Robot control apparatus and robot control system

Patent metadata

Field	Value
Publication number	US-11400588-B2
Application number	US-202016946358-A
Country	US
Kind code	B2
Filing date	Jun 18, 2020
Priority date	Jun 18, 2019
Publication date	Aug 2, 2022
Grant date	Aug 2, 2022

Abstract

A memory in which information that is used in a tracking operation is to be temporarily stored, information cannot be accumulated in the memory when the accumulating intervals and the reading intervals do not match each other. A robot control apparatus includes: a memory; an accepting unit that accepts a sensing result of a laser sensor detecting a shape of a working target before an, and accumulates information according to the sensing result, in the memory. The memory management unit that, in a case in which the memory is running short of free space, deletes the information in the memory; and a control unit that moves the working tool based on teaching data, and corrects the movement of the working tool based on the information according to the sensing result stored in the memory.

First claim

What is claimed is:

1. A robot control apparatus comprising:
a storage unit in which teaching data is stored;
a memory;
an accepting unit that accepts a sensing result of a laser sensor, from a robot including a working tool and the laser sensor configured to detect a shape of a working target before an operation of the working tool, and accumulates information according to the sensing result, in the memory;
a memory management unit that, in a case in which the memory is running short of free space, deletes the information according to the sensing result stored in the memory; and
a control unit that moves the working tool based on the teaching data, and corrects the movement of the working tool based on the information according to the sensing result stored in the memory.

2. The robot control apparatus according to claim 1 , wherein, in a case in which the memory is running short of free space, the memory management unit reduces the information according to the sensing result stored in the memory and makes intervals for accumulating the information according to the sensing result in the memory longer.

3. The robot control apparatus according to claim 2 , wherein, in a case in which the memory is running short of free space, the memory management unit reduces the information according to the sensing result stored in the memory to ½, and doubles a length of the intervals for accumulating the information according to the sensing result in the memory.

4. The robot control apparatus according to claim 1 ,
wherein the accepting unit accumulates a dispersion level indicating a level of dispersion of differences between a shape of the working target estimated based on the sensing result, and the sensing result, in the memory in association with the information according to the sensing result, and
in a case in which the memory is running short of free space, the memory management unit deletes information according to a sensing result associated with a highest dispersion level, out of the information according to sensing results stored in the memory.

5. A robot control system comprising:
the robot control apparatus according to claim 1 ; and
the robot that is controlled by the robot control apparatus.

Assignees

• Daihen Corp

Inventors

• Fujisawa Sho

Classifications

• B25J19/022

  using lasers · CPC title

• B23K37/0258

  Electric supply or control circuits therefor · CPC title

• G05B2219/36415

  Adjust path and attitude tool by detecting path, line with a photosensor, laser · CPC title

• B25J9/0081

  with leader teach-in means · CPC title

• G05B2219/40536

  Signal processing for sensors · CPC title