Simulation setting support device

Abstract

A simulation setting support device (1) for supporting setting in a simulation of an operation for causing a robot to execute a predetermined task, the simulation setting support device (1) comprising: an input device (2) for receiving input of task information related to a predetermined task; a memory (3) for storing a plurality of keywords related to a plurality of tasks including the predetermined task and a series of setting steps necessary for simulation of an operation for causing a robot to execute each task in association with each other; a processor (4) for collating character information extracted from the task information with the keyword and selecting one or more series of setting steps associated with the keyword matching the character information; and a display device (5) for displaying the one or more series of setting steps selected by the processor (4).

Description

Simulation setting support device

[0001] The present disclosure relates to a simulation setting support device.

[0002] A program editing device that edits a robot's operation program by voice input is known (see, for example, Patent Document 1). This program editing device has a function of displaying a template of a series of operation commands that constitute the operation program in order to support the operator's operation.

[0003] Japanese Patent Application Laid-Open No. 2005-148789

[0004] In a simulation device that simulates the operation of a robot, there are many settings to be made and the setting sequence is complicated, so the operator who operates the simulation device must be highly skilled. Therefore, simply displaying a series of operation commands of an operation program, as in the above device, is not enough to support an operator with low skill levels. Therefore, it is desirable that even an operator with low skill levels can easily simulate the operation of a robot.

[0005] One aspect of the present disclosure is a simulation setting support device that supports settings in a simulation of an operation to have a robot execute a predetermined task, the simulation setting support device including: an input device that accepts input of task information related to the predetermined task; a memory that stores a plurality of keywords related to a plurality of tasks including the predetermined task and a series of setting steps required for a simulation of an operation to have the robot execute each of the tasks, each of the keywords corresponding to the corresponding setting step; a processor that compares character information extracted from the task information with the keywords and selects one or more of the series of setting steps that correspond to the keyword that matches the character information; and a display device that displays the one or more of the series of setting steps selected by the processor.

[0006] Fig. 2 is a side view showing a robot system to which a simulation setting support device according to an embodiment of the present disclosure is applied. Fig. 3 is a block diagram showing the configuration of a simulation setting support device according to an embodiment of the present disclosure. Fig. 4 is a diagram explaining information stored in a memory of the simulation setting support device of Fig. 2. Fig. 5 is a schematic diagram showing display contents of a display device of the simulation setting support device of Fig. 2. Fig. 6 is a schematic diagram explaining the operation of a display device of a first modified example of the simulation setting support device of Fig. 2. Fig. 7 is a schematic diagram showing display contents of a display device of a second modified example of the simulation setting support device of Fig. 2.

[0007] A simulation setting support device 1 (hereinafter also referred to as the setting support device 1) according to an embodiment of the present disclosure will be described below with reference to the drawings. The setting support device 1 according to this embodiment is configured integrally with a simulation device for executing a simulation of the operation of a robot system 10, for example.

[0008] First, a robot system 10 that is the subject of a simulation performed by the setting assistance device 1 according to this embodiment will be described. For example, as shown in FIG. 1 , the robot system 10 includes a robot 11 installed on a horizontal floor surface F and a basket-shaped container 12 that contains multiple workpieces W. The robot 11 is, for example, a six-axis articulated robot that performs a predetermined task in accordance with an operation command from a control device (not shown). In the example shown in FIG. 1 , the robot 11 picks up the workpieces W one by one from the container 12, i.e., performs a picking operation.

[0009] Next, the setting support device 1 according to this embodiment will be described. As shown in Fig. 2, the setting support device 1 includes an input device 2, at least one memory 3 such as a ROM or a RAM, at least one processor 4 such as a CPU, and a display device 5.

[0010] The input device 2 is configured by, for example, a keyboard, a touch panel, a serial interface such as USB, or a combination of these. The input device 2 accepts input by a user. The input by the user includes input of task information related to a predetermined task to be executed by the robot 11. The task information is, for example, in the form of a free-word text sentence.

[0011] Furthermore, since the setting assistance device 1 is configured integrally with the simulation device, the input device 2 also accepts input of other information necessary for executing a simulation of the robot system 10. Specifically, the input device 2 also accepts input of an analysis model generated based on CAD data of the robot system 10 and an operation program for causing the robot 11 to execute a predetermined task.

[0012] The memory 3 stores in advance information about a plurality of tasks that may be executed by the robot 11. For example, as shown in Fig. 3, the memory 3 stores the name N of each task, a plurality of keywords K related to each task, and a series of setting steps S required to execute a simulation of each task, all of which are associated with one another.

[0013] The task name N may be, for example, a text sentence that succinctly expresses the content of the task so that the content can be understood, as shown in Fig. 3, or an identification code assigned to each task. The keywords K are terms related to or associated with the content of the corresponding task, and for each term, synonyms and similar words of that term are also stored as keywords K in the memory 3.

[0014] The series of setting steps S is a list of a plurality of text sentences that succinctly express the contents of various settings required when simulating the operation of the robot 11 that executes the corresponding task. Furthermore, the plurality of text sentences are arranged in the setting order required to properly execute each simulation.

[0015] The processor 4 places the analytical model input via the input device 2 in a virtual space. The processor 4 then operates the analytical model of the robot 11 placed in the virtual space based on the input operation program, thereby executing a simulation.

[0016] The processor 4 also breaks down text related to a specific task, input by the user through the input device 2, into units such as words and phrases, and extracts characteristic character strings (character information). Here, a characteristic character string refers to a plurality of words remaining in the input text after removing auxiliary words such as particles and auxiliary verbs from the text, i.e., independent words. The processor 4 then compares the extracted character string with a plurality of keywords K stored in the memory 3, and selects one or more task names N and a series of setting steps S associated with a keyword K that matches the extracted character string.

[0017] The display device 5 is, for example, a monitor device, and as shown in Fig. 4, displays a window screen (first window screen) 20 for setting and executing a simulation of the robot system 10. The window screen 20 is a user interface that accepts input of various settings necessary for the processor 4 to execute a simulation of the operation of the robot system 10, and displays a plurality of icons and buttons. The window screen 20 is also arbitrarily displayed by the user operating an icon (not shown) displayed on the home screen of the display device 5, for example.

[0018] The display device 5 also displays a window screen (second window screen) 30 that displays the names N of one or more tasks selected by the processor 4 and a series of setting steps S corresponding to the tasks. The window screen 30 is displayed next to the window screen 20 so as not to overlap with the window screen 20, for example, by the user operating a predetermined button provided on the window screen 20.

[0019] The operation of the setting assistance device 1 according to this embodiment configured as described above will be described below. In the following, a case where a picking operation performed by a robot 11 of a robot system 10 as shown in FIG. 1 will be described as an example.

[0020] First, the user operates an icon displayed on the home screen of the display device 5 to display the window screen 20. The user also operates the input device 2 to input a prepared analysis model of the robot system 10 and an operation program for causing the robot 11 to perform a picking operation. The input analysis model and operation program are stored in the memory 3. Then, when the user operates the window screen 20 displayed on the display device 5, the analysis model and operation program stored in the memory 3 are read out, and the information is reflected on the window screen 20.

[0021] Next, the user operates the window screen 20 to display the window screen 30, and then operates the input device 2 to input information about a predetermined task to be executed by the robot 11, i.e., picking work. In this case, the user operates the input device 2 to input, for example, a free-word text sentence such as "have the robot pick up the workpiece."

[0022] As a result, processor 4 analyzes the text sentence entered by the user and extracts characteristic character strings from the text sentence. That is, processor 4 extracts the words "robot," "work," and "pickup."

[0023] The processor 4 then compares the extracted word with a plurality of keywords K stored in the memory 3. The processor 4 then selects a task name N and a series of setting steps S associated with at least one of the keywords K that matches the extracted word. Information on the selected task name N and series of setting steps S is sent to the display device 5.

[0024] 4, the display device 5 displays the information on the task name N and the series of setting steps S received from the processor 4 on the window screen 30. If there are multiple combinations of the task name N and the series of setting steps S selected by the processor 4, the combinations associated with the most keywords K that match the extracted character string are displayed at the top.

[0025] Therefore, the user can find the name N of the predetermined task that he / she inputted by operating the input device 2, in this case, the task name N corresponding to the picking operation, from the window screen 30. That is, using the task name N as a clue, the user can easily confirm the series of setting steps S that are required for simulating the operation of the robot 11 that executes the input predetermined task.

[0026] In this case, the window screen 20 and the window screen 30 are displayed in positions where they do not overlap each other, so the user can operate the window screen 20 while looking at the window screen 30. This allows the user to configure the various settings required for the simulation just right and in the appropriate order. Therefore, even a user who is unfamiliar with using a simulation device can easily and appropriately configure the settings for a simulation of the operation of the robot system 10.

[0027] In this embodiment, the window screen 30 displays the name N of the task selected by the processor 4 and a series of setting steps S. In addition, as shown in Fig. 4, the window screen 30 may display a plurality of conductor buttons 31 that switch the window screen 20 to a display for executing each setting step of the series of setting steps S. In other words, the window screen 30 may have a function as a user interface.

[0028] 4, one conductor button 31 is displayed corresponding to each setting step in the series of setting steps S. Therefore, when the user wants to execute one of the setting steps S, he or she can switch the display of the window screen 20 simply by operating the conductor button 31 corresponding to that setting step. This allows the user to omit the complicated operations on the window screen 20 that are required to execute each setting step, thereby improving the efficiency of the setting work.

[0029] In the above embodiment, a plurality of guide buttons 32 may be displayed on the window screen 30, each indicating an operation position on the window screen 20 corresponding to each conductor button 31. In the example shown in Figures 4 and 5, the plurality of guide buttons 32 are displayed in association with a plurality of conductor buttons 31. When a guide button 32 is operated by the user, the operation position on the window screen 20 corresponding to the conductor button 31 corresponding to the guide button 32 is emphasized by highlighting or the like.

[0030] In this case, when the user operates a lead button 31 for executing one of the setting steps S, the user operates the guide button 32 displayed corresponding to the operated lead button 31. This allows the user to easily know the operation position when the display state of the window screen 20 displayed by operating the lead button 31 is displayed by operating the window screen 20 instead of the lead button 31. This allows the user to learn the operation position of the window screen 20 for executing each setting step, which helps the user improve their proficiency in operating the simulation device.

[0031] Furthermore, in this embodiment, task information is input in the form of free-word text sentences, but the input form of task information is not limited to this.

[0032] For example, the display device 5 may display a plurality of sentence templates, each combining a variable portion and a non-variable portion, such as "make XX do XX," and the user may input task information based on a template selected by the user. Alternatively, the display device 5 may display a list of keywords K stored in the memory 3, and the user may select a keyword K related to a specific task from the displayed keywords K. These input methods can reduce spelling variations compared to inputting using free words, and can more accurately extract information corresponding to the input task information from the information stored in the memory 3.

[0033] In this embodiment, the display device 5 displays both the name N of each task corresponding to the input task information and the series of setting steps S. Alternatively, the display device 5 may display only the series of setting steps S corresponding to the task information. In this case, the user simply checks the multiple series of setting steps S displayed on the display device 5 and finds the series of setting steps S that corresponds to the input task information. This can achieve the same effect as above.

[0034] 6, the window screen 30 may display a list of one or more task names N selected by the processor 4. In this case, for example, the user is prompted to select one task name N corresponding to the input task information from the one or more task names N displayed in the list. Then, only the series of setting steps S associated with the task name N selected by the user may be displayed on the window screen 30.

[0035] In addition, in this embodiment, the window screen 30 is displayed next to the window screen 20 at a position where it does not overlap with the window screen 20. Alternatively, the window screen 30 may overlap a part of the window screen 20, as long as it is placed at a position where it does not overlap with an area required for operating various settings of the window screen 20.

[0036] In addition, in the present embodiment, the window screen 30 is arbitrarily displayed by operating the window screen 20, but the method of displaying the window screen 30 is not limited to this. For example, the window screen 30 may be simultaneously displayed by operating an icon for displaying the window screen 20 arranged on the home screen of the display device 5.

[0037] In addition, in the present embodiment, the case where the setting assistance device 1 is configured integrally with the simulation device has been exemplified, but instead, the setting assistance device 1 may be configured separately from the simulation device. In this case, the setting assistance device 1 and the simulation device are connected, and are capable of sending and receiving data between them.

[0038] Although the embodiments of the present disclosure have been described in detail above, the present disclosure is not limited to the individual embodiments described above. Various additions, substitutions, modifications, partial deletions, etc. are possible to these embodiments without departing from the gist of the invention or the concept and spirit of the present invention derived from the content of the claims and their equivalents. For example, in the above-described embodiments, the order of each operation and the order of each process are shown as examples and are not limited to these.

[0039] The following supplementary notes are further disclosed regarding the above-described embodiments and modified examples. (Supplementary Note 1) A simulation setting support device that supports settings in a simulation of an operation to have a robot execute a predetermined task, comprising: an input device that accepts input of task information related to the predetermined task; a memory that stores a plurality of keywords related to a plurality of tasks including the predetermined task and a series of setting steps required for a simulation of an operation to have the robot execute each of the tasks, each associated with the keywords; a processor that compares character information extracted from the task information with the keywords and selects one or more of the series of setting steps associated with the keyword that matches the character information; and a display device that displays the one or more series of setting steps selected by the processor. (Supplementary Note 2) The simulation setting support device according to Supplementary Note 1, wherein the display device displays a first window screen that accepts settings for the simulation of the operation, and a second window screen that displays the one or more series of setting steps selected by the processor, side by side with or partially overlapping the first window screen. (Supplementary Note 3) The simulation setting support device according to Supplementary Note 2, wherein a plurality of conductor buttons are arranged on the second window screen to switch the first window screen to a display corresponding to each of the series of setting steps selected by the processor. (Supplementary Note 4) The simulation setting support device according to Supplementary Note 3, wherein a plurality of guide buttons indicating operation positions on the first window screen for switching the first window screen to a display corresponding to each of the series of setting steps selected by the processor are arranged on the second window screen in correspondence with the conductor buttons.

[0040] REFERENCE SIGNS LIST 1 Simulation setting support device 2 Input device 3 Memory 4 Processor 5 Display device 11 Robot 20 Window screen (first window screen) 30 Window screen (second window screen) 31 Conduction button 32 Guide button K Keyword S Series of setting steps

Claims

1. A simulation setting support device for supporting settings in a simulation of an operation for causing a robot to execute a predetermined task, the simulation setting support device comprising: an input device that receives an input of task information regarding the predetermined task; a memory that stores, in association with each other, a plurality of keywords regarding a plurality of tasks including the predetermined task and a series of setting steps necessary for a simulation of an operation for causing the robot to execute each of the tasks; a processor that collates character information extracted from the task information with the keywords and selects one or more of the series of setting steps associated with the keywords that match the character information; and a display device that displays one or more of the series of setting steps selected by the processor.

2. The simulation setting support device according to claim 1, wherein the display device displays a first window screen for receiving settings for the simulation of the operation, and displays a second window screen for displaying one or more of the series of setting steps selected by the processor, side by side with or partially overlapping the first window screen.

3. The simulation setting support device according to claim 2, wherein a plurality of lead buttons for switching the first window screen to a display corresponding to each of the series of setting steps selected by the processor are arranged on the second window screen.

4. The simulation setting support device according to claim 3, wherein a plurality of guide buttons indicating an operation position in the first window screen for switching the first window screen to a display corresponding to each of the series of setting steps selected by the processor are arranged in association with each of the lead buttons on the second window screen.