Robot teaching device and robot teaching method using the same

Abstract

The present invention relates to a robot teaching device for a programmable control robot and a robot teaching method using the same, and more particularly to a robot teaching device for robot programming, simulation, and control.

Description

Technical Field

[0001] The present invention relates to a robot teaching device for teaching a programmable robot, and more particularly to a robot teaching device (teaching pendant) for robot programming, simulation, and control. Background Art

[0002] Industrial programmable robots are well known. A conventional method of programming such a robot is, for example, to use a method of guiding a specific part of the robot, such as an end effector and a tool on the robotic arm, from an initial point in space to a pick-up location that is the final destination of the end effector through a desired path.

[0003] Information about the movement from the initial position to the final position is stored in the robot or an external control device. Through such a learning session, the robot can repeat the above-mentioned multiple procedures and perform the task to be executed.

[0004] However, in such robot teaching, the method of using the teaching pendant for teaching the robot is complex and difficult, and it is difficult for beginners to use. Therefore, there is a problem of reduced usability of the teaching pendant. Summary of the Invention

[0005] Technical Problem

[0006] An object of the present invention is to provide a robot teaching method, program, and device that enable a user to intuitively interact with a robot teaching device according to various situations of a teaching operation.

[0007] In addition, an object of the present invention is to provide a user interface for teaching a robot in a manner that enables a user to exchange messages with the robot teaching device.

[0008] In addition, an object of the present invention is to provide a user interface that can interact with a user sequentially in each step required to complete a robot teaching operation.

[0009] In addition, an object of the present invention is to provide a user interface that can predict and prevent mistakes frequently made by a user in a robot teaching operation in advance.

[0010] In addition, an object of the present invention is to provide a user interface that enables a user to understand and repair an error situation that occurs in the driving and control of a robot.

[0011] The technical problems to be solved by the present invention are not limited to the above-mentioned technical problems, and those skilled in the art can clearly understand many other technical problems not mentioned through the following description.

[0012] Technical solution

[0013] The present invention aims to solve the above technical problems and provides a robot teaching method for teaching a robot. Specifically, the present invention provides a robot teaching method, including the following steps: a robot teaching device outputs a teaching interface to teach the operation of the robot; monitors at least one of the communication information between the robot and the robot teaching device, the status information of the robot, and the status information of the robot teaching device; and when the monitoring result meets a preset condition, outputs a message related to the monitoring result to the teaching interface, where the message includes at least one of text and images for guiding the input of information to the robot teaching device according to the monitoring result.

[0014] In one embodiment, in the step of outputting the message, the content of the message can be changed according to the input of the information. The message can be output in a manner that overlaps the execution screen of the teaching interface, and the execution screen of the teaching interface is maintained during the process of changing the content of the message.

[0015] In one embodiment, the preset condition can be that at least one of the operation and control of the robot has an error or is predicted to have an error.

[0016] In one embodiment, the preset condition can be a state where information for at least one of the operation and control of the robot needs to be input.

[0017] In one embodiment, the present invention further includes the following steps: the teaching interface of the robot teaching device displays a simulation area including the motion information of the robot and a control area for receiving inputs related to the control of the robot, where the message is displayed in a manner associated with the area related to the preset condition in the simulation area and the control area.

[0018] In one embodiment, the message can include an input area for receiving information for at least one of the operation, control, and setting of the robot related to the preset condition.

[0019] In one embodiment, the present invention further includes the following steps: the robot teaching device receives information from the user through the input area; the robot teaching device monitors at least one of the status of the robot and the status of the robot teaching device by using the information received through the input area; and outputs an associated message based on the monitoring result executed after outputting the message.

[0020] In one embodiment, the preset condition is that the additional device is sensed to be installed on the robot, and the message may include at least one of text and an image for prompting the user to move the robot in a specific action.

[0021] In one embodiment, the present invention further includes the following steps: after outputting the message, the robot teaching device monitors the operation of the robot; and the robot teaching device performs settings related to the additional device based on the action monitoring result.

[0022] In addition, the present invention provides a robot teaching device, which includes: a display unit for outputting a teaching interface; a communication unit for transmitting and receiving data with the robot; and a control unit for monitoring at least one of the communication information between the robot and the robot teaching device, the status information of the robot, and the status information of the robot teaching device, and when the monitoring result meets a preset condition, controlling the display unit to display a message related to the monitoring result on the teaching interface. The message may include at least one of text and an image for guiding the input of information to the robot teaching device according to the monitoring result.

[0023] In addition, the present invention provides a robot teaching system, which includes a robot and a robot teaching device that execute the robot teaching method.

[0024] Beneficial effects

[0025] According to the present invention described above, there are the following various effects.

[0026] According to the present invention, the user understands the situation process through the user interface of the present invention and performs the teaching operation at the same time, so that the information and actions required to complete the robot teaching operation will not be omitted.

[0027] In addition, according to the present invention, all the operations that the user needs to perform with the highest priority can be executed within the area where the message is displayed, so that the user's operation concentration and operation speed can be improved.

[0028] In addition, according to the present invention, through the interaction between the user and the robot teaching device, the monitoring of the robot and the solution of problems are sequentially realized in each step of the robot teaching operation, so that even a novice can easily perform the teaching of the robot.

[0029] In addition, according to the present invention, the robot teaching device provides the user with the information required for installing the additional device through the interaction with the user, and collects the information required for setting the additional device from the user, so that the user can easily install the additional device on the robot without specific knowledge about the additional device for installing on the robot.

[0030] In addition, according to the present invention, when reaching the operation steps where the user frequently makes mistakes, the user is made aware of this, and the user can prevent mistakes with the least amount of operations. Therefore, the number of robot errors can be minimized and the user's operation time can be shortened.

[0031] In addition, according to the present invention, the error situation that occurs in the robot operation and control and the interface for fixing the error are provided in one message. Therefore, when the user becomes aware of the error, the user can immediately take actions to fix the error.

[0032] In addition, according to the present invention, through the repeated interaction process with the robot teaching device, the user's proficiency in using the robot can be improved by themselves without additional prior learning (such as guides, education courses, etc.).

[0033] The effects of the present invention are not limited to the above effects, and those skilled in the art can clearly understand many other effects not mentioned through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 FIG. is a diagram schematically showing a robot teaching system according to an embodiment of the present invention.

[0035] Figure 2 FIG. is a block diagram showing a plurality of components included in a robot teaching device (teaching box) according to an embodiment of the present invention.

[0036] Figure 3 FIG. is a conceptual diagram showing the main screen of a robot teaching device (teaching box) according to an embodiment of the present invention.

[0037] Figure 4 FIG. is a conceptual diagram for explaining the operation of a programmable robot controlled by a robot teaching device according to an embodiment of the present invention.

[0038] Figure 5 FIG. is a sequence diagram showing an embodiment of outputting a message of the present invention.

[0039] Figure 6 and Figure 7 FIG. is a conceptual diagram showing an embodiment of outputting a message of the present invention.

[0040] Figures 8A to 10C FIG. is a conceptual diagram showing an embodiment of using a message for installing an additional device according to an embodiment of the present invention.

[0041] Figure 11 FIG. is a conceptual diagram showing an embodiment of using a message for a function first executed by a user according to an embodiment of the present invention.

[0042] Figure 12It is a conceptual diagram showing an embodiment that uses messages to prevent common mistakes made by users according to an embodiment of the present invention.

[0043] Figures 13 to 17 It is a conceptual diagram showing an embodiment that uses messages to repair robot errors according to an embodiment of the present invention. Detailed Description

[0044] With reference to the accompanying drawings and the following multiple embodiments, the advantages, features, and methods for implementing them of the present invention will become clearer. However, the present invention is not limited to the multiple embodiments disclosed below, but can be implemented in different various forms. The embodiments of the present invention are only used to more completely disclose the present invention and to fully introduce the scope of the present invention to those skilled in the art. The present invention is only defined by the scope of the claims.

[0045] The terms used in this specification are used to describe multiple embodiments and are not intended to limit the present invention. In this specification, unless specifically mentioned, the singular expression includes the plural expression. The terms "comprises" and / or "comprising" used in the specification do not exclude the existence or addition of one or more other components in addition to the mentioned components. Throughout the specification, the same reference numerals refer to the same components, and "and / or" includes each and all combinations of the multiple components involved. Although multiple components are described using "first", "second", etc., these components are not limited to these terms. These terms are only used to distinguish one component from another. Therefore, within the scope of the technical idea of the present invention, the following first component may also be the second component.

[0046] Unless otherwise defined, all terms (including technical terms and scientific terms) used in this specification can be used with the meanings commonly understood by those skilled in the art. In addition, unless otherwise clearly defined, the terms defined in the commonly used dictionary should not be ideally or exaggeratedly interpreted.

[0047] Hereinafter, with reference to the accompanying drawings, the preferred embodiments of the present invention will be described in more detail. When describing the present invention, for the convenience of complete understanding, the same reference numerals are used for the same components in the drawings, and the repeated description of the same components is omitted.

[0048] There are three ways to perform robot teaching. The three ways may include offline programming, online programming, and direct teaching. Offline programming, as a programming method based on a simulator, is mainly used when generating and verifying execution paths, and is a programming method implemented through an Ethernet-controlled automation technology main controller.

[0049] Online programming, as a way of using a robot teaching device, is mainly used for robot motion commands, path generation / repeat operations, and is a way implemented through a wired / wireless connection between the robot teaching device and the robot.

[0050] Direct teaching is a method in which a user (or operator) directly manipulates a robot to learn a path and requires the support of a control algorithm. As a system that enables a user to intuitively determine the target trajectory of a robot, it is a way in which the user grasps the end part of the robot and directly applies force and torque to the robot to make the robot run according to their own wishes. Therefore, it is a way that enables a user to easily generate the target trajectory information of the robot, and after the robot memorizes the path, during automatic operation, it tracks and controls it.

[0051] The robot teaching device according to an embodiment of the present invention may include a teaching pendant (TP) as a user interface device for controlling the robot. The teaching pendant, as a device for industrial equipment or robots, can mainly be used in industrial sites where a display and a mouse cannot be used and in automation equipment that does not require special operations. A touchpad (or buttons) and a display screen (for example, may include an LCD screen, an LED screen) are used to implement a tablet PC form to facilitate the user, and can be used in a wired or wireless connection manner with the robot.

[0052] Robot teaching system

[0053] Figure 1 It is a diagram schematically showing a robot teaching system according to an embodiment of the present invention. As Figure 1 shown, the robot teaching system according to an embodiment of the present invention can be programmed (a) based on offline programming and (b) based on online programming. The robot teaching system according to an embodiment of the present invention may include at least one of a robot teaching device 100 (for example, may be a teaching pendant), a main controller, and a robot 300. The present invention can be used in both an online programming-based robot teaching system and an offline programming-based robot teaching system. In addition, the robot teaching system, as a term defining a system based on teaching, can also be referred to as a robot system based on the robot.

[0054] Refer toFigure 1 In the offline programming control of an embodiment of the present invention, the robot teaching device 100 and the main controller 200 can transmit control signals or programming data to the control system (not shown) of the robot 300 to drive the robot 300. The control system of the robot 300 can control by applying current to the drive units for driving the respective parts of the robot to perform actions corresponding to the programming.

[0055] The robot teaching device 100 of an embodiment of the present invention can be a touch-based teaching box. That is, a simulator can be mounted on the functions of the teaching box for online programming to provide an offline programming function. The robot teaching device 100 can be implemented by mounting a mobile robot and a humanoid ROS (software) for robot / sensor / environment modeling based on the open source physics engine (ODE). The software can run on various operating systems such as Windows or Linux. The robot teaching device 100 can test the anti-collision algorithm and the optimal path calculation algorithm through the simulator.

[0056] The robot teaching device 100 can include the end effector of the robot 300 to control multiple functions and multiple actions of multiple parts of the robot 300. For this purpose, the robot teaching device 100 can include a storage unit that stores not only information related to the surrounding environment of the operation of the robot 300 and multiple objects manipulated by the robot 300, but also pre-stored information about the operation and multiple functions of the robot. The robot teaching device 100 can communicate with the robot 300 during the programming process of the robot 300 and can control the robot 300. In addition, it can also search for the modes of multiple actions of the robot 300 and pre-programmed scenarios. Therefore, such scenarios or robot-related information can be used when performing different tasks within the settings required for reprogramming the robot for new tests.

[0057] The main controller 200 can be a fieldbus that uses an Internet Gateway of Things (IGoT) capable of quickly providing Internet of Things (IoT) services to control multiple dispersed sensors and multiple drivers in real time through Ethernet communication. Among them, as a gateway capable of quickly providing IoT services, the IGoT can implement an industrial IoT using multiple sensors based on RS485 and CAN as fieldbuses, and can perform real-time decentralized control using Ethernet Control Automation Technology (EtherCAT). That is, the main controller 200 can be a Linux-based real-time controller that supports Ethernet Control Automation Technology. It can not only ensure the stability and high performance of industrial controllers through the main controller 200, but also use a real-time operating system and EtherCAT master software to reduce the ownership and maintenance costs of products. The main controller 200 can be connected to the robot teaching device 100 through USB and receive programming data or control signals from the robot teaching device 100 to drive the robot. The main controller 200 can include a Science and Technology Embedded Platform (STEP).

[0058] In online programming control, the robot teaching device 100 can use Ethernet Control Automation Technology to perform online control of the robot 300. That is, according to an embodiment of the present invention, a robot teaching device 100 integrated with a real-time robot controller can be implemented to integrate online programming and offline programming.

[0059] Robot teaching device (teaching pendant)

[0060] Figure 2 It is a block diagram showing multiple components of a robot teaching device (teaching box) according to an embodiment of the present invention. Figure 3 It is a conceptual diagram showing the main screen of a robot teaching device (teaching box) according to an embodiment of the present invention.

[0061] Refer to Figure 2 , a robot teaching device 100 according to an embodiment of the present invention can include a display unit 110, a user input unit 120, a control unit 130, a storage unit 140, a communication unit 150, and an analog unit 160.

[0062] The display unit 110 can display multiple menus related to multiple programming steps to be performed by the user during the programming of the robot, and / or during the programming, actual operation, or testing of the robot, display a computer imaging (e.g., 3D CAD image) showing the shape of the robot. The display unit 110 can display a graph composed of a time axis and an action information axis representing the degree of action of at least one of the multiple parts of the robot. On the other hand, the display unit 110 can display various messages for assisting the user's operation. This will be described later.

[0063] The user input unit 120 can input programming instructions to the control system of the robot. The user input unit 120 can receive instructions from the user, which may include a touch screen. The touch screen can receive user input through a stylus or the user's hand, etc. The touch screen displays the 3D imaging of the robot together with multiple icons for positioning and orienting specific parts of the robot at arbitrary positions, and can receive clicks on the multiple icons.

[0064] The control unit 130 is a processor for programming and controlling the robot. It can be composed of a hardware processor. The control unit 130 can generate programming codes input to the robot according to the instructions received from the user input unit 120. Or, it can generate control signals for controlling the robot. The control unit 130 can analyze based on the actions or coordinate values of the various parts of the robot over time to generate a graph composed of a time axis and an action degree value. In addition, it can specify time, the target robot part, and path points using the graph to change the positions of the path points through changes in the action degree values of the corresponding parts, and can also add new path points. The control unit 130 can sense the surrounding environment of the robot, such as obstacles and prohibited areas, etc., to calculate the optimal path of the robot. In addition, it can move one or more joints or tools of the robot through multiple sequences of multiple path points or through a path in space to obtain the detailed coordinates of the position or spatial area of the robot.

[0065] For this purpose, the control unit 130 can basically be equipped with inverse dynamic control algorithms, impedance control algorithms, compliance control algorithms, collision detection and avoidance algorithms according to arm operations, object impedance control algorithms, and internal force impedance control algorithms for each arm, and these algorithms can be verified through the simulation of the simulation unit 160.

[0066] In addition, the control unit 130 can control the display unit 110 to display the previous and next menus and icons according to the clicks on each menu and icon. The control unit 130 can obtain access rights to pre-programmed templates that describe multiple features of the robot's favorite actions, movements, and others, at least during the programming process of the robot, in association with multiple specific actions. At this time, the templates can define different multiple operations of the robot to optimize the subsequent programming of the robot. The templates can be stored in the storage unit 140.

[0067] The storage unit 140 can store information about the programming and multiple actions of the robot, and can also store obstacle information that the robot needs to avoid during movement and / or information about the surroundings of the robot, such as spatially restricted areas. It can include non-volatile memories such as flash memories like RAM and ROM and / or hard memories. The storage unit 140 can store information representing the initial position of the tool, the activation / trigger parameters of the tool at the initial position, the final position of the tool, the activation / trigger parameters at the final position, and information about the spatial path between the initial position and the final position.

[0068] The communication unit 150 can receive robot-related information such as the action information or position information of the robot through sensors attached to the actual robot. It can be implemented through a communication processor. In addition, the communication unit 150 can enable data to be transmitted and received between robots.

[0069] The simulation unit 160 can generate the actions of the actual robot as computer imaging for simulation based on the information received from the actual robot or the information from the external sensors of the robot teaching device. In addition, different from the actual robot, computer imaging of the robot can be generated according to the programming generated by the control unit 130 to simulate the actions of the robot. Such simulated computer imaging can be transmitted to the display unit 110 and displayed.

[0070] That is, the simulation information described in this specification can include at least one of the information describing the actual actions of the robot and the information describing the simulated actions of the robot.

[0071] The information describing the actual actions of the robot can be displayed through at least one of a static image or a dynamic image. Further, the information describing the actual actions of the robot can be an image corresponding to the appearance of the robot and describing each joint (or the position of the joint) of the robot.

[0072] Similarly, the information describing the simulated actions of the robot can be displayed through at least one of a static image or a dynamic image. Further, the information describing the simulated actions of the robot can be an image of the appearance and joint positions of the robot that are expected when the robot actually moves.

[0073] In the present invention, for the sake of convenience in description, for the functions or processes executed by the robot teaching device, they are expressed in a manner with the "robot teaching device" as the subject, such as "the robot teaching device outputs information". Among them, "under control" may mean that data is transmitted and received through the communication between the robot teaching device, the main controller, and the robot, and a series of processes are executed based on this.

[0074] In addition, "under control" may actually mean that the control unit of the robot teaching device can execute the functions described later based on the command statements, programs, or functions provided by the robot teaching device of the present invention.

[0075] The robot teaching device of the present invention can display various screen information on the display unit 110.

[0076] Specifically, referring to Figure 3 , the display unit displays a plurality of icons 111 related to the functions that the robot teaching device 100 can execute. The user can execute a specific function by touching one of the plurality of icons.

[0077] On the other hand, the display unit 110 can output a computer imaging 112 of the robot. Among them, the computer imaging 112 is simulation information related to the driving and control of the robot. The computer imaging 112 is obtained by visualizing the simulation results executed by the simulation unit 160 or the main controller 200 based on the information input by the user. In this specification, the area for displaying the computer imaging 112 is called the simulation area.

[0078] The computer imaging is displayed in the same shape as the actual robot, and when the type of the robot to be controlled changes, the computer imaging 112 can also change. The robot teaching device 100 can use the computer imaging 112 to provide the user with the expected actions of the robot according to the shape of the robot and specific control commands. That is, the computer imaging 112 includes not only static images but also dynamic images.

[0079] In addition, the robot teaching device 100 can emphasize and display a part 112' of the computer imaging 112, so that the user can understand that there is a problem with a specific part of the robot. The embodiments using the computer imaging 112 will be described later.

[0080] On the other hand, an area 113 for displaying information of input items can be displayed on the display unit 110.

[0081] On the other hand, labels 114 for displaying the types of a plurality of control commands that can be selected to be issued to the robot can be displayed on the display unit 110. The user can touch one of the plurality of labels to select the type of control command to be issued to the robot. The information to be input into the control command input window 115 can be different according to the type of label selected by the user.

[0082] In this specification, the plurality of icons 111, the area 113 capable of inputting item information, the plurality of the above-mentioned labels 114, and the input window 115 are referred to as the control area. Therefore, the screen information output by the display unit of the robot teaching device of the present invention includes the simulation area and the control area.

[0083] The screen information displayed on the above-mentioned display unit is only one embodiment of the present invention, and the information displayed on the display unit is not limited to the content listed above.

[0084] Robot operation

[0085] Figure 4 It is a conceptual diagram for explaining the operation of a programmable robot controlled by the robot teaching device of an embodiment of the present invention.

[0086] The robot may include a plurality of individual arm parts, and adjacent arm parts are interconnected through respective joints. At least a part of the joints may include a drivable drive unit. In addition, the robot may include a control system for controlling such a drive circuit. The joint may include a safety brake and may include an annular member that rotates relative to the electrode rotation axis.

[0087] The robot may include a decoder for decoding an instruction received from the robot teaching device, and may include sensors for sensing information related to the position and movement of each part of the robot (for example, a force / torque sensor (F / T sensor), a position sensor, a vision sensor). Such sensors can sense the periphery of the robot. In addition, an encoder for encoding the action-related information may be included.

[0088] The robot can perform at least the following operations. It can perform pick-and-place operations, filing operations, peg-in-hole operations, assembly operations, palletizing operations, Cartesian teaching, deburring operations, spraying, welding operations, and human interaction. These can be performed through basic functions and can be realized based on the specification of position, movement, tracking, triggers, and events / actions, etc.

[0089] Referring to Figure 4 , the robot 300 includes a plurality of joints 320, 330, 340, 350, 360, 370 to achieve multi-degree-of-freedom motion. In Figure 4 , as an example of a multi-degree-of-freedom collaborative robot, a robot 300 with six degrees of freedom using six joints 320, 330, 340, 350, 360, 370 is shown.

[0090] The first joint 320 is rotatably coupled to the upper portion of the base 310, and the first joint 320 rotates about the Z-axis (based on Figure 4 is the vertical direction) as the center. One end face (the face opposed to the base 310) and the other end face (the face opposed to the second joint 330) of the first joint 320 are located in planes perpendicular to each other. The second joint 330 is rotatably coupled to the other end of the first joint 320. Since one end face and the other end face of the first joint 320 are located in planes perpendicular to each other, the second joint 330 rotates about an axis perpendicular to the rotation axis of the first joint 320. One end face (the face opposed to the first joint 320) and the other end face (the face opposed to the third joint 340) of the second joint 330 are located in planes parallel or coincident with each other.

[0091] The third joint 340 is rotatably coupled to the other end of the second joint 330. Since one end face and the other end face of the second joint 330 are located in planes parallel or coincident with each other, the third joint 340 rotates about an axis parallel to the rotation axis of the second joint 330. One end face (the face opposed to the second joint 330) and the other end face (the face opposed to the fourth joint 350) of the third joint 340 are located in planes perpendicular to each other.

[0092] The fourth joint 350 is rotatably coupled to the other end of the third joint 340. Since one end face and the other end face of the third joint 340 are located in planes perpendicular to each other, the fourth joint 350 rotates about an axis perpendicular to the rotation axis of the third joint 340. One end face (the face opposed to the third joint 340) and the other end face (the face opposed to the fifth joint 360) of the fourth joint 350 are located in planes perpendicular to each other.

[0093] The fifth joint 360 is rotatably coupled to the other end of the fourth joint 350. Since one end face and the other end face of the fourth joint 350 are located in planes perpendicular to each other, the fifth joint 360 rotates about an axis perpendicular to the rotation axis of the fourth joint 350. One end face (the face opposed to the fourth joint 350) and the other end face (the face opposed to the sixth joint 370) of the fifth joint 360 are located in planes perpendicular to each other.

[0094] The sixth joint 370 is rotatably coupled to the other end of the fifth joint 360. One end surface and the other end surface of the fifth joint 360 are in planes perpendicular to each other. Therefore, the sixth joint 370 rotates about an axis perpendicular to the rotation axis of the fifth joint 360. One end surface (the surface facing the fourth joint 350) and the other end surface of the fifth joint 360 are in planes perpendicular to each other.

[0095] An additional device (not shown) is installed at the other end of the sixth joint 370. There are multiple types of additional devices depending on the operations performed by the robot 300, etc., and various additional devices can be replaceably installed at the other end of the sixth joint 370.

[0096] The additional device may be a tool for the operations of the robot or a sensor installed on the robot, etc.

[0097] The present invention can control the robot through the above-described robot teaching device. The above robot is only one embodiment of the present invention, and the structure of the robot that can be controlled according to the present invention is not limited to the above robot.

[0098] Hereinafter, a robot teaching method that enables a user to interact with the robot teaching device intuitively according to various situations of the teaching operation will be specifically described.

[0099] Figure 5 is a sequence diagram showing an embodiment of outputting a message of the present invention, Figure 6 and Figure 7 is a conceptual diagram showing an embodiment of outputting a message of the present invention.

[0100] The robot teaching device of the present invention interacts with the user according to different situations to help the user perform operations smoothly. To this end, with reference to Figure 5 the robot teaching device of the present invention monitors at least one of the communication information between the robot and the robot teaching device, the state of the robot, and the state of the robot teaching device (S110).

[0101] At this time, before the monitoring (S110), a step of the robot teaching device outputting a teaching interface to teach the operation of the robot may be performed. However, the present invention is not limited thereto, and the monitoring (S110) may be performed prior to the step of outputting the teaching interface.

[0102] The teaching interface, as an interface output by the robot teaching device for interacting with the user, includes a graphical user interface, an audio interface, etc. More specifically, the teaching interface can be interpreted as referring to Figure 3All of the simulation area and the control area described above are included. The communication information between the robot and the robot teaching device may be information regarding the communication connection between the robot and the robot teaching device using a wired or wireless signal. Hereinafter, in this specification, for convenience of explanation, wireless communication is mainly used as an example for explanation.

[0103] Among them, the state information of the robot includes at least one of the current settings of the robot, the driving state of the robot, whether an additional device is installed, the communication state, and the current posture of the robot, and is monitored using the information received from the main controller 200 and the robot 300.

[0104] The state information of the robot teaching device 100 includes at least one of the user input value for the robot teaching device, the currently executed function, the function execution history, the currently displayed screen information, and the usage pattern of the user for the robot teaching device, and can be periodically collected by the control unit 130.

[0105] That is, the robot teaching device 100 monitors the data transmitted and received between the main controller and the robot, the data input by the user, and the data generated within the robot teaching device.

[0106] When the monitoring result meets a preset condition, a message in a preset output manner is output on the display unit 110 (S120). As an example of this kind, when the monitoring result meets a preset condition, the teaching interface outputs a message related to the monitoring result.

[0107] A plurality of the preset conditions may be set, and the plurality of conditions can be roughly divided into three types. Specifically, the preset conditions may be composed of an operation suggestion condition, an operation warning condition, and a robot error repair condition. Each condition and its embodiments will be described later.

[0108] The robot teaching device periodically monitors the state information of the robot and the state information of the robot teaching device to determine whether the preset conditions are met.

[0109] The message may include at least one of text and an image for guiding the input of information to the robot teaching device according to the monitoring result.

[0110] For example, the message may include different screen information according to the types of preset conditions that are the reasons for outputting the message. Specifically, the message may only include information about the state of the robot and the state of the robot teaching device. The robot teaching device can change the information displayed in the message based on a user input for the message. For example, when the message includes an image, the robot teaching device can display a deformed image of the image based on a user input for the area where the message is displayed. As described above, the present invention enables the user to monitor the progress of the teaching operation in real time through the message.

[0111] In contrast, the message may include an input area for inputting information required for driving and controlling the robot. The types of information that can be input into the input area may be different according to the preset conditions. For example, when the message is generated due to the installation of an additional device, the message may include an input area for inputting setting values related to the additional device. The input area may be formed in the shape of a button for the user to input. For example, the message includes at least one button, and each of the buttons may match the information required for driving and controlling the robot. Each of the buttons may include text and an image that prompt the information matched with it. The robot teaching device can perform operations related to driving and controlling the robot based on a user input given to the area where the button is displayed.

[0112] Through the screen information included in the above message, the robot teaching device can guide the user to perform a specific action through the message. Specifically, the robot teaching device guides the user to touch a part of the message, or touch a part of the screen information displayed on the display unit, or directly operate the robot through the message.

[0113] In one embodiment, the robot teaching device displays an input area within the message for the user to touch a part of the message or input a setting value. In another embodiment, the robot teaching device displays a prompt message within the message for the user to touch specific screen information. In another embodiment, the robot teaching device displays a dynamic image or a static image within the message for the user to perform a specific action.

[0114] As described above, the above message includes an input area that performs at least a part of the teaching operation while prompting the teaching operation situation. Thus, the robot teaching device of the present invention interacts with the user.

[0115] On the other hand, the display position of the message 400 may be different according to the type of problem associated with the message.

[0116] Specifically, the position of the message can be displayed in a manner associated with the menu, icon, and screen information related to the function where the problem occurs. Among them, "the message is displayed in a manner associated with specific screen information" means to represent it in a way that enables the user to understand the relevance between the specific screen information and the message. For example, "the message is displayed in a manner associated with a specific screen" may include being displayed within a predetermined distance from the specific screen information, or emphasizing the specific screen information, or connecting the message and the specific screen information through a connection part. Not limited to this, when the user can understand the relevance between the specific screen information and the message, it can be considered that "the message is displayed in a manner associated with the specific screen information".

[0117] On the other hand, the time point of outputting the message can vary according to the type of problem associated with the message.

[0118] In one embodiment, the robot error repair message can be output immediately when the error occurs, and the operation warning condition can also output the message immediately when the condition is met.

[0119] In contrast, in the case of the operation suggestion message, even if the robot teaching device meets the condition, the message may not be output immediately, but instead an icon capable of outputting the message is displayed. When the user touches the icon, the message is output.

[0120] In addition, in the step (S120) of outputting the message, the content of the message can be changed according to the information input. In this way, the message can include the content in the form of information transmitted and received between the user and the robot teaching device. Therefore, the message can be defined as a ping - pong message.

[0121] At this time, the message is output in a manner overlapping the execution screen of the teaching interface, and the execution screen of the teaching interface is maintained during the process of changing the content of the message. More specifically, while maintaining one execution screen, the ping - pong messages are output in sequence, and the robot teaching device can interact with the user based on the monitoring results in the teaching steps associated with the execution screen.

[0122] For this change in the content of the message, as needed, after the message is output, the robot teaching device monitors at least one of the state of the robot and the state of the robot teaching device (S130).

[0123] After the robot teaching device receives the information required for driving and controlling the robot from the user through the input area included in the message, it monitors the state of the robot and the state of the robot teaching device, and determines whether the problem that caused the message output has been solved.

[0124] Based on the monitoring results, the robot teaching device outputs an associated message (S140).

[0125] In this specification, for convenience of explanation, after the message is displayed, the message displayed according to the monitoring result of the robot and the robot teaching device is called an associated message. The robot teaching device determines whether to output an associated message based on whether the problem associated with the message is solved after the message is output.

[0126] On the other hand, multiple associated messages can be output sequentially, and the robot teaching device determines whether to output an additional associated message based on whether the problem associated with the specific associated message is solved after the specific associated message is output. That is, the robot teaching device outputs associated messages until all the problems associated with the initially displayed message are solved.

[0127] The associated message is a message for prompting the user whether the problem is solved or for giving additional prompts. When the problem is solved after the user performs a specific action based on the message, the robot teaching device displays an associated message indicating that the problem is solved. On the other hand, when the user performs a specific action based on the message, the robot teaching device can output an associated message guiding the user to perform the next action. At this time, an associated message can be displayed whenever the user's action ends. That is, an associated message can be displayed until the problem is solved.

[0128] On the other hand, the associated message may include an input area for receiving information required for driving and controlling the robot in the same manner as the message in the preset form. The input area is the same as the input area included in the message in the preset form, so its specific description is omitted.

[0129] As described above, according to the present invention, the user understands the situation process through the user interface of the present invention and performs the teaching operation at the same time, so that the information and behaviors required to complete the robot teaching operation are not omitted. Hereinafter, a specific embodiment of the present invention will be described with reference to the accompanying drawings.

[0130] For example, as Figure 6 shown, the robot teaching device 100 monitors the communication state of the robot, and when communication between the robot and the robot teaching device is impossible, outputs a message 400 in a preset form. The robot teaching device displays the message about the communication state of the robot around the connection state icon 111. On the other hand, when the message is displayed, the robot teaching device can prominently display a specific icon 401 to prompt the association between the message and the specific icon.

[0131] In another embodiment, referring to Figure 7 , the robot teaching device can display the connection part 402 between the connection message 400 and the specific icon 111.

[0132] In another embodiment, although not shown, the robot teaching device displays a message regarding an additional device installed on the robot in the simulation area. In another embodiment, when an error occurs in the robot, the robot teaching device emphasizes the position where the error occurs in the simulated image and displays a message around the emphasized position.

[0133] Hereinafter, conditions for outputting messages and various embodiments related thereto will be described with reference to the drawings. In this specification, multiple embodiments of the present invention are classified as operation suggestions, operation warnings, and robot errors for description, but the present invention should not be construed as being limited to the above classification.

[0134] Operation suggestions

[0135] The present invention provides a user interface capable of interacting with the user sequentially in each step required to complete the robot teaching operation.

[0136] Figures 8A to 10C It is a conceptual diagram showing an embodiment in which a message is used for installing an additional device according to an embodiment of the present invention, Figure 11 It is a conceptual diagram showing an embodiment in which a message is used for a function first executed by the user according to an embodiment of the present invention.

[0137] The robot teaching device of the present invention outputs a message for suggesting an operation to the user. Specifically, the robot teaching device outputs a message reminding the user of the operation that needs to be prioritized in the current situation.

[0138] Among them, the conditions for outputting messages may include at least one of sensing that a new additional device is installed on the robot, the user first executing a specific function, the user executing a function whose execution count is within a preset number of times, and a user request occurring during the execution of a specific function. Hereinafter, multiple embodiments related to the above conditions will be specifically described.

[0139] When an additional device is installed on the robot, the robot transmits data related thereto to the robot teaching device. When the robot teaching device senses that an additional device is installed on the robot, the robot teaching device outputs a message.

[0140] At this time, the message may be displayed on the teaching interface of the robot teaching device at the time when the additional device of the robot is installed. For this purpose, the robot teaching device monitors the installation of the additional device and outputs the message in response to the installation of the additional device. At this time, the message may include setting information for calibrating the additional device. Therefore, the user can perform the calibration of the additional device according to the guidance of the message.

[0141] Among them, the content of the message may vary according to the type of the installed additional device.

[0142] In one embodiment, referring to Figures 8A to 8C , when it is sensed that a force / torque sensor (F / T sensor) is installed on the robot, the robot teaching device outputs a message 400 indicating that a new device has been sensed. When a preset time has elapsed after the message 400 is output or a touch input for the message 400 is sensed, the robot teaching device outputs a message 404 prompting the user to move the robot in a specific motion. Among them, the message 404 may include a dynamic image.

[0143] In a state where the message 404 is output, the robot teaching device monitors the values sensed by the sensors equipped on the robot and sets the coordinate system of the robot using the monitored values.

[0144] At this time, the message 404 is displayed until the user moves the robot in a specific motion, and it can be displayed around the simulated imaging.

[0145] In addition, the area corresponding to the position where the sensor is set in the entire area of the simulated imaging 403 can be emphasized and displayed.

[0146] On the other hand, when the coordinate system of the robot cannot be set using the monitored values, the robot teaching device outputs an associated message prompting reinstallation of the additional device. At the same time, a dynamic image for assisting in the installation of the additional device can be output together.

[0147] On the other hand, after the coordinate system of the robot is set, the robot teaching device displays an associated message 405 prompting this.

[0148] In another embodiment, referring to Figures 9A to 9C , when it is sensed that a vision sensor is installed on the robot, the robot teaching device outputs a message 406 for sensing a specific position using the vision sensor. In a state where the message 406 is output, the robot teaching device monitors the values sensed by the vision sensor equipped on the robot and performs calibration using the monitored values.

[0149] At this time, the message is displayed until a specific position is sensed by the vision sensor, and it can be displayed around the simulated imaging.

[0150] On the other hand, when the robot teaching device cannot perform calibration using the monitored values, it outputs an associated message for the vision sensor to sense other positions. At the same time, a dynamic image for assisting in the installation of the additional device can be output together.

[0151] In another embodiment, referring to Figures 10A to 10CWhen an additional device is sensed as installed but the type of the installed additional device cannot be sensed, the robot teaching device outputs a message 407 that prompts the user to select the type of the installed additional device.

[0152] Specifically, the robot teaching device displays the shape of the additional device that is considered to be installed by the user through a two-dimensional image or a three-dimensional image. When an image of the additional device is displayed through a three-dimensional image, if there is a touch input to the three-dimensional image, the robot teaching device displays an image observed from another angle. Thus, the present invention enables the user to install and use the additional device even if the user does not know the correct name of the additional device.

[0153] On the other hand, although not shown, the message 407 may include a list of additional devices. The user can select the additional device set by the user from the list.

[0154] On the other hand, the robot teaching device outputs a message when the user executes a function whose execution count is within a predetermined number of times. At this time, the message includes a message that prompts a job to be executed in a state where the user executes a specific function. The robot teaching device monitors whether the user executes the job prompted by the message, and when the user executes the job, outputs an associated message that guides the next job.

[0155] For example, referring to Figure 11 when the user executes a specific function for the first time, the robot teaching device notifies that the function is executed for the first time and outputs a message 408 that prompts to select whether to convert the robot teaching device into a specific mode (for example, a teaching mode). When the user selects to execute the specific mode, the robot teaching device outputs an associated message that prompts the user to execute the job with the highest priority.

[0156] As described above, according to the present invention, through the interaction between the user and the robot teaching device, monitoring of the robot and problem solving are sequentially achieved in each step of the robot teaching operation, so that even a novice can easily perform the teaching of the robot.

[0157] In addition, according to the present invention, the robot teaching device provides the user with the information required to install the additional device through the interaction with the user, and collects the information required to set the additional device from the user. Therefore, the user can easily install the additional device on the robot without specific knowledge about the additional device to be installed on the robot.

[0158] Operation warnings

[0159] On the other hand, the present invention provides a user interface that can predict and prevent mistakes frequently made by the user in the robot teaching operation in advance.

[0160] Figure 12It is a conceptual diagram showing an embodiment of using messages to prevent common mistakes made by users according to an embodiment of the present invention.

[0161] The robot teaching device of the present invention outputs messages for operation warnings to the user. Specifically, the robot teaching device outputs messages at the time points when mistakes frequently occur.

[0162] Among them, as a condition for outputting messages, when the robot teaching device receives a request to execute a specific function from the user in a state that meets specific conditions, it outputs a message. Among them, the specific conditions may include at least one of not performing settings regarding the additional device after installing the additional device and having an error that has occurred more than a preset number of times when executing a specific function. Hereinafter, taking the additional device as a tool installed on the arm of the robot as the end effector of the robot as an example, specific embodiments regarding the above conditions will be described in detail.

[0163] When an additional device is installed on the robot, the robot transmits data related thereto to the robot teaching device. The robot teaching device can sense that an additional device has been installed on the robot.

[0164] The additional device has an inherent weight. Therefore, control commands should be issued based on considering the weight. For this purpose, after installing the additional device on the robot, the user should input the setting values related to the additional device into the robot teaching device to perform settings regarding the additional device.

[0165] In this example, the robot teaching system senses that a tool is connected to the robot and monitors the input of the weight. At this time, when the weight is not input, a message can be output, and the message can be formed to receive the weight of the tool.

[0166] More specifically, when the robot teaching device is requested to drive the robot without separate settings in a state where a new tool is sensed, or when the difference between the value received from the user and the estimated value related to the tool is above a preset level, the robot teaching device outputs the message. The message may include a separate button. When the button is input by the user, the robot teaching device may display an input window for inputting setting values related to the additional device.

[0167] For example, referring to Figure 12 , when a robot joint movement request is issued without separate settings after installing an additional device on the robot, the robot teaching device outputs a message 400 prompting the input of setting values related to the additional device. When a touch input is made to the message 400 or a preset time has passed without separate user input from the time point when the message 400 is output, the robot teaching device outputs an input window 409 for inputting setting values related to the additional device.

[0168] In addition, when the input of the weight as the set value is completed through the input window 409, the message disappears and the robot executes the operation.

[0169] The above example of monitoring the tool connection problem can be expanded and utilized in various forms. For example, after connecting the tool, the robot teaching system can monitor the operation of the robot and sense abnormal operations of the robot. Such abnormal operations can be, for example, abnormal acceleration.

[0170] In this way, when an abnormal operation is sensed, the driving of the robot can be stopped and the message can be output on the teaching interface of the robot teaching device. The message can be an interface for asking the user whether the operation of the robot is their intention and receiving the user's response.

[0171] When a response indicating an operation that is the user's intention is received through the message, the driving of the robot can continue. On the contrary, when a response indicating an operation that is not the user's intention is received through the message, an input window for inputting the weight of the tool can be output on the message.

[0172] Furthermore, in this example, the weight of the tool can also be automatically input. For example, when it is sensed that a tool is connected, the robot teaching system receives the specification or type of the tool and calculates the weight of the tool using the specification or type of the tool. The robot teaching device can output the calculated weight as a suggested value on the message to suggest automatically inputting the weight.

[0173] On the other hand, although not shown, when a preset number of errors or more occur during the execution of a specific function, each time a request to execute the specific function is issued, the robot teaching device outputs a message indicating the function with frequent errors. At this time, the message can include text or images prompting the user of the methods used to solve the errors.

[0174] As described above, according to the present invention, when reaching the operation steps where the user frequently makes mistakes, the user is made aware of this, and the user can prevent mistakes with the least amount of operations, so that the number of robot errors can be minimized and the user's operation time can be shortened.

[0175] Robot errors

[0176] On the other hand, the present invention provides a user interface that enables the user to simultaneously understand and repair error situations occurring in the driving and control of the robot.

[0177] Figures 13 to 17 It is a conceptual diagram showing an embodiment of using a message to repair robot errors according to an embodiment of the present invention.

[0178] The robot teaching device of the present invention outputs a message to repair a robot error. Specifically, the robot teaching device outputs a message at the time point when a robot error occurs.

[0179] Among them, the conditions for outputting the message may include at least one of the robot teaching device being unable to drive the robot according to the control command, the current posture of the robot being different from the shape in the computer imaging, and the user input not being recognized. Hereinafter, specific embodiments regarding the above conditions will be described in detail.

[0180] The robot teaching device forms a control command based on the value of the received user input and transmits it to the robot. The robot drives according to the received control command. The robot teaching device transmits the control command to the robot and monitors the driving state of the robot. When it is sensed that the robot does not drive according to the control command, the robot teaching device outputs a message.

[0181] At this time, the message can be output in various ways. Specifically, the message may include a method for prompting the user to be able to repair the error or an icon associated with error repair.

[0182] Furthermore, when the error is an error that has occurred in the past, the robot teaching device may prompt the user with the method that was used when repairing the error. At this time, the message may include at least one of text and an image that prompt the method used by the user when repairing the error.

[0183] In one embodiment, referring to Figure 13 , after the robot teaching device receives the value for robot driving from the user through the input window 410, it generates a control command and transmits it to the robot. When it is sensed that the robot does not drive according to the control command, the robot teaching device outputs a message 400. At the same time, the robot teaching device highlights a partial area 411 of the display unit so that the user can understand that a robot error has occurred.

[0184] In another embodiment, referring to Figure 14 , the robot teaching device can output a message 400 including a repair button 413 when a robot error occurs. The robot teaching device repairs the robot error when the repair button 413 is operated by the user. Thus, the present invention can repair the robot error without the user taking additional measures when a robot error occurs.

[0185] In contrast, when a robot error occurs in the present invention, the position where the error occurs is clearly prompted so that the user can select a way to repair the error. Specifically, when a robot error occurs, the robot teaching device highlights the area corresponding to the position where the error occurs in the entire area of the computer imaging. When there are multiple positions where the error occurs, multiple areas of the computer imaging can be highlighted. After that, when a user input is given to the highlighted area, the robot teaching device repairs the error at the position corresponding to the highlighted area.

[0186] In one embodiment, referring to Figure 15 , when errors occur at multiple positions of the robot, the robot teaching device highlights multiple areas 414 of the computer imaging 112’. At the same time, the robot teaching device outputs a message 400 that prompts that an error has occurred and prompts to select a position to be repaired.

[0187] Specifically, when a singularity error occurs where the robot cannot move further, the robot teaching device highlights an area of the computer imaging 112’ corresponding to the joint that cannot be driven. After that, when a user input is received for the highlighted area, the robot teaching device releases the joint corresponding to the area to repair the singularity error. When the error cannot be repaired only by releasing the joint corresponding to the user-selected area, the robot teaching device outputs an associated message 415 to guide the user to further select a joint. At this time, the robot teaching device changes the color of an area of the computer imaging 112’ corresponding to the repaired joint to indicate that part of the repair has been completed.

[0188] On the other hand, the present invention can prevent a part of the robot from colliding with other parts of the robot or with surrounding objects when the robot is driven. Specifically, after receiving the information required for driving and controlling the robot from the user, the robot teaching device simulates the operation of the robot. When the simulation result predicts that the robot will collide, the robot teaching device outputs a message about the collision on the execution screen of the robot teaching device. The message about the collision may include various information about the collision. For example, the message about the collision may include at least one of the joint information of the robot where the collision is predicted to occur, the three-dimensional coordinate information where the collision is predicted to occur, the direction where the collision is predicted to occur, and the time information where the collision is predicted to occur.

[0189] At this time, the message can be output in the form of a ping-pong message in the same way as the above example.

[0190] On the other hand, when it is predicted that the robot will collide, an icon indicating the collision can be displayed on the image corresponding to the joint of the robot included in the computer imaging. When it is predicted that impacts will occur at multiple parts, the icon can be displayed at multiple positions.

[0191] The robot teaching device of the present invention can eliminate the above-mentioned collision resolution through user input for the output message. Specifically, the message can display a repair icon according to the part where the collision occurs. The repair icon can be displayed in a manner that overlaps the part where the collision occurs in the computer imaging. When there are multiple parts where the collision occurs, the repair icon can be displayed at multiple parts.

[0192] When any one of the repair icons receives user input, the robot teaching device calculates the set value that can avoid the collision of this part, and uses the calculated value to simulate the driving of the robot. The robot teaching device recalculates the set value that can avoid the collision of this part until the simulation result is that the collision of this part is eliminated. Thus, the present invention can eliminate the collision error without the user inputting an additional set value.

[0193] In contrast, the robot teaching device re-receives the set value corresponding to the part where the collision occurs to eliminate the collision error. Specifically, the message displays an input area corresponding to the part where the collision error occurs. The robot teaching device receives the set value from the user through the input area, and uses the received set value to simulate the driving of the robot. The robot teaching device re-receives the set value that can avoid the collision of this part until the simulation result is that the collision of this part is eliminated.

[0194] On the other hand, the present invention eliminates the collision error by resetting the collision sensitivity for a specific part of the robot. Specifically, the message can display the collision sensitivity for each part of the robot. By responding to the user input for the message, the robot teaching device can modify the collision sensitivity value for a specific part. Specifically, the user reduces the collision sensitivity value for a specific part to eliminate the collision error. At this time, the collision error can be an error caused by the actual driving of the robot.

[0195] When the collision error for a specific part is eliminated by reducing the collision sensitivity value, the robot teaching device can display an associated message including the collision sensitivity change history while displaying a message indicating that the collision error is eliminated. The associated message can include an icon for restoring the collision sensitivity to the previous value. As described above, the present invention can reset the collision sensitivity for a specific part of the robot through ping-pong messages, thereby reducing unnecessary collision sensing.

[0196] In one embodiment, referring to Figure 16 , the robot teaching device uses the information received from the user to drive and simulate the robot. When the simulation result is that a collision is sensed at a specific part, message 400 is output. At this time, the information output by message 400 can include the collision information of the actual driving of the robot.

[0197] The message 400 includes a simulated image 112 of the robot. Such a simulated image 112 may be information on the driving of the actual robot. Collision sensitivity values 416 for each joint can be output in areas corresponding to the respective joints of the robot in the simulated image 112. On the other hand, in an area where a collision is predicted to occur or has occurred, a separate icon 416' can be displayed overlapped while displaying the collision sensitivity value 416.

[0198] In addition, the message 400 displays an input area 417 corresponding to the joint where a collision has occurred, and recommended setting values for eliminating the collision can be displayed at the same time. When a touch input is given to the input area 417 corresponding to the first joint, the robot teaching device changes the setting value corresponding to the first joint and simulates the operation of the robot. When the simulation result is that no collision is sensed at the first joint, the collision icon 416' corresponding to the first joint disappears 418.

[0199] On the other hand, referring to Figure 17 , when the icon 416' indicating that a collision has occurred at the sixth joint is touched, the robot teaching device can display a separate numeric input window. The robot teaching device can receive the collision sensitivity value for the sixth joint from the user through the numeric input window. When the result of simulating the operation of the robot using the collision sensitivity received from the user is that no collision is sensed, the collision icon 416' corresponding to the sixth joint disappears 419. In addition, the changed collision sensitivity value is displayed in the area corresponding to the sixth joint in the simulated image.

[0200] As described above, a method for simplifying the adjustment of control gain for preventing collisions using ping-pong messages has been described. Thus, it is possible to more intuitively guide elements that are difficult for the user to set.

[0201] On the other hand, the ping-pong message of the present invention can be used for other forms of robot teaching or control. In addition, monitoring problems that are difficult for users to understand regarding teaching can be solved through the ping-pong message. For example, the robot teaching device can enable the user to repair the initial pose setting change of the robot.

[0202] Specifically, the initial pose of the robot, as a reference value, is the value set when the robot leaves the factory. During the use of the robot, the initial pose of the robot may be incorrect, resulting in a robot pose different from the initial pose at the reference value.

[0203] The robot teaching device of the present invention can output a message when the initial pose setting value changes during the use of the robot. In order to output such a message, the error of the initial pose of the robot can be monitored.

[0204] At this time, the message may include an input area capable of inputting an initial posture setting value. The user can input the initial posture setting value into the input area to reset the initial posture of the robot. Further, the message may display the value set when the robot leaves the factory. The user can refer to this initial setting value to reset the initial posture of the robot.

[0205] As described above, according to the present invention, an error situation occurring in robot operation and control and an interface for fixing the error are provided in one message, so that when the user learns of the error, the user can immediately take actions to fix the error.

[0206] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, those skilled in the art can understand that the present invention can be implemented in other specific forms without changing its technical idea or essential features. Therefore, it should be understood that the above-described multiple embodiments are illustrative in all aspects and not restrictive.

Claims

1. A robot teaching method for teaching a robot, characterized in that, It includes the following steps: The robot teaching device outputs a teaching interface to teach the operation of the robot; Monitor at least one of the communication information between the robot and the robot teaching device, the status information of the robot including the driving state of the robot and whether an additional device is installed, and the status information of the robot teaching device including the values input by the user to the robot teaching device; And When the monitoring result meets a preset condition, output a message related to the monitoring result to the teaching interface, wherein the message includes at least one of text and images for guiding the input of information to the robot teaching device or guiding the user to perform a specific action according to the monitoring result, The preset condition is that the additional device is sensed to be installed on the robot, The message includes at least one of text and images prompting the user to move the robot in a specific action, In the state of outputting the message prompting the robot to move in a specific action, monitor the values sensed by the sensors equipped on the robot, and the robot teaching device performs settings related to the additional device based on the sensed values, The robot teaching device forms a control command for driving the robot based on the values received from the user through the robot teaching device, The robot is driven according to the control command received from the robot teaching device, In the step of outputting the message, monitor the driving state of the robot that has received the control command. When an error that the robot is not driven according to the control command is sensed, output a message related to the error, When the error is an error that has occurred before the occurrence of this error, the message related to the error includes at least one of text and images prompting the method that the user has used to repair the error.

2. The robot teaching method according to claim 1, characterized in that In the step of outputting the message, the content of the message changes according to the input of the information.

3. The robot teaching method according to claim 2, characterized in that The message is output in a manner of overlapping the execution screen of the teaching interface, During the process of the content of the message changing, keep the execution screen of the teaching interface.

4. The robot teaching method according to claim 1, characterized in that The preset condition is that at least one of the operation and control of the robot has an error or is predicted to have an error.

5. The robot teaching method according to claim 1, characterized in that The preset condition is a state where information used for at least one of the operation and control of the robot needs to be input.

6. The robot teaching method according to claim 1, characterized in that The message includes an input area for receiving information that is used for at least one of the actions, control, and settings of the robot related to the preset condition.

7. The robot teaching method according to claim 6, wherein, It further includes the following steps: The robot teaching device receives information from the user through the input area; The robot teaching device monitors at least one of the state of the robot and the state of the robot teaching device by using the information received through the input area; And Output an associated message based on the monitoring result executed after outputting the message.

8. A robot teaching device for teaching a robot, characterized in that, Comprising: A display unit for outputting a teaching interface; A communication unit for transmitting and receiving data with the robot; And A control unit monitors at least one of the communication information between the robot and the robot teaching device, the state information of the robot including the driving state of the robot and whether an additional device is installed or not, and the state information of the robot teaching device including the value input by the user to the robot teaching device. When the monitoring result meets a preset condition, the control unit controls the display unit to output a message related to the monitoring result on the teaching interface, Wherein, the message includes at least one of text and image for guiding information input to the robot teaching device or guiding the user to perform a specific action according to the monitoring result, The preset condition is that it is sensed that the additional device is installed on the robot, The message includes at least one of text and image for prompting the user to make the robot move with a specific action, In a state where a message for prompting the robot to move with a specific action is output, the control unit monitors the value sensed by the sensor of the robot, performs settings related to the additional device based on the sensed value, and forms a control command for driving the robot based on the value received from the user through the robot teaching device, The robot is driven according to the control command received from the robot teaching device, The control unit monitors the driving state of the robot that has received the control command. When an error that the robot does not drive according to the control command is sensed, a message related to the error is output, When the error is an error that has occurred before the occurrence of this error, the message related to the error includes at least one of text and image for prompting the method that the user has used to repair the error.

9. A robot teaching system, characterized in that, Comprising: A robot; And A robot teaching device for teaching the operation of the robot, Wherein, the robot and the robot teaching device implement a robot teaching method for teaching the robot, The robot teaching method includes the following steps: The robot teaching device outputs a teaching interface to teach the operation of the robot; Monitor at least one of the communication information between the robot and the robot teaching device, the state information of the robot including the driving state of the robot and whether an additional device is installed or not, and the state information of the robot teaching device including the value input by the user to the robot teaching device; and When the monitoring result meets a preset condition, output a message related to the monitoring result to the teaching interface. Among them, the message includes at least one of text and images for guiding the input of information to the robot teaching device or guiding the user to perform a specific behavior according to the monitoring result. The preset condition is that the additional device is sensed to be installed on the robot. The message includes at least one of text and images for prompting the user to move the robot in a specific motion. In a state where the message for prompting the robot to move in a specific motion is output, the values sensed by the sensors of the robot are monitored, and the robot teaching device performs settings related to the additional device based on the sensed values. The robot teaching device forms a control command for driving the robot based on the value received from the user through the robot teaching device. The robot is driven according to the control command received from the robot teaching device. In the step of outputting the message, the driving state of the robot that has received the control command is monitored. When an error that the robot fails to be driven according to the control command is sensed, a message related to the error is output. When the error is an error that has occurred before the occurrence of this error, the message related to the error includes at least one of text and images for prompting the method that the user has used to repair the error.

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