Planning device, planning method, and planning program

{
  "publication_number": "US2022075355A1",
  "country": "US",
  "kind": "A1",
  "title": "Planning device, planning method, and planning program",
  "abstract": "In an arrangement design of a robot cell and of robot work, a planning device searches an arrangement graph, that shows candidates for relative positions and orientations between a robot and a fixture; searches a disassembly task sequence, of disassembly tasks that are operations of the robot for disassembling components from the assembly in an arrangement of the relative positions and orientations between the robot and the fixture, and searches for, based on a point sequence of positioning relay points of the robot, a trajectory in which the robot disassembles the components from the assembly; and generates assembly tasks formed of a point sequence obtained by reversing the point sequence of the relay points, an assembly trajectory of the robot which is reverse to a disassembly trajectory formed of interpolation points between the point sequences, and an assembly sequence, which is a reverse order of the disassembly task sequence.",
  "claims": [
    "1. A planning device, comprising: a processor configured to execute a program; and a storage device that stores the program, wherein the planning device is configured to access to a database that stores, as three-dimensional data, positions, orientations, and shapes related to a work table including a positionable top plate, an assembly fixed on the top plate, a component tray for serving components that form the assembly, a robot capable of disassembling the assembly into a component group, a hand attached to a tip end of the robot, and a hand holder housing the hand, and the processor is configured to execute first search processing of searching an arrangement graph, which is changed by positioning of the work table and shows candidates for relative positions and orientations between the robot and a fixture that fixes the assembly on the work table, second search processing of searching a disassembly task sequence, which is a series of disassembly tasks that are operations of a robot for disassembling the components from the assembly in an arrangement of the relative positions and orientations between the robot and the fixture on the work table found by the first search processing, and searching for, based on a point sequence of positioning relay points of the robot shown by the disassembly tasks belonging to the disassembly task sequence, a trajectory of the robot in which the robot disassembles the components from the assembly, and first generation processing of generating assembly tasks formed of a point sequence obtained by reversing the point sequence of the relay points, an assembly trajectory of the robot which is a trajectory reverse to a disassembly trajectory formed of interpolation points between the point sequences, and an assembly sequence showing an order of the assembly tasks, which is a reverse order of the disassembly task sequence. 2. The planning device according to claim 1, wherein in the first search processing, the processor searches the arrangement graph, based on a first objective function for evaluating maneuverability of the robot, for an arrangement of the relative positions and orientations between the robot capable of disassembling the components from the assembly and the fixture on the work table. 3. The planning device according to claim 1, wherein in the second search processing, the processor determines, based on a second objective function for evaluating the disassembly trajectory according to a distance between the robot and a worker located around the work table, whether to candidate an arrangement of the relative positions and orientations between the robot and the fixture on the work table on the arrangement graph. 4. The planning device according to claim 1, wherein in the second search processing, the processor searches the disassembly task sequence based on a third objective function for evaluating a working time of a disassembly work according to the disassembly task sequence. 5. The planning device according to claim 3, wherein in the second search processing, the processor searches the disassembly task sequence based on a third objective function for evaluating a working time of a disassembly work according to the disassembly task sequence. 6. The planning device according to claim 1, wherein the database stores, as three-dimensional data, positions, orientations, and shapes related to the hand holder for removably housing the hand and other hands and the component tray, the processor is configured to execute second generation processing of generating an arrangement graph, which is changed by a positioning operation of the work table and shows candidates for relative positions and orientations between the work table and the robot, between the robot and the hand holder, and between the robot and the component tray, and in the first search processing, the processor searches the arrangement graph generated by the second generation processing. 7. A planning method executed by a planning device including a processor configured to execute a program and a storage device that stores the program, in which the planning device is configured to access to a database that stores, as three-dimensional data, positions, orientations, and shapes related to a work table including a positionable top plate, an assembly fixed on the top plate, a component tray for serving components that form the assembly, a robot capable of disassembling the assembly into a component group, a hand attached to a tip end of the robot, and a hand holder housing the hand, the planning method comprising: the processor executing first search processing of searching an arrangement graph, which is changed by positioning of the work table and shows candidates for relative positions and orientations between the robot and a fixture that fixes the assembly on the work table, second search processing of searching a disassembly task sequence, which is a series of disassembly tasks that are operations of a robot for disassembling the components from the assembly in an arrangement of the relative positions and orientations between the robot and the fixture on the work table found by the first search processing, and searching for, based on a point sequence of positioning relay points of the robot shown by the disassembly tasks belonging to the disassembly task sequence, a trajectory of the robot in which the robot disassembles the components from the assembly, and first generation processing of generating assembly tasks formed of a point sequence obtained by reversing the point sequence of the relay points, an assembly trajectory of the robot which is a trajectory reverse to a disassembly trajectory formed of interpolation points between the point sequences, and an assembly sequence showing an order of the assembly tasks, which is a reverse order of the disassembly task sequence. 8. A planning program that causes a processor to access to a database that stores, as three-dimensional data, positions, orientations, and shapes related to a work table including a positionable top plate, an assembly fixed on a fixture on the top plate, a robot capable of disassembling the assembly into a component group, and a hand attached to a tip end of the robot, the planning program causes the processor to execute first search processing of searching an arrangement graph, which is changed by positioning of the work table and shows candidates for relative positions and orientations between the robot and a fixture that fixes the assembly on the work table, second search processing of searching a disassembly task sequence, which is a series of disassembly tasks that are operations of a robot for disassembling the components from the assembly in an arrangement of the relative positions and orientations between the robot and the fixture on the work table found by the first search processing, and searching for, based on a point sequence of positioning relay points of the robot shown by the disassembly tasks belonging to the disassembly task sequence, a trajectory of the robot in which the robot disassembles the components from the assembly, and first generation processing of generating assembly tasks formed of a point sequence obtained by reversing the point sequence of the relay points, an assembly trajectory of the robot which is a trajectory reverse to a disassembly trajectory formed of interpolation points between the point sequences, and an assembly sequence showing an order of the assembly tasks, which is a reverse order of the disassembly task sequence."
  ],
  "description_excerpt": "The present application claims priority from Japanese patent application JP 2020-149595 filed on Sep. 7, 2020, the content of which is hereby incorporated by reference into this application.\n\nThe present invention relates to a planning device, a planning method, and a planning program.\n\nPTL 1 discloses a layout device for laying out a plurality of welding facilities in a welding line in consideration of a region occupied by a component supply device and a material can which are auxiliary facilities. The layout device executes processing of assigning the type and the number of components to be welded in the welding facilities in each step, processing of calculating a step region required for each step by changing a size of an auxiliary region occupied by the auxiliary facilities attached to the welding facilities in each step according to the type and the number of assigned components, and processing of virtually arranging the welding facilities in each step based on the calculated step region.\n\nPatent Literature PTL 1: JP-A-2006-26757 PTL 2: JP-A-2012-14569\n\nTechnical Problem Regarding a layout of a robot cell, it is necessary to properly plan an arrangement of a robot for a product model that is an assembly. For example, it is not easy to plan a position-orientation relationship of a robot, a hand, and a product model in consideration of an operation range of a 6-axis arm robot. Therefore, every time the product model changes, a production engineer plans the arrangement, and the manufacturing preparation man-hours for physically adjusting positions between devices are required.",
  "cpc": [
    "G05B 19/41865",
    "B25J 9/0096",
    "B25J 9/1661",
    "B25J 9/1664",
    "G05B 2219/31053",
    "G05B 2219/40395",
    "G06F 16/24",
    "G06F 16/283",
    "G06F 16/9024"
  ],
  "ipc": [
    "B25J 9/16",
    "G05B 19/418",
    "G06F 16/24",
    "G06F 16/28"
  ],
  "assignees": [
    "HITACHI LTD"
  ],
  "inventors": [
    "ENOMOTO ATSUKO",
    "KAJITA DAIKI",
    "NAKANO TAKAHIRO",
    "MATSUI TAKAHARU"
  ],
  "filing_date": "2021-08-18",
  "publication_date": "2022-03-10",
  "priority_date": "2020-09-07",
  "application_number": "US-202117405070-A",
  "family_id": "80470782",
  "citations": [
    "JP2018005651A",
    "US10906193B2",
    "US2015293525A1",
    "US2019275675A1",
    "US2020147794A1",
    "US5980084A",
    "US6415204B1"
  ]
}