Robot cell system design device, method, and program
An acquisition unit acquires specification information about a robot that is a component of a robot cell system, member information including shape information about a member, other than the robot, which is also a component of the robot cell system, and work information relating to work to be performed by the robot. A layout planning unit calculates, based on the specification information, the member information, and the work information, one or more layout candidates for the robot and the member in the robot cell system. A pose planning unit calculates, for each layout candidate, a set of combinations of a start pose at a start point and an end pose at an end point of each operation of the robot. A route planning unit calculates, for each layout candidate, a set of routes from the start pose to the end pose of each combination of the start pose and the end pose.
1 . A robot cell system design device comprising:
one or more processors configured to perform:
acquisition operation for acquiring specification information about a robot that is a component of a robot cell system, member information including shape information about a member, other than the robot, which is also a component of the robot cell system, and work information relating to work to be performed by the robot;
layout planning operation for calculating, based on the specification information, the member information, and the work information, one or more layout candidates for the robot and the member in the robot cell system;
pose planning operation for calculating, based on the specification information, the member information, and the work information, for each layout candidate, a set of combinations of a start pose at a start point and an end pose at an end point of each operation of the robot;
route planning operation for calculating, based on the specification information, the member information, and the work information, for each layout candidate, a set of routes from the start pose to the end pose of each combination of the start pose and the end pose;
evaluation operation for selecting, based on the routes, an optimum layout from the layout candidates; and
wherein the one or more processors are further configured to cause the robot to operate based on the optimum layout.
2 . The robot cell system design device according to claim 1 , wherein the one or more processors are configured to calculate a route cost relating to the routes for each of the layout candidates, and select a layout candidate with a highest evaluation indicated by the route cost, as the optimum layout.
3 . The robot cell system design device according to claim 1 , the one or more processors are configured to calculate a layout cost relating to a layout for each layout pattern of the robot and the member, and select one or more patterns in descending order of evaluation indicated by the layout cost or one or more patterns in which the layout cost satisfies a predetermined condition, as the layout candidate.
4 . The robot cell system design device according to claim 3 , wherein the layout cost is a value based on at least one of a distance between members, an area or a volume of a region where the robot and the member are arranged, a distance between an obstacle and the member, or operability of the robot.
5 . The robot cell system design device according to claim 1 , wherein the one or more processors are configured to select, for each operation, a combination with a highest evaluation indicated by a pose cost relating to an operation time of the robot required for the work, among combinations of the start pose and the end pose according to a position and a pose when a hand part of the robot accesses the member.
6 . The robot cell system design device according to claim 5 , wherein the one or more processors are configured to calculate the start pose and the end pose by further using gripping information indicating a relative relationship between the hand part of the robot and a workpiece gripped by the hand part of the robot.
7 . The robot cell system design device according to claim 6 , wherein the one or more processors are further configured to calculate the gripping information based on the specification information, the member information, and the work information.
8 . The robot cell system design device according to claim 1 , wherein:
the one or more processors are further configured to:
acquire constraint information designated by a user,
select, in a case in which constraint information relating to a layout is acquired as the constraint information, the layout candidate from among layout patterns of the robot and the member, the layout patterns satisfying the constraint information,
calculate, in a case in which constraint information relating to a pose is acquired as the constraint information, a set of combinations of the start pose and the end pose satisfying the constraint information, and
calculate, in a case in which constraint information relating to a route is acquired as the constraint information, a set of routes satisfying the constraint information.
9 . The robot cell system design device according to claim 8 , wherein the constraint information includes at least one of a positional relationship between members, an unarrangeable region of the member, a designated position where the member is arranged, a clearance with respect to the member, a designated pose, or a designated route.
10 . The robot cell system design device according to claim 8 ,
wherein the one or more processors are configured to determine appropriateness of a plan in each of the layout planning operation, the pose planning operation and the route planning operation.
11 . The robot cell system design device according to claim 10 , wherein wherein the one or more processors are configured to present a determination result to the user in a case in which it is determined that the appropriateness of the plan is not satisfied.
12 . The robot cell system design device according to claim 10 , wherein the one or more processors are configured to stop processing each of the layout planning operation, the pose planning operation and the route planning operation based on a determination that the appropriateness of the plan is not satisfied.
13 . The robot cell system design device according to claim 10 , wherein the one or more processors are configured to determine that the appropriateness of the plan is satisfied:
in layout candidates planned by the one or more processors, in a case in which the member falls within an arrangeable area, and in a case in which a layout cost indicating appropriateness of a layout is equal to or more than a threshold,
in a case in which the start pose and the end pose planned by the one or more processors do not interfere with another member or an obstacle, and in a case in which a difference between the start pose and the end pose is equal to or less than a threshold, and
in a case in which the route can be calculated by the one or more processors, and in a case in which an operation time of the robot required for the work is equal to or less than a predetermined value.
14 . The robot cell system design device according to claim 1 , wherein:
the one or more processors are further configured to acquire selection information for selecting an executable planning mode for obtaining a solution and an optimum planning mode for obtaining a desired solution, and an end condition according to the executable planning mode or the optimum planning mode to be selected, and
the one or more processors are further configured to perform control the layout planning operation to calculate the layout candidate different from a previous layout until the end condition is satisfied, control the pose planning operation and the route planning operation to be repeatedly executed, and control the evaluation operation to select a final layout based on a route from the optimum layout obtained for each repeated operation.
15 . The robot cell system design device according to claim 14 , wherein in a case in which the optimum planning mode is selected, the one or more processors are configured to present, to a user, a layout with a highest evaluation indicated by a route cost at a current stage for each repeated operation, and to receive an instruction to stop each repeatedly executed operation from the user.
16 . A robot cell system design method comprising:
acquiring, by one or more processors, specification information about a robot that is a component of a robot cell system, member information including shape information about a member, other than the robot, which is also a component of the robot cell system, and work information relating to work to be performed by the robot;
calculating, by the one or more processors, based on the specification information, the member information, and the work information, one or more layout candidates for the robot and the member in the robot cell system;
calculating, by the one or more processors, based on the specification information, the member information, and the work information, for each layout candidate, a set of combinations of a start pose at a start point and an end pose at an end point of each operation of the robot;
calculating, by the one or more processors, based on the specification information, the member information, and the work information, for each layout candidate, a set of routes from the start pose to the end pose of each combination of the start pose and the end pose;
selecting, by the one or more processors, based on the routes, an optimum layout from the layout candidates; and
causing, by the one or more processors, the robot to operate based on the optimum layout.
17 . A non-transitory storage medium storing a robot cell system design program for causing a computer to perform:
acquiring specification information about a robot that is a component of a robot cell system, member information including shape information about a member, other than the robot, which is also a component of the robot cell system, and work information relating to work to be performed by the robot;
calculating, based on the specification information, the member information, and the work information, one or more layout candidates for the robot and the member in the robot cell system;
calculating, based on the specification information, the member information, and the work information, for each layout candidate, a set of combinations of a start pose at a start point and an end pose at an end point of each operation of the robot;
calculating, based on the specification information, the member information, and the work information, for each layout candidate, a set of routes from the start pose to the end pose of each combination of the start pose and the end pose;
selecting, based on the routes, an optimum layout from the layout candidates; and
causing the robot to operate based on the optimum layout.