Operation command generation device, operation command generation method, non-transitory computer readable storage medium, and process system

Patent metadata

Field	Value
Publication number	US-9802312-B2
Application number	US-201514945435-A
Country	US
Kind code	B2
Filing date	Nov 19, 2015
Priority date	Nov 21, 2014
Publication date	Oct 31, 2017
Grant date	Oct 31, 2017

Abstract

Provided is an operation command generation device configured to generate an operation command, which is a collection of jobs to be carried out by a process system including a robot based on a protocol chart including a process symbol representing a process to be carried out on a container containing a process subject, the operation command generation device including: a process job generation unit configured to generate, based on the process symbol, a job for causing the process system to carry out the process on the container at a work area; and a transfer job generation unit configured to generate, when the process represented by the process symbol is not a process to be carried out on the same container, a job to transfer the container from the work area to a retreat area after the process represented by the process symbol has been carried out.

First claim

What is claimed is:

1. An operation command generation device configured to generate an operation command, which is a collection of jobs to be carried out by a process system comprising at least a robot based on a protocol chart comprising at least a process symbol representing a process to be carried out on a container containing a process subject, the operation command generation device comprising:
a process job generation unit configured to generate, based on the process symbol, a job for causing the process system to carry out the process on the container at a work area;
a transfer job generation unit configured to generate, when the process represented by the process symbol is not a process to be carried out on at least the same container, a job for causing the process system to transfer the container from the work area to a retreat area after the process represented by the process symbol has been carried out, and
the transfer job generation unit further configured not to generate the job when the process represented by the process symbol is a process to be carried out on the same container at the work area such that the same container stays at the work area during different consecutive processes.

2. The operation command generation device according to claim 1 , further comprising a same-container determination unit configured to determine whether or not a plurality of the process symbols represent processes to be carried out on the same container,
wherein the process job generation unit and the transfer job generation unit are configured to generate, when it is determined by the same-container determination unit that the plurality of the process symbols do not represent processes to be carried out on the same container, a job for each of the containers.

3. The operation command generation device according to claim 2 , wherein when it is determined by the same-container determination unit that the plurality of the process symbols represent processes to be carried out on the same container,
the process job generation unit is configured to generate a job for causing the process system to consecutively carry out the processes represented by the plurality of the process symbols on the container, and
the transfer job generation unit is configured to generate a job for causing the process system to transfer the container from the work area to the retreat area at least after a final process among the processes represented by the plurality of the process symbols has been carried out.

4. The operation command generation device according to claim 1 , further comprising a number-of-containers extraction unit configured to extract, based on the protocol chart, a number of containers associated with the process symbol,
wherein the process job generation unit is configured to generate, based on the process symbol, for each of the number of containers extracted by the number-of-containers extraction unit, a job for causing the process system to repeat the process to be carried out on the container, and
wherein the transfer job generation unit is configured to generate, for each of the number of containers extracted by the number-of-containers extraction unit, a job for causing the process system to transfer the container from the work area to the retreat area.

5. The operation command generation device according to claim 4 ,
wherein the work area comprises a first range in which at least one of the containers is arrangeable,
wherein the operation command generation device further comprises an arrangement possibility determination unit configured to determine whether or not all of the number of containers extracted by the number-of-containers extraction unit are arrangeable in the first range,
wherein the process job generation unit comprises a process job division unit configured to divide, when it is determined by the arrangement possibility determination unit that not all of the containers are arrangeable in the first range, the job for causing the process system to carry out the process represented by the process symbol into two or more jobs to be each carried out for the number of containers that are arrangeable in the first range, and
wherein the transfer job generation unit comprises a transfer job division unit configured to divide, when it is determined by the arrangement possibility determination unit that not all of the containers are arrangeable in the first range, the job for causing the process system to transfer the container into two or more jobs based on the division by the process job division unit.

6. The operation command generation device according to claim 1 ,
wherein the work area comprises a transfer source range and a transfer destination range in each of which at least one of the containers is arrangeable, and
wherein the operation command generation device further comprises:
a container arrangement job generation unit configured to generate a job for causing the process system to arrange a first container containing the process subject in the transfer source range, and arrange a second container in the transfer destination range; and
a process subject transfer job generation unit configured to generate, based on a transfer symbol contained in the protocol chart, a job for causing the process system to transfer the process subject from the first container to the second container.

7. The operation command generation device according to claim 1 , further comprising:
a device process job generation unit configured to generate, based on the process symbol, a job for causing the process system to carry out a process using a peripheral device on the container; and
a device transfer job generation unit configured to generate, when the process represented by the process symbol is not a process to be carried out on at least the same container, a job for causing the process system to transfer the container from the peripheral device to the work area after the process represented by the process symbol has been carried out.

8. The operation command generation device according to claim 7 , further comprising a device-to-device transfer job generation unit configured to generate a job to be carried out between a process using a first peripheral device and a process using a second peripheral device, the processes being represented by a plurality of the process symbols, the job causing the process system to transfer the container from the first peripheral device to the second peripheral device.

9. The operation command generation device according to claim 5 ,
wherein the work area further comprises a second range in which a plurality of the containers are arrangeable, and
wherein when it is determined by the arrangement possibility determination unit that not all of the containers are arrangeable in the first range,
the process job generation unit is configured to generate, based on the process symbol, a job for causing the process system to carry out the process on the container in the first range and in the second range, and
the transfer job generation unit is configured to generate a job for causing the process system to transfer the container from the first range and the second range to the retreat area after the process represented by the process symbol has been carried out.

10. A non-transitory computer-readable storage medium storing a computer program for causing a computer to function as the operation command generation device of claim 1 .

11. An operation command generation method for generating an operation command, which is a collection of jobs to be carried out by a process system comprising at least a robot based on a protocol chart comprising at least a process sy

Assignees

• Nat Inst Advanced Ind Science & Tech
• Yaskawa Electric Corp
• Robotic Biology Inst Inc

Inventors

• Natsume Toru
• Nagasaki Takashi
• Umeno Makoto
• Ipposhi Tatsuro
• Kariyazaki Hirokazu

Classifications

• G05B2219/40113

  Task planning · CPC title

• B25J9/1656 Primary

  characterised by programming, planning systems for manipulators · CPC title

• B25J9/1628 Primary

  characterised by the control loop · CPC title

• G05B2219/45092

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

• B25J9/1679

  characterised by the tasks executed · CPC title