Information processing apparatus and control method of display apparatus

Abstract

An information processing apparatus includes a display controller configured to output display information to be displayed on a display apparatus, and an analysis unit. The display apparatus includes an operation display area displaying an operation of a robotic system based on robot control data and an information display area displaying information related to an operation parameter of the robotic system in a time-series manner based on the robot control data. The analysis unit is configured to analyze the operation parameter to specify a warning event. The display controller displays the warning event specified by the analysis unit in the operation display area and the information display area in association with each other.

1 .- 8 . (canceled) 
     
     
         9 . An information processing apparatus configured to display information related to operation parameters of a robot system comprising a first robot and a second robot,
 wherein a first warning event of the first robot and a second warning event of the second robot are specified based on the operation parameters, and   wherein, on a display unit,   an information display area displaying information related to the operation parameter in a time series is displayed,   a first area displaying a first operation parameter serving as an operation parameter corresponding to the first robot and a second area displaying a second operation parameter serving as an operation parameter corresponding to the second robot are displayed in the information display area, and   the first area and the second area are displayed separately, and the first warning event and the second warning event are displayed separately.   
     
     
         10 . The information processing apparatus according to  claim 9 , wherein the first warning event is displayed on the first area, and the second warning event is displayed on the second area. 
     
     
         11 . The information processing apparatus according to  claim 10 , wherein the first warning event and the second warning event are respectively independently displayed on the first area and the second area. 
     
     
         12 . The information processing apparatus according to  claim 9 , wherein the first area and the second area are displayed in a same area in a separated state. 
     
     
         13 . The information processing apparatus according to  claim 9 , wherein a state in which the first area is displayed and a state in which the second area is displayed can be switched. 
     
     
         14 . The information processing apparatus according to  claim 9 , wherein a state in which the first area is displayed and a state in which the second area is displayed are switched by selecting the first robot or the second robot. 
     
     
         15 . The information processing apparatus according to  claim 9 , wherein the first warning event is displayed in a manner superimposed on the first operation parameter, and the second warning event is displayed in a manner superimposed on the second operation parameter. 
     
     
         16 . The information processing apparatus according to  claim 9 , wherein, in displaying the first warning event and the second warning event, display is realized with a different display format depending on a stage of the first warning event and the second warning event. 
     
     
         17 . The information processing apparatus according to  claim 9 , wherein, in displaying the first warning event and the second warning event, display is realized with a different color depending on a stage of the first warning event and the second warning event. 
     
     
         18 . The information processing apparatus according to  claim 9 , wherein, in displaying the first warning event and the second warning event, display is realized with a different display pattern depending on a stage of the first warning event and the second warning event. 
     
     
         19 . The information processing apparatus according to  claim 9 , wherein, in displaying the first warning event and the second warning event, display is realized with a different density depending on a stage of the first warning event and the second warning event. 
     
     
         20 . The information processing apparatus according to  claim 9 , wherein, in displaying the first warning event and the second warning event, display is realized with a different brightness depending on a stage of the first warning event and the second warning event. 
     
     
         21 . The information processing apparatus according to  claim 9 , wherein, in displaying the first warning event and the second warning event, a first stage of the first warning event and the second warning event is displayed with a first display format, and a second stage of the first warning event and the second warning event is displayed with a second display format that differs from the first display format. 
     
     
         22 . The information processing apparatus according to  claim 9 ,
 wherein, in specifying the first warning event and the second warning event,   based on the operation parameters, a state in which a first model corresponding to the first robot or a second model corresponding to the second robot is in contact with another model in a virtual environment is specified as a first interference stage,   based on the operation parameters, a state in which the first model or the second model has a predetermined amount of gap from another model is specified as a second interference stage, and   a first display format of the first interference stage and a second display format of the second interference stage are differed in the information display area.   
     
     
         23 . The information processing apparatus according to  claim 9 ,
 wherein, in specifying the first warning event and the second warning event,   based on the operation parameters, a state in which a singular point has occurred in the first robot or the second robot is specified as a first singular point stage,   based on the operation parameter, a state in which the first robot or the second robot is within a predetermined range from the first singular point is specified as a second singular point stage, and   a first display format of the first singular point stage and a second display format of the second singular point stage are differed in the information display area.   
     
     
         24 . The information processing apparatus according to  claim 9 ,
 wherein, in specifying the first warning event and the second warning event,   based on the operation parameters, a state in which acceleration equal to or greater than a first threshold value has occurred in a predetermined part of the first robot or the second robot is specified as a first acceleration stage,   based on the operation parameters, a state in which acceleration smaller than the first threshold value and equal to or greater than a second threshold value has occurred in the predetermined part of the first robot or the second robot is specified as a second acceleration stage, and   a first display format of the first acceleration stage and a second display format of the second acceleration stage are differed in the information display area.   
     
     
         25 . The information processing apparatus according to  claim 21 , wherein, in displaying the first warning event and the second warning event, the first display format is displayed in a manner interposed between the second display format. 
     
     
         26 . The information processing apparatus according to  claim 21 , wherein, in displaying the first warning event and the second warning event, the first display format and the second display format are displayed adjacent one another. 
     
     
         27 . The information processing apparatus according to  claim 9 , wherein the first warning event or the second warning event is updated to a state displayed in the information display area based on a predetermined operation of a user. 
     
     
         28 . The information processing apparatus according to  claim 9 , wherein, based on the predetermined operation, a state in which a state of the first robot or the second robot at a predetermined timing on the time series is displayed in the information display area is updated to a state in which the first warning event or the second warning event at a timing closest to the predetermined timing anterior or posterior thereto on the time series is displayed in the information display area. 
     
     
         29 . The information processing apparatus according to  claim 28 ,
 wherein, in a state where a state of the first robot or the second robot at the predetermined timing is displayed in the information display area, when the user performs an operation to display the warning event that exists anterior to the predetermined timing on the time series, update is performed to a state in which the first warning event or the second warning event at a timing closest and anterior to the predetermined timing on the time series is displayed in the information display area, and,   wherein, in a state where a state of the first robot or the second robot at the predetermined timing is displayed in the information display area, when the user performs an operation to display the first warning event or the second warning event that exists posterior to the predetermined timing on the time series, update is performed to a state in which the first warning event or the second warning event at a timing closest and posterior to the predetermined timing on the time series is displayed in the information display area.   
     
     
         30 . The information processing apparatus according to  claim 27 ,
 wherein a plurality of the first warning events or the second warning events are specified on the time series, and   based on the predetermined operation, update is performed from a state in which a predetermined warning event among the plurality of first warning events or the second warning events is displayed in the information display area to a state in which a warning event at a timing closest to the predetermined warning event anterior or posterior thereto on the time series is displayed in the information display area.   
     
     
         31 . The information processing apparatus according to  claim 9 ,
 wherein, on the display unit,   an operation display area displaying an operation of the first robot or the second robot operating simulatively in a virtual environment is displayed, and   the operation display area and the information display area are displayed so as to be linked.   
     
     
         32 . The information processing apparatus according to  claim 31 , wherein, based on a user operation designating search of the first warning event or the second waring event, a state of the first robot or the second robot in the first warning event or the second warning event being searched is updated to a state being displayed in the operation display area and the information display area. 
     
     
         33 . The information processing apparatus according to  claim 31 , wherein a display in animation of a model of the first robot or the second robot is displayed in the operation display area, and a drawn frame in which the first warning event or the second warning event occurs is searched, wherein if a drawn frame in which the first warning event or the second warning event occurs is detected, the display in animation in the operation display area is updated to a state of the drawn frame that has been searched. 
     
     
         34 . The information processing apparatus according to  claim 9 , wherein a type of the first warning event or the second warning event being specified and a threshold value specifying the first warning event or the second warning event can be set by a user. 
     
     
         35 . The information processing apparatus according to  claim 9 , wherein a first movable range being a movable range of a joint of the first robot is displayed in the first area, and a second movable range being a movable range of a joint of the second robot is displayed in the second area. 
     
     
         36 . The information processing apparatus according to  claim 9 , wherein a time base is displayed in the information display area. 
     
     
         37 . The information processing apparatus according to  claim 9 , wherein the first robot and the second robot differ. 
     
     
         38 . An information processing method configured to display information related to operation parameters of a robot system comprising a first robot and a second robot,
 wherein a first warning event of the first robot and a second warning event of the second robot are specified based on the operation parameters, and   wherein, on a display unit,   an information display area displaying information related to the operation parameters in a time series manner is displayed,   a first area displaying a first operation parameter serving as an operation parameter corresponding to the first robot and a second area displaying a second operation parameter serving as an operation parameter corresponding to the second robot are displayed in the information display area, and   the first area and the second area are displayed separately, and the first warning event and the second warning event are displayed separately.   
     
     
         39 . A manufacturing method for manufacturing articles by causing the first robot or the second robot to execute an operation verified by using the information processing apparatus according to  claim 9 . 
     
     
         40 . A non-transitory computer-readable medium storing a program configured to have a computer execute the image processing method according to  claim 38 .