Operation command generation device, operation command generation method, and process

Patent metadata

Field	Value
Publication number	US-10409269-B2
Application number	US-201715667689-A
Country	US
Kind code	B2
Filing date	Aug 3, 2017
Priority date	Feb 3, 2015
Publication date	Sep 10, 2019
Grant date	Sep 10, 2019

Abstract

Provided is an operation command generation device, which is configured to generate an operation command, which is a collection of jobs to be performed by a process system of at least a robot, based on a protocol chart of at least a plurality of process symbols, the operation command generation device circuitry includes: a job generation unit configured to generate, based on the protocol chart, a job; a priority instruction unit configured to instruct a priority condition for determining a job execution order; and an execution order determination unit configured to determine an execution order of the jobs based on the priority instructed by the priority instruction unit by using a first condition about repeatedly execution of the jobs according to the number of the containers and a second condition about execution order of the jobs according to the arrangement of the process symbols in the protocol chart.

First claim

The invention claimed is:

1. An operation command generation device, which is configured to generate an operation command, which is a collection of jobs to be performed by a process system of at least a robot, based on a protocol chart of at least a plurality of process symbols each representing a process to be performed on a container in which a process subject is stored, the operation command generation device circuitry comprising at least one processor configured to:
generate, based on the protocol chart, a job for each process indicated by each of the plurality of process symbols;
instruct a priority condition for determining a job execution order;
determine, when there are a plurality of containers, an execution order of the jobs based on the priority by using at least a first and second condition, where the first condition is that each job corresponding to each of the plurality of process symbols is to be repeatedly executed the same number of times as a count of the plurality of containers; and wherein the second condition is that each job corresponding to each of the plurality of process symbols is to be executed in an order corresponding to an arrangement order of each of the plurality of process symbols in the protocol chart;
instruct the first condition to be prioritized over the second condition;
instruct, for a plurality of process symbols for which a consecutive process is specified, the second condition to be prioritized over the first condition; and
generate, for one or more process symbols for which an iterative process is specified, a job corresponding to each of the one or more process symbols, a number of jobs to be generated being equal to an iteration count;
wherein the operation command generation device further comprises a third condition wherein a job corresponding to a process symbol for which an iterative process is specified is to be repeatedly executed the same number of times as a collectively-specified iteration count, and
wherein the at least one processor is further configured to:
instruct the first condition and the second condition to be prioritized over the third condition; and
issue a warning when a group of process symbols, for which a consecutive process is specified and a group of process symbols for which an iterative process is specified, partially duplicate each other.

2. The operation command generation device according to claim 1 , wherein the at least one processor issues a warning when the group of process symbols, for which a consecutive process is specified and another process symbol, are arranged in a direction orthogonal to a direction indicating the consecutive process.

3. The operation command generation device according to claim 1 , wherein at least one processor sues a warning when a job is generated.

4. The operation command generation device according to claim 1 , wherein the jobs to be generated comprise:
a first level job comprising a command for repeating, the same number of times as a container count, a group of processes for which a consecutive process is specified, and a command for repeating, the same number of times as an iteration count, a group of processes for which an iterative process is specified, and
a second level job comprising a command for repeating, the same number of times as the container count, individual processes other than the group of processes for which a consecutive process is specified, and a command for performing once the group of processes for which a consecutive process is specified.

5. The operation command generation device according to claim 1 , wherein the at least one processor issues a warning when two groups of process symbols, for which an iterative process is specified, partially duplicate each other.

6. The operation command generation device according to claim 5 , wherein the at least one processor issues a warning when the group of process symbols, for which a consecutive process is specified and another process symbol, are arranged in a direction orthogonal to a direction indicating the consecutive process.

7. The operation command generation device according to claim 1 , wherein at least one processor issues a warning when a group of process symbols for which a consecutive process is specified includes or is included by a group of process symbols for which a non-consecutive process is specified.

8. The operation command generation device according to claim 7 , wherein the at least one processor issues a warning when the group of process symbols, for which a consecutive process is specified and another process symbol, are arranged in a direction orthogonal to a direction indicating the consecutive process.

9. The operation command generation device according to claim 7 , wherein the at least one processor issues a warning when two groups of process symbols, for which an iterative process is specified, partially duplicate each other.

10. The operation command generation device according to claim 9 , wherein the at least one processor issues a warning when the group of process symbols, for which a consecutive process is specified and another process symbol, are arranged in a direction orthogonal to a direction indicating the consecutive process.

11. An operation command generation method for generating an operation command, which is a collection of jobs to be performed by a process system of at least a robot, based on a protocol chart of at least a plurality of process symbols each representing a process to be performed on a container in which a process subject is stored, the operation command generation method comprising:
generating, based on the protocol chart, a job for each process indicated by each of the plurality of process symbols;
instructing a priority of a condition for determining a job execution order;
determining, when there are a plurality of containers, an execution order of the jobs based on the instructed priority by using a first condition and a second condition, wherein the first condition is that each job corresponding to each of the plurality of process symbols is to be repeatedly executed the same number of times as a count of the plurality of containers; and the second condition is that each job corresponding to each of the plurality of process symbols is to be executed in an order corresponding to an arrangement order of each of the plurality of process symbols in the protocol chart;
instructing the first condition to be prioritized over the second condition;
instructing, for a plurality of process symbols for which a consecutive process is specified, the second condition to be prioritized over the first condition; and
generating, for one or more process symbols for which an iterative process is specified, a job corresponding to each of the one or more process symbols, a number of jobs to be generated being equal to an iteration count;
wherein the operation command generation method further comprises a third condition wherein a job corresponding to a process symbol for which an iterative process is specified is to be repeatedly executed the same number of times as a collectively-specified iteration count, and
wherein the operation command generation method further comprises:
instructing the first condition and the second condition to be prioritized over the third condition; and
issuing a warning when a group of process symbols, for which a consecutive process is specified and a group of process symbols for which an iterative process is specified, partially duplicate each other.

12. A system comprising:
an operation command generation device which causes a computer to generate an operation command, which is a collection of jobs to be perf

Assignees

• Yaskawa Electric Corp

Inventors

• Izumi Tetsuro
• Kariyazaki Hirokazu
• Umeno Makoto
• Ipposhi Tatsuro

Classifications

• G05B2219/45092

  Analysing or chemical synthesis robot, moving samples from station to station · CPC title

• G05B2219/40113

  Task planning · CPC title

• B25J11/00

  Manipulators not otherwise provided for · CPC title

• B25J9/1661 Primary

  characterised by task planning, object-oriented languages · CPC title

• G05B19/418

  Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] · CPC title