JP2015058493A - Control device, robot system, robot, robot motion information generation method and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a control device, a robot system, a robot, a robot operation information generation method, a program, and the like for generating appropriate robot operation information by input easy for a user by performing processing using a polar coordinate system on the basis of layout information including a first position and a second position of a workpiece.SOLUTION: A control device 100 includes: an information acquisition unit 110 that acquires layout information including a first position and a second position of a workpiece in a work space; and a processing unit 120 that generates robot operation information. The processing unit 120 sets a first polar coordinate system corresponding to a first arm of a robot and a second polar coordinate system corresponding to a second arm, generates workpiece moving information representing moving of the workpiece from the first position to the second position using at least either the first polar coordinate system or the second polar coordinate system, and generates the robot operation information on the basis of the workpiece moving information.

Description

  The present invention relates to a control device, a robot system, a robot, a robot motion information generation method, a program, and the like.

  In order to cause a robot to perform a desired operation, a method using teaching by a user is widely known. Specifically, direct teaching that teaches robot operation by a user (teacher) moving a robot arm or the like by hand, teaching playback that teaches robot operation by operating an operation unit such as a teaching pendant, Alternatively, off-line teaching or the like in which teaching is performed using a simulation on a computer without using a real robot is known. Patent Document 1 discloses a technique for performing offline teaching with an operation feeling close to teaching using an actual machine by operating a robot simulator using a teaching pendant.

  In addition, when a given condition is given by the user's instruction, the robot action according to the condition is automatically generated instead of designating the robot action one by one using a teaching pendant etc. Is also known to automatically generate a teaching program. For example, Patent Document 2 discloses a method of automatically generating a teaching program adapted to an actual environment based on the contact state of components when an assembly operation by contact is targeted.

JP 2003-236784 A JP 2000-267719 A

  In the teaching using the teaching pendant as in Patent Document 1, the user who performs the teaching has knowledge about the robot and knowledge about the work to be performed by the robot (for example, if welding is desired to be performed, welding Knowledge).

  Japanese Patent Application Laid-Open No. 2004-228561 describes that it can be adapted to changes in the actual environment, but it is a human task to teach the posture acquired by the range finder in accordance with the appearance (aspect). Therefore, when the layout is changed, the system of Patent Document 2 cannot automatically associate the range data corresponding to the layout with the aspect. As a result, in the conventional method such as Patent Document 2, when the layout is changed, the work by the user is required, so that the burden on the user is large.

  One aspect of the present invention is an information acquisition unit that acquires layout information including a first position of a workpiece in a work space of a robot and a second position of the workpiece different from the first position; and the layout information And a processing unit for generating robot motion information, the processing unit setting a first polar coordinate system corresponding to the first arm of the robot in the work space, and the work In the space, a process of setting a second polar coordinate system corresponding to a second arm different from the first arm of the robot is performed, and the workpiece is moved from the first position to the second position. Is generated using at least one of the first polar coordinate system and the second polar coordinate system, and the robot motion information is generated based on the work movement information. Related to the control device.

  In one aspect of the present invention, layout information including a first position and a second position of a workpiece is acquired, and robot operation information is generated using a polar coordinate system. Therefore, if the user inputs layout information, a movement path between the first position and the second position, a robot operation that realizes movement of the workpiece along the movement path, and the like are automatically generated. An easy-to-use system can be realized. In addition, since the polar coordinate system is set corresponding to each arm, it is possible to appropriately select the arm used for the operation.

  In one aspect of the present invention, the robot operation information may be obtained by using any one of the first arm and the second arm of the robot to move the workpiece from the first position to the first position. It may be information indicating whether to move to position 2.

  Thereby, it is possible to generate information as to which robot is used to move the workpiece as robot operation information.

  In one embodiment of the present invention, the processing unit has a first angle range corresponding to the movable range of the first arm and a first distance range corresponding to the movable range of the first arm. , Setting the first polar coordinate system, the second angle range corresponding to the movable range of the second arm, and the second distance range corresponding to the movable range of the second arm, Two polar coordinate systems may be set.

  As a result, the movable range of the arm corresponds to the distance range and the angle range of the polar coordinate system, so that a more appropriate arm can be selected.

  In the aspect of the invention, the processing unit may be configured such that the first polar coordinates in which the arrangement position of the workpiece represented by the layout information is set in the first angle range and the first distance range. When represented by a system, the robot movement information for moving the workpiece by the first arm is generated using the arrangement position as a start point or an end point, and the arrangement position of the workpiece represented by the layout information Is expressed by the second polar coordinate system set in the second angle range and the second distance range, the work position is set by the second arm with the arrangement position as a start point or an end point. The robot operation information for moving the robot may be generated.

  This makes it possible to select an arm used for moving the workpiece based on whether or not the position of the workpiece is represented by each polar coordinate system.

  In one embodiment of the present invention, the robot may include a main body that can rotate around a predetermined axis, and the first arm and the second arm that are provided on the main body.

  This makes it possible to generate robot operation information including the operation of the main body.

  In one aspect of the present invention, the processing unit performs a process of setting a third polar coordinate system corresponding to the main body of the robot, from the first position to the second position of the workpiece. Is generated using at least one of the first polar coordinate system and the second polar coordinate system and the third polar coordinate system, and based on the generated work movement information Then, the robot operation information may be generated.

  As a result, it is possible to generate robot operation information using the third polar coordinate system corresponding to the main body.

  In one embodiment of the present invention, the processing unit performs a process of setting a third polar coordinate system for rotating the first polar coordinate system and the second polar coordinate system, and the first position of the workpiece. Generating the workpiece movement information representing the movement from the first position to the second position using at least one of the first polar coordinate system and the second polar coordinate system and the third polar coordinate system, The robot operation information may be generated based on work movement information.

  As a result, a coordinate system that rotates the first polar coordinate system and the second polar coordinate system can be set as the third polar coordinate system.

  Another aspect of the present invention relates to a robot system including any one of the control devices described above and the robot.

  Thereby, the layout information including the first position and the second position of the workpiece is acquired, and the robot operation information is generated using the polar coordinate system. Therefore, if the user inputs layout information, a movement path between the first position and the second position, a robot operation that realizes movement of the workpiece along the movement path, and the like are automatically generated. An easy-to-use system can be realized. In addition, since the polar coordinate system is set corresponding to each arm, it is possible to appropriately select the arm used for the operation.

  According to another aspect of the present invention, an information acquisition unit that acquires layout information including a first position of a work in a predetermined work space and a second position of the work different from the first position; A processing unit that generates robot motion information based on the layout information, the processing unit setting a first polar coordinate system corresponding to a first arm in the work space, and the work In the space, a process of setting a second polar coordinate system corresponding to a second arm different from the first arm is performed, and the movement of the workpiece from the first position to the second position is performed, The present invention relates to a robot that generates work movement information expressed using at least one of the first polar coordinate system and the second polar coordinate system, and generates the robot motion information based on the work movement information.

  Thus, it is possible to realize a robot that generates the above-described robot operation information and performs an operation based on the generated robot operation information.

  Further, another aspect of the present invention performs a process of acquiring layout information including a first position of a work in a robot work space and a second position of the work, and based on the acquired layout information, A robot motion information generating process for generating robot motion information is performed, and as the robot motion information generating process, a first polar coordinate system corresponding to the first arm of the robot is set in the work space, and in the work space, , Setting a second polar coordinate system corresponding to a second arm different from the first arm of the robot, and moving the workpiece from the first position to the second position. The workpiece movement information represented using at least one of the polar coordinate system and the second polar coordinate system is generated, and the robot motion is generated based on the generated workpiece movement information. Relating to the robot operation information generation method for performing a process of generating information.

  Thereby, the layout information including the first position and the second position of the workpiece is acquired, and the robot operation information is generated using the polar coordinate system. Therefore, if the user inputs layout information, a movement path between the first position and the second position, a robot operation that realizes movement of the workpiece along the movement path, and the like are automatically generated. An easy-to-use system can be realized. In addition, since the polar coordinate system is set corresponding to each arm, it is possible to appropriately select the arm used for the operation.

  Moreover, the other aspect of this invention is related with the program which functions a computer as said each part.

  Thereby, the layout information including the first position and the second position of the workpiece is acquired, and the robot operation information is generated using the polar coordinate system. Therefore, if the user inputs layout information, a movement path between the first position and the second position, a robot operation that realizes movement of the workpiece along the movement path, and the like are automatically generated. An easy-to-use system can be realized. In addition, since the polar coordinate system is set corresponding to each arm, it is possible to appropriately select the arm used for the operation.

  As described above, according to some aspects of the present invention, the input using the polar coordinate system is performed based on the layout information including the first position and the second position of the workpiece. Thus, it is possible to provide a control device, a robot system, a robot, a robot motion information generation method, a program, and the like that generate appropriate robot motion information.

The system configuration example of the control apparatus which concerns on this embodiment. The detailed system configuration example of the control apparatus which concerns on this embodiment. The structural example of the robot system which concerns on this embodiment. The other structural example of the robot system which concerns on this embodiment. An example of the initial state corresponding to the initial position of the workpiece. 6A and 6B show examples of polar coordinate systems set in the work space. 7A and 7B show examples of the correspondence between the initial position of the workpiece and the polar coordinate system. 8A and 8B show a final state corresponding to the final position of the workpiece, and an example of a correspondence relationship between the final position and the polar coordinate system. FIGS. 9A and 9B show an intermediate state corresponding to the intermediate position of the workpiece, and a correspondence example between the intermediate position and the polar coordinate system. FIG. 10A and FIG. 10B are diagrams for explaining assembly work of two workpieces. 11A and 11B are diagrams showing the relationship between the movable range of the arm and the polar coordinate system to be set. The figure explaining the correspondence of the initial position etc. of a work, and a polar coordinate system. An example of robot operation information obtained by determining an arm to be used. 14A to 14D are explanatory diagrams of specific examples of robot operations. FIG. 15A to FIG. 15D are other explanatory diagrams of specific examples of the robot operation. FIG. 16A to FIG. 16D are other explanatory diagrams of specific examples of the robot operation. FIG. 17A to FIG. 17D are other explanatory diagrams of specific examples of the robot operation. An example in which a plurality of movement paths and robot operation information are obtained. FIGS. 19A to 19C are diagrams for explaining the relationship between the distance range and angle range of the polar coordinate system and the arm structure. 20A and 20B are explanatory diagrams of the rotation operation of the main body. 21A and 21B show setting examples of the moving speed of the robot. The flowchart for demonstrating the process of this embodiment. The flowchart for demonstrating work cost calculation processing. FIGS. 24A and 24B are diagrams illustrating changes in coordinate values in the third polar coordinate system when the main body rotates.

  Hereinafter, this embodiment will be described. In addition, this embodiment demonstrated below does not unduly limit the content of this invention described in the claim. In addition, all the configurations described in the present embodiment are not necessarily essential configuration requirements of the present invention.

1. First, the method of this embodiment will be described. Conventionally, in order to cause a robot to perform a desired operation, a technique using teaching by a user is widely known. Specifically, as described above, direct teaching, teaching playback, offline teaching, and the like are known, and a method close to a combination as disclosed in Patent Document 1 is also disclosed.

  However, in recent years, robots have been used in a very wide area. For this reason, it is assumed that there are many cases where a user who teaches a robot does not have sufficient expertise about the robot. In other words, it is desirable that teaching to the robot be performed in an easy-to-understand form so that even a user with insufficient expertise can execute it. In that respect, as described above, the method of Patent Document 1 is not preferable.

  On the other hand, with the method of Patent Document 2, it is not necessary for the user to designate the robot operation one by one using a teaching pendant or the like. Furthermore, the operation by the robot largely depends on a layout (work layout) representing the arrangement of work objects (work) in the work space. Therefore, when a user designates a layout or the like to be a target state, the system that automatically creates a teaching program that realizes the layout is highly useful. However, as described above, in Patent Document 2, when the layout is changed, the work by the user is required, so that the burden on the user is large and it cannot be said that it is a preferable method.

  In view of this, the present applicant proposes a control device that automatically creates a robot operation for moving a workpiece from the initial position to the final position when layout information including the initial position and final position of the workpiece is given. At this time, a first polar coordinate system corresponding to the first arm of the robot and a second polar coordinate system corresponding to the second arm are set, and processing is performed using the set polar coordinate system.

  Specifically, as shown in FIG. 1, the control device 100 of the present embodiment includes a first position of a work in a work space of a robot (corresponding to a robot body 300 in FIG. An information acquisition unit 110 that acquires layout information including the position of the robot and a processing unit 120 that generates robot motion information based on the layout information. Then, the processing unit 120 corresponds to a process of setting a first polar coordinate system corresponding to the first arm of the robot in the work space, and a second arm different from the first arm of the robot in the work space. A workpiece movement in which the process of setting the second polar coordinate system is performed and the movement of the workpiece from the first position to the second position is expressed using at least one of the first polar coordinate system and the second polar coordinate system. Information is generated, and robot motion information is generated based on the workpiece movement information.

  Here, the first position of the work represents the position of the given work in the work space, and the second position is the position of the given work in the work space and is different from the first position. Represents the position. In the present embodiment, since the work is assumed to move from the first position to the second position, the work is at the first position at the first timing and is later than the first timing. It is in the second position at the second timing. Specifically, the first position of the work may be a position corresponding to an initial position representing the position of the work in the initial state of the work. Further, the second position of the workpiece may be a position corresponding to the final position representing the position of the workpiece in the final state (target state) of the work. In the following description, the first position is described as the initial position and the second position is the final position. However, the present invention is not limited to this, and the first and second positions are arbitrary workpieces in the work space. These two positions are represented.

  As will be described later, when the work A and the work B in the state of FIG. 5 are assembled and placed in the material removal area C so as to be in the state of FIG. Represents the position of the workpiece A and the position of the workpiece B in FIG. Further, the final position of the work represents, for example, the position of the work A + B (the work A and the work B are assembled) in FIG. Alternatively, the initial position and the final position do not have to uniquely determine the position of the workpiece. For example, as shown in the material removal area C in FIG. 8A, an area having a size larger than that of the workpiece may be used as information indicating the initial position or the final position. In the example of FIG. 8A, the work A + B may be at any position in the material removal area C in the final state, and the fine position in the material removal area C does not matter.

  The layout information is information representing the position of the work in the work space, and is some information representing the state of the work as shown in FIGS. 5 and 8A, for example. Specifically, it may be a captured image obtained by capturing the state of FIG. 5 or the like, information obtained from the captured image, or a coordinate value in a given coordinate system set in the work space. . The layout information according to the present embodiment is not limited to the initial position and the final position of the workpiece, and may include information on a midway position representing the position of the work in the middle of the initial position and the final position, for example.

  The workpiece movement information is information representing a route for moving the workpiece from the initial position to the final position, for example, as shown in R1 and R2 of FIG. 18 described later. Specifically, the workpiece movement information is based on a set polar coordinate system. expressed. The robot motion information is information that expresses a robot motion for realizing the movement of the workpiece represented by the workpiece movement information. Even if the movement path of the workpiece is defined by the workpiece movement information, it can be realized by moving the workpiece with the right hand of the robot, moving it with the left hand, or rotating the waist while holding it with either arm It is unknown whether to do it. The robot operation information in this embodiment is information that defines the operation of the robot that realizes the movement of the workpiece, such as the determination of the arm to be used.

  Thus, when layout information including an initial position and a final position of a workpiece is input, it is possible to generate robot operation information representing a robot operation for moving the workpiece from the initial position to the final position. When the user inputs an initial state and a desired state (final state), the control device 100 automatically generates a movement path between them and a robot operation necessary for the movement. Therefore, it is possible for the user to cause the robot to perform a desired work on the work without complicated input.

  When processing layout information using a polar coordinate system, as shown in FIGS. 7A and 7B, the correspondence between the position of each workpiece and the polar coordinate system (in a narrow sense, the work What kind of coordinate value the position is in the polar coordinate system may be determined. For example, as shown in FIG. 5, the arrangement of the work A, work B, and material removal area C on the work table is acquired as layout information, and as shown in FIG. 6A, polar coordinates corresponding to each arm are obtained. When the system is set, the layout information corresponding to FIG. 5 can be expressed as a coordinate value of the polar coordinate system as a column shown as “initial position” in FIG. That is, the process of dropping the layout information into the polar coordinate system is very easy, and even if the input layout information changes, there is an advantage that adjustment work by the user is not required for the change.

  Note that the layout information in the present embodiment is information representing the placement of a workpiece and the like, and the movement information from the initial position of the workpiece to the final position is obtained from the layout information including the initial position and final position of the workpiece. become. At that time, when a robot having a plurality of arms such as a double-arm robot is targeted, there are several candidates for the arm used when moving the workpiece as described above.

  Therefore, in this embodiment, as illustrated in FIG. 13, the robot operation information is obtained by using either the first arm or the second arm of the robot to move the workpiece from the first position to the second position. It may be information indicating whether to move to a position.

  As a result, information indicating which arm of the robot is used to move the workpiece along the movement path represented by the workpiece movement information can be generated as the robot operation information. In a robot having a plurality of arms, such as a double-arm robot described later with reference to FIGS. 3 and 4, there is a possibility that the movement of a predetermined workpiece can be realized by either the first arm or the second arm. Actual robot control cannot be performed without deciding which arm to use. In addition, the work can be moved with the first arm, but the work may not be able to move with the second arm because the position on the moving path cannot be reached. In that case, it is necessary to use the first arm. If robot operation information using the second arm is generated, robot control according to the information cannot be realized, which is not preferable. That is, in a multi-arm robot, determination of an arm is very important, and the method of this embodiment is useful in that it can be performed up to determination of an arm to be used for inputting layout information.

  In the process of determining the arm to be used for moving the workpiece from the first and second arms, it is important to consider the movable range of each arm. Because, for example, even if robot operation information is generated by using the first arm to move a workpiece at a position that cannot be reached no matter how the first arm is driven, the robot operation information is followed. This is because robot control cannot be realized.

  Therefore, in the present embodiment, as illustrated in FIGS. 11A and 11B, the processing unit 120 includes the first angular range corresponding to the movable range of the first arm and the movable range of the first arm. A first polar coordinate system is set in the first distance range corresponding to the range, the second angle range corresponding to the movable range of the second arm, and the second range corresponding to the movable range of the second arm. A second polar coordinate system is set in the distance range.

  Here, the movable range of the arm represents a range in which a given position of the arm (in a narrow sense, the position of an end point or an end effector provided at the end point) can be reached. The movable range of the arm is determined as a design item of the robot from the range of joint angles that can be taken by the joints included in the arm, and is a format unrelated to the polar coordinate system set in this embodiment. Is remembered. For example, as shown in FIG. 11A, it may be stored in the form of a given range with respect to the robot body, or stored as a set of angle ranges where the joint angles of each joint included in the arm can be taken. May be. The processing unit 120 of this embodiment performs processing by associating the movable range with the polar coordinate system.

  Thereby, the robot operation to be created can be realized by considering the movable range. The robot operation that cannot be realized is, for example, an operation of moving the movable part out of the movable range.

  For example, as shown in FIG. 19A, frames A3 and A4 each having a length R provided between joints A1 and A2 each having two degrees of freedom, and between joints A1 and A2 and at the tip of joint A2. And an arm including an end point A5 provided at the tip of the frame A4 and connected to the hand A6 and the like. In this case, the position of the end point A5 can be determined by forward kinematics or the like because it is known that the frame lengths of A3 and A4 are R if the angles taken by A1 and A2 are determined. If a polar coordinate system with the joint A1 as the origin is set here, the position of the end point A5 in the polar coordinate system is expressed as one coordinate value (r, θ, φ). The coordinate values r, θ, and φ corresponding to the position of A5 cannot take arbitrary values, and the range is limited by the structure of the arm. For example, when considering the distance r, A5 is farthest from the origin (A1) when the frames A3 and A4 are in a straight line, and the distance r = 2R at that time. On the other hand, A5 is closest to the origin when, for example, the arm is folded as shown in FIG. 19B. If the size of each part in the arm is ignored, the joint A2 is 180 degrees. R = 0 at the time of folding is the minimum distance.

  Similarly, θ and φ generally do not take all values from 0 ° to 360 °, and the angle range that can be taken is determined by the movable range of the joint angles A1 and A2, respectively. For example, when considered on the xy plane, if the angles that A1 and A2 can take are in the range of FIG. 19C, the minimum value of φ is φmin in FIG. 19C, and the maximum value of φ is φmax. Become.

  This point is the same for the arm having a configuration other than that shown in FIG. 19A. Generally, the movable range of the arm is a space based on parameters determined as design items of the robot such as a frame length and a joint angle range. Can be obtained as a general range.

  Considering the above points, if a polar coordinate system with the given joint in the arm as the origin is set, the end point can be reached by driving the joint with the origin and the part beyond it. The possible range will be expressed as a given distance range and a given angular range of the polar coordinate system. In other words, when the position of the workpiece is expressed using a given polar coordinate system, the coordinate value of the workpiece is within a given distance range and given angle range determined from the structure of the arm. The workpiece can be set as a work target by driving the joint serving as the origin and the portion ahead thereof. Furthermore, in other words, when a given polar coordinate system is set to a given distance range and given angle range determined from the structure of the arm, if the workpiece position can be expressed by the polar coordinate system, Can be set as a work target by driving the joint that is the origin and the part ahead of it.

  In other words, the polar coordinate system corresponding to the arm is set, and the position of the workpiece included in the given layout information is dropped into the set polar coordinate system to determine the coordinate value, so that the workpiece at that position is determined. It becomes possible to easily determine whether or not each arm can perform work. Therefore, even when the robot has a plurality of arms, it is possible to generate robot operation information after appropriately selecting an arm to be used for work on a workpiece or the like.

  Note that the polar coordinate system to be set is not limited to that shown in FIG. For example, the polar coordinate system to be set may be two-dimensional instead of three-dimensional. Specifically, the three-dimensional polar coordinate system shown in FIG. 19A may be projected onto the xy plane, and a two-dimensional polar coordinate system corresponding to the xy plane may be set. Originally, it is assumed that the robot motion is three-dimensional, but by using a two-dimensional polar coordinate system, the robot motion creation process can be performed at high speed.

  However, in other words, the robot motion information to be created has low accuracy by projecting the originally three-dimensional robot motion to two dimensions. In this case, the method of the present embodiment allows the error, and it may be assumed that the robot motion creation process at a more detailed level is performed later. In other words, the robot motion creation process is divided into several steps, and relatively coarse robot motion information is created upstream, and relatively detailed robot motion information is created downstream using the upstream creation results. And the method of this embodiment assumes the upstream process. By doing so, extremely high processing accuracy is not required in the generation of the robot motion information of the present embodiment.

  Further, the setting method of the arm structure and the polar coordinate system is not limited to that shown in FIG. 19A or the like, and an arm having a complicated configuration such as 6 degrees of freedom or 7 degrees of freedom may be used. Various modifications can be made to the dimension of the polar coordinate system and the position of the origin set correspondingly.

  Hereinafter, after describing a configuration example of the control device and the robot system according to the present embodiment, details of the processing will be described.

2. System Configuration Example FIG. 2 shows a detailed system configuration example of the control device 100 according to the present embodiment. However, the control device 100 is not limited to the configuration in FIG. 2, and various modifications such as omitting some of these components or adding other components are possible.

  As illustrated in FIG. 2, the processing unit 120 of the control device 100 may include a polar coordinate system setting unit 121, a work movement information generation unit 123, and a robot motion information generation unit 127, and further, a robot motion information generation unit 127. May include a work cost calculation unit 129.

  The polar coordinate system setting unit 121 sets a plurality of polar coordinate systems based on the position of the robot. As the polar coordinate system to be set, a first polar coordinate system corresponding to the first arm, a second polar coordinate system corresponding to the second arm, a third polar coordinate system corresponding to the main body of the robot, and the like can be considered. . Details of the polar coordinate system setting process will be described later.

  The workpiece movement information generation unit 123 expresses the movement from the initial position to the final position of the workpiece using the polar coordinate system by expressing the position of the workpiece included in the layout information using the set polar coordinate system. Generate work movement information.

  The robot motion information generation unit 127 generates and outputs robot motion information based on the workpiece movement information. The robot operation information generation unit 127 may include an operation cost calculation unit 129. The operation cost calculation unit 129 calculates the operation cost of each piece of information when a plurality of robot operation information is obtained. In this case, the robot motion information generation unit 127 performs a process of determining a small number (one in a narrow sense) of robot motion information as an output for the subsequent unit based on the work cost calculated for each piece of information.

  Details of processing performed in each unit of the processing unit 120 illustrated in FIG. 2 will be described later. As described above, the method of the present embodiment may correspond to an upstream process when a series of processes for determining a robot operation is realized in a plurality of processes. Therefore, the robot operation information output as the processing result of the present embodiment may be used for actual robot control after some processing is performed by the subsequent unit. This subsequent unit may be included in the control device 100 according to the present embodiment, or may be included in another electronic device.

  Further, as shown in FIG. 3, the method of the present embodiment can be applied to a robot system including the control device 100 and a robot (robot main body 300). In the configuration of FIG. 3, the control device 100 of this embodiment is a unit that generates more detailed information for robot control based on the robot motion information in addition to the information acquisition unit 110 and the processing unit 120 of FIG. (The latter-stage unit described above) and a robot control unit that controls the robot main body 300 based on the detailed information for robot control.

  The robot body 300 includes a first arm 310, a second arm 320, and end effectors 319 and 329 provided at the tip of the arm 310 and the like.

  Thus, the layout information is acquired to generate the robot motion information, and the control device 100 that generates the control information for the robot body 300 based on the robot motion information to perform the robot control, and operates according to the control of the control device 100. It is possible to realize a robot that performs the above as one system. In this robot system, the robot body 300 and the control device 100 may be provided separately as shown in FIG.

  Note that the configuration example of the robot system according to the present embodiment is not limited to FIG. For example, as shown in FIG. 4, the robot system may include a robot main body 300 and a base unit unit 400.

  The robot body 300 may be a double-arm robot, and includes a first arm 310 and a second arm 320 in addition to portions corresponding to a head and a torso. In FIG. 4, the first arm 310 includes joints 311 and 313 and frames 315 and 317 provided between the joints. The same applies to the second arm 320, but is not limited thereto. End effectors 319 and 329 are provided at the distal ends of the first arm 310 and the second arm 320. Here, the end effector 319 may be a hand as shown in FIG. 4, or may be another tool or the like. Although FIG. 4 shows an example of a double-arm robot having two arms, the robot of this embodiment may have three or more arms.

  The base unit part 400 is provided at the lower part of the robot body 300 and supports the robot body 300. In the example of FIG. 4, the base unit 400 is provided with wheels and the like so that the entire robot can move. However, the base unit 400 may be configured to be fixed to a floor surface or the like without having wheels or the like. In the robot system of FIG. 4, the robot main body 300 and the control device 100 are integrally configured by storing the control device 100 in the base unit 400.

  Alternatively, the method of the present embodiment can be applied to a robot including the information acquisition unit 110 and the processing unit 120 described above. For example, the information acquisition unit 110 and the processing described above can be performed by a base (more specifically, an IC provided on the base) built in the robot without providing a specific control device like the control device 100. A robot that realizes the unit 120 and executes robot control is conceivable.

3. Details of Processing Next, details of processing according to the present embodiment will be described. Specifically, the details of the layout information acquired by the information acquisition unit 110 will be described, and the polar coordinate system setting processing by the polar coordinate system setting unit 121 will be described. Thereafter, the robot motion information generation process will be described. The robot motion information generation process is specifically realized by a work movement information generation process in the work movement information generation unit 123 and a cost calculation process in the work cost calculation unit 129. Finally, the processing flow of the present embodiment will be described with reference to the flowcharts of FIGS.

3.1 Layout Information Acquisition Processing Details of layout information acquired by the information acquisition unit 110 will be described first. Hereinafter, as described above, the work A and the work B at the positions shown in FIG. 5 are assembled to the work A on the way, and then as shown in FIG. 8A. An example of performing the work placed in the material removal area C will be described. At this time, the workpiece A is assembled with the workpiece A facing down, but the position suitable for the work in front of the robot is the initial position of the workpiece B. Therefore, as shown in FIG. 9A, it is assumed that the process of temporarily moving the workpiece B to the back side with respect to the robot and moving the workpiece A to a vacant position is performed.

  That is, the information acquisition unit 110 of the control device 100 acquires layout information including the intermediate position of the workpiece, which is the position of the workpiece between the initial position and the final position, and the processing unit 120 determines the intermediate position of the workpiece and the polar coordinate system. The workpiece movement information is generated by using the polar coordinate system to show the movement from the initial position of the workpiece to the middle position and the movement from the middle position of the workpiece to the final position. Based on the above, robot motion information represented using a polar coordinate system may be generated. The intermediate position is a position corresponding to the third position in a broad sense so that the initial position corresponds to the first position in a broad sense and the final position corresponds to the second position. The third position is the position of the workpiece in the work space, and is a position different from the first position and the second position.

  Here, the midway position of the workpiece is the position of the workpiece shown in FIG. 9A as described above, and information indicating the state of FIG. 9A is included in the layout information. This intermediate position corresponds to the third position.

  As a result, information including the intermediate position of the workpiece is stored as layout information, and workpiece movement information passing through the intermediate position can be generated, and further, robot operation information can be generated according to the workpiece movement information. If the initial position and the final position of the workpiece are designated, there is a great advantage that the control device 100 automatically creates a route between them, but depending on the situation, not all the routes between them are allowed. For example, in the example of FIG. 9A, as described above, the work B needs to be retracted in order to secure the work place. Alternatively, an area where the workpiece does not want to enter may be set because there is some obstacle between the initial position and the final position, and in this case, a route that avoids the area where the workpiece does not want to enter is set. Must be generated. In the present embodiment, it is possible to include a midway position in the layout information, and by setting the midway position, it is possible to make the movement path of the workpiece more appropriate.

  The following description assumes that the layout information includes an intermediate position of the workpiece, and the layout information to be given to the control device 100 includes the initial position of the workpiece A and the initial position of the workpiece B shown in FIG. Information indicating the position of the material removal area C corresponding to the final position of the workpiece A + B shown in FIG. 8A, and the intermediate position of the workpiece A and the intermediate position of the workpiece B shown in FIG. It becomes information to show.

  Here, various modifications can be made for the format of the information representing each position. For example, a work image may be arranged on an actual work table so as to be in the states of FIGS. 5, 8A, and 9A, and a captured image obtained by capturing the state from above the work table may be used. In this case, the control device 100 acquires a captured image, and specifies which image region of the captured image corresponds to the work space of the robot. For example, when the work table corresponds to the work space of the robot, an area where the work table is imaged is extracted from the captured image, and a position in which the work A or B is imaged is obtained in the extracted area. Thus, processing for specifying the initial position, final position, and midway position of the workpiece A or the like is performed.

  Alternatively, the actual work space is used, but the actual work does not have to be used. For example, the initial position of the workpiece may be acquired by indicating a point on the work space using some pointing device and specifying the specified point. In this case, the captured image may be captured as described above, and the layout information may be acquired by specifying the initial position and the like based on the position where the pointing device is captured in the captured image. Alternatively, by using a sensor or the like that detects the position of the pointing device itself, the position pointed to by the pointing device without using the captured image may be specified and acquired as layout information. For example, since position measurement systems using ultrasonic waves and magnetism are widely known, the position pointed to by the pointing device may be specified using these methods.

  Alternatively, the layout information may be generated on the simulator without using the actual work space or workpiece. For example, CAD data that reproduces the work space and the size and shape of the work may be created, and the work shown in FIG. 5 or the like may be reproduced by placing the work on a two-dimensional or three-dimensional simulation space. In that case, the information acquisition unit 110 acquires the layout information by specifying the position of each workpiece based on the information associating the simulation space with the actual work space.

  In addition, various modifications can be made to the information acquired by the information acquisition unit 110 and the method of specifying the initial position of the workpiece from the acquired information.

3.2 Polar coordinate system setting process The polar coordinate system setting unit 121 sets a plurality of polar coordinate systems. Specifically, in a multi-arm robot having a plurality of arms, a polar coordinate system corresponding to the arm is set for each arm. In the following description, a double-arm robot having first and second arms as shown in FIGS. 3 and 4 is used as an example, but it can be extended to a robot having three or more arms. Needless to say. In the following description, plane layout information is acquired as layout information, and a plane (two-dimensional) polar coordinate system is set as a polar coordinate system. Good.

  The polar coordinate system of the present embodiment is set with a given point on the arm as an origin, and when the given point moves by driving the arm, the polar coordinate system is also adjusted accordingly. It is something that moves. In a broad sense, the origin of the polar coordinate system may be a point where the relative positional relationship with the arm is fixed, and a point other than the point on the arm may be used. In this case, the origin of the polar coordinate system is desirably set to a fixed point that does not move even when the arm is operated. As described above, the advantage of setting the polar coordinate system in the present embodiment is caused by associating the range of the polar coordinate system with the movable range of the arm. This is because, if the origin of the polar coordinate system is set to a point that moves when the arm moves, the association with the movable range becomes insufficient.

  An example of an arm structure similar to that of a human being is shown. The arm in this case has a shoulder joint, an elbow joint, and a wrist joint. Here, the position of the elbow joint changes depending on the driving of the shoulder joint (corresponding to the operation of turning the shoulder). Therefore, even if the origin of the polar coordinate system is set at the position of the elbow joint and the distance range and angle range of the polar coordinate system are associated with the movable range of the arm beyond the elbow, the position of the elbow joint is determined in the polar coordinate system. In the case where the elbow joint is at the determined position, only the range that can be reached by moving the tip of the elbow is shown. Therefore, even when determining whether or not a workpiece at a given position in the work space can be a work target, it is possible to determine if the position of the elbow joint is not determined by first determining the angle of the shoulder joint, etc. Can not. Furthermore, if the shoulder joint is in the first state, the workpiece can be the work target, but if the shoulder joint is in the second state, the work cannot be the work target. In other words, it is necessary to determine whether or not a work at a given position as a work target can be performed as a whole arm, but the determination cannot be made without first determining the state of the shoulder joint, etc., and the state of the shoulder joint The polar coordinate system having the elbow joint as the origin is not preferable in that the determination result may change according to the above.

  On the other hand, consider a case where a polar coordinate system with the shoulder joint as the origin is set, and the distance range and the angle range are set to a range that can be reached by moving the tip from the shoulder. In this case, no matter how the arm itself is moved, the position of the shoulder joint does not change (in this case, since the movement of the arm is considered, the rotation of the body is not considered). In other words, the determination as to whether the target arm can work as a work target may be performed using a polar coordinate system with the shoulder as the origin, in which case some additional condition (with the elbow as the origin) There is no need to set the shoulder joint angle. This is due to the fact that the shoulder joint is a fixed point that does not move when focusing only on the movement of the arm.

  Based on the above, in the present embodiment, the fixed point of the first arm is used as the origin, and the arm (the hand provided at the end point of the arm in a narrow sense) can be reached by moving beyond the fixed point. The polar coordinate system that becomes the distance range and the angle range is set as the first polar coordinate system. For example, as shown in FIG. 6A, a first polar coordinate system with the fixed point S1 of the first arm 310 as the origin is set. In FIG. 6A and the like, for the sake of convenience of expressing the drawing, S1 is a fixed point and the driving of S0 is not considered. However, considering the structure of the arm, a joint may be provided at S0 as shown in the robot operations of FIGS. 14A to 17D, and in that case, a fixed point, that is, the origin of the polar coordinate system. Is preferably S0.

  Similarly, with respect to the second arm, polar coordinates having a fixed range of the second arm as an origin and a distance range and an angle range corresponding to a range that can be reached by moving the tip from the fixed point. Set the system as the second polar coordinate system. Specifically, the polar coordinate system shown in FIG.

  In the present embodiment, it is also assumed that the robot main body (body) provided with the first arm 310 and the second arm 320 is rotated. Specifically, the robot includes a main body BO that can rotate around a predetermined axis, and a first arm 310 and a second arm 320 provided on the main body BO.

  For example, as shown in FIG. 20A, the work of moving the workpiece at the position P1 to P2 can be realized by driving the first arm 310. However, this work is not limited to the operation shown in FIG. 20A, but as shown in FIG. 20B, the first arm 310 is fixed in a state where the work is held and the robot body BO is rotated. It is feasible. 20A and 20B is compared, it is necessary to control a plurality of joints included in the first arm 310 in FIG. 20A, whereas FIG. In (B), it can be realized only by rotating the main body BO, and control is easy. That is, depending on the desired work, it can be said that there are many cases where rotation of the robot body BO is useful.

  However, in consideration of the rotation of the main body BO, the relative relationship between the first and second polar coordinate systems and the work (relative relationship between the first and second polar coordinate systems and the robot work space in a broad sense) is Will change. Hereinafter, the first polar coordinate system will be described in order to make the description using drawings and the like easier to understand, but the same applies to the second polar coordinate system.

  Since the first arm 310 is provided on the main body BO, when the main body BO rotates, the first arm 310 also rotates in conjunction with it. In the present embodiment, since the first polar coordinate system corresponds to the movable range of the first arm 310, the first polar coordinate system moves in conjunction with the first arm 310, and the first polar coordinate system is shown in FIG. It will change from (A) to as shown in FIG.

  However, the work to be worked is originally arranged in the robot work space (space or plane corresponding to the work table in a narrow sense), and the layout information also represents the initial position of the work in the work space. Is. The layout information may be given as coordinate values of a coordinate system (hereinafter referred to as a work space coordinate system) set for the work space, for example. Therefore, even if the position of the first arm 310 and the position of the first polar coordinate system are changed by the rotation of the main body BO, the absolute position of the work is not changed, and as a result, the relative relationship between the first polar coordinate system and the work is changed. The positional relationship will change.

  As described above, in the present embodiment, the workpiece is determined from the relationship between the first polar coordinate system set to the distance range and the angle range corresponding to the movable range of the first arm 310 and the given workpiece. It is determined whether or not one arm 310 can be a work target. Specifically, if a given work is in the above distance range and angle range, the work can be operated by the first arm 310. That is, if the relative relationship between the first polar coordinate system and the workpiece has changed, an appropriate determination cannot be made unless the changed state is used. Every time the main body BO is rotated, the work space coordinates are changed. It is necessary to re-determine the relative relationship between the system and the first polar coordinate system. However, since the origin of the first polar coordinate system does not coincide with the rotation axis of the robot body BO, as shown in FIGS. 20A and 20B, the rotation of the body BO The position of the origin of the first polar coordinate system in the work space coordinate system changes. For this reason, in order to re-determine the relative relationship between the work space coordinate system and the first polar coordinate system, it is generally necessary to perform an operation representing rotation using a trigonometric function, which is a heavy processing load compared to normal addition and subtraction. It will be a thing.

  On the other hand, in the present embodiment, as shown in FIG. 6B, a third polar coordinate system corresponding to the robot body BO (in a narrow sense, the rotation axis of the body BO is the origin) is set. Also good. Specifically, the processing unit 120 performs a process of setting a third polar coordinate system corresponding to the main body BO of the robot, and moves the workpiece from the first position to the second position using the first polar coordinate. Work movement information expressed using at least one of the system and the second polar coordinate system and the third polar coordinate system is generated, and robot motion information is generated based on the work movement information.

  In this case, the origin of the third polar coordinate system is a fixed point whose position does not change even when the body BO is rotated. That is, the origin of the third polar coordinate system does not change before and after the rotation of the main body BO, and only the angular direction changes. As shown in FIG. 24A, when the work placed at a given point P3 in the work space coordinate system is (r1, θ1) in the third polar coordinate system before the rotation operation, Assume that BO rotates by θ ′. In that case, considering the relationship of the coordinate values (r2, θ2) of P3 in the third polar coordinate system after the rotation operation, the origin of the third polar coordinate system is the same as before and after the rotation as shown in FIG. Since the distance to P3 is unchanged, r1 = r2. As for the angle, since the third polar coordinate system is rotated by θ ′, the fixed point P3 in the work space coordinate system is rotated by −θ ′ relative to the third polar coordinate system. Θ2 = θ1−θ ′ (in FIG. 24A and the like, θ1 and θ2 are negative values, so | θ2 | = | θ1 | + θ ′). That is, by setting the third polar coordinate system, it is possible to easily obtain the relative relationship between the third polar coordinate system after rotation and the work by adding and subtracting the angle even if there is rotation in the main body BO. become.

  Here, since both the first polar coordinate system and the third polar coordinate system are coordinate systems set corresponding to the robot, the relative relationship is unchanged even if the main body BO is rotated. In other words, if the information expressing the range of the first polar coordinate system corresponding to the movable range of the first arm 310 using the third polar coordinate system is acquired at the time of setting the coordinate system, the information Can be used as it is even after the main body BO is rotated. Therefore, even when the relative relationship between the robot and the workpiece changes due to the rotation of the main body BO, the information representing the changed workpiece position in the third polar coordinate system and the first obtained at the time of setting the coordinate system. From the comparison processing with the range information of the first polar coordinate system expressed by the polar coordinate system 3, it is possible to easily determine whether or not the rotated workpiece can be the work target by the first arm 310. it can. Alternatively, since the relationship between the first polar coordinate system and the third polar coordinate system is unchanged, the content of the coordinate conversion process for converting the coordinate values in the third polar coordinate system to the first polar coordinate system is obtained in advance. It may be left. Then, when the coordinate value of the work position after rotation in the third polar coordinate system is obtained by addition / subtraction of the angle, the rotation in the first polar coordinate system is performed by performing a known coordinate conversion process on the coordinate value. You may obtain | require the coordinate value of a subsequent workpiece | work position.

  From the above, by setting the third polar coordinate system, it is possible to perform processing considering the rotation of the main body BO by adding and subtracting the angle without performing a heavy load calculation using a trigonometric function or the like. Become. In the stage where the robot control is actually performed, the information representing the position is expressed not in the coordinate system (first to third polar coordinate systems) set in the robot but in the work space coordinate system set in the work space. It will be. Therefore, even if the initial position of the workpiece is expressed in the first to third polar coordinate systems in the processing of the present embodiment and the processing is performed, in any phase until the robot control is performed, the work space coordinate system is entered. It is necessary to perform coordinate conversion processing. In that case, it is necessary to perform a calculation for rotation using a trigonometric function according to the rotation amount of the robot body BO, etc., and even if a third polar coordinate system is set for this calculation, it cannot be avoided. Can not. However, this calculation with a high processing load is sufficient if it is performed once for conversion after generation of the robot operation information using the polar coordinate system, and the calculation with a high load for each rotation of the main body BO can be suppressed. It can be said that setting the third polar coordinate system is useful.

  The processing unit 120 performs a process of setting a third polar coordinate system that rotates the first polar coordinate system and the second polar coordinate system, and moves the workpiece from the first position to the second position. The workpiece movement information expressed using at least one of the first polar coordinate system and the second polar coordinate system and the third polar coordinate system may be generated, and the robot motion information may be generated based on the workpiece movement information.

  The advantages of setting the third polar coordinate system described above are that the point corresponding to the polar coordinate system does not move in the work space coordinate system, and the relative relationship between the third polar coordinate system and the first and second polar coordinate systems. Is due to the fact that is satisfied. That is, the point where the third polar coordinate system is set does not have to be the robot body BO to which the first arm 310 and the second arm 320 are directly connected. Specifically, the third polar coordinate system may be set to a point where the first polar coordinate system and the second polar coordinate system rotate in conjunction with each other by rotating around the point.

3.3 Robot Motion Information Generation Processing Next, processing for creating robot motion information based on layout information and a set polar coordinate system will be described.

  First, the work movement information generation unit 123 performs a process of dropping the given layout information into the set polar coordinate system. Specifically, the initial position, final position, and midway position of the workpiece are expressed using coordinate values in the polar coordinate system. Note that the third polar coordinate system does not particularly correspond to the movable range of the robot, and therefore the distance range and the angle range are not limited. Therefore, the initial position of the workpiece can be expressed as some value in the third polar coordinate system. On the other hand, the first polar coordinate system and the second polar coordinate system are set to a distance range and an angle range corresponding to the movable range of each arm. Therefore, depending on the position of the workpiece, there may occur a case where the position can be expressed in one of the first polar coordinate system and the second polar coordinate system but cannot be expressed in the other, or both. As described above, in the present embodiment, determination of the arm used for the movement of the workpiece is performed based on whether or not it can be expressed in the first and second polar coordinate systems.

A specific example will be described with reference to the drawings. It is known from the layout information that the initial positions of the work A and the work B are the positions shown in FIG. Further, since the first polar coordinate system and the second polar coordinate system are set as shown in FIG. 6A, they are combined as shown in FIG. 7A. Accordingly, the initial position of the workpiece A can be expressed as (−10, 450) _L because the angle is −10 ° and the distance is 450 in the first polar coordinate system. On the other hand, since the initial position of the workpiece A is not included in the distance range and the angle range of the second polar coordinate system, the result is that the initial position of the workpiece A cannot be expressed by the second polar coordinate system. In the following description, when the angle is θ, the distance is r, and the character representing the polar coordinate system is X, the position in the polar coordinate system is represented by (θ, r) _X, but is not limited thereto. . In the following description, when a given position is expressed in the first polar coordinate system, X = L, in the second polar coordinate system, X = R, and in the third polar coordinate system, X = W.

Further, since the third polar coordinate system is set as shown in FIG. 6B, FIG. 7B is obtained by combining FIG. 5 and FIG. 6B. Thereby, the initial position of the workpiece A can be expressed as (−20, 480) _W.

Similarly, the initial position of the workpiece B can be expressed as (−5,200) _W , (25,300) _L , (−40,400) _R. Further, for the work A + B in which the work A and the work B are assembled, the material removal area C is the final position, and the material removal area C is a larger area than the work as shown in FIG. Therefore, in this embodiment, the coordinate values of a plurality of representative points in the material removal area C are expressed to represent the position of the material removal area C having a given range. Specifically, FIG. The coordinate values of the upper left point and the lower right point of the material removal area C in FIG. Accordingly, as shown in FIG. 12, the final position of the workpiece A + B can be expressed as [(10, 400), (30, 380)] _W , [(−10, 420), (15, 300)] _R. .

The same applies to the intermediate position, and the intermediate position of the workpiece A is expressed as (0,210) _W , (30,370) _L , (−30,390) _R from FIGS. 9 (A) and 9 (B). The intermediate position of the workpiece B is expressed as (−5,380) _W , (20,450) _L , (−25,470) _R.

Here, in order to shift from the intermediate state shown in FIG. 9 (A) to the final state shown in FIG. 8 (A), an operation of assembling the workpiece B from above on the workpiece A is required. That is, as shown in FIG. 10A, a step of moving the workpiece B on the workpiece A at the position (0, 210) _W is also necessary. FIG. 12 shows this operation in the second column from the right. It is described in. That is, not only the intermediate position (−5, 380) _W shown in FIG. 9A but also the (0, 210) _W shown in FIG. 10A is used as the intermediate position for the workpiece B. Note that the information regarding the assembly shown in FIG. 10A may be given as layout information, or the processing of the control device 100 based on the information in FIG. 8A and FIG. It may be created in the unit 120.

Through the above processing, the movement of workpiece A is (−20,480) _W → (0,210) _W , and the workpiece B is (−5,200) _W → (−5,380) _W → (0,210) _W For the workpiece A + B, information that (0, 210) _W → [(10, 400), (30, 380)] _W may be obtained. Accordingly, the initial position (−20, 480) _W of the workpiece A can be expressed in the first polar coordinate system but cannot be expressed in the second polar coordinate system, and the final position of the workpiece A + B [(10, 400 ), (30, 380)] Information that _W can be expressed in the second polar coordinate system but cannot be expressed in the first polar coordinate system is acquired.

Further, the workpiece movement information generation unit 123 generates one or a plurality of workpiece movement information by interpolating between the initial position, intermediate position, and final position of each workpiece as necessary. For example, the movement path between the two points is interpolated from the movement of the workpiece A (−20,480) _W → (0,210) _W. The movement route obtained by the interpolation may be a linear route as shown by R2 in FIG. 18 or a curved route as shown by R1.

  As shown in R1, R2, etc. in FIG. 18, even if the initial position, midway position, and final position are determined, the workpiece movement information obtained from these positions is not necessarily one. Therefore, the workpiece movement information generation unit 123 of the present embodiment may output a plurality of workpiece movement information.

  As described above, in the first polar coordinate system and the second polar coordinate system, when the position of the workpiece cannot be expressed using the polar coordinate system, the workpiece cannot be operated with the corresponding arm. It will be. That is, a position that cannot be expressed by either the first polar coordinate system or the second polar coordinate system is a position that cannot be reached by any robot using the target robot. Therefore, even if the workpiece movement information generation unit 123 generates workpiece movement information passing through such a position, the robot movement information along the workpiece movement information is not executable. There is no advantage of processing.

  Therefore, in the present embodiment, in order to suppress the generation of such unnecessary workpiece movement information, information on the distance range and angle range of the first polar coordinate system, and the distance range and angle range of the second polar coordinate system, The information may be output to the workpiece movement information generation unit 123, and the workpiece movement information generation unit 123 may generate the workpiece movement information using the information. Specifically, when the workpiece movement information is obtained by interpolating the initial position, midway position, and final position of the workpiece, a process that excludes a route out of the distance range and the angle range may be performed. In this way, the movement of the work along the generated work movement information can be realized by using any arm of the robot.

  Further, information regarding the distance range and angle range of the first polar coordinate system and the distance range and angle range of the second polar coordinate system may be used for determination of the initial position of the workpiece. If the initial position or the like of the work obtained from the layout information cannot be expressed in either the first or second polar coordinate system, the work according to the layout information cannot be performed on the work. In this case, the target robot may perform error processing such as determining that the input layout information is inappropriate and requesting re-input of the layout information.

Based on the workpiece movement information generated by the above processing, the robot motion information generation unit 127 generates robot motion information. Here, the robot operation information is information corresponding to the robot operation that realizes the movement of the workpiece represented by the workpiece movement information. However, since more detailed processing is performed in the subsequent unit, the robot operation information of the present embodiment does not have to finely define the joint angle of the arm or the like. For example, the robot motion information of the present embodiment may be information obtained by specifying an arm that performs the movement of the workpiece represented by the workpiece movement information. That is, for the movement of the workpiece A from (−20, 480) _W → (0, 210) _W , etc., it may be specified whether the movement is performed by the first arm or the second arm. Therefore, how to control the angle of each joint included in the first arm when moving the workpiece A from (−20,480) _W to (0,210) _W using the first arm. Does not have to be specified.

  In selecting an arm to be used, it is necessary to use the first arm for movement including a position that can be reached by the first arm but cannot be reached by the second arm. Similarly, it is necessary to use the second arm for movement including a position that can be reached by the second arm but cannot be reached by the first arm. Therefore, of the movements included in the workpiece movement information, a position that can be reached by only one of the arms is determined to be moved by the reachable arm.

  Specifically, the processing unit 120, when the arrangement position of the work represented by the layout information is represented by the first polar coordinate system set to the first angle range and the first distance range, Robot operation information for moving the workpiece by the first arm is generated with the arrangement position as the start point or end point, and the arrangement position of the workpiece represented by the layout information is set to the second angle range and the second distance range. In the case of being represented by the second polar coordinate system, the robot operation information for moving the workpiece by the second arm is generated with the arrangement position as the start point or the end point.

For example, the initial position (−20, 480) _W of the workpiece A can be expressed as (−10, 450) _L in the first polar coordinate system, but cannot be expressed in the second polar coordinate system. ), But cannot be reached by the second arm. Therefore, in the example of FIG. 7A, the movement of the workpiece A from (−20,480) _W → (0,210) _W is performed by the first arm.

Similarly, the final position [(10, 400), (30, 380)] _W of the arm A + B after assembly is expressed as [(−10, 420), (15, 300)] _R in the second polar coordinate system. However, since it cannot be expressed by the first polar coordinate system, it includes an area that can be reached by the second arm (right arm) but cannot be reached by the first arm. Therefore, in the example of FIG. 8A, the movement of the workpiece A + B from (0, 210) _{W to} [(10, 400), (30, 380)] _W is performed by the second arm.

  This makes it possible to generate robot motion information by selecting an appropriate arm based on whether or not the position of the workpiece is represented in the first and second polar coordinate systems. Therefore, it is possible to suppress the possibility that the generated robot operation information cannot be realized by the target robot.

On the other hand, the movement at a position where the plurality of arms can be reached may be performed by the first arm or the second arm. For example, the movement of the _{(-5,200) W → (-5,380)} W of the workpiece B is, (- _{5,200) W} is in the first polar coordinate system _{(25,300) L,} the second polar coordinate system (−40,400) _R and (−5,380) _W can be expressed as (20,450) _L in the first polar coordinate system and (−25,470) _R in the second polar coordinate system. Therefore, any arm can be used. Similarly, for transfer to _{(-5,380) W → (0,210)} W of the workpiece B also, _{(0,210) W} is in the first polar coordinate system _{(30,370) L,} the second polar Since it can be expressed as (−30, 390) _{R in the} system, any arm can be used.

In order to move the work A to the assembly work position (0, 210) _W , the work B is moved from the initial position (−5, 200) _W to the intermediate position (−5, 380) _W. Must be evacuated. Based on these, the robot motion information of the present embodiment is information represented by the work orders 1 to 4 shown in FIG. However, as shown in FIG. 13, since either the first arm 310 or the second arm 320 may be used for the work order 1 and the work order 3, the arm to be used is specified as the robot operation information 4 Street information will be generated.

FIGS. 14A to 14D illustrate the above flow. 14A to 14D are examples in which work order 1 and work order 3 are executed by the second arm 320. First, as an operation corresponding to the work order 1, as shown in FIG. 14 (A), moving the workpiece B using the right arm from _{(-5,200) W} to _{(-5,380) W.} Next, as an operation corresponding to the work order 2, as shown in FIG. 14 (B), to move the workpiece A using the left arm from _{(-20,480) W} to _{(0,210) W.} Next, as an operation corresponding to the work order 3, as shown in FIG. 14 (C), assembled by moving the workpiece B using the right arm from _{(-5,380) W} to _{(0,210) W} Work I do. Finally, as an operation corresponding to the work order 4, as shown in FIG. 14D, the work A + B after the assembly work is changed from (0, 210) _W to [(10, 400), (30 , 380)] _W (moving material removal area C).

However, as described above, at least one of the work order 1 and the work order 3 may be performed by the first arm 310. Specifically, the operation in which the arm used for the work order 1 is changed to the first arm 310 is as shown in FIGS. 15 (A) to 15 (D). Compared with FIG. 14A, the left arm is used for the operation of moving the workpiece B from (−5,200) _W to (−5,380) _W as shown in FIG. 15 (A). . Similarly, the operation in which the arm used for the work order 3 is changed to the first arm 310 becomes FIGS. 16A to 16D, and the arm used for both the work order 1 and the work order 3 is the first arm. The operation changed to 310 is shown in FIGS. 17 (A) to 17 (D).

  As described above, for each movement, a plurality of candidates for the interpolation path between the start point and the end point can be considered. For example, in the case where the workpiece is moved from the initial position to the midway position in FIG. 18 using the first arm 310, the movement may be performed along R1 or may be performed along R2. Good.

  In view of the above points, a plurality of robot motion information is obtained as candidates for one layout information input, and in some cases, a very large number of robot motion information candidates may be acquired. . In the present embodiment, all the acquired robot operation information may be output.

  However, it is desirable that the number of robot operations created be limited to a small number (one in a narrow sense). As described above, the process according to the present embodiment may correspond to an upstream process among a plurality of process processes, and may require a rough robot operation. In order to reduce the calculation amount in the downstream process, This is because it is important to limit the search space in a relatively rough process.

  Therefore, when a plurality of pieces of robot motion information are obtained, the processing unit 120 of the control device 100 obtains a work evaluation value (work cost) for each robot motion information, and is determined based on the obtained work evaluation value. Output information on the robots.

  This makes it possible to select appropriate information from among a plurality of robot motion information and to limit the number of robot motion information to be output. If the robot operation information is limited to one (or a small number that is two or more but less than a given threshold value), it is possible to suppress the processing load of the subsequent unit. Further, since the output is determined using the work cost, it is possible to leave more desirable robot operation information. Note that what kind of robot motion information is desired depends on what evaluation value is used as the work evaluation value. For example, the movement distance or movement time of the end effector of the arm may be used as the evaluation value. Alternatively, the work evaluation value may be calculated in consideration of the structure of the robot. For example, as shown in the flowchart shown in FIG. 23 to be described later, the work evaluation value is calculated for each of the first arm and the second arm. Also good. Specific examples are shown below.

  There are various methods for calculating the work cost. For example, the travel time may be used as the cost. For example, as shown in FIG. 18, when a given work is moved from an initial position to a final position through a halfway position, two routes indicated by R1 and R2 are candidates. At this time, it can be considered that the path in which the movement distance of the end effector (hand) of the arm is as short as possible is a preferable path. In that case, the route length L1 of R1 and the route length L2 of R2 may be obtained as work costs, respectively. In this case, as apparent from FIG. 18, since L2 <L1, R2 having lower cost (short movement distance) is better than R1, and R2 may be output. If it is assumed that the moving speed is constant, the determination using L1 and L2 as the work cost is synonymous with the determination using a route having a short moving time.

  Further, the movement time from the initial position to the final position may be set as the work cost. The normal arm gradually accelerates from the state of speed 0 to reach the maximum speed, and gradually decelerates even when stopped to become the state of speed 0. That is, the speed change when acceleration / deceleration is not taken into consideration is as shown in FIG. 21A, but it is more accurate to process the speed change using trapezoidal approximation or the like as shown in FIG. It will be something. In the trapezoidal approximation as shown in FIG. 21B, the area of the trapezoid corresponds to the movement distance. That is, if the path lengths L1 and L2 of R1 and R2 are obtained, t in FIG. 21B when the trapezoid area is L1 represents the travel time for R1, and the figure when the trapezoid area is L2. T in 21 (B) represents the travel time for R2. Therefore, the robot operation information to be output may be determined using t as the work cost.

  When the trapezoidal approximation of FIG. 21B is performed, the trapezoidal inclination is determined by acceleration and deceleration, and the trapezoidal height is determined by the maximum speed. These may be determined by the mechanical performance of a motor (an actuator in a broad sense) that drives a joint. Alternatively, the inclination and height of the trapezoid may be changed according to user input or the like. For example, if the user places importance on moving the workpiece at high speed, the acceleration and deceleration may be set to the maximum value. The maximum value here is a value corresponding to the maximum acceleration and the maximum deceleration determined by, for example, the mechanical performance of the motor that drives the joint. On the other hand, there are cases where it is important to move slowly while avoiding sudden acceleration / deceleration, as in the case of moving a cup or the like containing liquid. In that case, a setting may be made to moderately accelerate and decelerate based on a user input “I want to move slowly”. If the acceleration and deceleration are changed, the work cost calculated accordingly also changes. That is, the calculated work cost may be changed according to what viewpoint the user places importance on.

  Further, the work cost may be calculated using information such as the arm structure. For example, when an operation is performed with a given arm, the operation performed with the arm folded is easier than the operation performed with the arm extended. This is due to the fact that when the arm is extended, the hand position is far from the operating axis (rotating axis) of the arm and a larger moment is generated, which makes it difficult to stop at the desired position. That is, even when the movement is performed at a position that can be reached by either of the left and right arms, the robot operation information using the closer arm is easier to realize. Considering this point, even when a given workpiece is moved along a given route, the work cost calculated along the route depends on whether the first arm or the second arm is used. You may perform the work cost calculation process from which a value differs. Specifically, a calculation process is performed such that the work cost when the closer arm is used is smaller than the work cost when the far arm is used.

  In addition, when an arm includes a plurality of joints, an operation that can be realized by driving only one joint is more preferable than an operation that requires two or more joints to be driven in conjunction with each other. Easy to control. In the processing of the present embodiment, it is assumed that fine steps are not driven, but the movement of the hand by driving a single joint is circular (or a shape obtained by projecting a three-dimensional circle into two dimensions). This can be understood without detailed analysis of the arm structure. Therefore, the work cost calculation processing may be performed from the viewpoint of whether or not the movement path of the workpiece is close to a circle.

  In addition, the work cost calculation method and the robot operation information selection method using the calculated cost can be variously modified.

3.4 Process Flow of the Present Embodiment The process flow of the present embodiment will be described with reference to FIGS. FIG. 22 is a basic flow of processing of the present embodiment. When this processing is started, layout information corresponding to the start state is first acquired (S101). The start state is the state shown in FIG. 5, for example, and as the layout information, a captured image obtained by capturing the work A and the work B arranged at the position shown in FIG.

  Then, the work size information is acquired from the layout information acquired in S101 (S102), and the work space size is also acquired (S103). In the example of FIG. 5 and the like, the size of the work space corresponds to the size of the work table.

  Next, the polar coordinate system is set (S104). Specifically, the first polar coordinate system corresponding to the first arm 310 and the second polar coordinate system corresponding to the second arm 320 are set. The first polar coordinate system is set to a distance range and an angular range corresponding to the movable range of the first arm 310, and the second polar coordinate system is set to a distance range and an angular range corresponding to the movable range of the second arm 320. Is done. In the process of S104, the third polar coordinate system corresponding to the main body BO of the robot is also set.

  Further, layout information corresponding to the final state is acquired (S105). The final state is, for example, the state shown in FIG. In the flowchart of FIG. 22, the layout information corresponding to the start state and the layout information corresponding to the end state are acquired at different timings. However, the present invention is not limited to this, and the process of S105 is performed before S102 to S104. May be. Further, in the flowchart of FIG. 22, the intermediate state (intermediate state) corresponding to the intermediate position of the workpiece is not considered, but as described above, the intermediate position of the workpiece may be included in the layout information.

  Next, using the layout information acquired in S101 and S105 and the polar coordinate system set in S104, the initial position and final position of the workpiece are associated with the polar coordinate system (S106). This corresponds to the process of acquiring the information shown in FIG. 12, for example, by representing each position using a polar coordinate system.

  Based on the information created in S106, work movement information is generated (S107). In addition to the information shown in FIG. 12, the workpiece movement information in the present embodiment assumes information obtained by interpolating the route between the initial position and the final position. For example, R1 and R2 in FIG. 18 may be used as work movement information.

  Then, the robot operation information is generated based on the workpiece movement information. This is realized by calculation processing (S108) of work cost (work evaluation value), creation (selection) of robot motion information based on the calculated work cost, and output processing (S109). In S109, a process of determining, as an output, robot motion information that minimizes the work cost calculated in S108 among a plurality of robot motion information candidates is performed.

  An example of a specific flow of the processing of S108 is shown in FIG. In the work cost calculation process, first, the travel distance along the travel route is accumulated (S201). Here, it is assumed that the moving distance or the moving speed when moving at a constant speed as shown in FIG. However, as described above, the work cost may be calculated in consideration of the speed change as shown in FIG.

  Although the processing result of S201 may be the work cost, the work cost is obtained in consideration of the difference between the first and second arms in the flowchart of FIG. Specifically, the movement distance along the movement path is divided into a movement distance by the first arm and a movement distance by the second arm, and an integration process is performed for each arm (S202). Then, by obtaining the work cost for each arm, the work cost for the entire robot operation information to be processed is obtained (S203). At this time, the calculated evaluation value may be different depending on the arm used as described above.

  Note that the control device 100 or the like of the present embodiment may realize part or most of the processing by a program. In this case, the control device 100 according to the present embodiment is realized by a processor such as a CPU executing a program. Specifically, a program stored in a non-temporary information storage medium is read, and a processor such as a CPU executes the read program. Here, the information storage medium (computer-readable medium) stores programs, data, and the like, and functions as an optical disk (DVD, CD, etc.), HDD (hard disk drive), or memory (card type). It can be realized by memory, ROM, etc. A processor such as a CPU performs various processes according to the present embodiment based on a program (data) stored in the information storage medium. That is, in the information storage medium, a program for causing a computer (an apparatus including an operation unit, a processing unit, a storage unit, and an output unit) to function as each unit of the present embodiment (a program for causing the computer to execute processing of each unit) Is memorized.

  Although the present embodiment has been described in detail as described above, it will be easily understood by those skilled in the art that many modifications can be made without departing from the novel matters and effects of the present invention. Accordingly, all such modifications are intended to be included in the scope of the present invention. For example, a term described at least once together with a different term having a broader meaning or the same meaning in the specification or the drawings can be replaced with the different term in any part of the specification or the drawings. Further, the configuration and operation of the control device, the robot system, etc. are not limited to those described in the present embodiment, and various modifications can be made.

A1, A2 joint, A3, A4 frame, A5 end point, A6 hand,
100 control device, 110 information acquisition unit, 120 processing unit, 121 polar coordinate system setting unit,
123 Work movement information generation unit, 127 Robot movement information generation unit,
129 work cost calculation unit, 300 robot body, 310 first arm,
311,313 joint, 315,317 frame, 319 end effector,
320 Second arm, 400 Base unit, BO body

Claims (11)

An information acquisition unit that acquires layout information including a first position of the work in the work space of the robot and a second position of the work different from the first position;
A processing unit for generating robot motion information based on the layout information;
Including
The processor is
A process of setting a first polar coordinate system corresponding to the first arm of the robot in the work space, and a second corresponding to a second arm different from the first arm of the robot in the work space. Process to set the polar coordinate system of 2,
Generating workpiece movement information representing movement of the workpiece from the first position to the second position using at least one of the first polar coordinate system and the second polar coordinate system;
A control apparatus that generates the robot motion information based on the workpiece movement information. In claim 1,
The robot operation information is
It is information indicating which of the first arm and the second arm of the robot is used to move the workpiece from the first position to the second position. Control device. In claim 1 or 2,
The processor is
Setting the first polar coordinate system to a first angle range corresponding to the movable range of the first arm and a first distance range corresponding to the movable range of the first arm;
The second polar coordinate system is set to a second angle range corresponding to the movable range of the second arm and a second distance range corresponding to the movable range of the second arm. Control device. In claim 3,
The processor is
When the placement position of the workpiece represented by the layout information is represented by the first polar coordinate system set in the first angle range and the first distance range, the placement position is a starting point. Alternatively, as the end point, the robot movement information for moving the workpiece by the first arm is generated,
When the placement position of the workpiece represented by the layout information is represented by the second polar coordinate system set in the second angle range and the second distance range, the placement position is The control device that generates the robot operation information for moving the workpiece by the second arm as a start point or an end point. In any one of Claims 1 thru | or 4,
The robot is
A control device comprising: a main body that is rotatable around a predetermined axis; and the first arm and the second arm provided on the main body. In claim 5,
The processor is
Performing a process of setting a third polar coordinate system corresponding to the main body of the robot;
The movement of the workpiece from the first position to the second position is expressed using at least one of the first polar coordinate system and the second polar coordinate system and the third polar coordinate system. Generate work movement information,
A control apparatus that generates the robot motion information based on the workpiece movement information. In any one of Claims 1 thru | or 4,
The processor is
Performing a process of setting a third polar coordinate system for rotating the first polar coordinate system and the second polar coordinate system;
The movement of the workpiece from the first position to the second position is expressed using at least one of the first polar coordinate system and the second polar coordinate system and the third polar coordinate system. Generate work movement information,
A control apparatus that generates the robot motion information based on the workpiece movement information. A control device according to any one of claims 1 to 7;
The robot;
A robot system characterized by including: An information acquisition unit for acquiring layout information including a first position of the work in a predetermined work space and a second position of the work different from the first position;
A processing unit for generating robot motion information based on the layout information;
Including
The processor is
Processing for setting a first polar coordinate system corresponding to the first arm in the work space, and setting a second polar coordinate system corresponding to a second arm different from the first arm in the work space Process
Generating workpiece movement information representing movement of the workpiece from the first position to the second position using at least one of the first polar coordinate system and the second polar coordinate system;
The robot motion information is generated based on the work movement information. Performing a process of acquiring layout information including a first position of the work in the work space of the robot and a second position of the work different from the first position;
Based on the layout information, perform robot motion information generation processing for generating robot motion information,
As the robot motion information generation process,
A first polar coordinate system corresponding to the first arm of the robot is set in the work space, and a second corresponding to a second arm different from the first arm of the robot is set in the work space. Set the polar coordinate system,
Generating workpiece movement information representing movement of the workpiece from the first position to the second position using at least one of the first polar coordinate system and the second polar coordinate system;
A robot motion information generation method characterized by performing processing for generating the robot motion information based on the workpiece movement information. An information acquisition unit that acquires layout information including a first position of the work in the work space of the robot and a second position of the work different from the first position;
As a processing unit that generates robot motion information based on the layout information,
Make the computer work,
The processor is
A process of setting a first polar coordinate system corresponding to the first arm of the robot in the work space, and a second corresponding to a second arm different from the first arm of the robot in the work space. Process to set the polar coordinate system of 2,
Generating workpiece movement information representing movement of the workpiece from the first position to the second position using at least one of the first polar coordinate system and the second polar coordinate system;
A program for generating the robot motion information based on the work movement information.

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