiring coordinate values ​​of the 3D coordinate system.

[0100] The coordinate transformation information 271 and 272 are coordinate transformation tables that associate the relative movement amount of the work unit 30 with respect to the workpiece 200 in the direction along the correction operation path of the work robot 10 with the coordinate values ​​of the 3D coordinate system. In Figures 15 and 16, the path number represents the correction operation path number of the work robot 10, the position number represents the control point number, the movement amount represents the movement amount of the control point of the work robot 10 along the correction operation path of the work robot 10, and the coordinate value represents the coordinate value of the control point of the work robot 10 in the 3D coordinate system. In other words, in the coordinate transformation information 271 and 272, for each correction operation path of the work robot 10, the relative movement amount of the work unit 30 with respect to the workpiece 200 for each control point is associated with the coordinate value of the control point in the 3D coordinate system.

[0101] As shown in Figure 15, in the coordinate transformation information 271, the 3D coordinate system is the robot coordinate system related to the work robot 10. The robot coordinate system is a coordinate system based on the work robot 10. The coordinate transformation information 271 is a coordinate transformation table that associates the relative movement amount of the work unit 30 with the workpiece 200 with the coordinate values ​​of the robot coordinate system. In the coordinate transformation information 271, the coordinate values ​​used are those that indicate the position and orientation of the control points in the robot coordinate system.

[0102] As shown in Figure 16, in the coordinate transformation information 272, the 3D coordinate system is the work coordinate system related to the workpiece 200. The work coordinate system is a coordinate system based on the workpiece 200. The coordinate transformation information 272 is a coordinate transformation table that associates the relative movement amount of the work unit 30 with the workpiece 200 with the coordinate values ​​of the work coordinate system. In the coordinate transformation information 272, the coordinate values ​​used are those that indicate the position of the control point in the work coordinate system.

[0103] Furthermore, the processing unit 241 stores the coordinate transformation information 271 and 272 in the storage unit 242, and also outputs the coordinate transformation information 272 to the processing unit 261 of the result display device 260. The processing unit 261 stores the coordinate transformation information 272 in the storage unit 262.

[0104] In step S13, the processing unit 241 of the robot control unit 240 operates the work robot 10 based on the corrected operation path of the work robot 10, and performs inspection of the workpiece 200 by the inspection unit 220 in parallel with the work performed by the work unit 30. Then, the processing unit 251 of the image processing device 250 performs the process of acquiring the inspection image 221 shown in Figure 17 based on the output result of the inspection unit 220. The inspection image 221 is an image of the surface of the workpiece 200 captured by the inspection unit 220.

[0105] The robot control unit 240 and the work control unit 40 cause the work unit 30 to perform work along the corrected movement path of the work robot 10, and the processing unit 251 operates the inspection unit 220 to inspect the workpiece 200 at regular intervals along the corrected movement path of the work robot 10 to acquire inspection images 221. Specifically, the processing unit 251 operates the work unit 30 to perform work and the inspection unit 220 to image the workpiece 200 at regular intervals, scanning and imaging the workpiece 200 while the work is being performed. More specifically, the processing unit 241 outputs a pulse signal to the processing unit 251 at regular intervals. Based on the pulse signal from the processing unit 241, the processing unit 251 outputs a trigger signal to the inspection unit 220 at regular intervals. Based on the trigger signal, the inspection unit 220 images the workpiece 200 at regular intervals.

[0106] In step S14, the processing unit 251 of the image processing device 250 performs a process to detect the target 201 of the workpiece 200 in the inspection image 221 shown in Figure 17. The processing unit 251 performs a process to detect the target 201 in the inspection image 221 by performing predetermined image processing on the inspection image 221. The target 201 is, for example, a welding abnormality. Welding abnormalities include, for example, pits, undercuts, overlaps, or cracks. The processing unit 251 performs a process to detect the target 201 in the inspection image 221 for all inspection images 221.

[0107] As shown in Figure 17, the inspection coordinate system of the inspection image 221 is a two-dimensional coordinate system in which the direction along the correction movement path of the work robot 10 is defined as the Y-axis direction, and the direction perpendicular to the correction movement path of the work robot 10 is defined as the X-axis direction. The processing unit 251 performs the process of acquiring the coordinate values ​​of the inspection coordinate system of the target 201. That is, the processing unit 251 performs the process of acquiring the coordinate values ​​of the X and Y axes of the inspection coordinate system of the target 201.

[0108] In step S15, the processing unit 241 of the robot control unit 240 performs a process to convert the coordinate values ​​of the inspection coordinate system of the target 201 to the coordinate values ​​of the robot coordinate system based on the coordinate transformation information 271. Also in step S15, the processing unit 261 of the result display device 260 performs a process to convert the coordinate values ​​of the inspection coordinate system of the target 201 to the coordinate values ​​of the work coordinate system based on the coordinate transformation information 272.

[0109] In step S16, as shown in Figure 18, the processing unit 241 of the robot control unit 240 performs a process to indicate the position of the target 201 on the actual workpiece 200 based on the coordinate values ​​of the converted 3D coordinate system of the target 201. Specifically, the processing unit 241 operates the work robot 10 based on the coordinate values ​​of the target 201 converted to robot coordinate system coordinate values, and performs a process to indicate the position of the target 201 on the actual workpiece 200 using the indicator unit 230. That is, the processing unit 241 operates the work robot 10 to move the indicator unit 230 to a predetermined position where the position of the target 201 can be indicated. Then, with the indicator unit 230 positioned in the predetermined location, the processing unit 241 irradiates a laser beam from the indicator unit 230 to indicate the position of the target 201 on the actual workpiece 200.

[0110] In step S17, as shown in Figure 19, the processing unit 261 of the result display device 260 performs a process to indicate the position of the object 201 on the 3D image of the workpiece 200 based on the coordinate values ​​of the converted 3D coordinate system of the object 201. Specifically, the processing unit 261 performs a process to indicate the position of the object 201 on the 3D image of the workpiece 200 based on the coordinate values ​​of the object 201 converted to the coordinate values ​​of the work coordinate system. That is, the processing unit 261 performs a process to superimpose an image indicating the position of the object 201 onto the 3D image of the workpiece 200. Then, the processing unit 261 performs a process to display the 3D image of the workpiece 200 with the superimposed image indicating the position of the object 201 on the display unit 263. For example, a round marker is displayed as the image indicating the position of the object 201. The 3D image of the workpiece 200 with the superimposed image indicating the position of the object 201 can be enlarged, reduced, or rotated based on user operation using the operation unit 264.

[0111] (Effects of the second embodiment) Based on the created coordinate transformation information 271 and 272, the following processes are performed: converting the coordinate values ​​of the inspection coordinate system of the target 201 to coordinate values ​​of the 3D coordinate system, and then, based on the converted coordinate values ​​of the 3D coordinate system of the target 201, the position of the target 201 is shown on the actual workpiece 200 or a 3D image of the workpiece 200. As a result, the position of the target 201 can be shown on the actual workpiece 200 or a 3D image of the workpiece 200. Unlike when the position of the target 201 is shown on a 2D image of the workpiece 200, the position of the target 201 can be shown with high accuracy even on curved surfaces or complex curved surfaces of the workpiece 200.

[0112] While the work on the workpiece 200 is controlled by the work control unit 40 and the robot control unit 240, the processing unit 251 of the image processing device 250 has the inspection unit 220 inspect the workpiece 200 and executes the process of acquiring an inspection image 221 of the workpiece 200. As a result, the work and inspection are performed in parallel, so the time required for work and inspection can be shortened. In addition, by performing inspection during work, if an abnormality in the work is detected, it is possible to stop the work at that point, correct the abnormality, and then restart the work from the position where the abnormality was detected.

[0113] [Third Embodiment] The configuration of the robot system 100b according to the third embodiment will be described.

[0114] The configuration of robot system 100b is the same as that of robot system 100a of the second embodiment shown in Figures 12 and 13. Specifically, robot system 100b comprises a work robot 10, a control device 20a, a work unit 30, a work control unit 40, a measurement robot 50, a control device 60, a measurement unit 70, a measurement control unit 80, a PC 90, an inspection unit 220, an instruction unit 230, a robot control unit 240, an image processing device 250, and a result display device 260. The control device 20a includes a signal output unit 22 and a robot control unit 240.

[0115] (Control processing for robot systems) This section describes the control process for robot system 100b.

[0116] As shown in Figure 20, the operations from step S11 to S15 are the same as in the second embodiment described above.

[0117] In step S21, as shown in Figure 21, the processing unit 261 of the result display device 260 performs a process to indicate the position of the object 201 on the 3D image of the workpiece 200 based on the coordinate values ​​of the converted 3D coordinate system of the object 201. Specifically, the processing unit 261 performs a process to indicate the position of the object 201 on the 3D image of the workpiece 200 based on the coordinate values ​​of the object 201 converted to the coordinate values ​​of the work coordinate system. That is, the processing unit 261 performs a process to superimpose an image indicating the position of the object 201 onto the 3D image of the workpiece 200. Then, the processing unit 261 performs a process to display the 3D image of the workpiece 200 with the superimposed image indicating the position of the object 201 on the display unit 263. For example, a round marker is displayed as the image indicating the position of the object 201. The 3D image of the workpiece 200 with the superimposed image indicating the position of the object 201 can be enlarged, reduced, or rotated based on user operation using the operation unit 264.

[0118] Furthermore, the processing unit 261 performs a process to display the inspection results of the workpiece 200 in list format. The inspection results of the workpiece 200 represent the results of the process of detecting the target 201 within the inspection images 221 for all inspection images 221. The inspection results of the workpiece 200 include the number of the detected target 201 and the type of the detected target 201.

[0119] The processing unit 261 performs the process of displaying the operation images 371 and 372 in list format along with the inspection results of the workpiece 200. Operation image 371 is an image used to operate the work robot 10 so that the position of the target 201 (described later) is shown on the actual workpiece 200. Operation image 372 is an image used to display the inspection image 221 of the target 201 (described later). Operation images 371 and 372 are displayed in list format along with the inspection results of the workpiece 200 so that the correspondence with the number and type of the detected target 201 can be identified. The processing unit 261 performs the process of displaying the list format inspection results of the workpiece 200 and the operation images 371 and 372 on the display unit 263. The processing unit 261 also performs the process of displaying the 3D image of the workpiece 200, the list format inspection results of the workpiece 200, and the operation images 371 and 372 within the same frame.

[0120] When the operation image 371 is operated, the processing unit 261 performs the process in step S22. In step S22, the processing unit 261 operates the work robot 10 to show the position of the target 201 corresponding to the operated operation image 371 on the actual workpiece 200. Specifically, the processing unit 261 outputs identification information to the processing unit 241 to identify the target 201 corresponding to the operated operation image 371. The identification information is, for example, the number of the target 201. Based on the identification information from the processing unit 261, the processing unit 241 identifies the target 201 and operates the work robot 10 to show the position of the identified target 201 on the actual workpiece 200 as the position of the target 201 corresponding to the operated operation image 371. Operation of the operation image 371 means, for example, clicking the operation image 371 with a mouse. If the display unit 263 is a touch panel, operation of the operation image 371 means that the operation image 371 is touched by the user.

[0121] More specifically, as shown in Figure 18, the processing unit 241 operates the work robot 10 to indicate the position of the target 201 on the actual workpiece 200 using the indicator unit 230. That is, the processing unit 241 operates the work robot 10 to move the indicator unit 230 to a predetermined position where it can indicate the position of the target 201. Then, with the indicator unit 230 positioned in the predetermined location, the processing unit 241 irradiates a laser beam from the indicator unit 230 to indicate the position of the target 201 on the actual workpiece 200.

[0122] When the operation image 372 is manipulated, the processing unit 261 performs the process in step S23. In step S23, the processing unit 261 performs the process of displaying the inspection image 221 of the target 201 corresponding to the manipulated operation image 372. Specifically, the processing unit 261 performs the process of displaying the inspection image 221 shown in Figure 17 in a frame different from the frame in which the 3D image of the workpiece 200, the inspection results of the workpiece 200 in list format, and the operation images 371 and 372 are displayed. Alternatively, the inspection image 221 may be displayed in the same frame as the frame in which the 3D image of the workpiece 200, the inspection results of the workpiece 200 in list format, and the operation images 371 and 372 are displayed. Furthermore, when the processing of the target 201 is completed, the user may use the operation unit 264 to check the checkbox 373. Note that manipulation of the operation image 372 includes clicking the operation image 372 with the mouse. Furthermore, if the display unit 263 is a touch panel, the operation of the operation image 372 refers to the user touching the operation image 372.

[0123] (Effects of the third embodiment) The system performs two processes: displaying the position of the detected object 201 on a 3D image of the workpiece 200, and, if input is received regarding the displayed object 201, performing processing on the actual workpiece 200 with respect to the input object 201. This allows the user to not only confirm the position of the object 201 on the workpiece 200 using the 3D image of the workpiece 200, but also to perform processing on the actual workpiece 200 with respect to the input object 201 by providing input on the object 201. As a result, the user's convenience regarding the image of the workpiece 200 can be improved compared to simply displaying the position of the object 201 on the image of the workpiece 200.

[0124] (modified version) It should be noted that the embodiments disclosed herein are illustrative and not restrictive in all respects. The scope of this disclosure is defined by the claims rather than the description of the embodiments above, and further includes all modifications (modifications) within the meaning and scope equivalent to the claims.

[0125] In the first embodiment described above, an example was shown in which the work section included a welding section, but the disclosure is not limited thereto. In the disclosure, the work section may include a camera, a three-dimensional shape measuring section, an ultrasonic flaw detection section, an eddy current flaw detection section, a work section related to civil engineering and construction, an inkjet painting section, a sealing application section, a sewing section, a polishing section, a grinding section, a cutting section, or a deburring section, etc.

[0126] Furthermore, while the first embodiment described above shows an example in which the work robot and the measurement robot are composed of separate, independent robots, this disclosure is not limited to this. In this disclosure, the work robot and the measurement robot may be composed of a single robot. In this case, the complexity of the robot system configuration can be suppressed. When the work robot and the measurement robot are composed of a single robot, both the work unit and the measurement unit may be placed at the tip of the robot to perform work and measurement. Alternatively, after performing measurement with the measurement unit placed at the tip of the robot, the measurement unit at the tip of the robot may be replaced with a work unit to perform work.

[0127] Furthermore, while the first embodiment described above shows an example in which a moving mechanism is provided to move the workpiece relative to the work robot and the measuring robot, this disclosure is not limited to this. In this disclosure, it is not necessary to provide a moving mechanism to move the workpiece relative to the work robot and the measuring robot.

[0128] Furthermore, while the first embodiment described above shows an example in which the moving mechanism moves a workpiece, the disclosure is not limited thereto. In this disclosure, the moving mechanism may also move a work robot and a measuring robot.

[0129] Furthermore, although the first embodiment described above shows an example in which two workpiece placement sections are provided, the disclosure is not limited thereto. In this disclosure, one or three or more workpiece placement sections may be provided.

[0130] Furthermore, while the first embodiment described above shows an example of transmitting coordinate transformation information and displacement amount from the robot control unit of the measurement robot to the robot control unit of the work robot via a PC, the disclosure is not limited to this. In this disclosure, the robot control unit of the measurement robot may transmit coordinate transformation information and displacement amount directly to the robot control unit of the work robot.

[0131] Furthermore, although the first embodiment described above shows an example in which the robot control unit, signal output unit, work control unit, and measurement control unit are arranged separately, the disclosure is not limited thereto. In this disclosure, the robot control unit, signal output unit, work control unit, and measurement control unit may be included in a common control unit. In this case, the common control unit may have separate processing units such as CPUs as the robot control unit, signal output unit, work control unit, and measurement control unit, or it may have a common processing unit such as a CPU.

[0132] Furthermore, while the first embodiment described above shows an example of a robot configuration including six vertical joints, the disclosure is not limited thereto. In this disclosure, the robot may include five or fewer joints, or seven or more joints. The robot may also include a horizontal articulated robotic arm.

[0133] Furthermore, while the first embodiment described above shows an example of a configuration in which the relative movement amount of the measuring unit with respect to the workpiece is obtained based on the movement of the robot's control point, the disclosure is not limited thereto. In this disclosure, the relative movement amount of the measuring unit with respect to the workpiece may be obtained based on the movement of any position of the robot.

[0134] Furthermore, while the first embodiment described above shows an example of a configuration in which the robot control unit and the signal output unit are located in a common control device, the disclosure is not limited thereto. In this disclosure, the robot control unit and the signal output unit may be located in separate control devices. In addition, the signal output unit may be located in a common control device with the robot control unit by adding hardware, or by adding software.

[0135] Furthermore, while the second embodiment described above shows an example where the result display device is a monitor such as a liquid crystal monitor, this disclosure is not limited to this. In this disclosure, the result display device may be a wearable display device that displays mixed reality.

[0136] Furthermore, in the third embodiment described above, an example was shown in which, as processing for an actual workpiece, both a process of irradiating a laser beam from an indicator unit to indicate the position of the target on the actual workpiece and a process of displaying a 3D image of the workpiece, a list of workpiece inspection results, and an inspection image were performed, but the present disclosure is not limited to this. In the present disclosure, only one of the above two processes may be performed.

[0137] The functions of the elements disclosed herein can be performed using circuits or processing circuits, including general-purpose processors, dedicated processors, integrated circuits, ASICs (Application Specific Integrated Circuits), conventional circuits, and / or combinations thereof, configured or programmed to perform the disclosed functions. A processor is considered a processing circuit or circuit because it includes transistors and other circuits. In this disclosure, a circuit, unit, or means is hardware that performs the enumerated functions, or hardware programmed to perform the enumerated functions. The hardware may be hardware disclosed herein, or other known hardware that is programmed or configured to perform the enumerated functions. If the hardware is a processor, which is considered a type of circuit, then the circuit, means, or unit is a combination of hardware and software, and the software is used to configure the hardware and / or the processor.

[0138] [Aspect] Those skilled in the art will understand that the exemplary embodiments described above are specific examples of the following embodiments.

[0139] (Aspect 1) A work unit is provided, and a work robot is provided that performs work on a workpiece using the work unit. A measuring unit is provided, and a measuring robot is provided that performs measurements on the workpiece using the measuring unit, Control for teaching the measurement robot the movement path of the workpiece relative to the work line on which the work robot performs work using the work unit, Control to move the measuring unit relative to the workpiece by the measuring robot according to the aforementioned operating path, and to perform measurement on the workpiece by the measuring unit, Control that teaches the work robot a corrected operation path, which is obtained by correcting the operation path based on the information acquired when the measurement unit performs measurements on the workpiece, A robot system comprising a control unit that performs the following.

[0140] (Aspect 2) The control unit, Control to create coordinate transformation information that associates the relative movement amount of the measuring unit with the workpiece as the aforementioned information with the coordinate values ​​relating to the position of the measuring unit as the aforementioned information, Based on the measurement results of the measurement unit as the aforementioned information, control is performed to acquire the amount of deviation of the actual work line of the workpiece relative to the operation path, A control that acquires the correction operation path based on the coordinate transformation information and the amount of deviation, A robot system according to embodiment 1, which performs the following.

[0141] (Aspect 3) The robot system according to embodiment 2, wherein the control unit corrects the coordinate values ​​included in the coordinate transformation information based on the amount of deviation and performs control to acquire teaching points of the corrected operation path.

[0142] (Aspect 4) The robot system according to embodiment 2 or embodiment 3, further comprising a moving mechanism for moving the workpiece relative to the work robot and the measuring robot so that the work robot and the measuring robot are positioned at the same location relative to the workpiece.

[0143] (Appendix 5) The robot system according to embodiment 4, wherein the moving mechanism moves the workpiece, thereby moving the workpiece relative to the work robot and the measuring robot.

[0144] (Aspect 6) The robot system according to embodiment 5, wherein the moving mechanism includes a rotation mechanism for rotating the workpiece relative to the work robot and the measuring robot.

[0145] (Aspect 7) The system comprises a plurality of arrangement sections where each of the aforementioned workpieces is arranged. A robot system according to any one of embodiments 1 to 6, wherein the measuring robot performs measurement on the workpiece located in one of the aforementioned arrangement sections using the measuring section, and the working robot performs work on the workpiece located in another arrangement section using the working section, in parallel.

[0146] (Pattern 8) The robot system according to any one of embodiments 1 to 7, wherein the control unit generates a pulse signal based on the relative movement of the measuring unit with respect to the workpiece for each relative movement of the measuring unit with respect to the workpiece, and controls the measurement of the workpiece by the measuring unit based on the generated pulse signal.

[0147] (Aspect 9) The robot system according to any one of embodiments 1 to 8, wherein the measurement unit includes at least one of a laser profile sensor, a camera, and a contact sensor.

[0148] (Aspect 10) The aforementioned work section includes a welded section, The aforementioned work robot is a robot system according to any one of embodiments 1 to 9, including a welding robot.

[0149] (Aspect 11) The robot system according to any one of embodiments 1 to 10, wherein the work robot and the measurement robot are composed of separate robots independent of each other, or are composed of a single robot.

[0150] (Aspect 12) The robot system according to any one of embodiments 1 to 11, wherein the control unit includes a first control unit for controlling the work robot and a second control unit for controlling the measurement robot.

[0151] (Aspect 13) The measurement robot is taught the movement path of the workpiece relative to the work line in which the work unit of the work robot is to be operated, The measurement robot moves the measurement unit relative to the workpiece according to the aforementioned operating path, and the measurement unit performs measurements on the workpiece. A method for controlling a robot system, comprising teaching the robot a corrected operating path, which is obtained by correcting the operating path based on information acquired when the measuring unit performs measurements on the workpiece. [Explanation of symbols]

[0152] 10 Work robots 21 Robot Control Unit (Control Unit) 30 Work Unit 50 Measuring Robots 61 Robot Control Unit (Control Unit) 62 Signal Output Unit (Control Unit) 70 Measurement section 80 Measurement Control Unit (Control Unit) 100 Robot Systems 110 Moving mechanism 120 Placement section 200 work CT coordinate transformation information D: Amount of displacement WL work line

Claims

1. A work unit is provided, and a work robot is provided that performs work on a workpiece using the work unit. A measuring unit is provided, and a measuring robot is provided that performs measurements on the workpiece using the measuring unit, Control for teaching the measurement robot the movement path of the workpiece relative to the work line on which the work robot performs work using the work unit, Control to move the measuring unit relative to the workpiece by the measuring robot according to the aforementioned operating path, and to perform measurement on the workpiece by the measuring unit, Control that teaches the work robot a corrected operation path, which is obtained by correcting the operation path based on the information acquired when the measurement unit performs measurements on the workpiece, A robot system comprising a control unit that performs the following.

2. The control unit, Control to create coordinate transformation information that associates the relative movement amount of the measuring unit with the workpiece as the aforementioned information with the coordinate values ​​relating to the position of the measuring unit as the aforementioned information, Based on the measurement results of the measurement unit as the aforementioned information, control is performed to acquire the amount of deviation of the actual work line of the workpiece relative to the operation path, A control that acquires the correction operation path based on the coordinate transformation information and the amount of deviation, The robot system according to claim 1, which performs the following:

3. The robot system according to claim 2, wherein the control unit corrects the coordinate values ​​included in the coordinate transformation information based on the amount of deviation and performs control to acquire teaching points of the corrected operation path.

4. The robot system according to claim 2, further comprising a moving mechanism for moving the workpiece relative to the work robot and the measuring robot so that the work robot and the measuring robot are positioned at the same location relative to the workpiece.

5. The robot system according to claim 4, wherein the moving mechanism moves the workpiece, thereby moving the workpiece relative to the work robot and the measuring robot.

6. The robot system according to claim 5, wherein the moving mechanism includes a rotation mechanism for rotating the workpiece relative to the work robot and the measuring robot.

7. The system comprises a plurality of arrangement sections where each of the aforementioned workpieces is arranged. The robot system according to claim 1, wherein the measuring robot performs measurement using the measuring unit on the workpiece located in one of the aforementioned arrangement sections, and the working robot performs work using the working unit on the workpiece located in another of the aforementioned arrangement sections, in parallel.

8. The robot system according to claim 1, wherein the control unit generates a pulse signal based on the relative movement amount of the measuring unit with respect to the workpiece for each relative movement amount of the measuring unit with respect to the workpiece, and controls the measurement of the workpiece by the measuring unit based on the generated pulse signal.

9. The robot system according to claim 1, wherein the measurement unit includes at least one of a laser profile sensor, a camera, and a contact sensor.

10. The aforementioned work section includes a welded section, The robot system according to claim 1, wherein the aforementioned work robot includes a welding robot.

11. The robot system according to claim 1, wherein the work robot and the measuring robot are composed of separate robots independent of each other, or are composed of a single robot.

12. The robot system according to claim 1, wherein the control unit includes a first control unit for controlling the work robot and a second control unit for controlling the measurement robot.

13. The measurement robot is taught the movement path of the workpiece along the work line in which the work unit of the work robot is to be operated, and The measurement robot moves the measurement unit relative to the workpiece according to the aforementioned operating path, and the measurement unit performs measurements on the workpiece. A method for controlling a robot system, comprising teaching the robot a corrected operating path, which is obtained by correcting the operating path based on information acquired when the measuring unit performs measurements on the workpiece.

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