# US 2018/0021952 A1 · Teaching device, teaching method, and robot system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2018/0021952 A1 - Document ID: US20180021952A1 - Status: Published application - Kind: A1 - Application number: 15/548,078 - Filed: 2016-01-27 - Published: 2018-01-25 - Earliest claimed: 2015-02-03 - Assignees: Canon Kabushiki Kaisha - Applicants: Canon Kabushiki Kaisha - Inventors: Yasusato Fujieda; Hisashi Matsumoto - Web page: https://patentgrep.com/patent/US20180021952A1 ## CPC - B25J 9/1671: {characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems} - G05B 19/4069: Simulating machining process on screen (G05B19/4068 takes precedence) - G05B 2219/39014: Match virtual world with real world - G05B 2219/40317: For collision avoidance and detection - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) ## Abstract A teaching device constructs, in a virtual space, a virtual robot system in which a virtual 3D model of a robot and a virtual 3D model of a peripheral structure of the robot are arranged, and teaches a moving path of the robot. The teaching device includes an acquisition unit configured to acquire information about a geometric error between the virtual 3D models, and a correction unit configured to correct the moving path of the robot in accordance with the information acquired by the acquisition unit. ## Claims ### Claim at position 1 1: A teaching device which constructs, in a virtual space, a virtual robot system in which a virtual 3D model of a robot and a virtual 3D model of a peripheral structure of the robot are arranged, and teaches a moving path of the robot, the device comprising: an acquisition unit configured to acquire information about a geometric error between the virtual 3D models; and a correction unit configured to correct the moving path of the robot in accordance with the information acquired by the acquisition unit. ### Claim at position 2 (depends on 1) 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. ### Claim at position 3 (depends on 1) 3: The teaching device according to claim 1, wherein the acquisition unit includes a measurement unit configured to measure a geometry of a structure on a real robot system corresponding to the virtual robot system, a generation unit configured to generate a measured 3D model of the structure in accordance with a measurement result of the measurement unit, and a calculating unit configured to compare the measured 3D model generated by the generation unit with the virtual 3D model, and calculate information about a geometric error in the virtual 3D model. ### Claim at position 4 (depends on 3) 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. ### Claim at position 5 (depends on 4) 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. ### Claim at position 6 (depends on 3) 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. ### Claim at position 7 (depends on 3) 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. ### Claim at position 8 (depends on 7) 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. ### Claim at position 9 (depends on 8) 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. ### Claim at position 10 (depends on 7) 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. ### Claim at position 11 (depends on 7) 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. ### Claim at position 12 (depends on 11) 12: The teaching device according to claim 11, wherein the correction unit includes a setting unit configured to convert the virtual 3D model into the measured 3D model, and set a vicinity area located at a predetermined distance from the measured 3D model in the virtual space when it is determined that the moving path of the robot is correctable to the shortest moving path by the determination unit, a first selection unit configured to select a start point and an end point of the moving path to be partially corrected among teaching points existing in the vicinity area set by the setting unit, and a first search unit configured to search the shortest moving path connecting the teaching points selected by the first selection unit. ### Claim at position 13 (depends on 12) 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. ### Claim at position 14 (depends on 11) 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. ### Claim at position 15 15: A teaching method, comprising: constructing, in a virtual space, a virtual robot system in which a virtual 3D model of a robot and a virtual 3D model of a peripheral structure of the robot are arranged; acquiring, when teaching the moving path of the robot, information about a geometric error of the virtual 3D models; and correcting the moving path of the robot in accordance with the acquired information. ### Claim at position 16 (depends on 1) 16: A robot system comprising: a robot; the teaching device according to claim 1; and a control device configured to operate the robot in accordance with a moving path of the robot taught by the teaching device. ### Claim at position 17 (depends on 1) 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.