Teaching device, control method of teaching device, control apparatus, and teaching device system

Abstract

The application provides a teacher, a control method, a control device and a system. The teacher comprises a shell, a main screen and a sub-screen. The shell comprises a plurality of slots. The main screen is located in a first slot of the shell and is used to display a control interface of a robot. The sub-screen is located in a second slot of the shell and is in communication connection with the main screen. The sub-screen is used to display an interface for performing a selection operation. The selection operation is an operation for triggering a function of the control interface. The surface area of the sub-screen is smaller than that of the main screen. A selection key is located in a third slot of the shell and is in communication connection with the sub-screen. The selection key is used to perform the selection operation by moving a selection icon in the sub-screen to select a function icon. The selection operation is in one-to-one correspondence with the function icon. The problem of a small screen display area of the teacher in the prior art is solved.

Description

Technical Field

[0001] This invention relates to the field of teach pendants, and more specifically, to a teach pendant, a method for controlling a teach pendant, a control device, a computer-readable storage medium, and a teach pendant system. Background Technology

[0002] With the advent of the intelligent industrial era, industrial robots are widely used in various industries, especially in manufacturing. The emergence of industrial robots has significantly improved work quality and production efficiency. Robot teach pendants are an important form of human-robot interaction, allowing field workers to control industrial robots. A teach pendant is a handheld device consisting of a screen and operation buttons; it is used for programming and operating industrial robots, and the technology involves multiple aspects, including robot control systems, programming languages, user interfaces, sensor support, and ergonomic design.

[0003] Traditional industrial robot teach pendants have small display and control screens, leading to frequent accidental touches during daily touch operation. The increasingly rich and developed functions on teach pendants have resulted in more and more crowded function icons and selection areas on the screen, with icons becoming smaller and harder to see, further increasing the risk of accidental touches. The control panel also has numerous physical buttons that occupy a large amount of space, and some buttons are not frequently used, further reducing the screen-to-body ratio of the teach pendant's main screen. Summary of the Invention

[0004] The main objective of this application is to provide a teach pendant, a teach pendant control method, a control device, a computer-readable storage medium, and a teach pendant system, so as to at least solve the problem of small screen display area of ​​the teach pendant in the prior art.

[0005] To achieve the above objectives, according to one aspect of this application, a teach pendant is provided, comprising: a housing including a plurality of slots; a main screen located in a first slot of the housing, the main screen being used to display a robot control interface; a secondary screen located in a second slot of the housing and communicatively connected to the main screen, the secondary screen being used to display an interface for performing a selection operation, the selection operation being an operation that triggers a function of the control interface, the surface area of ​​the secondary screen being smaller than the surface area of ​​the main screen; and a selection key located in a third slot of the housing and communicatively connected to the secondary screen, the selection key being used to perform the selection operation by moving a selection icon in the secondary screen to select a function icon, the selection operation corresponding one-to-one with the function icon.

[0006] Optionally, the selection key includes: a motor knob for moving the selection icon in the secondary screen among multiple function icons by rotation; an confirmation key located on one side of the motor knob for locking the function icon so that the selection icon cannot be moved and controlling the selection icon to select the function icon to trigger the selection operation; and a back key located on the other side of the motor knob for unlocking the function icon.

[0007] Optionally, the secondary screen may further include a fingerprint collection area for collecting the user's fingerprint.

[0008] According to another aspect of this application, a control method for a teach pendant is provided, comprising: controlling a selection icon in a secondary screen to move in response to a first operation performed on a selection key; and, if the selection icon moves to a target function icon, executing a selection operation corresponding to the target function icon in response to a second operation performed on the selection key to trigger a function of the control interface corresponding to the selection operation, wherein the target function icon is one of a plurality of function icons.

[0009] Optionally, the selection key includes a motor knob, an confirmation key, and a back key. The motor knob is used to move the selection icon on the secondary screen among multiple function icons by rotation. The confirmation key is located on one side of the motor knob and is used to lock the function icon so that the selection icon cannot move and to control the selection icon to select the function icon to trigger the selection operation. The back key is located on the other side of the motor knob and is used to unlock the function icon. The first operation is a rotation operation, and the second operation is a click operation. In response to the first operation acting on the selection key, controlling the movement of the selection icon on the secondary screen includes: in response to the operation acting on the motor knob... The rotation operation controls the selection icon in the secondary screen to move among multiple function icons. When the selection icon moves to the target function icon, in response to the second operation acting on the selection key, the selection operation corresponding to the target function icon is executed to trigger the function of the control interface corresponding to the selection operation. This includes: when the selection icon moves to the target function icon, in response to the click operation acting on the confirmation key, locking the target function icon so that the selection icon cannot move, and controlling the selection icon to select the target function icon to execute the selection operation corresponding to the target function icon, thereby triggering the function of the control interface corresponding to the selection operation.

[0010] Optionally, when the selection icon moves to the target function icon, in response to the second operation performed on the selection key, after executing the selection operation corresponding to the target function icon to trigger the function of the control interface corresponding to the selection operation, the method further includes: in response to a predetermined touch operation performed on the main screen, capturing an image of a local area where the predetermined touch operation is performed, obtaining a local image, wherein the local area is an area that at least covers the position where the predetermined touch operation is performed; and sending the local image to the secondary screen for magnification and display.

[0011] Optionally, the secondary screen further includes a fingerprint collection area for collecting the user's fingerprint. Before controlling the movement of the selection icon on the secondary screen in response to a first operation on the selection key, the method further includes: acquiring a fingerprint to be verified, the fingerprint to be verified being the fingerprint currently collected by the fingerprint collection area; and, if the fingerprint to be verified exists in a fingerprint database, unlocking the display function of the secondary screen, the fingerprint database including all fingerprints of the user authorized by the teaching pendant.

[0012] Optionally, when the selection icon moves to the target function icon, in response to the second operation performed on the selection key, after the selection operation corresponding to the target function icon is executed to trigger the function of the control interface corresponding to the selection operation, the method further includes: if no touch operation is received on the main screen within a predetermined time, controlling the main screen to enter a screen-off state.

[0013] According to another aspect of this application, a control device for a teach pendant is provided, comprising: a control unit for controlling the movement of a selection icon in a sub-screen in response to a first operation performed on a selection key; and a processing unit for executing a selection operation corresponding to the target function icon in response to a second operation performed on the selection key when the selection icon moves to a target function icon, thereby triggering a function of the control interface corresponding to the selection operation, wherein the target function icon is one of a plurality of function icons.

[0014] According to another aspect of this application, a computer-readable storage medium is provided, the computer-readable storage medium including a stored program, wherein, when the program is executed, it controls the device on which the computer-readable storage medium is located to perform any of the methods described.

[0015] According to another aspect of this application, a teach pendant system is provided, comprising: one or more processors, a memory, and one or more programs, wherein 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 including methods for performing any one of the methods described.

[0016] According to the technical solution of this application, the aforementioned teach pendant includes a housing, a main screen, a secondary screen, and selection keys. The housing includes multiple slots. The main screen is located in the first slot of the housing and is used to display the robot's control interface. The secondary screen is located in the second slot of the housing and is communicatively connected to the main screen. The secondary screen is used to display an interface for performing a selection operation, whereby the selection operation is an operation that triggers the function of the control interface. The surface area of ​​the secondary screen is smaller than that of the main screen. The selection keys are located in the third slot of the housing and are communicatively connected to the secondary screen. The selection keys are used to perform the selection operation by moving the selection icon in the secondary screen to select a function icon. The selection operation corresponds one-to-one with the function icon. Traditional membrane keyboards have a large number of keys, some of which are not frequently used, taking up a significant amount of space on the control panel. This new teach pendant uses a single selection key in conjunction with a secondary screen to centralize the selection area. This retains the advantages of a large screen display without compromising functionality. It maximizes the screen-to-body ratio of the main screen without affecting functionality, eliminating the need for multiple keys to occupy space on the main screen and solving the problem of small screen display area in existing teach pendants. Attached Figure Description

[0017] Figure 1 A schematic diagram of a teach pendant according to an embodiment of this application is shown;

[0018] Figure 2 A schematic diagram of another teach pendant according to an embodiment of this application is shown;

[0019] Figure 3 A schematic diagram of the sub-screen of the teach pendant according to an embodiment of this application is shown;

[0020] Figure 4 A hardware structure block diagram of a mobile terminal for implementing a control method for a teach pendant according to an embodiment of this application is shown;

[0021] Figure 5 A flowchart illustrating a control method for a teach pendant according to an embodiment of this application is shown.

[0022] Figure 6 A structural block diagram of a control device for a teach pendant provided according to an embodiment of this application is shown.

[0023] The above figures include the following reference numerals:

[0024] 10. Main screen; 20. Secondary screen; 30. Motor knob; 40. Confirm button; 50. Return button; 60. Emergency stop button; 70. Indicator light; 80. Rotary switch. Detailed Implementation

[0025] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0026] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0027] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of this application described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0028] As described in the background section, the screen display area of ​​existing teach pendants is small. To solve this problem, embodiments of this application provide a teach pendant, a teach pendant control method, a control device, a computer-readable storage medium, and a teach pendant system.

[0029] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

[0030] This embodiment provides a teach pendant, such as Figure 1 As shown, the teach pendant includes:

[0031] The housing includes multiple slots;

[0032] The main screen 10 is located in the first slot of the aforementioned housing and is used to display the robot's control interface.

[0033] The secondary screen 20 is located in the second slot of the aforementioned housing and is communicatively connected to the aforementioned main screen 10. The secondary screen 20 is used to display the interface for performing a selection operation, which is an operation that triggers the function of the aforementioned control interface. The surface area of ​​the secondary screen is smaller than that of the main screen.

[0034] The selection key is located in the third slot of the housing and is communicatively connected to the sub-screen. The selection key is used to perform the selection operation by moving the selection icon in the sub-screen to select the function icon. The selection operation corresponds one-to-one with the function icon.

[0035] The aforementioned teach pendant includes a housing, a main screen, a secondary screen, and selection keys. The housing includes multiple slots. The main screen, located in the first slot of the housing, displays the robot's control interface. The secondary screen, located in the second slot of the housing and communicatively connected to the main screen, displays the interface for performing selection operations, which are operations that trigger functions on the control interface. The surface area of ​​the secondary screen is smaller than that of the main screen. The selection keys, located in the third slot of the housing and communicatively connected to the secondary screen, are used to perform selection operations by moving selection icons on the secondary screen to select function icons. Each selection operation corresponds one-to-one with a function icon. Traditional membrane keyboards have a large number of keys, some of which are infrequently used, occupying a significant amount of layout space on the control panel. Figure 2 As shown, the buttons include selections from 1 to 10, resulting in a small display area on the main screen. The current teach pendant has been changed to a single selection button, which, together with the secondary screen, concentrates the selection area in one place. In this way, the advantages of a large screen display can be retained without affecting the integrity of the functions. The screen ratio of the main screen is maximized without affecting the functionality, and multiple buttons do not occupy the space of the main screen. This solves the problem of small screen display area in existing teach pendants.

[0036] For ease of operation, such as Figure 1 As shown, the selection keys include:

[0037] The motor knob 30 is used to move the selection icon in the sub-screen 20 among multiple function icons by rotating it.

[0038] Confirmation button 40 is located on one side of the motor knob 30. Confirmation button 40 is used to lock the function icon so that the selection icon cannot be moved and to control the selection icon to select the function icon to trigger the selection operation.

[0039] The return button 50 is located on the other side of the motor knob 30. The return button 50 is used to unlock the function icon.

[0040] Specifically, the motor knob is a new button control method introduced in this application, controlled by rotation, to replace the traditional hand-pressed membrane button. For example... Figure 1 As shown, the left side of the motor knob is the "OK" button, and the right side is the "Return" button. Rotating the motor knob allows you to move between multiple function icons to select one. For example, as shown... Figure 3As shown, the selection icon is an arrow. The above function icons include Selection 1, Selection 2, and Selection 3, etc. The OK button can lock the function icon and select the above function icon to trigger the above selection operation. The back button can unlock the function icon, so that the selection icon can be moved again. This allows you to easily select multiple function icons to achieve the corresponding functions.

[0041] To ensure security, in one optional implementation, the secondary screen further includes a fingerprint collection area for collecting the user's fingerprint.

[0042] Specifically, the secondary screen integrates an in-display fingerprint recognition function, which can recognize fingerprint passwords, offering higher security and greater convenience compared to text passwords.

[0043] In addition, the aforementioned teach pendant also includes an emergency stop button 60, indicator lights 70, and a rotary switch 80. The rotary switch can be rotated to different positions to select different modes. The indicator lights can be used to display some status information of the robot, including but not limited to power-on status, running status, and emergency stop information. The emergency stop button, when pressed in an emergency, can stop all robot behavior and enter an alarm state; rotating it allows the robot to be operated again. The new teach pendant control panel introduces the concept of a secondary screen. Due to different application scenarios of industrial robots, the position, size, shape, and extended function design of the second screen (secondary screen) can all be changed according to actual needs. Regarding the position, the secondary screen can be placed to the side of the main screen, or even hidden under the main screen, similar to a drawer pull-out mechanism. Similarly, the size, position, and extended function design of the motor knobs are also designed in this way.

[0044] The methods and embodiments provided in this application can be executed on a mobile terminal, computer terminal, or similar computing device. Taking running on a mobile terminal as an example, Figure 4 This is a hardware structure block diagram of a mobile terminal for a teach pendant control method according to an embodiment of the present invention. Figure 4 As shown, a mobile terminal may include one or more ( Figure 4 Only one is shown in the diagram. A processor 102 (which may include, but is not limited to, a microprocessor MCU or a programmable logic device FPGA, etc.) and a memory 104 for storing data are also shown. The mobile terminal may further include a transmission device 106 for communication functions and an input / output device 108. Those skilled in the art will understand that... Figure 4 The structure shown is for illustrative purposes only and does not limit the structure of the mobile terminal described above. For example, the mobile terminal may also include components that are more... Figure 4 The more or fewer components shown, or having the same Figure 4 The different configurations shown.

[0045] The memory 104 can be used to store computer programs, such as application software programs and modules, like the computer program corresponding to the device information display method in this embodiment of the invention. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, thereby implementing the above-described method. The memory 104 may include high-speed random access memory and non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to the mobile terminal via a network. Examples of the aforementioned networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof. The transmission device 106 is used to receive or send data via a network. Specific examples of the aforementioned networks may include wireless networks provided by the mobile terminal's communication provider. In one example, the transmission device 106 includes a network interface controller (NIC), which can be connected to other network devices via a base station to communicate with the Internet. In one example, the transmission device 106 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0046] This embodiment provides a control method for a teach pendant that runs on a mobile terminal, computer terminal, or similar computing device. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Also, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0047] Figure 5 This is a flowchart of a control method for a teach pendant according to an embodiment of this application. Figure 5 As shown, the method includes the following steps:

[0048] Step S201: In response to the first operation on the selection key, control the movement of the selection icon in the secondary screen;

[0049] Specifically, by operating a single selection key, you can move the selection icon in the secondary screen to select different function icons, reducing the number of buttons and increasing the screen ratio.

[0050] In step S202, when the selection icon moves to the target function icon, in response to the second operation performed on the selection key, the selection operation corresponding to the target function icon is executed to trigger the function of the control interface corresponding to the selection operation. The target function icon is one of multiple function icons.

[0051] Specifically, in response to the second operation on the selection key, selecting the target function icon triggers the function of the control interface corresponding to the selection operation of the target function icon, thereby realizing the function corresponding to any target function icon, such as controlling the robot to move forward.

[0052] In the aforementioned teach pendant control method, firstly, in response to a first operation applied to the selection key, the selection icon on the secondary screen is moved; finally, when the selection icon moves to the target function icon, in response to a second operation applied to the selection key, the selection operation corresponding to the target function icon is executed to trigger the function of the control interface corresponding to the selection operation. The target function icon is one of multiple function icons. Because traditional membrane keyboards have a large number of keys, and some keys are used infrequently, they occupy a significant amount of layout space on the control panel. Figure 2 As shown, the buttons include selections from 1 to 10, resulting in a small display area on the main screen. The current teach pendant has been changed to a single selection button, which, together with the secondary screen, concentrates the selection area in one place. In this way, the advantages of a large screen display can be retained without affecting the integrity of the functions. The screen ratio of the main screen is maximized without affecting the functionality, and multiple buttons do not occupy the space of the main screen. This solves the problem of small screen display area in existing teach pendants.

[0053] It should be noted that traditional teach pendants, due to their small screen size, display text and graphics that are also small, making it difficult for operators to see the screen clearly. Furthermore, accidental touches are frequent when using the touchscreen for interactive functions. This problem becomes even more pronounced as teach pendants become more feature-rich and the touchscreen displays more icons, often placed close together. Traditional membrane keyboards, with their numerous keys, some of which are infrequently used, occupy a significant amount of control panel space. Modern solutions utilize motorized knobs in conjunction with a secondary screen, maximizing the main screen's screen-to-body ratio without compromising functionality. Since the main screen has touch functionality, the membrane keyboard can be removed, and the physical buttons can be moved to the main screen. Figure 2 As shown, this can also increase the screen-to-body ratio, but it will create two rows of extra clickable areas on both sides of the screen, which will directly obscure the main screen's display information. Therefore, the usual approach is to avoid the clickable areas on both sides, reduce the overall display area, and center the clickable area. Figure 2 The display area is relatively small, so it is comparable to using an external membrane keyboard, and the improvement is not significant.

[0054] For ease of operation, in one optional embodiment, the selection keys include a motor knob, an confirm button, and a return button. The motor knob is used to move the selection icon on the secondary screen among multiple function icons by rotation. The confirm button is located on one side of the motor knob and is used to lock the function icons, preventing the selection icon from moving and controlling the selection icon to select the function icon to trigger the selection operation. The return button is located on the other side of the motor knob and is used to unlock the function icon. The first operation is a rotation operation, and the second operation is a click operation.

[0055] The above step S201 includes:

[0056] Step S2011: In response to the rotation operation performed on the motor knob, the selection icon on the sub-screen is controlled to move among the plurality of function icons.

[0057] Step S202 above includes:

[0058] In step S2021, when the selection icon moves to the target function icon, in response to the click operation on the confirmation key, the target function icon is locked so that the selection icon cannot move, and the selection icon is controlled to select the target function icon to perform the selection operation corresponding to the target function icon, thereby triggering the function of the control interface corresponding to the selection operation.

[0059] Specifically, the motor knob is a new button control method introduced in this application, controlled by rotation, to replace the traditional hand-pressed membrane button. For example... Figure 1 As shown, the left side of the motor knob is the "OK" button, and the right side is the "Return" button. Rotating the motor knob allows you to move between multiple function icons to select one. For example, as shown... Figure 3 As shown, the selection icon is an arrow. The above function icons include Selection 1, Selection 2, and Selection 3, etc. The OK button can lock the function icon and select the above function icon to trigger the above selection operation. The back button can unlock the function icon, so that the selection icon can be moved again. This allows you to easily select multiple function icons to achieve the corresponding functions.

[0060] To improve the display effect, in an optional embodiment, after step S202, the method further includes:

[0061] Step S301: In response to a predetermined touch operation performed on the main screen, capture an image of a local area where the predetermined touch operation is performed to obtain a local image. The local area is an area that at least covers the location where the predetermined touch operation is performed.

[0062] Step S302: Send the aforementioned partial image to the aforementioned secondary screen for magnification and display.

[0063] Specifically, the aforementioned local real-time display zoom function can also be changed to display more detailed information, etc., which is very flexible and can be set according to one's own needs.

[0064] To ensure security, in an optional embodiment, the secondary screen further includes a fingerprint collection area for collecting the user's fingerprint. Prior to step S201, the method further includes:

[0065] Step S401: Obtain the fingerprint to be verified, which is the fingerprint currently collected in the fingerprint collection area.

[0066] Step S402: If the fingerprint to be verified exists in the fingerprint database, unlock the display function of the secondary screen. The fingerprint database includes the fingerprints of all the users authorized by the teaching pendant.

[0067] Specifically, the secondary screen integrates an in-display fingerprint recognition function, which can recognize fingerprint passwords, offering higher security and greater convenience compared to text passwords.

[0068] To save energy, in an optional implementation, after step S202, the method further includes:

[0069] Step S501: If no touch operation is received on the main screen within a predetermined time, the main screen is controlled to enter the screen-off state.

[0070] Specifically, when the main screen is not continuously operated, it can be put into a screen-off state, displaying only necessary operating information and status information on the secondary screen, which has good power-saving characteristics.

[0071] It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases the steps shown or described may be executed in a different order than that shown here.

[0072] This application also provides a control device for a teach pendant. It should be noted that the control device for the teach pendant in this application can be used to execute the control method for the teach pendant provided in this application. This device is used to implement the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0073] The control device of the teach pendant provided in the embodiments of this application will be described below.

[0074] Figure 6 This is a structural block diagram of the control device for a teach pendant according to an embodiment of this application. Figure 6 As shown, the device includes:

[0075] Control unit 100 is used to control the movement of the selection icon in the sub-screen in response to a first operation performed on the selection key;

[0076] Specifically, by operating a single selection key, you can move the selection icon in the secondary screen to select different function icons, reducing the number of buttons and increasing the screen ratio.

[0077] The processing unit 200 is configured to, in response to a second operation performed on the selection key, execute a selection operation corresponding to the target function icon when the selection icon moves to the target function icon, thereby triggering the function of the control interface corresponding to the selection operation, wherein the target function icon is one of a plurality of function icons.

[0078] Specifically, in response to the second operation on the selection key, selecting the target function icon triggers the function of the control interface corresponding to the selection operation of the target function icon, thereby realizing the function corresponding to any target function icon, such as controlling the robot to move forward.

[0079] In the control device of the aforementioned teach pendant, the control unit, in response to a first operation applied to the selection key, controls the movement of the selection icon on the sub-screen; when the selection icon moves to the target function icon, the processing unit, in response to a second operation applied to the selection key, executes the selection operation corresponding to the target function icon to trigger the function of the control interface corresponding to the selection operation. The target function icon is one of multiple function icons. Because traditional membrane keyboards have a large number of keys, and some keys are used infrequently, they occupy a significant amount of layout space on the control panel, such as... Figure 2 As shown, the buttons include selections from 1 to 10, resulting in a small display area on the main screen. The current teach pendant has been changed to a single selection button, which, together with the secondary screen, concentrates the selection area in one place. In this way, the advantages of a large screen display can be retained without affecting the integrity of the functions. The screen ratio of the main screen is maximized without affecting the functionality, and multiple buttons do not occupy the space of the main screen. This solves the problem of small screen display area in existing teach pendants.

[0080] It should be noted that traditional teach pendants, due to their small screen size, display text and graphics that are also small, making it difficult for operators to see the screen clearly. Furthermore, accidental touches are frequent when using the touchscreen for interactive functions. This problem becomes even more pronounced as teach pendants become more feature-rich and the touchscreen displays more icons, often placed close together. Traditional membrane keyboards, with their numerous keys, some of which are infrequently used, occupy a significant amount of control panel space. Modern solutions utilize motorized knobs in conjunction with a secondary screen, maximizing the main screen's screen-to-body ratio without compromising functionality. Since the main screen has touch functionality, the membrane keyboard can be removed, and the physical buttons can be moved to the main screen. Figure 2 As shown, this can also increase the screen-to-body ratio, but it will create two rows of extra clickable areas on both sides of the screen, which will directly obscure the main screen's display information. Therefore, the usual approach is to avoid the clickable areas on both sides, reduce the overall display area, and center the clickable area. Figure 2 The display area is relatively small, so it is comparable to using an external membrane keyboard, and the improvement is not significant.

[0081] For ease of operation, in one optional embodiment, the selection keys include a motor knob, an confirm button, and a return button. The motor knob is used to move the selection icon on the secondary screen among multiple function icons by rotation. The confirm button is located on one side of the motor knob and is used to lock the function icons, preventing the selection icon from moving and controlling the selection icon to select the function icon to trigger the selection operation. The return button is located on the other side of the motor knob and is used to unlock the function icon. The first operation is a rotation operation, and the second operation is a click operation.

[0082] The aforementioned control unit includes:

[0083] The first control module is configured to control the selection icon on the sub-screen to move among multiple function icons in response to the rotation operation performed on the motor knob.

[0084] The above processing unit includes:

[0085] The first processing module is configured to, in response to the click operation on the confirmation key when the selection icon moves to the target function icon, lock the target function icon so that the selection icon cannot move, and control the selection icon to select the target function icon to perform the selection operation corresponding to the target function icon, thereby triggering the function of the control interface corresponding to the selection operation.

[0086] Specifically, the motor knob is a new button control method introduced in this application, controlled by rotation, to replace the traditional hand-pressed membrane button. For example... Figure 1 As shown, the left side of the motor knob is the "OK" button, and the right side is the "Return" button. Rotating the motor knob allows you to move between multiple function icons to select one. For example, as shown... Figure 3 As shown, the selection icon is an arrow. The above function icons include Selection 1, Selection 2, and Selection 3, etc. The OK button can lock the function icon and select the above function icon to trigger the above selection operation. The back button can unlock the function icon, so that the selection icon can be moved again. This allows you to easily select multiple function icons to achieve the corresponding functions.

[0087] To improve the display effect, in one optional embodiment, the above-mentioned device further includes:

[0088] The first acquisition module is used to, when the selection icon moves to the target function icon, respond to the second operation performed on the selection key, execute the selection operation corresponding to the target function icon to trigger the function of the control interface corresponding to the selection operation, and then, in response to the predetermined touch operation performed on the main screen, capture an image of the local area where the predetermined touch operation is performed to obtain a local image, wherein the local area is an area that at least covers the position where the predetermined touch operation is performed.

[0089] The second processing module is used for the aforementioned local real-time display magnification function, and can also be changed to display more detailed information, etc., which is very flexible and can be set according to your own needs.

[0090] To ensure safety, in an optional embodiment, the above-mentioned device further includes:

[0091] The second acquisition module is used for the above-mentioned secondary screen, which also includes a fingerprint acquisition area. The fingerprint acquisition area is used to acquire the user's fingerprint. Before the first operation on the selection key is performed to control the movement of the selection icon in the secondary screen, the fingerprint to be verified is acquired. The fingerprint to be verified is the fingerprint currently acquired by the fingerprint acquisition area.

[0092] The third processing module is used to unlock the display function of the secondary screen when the fingerprint to be verified exists in the fingerprint database, wherein the fingerprint database includes the fingerprints of all the aforementioned users authorized by the teaching pendant.

[0093] Specifically, the secondary screen integrates an in-display fingerprint recognition function, which can recognize fingerprint passwords, offering higher security and greater convenience compared to text passwords.

[0094] To save energy, in an optional embodiment, the above-mentioned device further includes:

[0095] The second control module is used to, when the selection icon moves to the target function icon, respond to the second operation on the selection key, execute the selection operation corresponding to the target function icon to trigger the function of the control interface corresponding to the selection operation, and control the main screen to enter the screen-off state if no touch operation is received on the main screen within a predetermined time.

[0096] Specifically, when the main screen is not continuously operated, it can be put into a screen-off state, displaying only necessary operating information and status information on the secondary screen, which has good power-saving characteristics.

[0097] The control device of the aforementioned teach pendant includes a processor and a memory. All the aforementioned units are stored as program units in the memory, and the processor executes these program units to achieve the corresponding functions. All the aforementioned modules reside in the same processor; alternatively, the aforementioned modules may be located in different processors in any combination.

[0098] The processor contains a kernel, which retrieves the corresponding program units from memory. One or more kernels can be configured, and adjusting kernel parameters can address the issue of small screen display areas in existing teach pendants.

[0099] The memory may include non-permanent memory in computer-readable media, such as 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.

[0100] This invention provides a computer-readable storage medium including a stored program, wherein, when the program is executed, it controls the device containing the computer-readable storage medium to perform the control method of the teach pendant.

[0101] Specifically, the control methods for the teach pendant include:

[0102] Step S201: In response to the first operation on the selection key, control the movement of the selection icon in the secondary screen;

[0103] Specifically, by operating a single selection key, you can move the selection icon in the secondary screen to select different function icons, reducing the number of buttons and increasing the screen ratio.

[0104] In step S202, when the selection icon moves to the target function icon, in response to the second operation performed on the selection key, the selection operation corresponding to the target function icon is executed to trigger the function of the control interface corresponding to the selection operation. The target function icon is one of multiple function icons.

[0105] Specifically, in response to the second operation on the selection key, selecting the target function icon triggers the function of the control interface corresponding to the selection operation of the target function icon, thereby realizing the function corresponding to any target function icon, such as controlling the robot to move forward.

[0106] This invention provides a processor for running a program, wherein the program executes the control method of the teach pendant during runtime.

[0107] Specifically, the control methods for the teach pendant include:

[0108] Step S201: In response to the first operation on the selection key, control the movement of the selection icon in the secondary screen;

[0109] Specifically, by operating a single selection key, you can move the selection icon in the secondary screen to select different function icons, reducing the number of buttons and increasing the screen ratio.

[0110] In step S202, when the selection icon moves to the target function icon, in response to the second operation performed on the selection key, the selection operation corresponding to the target function icon is executed to trigger the function of the control interface corresponding to the selection operation. The target function icon is one of multiple function icons.

[0111] Specifically, in response to the second operation on the selection key, selecting the target function icon triggers the function of the control interface corresponding to the selection operation of the target function icon, thereby realizing the function corresponding to any target function icon, such as controlling the robot to move forward.

[0112] This invention provides a teach pendant system, which includes a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, it performs at least the following steps:

[0113] Step S201: In response to the first operation on the selection key, control the movement of the selection icon in the secondary screen;

[0114] Specifically, by operating a single selection key, you can move the selection icon in the secondary screen to select different function icons, reducing the number of buttons and increasing the screen ratio.

[0115] In step S202, when the selection icon moves to the target function icon, in response to the second operation performed on the selection key, the selection operation corresponding to the target function icon is executed to trigger the function of the control interface corresponding to the selection operation. The target function icon is one of multiple function icons.

[0116] Specifically, in response to the second operation on the selection key, selecting the target function icon triggers the function of the control interface corresponding to the selection operation of the target function icon, thereby realizing the function corresponding to any target function icon, such as controlling the robot to move forward.

[0117] This application also provides a computer program product, which, when executed on a data processing device, is suitable for executing an initialization program having at least the following method steps:

[0118] Step S201: In response to the first operation on the selection key, control the movement of the selection icon in the secondary screen;

[0119] Specifically, by operating a single selection key, you can move the selection icon in the secondary screen to select different function icons, reducing the number of buttons and increasing the screen ratio.

[0120] In step S202, when the selection icon moves to the target function icon, in response to the second operation performed on the selection key, the selection operation corresponding to the target function icon is executed to trigger the function of the control interface corresponding to the selection operation. The target function icon is one of multiple function icons.

[0121] Specifically, in response to the second operation on the selection key, selecting the target function icon triggers the function of the control interface corresponding to the selection operation of the target function icon, thereby realizing the function corresponding to any target function icon, such as controlling the robot to move forward.

[0122] It is obvious to those skilled in the art that the modules or steps of the present invention described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. They can be implemented using computer-executable program code, and thus can be stored in a storage device for execution by a computing device. In some cases, the steps shown or described can be performed in a different order than those described herein, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, the present invention is not limited to any particular combination of hardware and software.

[0123] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0124] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0125] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0126] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0127] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0128] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0129] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0130] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0131] As can be seen from the above description, the embodiments of this application achieve the following technical effects:

[0132] 1) The teach pendant of this application includes a housing, a main screen, a secondary screen, and selection keys. The housing includes multiple slots; the main screen is located in the first slot of the housing and is used to display the robot's control interface; the secondary screen is located in the second slot of the housing and is communicatively connected to the main screen, and is used to display the interface for performing a selection operation, which is an operation that triggers the function of the control interface; the surface area of ​​the secondary screen is smaller than the surface area of ​​the main screen; the selection keys are located in the third slot of the housing and are communicatively connected to the secondary screen, and are used to perform the selection operation by moving the selection icon in the secondary screen to select a function icon; the selection operation corresponds one-to-one with the function icon. Traditional membrane keyboards have a large number of keys, and some keys are not frequently used, occupying a large layout space on the control panel, such as... Figure 2As shown, the buttons include selections from 1 to 10, resulting in a small display area on the main screen. The current teach pendant has been changed to a single selection button, which, together with the secondary screen, concentrates the selection area in one place. In this way, the advantages of a large screen display can be retained without affecting the integrity of the functions. The screen ratio of the main screen is maximized without affecting the functionality, and multiple buttons do not occupy the space of the main screen. This solves the problem of small screen display area in existing teach pendants.

[0133] 2) In the control method of the teach pendant of this application, firstly, in response to a first operation applied to the selection key, the selection icon in the sub-screen is moved; finally, when the selection icon moves to the target function icon, in response to a second operation applied to the selection key, the selection operation corresponding to the target function icon is executed to trigger the function of the control interface corresponding to the selection operation. The target function icon is one of multiple function icons. Because traditional membrane keyboards have a large number of keys, and some keys are not frequently used, they occupy a large layout space on the control panel, such as... Figure 2 As shown, the buttons include selections from 1 to 10, resulting in a small display area on the main screen. The current teach pendant has been changed to a single selection button, which, together with the secondary screen, concentrates the selection area in one place. In this way, the advantages of a large screen display can be retained without affecting the integrity of the functions. The screen ratio of the main screen is maximized without affecting the functionality, and multiple buttons do not occupy the space of the main screen. This solves the problem of small screen display area in existing teach pendants.

[0134] 3) In the control device of the teach pendant of this application, the control unit, in response to a first operation applied to the selection key, controls the movement of the selection icon on the sub-screen; when the selection icon moves to the target function icon, the processing unit, in response to a second operation applied to the selection key, executes the selection operation corresponding to the target function icon to trigger the function of the control interface corresponding to the selection operation, wherein the target function icon is one of multiple function icons. Because traditional membrane keyboards have a large number of keys, and some keys are used infrequently, they occupy a large layout space on the control panel, such as... Figure 2 As shown, the buttons include selections from 1 to 10, resulting in a small display area on the main screen. The current teach pendant has been changed to a single selection button, which, together with the secondary screen, concentrates the selection area in one place. In this way, the advantages of a large screen display can be retained without affecting the integrity of the functions. The screen ratio of the main screen is maximized without affecting the functionality, and multiple buttons do not occupy the space of the main screen. This solves the problem of small screen display area in existing teach pendants.

[0135] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A teach pendant, characterized in that, include: The housing includes multiple slots; The main screen is located in the first slot of the housing and is used to display the robot's control interface. The secondary screen is located in the second slot of the housing and is communicatively connected to the main screen. The secondary screen is used to display the interface for performing a selection operation, which is an operation that triggers the function of the control interface. The surface area of ​​the secondary screen is smaller than that of the main screen. The selection key is located in the third slot of the housing and is communicatively connected to the secondary screen. The selection key is used to perform the selection operation by moving the selection icon in the secondary screen to select the function icon. The selection operation corresponds one-to-one with the function icon.

2. The teach pendant according to claim 1, characterized in that, The selection keys include: A motor knob is used to move the selection icon in the secondary screen among multiple function icons by rotating it. The confirmation button is located on one side of the motor knob. The confirmation button is used to lock the function icon so that the selection icon cannot be moved and to control the selection icon to select the function icon to trigger the selection operation. The back button, located on the other side of the motor knob, is used to unlock the function icon.

3. The teach pendant according to claim 1, characterized in that, The secondary screen also includes a fingerprint collection area, which is used to collect the user's fingerprint.

4. A control method for a teach pendant according to any one of claims 1 to 3, characterized in that, include: In response to the first operation on the selection key, control the movement of the selection icon in the secondary screen; When the selection icon is moved to the target function icon, in response to the second operation performed on the selection key, the selection operation corresponding to the target function icon is executed to trigger the function of the control interface corresponding to the selection operation, wherein the target function icon is one of a plurality of function icons.

5. The method according to claim 4, characterized in that, The selection keys include a motor knob, an confirmation button, and a back button. The motor knob is used to move the selection icon on the secondary screen among multiple function icons by rotation. The confirmation button is located on one side of the motor knob and is used to lock the function icon so that the selection icon cannot be moved and to control the selection icon to select the function icon to trigger the selection operation. The back button is located on the other side of the motor knob and is used to unlock the function icon. The first operation is a rotation operation, and the second operation is a click operation. In response to the first operation on the selection key, control the movement of the selection icon in the secondary screen, including: In response to the rotation operation performed on the motor knob, the selection icon on the secondary screen is controlled to move among the plurality of function icons. When the selection icon is moved to the target function icon, in response to the second operation performed on the selection key, the selection operation corresponding to the target function icon is executed to trigger the function of the control interface corresponding to the selection operation, including: When the selection icon moves to the target function icon, in response to the click operation on the confirmation button, the target function icon is locked so that the selection icon cannot move, and the selection icon is controlled to select the target function icon to perform the selection operation corresponding to the target function icon, triggering the function of the control interface corresponding to the selection operation.

6. The method according to claim 4 or 5, characterized in that, When the selection icon is moved to the target function icon, in response to the second operation performed on the selection key, the selection operation corresponding to the target function icon is executed to trigger the function of the control interface corresponding to the selection operation. After this, the method further includes: In response to a predetermined touch operation performed on the main screen, an image of a local area where the predetermined touch operation is performed is captured to obtain a local image, wherein the local area is an area that at least covers the location where the predetermined touch operation is performed. The partial image is sent to the secondary screen for magnification and display.

7. The method according to claim 4 or 5, characterized in that, The secondary screen also includes a fingerprint collection area for collecting the user's fingerprint. Before controlling the movement of the selection icon on the secondary screen in response to a first operation on the selection key, the method further includes: Obtain the fingerprint to be verified, wherein the fingerprint to be verified is the fingerprint currently collected in the fingerprint collection area; If the fingerprint to be verified exists in the fingerprint database, the display function of the secondary screen is unlocked. The fingerprint database includes the fingerprints of all users authorized by the teach pendant.

8. The method according to claim 4 or 5, characterized in that, When the selection icon is moved to the target function icon, in response to the second operation performed on the selection key, the selection operation corresponding to the target function icon is executed to trigger the function of the control interface corresponding to the selection operation. After this, the method further includes: If no touch operation is received on the main screen within a predetermined time, the main screen is controlled to enter a screen-off state.

9. A control device for a teach pendant according to any one of claims 1 to 3, characterized in that, include: The control unit is used to control the movement of the selection icon in the secondary screen in response to a first operation on the selection key; The processing unit is configured to, in response to a second operation performed on the selection key, execute a selection operation corresponding to the target function icon when the selection icon is moved to the target function icon, so as to trigger the function of the control interface corresponding to the selection operation, wherein the target function icon is one of a plurality of function icons.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored program, wherein, when the program is executed, it controls the device on which the computer-readable storage medium is located to perform the method according to any one of claims 4 to 8.

11. A teach pendant system, characterized in that, include: One or more processors, a memory, and one or more programs, wherein 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 comprising methods for performing any one of claims 4 to 8.

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