JP3486903B2 - Device operation procedure creation system, recording medium on which the operation procedure is recorded, and control system - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus whose operation is controlled by a computer, preferably a work piece.
The present invention relates to a system for creating an operation procedure of a transfer device for loading a storage position from a storage position to a processing position and unloading the storage position from a processing position to a storage position, a recording medium having the operation procedure recorded, and a control system.

[0002]

2. Description of the Related Art Conventionally, in developing machine control software for a device, a user has described the detailed operation procedure and specifications of the device, and has started an actual system (program) development through close consultation with the manufacturer. .

Further, in the program development process of the machine control software, in order to bridge the gap between the specifications created by the user and the problems that occur on the actual machine, the program created by the manufacturer is used to perform many tests on the actual machine. Repeatedly, and each time by modifying the program,
It was finished as a practical control software.

On the other hand, since the manufacturer mainly develops software specialized for users in the development of machine control software, whenever a device used by the user is changed, a new software corresponding to the device is newly added. It was created from the beginning.

[0005]

However, in the conventional method for developing machine control software, since the test on the actual machine is repeated many times by the program created by the maker, it is necessary to complete the practical control software. Has the drawback of requiring a very long development period.
Also, the manufacturer side has to create new software corresponding to the device from the beginning every time the device is changed, which makes it difficult to accumulate software assets.

Further, a programmer who creates such software requires skill, and thus the development cost is enormous due to the labor cost and the long development period, but the created software corresponds only to the device. Since it is a thing, there is a problem that there are a lot of useless parts (time, cost, non-universality).

On the other hand, in a recent control system, a communication terminal such as a portable information terminal and a household electric product are connected via the Internet, and by operating the communication terminal, a switch of the electric product is turned on / off via the Internet. There is known a remote control system.

However, the above-mentioned conventional remote control system has only a simple operation and function for turning a switch ON / OFF, and remotely operates the device according to a complicated sequence and sequence the device even after disconnecting the Internet. A control system that automatically operates according to the above has not been proposed yet.

The present invention has been made in view of the above circumstances, and is a general-purpose operation procedure creating system for an apparatus capable of reducing time and cost, and a recording medium having the operation procedure recorded therein. Another object of the present invention is to provide a control system capable of remotely operating the device according to a sequence.

[0010]

The invention according to claim 1 is
To achieve the above object, in a system for creating an operation procedure for operating the apparatus controlled by the computer according to a predetermined operating condition or order, the input end
The first area where the child is displayed, the first area where the output terminal is displayed
A diagram showing the control method of the area 2 and the operating means is inserted.
Inserted a diagram showing the third area and the type of operating means
4 is a diagram showing a sequence in which a plurality of blocks divided into a fourth area are connected, a plurality of diagrams showing types of operating means constituting an operating unit of the apparatus, and a plurality of diagrams showing a control method of the operating means. The display means to be displayed on the monitor and a figure selected from a plurality of figures showing the types of the operation means displayed on the monitor are the fourth of the blocks of the figure showing the sequence.
Of the control method displayed on the monitor, and a figure selected from a plurality of figures showing the control method displayed on the monitor is visually inserted in the third area of the block of the figure showing the sequence, With the first area between blocks
Sequence creating means for creating a desired sequence by visually combining with the second area .

According to a second aspect of the present invention, in order to achieve the above-mentioned object, a recording medium on which an operation procedure for operating a device controlled by a computer in accordance with a predetermined operation condition or order is recorded, has an input terminal Is displayed
The first area, the second area where the output terminals are displayed,
A third area in which a diagram showing the control method of the working means is inserted,
And a fourth area in which a diagram showing the types of operating means is inserted
A diagram showing a sequence in which a plurality of blocks divided into are connected, a plurality of diagrams showing types of operating means constituting an operating unit of the apparatus, and a plurality of diagrams showing a method of controlling the operating means on a monitor Program and a diagram selected from a plurality of diagrams showing types of operating means displayed on the monitor are visually inserted into the fourth area of the block of the sequence diagram, and the monitor is displayed. A diagram selected from a plurality of diagrams showing the control method displayed in Fig. 4 is visually inserted into the third area of the block of the sequence diagram, and the first area and the second area between the related blocks are D
A sequence creating program for creating a desired sequence by visually connecting the rear and a sequence outputting program for outputting the sequence created by the sequence creating program are stored. .

In order to achieve the above-mentioned object, the operation procedure creating system for the apparatus has a communication means connected to a communication line, and the communication means is connected to the communication line. Thus, the desired sequence created by the sequence creating means is transmitted to the device via the communication line.

According to a fourth aspect of the present invention, in order to achieve the above object, an operation procedure creating system of the apparatus according to the third aspect and an apparatus connected to the operation procedure creating system via a communication line are provided. The device is configured to include receiving means connected to the communication line, recording means for recording information indicating the sequence received by the receiving means, and information indicating the sequence recorded in the recording means. And a control means for reading and operating the drive unit of the apparatus in accordance with the sequence.

The present invention relates to an operating means of an apparatus and a control method (small program) for controlling the basic operation of the operating means.
By modularizing and visually combining these modules to create a series of operating procedures for the device,
The versatility of small programs can be achieved, and
This is done paying attention to the fact that the cost and time can be reduced by allowing the user to visually create the operation procedure.

According to another aspect of the present invention, there is provided a system for creating an operation procedure of an apparatus, which has a display means and a sequence creation means, and which shows a sequence in which a plurality of blocks are connected by the display means. A monitor is caused to display a plurality of figures showing types of operation means constituting the operation part and a plurality of figures showing a control method of the operation means. Then, the sequence creating means visually inserts a diagram selected from a plurality of diagrams showing the operation of the operating means displayed on the monitor into the block of the diagram showing the sequence, and the control method displayed on the monitor. The figure selected from multiple figures showing
The desired sequence is created by visually inserting into the blocks of the sequence diagram and visually connecting the related blocks.

[0016] In summary, the invention according to claim 1 is the above 3
By displaying two figures on the monitor, it becomes easier for the user to create the operation procedure visually, and the operation procedure is the GUI (Graphical) of the operation system of the personal computer.
It can be created only by clicking and dragging the mouse on the monitor using the User Interface) technology.

On a recording medium in which the operation procedure creating system for an apparatus according to claim 2 is recorded, a desired program is created from a display program for displaying the above three figures on a monitor and the three figures displayed on the monitor. A sequence creating program and a program for outputting the created sequence are recorded. Therefore, by setting this recording medium in the driver of the computer of the apparatus and reading each program recorded in the recording medium by the computer, the operating procedure of the apparatus can be created on the monitor of the computer, and Information indicating the created sequence can be output to the central controller on the device side. The central controller translates the information indicating the sequence and outputs a control signal to the driver of each operating means based on the translated content. Thereby, each operating means of the device operates according to the sequence created on the monitor.

The operation procedure creating system according to claim 3 is
The communication means is connected to the communication line to remotely control the device via the communication line in accordance with the desired sequence created by the sequence creating means. As a result, according to this operation procedure creation system, the created sequence can be transmitted to the device via the communication line.

The control system according to claim 4 is the control system according to claim 3.
And a device connected to the operating procedure creating system via a communication line. Then, the apparatus reads out the receiving means connected to the communication line, the recording means for recording the information indicating the sequence received by the receiving means, and the information indicating the sequence recorded in the recording means, and the sequence And a control means for operating the drive unit of the apparatus according to the above. Therefore, according to this control system, the device can be remotely controlled via the communication line according to the desired sequence created by the sequence creating means. Further, since the information indicating the sequence is recorded in the recording means of the device even after the communication line is disconnected, the device can be automatically operated (standalone) according to the sequence by reading the information from the recording means. .

[0020]

BEST MODE FOR CARRYING OUT THE INVENTION Preferred embodiments of an operation procedure creating system for an apparatus, a recording medium recording the operation procedure, and a control system according to the present invention will be described in detail below with reference to the accompanying drawings.

FIG. 1 is a block diagram showing a construction in which a work transfer robot 10 operated by an operation procedure created by the operation procedure creation system of the present invention is applied to a work processing apparatus 12.

The work processing apparatus 12 has a cassette port 14 on the right side in FIG.
The work processing unit 16 is arranged on the upper left side. The cassette port 14 is provided with two cassettes 18 and 20 for storing workpieces before and after processing, and the workpieces stored in predetermined shelves of these cassettes 18 and 20 are workpiece transfer robots. Taken out by 10,
It is transported (loaded) to the work processing unit 16. Here, the work is subjected to predetermined processing such as cutting, polishing and cleaning,
It is taken out again by the work transfer robot 10 and transferred (unloaded) to a predetermined shelf of the cassette 18 or 20 of the cassette port 14. It should be noted that the cassette port 14 is provided with a plurality of mechanisms relating to the processing of the work, such as a cassette presence / absence detection mechanism, a work loading / unloading mechanism, a work centering mechanism, and the like. Further, in FIG. 1, reference numeral 24 is a signal tower (pilot light), reference numeral 28 is a communication port between the work transfer robot 10 and the work processing unit 16, and reference numeral 26 is the work transfer robot 10 and the cassette port 14. Communication port. These communication ports 2
Information is exchanged via 6 and 28, and each operation is smoothly performed.

As shown in FIG. 2, the work transfer robot 10 is composed of a robot main body 30 and upper and lower tweezers 34 and 36 for holding a work, which are provided with a suction portion 32. The robot body 30 is moved horizontally by the Y-axis motor 40 (see FIG. 4), vertically by the Z-axis motor 42, and in the rotational direction about the axis 30 A (see FIG. 2) by the θ-axis motor 44. The work transfer robot 10 is provided with an upper tweezer shaft motor 38 and a lower tweezer shaft motor 46 (see FIG. 4) for horizontally moving the tweezers 34 and 36 with respect to the robot body 30.
Therefore, the 5-axis motor (stepping motor)
By operating 38 to 46 according to a predetermined operation procedure, the work transfer robot 10 can load and unload the work by appropriate operations. A method of creating this operation procedure will be described later. The work transfer robot 10 is provided with position detection sensors corresponding to the five axes, and the position detection sensors detect the current position of the axis and the position where the axis is about to move.

FIG. 3 shows a personal computer 50 connected to the work processing device 12. The personal computer 50 can create an operation procedure of the work transfer robot 10 and can output a command signal for operating the work transfer robot 10 according to the created operation procedure to the work transfer robot 10 side.

The personal computer 50 comprises a personal computer body 52, a monitor 54, a keyboard 56, and a mouse 58. The personal computer main body 52 has a built-in CPU 60 that integrally controls the personal computer 50.
CPU for controlling the entire workpiece processing apparatus 12 of FIG.
61 is communicatively connected. Further, as shown in FIG. 3, the personal computer main body 52 has an FD driver 64 of a floppy disk 62 and a CD-ROM of a CD-ROM (not shown).
A driver 66 and the like are provided.

In the present embodiment, the work transfer robot 1
Although the floppy disk 62 is illustrated as a recording medium in which the operation procedure of 0 is recorded, the present invention is not limited to this, and is a mass-producible CD like the floppy disk 62.
-ROM is also acceptable.

The floppy disk 62 is the FD driver 6
When mounted on the CPU 4, the CPU 60 downloads the program of this embodiment recorded on the floppy disk 62 and stores it in the memory 68 of FIGS. Then, the CPU 60 reads out the program stored in the memory 68, displays the content on the monitor 54, and according to the operation procedure created on the monitor 54, each stepping motor 38 of the work transfer robot 10.
Controls each of the drivers 70, 72, 74, 76, 78 of ~ 46.

FIG. 5 shows an example of a display screen for creating the operation procedure of the work transfer robot 10. The display screen shown in the figure is a screen created based on the program read from the floppy disk 62. The command button 81 on which various menus such as a file menu are displayed at the upper part of the screen and the screen at the bottom of the screen. Is a sequence window 82 displaying a tree in which a plurality of sequences of the work transfer robot 10 are linked, and one sequence diagram selected from the sequence window 82 (corresponding to a diagram showing a sequence formed by connecting a plurality of blocks) is displayed. Chart window 84, device configuration (stepping motor displayed as an icon, etc.), component window in which processing contents are displayed as icons (plurality of diagrams showing types of operating procedures constituting an operating part of the apparatus, operating procedure control method) Corresponding to multiple figures) 80, chart win Composed of properties window 86 for setting the operating conditions of the block 90 which is selected from U 84. In the chart window 84 of FIG. 5, the sequence selected in the sequence window 82 (extracted SE
Multiple blocks 90 for creating Q) (see FIG. 6)
Is displayed. Further, in the component window 80 of FIG. 5, the icons shown in (A) to (K) of FIG. 7 are displayed.

Block 90 for creating a sequence
Are four areas 90A and 9 as shown in FIG.
It is divided into 0B, 90C and 90D. Area 9
0A is a section in which the connections between the blocks 90, that is, the input terminals indicating the processing order are displayed, and the area 90B.
Indicates a section in which output terminals indicating the order of processing between the blocks 90 are displayed. In the area 90C, one icon selected from the icons (A) to (K) shown in FIG. 7 is a component window (process box). In the area 90D that is dragged from 80 and inserted, an icon indicating one stepping motor selected from the stepping motors 38 to 46 (see FIG. 4) of the work transfer robot 10 is a component window (equipment configuration,
This is a section inserted by being dragged from the unit 1) 80. As a result, one block 90 shows a small program that controls the basic operation of one stepping motor as a module.

Next, the icons (A) to (K) in FIG. 7 will be described. The icon (A) is a sequential processing icon that means to execute the module of the block and proceed to the next step. Also, the icon (B) is a start ~
It is an icon of repetitive processing that repeats between ends, icon (C) is an icon of branch processing that performs different processing depending on conditions, icon (D) is an icon of parallel execution processing that performs multiple processing at the same time, icon (E) Is an icon of a parallel end process for ending the processes that were operating in parallel, an icon (F) is an icon of a link (original) process that calls another sequence, and an icon (G) is a link indicating the start of a called sequence. (Forward) processing icon,
The icon (H) is an event issuing process icon indicating event issuance, the icon (I) is an event receiving process icon indicating event reception, and the icon (J) is
The start terminal icon indicating the start of the starting sequence and the icon (K) are end terminal icons indicating the end.

Next, an example of visually creating the operation procedure of the work transfer robot 10 on the monitor 54 will be described with reference to FIG. The operation procedure is created by using the GUI technology of the operation system of the personal computer.

First, in the first block 901 of the diagram showing the sequence shown in FIG. 8, an icon (G) of a link (forward) process indicating the start of a sequence called from another sequence is dragged from the component window 80. While being inserted, the output terminal 901B of the first block 901 and the input terminal 902A of the second block 902
And are connected.

Next, an icon (C) for branching processing is inserted into the second block 902, and an icon indicating processing for confirming the position of the work transfer robot 10 is displayed from the component window (equipment configuration, unit 1) 80. Drag to insert. The reason why the branch processing icon (C) is inserted and the reason why the icon is inserted are that two cassettes 18 and 20 (see FIG. 1) are arranged in the cassette port 14.
This is because it is necessary to detect in which of the cassettes 18, 20 the work transfer robot 10 is located.

For example, when the work transfer robot 10 is located in the cassette 18 (PORT1), the branch processing icon (C) is inserted in the third block 903 and the position of the work transfer robot 10 is set. An icon indicating the processing to be confirmed is dragged from the component window (equipment configuration, unit 1) 80 and inserted. The reason for inserting the icon (C) for branching processing and the reason for inserting the icon is that it is necessary to detect whether the upper and lower tweezers 34, 36 of the work transfer robot 10 are located in front of the cassette 18.

The upper and lower tweezers 34 and 36 are the cassette 18
Block 904 if not located in front of
At the same time, the icon (A) for the sequential processing is inserted, the icon II indicating the Y-axis motor is inserted, and the driver 72 of the Y-axis motor is driven to move the work transfer robot 10 to the work take-out position and wait. . And
In the fifth block 905, the sequential processing icon (A) is inserted, the icon III indicating the θ-axis motor is inserted, the θ-axis motor driver 76 is driven, and the robot body 30 is rotated to move the upper and lower tweezers. Position 34, 36 in front of cassette 18.

When the upper and lower tweezers 34 and 36 are located in front of the cassette 18, the third block 9
Jump from 03 to sixth block 906. An icon (C) for branching processing is inserted in the sixth block 906, and its output terminal is connected to one side of the input terminal 907A of the seventh block 907. Input terminal 907
On the other side of A, the output terminal 90 of the tail block 906 'of the block 903' to the block 906 'on the side of the cassette 20 (PORT2) branched by the second block 902.
Connect 6B. Block 903 'is block 903
Block 904 'corresponds to the block 9
Block 905 'corresponds to the processing content of block 905, and block 90
6'corresponds to the processing content of block 906.

Next, the output terminal 9 of the seventh block 907.
The input terminal 908A of the eighth block 908 is connected to 07B. Then, an icon (D) for parallel execution processing is inserted in the eighth block 908, the ninth block 909 is connected to one side of the output terminal 908B of the eighth block 908, and the other side of the output terminal 908B is connected. The ninth block 909 is connected to the side.

Next, in the ninth block 909, the sequential processing icon (A) and the icon II indicating the Y-axis motor are inserted. Then, in the tenth block 9010, the sequential processing icon (A) and the icon IV indicating the Z-axis motor are displayed.
Insert. Thus, the driver 72 of the Y-axis motor is driven to move the work transfer robot 10 to the work take-out position and wait (9th block 909), and the driver 74 of the Z-axis motor 42 is driven. The positions of the upper and lower tweezers 34 and 36 of the work transfer robot 10 are positioned at the work take-out height and are made to stand by (first
The block 9010 of 0 is processed in parallel.

Then, the output terminal 909B of the ninth block 909 and the output terminal 9 of the tenth block 9010.
010B to the input shaft 901 of the eleventh block 9011.
Connect to 1A, and insert the icon (E) for parallel termination processing in the eleventh block 9011. Then, the output terminal 9011B of the eleventh block 9011 is connected to the input shaft 9012A of the twelfth block 9012, and the end terminal icon (K) is inserted into the twelfth block 9012.

This completes the creation of the operation procedure for one operation of the work transfer robot 10 (the operation of moving the work transfer robot 10 to the position where the work is taken out of the cassette port 14). Regarding the operation of loading the work from the cassette port 14 to the work processing unit 16, the operation of passing the work to the work processing unit 16, the operation of receiving the work from the work processing unit 16, and the operation of unloading the work to the cassette port Also, as shown in FIG. 8, an operation procedure corresponding to the operation is created.

In this way, when the creation of the operation procedure of the work transfer robot 10 is completed, the command button execution menu of FIG. 5 is opened, and execution is clicked. As a result, the data stored in the floppy disk 62,
By the program that outputs the created sequence,
The information of the operation procedure is the CPU 6 of the work processing device 12
It is output to 1. Then, the CPU 61 controls the drivers 70 to 78 based on the information, and drives the stepping motors 38 to 46 according to the operation procedure. Therefore, the work transfer robot 10 operates according to the created operation procedure.

FIG. 9 is a flowchart corresponding to the execution program obtained by converting the operation procedure of FIG.

According to FIG. 9, after starting the link process (step S100), two cassettes (PORT) 1
It is detected which of the cassettes 18, 20 the work transfer robot 10 is located in (8, 20) (S11).
0).

When the work transfer robot 10 is located in the cassette 18 (PORT1), the θ position of the work transfer robot 10 is confirmed (S120). If the tweezers 34, 36 do not face the cassette 18, the driver 72 of the Y-axis motor is driven to move the work transfer robot 10 to the work take-out position and wait (S130). Then, the driver 76 of the θ-axis motor is driven to rotate the robot main body 30 to position the upper and lower tweezers 34 and 36 at positions facing the cassette 18.

On the other hand, when the upper and lower tweezers 34 and 36 are located at the positions facing the cassette 18, the branching process ends (S150). The cassette 20 (PO
When the work transfer robot 10 is located at RT2), the same processing as S120, S130, S140, and S150 is performed.

Next, after the branch processing of PORT1 and PORT2 is completed (S160), the parallel processing is started (S).
170). That is, the process of driving the Y-axis motor driver 72 to move the work transfer robot 10 to the work take-out position and making it stand by (S180), and the Z-axis motor 42.
The driver 74 is driven to position the positions of the upper and lower tweezers 34 and 36 of the work transfer robot 10 at the work take-out height and wait (S190).

When the parallel processing is completed (S2
00), the link is terminated (S210). The above is the flowchart corresponding to the execution program.

As described above, according to the operation procedure creating system of the present embodiment, the sequence diagram selected from the sequence window 82, the equipment configuration (such as the stepping motor displayed as an icon), and the process contents as icons are displayed. By displaying the property window 86 for setting the operating condition of the process box selected from the sequence diagram on the monitor 54, the operation procedure creation becomes visually easy for the user to understand, and the operation procedure is the GUI technology of the operating system of the personal computer. Since it can be created only by clicking and dragging the mouse on the monitor, the time spent for program development,
The cost can be significantly reduced. In addition, since a small program that controls the basic operations of the stepping motors 38 to 46 is modularized and this module is incorporated in the block 90 of the sequence, the degree of freedom in program development is expanded, so that highly versatile program development is possible. It became possible.

Further, on the floppy disk 62 which is a storage medium, a desired sequence is selected from the display program for displaying the sequence window, the component window, the chart window and the property window on the monitor 54, and the four figures displayed on the monitor. Since the program for creating a sequence to be created, the program for operating the created sequence, and the program for outputting the created sequence are recorded, the floppy disk 62 is set in the FD driver 64 of the personal computer 50, and the floppy disk is set by the personal computer 50. By reading each program recorded on the disc 62, the operating procedure of the device can be created on the monitor 54 of the personal computer 50. Then, information indicating the created sequence can be output to the CPU 61 on the side of the work processing device 12.

In the present embodiment, an example in which the present invention is applied to the work transfer robot 10 has been described, but the present invention is not limited to this, and the present invention can be applied to any device that is computer-controlled. Can be applied.

In FIG. 10, the personal computer 50 is connected to the luggage carrying device 1.
Control system 1 for remotely controlling the luggage transport apparatus 100 according to the above-described sequence created by the personal computer 50, which is connected to 00 via the LAN 102 and the Internet 104.
06 is shown.

The personal computer 50 is installed in, for example, an operator room of a factory, and is installed in the operator room.
Is connected to the LAN cable 108 of FIG. Therefore, when the information indicating the sequence created by the personal computer 50 is sent with the address of the luggage transport apparatus 100 attached, the information is transmitted to the luggage transport apparatus 100 via the LAN 102 and the Internet 104.

The baggage transport apparatus 100 has a receiving means 112 for receiving the information, and the information received by the receiving means is recorded in a memory (recording means) 114. Memory 1
When the information is recorded in 14, the device control unit 116 of the luggage transport apparatus 100 reads the information from the memory 114 and controls the driver 118 of each drive unit of the luggage transport apparatus 100 based on the information (sequence). To do. As a result, the luggage transport apparatus 100 automatically operates (standalone) according to the sequence created by the personal computer 50 even after the Internet is disconnected. The baggage transport apparatus 100 is provided with sensors 120 for baggage detection and baggage placement space detection. Based on the information from the sensor 120 and the sequence, the device controller 11
6 controls the driver 118.

FIG. 12 shows a flow chart of a sequence transmitted from the personal computer 50 to the luggage carrying device 100 via the Internet 104. This sequence is, of course, created by the method shown in FIG. In addition, this sequence shows a sequence of operations for transporting a package at the point A to the point B.

According to the flow chart of FIG. 12, when the program starts (S300), it is determined whether or not there is a package at the point A based on the information from the sensor 120 of the package conveying apparatus 100 located at the point A in advance. Judge (S3
10). When the package arrives at the point A (S320), the driver 118 of the handling device 101 of the package transfer apparatus 100 is drive-controlled to grab (or place) the package at the point A by the handling device 101 ( S330).

Next, the baggage transport apparatus 100 moves to the point B (S340), and based on the information from the sensor 120, B
It is determined whether or not there is a space to put the luggage at the point, and if there is a space to put the luggage at the point B (S350), the driver 118 of the handling device 101 is drive-controlled to release (or unload) the luggage. Is placed at point B (S360).

Then, the luggage carrying device 100 returns to the point A to carry the next luggage (S370). After that, when the processing end switch (not shown) of the luggage transport apparatus 100 is pressed (S380), the program ends (S).
390).

As described above, according to the control system 106 of the present embodiment, the luggage carrying device 100 can be remotely controlled via the Internet 104 according to the sequence created by the personal computer 50. Further, even after the internet 104 is disconnected, the information indicating the sequence is recorded in the memory 114 of the luggage transport apparatus 100. Therefore, by reading the information from the memory 114, the luggage transport apparatus 100 automatically operates according to the sequence ( It can be made stand alone).

In the embodiment of FIG. 12, the baggage carrier 100 is remotely controlled using a public line or a dedicated line, but the invention is not limited to this, and a portable telephone and a radio are used as shown in FIG. The luggage transport apparatus 100 may be remotely operated via the Internet 104.

[0060]

As described above, the operation procedure creating system for an apparatus according to the present invention has a display means and a sequence creating means, and the operation procedure operation of the apparatus is recorded on a recording medium. Program, a sequence creation program, and a program for outputting the created sequence are recorded, which makes it easy for the user to create the operation procedure of the device. Development is possible, and the time and cost spent for developing the program can be reduced.

The operation procedure creating system of the present invention is
Since the communication means is connected to the communication line in order to remotely control the device via the communication line in accordance with the desired sequence created by the sequence creating means, the created sequence is transmitted to the device via the communication line. it can.

On the other hand, according to the control system of the present invention, the device can be remotely controlled via the communication line in accordance with the desired sequence created by the sequence creating means. Further, since the information indicating the sequence is recorded in the recording means of the device even after the communication line is disconnected, the device can be automatically operated according to the sequence by reading the information from the recording means.

[Brief description of drawings]

FIG. 1 is a structural diagram of a work processing apparatus having a work transfer robot in which an operation procedure is recorded in an operation procedure creation system of the apparatus of the present invention.

FIG. 2 is an enlarged perspective view of the work transfer robot shown in FIG.

FIG. 3 is a diagram showing a personal computer for creating an operation procedure of the work transfer robot of FIG.

4 is a block diagram showing a control circuit system of the work transfer robot of FIG.

FIG. 5 is a screen for creating an operation procedure of the work transfer robot displayed on the monitor.

FIG. 6 is a diagram showing contents displayed in one block of a sequence.

FIG. 7 is a diagram showing icons dragged to a sequence block.

FIG. 8 is a diagram showing a constructed sequence of a work transfer robot.

FIG. 9 is a flowchart corresponding to an execution program.

FIG. 10 is a configuration diagram showing an example of a control system using the Internet.

11 is a block diagram of the control system shown in FIG.

12 is a flowchart of remote operation in the control system shown in FIG.

FIG. 13 is an explanatory diagram showing another example of a control system using the Internet.

[Explanation of symbols]

10 ... Work transfer robot, 12 ... Work processing device, 3
8-46 ... Stepping motor, 50 ... Personal computer, 54
... Monitor, 58 ... Mouse, 60, 61 ... CPU, 80 ...
Component window, 81 ... Command button, 8
2 ... Sequence window, 84 ... Chart window, 86 ... Properties window, 90 ... Block, 1
00 ... luggage carrier, 102 ... LAN, 104 ... Internet, 106 ... control system, 110 ... communication means,
112 ... Receiving means, 114 ... Memory, 116 ... Device control section

─────────────────────────────────────────────────── --- Continuation of the front page (56) Reference JP-A-3-57001 (JP, A) JP-A-2000-47716 (JP, A) JP-A-10-333718 (JP, A) JP-A-10-171852 (JP, A) (58) Fields investigated (Int.Cl. ⁷ , DB name) G05B 19/04 G06F 9/44 G06F 3/00 651

Claims (4)

(57) [Claims] 1. In a system for creating an operating procedure for operating a device controlled by a computer in accordance with a predetermined operating condition or order, a first area in which an input terminal is displayed and an output terminal are displayed.
Inserted the figure showing the control method of the second area
Insert a diagram showing the third area and the type of operating means.
A diagram showing a sequence in which a plurality of blocks divided into a fourth area to be entered are connected, a plurality of diagrams showing types of operating means constituting an operating unit of the apparatus, control of the operating means Display means for displaying a plurality of diagrams showing a method on a monitor, and a figure selected from a plurality of figures showing types of operating means displayed on the monitor before the block of the figure showing the sequence.
In addition to visually inserting in the fourth area , a diagram selected from a plurality of diagrams showing the control method displayed on the monitor,
Visually inserted into the third area <br/> block diagram showing the sequence, the first error between blocks associated
By visually connecting the rear and the second area ,
A sequence creation means for creating a desired sequence, and an operation procedure creation system for an apparatus, comprising: 2. A recording medium in which an operation procedure for operating a device controlled by a computer in accordance with a predetermined operation condition or order is recorded, a first area in which an input terminal is displayed and an output terminal are displayed.
Inserted the figure showing the control method of the second area
Insert a diagram showing the third area and the type of operating means.
A diagram showing a sequence in which a plurality of blocks divided into a fourth area to be entered are connected, a plurality of diagrams showing types of operating means constituting an operating unit of the apparatus, and a plurality of showing control methods of the operating means. A display program for displaying a diagram on a monitor and a diagram selected from a plurality of diagrams showing types of operating means displayed on the monitor are displayed before the block of the diagram showing the sequence.
In addition to visually inserting in the fourth area , a diagram selected from a plurality of diagrams showing the control method displayed on the monitor,
Visually inserted into the third area <br/> block diagram showing the sequence, the first error between blocks associated
By visually connecting the rear and the second area ,
A recording medium characterized by storing a sequence creation program for creating a desired sequence and a sequence output program for outputting the sequence created by the sequence creation program. 3. The operation procedure creating system for the device has a communication means connected to a communication line, and by connecting the communication means to the communication line, a desired sequence created by the sequence creating means is created. The operation procedure creation system for an apparatus according to claim 1, wherein the operation procedure creation apparatus transmits the operation procedure to the apparatus via a communication line. 4. The operation procedure creating system for an apparatus according to claim 3, and an apparatus connected to the operation procedure creating system via a communication line, wherein the apparatus is connected to the communication line. Receiving means, recording means for recording the information indicating the sequence received by the receiving means, and control means for reading the information indicating the sequence recorded in the recording means and operating the drive unit of the apparatus in accordance with the sequence A control system comprising: