Robot system

Abstract

To provide a robot system that enables a confirmation by simulation to be made with good accuracy, easily and efficiently.SOLUTION: The robot system comprises: a virtual model display part 4 that arranges a virtual model on a screen and displays the model together with an actual instrument simultaneously, on a virtual space; a robot program teaching part 5 that performs teaching of a robot program, on the virtual space; a virtual model display part 6 on an actual space that displays the virtual model and a teaching point of the robot program on an actual space on the basis of a positional relation on the virtual space; and a virtual model arrangement-position correcting part 7 that corrects an arrangement position for the virtual model so that the position matches the actual instrument on the actual space.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a robot system.

Background Art

[0002] In robot systems such as industrial robots, technologies using augmented reality (AR) have attracted attention and are being actively researched and developed.

[0003] For this type of robot system, for example, a CG video of the robot is generated based on an image of the robot taken by a photographing device, and the user touches the CG video displayed on the touch screen to virtually operate the robot in the CG video on the touch screen, and the actual robot is configured to operate following the operation of the virtual robot.

[0004] There is also a technology in which three-dimensional models such as a robot equipped with a tool, a workpiece, and peripheral devices are arranged and simultaneously displayed on a screen to provide teaching and simulation of a robot program.

[0005] Patent Document 1 discloses "a simulation device that performs simulation using a virtual robot obtained by virtualizing a robot, the simulation device including: a reception unit that receives an input of information regarding whether to operate the virtual robot and a virtual object in conjunction with each other, and an input of information regarding an attachment portion for attaching the virtual object to the virtual robot; a display unit that displays the virtual robot and the virtual object attached to the attachment portion received by the reception unit; and a control unit that operates the virtual object in conjunction with the operation of the virtual robot when the reception unit receives an input to operate the virtual robot and the virtual object in conjunction with each other."

[0006] Patent Document 2 discloses "a simulation device that performs a simulation using a virtual robot that virtualizes a robot, comprising a control unit capable of executing an operation command to operate the virtual robot while it is holding the virtual object, based on information about an external point located at a different position from the virtual robot in the simulation space and information about a line segment having the outline of the virtual object, wherein the control unit outputs a signal to a display unit to display a first trajectory based on the external point on the virtual object during the operation of the virtual robot." [Prior art documents] [Patent Documents]

[0007] [Patent Document 1] Japanese Patent Publication No. 2019-081242 [Patent Document 2] Japanese Patent Publication No. 2019-034352 [Overview of the Initiative] [Problems that the invention aims to solve]

[0008] However, when applying a robot program created in a virtual space to the actual site, there are layout discrepancies between the virtual and real spaces, which can lead to interference. Therefore, applying a robot program to the site requires either manually correcting each teaching point of the robot program on-site, or performing calibration, such as a three-point touch-up, to match the layout of the virtual and real spaces before teaching the robot program in the virtual space. This is a very time-consuming process that requires a great deal of effort and time. [Means for solving the problem]

[0009] One aspect of the robot system of the present disclosure is a robot system comprising a simulation device that places a virtual model, including at least a virtual robot model, on a screen and displays it simultaneously with actual equipment, including at least an actual robot, and performs robot program teaching and simulation, wherein the simulation device comprises: a virtual model display unit that places the virtual model on a screen in a virtual space and displays it simultaneously with the actual equipment; a robot program teaching unit that teaches the robot program in the virtual space; a virtual model display unit in real space that displays the teaching points of the virtual model and the robot program in real space based on their positional relationship in the virtual space; and a virtual model placement position correction unit that corrects the placement position of the virtual model to match the actual equipment in real space. [Effects of the Invention]

[0010] According to one embodiment of the robot system described herein, it becomes possible to automatically modify the robot program on-site and verify it through simulation.

[0011] This eliminates the need, as in the past, to apply a robot program created in a virtual space to a real-world location by manually checking and correcting each teaching point of the robot program on-site, or to perform calibration using three-point touch-ups to match the layout of the virtual and real spaces before teaching the robot program in the virtual space. Therefore, it becomes possible to significantly reduce man-hours, effort, and time compared to conventional methods. [Brief explanation of the drawing]

[0012] [Figure 1] This is a block diagram showing one embodiment of a robot system (simulation device). [Figure 2] This is a flowchart illustrating the procedure for performing a simulation using one embodiment of a robot system (simulation device). [Figure 3]This figure shows the state in which a simulation is performed using a robot system (simulation device) of one embodiment, with a virtual model placed on the screen and displayed simultaneously, while teaching the robot program and performing the simulation. [Figure 4] This figure shows the state in which teaching points are displayed in real space based on their positional relationship in virtual space when performing a simulation using a robot system (simulation device) of one embodiment. [Figure 5] This figure shows the state in which, when performing a simulation using a robot system (simulation device) of one embodiment, the position of the virtual model is changed and modified to match the relative position of the actual equipment S2. [Figure 6] This figure shows the process of calculating the error in relative position from the relative position before and after correction when performing a simulation using a robot system (simulation device) according to one embodiment. [Figure 7] This figure shows the state in which the teaching points (program) of the robot program are modified based on the error in relative position when performing a simulation using a robot system (simulation device) of one embodiment. [Figure 8] This figure shows the state in which a simulation is performed using a robot system (simulation device) of one embodiment, in which a robot program with modified teaching points is simulated using a virtual model with modified placement positions. [Figure 9] This figure shows the state in which interference occurs in the virtual model during a simulation using a robot system (simulation device) of one embodiment. [Figure 10] This figure shows the state in which the teaching points of the robot program are modified to avoid interference when performing a simulation using a robot system (simulation device) of one embodiment. [Figure 11] This diagram shows the state after loading a robot program onto a real robot and executing it.

Best Mode for Carrying Out the Invention

[0013] Hereinafter, referring to FIGS. 1 to 11, a robot system according to an embodiment will be described.

[0014] As shown in FIG. 1, the robot system 1 of the present embodiment includes a simulation device 2 that arranges and simultaneously displays a virtual robot model equipped with a virtual tool model, a virtual work model, and a virtual peripheral device model (hereinafter, these models may be referred to as virtual models) on a screen, and performs teaching and simulation of a robot program.

[0015] Specifically, the simulation device 2 of the robot system of the present embodiment includes a virtual model display unit 4 (including a virtual model arrangement unit 3) that arranges and simultaneously displays virtual models on a virtual space on the screen, a robot program teaching unit 5 that teaches a robot program on the virtual space, a virtual model on a real space virtual model display unit 6 that displays a teaching point of the virtual model and the robot program based on the positional relationship on the virtual space, a virtual model arrangement position correction unit 7 that corrects the arrangement position of the virtual model to match a real robot equipped with a real tool, a real work, and real peripheral devices (hereinafter, these equipment may be referred to as real equipment) in the real space, a real equipment display unit (virtual model arrangement unit 3) that displays overlapping the real equipment, a relative position error calculation unit 8 that calculates an error of the relative position from the relative position before correction and the relative position after correction with the virtual model, and a robot program correction unit 9 that corrects the teaching point of the robot program based on the error of the relative position.

[0016] Furthermore, the simulation device 2 of the robot system 1 according to the present embodiment includes a simulation execution unit 10 that executes the simulation of the robot program using a virtual model, a virtual model interference detection unit 11 that detects interference between virtual models during the simulation of the robot program, a robot program interference avoidance unit 12 that corrects the teaching points of the robot program so as to avoid interference, and a robot program transmission unit 13 that transmits the robot program to the actual robot.

[0017] In the robot system 1 (simulation device 2) of the present embodiment having the above configuration, as shown in FIGS. 2 and 3, virtual models are arranged and displayed on the screen at the same time, and teaching and simulation of the robot program are performed. Note that it is confirmed that the robot program created in the virtual space has been simulated and no interference occurs.

[0018] Next, as shown in FIGS. 2 and 4, a virtual robot model equipped with a virtual tool model, a virtual work model, and a virtual peripheral device model (virtual model S1), and the teaching point R of the robot program are displayed in the real space based on the positional relationship in the virtual space. For example, by using an augmented reality display device 15 such as a head-mounted display or a projector, the model is displayed in the real space. The augmented reality display device 15 includes a display unit, a communication unit, a storage unit, and the like.

[0019] Next, as shown in FIGS. 2 and 5, the arrangement position of the virtual model S1 is corrected by changing the relative position so as to coincide with the actual robot equipped with the actual tool, the actual work, and the actual peripheral device (actual equipment S2), and is displayed superimposed on the actual equipment S2.

[0020] At this time, for example, a virtual robot model equipped with a virtual tool model, a virtual work model, and a virtual peripheral device model ( Virtual Model S1One or more targets T are placed on each of the ), and one or more markers M corresponding to targets T are placed on each of the actual robot equipped with the actual tool, the actual workpiece, and the actual peripheral equipment. Then, the markers M are detected by detection means 16 such as a camera built into or separately installed in the augmented reality display device 15, such as a projector or head-mounted display, and the placement position is corrected on the simulation device 2 side so that the two match.

[0021] Next, as shown in Figures 2 and 6, the error in relative position is calculated from the relative position before and after correction with respect to the virtual model S1. For example, a marker M is detected by a detection means 16 such as a camera built into or separately installed in an extended display device 15 such as a projector or head-mounted display, and the position of each object on the actual equipment S2 and the relative position of each object with respect to the actual robot are calculated, i.e., the position of the corrected virtual model S1 and the relative position of each object with respect to the virtual robot. Furthermore, since the position of the virtual model S1 before correction and the relative position of each object with respect to the virtual robot are known, the error in the position of the virtual model S1 before and after correction, the relative position of each object with respect to the virtual robot, and the relative position relative to the robot is calculated.

[0022] Next, as shown in Figures 2 and 7, the teaching points (program) of the robot program are modified based on the error in relative position. Furthermore, as shown in Figure 8, a simulation of the robot program with the teaching point R modified is performed using the virtual model S1 with the placement position corrected.

[0023] In this case, as shown in Figures 9 and 10, if interference occurs between the virtual robot model, virtual workpiece model, and virtual peripheral device model equipped with the virtual tool model during simulation, the user can operate the control panel or otherwise modify the teaching point R of the robot program to avoid the interference. For example, when a virtual robot model equipped with a virtual tool model transports a virtual workpiece model, if the virtual workpiece model and the virtual peripheral device model interfere with each other, the position and orientation of teaching point R are modified to avoid the interference, or an additional teaching point R' is inserted.

[0024] Then, after confirming through simulation that no interference occurs, the robot program is loaded into the actual robot S2 and executed, as shown in Figure 11.

[0025] As a result, in the robot system 1 (simulation device 2) of this embodiment, when applying a robot program created in a virtual space to the actual site, it becomes unnecessary to correct the teaching points R of the robot program one by one at the site, or to perform calibration by, for example, three-point touch-up, and then teach the robot program in the virtual space after matching the layout of the virtual space and the real space. This makes it possible to automatically correct the robot program and verify it through simulation at the site.

[0026] Therefore, according to the robot system 1 (simulation device 2) of this embodiment, compared to conventional methods, it is possible to significantly reduce man-hours, labor, and time, and to easily, efficiently, and accurately perform verification through simulation.

[0027] Although one embodiment of the robot system has been described above, it is not limited to this embodiment and can be modified as appropriate without departing from its spirit. [Explanation of Symbols]

[0028] 1. Robot System 2. Simulation device 3. Virtual Model Placement Section 4. Virtual Model Display Unit 5. Robot Program Teaching Unit 6. Display section for virtual models in real space 7. Virtual Model Placement Position Correction Unit 8. Relative position error calculation unit 9. Robot Program Modification Unit 10 Simulation Execution Unit 11. Virtual Model Interference Detection Unit 12 Robot program interference avoidance unit 13. Robot program transmission unit 15 Augmented Reality Display Device S1 Virtual Model S2 Actual Equipment R teaching points M Marker T Target

Claims

1. A simulation device is provided that can place a virtual model, including at least a virtual robot model, on a screen, and overlay the virtual model onto actual equipment, including at least an actual robot, and performs robot program teaching and simulation. The simulation device is A virtual model display unit that places the virtual model on the screen in a virtual space and displays it simultaneously, A robot program teaching unit that teaches robot programs in a virtual space, A real-space virtual model display unit that displays the virtual model and the teaching points of the robot program in real space based on their positional relationship in virtual space using an augmented reality display device, A virtual model placement position correction unit overlays the virtual model onto the actual equipment and corrects the placement position of the virtual model to match the actual equipment in real space. Equipped with, The virtual model includes at least one target, and the actual equipment includes at least one marker corresponding to the at least one target. The virtual model placement position correction unit corrects the placement position of the virtual model so that the at least one target and the at least one marker detected by the detection means overlap, calculates the corrected position of the virtual model and the relative position of each object of the actual equipment with respect to the virtual model, and corrects the teaching points of the robot program based on the error in the relative position, in a robot system.

2. The aforementioned simulation device is A relative position error calculation unit calculates the error in relative position from the relative position before and after correction of the virtual model with respect to the virtual model by the virtual model placement position correction unit, A robot program modification unit modifies the teaching points of the robot program based on the relative position error calculated by the relative position error calculation unit, The robot system according to claim 1, comprising:

3. The aforementioned simulation device is A simulation execution unit that uses the virtual model to perform a simulation of the robot program modified by the robot program modification unit, In the simulation of the robot program executed by the simulation execution unit, a virtual model interference detection unit detects interference between the virtual models, A robot program interference avoidance unit modifies the teaching points of the robot program to avoid the interference detected by the virtual model interference detection unit, The robot system according to claim 2, comprising:

4. The robot program interference avoidance unit includes a robot program transmission unit that transmits the robot program, with its teaching points modified, to the actual robot. The robot system according to claim 3.

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