Control Method, Device, Computer-Readable Storage Medium and Controller of Robot

Abstract

The present application provides a control method, device, computer-readable storage medium and controller for a robot. The method includes: when the robot is in an external automatic mode and a teaching pendant is communicatively connected to the robot, determining a first operating mode and a second operating mode, where the first operating mode is the operating mode that the teaching pendant desires to control the robot to enter, and the second operating mode is the operating mode that the controller desires to control the robot to enter, and determining that the robot enters the first operating mode or the second operating mode at least according to the state of the robot. Thus, when the robot is in an external automatic mode, the robot can still operate according to the instructions of the teaching pendant, and further the teaching pendant can still participate in controlling the robot, thereby solving the problem that in the existing solution, after switching to the external automatic mode, only the position of the switch electrically connected to the robot can be adjusted to select the operating mode of the controller to control the robot.

Description

Technical Field

[0001] This application relates to the field of robot control. Specifically, it relates to a control method, device, computer-readable storage medium, and controller for a robot. Background Art

[0002] The external automatic mode of a robot refers to the robot being able to be controlled without a teach pendant, such as starting, pausing, etc.

[0003] When a user needs to use the external automatic mode, they need to switch to the external automatic mode. However, in the prior art, after switching to the external automatic mode, the teach pendant can only monitor the robot and cannot control it. If the user wants the robot to work again, they can only select the operation mode of the controller to control the robot by adjusting the position of the switch electrically connected to the robot. Summary of the Invention

[0004] The main objective of this application is to provide a control method, device, computer-readable storage medium, and controller for a robot, so as to solve the problem that in the existing solution, after switching to the external automatic mode, the operation mode of the controller to control the robot can only be selected by adjusting the position of the switch electrically connected to the robot.

[0005] According to one aspect of an embodiment of the present invention, a control method for a robot is provided, which is applied to the controller of the robot. The control method includes: when the robot is in the external automatic mode and a communication connection is established between the teach pendant and the robot, determining a first operation mode and a second operation mode, where the first operation mode is the operation mode that the teach pendant desires to control the robot to enter, and the second operation mode is the operation mode that the controller desires to control the robot to enter. The external automatic mode refers to the operation mode in which the robot is controlled without the teach pendant; determining that the robot enters the first operation mode or the second operation mode at least according to the state of the robot, where the state of the robot is one of the following: a stopped state and a moving state.

[0006] Optionally, determining that the robot enters the first operation mode or the second operation mode at least according to the state of the robot includes: when the state of the robot is the stopped state, controlling the robot to enter the second operation mode; when the state of the robot is the moving state, determining that the robot enters the first operation mode or the second operation mode according to whether the first operation mode and the second operation mode are the same.

[0007] Optionally, when the state of the robot is the motion state, determining whether the robot enters the first operating mode or the second operating mode according to whether the first operating mode is the same as the second operating mode includes: when the first operating mode is the same as the second operating mode, controlling the robot to enter the second operating mode; when the first operating mode is different from the second operating mode, displaying a selection identifier on the display screen of the robot, where the selection identifier is used to select the first operating mode or the second operating mode; in response to an operation on the selection identifier, determining the selected operating mode, and controlling the robot to enter the selected operating mode.

[0008] Optionally, the selection identifier includes a first identifier and a second identifier, where the first identifier is used to represent the first operating mode, and the second identifier is used to represent the second operating mode. Determining the selected operating mode and controlling the robot to enter the selected operating mode in response to an operation on the selection identifier includes: in response to an operation on the first identifier, determining that the selected operating mode is the first operating mode, and controlling the robot to enter the first operating mode; in response to an operation on the second identifier, determining that the selected operating mode is the second operating mode, and controlling the robot to enter the second operating mode.

[0009] Optionally, after controlling the robot to enter the second operating mode, the method further includes: generating a first prompt message and displaying the first prompt message on the display screen, where the first prompt message is used to prompt that the first operating mode is different from the second operating mode. Based on the first prompt message, adjusting the position of the mode selection switch of the teach pendant so that the operating mode that the teach pendant desires to control the robot to enter is updated to the second operating mode.

[0010] Optionally, controlling the robot to enter the first operating mode includes: updating the operating mode that the controller desires to control the robot to enter to the first operating mode; controlling the robot to enter the first operating mode.

[0011] Optionally, the method further includes: after the operating mode that the teach pendant desires to control the robot to enter is updated to the second operating mode, generating a second prompt message and displaying the second prompt message on the display screen, where the second prompt message is used to indicate that the operating mode that the teach pendant desires to control the robot to enter has been updated to the second operating mode.

[0012] Optionally, the first operating mode is one of a manual low-speed mode, a manual high-speed mode, and an automatic mode; the second operating mode is one of an external automatic mode, a manual low-speed mode, a manual high-speed mode, and an automatic mode.

[0013] According to another aspect of the embodiments of the present invention, there is also provided a control device for a robot, the device including an acquisition unit and a processing unit; the acquisition unit is configured to determine a first operating mode and a second operating mode when the robot is in an external automatic mode and when a teaching pendant is communicatively connected to the robot, wherein the first operating mode is the operating mode that the teaching pendant desires to control the robot to enter, the second operating mode is the operating mode that the controller desires to control the robot to enter, and the external automatic mode refers to an operating mode in which the robot is controlled without passing through the teaching pendant; the processing unit is configured to determine that the robot enters the first operating mode or the second operating mode at least according to the state of the robot, wherein the state of the robot is one of the following: a stop state and a motion state.

[0014] According to another aspect of the embodiments of the present invention, there is also provided a computer-readable storage medium, the computer-readable storage medium including a stored program, wherein the program executes any one of the robot control methods.

[0015] According to another aspect of the embodiments of the present invention, there is also provided a controller, the controller including one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and are configured to be executed by the one or more processors, and the one or more programs include those for executing any one of the robot control methods.

[0016] In the embodiments of the present invention, by determining that the robot enters the first operating mode or the second operating mode at least according to the state of the robot, it is realized that when the robot is in an external automatic mode, the robot can still operate according to the instructions of the teaching pendant, and further the teaching pendant can still participate in controlling the robot, thereby solving the problem that in the existing solution, after switching to the external automatic mode, only the position of the switch electrically connected to the robot can be adjusted to select the operating mode of the controller to control the robot. Description of the Drawings

[0017] The specification drawings forming a part of this application are used to provide a further understanding of this application. The schematic embodiments of this application and their descriptions are used to explain this application and do not constitute an improper limitation of this application. In the drawings:

[0018] Figure 1 Shows a flowchart of the robot control method according to an embodiment of this application;

[0019] Figure 2 The figure shows a schematic diagram of a control device of a robot according to an embodiment of the present application;

[0020] Figure 3 The figure shows a flowchart of a control solution of a robot according to an embodiment of the present application. Specific embodiments

[0021] It should be noted that, without conflict, the embodiments in the present application and the features in the embodiments may be combined with each other. The present application will be described in detail below with reference to the drawings and in conjunction with the embodiments.

[0022] In order to enable those skilled in the art to better understand the solution of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0023] It should be noted that the terms "first", "second", etc. in the description and claims of the present application and the above drawings are used to distinguish similar objects, and do not necessarily need to be used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances for the embodiments of the present application described herein. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these process, method, product or device.

[0024] It should be understood that when an element (such as a layer, film, region, or substrate) is described as being "on" another element, the element can be directly on the other element, or there may also be an intermediate element. Moreover, in the description and claims of the specification, when an element is described as "connected" to another element, the element can be "directly connected" to the other element, or "connected" to the other element through a third element.

[0025] As described in the background art, after switching to the external automatic mode in the prior art, the teach pendant cannot control the robot anymore and can only monitor the robot. If the user wants the robot to work again, they can only select the operation mode in which the controller controls the robot by adjusting the position of the switch electrically connected to the robot. To solve the problem that in the existing solution, after switching to the external automatic mode, the operation mode in which the controller controls the robot can only be selected by adjusting the position of the switch electrically connected to the robot, in a typical embodiment of the present application, a control method, device, computer-readable storage medium, and controller for a robot are provided.

[0026] According to an embodiment of the present application, a control method for a robot is provided.

[0027] Figure 1 is a flowchart of the control method for a robot according to an embodiment of the present application. As Figure 1 shown, this method is applied to the controller of the robot, and this method includes the following steps:

[0028] Step S101, when the robot is in the external automatic mode and when a communication connection is established between the teach pendant and the above-mentioned robot, determine a first operation mode and a second operation mode, where the above-mentioned first operation mode is the operation mode that the teach pendant desires to control the above-mentioned robot to enter, the above-mentioned second operation mode is the operation mode that the above-mentioned controller desires to control the above-mentioned robot to enter, and the above-mentioned external automatic mode refers to the operation mode in which the above-mentioned robot realizes the control of the above-mentioned robot without passing through the above-mentioned teach pendant;

[0029] Step S102, determine that the above-mentioned robot enters the above-mentioned first operation mode or the above-mentioned second operation mode at least according to the state of the above-mentioned robot, where the state of the above-mentioned robot is one of the following: a stop state and a motion state.

[0030] In the above steps, by determining that the above-mentioned robot enters the above-mentioned first operation mode or the above-mentioned second operation mode at least according to the state of the above-mentioned robot, it is realized that when the robot is in the external automatic mode, the robot can still operate according to the instructions of the teach pendant, and further, the teach pendant can still participate in controlling the robot, thereby solving the problem that in the existing solution, after switching to the external automatic mode, the operation mode in which the controller controls the robot can only be selected by adjusting the position of the switch electrically connected to the robot.

[0031] It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order than here.

[0032] In an embodiment of the present application, determining that the robot enters the first operating mode or the second operating mode at least according to the state of the robot includes: when the state of the robot is the stop state, controlling the robot to enter the second operating mode; when the state of the robot is the motion state, determining whether the robot enters the first operating mode or the second operating mode according to whether the first operating mode is the same as the second operating mode.

[0033] Specifically, for example, when the state of the robot is the stop state, the robot is controlled according to the instructions of the controller, that is, the controller drives the robot to operate according to the second operating mode indicated by the controller. When the robot is in the stop state, the robot can be controlled without manual operation.

[0034] In an embodiment of the present application, when the state of the robot is the motion state, determining whether the robot enters the first operating mode or the second operating mode according to whether the first operating mode is the same as the second operating mode includes: when the first operating mode is the same as the second operating mode, controlling the robot to enter the second operating mode; when the first operating mode is different from the second operating mode, a selection identifier is displayed on the display screen of the robot, and the selection identifier is used to select the first operating mode or the second operating mode; in response to an operation on the selection identifier, the selected operating mode is determined, and the robot is controlled to enter the selected operating mode.

[0035] Specifically, for example, when the state of the robot is the motion state, and both the first operating mode and the second operating mode are the manual low-speed mode, the robot is controlled to enter the manual low-speed mode; for another example, when the state of the robot is the motion state, and the first operating mode is the manual low-speed mode and the second operating mode is the manual high-speed mode, two option boxes (that is, selection identifiers, and the present application is not limited to two embodiments of option boxes and selection identifiers) are displayed on the display screen of the robot, namely the first option box and the second option box. The first option box corresponds to the manual low-speed mode, and the second option box corresponds to the manual high-speed mode. If the first option box is selected, the robot is controlled to enter the manual low-speed mode, and if the second option box is selected, the robot is controlled to enter the manual high-speed mode.

[0036] In one embodiment of the present application, the selection identifier includes a first identifier and a second identifier. The first identifier is used to represent the first operating mode, and the second identifier is used to represent the second operating mode. Responding to an operation on the selection identifier to determine the selected operating mode and controlling the robot to enter the selected operating mode includes: responding to an operation on the first identifier to determine that the selected operating mode is the first operating mode, and controlling the robot to enter the first operating mode; responding to an operation on the second identifier to determine that the selected operating mode is the second operating mode, and controlling the robot to enter the second operating mode. By operating on the selection identifier, the selected operating mode is determined.

[0037] In one embodiment of the present application, after controlling the robot to enter the second operating mode, the method further includes: generating a first prompt message and displaying the first prompt message on the display screen. The first prompt message is used to prompt that the first operating mode is different from the second operating mode. Among them, based on the first prompt message, the position of the mode selection switch of the teach pendant is adjusted so that the operating mode that the teach pendant desires to control the robot to enter is updated to the second operating mode.

[0038] Specifically, for example, when the state of the robot is the motion state, the first operating mode is the manual low-speed mode, and the second operating mode is the manual high-speed mode, two option boxes are displayed on the display screen of the robot, namely the first option box and the second option box. The first option box corresponds to the manual low-speed mode, and the second option box corresponds to the manual high-speed mode. After selecting the second option box, a prompt message is displayed on the display screen, so that the staff can know that the operating mode that the teach pendant desires to control the robot to enter is different from the operating mode that the controller desires to control the robot to enter at this time.

[0039] In one embodiment of the present application, controlling the robot to enter the first operating mode includes: updating the operating mode that the controller desires to control the robot to enter to the first operating mode; controlling the robot to enter the first operating mode.

[0040] In one embodiment of the present application, the method further includes: after the operating mode that the teach pendant desires to control the robot to enter is updated to the second operating mode, generating a second prompt message and displaying the second prompt message on the display screen. The second prompt message is used to represent that the operating mode that the teach pendant desires to control the robot to enter has been updated to the second operating mode. It is convenient for other staff to know that the operating mode that the teach pendant desires to control the robot to enter is consistent with the operating mode that the controller desires to control the robot to enter.

[0041] In an embodiment of the present application, the first operating mode is one of a manual low-speed mode, a manual high-speed mode, and an automatic mode; the second operating mode is one of an external automatic mode, a manual low-speed mode, a manual high-speed mode, and an automatic mode.

[0042] The embodiment of the present application also provides a control device for a robot. It should be noted that the control device for the robot in the embodiment of the present application can be used to execute the control method for the robot provided in the embodiment of the present application. The following introduces the control device for the robot provided in the embodiment of the present application.

[0043] Figure 2 is a schematic diagram of the control device for the robot according to the embodiment of the present application. As Figure 2 shown, the device includes an acquisition unit 10 and a processing unit 20;

[0044] The acquisition unit 10 is configured to determine the first operating mode and the second operating mode when the robot is in the external automatic mode and when the teach pendant is communicatively connected to the robot. Wherein, the first operating mode is the operating mode that the teach pendant desires to control the robot to enter, the second operating mode is the operating mode that the controller desires to control the robot to enter, and the external automatic mode refers to the operating mode in which the robot is controlled without passing through the teach pendant.

[0045] The processing unit 20 is configured to determine that the robot enters the first operating mode or the second operating mode at least according to the state of the robot. Wherein, the state of the robot is one of the following: a stopped state and a moving state.

[0046] In the above device, by determining that the robot enters the first operating mode or the second operating mode at least according to the state of the robot, it is realized that when the robot is in the external automatic mode, the robot can still operate according to the instructions of the teach pendant, and further the teach pendant can still participate in controlling the robot, thereby solving the problem that in the existing solution, after switching to the external automatic mode, only the position of the switch electrically connected to the robot can be adjusted to select the operating mode of the controller to control the robot.

[0047] In an embodiment of the present application, the processing unit includes a first processing module and a second processing module. The first processing module is configured to control the robot to enter the second operating mode when the state of the robot is the stopped state; the second processing module is configured to determine that the robot enters the first operating mode or the second operating mode according to whether the first operating mode and the second operating mode are the same when the state of the robot is the moving state.

[0048] Specifically, for example, when the robot is in a stopped state, the robot is controlled according to the instructions of the controller, that is, the controller drives the robot to run according to the second operation mode indicated by the controller. When the robot is in a stopped state, the robot can be controlled without manual operation.

[0049] In an embodiment of the present application, the second processing module includes a first processing sub-module, a display sub-module, and a second processing sub-module. The first processing sub-module is configured to control the robot to enter the second operation mode when the first operation mode is the same as the second operation mode; the display sub-module is configured to display a selection identifier on the display screen of the robot when the first operation mode is different from the second operation mode, and the selection identifier is used to select the first operation mode or the second operation mode; the second processing sub-module is configured to determine the selected operation mode in response to an operation on the selection identifier, and control the robot to enter the selected operation mode.

[0050] Specifically, for example, when the state of the robot is the moving state, and both the first operation mode and the second operation mode are the manual low-speed mode, the robot is controlled to enter the manual low-speed mode; for another example, when the state of the robot is the moving state, and the first operation mode is the manual low-speed mode and the second operation mode is the manual high-speed mode, two option boxes (i.e., selection identifiers, and the present application is not limited to the two embodiments of option boxes and selection identifiers) are displayed on the display screen of the robot, namely a first option box and a second option box. The first option box corresponds to the manual low-speed mode, and the second option box corresponds to the manual high-speed mode. If the first option box is selected, the robot is controlled to enter the manual low-speed mode; if the second option box is selected, the robot is controlled to enter the manual high-speed mode. The selection identifier can also be displayed on the display screen of the teach pendant for the staff to operate.

[0051] In an embodiment of the present application, the selection identifier includes a first identifier and a second identifier. The first identifier is used to represent the first operation mode, and the second identifier is used to represent the second operation mode. The second processing sub-module includes a first determination sub-module and a second determination sub-module. The first determination sub-module is configured to determine that the selected operation mode is the first operation mode in response to an operation on the first identifier, and control the robot to enter the first operation mode; the second determination sub-module is configured to determine that the selected operation mode is the second operation mode in response to an operation on the second identifier, and control the robot to enter the second operation mode. The selected operation mode is determined by an operation on the selection identifier.

[0052] In an embodiment of the present application, the second processing sub-module includes a first generating sub-module. After controlling the robot to enter the second operation mode, the first generating sub-module is configured to generate a first prompt message and display the first prompt message on the display screen. The first prompt message is used to prompt that the first operation mode is different from the second operation mode. Wherein, based on the first prompt message, the position of the mode selection switch of the teach pendant is adjusted so that the operation mode that the teach pendant desires to control the robot to enter is updated to the second operation mode.

[0053] Specifically, for example, when the state of the robot is the motion state, the first operation mode is the manual low-speed mode, and the second operation mode is the manual high-speed mode, two option boxes, namely a first option box and a second option box, are displayed on the display screen of the robot. The first option box corresponds to the manual low-speed mode, and the second option box corresponds to the manual high-speed mode. After selecting the second option box, a prompt message is displayed on the display screen, so that the staff can know that the operation mode that the teach pendant desires to control the robot to enter is different from the operation mode that the controller desires to control the robot to enter at this time.

[0054] In an embodiment of the present application, the first processing sub-module includes a switching sub-module and a third processing sub-module. The switching sub-module is configured to update the operation mode that the controller desires to control the robot to enter to the first operation mode; the third processing sub-module is configured to control the robot to enter the first operation mode.

[0055] In an embodiment of the present application, the second processing sub-module includes a second generating sub-module. After the operation mode that the teach pendant desires to control the robot to enter is updated to the second operation mode, the second generating sub-module is configured to generate a second prompt message and display the second prompt message on the display screen. The second prompt message is used to indicate that the operation mode that the teach pendant desires to control the robot to enter has been updated to the second operation mode. It is convenient for other staff to know that the operation mode that the teach pendant desires to control the robot to enter is kept consistent with the operation mode that the controller desires to control the robot to enter.

[0056] In an embodiment of the present application, the first operation mode is one of a manual low-speed mode, a manual high-speed mode, and an automatic mode; the second operation mode is one of an external automatic mode, a manual low-speed mode, a manual high-speed mode, and an automatic mode.

[0057] The control device of the robot includes a processor and a memory. The above-mentioned acquisition unit, processing unit, etc. are all stored in the memory as program units, and the processor executes the above-mentioned program units stored in the memory to implement corresponding functions.

[0058] The processor contains a kernel, and the kernel retrieves corresponding program units from the memory. One or more kernels can be set, and by adjusting the kernel parameters, the problem in the existing solution that only the position of the switch electrically connected to the robot can be adjusted to select the operation mode of the controller to control the robot after switching to the external automatic mode can be solved.

[0059] The memory may include non-permanent memory in a computer-readable medium, in the form of random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0060] An embodiment of the present invention provides a computer-readable storage medium, on which a program is stored, and when the program is executed by a processor, the control method of the robot is implemented.

[0061] An embodiment of the present invention provides a processor, which is used to run a program, and when the program runs, the control method of the robot is executed.

[0062] An embodiment of the present invention provides a device, which includes a processor, a memory, and a program stored on the memory and executable on the processor. When the processor executes the program, at least the following steps are implemented: when the robot is in the external automatic mode and a communication connection is established between the teach pendant and the robot, determine a first operation mode and a second operation mode, where the first operation mode is the operation mode that the teach pendant desires to control the robot to enter, the second operation mode is the operation mode that the controller desires to control the robot to enter, and the external automatic mode refers to the operation mode in which the robot is controlled without passing through the teach pendant; at least according to the state of the robot, determine that the robot enters the first operation mode or the second operation mode, where the state of the robot is one of the following: stop state and motion state. The device in this article can be a server, a PC, a PAD, a mobile phone, etc.

[0063] The present application also provides a computer program product which, when executed on a data processing device, is adapted to execute a program initialized with at least the following method steps: when the robot is in an external automatic mode and a teaching pendant is communicatively connected to the robot, determine a first operating mode and a second operating mode, wherein the first operating mode is the operating mode that the teaching pendant desires to control the robot to enter, the second operating mode is the operating mode that the controller desires to control the robot to enter, and the external automatic mode refers to an operating mode in which the robot is controlled without passing through the teaching pendant; at least determine, according to the state of the robot, whether the robot enters the first operating mode or the second operating mode, wherein the state of the robot is one of the following: a stopped state and a moving state.

[0064] The embodiment of the present application also provides a controller, which includes one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and are configured to be executed by the one or more processors, and the one or more programs include those for executing any one of the control methods of the robot. By at least determining, according to the state of the robot, whether the robot enters the first operating mode or the second operating mode, it is realized that when the robot is in the external automatic mode, the robot can still operate according to the instructions of the teaching pendant, and further the teaching pendant can still participate in controlling the robot, thus solving the problem that in the existing solution, after switching to the external automatic mode, only the position of the switch electrically connected to the robot can be adjusted to select the operating mode of the controller to control the robot.

[0065] In order for those skilled in the art to more clearly understand the technical solution of the present application, the following will illustrate the technical solution and technical effects of the present application in conjunction with specific embodiments.

[0066] Embodiment 1

[0067] The embodiment of the present application also provides a control solution for a robot. Figure 3 According to the flowchart of the control solution for the robot according to the embodiment of the present application, as Figure 3 shown, it includes the following steps:

[0068] Step 1: When the robot is in an external automatic mode and a teaching pendant is communicatively connected to the above-mentioned robot, determine a first operating mode and a second operating mode, wherein the above-mentioned first operating mode is the operating mode that the teaching pendant desires to control the above-mentioned robot to enter, the above-mentioned second operating mode is the operating mode that the above-mentioned controller desires to control the above-mentioned robot to enter, and the above-mentioned external automatic mode refers to an operating mode in which the above-mentioned robot is controlled without passing through the above-mentioned teaching pendant;

[0069] Step 2: When the state of the robot is the stop state, control the robot to enter the second operation mode; when the state of the robot is the motion state, determine whether the robot enters the first operation mode or the second operation mode according to whether the first operation mode is the same as the second operation mode;

[0070] Step 3: When the first operation mode is the same as the second operation mode, control the robot to enter the second operation mode; when the first operation mode is different from the second operation mode, display a selection identifier on the display screen of the teach pendant (that is, whether to use the controller state as the standard or the teach pendant state as the standard. The controller state is the operation mode that the controller wants to control the above-mentioned robot to enter, and the teach pendant state is the same, which will not be elaborated here). The selection identifier is used to select the first operation mode or the second operation mode; in response to an operation on the selection identifier, determine the selected operation mode, and control the robot to enter the selected operation mode;

[0071] Step 4: When using the controller state as the standard, control the robot to enter the second operation mode, and display a first prompt message on the display screen of the teach pendant. The first prompt message is used to prompt that the first operation mode is different from the second operation mode. Among them, based on the first prompt message, adjust the position of the mode selection switch of the teach pendant so that the operation mode that the teach pendant wants to control the robot to enter is updated to the second operation mode;

[0072] Step 5: After the operation mode that the teach pendant wants to control the robot to enter is updated to the second operation mode, generate a second prompt message and display the second prompt message on the display screen of the teach pendant. The second prompt message is used to indicate that the operation mode that the teach pendant wants to control the robot to enter has been updated to the second operation mode.

[0073] By at least determining whether the robot enters the first operation mode or the second operation mode, or enters the second operation mode according to the state of the robot, it is realized that when the robot is in the external automatic mode, the robot can still run according to the instructions of the teach pendant. Furthermore, the teach pendant can still participate in controlling the robot, thus solving the problem that in the existing solution, after switching to the external automatic mode, only by adjusting the position of the switch electrically connected to the robot can the operation mode of the controller controlling the robot be selected.

[0074] Embodiment 2

[0075] The embodiment of the present application further provides a control system for a robot, including a robot and a teach pendant. The robot includes a controller, and the teach pendant is electrically connected to the interface of the controller to achieve communication between the teach pendant and the controller;

[0076] The teach pendant is provided with a rotary switch, which has a first position, a second position, and a third position. When the rotary switch is in the first position, it indicates that the operating mode that the teach pendant wants to control the above-mentioned robot to enter is the manual low-speed mode. When the rotary switch is in the second position, it indicates that the operating mode that the teach pendant wants to control the above-mentioned robot to enter is the manual high-speed mode. When the rotary switch is in the third position, it indicates that the operating mode that the teach pendant wants to control the above-mentioned robot to enter is the automatic mode;

[0077] The teach pendant has a first display screen, and the robot has a second display screen. For example, two option boxes (i.e., selection identifiers, and the present application is not limited to the two embodiments of option boxes and selection identifiers) are displayed on both the second display screen of the robot and the first display screen of the teach pendant, which are the first option box and the second option box respectively. The first option box corresponds to the manual low-speed mode, and the second option box corresponds to the manual high-speed mode. If the first option box is selected, the robot is controlled to enter the manual low-speed mode. If the second option box is selected, the robot is controlled to enter the manual high-speed mode. The manual low-speed mode is the operating mode that the teach pendant wants to control the above-mentioned robot to enter, and the manual high-speed mode is the operating mode that the controller wants to control the above-mentioned robot to enter. And after the second option box is selected, a first prompt message is displayed on both the first display screen and the second display screen. The first prompt message is used to prompt that the operating mode that the controller wants to control the above-mentioned robot to enter is different from the operating mode that the teach pendant wants to control the above-mentioned robot to enter. Among them, based on the first prompt message, the position of the rotary switch of the teach pendant is adjusted so that the operating mode that the teach pendant wants to control the robot to enter is updated to the second operating mode (i.e., the rotary switch is adjusted from the second position to the first position).

[0078] In the above embodiments of the present invention, the descriptions of the various embodiments have their own emphases. For the parts not detailed in a certain embodiment, reference may be made to the relevant descriptions of other embodiments.

[0079] In several embodiments provided by the present application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only illustrative. For example, the division of the units can be a logical function division. In actual implementation, there can be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point, the displayed or discussed coupling or direct coupling or communication connection between each other can be through some interfaces. The indirect coupling or communication connection of the units or modules can be in an electrical or other form.

[0080] The unit described as a separation component may or may not be physically separated. The component shown as a unit may or may not be a physical unit, that is, it may be located in one place or distributed over multiple units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0081] In addition, each functional unit in various embodiments of the present invention may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of a software functional unit.

[0082] If the above-mentioned integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage medium includes: various media such as USB flash drives, read-only memories (ROMs), random access memories (RAMs), mobile hard disks, magnetic disks, or optical discs that can store program codes.

[0083] From the above description, it can be seen that the above embodiments of the present application achieve the following technical effects:

[0084] 1), The control method of the robot of the present application determines that the robot enters the first operating mode or the second operating mode at least according to the state of the robot, so that when the robot is in the external automatic mode, the robot can still operate according to the instructions of the teach pendant, and then the teach pendant can still participate in controlling the robot, thus solving the problem that in the existing solution, after switching to the external automatic mode, only the position of the switch electrically connected to the robot can be adjusted to select the operating mode of the controller to control the robot.

[0085] 2) The control device of the robot in this application determines that the robot enters the first operation mode or the second operation mode at least according to the state of the robot, thereby enabling the robot to operate according to the instructions of the teach pendant when the robot is in the external automatic mode. Furthermore, the teach pendant can still participate in controlling the robot, thus solving the problem that in the existing solution, after switching to the external automatic mode, the operation mode of the robot controlled by the controller can only be selected by adjusting the position of the switch electrically connected to the robot.

[0086] 3) The controller of this application determines that the robot enters the first operation mode or the second operation mode at least according to the state of the robot, thereby enabling the robot to operate according to the instructions of the teach pendant when the robot is in the external automatic mode. Furthermore, the teach pendant can still participate in controlling the robot, thus solving the problem that in the existing solution, after switching to the external automatic mode, the operation mode of the robot controlled by the controller can only be selected by adjusting the position of the switch electrically connected to the robot.

[0087] The above are only the preferred embodiments of this application and are not intended to limit this application. For those skilled in the art, various modifications and changes can be made to this application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this application shall be included within the protection scope of this application.

Claims

1. A control method for a robot, characterized in that, Applied in the controller of the robot, the control method includes: When the robot is in the external automatic mode and the teach pendant is communicatively connected to the robot, determine a first operation mode and a second operation mode, where the first operation mode is the operation mode that the teach pendant desires to control the robot to enter, the second operation mode is the operation mode that the controller desires to control the robot to enter, and the external automatic mode refers to the operation mode in which the robot is controlled without the teach pendant. Determine that the robot enters the first operation mode or the second operation mode at least based on the state of the robot, where the state of the robot is one of the following: a stopped state and a moving state. Specifically, when the state of the robot is the stopped state, control the robot to enter the second operation mode. When the state of the robot is the moving state, determine that the robot enters the first operation mode or the second operation mode according to whether the first operation mode and the second operation mode are the same. Specifically, when the first operation mode and the second operation mode are the same, control the robot to enter the second operation mode; when the first operation mode and the second operation mode are different, display a selection identifier on the display screen of the robot, where the selection identifier is used to select the first operation mode or the second operation mode; in response to an operation on the selection identifier, determine the selected operation mode, and control the robot to enter the selected operation mode.

2. The method according to claim 1, characterized in that, The selection identifier includes a first identifier and a second identifier, where the first identifier is used to represent the first operation mode, and the second identifier is used to represent the second operation mode. In response to an operation on the selection identifier, determine the selected operation mode, and control the robot to enter the selected operation mode, including: In response to an operation on the first identifier, determine that the selected operation mode is the first operation mode, and control the robot to enter the first operation mode. In response to an operation on the second identifier, determine that the selected operation mode is the second operation mode, and control the robot to enter the second operation mode.

3. The method according to claim 2, characterized in that, After controlling the robot to enter the second operation mode, the method further includes: Generate a first prompt message and display the first prompt message on the display screen, where the first prompt message is used to prompt that the first operation mode and the second operation mode are different, and based on the first prompt message, adjust the position of the mode selection switch of the teach pendant so that the operation mode that the teach pendant desires to control the robot to enter is updated to the second operation mode.

4. The method according to claim 2, characterized in that, Controlling the robot to enter the first operation mode includes: Update the operation mode that the controller desires to control the robot to enter to the first operation mode. Control the robot to enter the first operation mode.

5. The method according to claim 3, characterized in that, The method further includes: After updating the operating mode that the teach pendant desires to control the robot to enter to the second operating mode, a second prompt message is generated and displayed on the display screen. The second prompt message is used to indicate that the operating mode that the teach pendant desires to control the robot to enter has been updated to the second operating mode.

6. The method according to any one of claims 1 to 5, characterized in that, The first operating mode is one of a manual low-speed mode, a manual high-speed mode, and an automatic mode; the second operating mode is one of an external automatic mode, a manual low-speed mode, a manual high-speed mode, and an automatic mode.

7. A control device for a robot, characterized in that, Comprising: An acquisition unit, configured to determine a first operating mode and a second operating mode when the robot is in an external automatic mode and when a communication connection is established between the teach pendant and the robot. The first operating mode is the operating mode that the teach pendant desires to control the robot to enter, and the second operating mode is the operating mode that the controller desires to control the robot to enter. The external automatic mode refers to an operating mode in which the robot is controlled without passing through the teach pendant. A processing unit, configured to determine, at least according to the state of the robot, whether the robot enters the first operating mode or the second operating mode. The state of the robot is one of the following: a stopped state and a moving state. The processing unit includes a first processing module and a second processing module. The first processing module is configured to control the robot to enter the second operating mode when the state of the robot is the stopped state. The second processing module is configured to determine whether the robot enters the first operating mode or the second operating mode according to whether the first operating mode and the second operating mode are the same when the state of the robot is the moving state. The second processing module includes a first processing sub-module, a display sub-module, and a second processing sub-module. The first processing sub-module is configured to control the robot to enter the second operating mode when the first operating mode and the second operating mode are the same. The display sub-module is configured to display a selection identifier on the display screen of the robot when the first operating mode and the second operating mode are different. The selection identifier is used to select the first operating mode or the second operating mode. The second processing sub-module is configured to determine the selected operating mode in response to an operation on the selection identifier and control the robot to enter the selected operating mode.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored program, where the program executes the control method of the robot according to any one of claims 1 to 6.

9. A controller, characterized in that, Comprising: One or more processors, a memory, and one or more programs, where the one or more programs are stored in the memory and configured to be executed by the one or more processors. The one or more programs include a control method for executing the robot according to any one of claims 1 to 6.

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