KR-20260065510-A - ROBOT SYSTEM

Abstract

Operate the robot simply according to the operator's image. The robot system comprises: a display control unit that displays image data on a screen based on image information captured by an image unit and including at least a work target that the industrial robot works on; an acquisition unit that acquires at least three-dimensional data corresponding to the work target; an association unit that associates the image data and the three-dimensional data as data in a user coordinate system; a designation reception unit that receives a designation of a target position that is the movement destination of the work tool unit of the industrial robot on a screen; a coordinate conversion unit that converts the target position in the user coordinate system into a target position in a robot coordinate system with a specific location of the industrial robot as the origin; a trajectory calculation unit that calculates a trajectory from the current position of the work tool unit to the target position; and a motion control unit that operates the work tool unit to the target position according to the calculated trajectory.

Inventors

• 기타가와 료
• 나카가와 신이치로

Assignees

• 가부시키가이샤 다이헨

Dates

Publication Date

20260508

Application Date

20251013

Priority Date

20241101

Claims (6)

1. A display control unit that displays image data on a screen based on imaging information captured by an imaging unit, including at least a work target that an industrial robot works on, and At least an acquisition unit that acquires three-dimensional data corresponding to the above-mentioned work target, and An association unit that associates the image data and the three-dimensional data as data in a user coordinate system with the origin as the location of a feature point or the capture location included in either the image data or the three-dimensional data, and A designation receiving unit that receives the designation of a target position on the screen that serves as the movement destination of the work tool part of the above industrial robot, and A coordinate conversion unit that converts the target position in the above user coordinate system into the target position in the above robot coordinate system with a specific location of the industrial robot as the origin, and A trajectory calculation unit that calculates a trajectory from the current position of the above-mentioned work tool unit to the above-mentioned target position, and A motion control unit that operates the work tool part to the target position according to the calculated trajectory A robot system equipped with
2. In paragraph 1, The above 3D data is 3D point cloud data corresponding to an object included in the image data measured by the distance measuring unit, Robot system.
3. In paragraph 2, The above-mentioned designation receiving unit does not accept the designation of the above-mentioned target location at locations where the above-mentioned point cloud data does not exist, Robot system.
4. In paragraph 1, The above user coordinate system is a three-dimensional coordinate system with a specific location of a marker included in the above image data as the origin, and The above marker has a specific positional relationship with the above industrial robot, Robot system.
5. In paragraph 1, When the work tool unit is operated to the target position by the above operation control unit, and when a different target position different from the target position is designated by the above designation receiving unit, the trajectory calculation unit calculates the trajectory from the current position of the work tool unit to the different target position as the trajectory after modification, and The above operation control unit operates the work tool unit to the other target position according to the calculated trajectory after the change. Robot system.
6. In paragraph 1, The above-mentioned designation receiving unit also receives the designation of a relative position for adjusting the above-mentioned target position, and The above trajectory calculation unit calculates a trajectory from the current position of the above work tool unit to the above target position after adjustment by the above relative position, Robot system.

Description

Robot System The present invention relates to a robot system. Patent Document 1 below discloses a system for teaching robot movements in a real environment by simulating a robot model in a virtual space. In this system, robot movements are taught using teaching data created by executing offline teaching using a robot model in a virtual space. Offline teaching is a process of displaying a robot model and a target model representing the shape of an object in a virtual space, and setting teaching points according to user input. The teaching data is data describing multiple teaching points in chronological order. FIG. 1 is a drawing illustrating the configuration of a robot system according to an embodiment. FIG. 2 is a diagram illustrating the functional configuration of the control unit of the arithmetic device shown in FIG. 1. Figure 3 is an example of a screen displayed on a display unit. Figure 4 is an example of a screen displayed on a display unit. Figure 5 is a flowchart illustrating an example of the operation of a robot system. Suitable embodiments of the present invention will be described with reference to the attached drawings. In addition, in each drawing, the same reference numerals indicate that they have the same or similar configuration. Furthermore, since the drawings are schematic, the dimensions or proportions of each component may differ from the actual ones. FIG. 1 is a drawing illustrating the configuration of a robot system (100) according to an embodiment. The robot system (100) comprises, for example, a robot control device (1), a manipulator (industrial robot) (2), a computing device (3), an imaging unit (4), and a display unit (5). Additionally, the computing device (3) may be configured to be included in the robot control device (1). The robot control device (1) and the computing device (3), the robot control device (1) and the manipulator (2), and the computing device (3) and the imaging unit (4) and display unit (5) are each connected via a network. The network may be wireless communication such as WiFi (Wireless Fidelity) or wired communication such as a communication cable. The manipulator (2) is a welding robot that performs arc welding on a workpiece according to construction conditions set in the robot control device (1). The manipulator (2) has a multi-joint arm provided on a base member fixed to, for example, the floor of a factory, and a welding torch (work tool part) connected to the tip of the multi-joint arm as one of the work tools. The manipulator (2) is a collaborative robot designed for joint work with a person and can operate according to an external force. The operator can directly apply an external force to the manipulator (2) with their hand and move the manipulator (2) according to the external force to operate it directly. The robot control device (1) is a control unit that controls the operation of the manipulator (2). The robot control device (1) is equipped with, for example, a control unit (11), a memory unit (12), and a communication unit (13). The control unit (11) is a processor and controls the manipulator (2) by executing a work program, etc., stored in the memory unit (12). The memory unit (12) is a computer-readable recording medium and stores a program for realizing various functions of the robot control device (1) and various data used in the program. The communication unit (13) is a communication interface and controls communication with a manipulator (2) or a computing device (3) connected through a network. Additionally, the robot control device (1) may further be equipped with a welding power supply unit. The welding power supply unit supplies welding current and welding voltage, etc., to the manipulator (2) according to predetermined welding conditions, for example, to generate an arc between the tip of the welding wire and the workpiece. The welding power supply unit may be provided separately from the robot control device (1). The computing device (3) is a device that performs processing, etc., when an operator teaches the operation of the manipulator (2), and is, for example, a tablet-type teach pendant. In addition, some or all of the functions of the computing device (3) described later may be provided in the robot control device (1) or provided in a server device on the cloud. The computing device (3) is, for example, provided with a control unit (31), a memory unit (32), and a communication unit (33). The control unit (31) is a processor and controls each part of the arithmetic unit (3) by executing a program stored in the memory unit (32). The functions of the control unit (31) will be described later. The memory unit (32) is a computer-readable recording medium and stores a program for realizing various functions of the computing device (3) and various data used in the program. The communication unit (33) is a communication interface and controls communication with the robot control device (1) connected through the network. The imag