Teaching device, teaching method, and robot system

2:

• The teaching device according to claim 1, further comprising a determination unit configured to determine the necessity of correction of the moving path of the robot in accordance with the information acquired by the acquisition unit,
• wherein if it is determined by the determination unit that correction is necessary, the correction unit corrects the moving path of the robot.

4:

• The teaching device according to claim 3, further comprising a discrimination unit configured to discriminate the virtual 3D model in which the geometric error may exist,
• wherein the measurement unit measures a geometry of the structure on the real robot system corresponding to the virtual 3D model for which it is discriminated by the discrimination unit that the geometric error may exist.

5:

• The teaching device according to claim 4, wherein
• the virtual 3D model is a 3D model to which attribution information indicating reliability of a model geometry is added, and
• the discrimination unit discriminates whether the geometric error has occurred in accordance with the attribution information added to the virtual 3D model.

6:

• The teaching device according to claim 3, wherein the calculating unit compares voxel data of the measured 3D model with voxel data of the virtual 3D model, and calculates information about a geometric error of the virtual 3D model.

7:

• The teaching device according to claim 3, wherein, if it is determined that, based on the information acquired by the acquisition unit, the moving path of the robot is correctable to the shortest moving path or the moving path of the robot is a path along which an interference between the robot and the peripheral structure may occur in the real robot system, the determination unit determines that the moving path of the robot needs to be corrected.

8:

• The teaching device according to claim 7, wherein the determination unit determines whether the moving path of the robot is correctable to the shortest moving path based on the geometry of the virtual 3D model, the geometry of the measured 3D model, and the geometry of the 3D model of the end effector of the robot.

9:

• The teaching device according to claim 8, wherein the determination unit determines that the moving path of the robot is correctable to the shortest moving path when the length obtained by subtracting the length of a side of the measured 3D model in the height direction on the surface facing the robot from the length of a side of the virtual 3D model in the height direction on the surface facing the robot is longer than the length corresponding to the 3D model of the end effector in the height direction.

10:

• The teaching device according to claim 7, wherein the determination unit determines whether the moving path of the robot is a path along which an interference may occur depending on the geometry of the measured 3D model and the moving path of the robot.

11:

• The teaching device according to claim 7, wherein the correction unit partially corrects the moving path near the virtual 3D model of the moving path of the robot.

13:

• The teaching device according to claim 12, wherein the first selection unit selects, as the start point, the teaching point which becomes an end point of the moving path moving from a teaching point outside of the vicinity area to the teaching point inside of the vicinity area, and selects, as the end point, the teaching point which becomes a start point of the moving path moving from a teaching point inside of the vicinity area to the teaching point outside of the vicinity area.

14:

• The teaching device according to claim 11, wherein the correction unit includes
• a second selection unit configured to select the teaching point as the start point and the teaching point as the end point of the moving path along which an interference has occurred are selected as the start point and the end point of the moving path to be partially corrected, respectively, if it is determined by the determination unit that the moving path of the robot is a path along which the interference may occur, and
• a second search unit configured to search an interference avoidance path connecting the teaching points selected by the second selection unit.

17:

• A non-transitory computer-readable recording medium storing a readable control program configured to cause a computer to function as each unit of the teaching device according to claim 1.