Robot system and robot control device

• US 5,825,981 A
• Filed: 03/11/1997
• Issued: 10/20/1998
• Est. Priority Date: 03/11/1996
• Status: Expired due to Fees

• Current Assignee: Komatsu Ltd.
• Original Assignee: Komatsu Ltd.
• Inventors: Matsuda, Tomoo
• Primary Examiner(s): Davis, George B.
• Application Number:
  US08/814,856
• Time in Patent Office: 588 Days
• Field of Search: 395/83, 395/93, 901/6, 901/46, 318/568.16
• US Class Current: 700/248
• CPC Class Codes: G05B 19/41815 characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell
• CPC Class Codes: G05B 19/41845 characterised by system universality, reconfigurability, modularity
• CPC Class Codes: G05B 2219/31002 Computer controlled agv conveys workpieces between buffer and cell
• CPC Class Codes: G05B 2219/31264 Control, autonomous self learn knowledge, rearrange task, reallocate resources
• CPC Class Codes: G05B 2219/32061 Central controls modules grouped according to function
• CPC Class Codes: G05B 2219/39155 Motion skill, relate sensor data to certain situation and motion
• CPC Class Codes: G05B 2219/39163 Formation control, robots form a rigid formation, fixed relationship
• CPC Class Codes: Y02P 90/02 Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Abstract

An object of the device according to the present invention is to enable small-volume, high-diversity production to be conducted efficiently, in the same way as in the conventional FMS, whilst at the same time overcoming problems associated with the conventional techniques, such as the complexity of creating programs for manufacturing processes, work interruptions due to robot breakdown, and `deadlock` incidents arising during operation. When seed data indicating an objective task (for example, the task of completing a particular product) is input to a computer, by communicating with hardware robots via a communications network, the computer selects a plurality of hardware robots, which are capable of implementing cooperatively the objective task indicated by the input seed data, and which are not engaged in any task based on other seed data. A software robot is created by inputting the seed data to at least one of the selected plurality of hardware robots. When the plurality of robots have been operated by means of the generated software robot and have completed the objective task, the seed data is withdrawn from the hardware robot(s) to which it was input.

Claims

1. A robot system for carrying out a prescribed task by operating a plurality of hardware robots, comprising:

a computer into which seed data indicating an objective task is input;

a software robot, whereby the plurality of hardware robots are operated in accordance with the objective task, by means of inputting the seed data to at least one hardware robot; and

a communications network whereby the computer and the plurality of hardware robots are connected such that communication is possible therebetween,

wherein, by communicating with the hardware robots via the communications network, the computer comprises;

selecting means for selecting a plurality of hardware robots which are capable of implementing cooperatively the objective task indicated by the input seed data and which are not engaged in any task based on other seed data;

software robot generating means for creating a software robot comprising the selected plurality of hardware robots, by inputting the seed data to at least one hardware robot of the selected plurality of hardware robots; and

withdrawing means for withdrawing the seed data from the hardware robot(s) to which the seed data has been input, when the plurality of hardware robots have been operated by the generated software robot and have completed the objective task.

2. A robot system as described in claim 1, wherein the objective task indicated by the seed data comprises a plurality of minor objective tasks in which the software robot rewrites contents of the seed data in response to task circumstances, whilst the task is being carried out by the plurality of hardware robots, and

wherein the computer, by communicating with the hardware robots via the communications network, comprises:

minor objective task setting means for setting a minor objective task in accordance with the objective task indicated by the input seed data;

the selecting means for selecting a plurality of hardware robots which are capable of implementing cooperatively the minor objective task and which are not engaged in any task based on the other seed data;

the software robot generating means for creating the software robot comprising the selected plurality of hardware robots, by inputting the seed data to at least one hardware robot of the selected plurality of hardware robots;

the withdrawing means for withdrawing the seed data from the hardware robots to which the seed data has been input, when the plurality of hardware robots have been operated by the generated software robot and have completed the minor objective task; and

means for evaluating the seed data rewritten in response to circumstances of the minor objective task, and repeating respective processing by the minor objective task setting means, the selecting means, the software robot generating means, and the withdrawing means, if it is determined that the objective task indicated by the seed data has not been completed.

3. A robot system as described in claim 2, wherein the objective task indicated by the seed data is a task of manufacturing a desired final product, and the plurality of minor objective tasks are a plurality of processes required in order to manufacture the final product.

4. A robot control device, which is provided with a sensor for detecting a state of an outside world, and symbol selecting means for inputting a detection value from the sensor and selecting, from a plurality of symbols, a symbol representing the state of the outside world in accordance with the sensor detection value, and which conducts reasoning based on the symbol selected by the symbol selecting means and operates an actuator based on a result of the reasoning, the robot control device comprising:

sensor detection value inputting means for inputting the sensor detection value to the symbol selecting means when the sensor detection value has reached a certain reference value,

first actuator operating means for taking the symbol selected by the symbol selecting means in accordance with the sensor detection value input by the sensor detection value inputting means and setting it as a first symbol candidate, and operating the actuator to verify that the first symbol candidate represents the state of the outside world;

judging means for inputting the sensor detection value taken after the actuator has been operated by the first actuator operating means to the symbol selecting means, taking the symbol selected by the symbol selecting means in accordance with the input sensor detection value and setting it as a second symbol candidate, and judging whether the second symbol candidate matches with the first symbol candidate; and

second actuator operating means which, when the judging means judges that the first symbol candidate and the second symbol candidate match, conducts reasoning based on the matched symbols, and operates the actuator based on the result of the reasoning.