Robot control device, robot system, and program

Abstract

This robot control device includes a position correction unit that, when a reception level detected at each of a plurality of teaching points of a robot taught in advance, the reception level being a level between a second wireless device provided in an external device and a first wireless device that mutually performs wireless communication with the second wireless device, is lower than a predetermined value, corrects a position of a teaching point having a reception level lower than the predetermined value among the plurality of teaching points.

Description

Robot control device, robot system, and program

[0001] The present disclosure relates to a robot control device, a robot system, and a program.

[0002] In recent years, in order to avoid the complexity of cable wiring work and eliminate the recovery work in case of cable disconnection, a system that transmits and receives information and / or commands using wireless devices has been used. For example, refer to JP-A-2022-014562, JP-A-2004-314255, and JP-A-2010-026947.

[0003] JP-A-2022-014562, JP-A-2004-314255, JP-A-2010-026947

[0004] When the system includes a robot and a robot control device, depending on the position and orientation of the robot, the robot itself may become an obstacle between two wireless devices, and the communication performance of the wireless devices may decrease. If the communication performance of the wireless devices decreases at a specific teaching point among a plurality of teaching points taught in advance for the robot, the robot may have difficulty moving to that teaching point, and a situation may also occur where appropriate processing cannot be performed at that teaching point and its vicinity.

[0005] Furthermore, when the robot system is arranged on a production line, a situation may occur where the robot and the production line including the robot are stopped due to a decrease in communication performance.

[0006] Therefore, a robot control device and a robot system that can correct the position of the teaching point when the communication performance of the wireless device decreases are desired.

[0007] According to a first aspect of the present disclosure, a robot control device for controlling a robot is provided, comprising a position correction unit that corrects the position of a teaching point among the plurality of teaching points where the received level detected at each of a plurality of pre-taught teaching points of the robot is lower than a predetermined value, if the received level between a second wireless device provided in an external device and a first wireless device that communicates wirelessly with the second wireless device is lower than a predetermined value.

[0008] In other aspects of the present disclosure, a robot system is provided, comprising: a robot; a first device for controlling the robot; a first wireless device connected to the first device; a second wireless device for communicating wirelessly with the first wireless device; a second device to which the second wireless device is connected; a reception level monitoring unit for monitoring the reception level between the second wireless device provided in an external device and the first wireless device for communicating wirelessly with the second wireless device at each of a plurality of pre-taught teaching points of the robot; a determination unit for determining whether the reception level monitored by the reception level monitoring unit at each of the plurality of teaching points is lower than a predetermined value; and a position correction unit for correcting the position of a teaching point among the plurality of teaching points for which the determination unit has determined the reception level is lower than a predetermined value.

[0009] A further aspect of this disclosure provides a program for causing a computer to function as a reception level monitoring unit that monitors the reception level between a second wireless device provided in an external device and a first wireless device that communicates wirelessly with the second wireless device at each of a plurality of pre-taught teaching points of the robot; a determination unit that determines whether the reception level monitored by the reception level monitoring unit at each of the plurality of teaching points is lower than a predetermined value; and a position correction unit that corrects the position of a teaching point among the plurality of teaching points for which the determination unit has determined the reception level is lower than a predetermined value.

[0010] The purposes, features, and advantages of this disclosure will become even clearer from the following description of embodiments related to the accompanying drawings.

[0011] This is a schematic diagram of a robot system based on the first embodiment of the present disclosure. This is a functional block diagram of the robot system shown in Figure 1. This is a first flowchart for explaining the operation of the robot control device. This is a second flowchart for explaining the operation of the robot control device. This is a top view showing the positional relationship between the robot and the teaching point. This is a diagram showing an example of the screen displayed on the display unit. This is a flowchart for explaining the operation of the robot control device in another embodiment. This is a schematic diagram of a robot system based on the second embodiment of the present disclosure. This is a functional block diagram of the robot system shown in Figure 5. This is a flowchart for explaining the first operation of the robot control device in the second embodiment. This is a top view showing the positional relationship between the robot and the teaching point for explaining the first operation. This is a flowchart for explaining the second operation of the robot control device in the second embodiment. This is a top view showing the positional relationship between the robot and the teaching point for explaining the second operation. This is a flowchart for explaining the third operation of the robot control device in the second embodiment. This is a top view showing the positional relationship between the robot and the teaching point for explaining the third operation.

[0012] Embodiments of the present disclosure will be described below with reference to the attached drawings. Throughout the drawings, corresponding components are denoted by common reference numerals. Figure 1 is a schematic diagram of a robot system according to the first embodiment of the present disclosure, and Figure 2 is a functional block diagram of the robot system shown in Figure 1. As shown in these drawings, the robot system 1a according to the first embodiment mainly includes a robot 10, a first device 20 that controls the robot 10 and is equipped with a first wireless device 61, and a second device 30 that is equipped with a second wireless device 62 that communicates wirelessly with the first wireless device 61.

[0013] The first wireless device 61 may be built into the first device 20 or attached externally to the first device 20. Similarly, the second wireless device 62 may be built into the second device 30 or attached externally to the second device 30.

[0014] The robot 10 may be a vertical articulated robot equipped with multiple drive units M1 to Mm, for example, motors (where m is a natural number). The robot 10 shown in Figure 1 has multiple arms, each driven by one of the multiple drive units M1 to Mm. The most advanced arm is equipped with a hand H. The hand H may also be driven by the aforementioned drive units. The robot 10 shown in Figure 1 is used to grasp and move a workpiece W placed on a table TB using the hand H. However, the robot 10 may be used for other purposes.

[0015] As shown in Figure 2, each of the multiple drive units M1 to Mm is equipped with a detection unit E1 to Em (where m is a natural number), such as an encoder, for detecting the position and / or speed of the corresponding axis. Although not shown in the drawing, the drive units M1 to Mm may also be equipped with various sensors, such as temperature sensors.

[0016] The robot 10, equipped with these multiple drive units M1 to Mm, is controlled by a first device 20, for example, a robot control device 20. As is well known, the robot control device 20 controls the multiple drive units M1 to Mm using the detection results of the multiple detection units E1 to Em. The robot control device 20 is a computer equipped with a CPU (Central Processing Unit), a memory unit 40, etc., which are connected to each other via a bus. The memory unit 40 may be either volatile memory or non-volatile memory. The memory unit 40 also stores an operation program C for operating the robot 10 and a reception level R, etc., which will be described later.

[0017] The first device 20 may be a robot control device 20 that controls the robot 10 and is equipped with a first wireless device 61. The robot control device 20 is connected to a second device 30, such as a PLC (Programmable Logic Controller) or a teaching control panel, via the first wireless device 61 and the second wireless device 62. In other words, the robot control device 20 is equipped with the first wireless device 61, and the second device 30 is equipped with the second wireless device 62. Wireless communication is conducted between the first wireless device 61 and the second wireless device 62, and data and commands are sent and received. Since the second device 30 is located outside the robot control device 20, the second device 30 can be referred to as an external device.

[0018] The first wireless device 61 and the second wireless device 62 may be the same device, and therefore, the first wireless device 61 and the second wireless device 62 may be interchangeable. Furthermore, the first wireless device 61 and the second wireless device 62 may be used within a wireless field network including the robot control device 20 and the second device 30. In addition, the second wireless device 62 may be the wireless communication portion of the second device 30 as a wireless teaching control panel. Alternatively, as will be described later, the second wireless device 62 may be the wireless communication portion of the second device 30 as a wireless sensor S. Similarly, the second wireless device 62 may be the wireless communication portion of the second device 30 as a wireless hand guide G. In other words, the first wireless device 61 and the second wireless device 62 may be included in a wireless field network, a wireless sensor S, a wireless teaching control panel, or a wireless hand guide S.

[0019] As shown in Figure 2, the CPU of the robot control device 20 includes a reception level monitoring unit 31 that monitors the reception level R between the first wireless device 61 and the second wireless device 62 at each of a plurality of pre-taught teaching points of the robot 10, and a determination unit 32 that determines whether the reception level R monitored by the reception level monitoring unit 31 is lower than a predetermined value. The reception level monitoring unit 31 monitors the reception level R detected by the first wireless device 61 and / or the second wireless device 62.

[0020] Furthermore, the CPU of the robot control device 20 includes a reception level notification unit 33 that notifies the reception level R when the determination unit 32 determines that the reception level R is lower than a predetermined value, and a position correction unit 34 that corrects the position of a teaching point among a plurality of teaching points for which the determination unit 32 has determined that the reception level R is lower than a predetermined value R0.

[0021] The reception level monitoring unit 31, determination unit 32, reception level notification unit 33, and position correction unit 34 of the CPU of the robot control device 20 are functional modules implemented, for example, by a computer program executed on the CPU. The computer program for executing the processing of the reception level monitoring unit 31, determination unit 32, reception level notification unit 33, and position correction unit 34 of the CPU of the robot control device 20 may be provided in the form of a program product recorded on a computer-readable recording medium such as a semiconductor memory, magnetic recording medium, or optical recording medium.

[0022] The robot control device 20 is connected to a display unit 21, such as a display or CRT, which displays various computer processes. Furthermore, the robot control device 20 is connected to an input unit 22, such as a mouse, keyboard, or touch panel, which inputs operations from the operator. Alternatively, a separate teaching control panel (not shown) in which the display unit 21 and the input unit 22 are integrated may be connected to the robot control device 20.

[0023] Furthermore, at least one of the reception level monitoring unit 31, determination unit 32, reception level notification unit 33, and position correction unit 34 may be provided in the CPU of the second device 30 instead of the robot control device 20. In one example, the CPU of the robot control device 20 may perform the role of the position correction unit 34, and the CPU of the second device 30 may perform the roles of the reception level monitoring unit 31 and determination unit 32. In the following description, we will continue assuming that the reception level monitoring unit 31, determination unit 32, reception level notification unit 33, and position correction unit 34 are provided in the robot control device 20.

[0024] Figures 3A and 3B are flowcharts illustrating the operation of the robot control device. Furthermore, Figure 4A shows an example of the screen displayed on the display unit. The operation of the robot system 1a will be described below with reference to Figures 3A, 3B, and 4A. The series of operations described later will be mainly performed according to the CPU of the robot control device 20. It will be assumed that the robot control device 20 and the second device 30 are communicating wirelessly with each other through the first wireless device 61 and the second wireless device 62.

[0025] First, in step S1, the robot control device 20 starts operating based on the operation program C. The operation program C is assumed to contain a plurality of teaching points A1 to AN (where N is a natural number indicating the total number of teaching points) that constitute the operation path of the robot 10. In step S2, the robot 10 moves to one teaching point An (where the variable n is a natural number less than or equal to N) according to the operation program C.

[0026] Then, in step S3, the reception level monitoring unit 31 detects the reception level R (dBm) between the first radio device 61 and the second radio device 62 at teaching point An. Then, in step S4, the determination unit 32 compares the detected reception level R with a predetermined value R0. The predetermined value R0 is the minimum level at which sufficient wireless communication is possible between the first radio device 61 and the second radio device 62, and is determined in advance by experiment or simulation.

[0027] If it is determined that the reception level R is less than a predetermined value R0, the process proceeds to step S5. Conversely, if it is determined that the reception level R is not less than a predetermined value R0, the process proceeds to step S8.

[0028] In step S5, teaching point An, which is determined to have a reception level R smaller than a predetermined value R0, is set as a faulty teaching point Pi (where the variable i is a natural number less than or equal to N). Then, in step S6, the faulty teaching point Pi and the reception level R detected in step S3 are associated and stored in the storage unit 40.

[0029] In Figure 4A, the faulty teaching point Pi, the reception level R determined to be less than a predetermined value R0, the time T at that time, the teaching point An set for the faulty teaching point Pi, and the line number L in the operation program C corresponding to teaching point An are listed in a single line, for example, the line for faulty teaching point P1. The listed lines are sequentially stored in the storage unit 40 of the robot control device 20. Note that only the reception level R determined to be less than a predetermined value R0 and the faulty teaching point Pi may be stored in association with each other.

[0030] Then, in step S7, the reception level notification unit 33 notifies the user of the associated reception level R and faulty teaching point Pi through the display unit 21. It is preferable to display the aforementioned line including the associated reception level R and faulty teaching point Pi on the display unit 21 in real time. This allows the reception level notification unit 33 to serve as a warning to the user through the display unit 21 that the reception level has decreased.

[0031] Alternatively, after the operation of the robot 10 by the operation program C is completed, all rows including all associated reception levels R and faulty teaching points Pi may be displayed on the display unit 21 at once.

[0032] In Figure 4A, five rows are displayed, each corresponding to a faulty teaching point P1 to P5. These faulty teaching points P1 to P5 correspond to teaching points A3, A4, A5, A9, and A10, respectively. In other words, it can be seen that the received level R at teaching points A1, A2, A6, A7, A8, etc., is greater than or equal to the predetermined value R0. In the example shown in Figure 4A, the total number I of faulty teaching points Pi is 5.

[0033] Next, in step S8, it is determined whether the variable n is equal to the total number N, that is, whether the detection of the received level R at all teaching points A1 to AN has been completed. If the detection of the received level R at all teaching points A1 to AN has been completed, the process proceeds to step S10 and the operation program C is terminated.

[0034] If the detection of the received level R at all teaching points A1 to AN has not been completed, the process returns to step S2 via step S9. The same process is then performed for the next teaching point An. This process is repeated until the detection of the received level R at all teaching points A1 to AN is completed.

[0035] In another embodiment, step S7 may be omitted. In such a case, it is preferable that after the operation of the robot 10 by the operation program C is completed, all received levels R smaller than a predetermined value R0 and the faulty teaching points Pi are associated with each other and displayed on the display unit 21.

[0036] Figure 3B is a second flowchart illustrating the operation of the robot control device. This operation is performed after the completion of the operation program C. In step S11, the robot 10 is moved to a fault teaching point Pi, for example, fault teaching point P1. Then, in steps S12 and S13, similar to steps S3 and S4 described above, the reception level R at the fault teaching point Pi is detected and compared with a predetermined value R0. Steps S12 and S13 may be omitted.

[0037] If it is determined that the reception level R is not less than the predetermined value R0, the process proceeds to step S16. Conversely, if it is determined that the reception level R at the faulty teaching point Pi is less than the predetermined value R0, the process proceeds to step S14.

[0038] Here, Figure 3C is a top view showing the positional relationship between the robot and the teaching points. In Figure 3C, multiple teaching points A1 to A8 are shown. These multiple teaching points A1 to A8 indicate the movement path of the robot 10. Of the multiple teaching points A1 to A8, teaching points A4 and A5 were set as defective teaching points P1 and P2, respectively, in step S5 described above.

[0039] Then, in step S14, first, the position correction unit 34 sets a line segment B connecting the first wireless device 61 and the second wireless device 62. Next, the position correction unit 34 moves the faulty teaching point Pi by a predetermined small distance ΔL in the direction away from the line segment B. In the example shown in Figure 3C, the faulty teaching point P1 is moved by a distance ΔL in the direction of the arrow A1. This direction A1 is a direction that is perpendicular to the line segment B and away from the line segment B in the plane containing the line segment B. In other words, direction A1 is a horizontal direction and away from the line segment B.

[0040] Next, in step S15, the position of the faulty teaching point Pi after the move is stored in the storage unit 40. Then, the process returns to step S12, the reception level R at the faulty teaching point Pi after the move is detected, and steps S12 to S15 are repeated until the reception level R at the faulty teaching point Pi is equal to or greater than a predetermined value R0.

[0041] When the reception level R at the faulty teaching point Pi becomes equal to or greater than a predetermined value R0, the process proceeds to step S15a. In step S15a, the faulty teaching point Pi is reset to the corresponding new teaching point An. In the example described above, the first faulty teaching point P1 is reset to the new teaching point A4, which has a reception level R equal to or greater than the predetermined value R0. Also, the position of the moved teaching point Pi, which was stored in step S15, is stored as the position of the new teaching point An in step S15a.

[0042] Next, in step S16, it is determined whether the variable i is equal to the total number of faulty teaching points I. In the example shown in Figure 4A, the total number of faulty teaching points I is 5. If it is determined that the variable i is not equal to the total number of faulty teaching points I, the process proceeds to step S11 via step S17, moving to the next faulty teaching point Pi, for example, faulty teaching point P2, and the same process is performed. In the example described above, the position of the second faulty teaching point P2 is changed by the position correction unit 34, and then faulty teaching point P2 is reset to a new teaching point A5 having a reception level R of a predetermined value R0 or higher.

[0043] Then, the above-described process is repeated until the reception level R at all the defective teaching points P1 to PI becomes equal to or higher than a predetermined value R0. As a result, all the defective teaching points P1 to PI are reset to new teaching points An having a reception level R equal to or higher than the predetermined value R0. Consequently, all the teaching points An in the operation program C come to have a reception level R equal to or higher than the predetermined value R0.

[0044] In this way, in the present disclosure, it is possible to extract the teaching point An with a decreased reception level R and change the position of the teaching point An so that the reception level R becomes equal to or higher than the predetermined value R0. Therefore, even when the communication performance between the first wireless device 61 and the second wireless device 62 deteriorates, it is possible to ensure the desired communication performance by correcting the position of the teaching point An. Further, even when the robot system 1a is arranged on the production line, it is possible to avoid the stop of the production line caused by the deterioration of the communication performance.

[0045] In the above-described embodiment, the position of the teaching point An is changed after the execution of the operation program C. However, in other embodiments, it is possible to change the position of the teaching point An with a small reception level R while executing the operation program C.

[0046] FIG. 4B is a flowchart for explaining the operation of the robot control device in another embodiment. Since each step S21 to S28 shown in FIG. 4B is the same as described above, it will be briefly explained.

[0047] In step S21, the robot control device 20 starts operating the robot control device 20 based on the operation program C. Then, in step S22, the robot 10 is moved to one teaching point An according to the operation program C, and in step S23, the reception level monitoring unit 31 detects the reception level R at the teaching point An. Then, in step S24, the determination unit 32 compares the detected reception level R with the predetermined value R0.

[0048] When it is determined that the reception level R is smaller than a predetermined value R0, the process proceeds to step S25. In step S25, the position correction unit 34 sets a line segment B connecting the first wireless device 61 and the second wireless device 62, and moves the teaching point An by a distance ΔL in a direction away from the line segment B as described above.

[0049] Next, in step S26, the position of the moved teaching point An is stored in the storage unit 40, and the process returns to step S23 to detect the reception level R at the moved teaching point An. Then, the processes of steps S22 to S26 are repeated until the reception level R at the moved teaching point An becomes equal to or higher than the predetermined value R0.

[0050] If it is determined in step S24 that the reception level R is not smaller than the predetermined value R0, it is determined in step S27 whether the variable n is equal to the total number N. When the detection of the reception level R at all the teaching points A1 to AN is completed, the process proceeds to step S29 to end the process.

[0051] If the detection of the reception level R at all the teaching points A1 to AN is not completed, the process returns to step S22 via step S28. Thereby, the same process is performed for the next teaching point An. And until the detection of the reception level R at all the teaching points A1 to AN is completed, the above-described process is repeated. It will be clear that the above-described effects can also be obtained in the embodiment shown in FIG. 4B. Further, in the embodiment shown in FIG. 4B, while executing the operation program C, the position of the teaching point An can be changed so that the reception level R becomes equal to or higher than the predetermined value R0.

[0052] Further, FIG. 5 is a schematic diagram of a robot system 1b based on the second embodiment of the present disclosure, and FIG. 6 is a functional block diagram of the robot system shown in FIG. 5. In these drawings, a wireless sensor S provided with a second wireless device 62 is attached to the hand H of the robot 10. In other words, in this case, the wireless sensor S is the second device 30, and the wireless communication part of the wireless sensor S corresponds to the second wireless device 62.

[0053] The wireless sensor S may be an acceleration sensor that detects vibrations of the hand H when the robot 10 is in motion. The detected acceleration is communicated with the first wireless device 61 via a second wireless device 62 located within the wireless sensor S. The second wireless device 62 may be externally connected to the wireless sensor S.

[0054] Furthermore, as can be seen from Figure 6, a wireless hand guide G equipped with a second wireless device 62 may be attached to the hand H of the robot 10 in place of the wireless sensor S. In other words, in this case, the wireless hand guide G is the second device 30, and the wireless communication portion of the wireless hand guide G corresponds to the second wireless device 62. Note that the second wireless device 62 may be externally attached to the wireless hand guide G. When the second device 30 is the wireless hand guide G, the operation program C is not used, so steps S1 in Figure 3A, step S21 in Figure 4B, etc. are omitted. It is clear that even in such a case, the same effects as described above can be obtained.

[0055] Figure 7A is a flowchart illustrating the first operation of the robot control device in the second embodiment, and Figure 7B is a top view showing the positional relationship between the robot and the teaching point to illustrate the first operation. The contents of Figure 7B and Figures 8B and 9B, which will be described later, are generally the same as the flowchart in Figure 4B mentioned above, so only the differences will be described.

[0056] In Figure 7A, step S25a is performed instead of step S25 in Figure 4B. In step S25a, the position correction unit 34 moves the position of the teaching point An by a distance ΔL so that the distance D1 between the first radio device 61 and the second radio device 62 becomes smaller.

[0057] In the embodiment shown in Figure 7B, it is determined that the reception level R at teaching point A14, one of the multiple teaching points A11 to A14, is smaller than a predetermined value R0. In such a case, the position correction unit 34 moves teaching point A14 in the direction of the arrow so that the length of the line segment D1 connecting the first radio device 61 and the second radio device 62 is shortened. In this case, teaching point A14 may also be moved so that the length between the transmitting / receiving unit 61a of the first radio device 61 and the transmitting / receiving unit 62a of the second radio device 62 is shortened. Then, the subsequent processing is carried out in the same manner as described above. It is clear that the same effects as described above can be obtained in this case as well.

[0058] Figure 8A is a flowchart illustrating the second operation of the robot control device in the second embodiment, and Figure 8B is a top view showing the positional relationship between the robot and the teaching point to illustrate the second operation.

[0059] In Figure 8A, step S25b is performed instead of step S25 in Figure 4B. In step S25b, the position correction unit 34 moves the position of teaching point An by a distance ΔL so that the first radio device 61 and the second radio device 62 face each other.

[0060] In the embodiment shown in Figure 8B, it is determined that the reception level R at teaching point A17, one of the multiple teaching points A15 to A17, is smaller than a predetermined value R0. In such a case, the position correction unit 34 moves teaching point A17 in the direction of the arrow so that the transmitting / receiving unit 61a of the first radio device 61 and the transmitting / receiving unit 62a of the second radio device 62 face each other. Specifically, teaching point A17 is moved by a distance ΔL so that the angle θ between the line segment along the surface of the transmitting / receiving unit 61a of the first radio device 61 and the line segment along the surface of the transmitting / receiving unit 62a of the second radio device 62 becomes smaller. Then, the subsequent processing is carried out in the same manner as described above. It is clear that the same effects as described above can be obtained in this case as well.

[0061] Figure 9A is a flowchart illustrating the third operation of the robot control device in the second embodiment, and Figure 9B is a top view showing the positional relationship between the robot and the teaching point to illustrate the third operation.

[0062] In Figure 9A, step S25b is performed instead of step S25 in Figure 4B. In step S25b, the position correction unit 34 moves the teaching point An by a distance ΔL so that the distance D2 between the peripheral device F and the teaching point An increases.

[0063] In the embodiment shown in Figure 9B, peripheral equipment F, such as a fence F, is installed near the robot 10. In Figure 9B, it is determined that the reception level R at teaching point A28, one of the multiple teaching points A21 to A28, is smaller than a predetermined value R0. In such a case, the position correction unit 34 moves teaching point An by a distance ΔL so that the distance D2 between the peripheral equipment F and teaching point An increases. Then, the subsequent processing is carried out in the same manner as described above. It is clear that the same effects as described above can be obtained in this case as well.

[0064] In particular, when the peripheral device F is made of metal, communication between the first wireless device 61 and the second wireless device 62 is prone to disruption. Therefore, the embodiment shown in Figure 9B is particularly advantageous when the peripheral device F is made of metal.

[0065] One effect of the at least one embodiment described above is that even if the communication performance between the first wireless device 61 and the second wireless device 62 deteriorates, the desired communication performance can be ensured by correcting the position of the teaching point An.

[0066] While embodiments of this disclosure have been described in detail, this disclosure is not limited to the individual embodiments described above. These embodiments can be added, replaced, modified, or partially deleted in various ways, without departing from the spirit of the invention or the idea and intent of the invention derived from the claims and their equivalents. For example, the order of operations and processes in the embodiments described above are given as examples only and are not limited thereto. The same applies when numerical values ​​or mathematical formulas are used in the description of the embodiments described above. Furthermore, combining some of the embodiments described above as appropriate is within the scope of this disclosure.

[0067] With respect to the above embodiments and variations, the following additional notes are disclosed. (Addendum 1) A robot control device for controlling a robot, comprising a position correction unit that corrects the position of a teaching point among the plurality of teaching points whose reception level is lower than the predetermined value, when the reception level detected at each of the plurality of teaching points of the robot that has been taught in advance is lower than the reception level between a second wireless device provided in an external device and a first wireless device that communicates wirelessly with the second wireless device, among the plurality of teaching points. (Addendum 2) The robot control device according to claim 1, further comprising a reception level notification unit that notifies the reception level. (Addendum 3) The robot control device according to claim 2, wherein the reception level notification unit associates the reception level determined to be lower than the predetermined value with the teaching point having the reception level determined to be lower than the predetermined value. (Addendum 4) The robot control device according to claim 1, wherein the position correction unit corrects the position of the teaching point in a direction away from the line segment connecting the first wireless device and the second wireless device. (Note 5) The robot control device according to claim 1, wherein the first wireless device is provided on the hand of the robot, and the position correction unit corrects the position of the teaching point so that the distance between the first wireless device and the second wireless device becomes smaller. (Note 6) The robot control device according to claim 1, wherein the first wireless device is provided on the hand of the robot, and the position correction unit corrects the position of the teaching point so that the first wireless device and the second wireless device face each other. (Note 7) The robot control device according to claim 1, wherein the first wireless device is provided on the hand of the robot, and the position correction unit corrects the position of the teaching point so that the distance between the peripheral device of the robot and the teaching point becomes larger.(Note 8) A robot system comprising: a robot; a first device for controlling the robot; a first wireless device connected to the first device; a second wireless device for communicating wirelessly with the first wireless device; a second device to which the second wireless device is connected; a reception level monitoring unit for monitoring the reception level between a second wireless device provided in an external device and a first wireless device for communicating wirelessly with the second wireless device at each of a plurality of pre-taught teaching points of the robot; a determination unit for determining whether the reception level monitored by the reception level monitoring unit at each of the plurality of teaching points is lower than a predetermined value; and a position correction unit for correcting the position of a teaching point among the plurality of teaching points for which the determination unit has determined the reception level is lower than a predetermined value. (Note 9) The robot system according to claim 8, further comprising a reception level notification unit for notifying the reception level. (Note 10) The robot system according to claim 9, wherein the reception level notification unit associates the reception level determined to be lower than the predetermined value with the teaching point having the reception level determined to be lower than the predetermined value. (Note 11) The robot system according to claim 8, wherein the position correction unit corrects the position of the teaching point in a direction away from the line segment connecting the first wireless device and the second wireless device. (Note 12) The robot system according to claim 8, wherein the first wireless device is provided on the hand of the robot, and the position correction unit corrects the position of the teaching point so that the distance between the first wireless device and the second wireless device becomes smaller. (Note 13) The robot system according to claim 8, wherein the first wireless device is provided on the hand of the robot, and the position correction unit corrects the position of the teaching point so that the first wireless device and the second wireless device face each other. (Note 14) The robot system according to claim 8, wherein the first wireless device is provided on the hand of the robot, and the position correction unit corrects the position of the teaching point so that the distance between the peripheral device of the robot and the teaching point becomes larger.(Note 15) A program to cause a computer to function as a reception level monitoring unit that monitors the reception level between a second wireless device provided in an external device and a first wireless device that communicates wirelessly with the second wireless device at each of a plurality of pre-taught teaching points of the robot; a determination unit that determines whether the reception level monitored by the reception level monitoring unit at each of the plurality of teaching points is lower than a predetermined value; and a position correction unit that corrects the position of a teaching point among the plurality of teaching points that the determination unit has determined to have a reception level lower than a predetermined value.

[0068] 1a-1b Robot System 10 Robot 20 Robot Control Device (First Device) 21 Display Unit (Output Unit) 22 Input Unit 30 Second Device (External Device) 31 Reception Level Monitoring Unit 32 Judgment Unit 33 Reception Level Notification Unit 34 Position Correction Unit 40 Storage Unit 61 First Wireless Device 62 Second Wireless Device E1-En Detection Unit G Wireless Hand Guide M1-Mn, Drive Unit S Wireless Sensor

Claims

1. A robot control device for controlling a robot, comprising a position correction unit that corrects the position of a teaching point among the plurality of teaching points where the received level detected at each of the plurality of teaching points of the robot, and where the received level between a second wireless device provided in an external device and a first wireless device that communicates wirelessly with the second wireless device is lower than a predetermined value.

2. The robot control device according to claim 1, further comprising a reception level notification unit for notifying the reception level.

3. The robot control device according to claim 2, wherein the reception level notification unit associates the reception level determined to be lower than the predetermined value with the teaching point having the reception level determined to be lower than the predetermined value.

4. The robot control device according to claim 1, wherein the position correction unit corrects the position of the teaching point in a direction away from the line segment connecting the first wireless device and the second wireless device.

5. The robot control device according to claim 1, wherein the first wireless device is provided on the hand of the robot, and the position correction unit corrects the position of the teaching point so that the distance between the first wireless device and the second wireless device becomes smaller.

6. The robot control device according to claim 1, wherein the first wireless device is provided on the hand of the robot, and the position correction unit corrects the position of the teaching point so that the first wireless device and the second wireless device face each other.

7. The robot control device according to claim 1, wherein the first wireless device is provided on the hand of the robot, and the position correction unit corrects the position of the teaching point so that the distance between the peripheral device of the robot and the teaching point is increased.

8. A robot system comprising: a robot; a first device for controlling the robot; a first wireless device connected to the first device; a second wireless device for communicating wirelessly with the first wireless device; a second device to which the second wireless device is connected; a reception level monitoring unit for monitoring the reception level between the second wireless device provided in an external device and the first wireless device for communicating wirelessly with the second wireless device at each of a plurality of pre-taught teaching points of the robot; a determination unit for determining whether the reception level monitored by the reception level monitoring unit at each of the plurality of teaching points is lower than a predetermined value; and a position correction unit for correcting the position of a teaching point among the plurality of teaching points for which the determination unit has determined the reception level is lower than a predetermined value.

9. The robot system according to claim 8, further comprising a reception level notification unit for notifying the reception level.

10. The robot system according to claim 9, wherein the reception level notification unit associates the reception level determined to be lower than the predetermined value with the teaching point having the reception level determined to be lower than the predetermined value.

11. The robot system according to claim 8, wherein the position correction unit corrects the position of the teaching point in a direction away from the line segment connecting the first wireless device and the second wireless device.

12. The robot system according to claim 8, wherein the first wireless device is provided on the hand of the robot, and the position correction unit corrects the position of the teaching point so that the distance between the first wireless device and the second wireless device becomes smaller.

13. The robot system according to claim 8, wherein the first wireless device is provided on the hand of the robot, and the position correction unit corrects the position of the teaching point so that the first wireless device and the second wireless device face each other.

14. The robot system according to claim 8, wherein the first wireless device is provided on the hand of the robot, and the position correction unit corrects the position of the teaching point so that the distance between the peripheral device of the robot and the teaching point is increased.

15. A program to cause a computer to function as a reception level monitoring unit that monitors the reception level between a second wireless device provided in an external device and a first wireless device that communicates wirelessly with the second wireless device at each of a plurality of pre-taught teaching points of the robot; a determination unit that determines whether the reception level monitored by the reception level monitoring unit at each of the plurality of teaching points is lower than a predetermined value; and a position correction unit that corrects the position of a teaching point among the plurality of teaching points that the determination unit has determined to have a reception level lower than a predetermined value.

Images