Work assistance device and work assistance method
Provided are a work assistance device and a work assistance method that automatically create a projected drawing suitable for designating a work region on a target, regardless of the skill level of a worker. The work assistance device has: a projected drawing creation function for projecting a work target, which has a work target surface that includes a work target region on which work is performed by a robot, in a direction perpendicular to the work target surface, thereby creating in a virtual space a projected drawing parallel to the work target surface; a work region designation function for designating a work target region in the projected drawing; and a work region conversion function for converting the location of the work target region designated in the projected drawing to a location in the virtual space.
1 . A work assistance device comprising:
a projection view generating function for projecting an object, which has a work target surface including a work target region on which work is performed by a robot, in a direction perpendicular to the work target surface, and generating a projection view parallel to the work target surface in a virtual space;
a work region designating function for designating the work target region on the projection view; and
a work region converting function for converting a position of the work target region designated on the projection view to a position in the virtual space,
wherein the work assistance device generates an oriented bounding box encompassing the object in the virtual space based on a robot coordinate system, and the projection view is generated by generating a virtual plane having a normal vector extending in a direction along a shortest side of the oriented bounding box and by projecting a coordinate group of representative points of the object onto the generated virtual plane in a direction of the normal vector, and
wherein the robot is controlled to perform a work in accordance with the designated work target on the generated projection view.
2 . The work assistance device according to claim 1 , wherein the work is a bending process of the object, and the work target region is a bending line with respect to the bending process.
3 . The work assistance device according to claim 2 , wherein the work target region on the projection view is displayed so that the work target region can be visually identified, based on a distance between the work target region on the projection view and the corresponding work target region on the object.
4 . The work assistance device according to claim 1 , wherein the work is a picking motion of the object, and the work target region is a part of the object to be held by the robot.
5 . A work assistance method comprising the steps of:
projecting an object, which has a work target surface including a work target region on which work is performed by a robot, in a direction perpendicular to the work target surface, and generating a projection view parallel to the work target surface in a virtual space;
designating the work target region on the projection view;
converting a position of the work target region designated on the projection view to a position in the virtual space;
generating an oriented bounding box encompassing the object in the virtual space based on a robot coordinate system;
generating a virtual plane having a normal vector extending in a direction along a shortest side of the oriented bounding box;
projecting a coordinate group of representative points of the object onto the generated virtual plane in a direction of the normal vector; and
controlling the robot to perform a work in accordance with the designated work target on the generated projection view.