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

Patent metadata

Field	Value
Publication number	US-9849587-B2
Application number	US-201514945437-A
Country	US
Kind code	B2
Filing date	Nov 19, 2015
Priority date	Nov 21, 2014
Publication date	Dec 26, 2017
Grant date	Dec 26, 2017

Abstract

Provided is an operation command generation device including: an execution order determination unit configured to determine, based on respective arrangement positions of a plurality of process symbols each representing a process for a process subject on a protocol chart including the plurality of process symbols, an execution order of the plurality of process symbols; and a process symbol conversion unit configured to respectively convert the plurality of process symbols into jobs for a process system including at least a robot so that processes represented by the plurality of process symbols are executed in the execution order determined by the execution order determination unit.

First claim

What is claimed is:

1. An operation command generation device, comprising:
an execution order determination unit configured to determine, based on respective arrangement positions of a plurality of process symbols each representing a process for a process subject on a protocol chart comprising the plurality of process symbols, an execution order of the plurality of process symbols; and
a process symbol conversion unit configured to respectively convert the plurality of process symbols into jobs for a process system comprising at least a robot so that processes represented by the plurality of process symbols are executed in the execution order determined by the execution order determination unit;
wherein the protocol chart further comprises an initial symbol with which at least one process symbol is associated, the initial symbol representing a container for the process subject,
wherein some of the process symbols are arranged along a first direction from the initial symbol,
wherein another initial symbol is arranged being separate from the initial symbol in a second direction intersecting the first direction, and the former initial symbol and the latter initial symbol represent different containers, and
wherein the execution order of the processes represented by the process symbols arranged at equal position in the first direction is determined according to their position in the second direction.

2. The operation command generation device according to claim 1 ,
wherein the operation command generation device further comprises an initial symbol conversion unit configured to convert the initial symbol into a job of preparing the container for containing the process subject.

3. The operation command generation device according to claim 1 ,
wherein the protocol chart further comprises an initial symbol with which at least one process symbol is associated, the initial symbol representing a container for the process subject,
wherein the operation command generation device further comprises a number-of-containers extraction unit configured to extract a number of containers associated with the initial symbol based on the protocol chart, and
wherein the process symbol conversion unit is further configured to convert the process symbol associated with the initial symbol into as many jobs as the number of containers extracted by the number-of-containers extraction unit.

4. The operation command generation device according to claim 1 ,
wherein the protocol chart further comprises a parallel process symbol arranged so as to be associated with a process symbol,
wherein the operation command generation device further comprises a parallel process setting unit configured to make such a setting that a first process represented by the process symbol and a second process are to be simultaneously executed in parallel, and
wherein the process symbol conversion unit is further configured to convert, based on the setting by the parallel process setting unit, the process symbol into a job to be simultaneously executed in parallel with the second process.

5. The operation command generation device according to claim 1 ,
wherein the protocol chart further comprises an area symbol arranged so as to be associated with the process symbol,
wherein the operation command generation device further comprises a work area setting unit configured to set a work area in which the process represented by the process symbol is to be executed, and
wherein the process symbol conversion unit is further configured to convert, based on the setting by the work area setting unit, the process symbol into a job to be executed in the work area.

6. The operation command generation device according to claim 1 ,
wherein the protocol chart further comprises a repetition line arranged so as to be associated with the process symbol,
wherein the operation command generation device further comprises a repetition setting unit configured to set a number of repetitions of the process symbol, and
wherein the process symbol conversion unit is further configured to convert the process symbol into a job to be repeated as many times as the number of repetitions.

7. The operation command generation device according to claim 1 ,
wherein the protocol chart further comprises a final symbol representing a final state of the container, and
wherein the operation command generation device further comprises a final symbol conversion unit configured to convert the final symbol into a job of executing a final process for the container.

8. The operation command generation device according to claim 1 , further comprising an execution time calculation unit configured to calculate a time required for execution of the job generated based on the protocol chart.

9. 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 .

10. The operation command generation device according to claim 1 , further comprising a process symbol position specification unit configured to specify at least two process symbols equal to each other in the arrangement position in the first direction out of the plurality of process symbols,
wherein the execution order determination unit is further configured to determine an execution order of the at least two process symbols specified by the process symbol position specification unit based on the arrangement positions of the at least two process symbols in the second direction intersecting the first direction.

11. The operation command generation device according to claim 10 ,
wherein the protocol chart further comprises a consecutive process symbol arranged so as to be associated with a plurality of process symbols,
wherein the operation command generation device further comprises a consecutive process setting unit configured to set consecutive execution of processes represented by the plurality of process symbols, and
wherein the process symbol conversion unit is further configured to convert, based on the setting by the consecutive process setting unit, the plurality of process symbols into jobs to be consecutively executed for a single container.

12. The operation command generation device according to claim 1 ,
wherein the protocol chart further comprises a transfer symbol representing a transfer process of transferring the process subject from a first container to a second container, and
wherein the operation command generation device further comprises a transfer symbol conversion unit configured to convert the transfer symbol into a job of transferring the process subject from the first container to the second container.

13. The operation command generation device according to claim 12 , further comprising a transfer rule setting unit configured to set a first transfer rule when a number of the first containers and a number of the second containers are equal to each other,
wherein the transfer symbol conversion unit is further configured to convert, based on the first transfer rule, the transfer symbol into a job of repeating a process of transferring the process subject from the first container to the second container in a one-to-one manner as many times as the number of the first containers.

14. The operation command generation device according to claim 12 , further comprising a transfer rule setting unit configured to set a second transfer rule when a number of the first containers is at least two and the number of the second containers is one,
wherein the transfer symbol conversion unit is further configured to convert, based on the second transfe

Assignees

• Aist
• Yaskawa Electric Corp
• Robotic Biology Inst Inc

Inventors

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

Classifications

• G05B2219/36025

  Link, connect icons together to form program · CPC title

• G01N35/0092

  Scheduling · CPC title

• B25J9/1612

  characterised by the hand, wrist, grip control · CPC title

• B25J9/1656 Primary

  characterised by programming, planning systems for manipulators · CPC title

• B25J9/1602 Primary

  characterised by the control system, structure, architecture · CPC title