Operation plan commonalization method, operation plan commonalization system, program, and operation plan commonalization device

Abstract

Provided is an operation plan commonalization method with which increase in the development man-hours of an operation plan AI and the development load of an operation plan AI can be prevented even if the number of individual tasks increases.　An operation plan commonalization method comprises: a step for converting an individual task into an abstract task according to a task conversion table in which an individual task to be executed by a robot and an abstract task corresponding to the individual task are registered; an abstract task operation plan creation step S24 for creating an abstract task operation plan so that the robot can execute the abstract task in accordance with the abstract task; and an abstract-individual task conversion step for converting an abstract task included in the abstract task operation plan into the individual task in accordance with the task conversion table and target task information including the individual task and a task execution position of the individual task.

Description

Motion plan standardization method, motion plan standardization system, program, and motion plan standardization device

[0001] The present disclosure relates to a motion plan standardization method, a motion plan standardization system, a program, and a motion plan standardization device.

[0002] Robotization is being promoted to automate various processes in factories and warehouses. In order to optimize the robot's operation in each process, when a task to be executed by the robot is set, an AI motion planning system is used to generate a sequence of simple tasks for each time step that the robot can execute (see, for example, Patent Document 1).

[0003] International Publication No. 2021 / 038844

[0004] However, since motion planning AI needs to be developed for each of the many individual tasks that exist depending on the application, there is a problem that the development man-hours and development load of motion planning AI increase as the number of individual tasks increases.

[0005] In view of the above-mentioned problems, the object of the present disclosure is to provide an operation plan standardization method, operation plan standardization system, program, and operation plan standardization device that can prevent an increase in the development effort and development load of operation plan AI even if the number of individual tasks increases.

[0006] The motion plan standardization method disclosed herein is a motion plan standardization method comprising: an individual-to-abstract task conversion step of converting an individual task to an abstract task in accordance with a task conversion table in which an individual task to be executed by a robot and an abstract task corresponding to the individual task are registered; an abstract task motion plan creation step of creating an abstract task motion plan in accordance with the abstract task so that the robot can execute the abstract task; and an abstract-to-individual task conversion step of converting an abstract task included in the abstract task motion plan to the individual task in accordance with the task conversion table and target task information including the individual task and the task execution position of the individual task.

[0007] The motion plan standardization system disclosed herein comprises: an individual-to-abstract task conversion unit that converts an individual task to an abstract task in accordance with a task conversion table in which individual tasks to be executed by a robot and abstract tasks corresponding to the individual tasks are registered; a motion planning unit that creates an abstract task motion plan in accordance with the abstract task so that the robot can execute the abstract task; and an abstract-to-individual task conversion unit that converts an abstract task included in the abstract task motion plan to the individual task in accordance with the task conversion table and target task information including the individual task and the task execution position of the individual task.

[0008] Another motion plan sharing system of the present disclosure includes an individual-to-abstract task conversion unit that converts an individual task to an abstract task in accordance with a task conversion table in which an individual task to be executed by a robot and an abstract task corresponding to the individual task are registered; an abstract task motion plan creation unit that creates an abstract task motion plan in accordance with the abstract task so that the robot can execute the abstract task; and an abstract-to-individual task conversion unit that converts an abstract task included in the abstract task motion plan to the individual task in accordance with the task conversion table and target task information including the individual task and the task execution position of the individual task.

[0009] The present disclosure provides an operation plan standardization method, operation plan standardization system, program, and operation plan standardization device that can prevent an increase in the development effort and development load of operation plan AI even when the number of individual tasks increases.

[0010] 1 is a schematic configuration diagram of an operation plan sharing system 100. FIG. 2 is a flowchart of an example of the operation of the operation plan sharing system 100. FIG. 3 is a hardware configuration diagram showing the configuration of the operation plan sharing system 100 according to the present disclosure. FIG. 4 is an example of an individual / abstract task information input screen G1. FIG. 5 is an example of a target task related information input screen G2. FIG. 6 is a functional block diagram of an information processing device 10. FIG. 7 is a sequence diagram of an individual / abstract task information registration process. FIG. 8 is an example of individual / abstract task information D1. FIG. 9 is an example of individual / abstract task information D1. FIG. 10 is an example of individual / abstract task information D1. FIG. 11 is an example of individual / abstract task information D1. FIG. 12 is a table summarizing task attributes, etc., of abstract tasks (abstract task types). FIG. 13 is a sequence diagram of a series of processes for setting target task information and actually controlling a robot 50. FIG. 14 is an example of target task information D2. FIG. 15 is an example of abstract task information D3. FIG. 16 is an example of an abstract task operation plan D4. FIG. 17 is an example of an individual task operation plan D5. FIG. 18 is a flowchart of an individual task operation plan creation process (step S26). FIG. 19 is a diagram for explaining the effects of the present disclosure in comparison with a comparative example. FIG. 20 is a schematic diagram of the present disclosure. 1 is a functional block diagram of an information processing device 10 according to the present disclosure.

[0011] First Embodiment First, a motion plan standardization system 100 for implementing a motion plan standardization method will be described with reference to FIG.

[0012] FIG. 1 is a schematic diagram of an operation plan sharing system 100. As shown in FIG.

[0013] As shown in FIG. 1, the motion plan sharing system 100 includes an individual-abstract task conversion table 31 in which individual tasks and abstract tasks corresponding to the individual tasks are registered; a target task setting unit 22 that sets target task information including at least one individual task and the task execution position of the individual task based on content related to the motion to be executed by the robot 50; an individual-abstract task conversion unit 32 that creates abstract task information by converting an individual task in the target task information into an abstract task, by referring to the individual-abstract task conversion table 31; a motion planning unit 33 that optimizes the abstract task in the abstract task information in accordance with input abstract task information so that it can be executed along an optimal route and procedure, and creates an abstract task motion plan; and an abstract-individual task conversion unit 34 that creates an individual task motion plan by converting an abstract task in the abstract task motion plan into an individual task, by referring to the individual-abstract task conversion table 31.

[0014] Next, an example of the operation of the operation plan sharing system 100 will be described.

[0015] FIG. 2 is a flowchart showing an example of the operation of the operation plan sharing system 100. As shown in FIG.

[0016] First, the target task setting unit 22 sets target task information D2 including at least one individual task and the task execution position of the individual task based on the content related to the operation to be performed by the robot 50 (step S1). An individual task is an actual operation to be performed by the robot 50 to achieve a specific purpose or function, and is realized by the robot control unit 40 executing a program corresponding to the individual task. Specific examples of individual tasks include "blow-drying" and "painting" shown in FIG. 4, and "visual inspection," "spot welding," "screw installation," and "screw tightening" shown in FIG. 8C. Although not shown, specific examples of individual tasks include various operations for different purposes, such as "picking up an item" and "pick and place."

[0017] Next, the individual-abstract task conversion unit 32 refers to the individual-abstract task conversion table 31 and converts the individual tasks in the target task information D2 into abstract tasks to create abstract task information D3 (step S2). An abstract task is a task that abstracts an action common to multiple individual tasks. A specific example of an abstract task is the abstract task "SPOT" shown in FIG. 8D, which abstracts the action "blow at a common designated position without moving," which is common to two individual tasks "Blow #1" and "Blow #2" shown in FIG. 8D, which are multiple individual tasks. Abstract tasks will be described in more detail below.

[0018] Next, the operation planning unit 33 optimizes the abstract task in the abstract task information D3 in response to the input of the abstract task information D3 so that the abstract task can be executed according to the optimal route and procedure, and creates an abstract task operation plan D4 (step S3).

[0019] Next, the abstract-individual task conversion unit 34 refers to the individual-abstract task conversion table 31 to create an individual task operation plan D5 by converting the abstract tasks in the abstract task operation plan D4 into individual tasks (step S4). Note that the abstract-individual task conversion unit 34 may also refer to the individual-abstract task conversion table 31 and the target task information D2 to create an individual task operation plan D5 by converting the abstract tasks in the abstract task operation plan D4 into individual tasks.

[0020] The robot control unit 40 controls the robot 50 based on the individual task motion plan D5.

[0021] As described above, according to the first embodiment, even if the number of individual tasks increases, it is possible to prevent an increase in the development man-hours of the operation planning unit 33 and the development load of the operation planning AI.

[0022] (Embodiment 2) Next, embodiment 2 will be described. Embodiment 2 is an embodiment that embodies embodiment 1 in more detail. Below, as embodiment 2 of the present disclosure, a motion plan sharing system 100 that implements a motion plan sharing method will be described in detail. The motion plan sharing method is a method in which, instead of calculating a motion plan from countless individual tasks that exist for each application, individual tasks are converted into a finite number of abstract tasks (for example, seven types) to calculate an abstract task motion plan, and the abstract tasks included in the abstract task motion plan are converted into individual tasks when the abstract task motion plan is provided to a robot control unit.

[0023] FIG. 3 is a hardware configuration diagram showing the configuration of the operation plan sharing system 100 according to the present disclosure.

[0024] In the second embodiment, an example will be described in which one robot 50 blows on a work object 60 (three locations in total, circled numbers 1 to 3 in FIG. 3) as an individual task.

[0025] 3, the operation plan sharing system 100 includes an information processing device 10, an input device 70, a display device 71, and a robot 50. The information processing device 10 and the robot 50 are connected via a communication line N so as to be able to communicate with each other.

[0026] The information processing device 10 includes a processor 11 (e.g., a CPU), a memory 12 (e.g., a RAM), a storage device 13 (e.g., a ROM, an SSD, or a hard disk drive), etc. The information processing device 10 may be, for example, a server device. The storage device 13 may be built into the information processing device 10 or may be provided externally to the information processing device 10.

[0027] The input device 70 is an input means such as a keyboard, a mouse, or a touch panel, and is electrically connected to the information processing device 10. The input device 70 is used to input individual / abstract task information, target task related information, etc. to the information processing device 10.

[0028] The display device 71 is, for example, a display means such as a liquid crystal display, and is electrically connected to the information processing device 10 .

[0029] 4 is an example of an individual / abstract task information input screen G1. The individual / abstract task information input screen G1 is an example of a first input means of the present disclosure. The individual / abstract task information input screen G1 is displayed on the display device 71. Specifically, the individual / abstract task information input screen G1 is displayed on the display device 71 when individual / abstract task information, i.e., an individual task (individual task ID) and an abstract task (abstract task type) corresponding to the individual task, is input.

[0030] The individual / abstract task information input screen G1 includes an individual task display field G1a, an abstract task display field G1b, and a "+Add" button G1c.

[0031] The individual task display field G1a displays at least one individual task (individual task ID) input (e.g., text input) via the input device 70. FIG. 4 shows an example in which the individual tasks "Blow-Dry" and "Paint" are displayed in the individual task display field G1a. The individual task ID is an identifier for identifying a program (robot program) including one or more instructions for causing the robot 50 to perform an actual task, such as "Blow-Dry." The program (robot program) is stored in the storage device 13. The abstract task display field G1b displays abstract tasks (abstract task types) corresponding to the individual tasks input (e.g., text input) via the input device 70. FIG. 4 shows an example in which the abstract task display field G1b displays the abstract task "SPOT" corresponding to the individual task "Blow-Dry" and the abstract task "MOVE" corresponding to the individual task "Paint."

[0032] By selecting the "+Add" button G1c by clicking or the like, it is possible to further input an individual task (individual task ID) and an abstract task (abstract task type) corresponding to the individual task.

[0033] 5 is an example of a target task-related information input screen G2. The target task-related information input screen G2 is an example of a second input means of the present disclosure. The target task-related information input screen G2 is displayed on the display device 71. Specifically, the target task-related information input screen G2 is displayed on the display device 71 when inputting content related to the operation to be executed by the robot 50, such as target task-related information such as an individual task ID, a task execution position (and further, a task execution speed, a task execution posture, and a target EE (end effector)).

[0034] The target task related information input screen G2 includes at least an individual task ID field G2a and a task execution position field G2b. The target task related information input screen G2 may further include a task execution speed field G2c, a task execution posture field G2d, and a target EE field G2e. The target EE refers to the end effector.

[0035] The individual task ID field G2a displays the individual task (individual task ID) input via the input device 70.

[0036] The task execution position field G2b displays an execution position input via the input device 70. The execution position input via the input device 70 is the execution position of the individual task displayed in the individual task ID field G2a. The execution position input via the input device 70 is input, for example, by using the cursor G2g to select a specific location (e.g., circled numbers 1 to 3 in FIG. 5 ) of the work object G2f displayed (e.g., displayed as a CAD image) on the target task related information input screen G2.

[0037] The task execution speed field G2c displays the task execution speed (e.g., "xx m / s" in FIG. 5) input via the input device 70. The task execution speed input via the input device 70 is the execution speed of the individual task displayed in the individual task ID field G2a.

[0038] The task execution posture field G2d displays the task execution posture (here, "x, y, z, w") input via the input device 70. The task execution posture input via the input device 70 is the execution posture of the individual task displayed in the individual task ID field G2a.

[0039] The target EE field G2e displays the EE input via the input device 70. The EE input via the input device 70 is the EE used in the individual task displayed in the individual task ID field G2a. The EE input via the input device 70 is input, for example, by selecting the robot image (robot #1) displayed on the target task related information input screen G2 with the cursor G2g.

[0040] The robot 50 is, for example, a six-axis manipulator robot. However, the robot 50 may be a robot other than a six-axis manipulator robot.

[0041] FIG. 6 is a functional block diagram of the information processing device 10.

[0042] The information processing device 10 includes an individual unit 20, a common unit 30, and a robot control unit 40. The individual unit 20 includes an individual task registration unit 21 that registers the correspondence between individual tasks and abstract tasks, and a target task setting unit 22 that sets target task information for the robot 50. The common unit 30 includes an individual-abstract task conversion table 31 that manages the correspondence between individual tasks and abstract tasks, an individual-abstract task conversion unit 32 that converts an individual task that becomes a target task into an abstract task and sets the abstract task in an action planning unit 33, an action planning unit 33 that optimizes the action of the robot 50 at the abstract task level and outputs an abstract task action plan, and an abstract-individual task conversion unit 34 that converts the abstract task action plan into an individual task action plan including the individual task and outputs the abstract task to the robot control unit 40. The individual-abstract task conversion table 31, the individual-abstract task conversion unit 32, the action planning unit 33, and the abstract-individual task conversion unit 34 are realized by the information processing device 10 (processor 11) executing a predetermined program loaded from the storage device 13 into the memory 12. The individual-abstract task conversion table 31, the individual-abstract task conversion unit 32, the operation planning unit 33, and the abstract-individual task conversion unit 34 may be partly or entirely realized by hardware.

[0043] Next, as an example of the operation of the operation plan sharing system 100 configured as described above, the functions of the individual task registration unit 21, target task setting unit 22, individual-abstract task conversion table 31, individual-abstract task conversion unit 32, operation planning unit 33, abstract-individual task conversion unit 34, and robot control unit 40 will be explained.

[0044] First, as an example of the operation of the operation plan sharing system 100, an individual / abstract task information registration process, which is a process (initial setting) for registering individual / abstract task information in the individual / abstract task conversion table 31, will be described.

[0045] FIG. 7 is a sequence diagram of the individual / abstract task information registration process.

[0046] First, the individual task registration unit 21 acquires the individual / abstract task information D1 (step S10). The individual task registration unit 21 acquires, for example, the individual / abstract task information D1 input by the user via the individual / abstract task information input screen G1 (see FIG. 4 ) displayed on the display device 71 (display surface) and the input device 70. Note that the individual / abstract task information D1 may be input from the storage device 13 (for example, a file stored in the storage device 13) or may be input from the system via an API such as a REST API.

[0047] FIG. 8A is an example of the individual / abstract task information D1.

[0048] 8A, the individual / abstract task information D1 includes an individual task (individual task ID) and an abstract task (abstract task type) corresponding to the individual task. In other words, the individual / abstract task information D1 is information that links an individual task with an abstract task. The individual task is, for example, "blow." The individual task may be something other than "blow."

[0049] FIG. 9 is a table summarizing the task attributes of abstract tasks. An abstract task is a task that abstracts an operation that is common to multiple individual tasks (multiple individual tasks with different uses). There is a many-to-one relationship between individual tasks and abstract tasks. There are seven types of abstract tasks (abstract task types) that focus only on the mutual behavior between the robot 50 and the work object 60 that the robot 50 handles, for example, (1) to (7) below. All individual tasks for each use can be abstracted into the following seven abstract tasks.

[0050] (1) The robot stops and performs an arbitrary task. (2) The robot moves along a certain trajectory and performs an arbitrary task. (3) The robot and object stop and perform an arbitrary task. (4) The robot and object move along a certain trajectory without changing their relative positions and perform an arbitrary task. (5) A task is performed in which the robot and object are bonded together. (6) A task is performed in which the robot and object are separated from each other. (7) A task is performed in which the robot changes its advanced equipment to perform a different task.

[0051] Taking the above into consideration, this embodiment uses a total of seven types of abstract tasks (abstract task types): "CARRY", "HOLD", "MOVE", "SPOT", "PICK", "PLACE", and "EECHANGE", as shown in Fig. 9. "Operation example" in Fig. 9 represents an operation common to multiple individual tasks (multiple individual tasks with different uses).

[0052] "SPOT" is a task in which the robot 50 performs an arbitrary task on a moving workpiece 60 (work) while standing still. "MOVE" is a task in which the robot 50 performs an arbitrary task on a stationary workpiece 60 while moving. "HOLD" is a task in which the robot 50 performs an arbitrary task on a stationary workpiece 60 while standing still. "CARRY" is a task in which the robot 50 performs an arbitrary task on a moving workpiece 60 while moving along with it. "PICK" is a task in which the robot 50 picks up the workpiece 60 with an EE (e.g., a hand). "PLACE" is a task in which the robot 50 places the workpiece 60 away from the EE (e.g., a hand). "EECHANGE" is a task in which the robot 50 changes an EE (e.g., a hand) to another EE (e.g., a hand).

[0053] The number of abstract tasks (abstract task types) is not limited to the seven types shown in Fig. 9 and may be more than seven. Conversely, the number of abstract tasks (abstract task types) may be less than seven. In particular, when a robot other than a six-axis robot is used as the robot 50, the number of types of abstract tasks (abstract task types) may increase or decrease.

[0054] The following description will be given taking as an example a case where the individual / abstract task information D1 shown in FIG. 8A is acquired in step S10.

[0055] Next, the individual / abstract task information acquired in step S10 is registered in the individual-abstract task conversion table 31 (steps S11 and S12). Fig. 8B is an example of the individual-abstract task conversion table 31. The individual-abstract task conversion table 31 is an example of the task conversion table of the present disclosure.

[0056] As shown in FIG. 8B, the individual-abstract task conversion table 31 includes, as items, an individual task (individual task ID) and an abstract task (abstract task type) corresponding to the individual task.

[0057] In the individual task (individual task ID), an "individual task (individual task ID)" in the individual / abstract task information D1 is registered. In the abstract task (abstract task type), an "abstract task (abstract task type)" in the individual / abstract task information D1 is registered.

[0058] In some cases, multiple pieces of individual / abstract task information (multiple records) are registered in the individual / abstract task conversion table 31 (see FIGS. 8C and 8D). As shown in FIG. 8D, by registering multiple pieces of individual / abstract task information (multiple records) in the individual / abstract task conversion table 31, it is possible to provide variations to individual tasks (for example, blow).

[0059] The processes of steps S11 and S12 are executed every time the individual / abstract task information D1 is acquired in step S10.

[0060] Next, as an example of the operation of the operation plan sharing system 100, a series of processes for setting target task information and actually controlling the robot 50 will be described.

[0061] An example using the individual-abstract task conversion table 31 shown in FIG. 8B will be described below.

[0062] FIG. 10 is a sequence diagram of a series of processes for setting target task information and actually controlling the robot 50.

[0063] First, the target task setting unit 22 acquires target task related information (step S20). The target task related information is information related to the operation to be executed by the robot 50. The target task related information includes at least an individual task ID (one or more) and a task execution position. The target task related information may further include a task execution speed, a task execution posture, and a target EE.

[0064] The target task setting unit 22 acquires, for example, target task-related information input by the user via a target task-related information input screen G2 (see FIG. 5 ) displayed on the display device 71 (display surface) and the input device 70. Note that the input of the target task-related information may be input from the storage device 13 (e.g., a file stored in the storage device 13), may be input from the system via an API such as a REST API, may be automatic input using an imaging device (e.g., a digital camera) or a recognition engine (e.g., automatic input of the task execution position of each task), or may be automatic input from CAD information (e.g., automatic input of the task execution position of each task).

[0065] Next, the target task setting unit 22 sets target task information D2 including at least one individual task and the task execution position of the individual task based on the target task-related information acquired in step S20 (step S21). The target task-related information includes content related to the operation to be performed by the robot 50. FIG. 11A is an example of the target task information D2. Note that the target task information D2 shown in FIG. 11A is an example including an individual task ID, task execution position, and target EE (EE information of the EE to be used). The target task information D2 may further include task execution speed, task execution posture, and workpiece information. Furthermore, if there is an order condition between the individual tasks, the target task information D2 may also include the order condition. For example, the order condition is "execute individual task A after individual task B." Furthermore, if there is a change in the EE, the EE information may include the changed position of the EE. Furthermore, the workpiece information may include the position and posture of the workpiece (work target).

[0066] The following description will be given taking as an example a case where the target task information D2 shown in FIG. 11A is set in step S21.

[0067] The target task setting section 22 transmits the target task information D2 set as above to the individual-abstract task conversion section 32 (step S22).

[0068] Next, the individual-abstract task conversion unit 32 receives the target task information D2 sent from the target task setting unit 22 and executes an abstract task information creation process (step S23). The abstract task information creation process is a process for creating abstract task information D3 by converting the individual tasks in the target task information D2 into abstract tasks.

[0069] FIG. 11B is an example of the abstract task information D3.

[0070] The individual-abstract task conversion unit 32 refers to the individual-abstract task conversion table 31 (see FIG. 8B) (step S231), and creates abstract task information D3 (see FIG. 11B) by converting the individual tasks in the target task information D2 (see FIG. 11A) sent from the target task setting unit 22 into abstract tasks corresponding to the individual tasks (step S232).

[0071] The individual-abstract task conversion unit 32 transmits the abstract task information D3 created as described above to the action planning unit 33 (step S233).

[0072] Next, the operation planning unit 33 receives the abstract task information D3 sent from the individual-abstract task conversion unit 32, and creates an abstract task operation plan D4 (step S24).

[0073] FIG. 12A is an example of an abstract task motion plan D4. As shown in FIG. 12A, the abstract task motion plan D4 includes items such as a time step, an abstract task, and a task execution position. For example, the motion planning unit 33 optimizes the abstract task (the abstract task in the abstract task information D3) so that it can be executed along an optimal path and procedure in accordance with the input of the abstract task information D3 sent from the individual-abstract task conversion unit 32 (input to the motion planning unit 33), thereby creating the abstract task motion plan D4. The motion planning unit 33 is also referred to as a motion planning AI. The motion planning AI is a mathematical optimization-based AI. Mathematical optimization involves performing optimization to satisfy an objective function under various constraints. In the second embodiment, the task procedure, task assignment, and the plan of the motion trajectory of the robot 50 are optimized based on the target task information D2 so that the motion is completed in the shortest time or along the shortest path, and the abstract task motion plan D4 is output. As the motion planning unit 33, for example, one described in International Publication No. 2021 / 038844 can be used.

[0074] The action planning unit 33 transmits the abstract task action plan D4 created as described above to the abstract-individual task conversion unit 34 (step S25).

[0075] Next, the abstract-individual task conversion unit 34 receives the abstract task action plan D4 sent from the action planning unit 33, and executes an individual task action plan creation process (step S26) by referring to the individual-abstract task conversion table 31 (see FIG. 8B) to create an individual task action plan D5 by converting the abstract tasks in the abstract task action plan D4 into individual tasks. Note that the abstract-individual task conversion unit 34 may also create the individual task action plan D5 by converting the abstract tasks in the abstract task action plan D4 into individual tasks by referring to the individual-abstract task conversion table 31 and the target task information D2.

[0076] 12B is an example of the individual task motion plan D5. The individual task motion plan D5 that can be executed when the robot control unit 40 controls the robot 50 is also called a sequence (subtask sequence). As shown in FIG. 12B, the individual task motion plan D5 includes items such as a time step, an abstract task, and a task execution position.

[0077] Next, the individual task operation plan creation process (step S26) will be described in detail.

[0078] FIG. 13 is a flowchart of the individual task operation plan creation process (step S26).

[0079] First, the abstract-to-individual task conversion unit 34 refers to the individual-to-abstract task conversion table 31 (see FIG. 8B) and determines whether the same abstract task is registered multiple times in the individual-to-abstract task conversion table 31 (step S261).

[0080] If the result of the determination in step S261 is that multiple identical abstract tasks are not registered in the individual-abstract task conversion table 31 (step S261: YES), for example, in the case of the individual-abstract task conversion table 31 shown in Figure 8B or 8C, one individual task corresponding to the abstract task can be identified. For example, in the case of the individual-abstract task conversion table 31 shown in Figure 8B, one individual task "BLOW" corresponding to the abstract task "SPOT" can be identified by referring to the individual-abstract task conversion table 31. The same is true for the individual-abstract task conversion table 31 shown in Figure 8C.

[0081] If one individual task corresponding to the abstract task can be identified, the abstract-individual task conversion unit 34 creates an individual task operation plan D5 by converting the abstract task in the abstract task operation plan D4 into an individual task (step S262). Specifically, the abstract-individual task conversion unit 34 refers to the individual-abstract task conversion table 31, identifies one individual task corresponding to the abstract task in the abstract task operation plan D4 (see FIG. 12A), and creates an individual task operation plan D5 (see FIG. 12B) by converting the abstract task in the abstract task operation plan D4 (see FIG. 12A) into the individual task (the identified individual task) corresponding to the abstract task.

[0082] On the other hand, if the result of the judgment in step S261 is that multiple identical abstract tasks are registered in the individual-abstract task conversion table 31 (step S261: NO), for example, in the case of the individual-abstract task conversion table 31 shown in Figure 8D, there are multiple individual tasks ("Blow #1", "Blow #2") that correspond to the abstract task ("SPOT"), so it is not possible to identify one individual task that corresponds to the abstract task.

[0083] If it is not possible to identify one individual task corresponding to the abstract task (step S261: NO), the abstract-to-individual task conversion unit 34 refers to the target task information D2 and determines whether it is possible to identify an individual task based on the task execution position (step S263).

[0084] As a result, if one individual task can be identified (step S263: YES), for example, if an individual task with the same task execution position as the task execution position in the abstract task information D3 exists in the target task information D2, the abstract-individual task conversion unit 34 identifies the individual task existing in the target task information D2 as one individual task corresponding to the abstract task.

[0085] If one individual task corresponding to the abstract task can be identified (step S263: YES), the abstract-to-individual task conversion unit 34 creates an individual task operation plan D5 by converting the abstract task in the abstract task operation plan D4 into an individual task (the identified individual task), as described above (step S262).

[0086] On the other hand, if the result of the judgment in step S263 is that it is not possible to identify an individual task based on the task execution position (step S263: NO), the abstract-to-individual task conversion unit 34 refers to the target task information D2 and determines whether it is possible to identify an individual task based on the task execution position and task execution posture (step S264).

[0087] As a result, if one individual task can be identified (step S264: YES), for example, if an individual task with the same task execution position and task execution posture as the task execution position and task execution posture in the abstract task information D3 exists in the target task information D2, the abstract-individual task conversion unit 34 identifies the individual task existing in the target task information D2 as one individual task corresponding to the abstract task.

[0088] If one individual task corresponding to the abstract task can be identified (step S264: YES), the abstract-to-individual task conversion unit 34 creates an individual task operation plan D5 by converting the abstract task in the abstract task operation plan D4 into an individual task (the identified individual task), as described above (step S262).

[0089] On the other hand, if the result of the judgment in step S264 is that it is not possible to identify an individual task based on the task execution position and task execution posture (step S264: NO), the abstract-individual task conversion unit 34 refers to the target task information D2 and determines whether it is possible to identify an individual task based on the task execution position, task execution posture, and task execution speed (step S265).

[0090] As a result, if one individual task can be identified (step S265: YES), for example, if an individual task with the same task execution position, task execution posture, and task execution speed as the task execution position, task execution posture, and task execution speed in the abstract task information D3 exists in the target task information D2, the abstract-individual task conversion unit 34 identifies the individual task existing in the target task information D2 as one individual task corresponding to the abstract task.

[0091] If one individual task corresponding to the abstract task can be identified (step S265: YES), the abstract-to-individual task conversion unit 34 creates an individual task operation plan D5 by converting the abstract task in the abstract task operation plan D4 into an individual task (the identified individual task), as described above (step S262).

[0092] On the other hand, if the result of the judgment in step S265 is that it is not possible to identify an individual task based on the task execution position, task execution posture, and task execution speed (step S265: NO), the abstract-individual task conversion unit 34 refers to the target task information D2, etc., and identifies one individual task based on the task execution position, task execution posture, task execution speed, and required time (step S266).

[0093] For example, if the target task information D2 contains an individual task with the same task execution position, task execution posture, task execution speed, and required time as the task execution position, task execution posture, task execution speed, and required time in the abstract task information D3, the abstract-individual task conversion unit 34 identifies the individual task in the target task information D2 as one individual task corresponding to the abstract task. The required time refers to the time required for the task, i.e., the total time required by the robot 50 to execute the task. FIG. 12A is an example of an abstract task motion plan D4 when the required time of each task is 1. For a task with a required time other than 1, for example, a task with a required time of 3, the abstract task motion plan D4 will include three time steps corresponding to the task with a required time of 3. Similarly, FIG. 12B is an example of an individual task motion plan D5 when the required time of each task is 1. For a task with a required time other than 1, for example, a task with a required time of 3, the individual task motion plan D5 will include three time steps corresponding to the task with a required time of 3.

[0094] If one individual task corresponding to the abstract task can be identified, the abstract-to-individual task conversion unit 34 creates an individual task operation plan D5 by converting the abstract task in the abstract task operation plan D4 into an individual task (the identified individual task), as described above (step S262).

[0095] Returning to FIG. 10, the abstract-to-individual task conversion unit 34 transmits the individual task operation plan D5 (see FIG. 12B) created as described above to the robot control unit 40 (step S27).

[0096] Next, the robot control unit 40 receives the individual task operation plan D5 transmitted from the abstract-individual task conversion unit 34, and controls the robot 50 based on the individual task operation plan D5 (step S28). The robot 50 performs a predetermined operation in accordance with the control from the robot control unit 40.

[0097] The effects of the present disclosure will be described in comparison with a comparative example.

[0098] FIG. 14 is a diagram for explaining the effect of the present disclosure in comparison with a comparative example.

[0099] Comparative examples (for example, International Publication No. 2021 / 038844) do not include the individual-abstract task conversion table 31, the individual-abstract task conversion unit 32, and the abstract-individual task conversion unit 34. In the comparative example, when a task (target task) to be executed by the robot is set, the motion planning unit (motion planning AI) generates a sequence (motion plan) for each time step (time interval) of a simple task that can be executed by the robot (robot control unit) in order to optimize the motion of the robot in each process.

[0100] In the comparative example, the motion planning AI needs to be developed for each individual task (there are countless individual tasks for each application, such as pick-and-place or screw tightening). For example, it is necessary to create a motion planning AI for each process by incorporating the operating conditions of the individual task based on the individual task for each specific process. Since the motion planning AI needs to be developed for each process and cannot be reused for different processes, there is a problem that the development effort for the motion planning AI (development load of the motion planning AI) increases as the number of individual tasks increases. Note that the operating conditions for the individual tasks are, for example, constraints used in the optimization described above (e.g., screw tightening constraints, screw gripping constraints, painting constraints, hand change constraints, etc.).

[0101] On the other hand, the second embodiment includes an individual unit 20 that develops each individual task and a common unit 30 that optimizes the abstract task. Also, in the second embodiment, the individual-to-abstract task conversion unit 32 converts the individual tasks in the target task information D2 into abstract tasks to create abstract task information D3 (step S232). The motion planning unit 33 (optimization calculation unit) optimizes the abstract tasks (abstract tasks in the abstract task motion plan D4) based on the input of the abstract task information D3 (input to the motion planning unit 33) so that they can be executed along optimal paths and procedures, thereby creating an abstract task motion plan D4 (step S24). The abstract-to-individual task conversion unit 34 identifies one individual task corresponding to the abstract task in the abstract task motion plan D4 (see FIG. 12A ) and converts the abstract task in the abstract task motion plan D4 (see FIG. 12A ) into the individual task (the identified individual task) corresponding to the abstract task to create an individual task motion plan D5 (see FIG. 12B ) (steps S26 and S262).

[0102] Therefore, compared to the comparative example, the second embodiment has the advantage that the number of development steps for the motion planning AI (development load for the motion planning AI) can be prevented from increasing even if the number of individual tasks increases. That is, the second embodiment has the advantage that it is only necessary to develop the individual part 20 for each specific process, and it is not necessary to develop the common part 30 for each specific process. The other embodiments also have similar advantages.

[0103] As described above, according to the second embodiment, even if the number of individual tasks increases, it is possible to prevent an increase in the development man-hours for the action planning unit 33 (action planning AI) and the development load of the action planning AI.

[0104] Third Embodiment Next, a third embodiment will be described.

[0105] Fig. 15 is a schematic diagram of the present disclosure. Fig. 16 is a functional block diagram of an information processing device 10 according to the present disclosure.

[0106] In the third embodiment, an example will be described in which two robots 50A and 50B (six-axis robots) paint a work object 60 (a total of five locations indicated by circled numbers 1 to 5 in FIG. 15) as individual tasks. The number of robots is not limited to two, and multiple robots may be used.

[0107] The following description will focus on the differences from embodiment 2. The same components as those in embodiment 2 are denoted by the same reference numerals, and the description will be omitted where appropriate.

[0108] The third embodiment differs from the second embodiment in that it uses an individual-abstract task conversion table 31 shown in FIG. 16. The third embodiment also differs from the second embodiment in that the target task setting unit 22 sets target task information D2 shown in FIG. 16. The third embodiment also differs from the second embodiment in that the motion planning unit 33 creates two abstract task motion plans D4a and D4b shown in FIG. 16 corresponding to the two robots 50A and 50B. The third embodiment also differs from the second embodiment in that the abstract-individual task conversion unit 34 creates two individual task motion plans D5a and D5b shown in FIG. 16 corresponding to the two robots 50A and 50B. Except for the above points, the third embodiment is similar to the second embodiment.

[0109] The robot control unit 40 receives the individual task operation plans D5a and D5b sent from the abstract-to-individual task conversion unit 34, and controls the robots 50A and 50B based on the individual task operation plans D5a and D5b (step S28). The robots 50A and 50B perform predetermined operations in accordance with the control from the robot control unit 40.

[0110] As with the second embodiment, the third embodiment can prevent an increase in the development effort and development load of the motion planning unit 33 (motion planning AI) even when the number of individual tasks increases. While the present disclosure has been described above with reference to the embodiments, the present disclosure is not limited to the above-described embodiments. Various modifications within the scope of the present disclosure that would be understood by those skilled in the art can be made to the configuration and details of the present disclosure. Furthermore, each embodiment can be combined with other embodiments as appropriate. The drawings are merely examples for describing one or more embodiments. Each drawing is not related to only one particular embodiment, but may also be related to one or more other embodiments. As will be understood by those skilled in the art, various features or steps described with reference to any one drawing can be combined with features or steps shown in one or more other drawings to create, for example, an embodiment not explicitly shown or described. Not all features or steps shown in any one drawing are necessarily required to describe an exemplary embodiment; some features or steps may be omitted. The order of steps described in any drawing may be changed as appropriate.

[0111] In the above examples, the program includes instructions (or software code) that, when loaded into a computer, cause the computer to perform one or more functions described in the embodiments. The program may be stored on a non-transitory computer-readable medium or a tangible storage medium. By way of example and not limitation, computer-readable medium or tangible storage medium includes random-access memory (RAM), read-only memory (ROM), flash memory, solid-state drive (SSD) or other memory technology, CD-ROM, digital versatile disc (DVD), Blu-ray disc or other optical disk storage, magnetic cassette, magnetic tape, magnetic disk storage or other magnetic storage device. The program may also be transmitted on a transitory computer-readable medium or communication medium. By way of example and not limitation, transitory computer-readable medium or communication medium includes electrical, optical, acoustic, or other forms of propagated signals.

[0112] The technical ideas of the present disclosure are not limited to the above-described embodiments, and can be modified as appropriate within the scope of the gist of the present disclosure.

[0113] A part or all of the above-described embodiments can be described as, but not limited to, the following supplementary notes.

[0114] (Supplementary Note 1) An operation plan standardization method comprising: an individual-to-abstract task conversion step of converting an individual task to an abstract task in accordance with a task conversion table in which an individual task to be executed by a robot and an abstract task corresponding to the individual task are registered; an abstract task operation plan creation step of creating an abstract task operation plan in accordance with the abstract task so that the robot can execute the abstract task; and an abstract-to-individual task conversion step of converting an abstract task included in the abstract task operation plan to the individual task in accordance with the task conversion table and target task information including the individual task and the task execution position of the individual task.

[0115] (Supplementary Note 2) The operation plan standardization method according to Supplementary Note 1, wherein the abstract task is a task obtained by abstracting an operation common to a plurality of individual tasks.

[0116] (Supplementary Note 3) The motion plan standardization method according to Supplementary Note 2, wherein the abstracted task includes at least one of a task in which the robot performs an arbitrary task on a moving work object while standing still, a task in which the robot performs an arbitrary task on a stationary work object while moving, a task in which the robot performs an arbitrary task on a stationary work object while standing still, a task in which the robot performs an arbitrary task on a moving work object while moving together with the moving work object, a task in which the robot lifts the work object with an end effector, a task in which the work object is positioned away from an end effector, and a task in which the end effector is changed to another end effector.

[0117] (Supplementary Note 4) The abstract-to-individual task conversion step is an operation plan standardization method according to Supplementary Note 1, in which, when there are multiple individual tasks corresponding to the abstract task, one individual task corresponding to the abstract task in the abstract task operation plan is identified, and an individual task operation plan is created in which the abstract task in the abstract task operation plan is converted into the identified one individual task.

[0118] (Supplementary Note 5) The operation plan standardization method according to Supplementary Note 4, wherein the abstract-to-individual task conversion step identifies one individual task corresponding to the abstract task in the abstract task operation plan based on at least a task execution position.

[0119] (Supplementary Note 6) The motion plan standardization method according to Supplementary Note 1, wherein the abstract-to-individual task conversion step identifies one individual task corresponding to the abstract task in the abstract task motion plan based on at least a task execution position and a task execution posture.

[0120] (Supplementary Note 7) The motion plan standardization method according to Supplementary Note 1, wherein the abstract-to-individual task conversion step identifies one individual task corresponding to an abstract task in the abstract task motion plan based on at least a task execution position, a task execution posture, and a task execution speed.

[0121] (Supplementary Note 8) An operation plan sharing system comprising: an individual-to-abstract task conversion unit that converts an individual task to an abstract task in accordance with a task conversion table in which an individual task to be executed by a robot and an abstract task corresponding to the individual task are registered; an operation planning unit that creates an abstract task operation plan in accordance with the abstract task so that the robot can execute the abstract task; and an abstract-to-individual task conversion unit that converts an abstract task included in the abstract task operation plan to the individual task in accordance with the task conversion table and target task information including the individual task and the task execution position of the individual task.

[0122] (Supplementary Note 9) The operation plan sharing system according to Supplementary Note 8, further comprising: a robot control unit that controls a robot based on the converted individual tasks.

[0123] (Supplementary Note 10) An operation plan sharing system comprising: an individual-to-abstract task conversion unit that converts an individual task to an abstract task in accordance with a task conversion table in which an individual task to be executed by a robot and an abstract task corresponding to the individual task are registered; an abstract task operation plan creation unit that creates an abstract task operation plan in accordance with the abstract task so that the robot can execute the abstract task; and an abstract-to-individual task conversion unit that converts an abstract task included in the abstract task operation plan to the individual task in accordance with the task conversion table and target task information including the individual task and the task execution position of the individual task.

[0124] (Supplementary Note 11) A program that causes a computer to execute the following steps: a target task setting step that sets target task information including at least one individual task and a task execution position of the individual task; an individual-to-abstract task conversion step that creates abstract task information by converting an individual task in the target task information into an abstract task, with reference to a task conversion table in which at least one individual task and an abstract task corresponding to the individual task are registered; an abstract task operation plan creation step that optimizes the abstract task in the abstract task information so that it can be operated according to an optimal route and procedure in accordance with input of the abstract task information, and creates an abstract task operation plan; and an abstract-to-individual task conversion step that creates an individual task operation plan by converting the abstract task in the abstract task operation plan into an individual task, with reference to the task conversion table and the target task, that can be executed when a robot control unit controls a robot.

[0125] (Supplementary Note 12) An operation plan standardization device comprising: an individual-to-abstract task conversion unit that converts an individual task to an abstract task in accordance with a task conversion table in which an individual task to be executed by a robot and an abstract task corresponding to the individual task are registered; an operation planning unit that creates an abstract task operation plan in accordance with the abstract task so that the robot can execute the abstract task; and an abstract-to-individual task conversion unit that converts an abstract task included in the abstract task operation plan to the individual task in accordance with the task conversion table and target task information including the individual task and the task execution position of the individual task.

[0126] Some or all of the elements (e.g., configurations, functions, and steps) described in Supplementary Notes 2 to 7 that are dependent on Supplementary Note 1 may also be dependent on the motion plan sharing system of Supplementary Note 8, the motion plan sharing system of Supplementary Note 10, the program of Supplementary Note 11, and the motion plan sharing device of Supplementary Note 12 in the same dependency relationship as Supplementary Notes 2 to 7. Some or all of the elements described in any Supplementary Note may be applied to various hardware, software, recording means for recording software, systems, and methods.

[0127] Although the present invention has been described above with reference to the embodiments, the present invention is not limited to the above. Various modifications that can be understood by those skilled in the art can be made to the configuration and details of the present invention within the scope of the invention.

[0128] This application claims priority based on Japanese Patent Application No. 2023-207080, filed December 7, 2023, the disclosure of which is incorporated herein in its entirety by reference.

[0129] DESCRIPTION OF SYMBOLS 10... Information processing device 11... Processor 12... Memory 13... Storage device 20... Individual unit 21... Individual task registration unit 22... Target task setting unit 30... Common unit 31... Abstract task conversion table 32... Abstract task conversion unit 33... Motion planning unit 34... Individual task conversion unit 40... Robot control unit 50, 50A, 50B... Robot 60... Work object 70... Input device 71... Display device 100... Motion plan sharing system D1... Abstract task information D2... Target task information D3... Abstract task information D4, D4a... Abstract task motion plan D5, D5a... Individual task motion plan G1... Abstract task information input screen G1a... Individual task display field G1b... Abstract task display field G1c... Button G2... Target task related information input screen G2a... Individual task ID field G2b... Task execution position field G2c... Task execution speed field G2d... Task execution posture column G2e... Target EE column G2f... Work object G2g... Cursor N... Communication line

Claims

1. An operation plan standardization method comprising: an individual-to-abstract task conversion step of converting an individual task to an abstract task in accordance with a task conversion table in which an individual task to be executed by a robot and an abstract task corresponding to the individual task are registered; an abstract task operation plan creation step of creating an abstract task operation plan so that the robot can execute the abstract task in accordance with the abstract task; and an abstract-to-individual task conversion step of converting an abstract task included in the abstract task operation plan to the individual task in accordance with the task conversion table and target task information including the individual task and the task execution position of the individual task.

2. The method for standardizing an operation plan according to claim 1, wherein the abstract task is an abstraction of an operation common to a plurality of individual tasks.

3. The method for standardizing motion plans described in claim 2, wherein the abstracted tasks include at least one of the following: a task in which the robot performs an arbitrary task on a moving work object while stopped; a task in which the robot performs an arbitrary task on a stationary work object while moving; a task in which the robot performs an arbitrary task on a stationary work object while stationary; a task in which the robot performs an arbitrary task on a stationary work object while moving together with a moving work object; a task of lifting a work object with an end effector; a task of positioning a work object away from an end effector; and a task of changing the end effector to a different end effector.

4. The operation plan standardization method described in claim 1, wherein the abstract-to-individual task conversion step, when there are multiple individual tasks corresponding to the abstract task, identifies one individual task corresponding to the abstract task in the abstract task operation plan, and creates an individual task operation plan in which the abstract task in the abstract task operation plan is converted into the identified one individual task.

5. The method for standardizing an operation plan according to claim 4, wherein said abstract-to-individual task conversion step identifies one individual task corresponding to an abstract task in said abstract task operation plan based at least on a task execution position.

6. The motion plan standardization method according to claim 1, wherein said abstract-to-individual task conversion step identifies one individual task corresponding to an abstract task in said abstract task motion plan based on at least a task execution position and a task execution posture.

7. The motion plan standardization method according to claim 1, wherein the abstract-to-individual task conversion step identifies one individual task corresponding to an abstract task in the abstract task motion plan based on at least a task execution position, a task execution posture, and a task execution speed.

8. An action plan commonization system comprising: an individual-abstract task conversion means for converting an individual task to an abstract task in accordance with a task conversion table in which an individual task to be executed by a robot and an abstract task corresponding to the individual task are registered; an action planning means for creating an abstract task action plan so that the robot can execute the abstract task in accordance with the abstract task; and an abstract-individual task conversion means for converting an abstract task included in the abstract task action plan to the individual task in accordance with the task conversion table and target task information including the individual task and the task execution position of the individual task.

9. The common motion plan system according to claim 8, further comprising: robot control means for controlling a robot based on the converted individual tasks.

10. An operation plan commonization system comprising: an individual-abstract task conversion means for converting an individual task to an abstract task in accordance with a task conversion table in which an individual task to be executed by a robot and an abstract task corresponding to the individual task are registered; an abstract task operation plan creation means for creating an abstract task operation plan so that the robot can execute the abstract task in accordance with the abstract task; and an abstract-individual task conversion means for converting an abstract task included in the abstract task operation plan to the individual task in accordance with the task conversion table and target task information including the individual task and the task execution position of the individual task.

11. A program for causing a computer to execute the following steps: a goal task setting step for setting goal task information including at least one individual task and a task execution position of the individual task; an individual-to-abstract task conversion step for creating abstract task information by converting an individual task in the goal task information into an abstract task, with reference to a task conversion table in which at least one individual task and an abstract task corresponding to the individual task are registered; an abstract task operation plan creation step for optimizing the abstract task in the abstract task information so that it can be operated according to an optimal route or procedure in response to input of the abstract task information, and creating an abstract-to-individual task conversion step for creating an individual task operation plan by converting an abstract task in the abstract task operation plan into an individual task, with reference to the task conversion table and the goal task, that can be executed when a robot control means controls a robot.

12. An action plan standardization device comprising: an individual-abstract task conversion means for converting an individual task to an abstract task in accordance with a task conversion table in which an individual task to be executed by a robot and an abstract task corresponding to the individual task are registered; an action planning means for creating an abstract task action plan so that the robot can execute the abstract task in accordance with the abstract task; and an abstract-individual task conversion means for converting an abstract task included in the abstract task action plan to the individual task in accordance with the task conversion table and target task information including the individual task and the task execution position of the individual task.

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