Teaching pendant, control method, device and electronic equipment thereof

Abstract

The present invention relates to a teach pendant and a control method, device, and electronic device thereof. The method comprises: in response to a first touch operation on the teach pendant, opening a custom window mode and switching each key in a first sub-key group of a key group included in the teach pendant from a first function to a second function; in response to a second touch operation on the first sub-key group, determining a custom window area on a touch screen, wherein determining the custom window area on the touch screen comprises at least one of the following: selecting a window area on the touch screen, selecting a replacement area for a bad screen area on the touch screen; and in response to a mode switching instruction, switching to a bad screen mode, wherein each key in the first sub-key group performs a first function. The present invention enables users to bypass the untouchable bad screen area during operation by customizing the window area and replacing the bad screen area, effectively resolving the problem of a teach pendant being unusable and requiring return to the factory for repair after a bad screen.

Description

Technical Field

[0001] The present invention relates to the technical field of robot teaching pendants, and in particular to a teaching pendant and a control method, device and electronic equipment thereof. Background Art

[0002] Industrial robots are often used in complex production environments. Improper operator operation, such as touching the teach pendant screen with fingernails, a signature pen, or even a screwdriver, can cause wear and tear on the teach pendant screen. This not only shortens the screen's lifespan but can also lead to screen distortion, insensitivity, and even large areas of the screen becoming untouchable.

[0003] If touch failure or partial areas are unavailable, the teach pendant must be returned to the factory for repair. Since the teach pendant is used in conjunction with the industrial robots in the production workshop, returning the teach pendant for repair would cause the industrial robots to stop production. Therefore, the existing method of returning the teach pendant for repair is time-consuming, costly, and disrupts normal production in the workshop. Summary of the Invention

[0004] To overcome the problems existing in the related art, a first aspect of an embodiment of the present invention provides a teaching pendant control method, wherein the teaching pendant includes a touch screen and a button group, wherein the method includes:

[0005] In response to a first touch operation on the teach pendant, opening a custom window mode and switching each key in the first sub-key group in the key group from a first function to a second function;

[0006] In response to a second touch operation on the first sub-key group, determining a custom window area on the touch screen, wherein determining the custom window area on the touch screen comprises at least one of the following: selecting a window area on the touch screen, or selecting a replacement area for a bad screen area on the touch screen;

[0007] In response to the mode switching instruction, the mode is switched to the bad screen mode. In the bad screen mode, each button in the first sub-button group realizes the first function.

[0008] Optionally, in one implementation, after the step of switching to the bad screen mode in response to the mode switching instruction, the method further includes:

[0009] receiving a touch operation on a combination key in the key group;

[0010] Determining a first control instruction corresponding to the key combination, wherein the first control instruction includes: displaying an event log, turning on an automatic function, and setting program operation to a single-step mode;

[0011] In response to the first control instruction, a corresponding operation is performed.

[0012] Optionally, in one implementation, after the step of switching to the bad screen mode in response to the mode switching instruction, the method further includes:

[0013] monitoring a sliding pattern received by the touch screen;

[0014] Determining a second control instruction corresponding to the sliding screen pattern, wherein the second control instruction includes: displaying a log on the touch screen, opening a robot operation status interface, and pausing a running task;

[0015] In response to the second control instruction, a corresponding operation is performed.

[0016] Optionally, in one implementation, in response to a second touch operation on the first sub-key group, the step of determining a custom window area on the touch screen includes:

[0017] receiving a touch operation on a second button and / or a third button in the first sub-button group in the button group, and adjusting a horizontal size of the custom window area;

[0018] receiving a touch operation on the fourth button and / or the fifth button in the first sub-button group in the button group, and adjusting the size of the custom window area in the vertical direction;

[0019] After the size of the customized window area is determined, receiving a touch operation on the sixth button in the second sub-button group in the button group, and switching the second button, the third button, the fourth button, and the fifth button in the first sub-button group from the second function to the third function;

[0020] receiving a touch operation on a second button and / or a third button in the first sub-button group in the button group, and adjusting a horizontal position of the custom window area;

[0021] A touch operation on the fourth button and / or the fifth button in the first sub-button group in the button group is received, and a vertical position of the custom window area is adjusted to select the window area on the touch screen.

[0022] Optionally, in one implementation, the method further includes:

[0023] In the process of adjusting the display parameters of the custom window area, the display parameters of the displayed content are adaptively changed according to the display parameters of the custom window area.

[0024] Optionally, in one implementation, in response to a second touch operation on the first sub-key group, the step of determining a custom window area on the touch screen includes:

[0025] In response to a touch operation on at least one of the second button, the third button, the fourth button, and the fifth button of the first sub-button group in the button group, adjusting a position of the replacement area for the bad screen area;

[0026] The bad screen area is selected in the following manner: a click operation on the bad screen area in the touch screen is received, and the bad screen area is selected according to the click operation.

[0027] Optionally, in one implementation, the method further includes: when a touch operation on the bad screen area is received, mapping the touch operation to the replacement area;

[0028] When the display of the bad screen area changes, the display content of the replacement area changes synchronously.

[0029] Optionally, in one implementation, the sliding screen pattern includes at least one of the following: a circle, a rectangle, or a triangle.

[0030] A first aspect of an embodiment of the present invention provides a teach pendant control device, which is applied to a teach pendant including a touch screen and a key group; wherein the device includes:

[0031] a first response module, configured to, in response to a first touch operation on the teach pendant, enable a custom window mode and switch each key in the first sub-key group in the key group from a first function to a second function;

[0032] a second response module, configured to determine, in response to a second touch operation on the first sub-key group, a custom window area on the touch screen, wherein determining the custom window area on the touch screen comprises at least one of: selecting a window area on the touch screen, or selecting a replacement area for a bad screen area on the touch screen;

[0033] The third response module is configured to respond to a mode switching instruction to switch to a bad screen mode, wherein each button in the first sub-button group implements the first function in the bad screen mode.

[0034] Optionally, in one implementation, the apparatus further includes:

[0035] a receiving module, configured to receive a touch operation on a combination key in the key group after the third responding module switches to the bad screen mode in response to the mode switching instruction;

[0036] A first instruction determination module is configured to determine a first control instruction corresponding to the key combination, wherein the first control instruction includes: displaying an event log, enabling an automatic function, and setting program operation to a single-step mode;

[0037] The first execution module is configured to execute a corresponding operation in response to the first control instruction.

[0038] Optionally, in one implementation, the apparatus further includes:

[0039] a monitoring module, configured to monitor a sliding pattern received by the touch screen after the third response module switches to the bad screen mode in response to the mode switching instruction;

[0040] A second instruction determination module is configured to determine a second control instruction corresponding to the sliding screen pattern, wherein the second control instruction includes: displaying a log on the touch screen, opening a robot operation status interface, and pausing an operation task;

[0041] The second execution module is configured to execute a corresponding operation in response to the second control instruction.

[0042] Optionally, in one implementation, the second response module includes:

[0043] a first receiving submodule, configured to receive a touch operation on a second button and / or a third button in a first sub-button group in the button group, and adjust a horizontal size of the custom window area;

[0044] a second receiving submodule, configured to receive a touch operation on the fourth button and / or the fifth button in the first sub-button group in the button group, and adjust the size of the custom window area in the vertical direction;

[0045] a third receiving submodule, configured to, after the size of the window area to be customized is determined, receive a touch operation on the sixth button in the second sub-button group in the button group, and switch the second, third, fourth, and fifth buttons in the first sub-button group from the second function to the third function;

[0046] a fourth receiving submodule, configured to receive a touch operation on the second button and / or the third button in the first sub-button group in the button group, and adjust the horizontal position of the custom window area;

[0047] The fifth receiving submodule is configured to receive a touch operation on the fourth button and / or the fifth button in the first sub-button group in the button group, and adjust the vertical position of the custom window area to select the window area on the touch screen.

[0048] Optionally, in one implementation, the apparatus further includes:

[0049] The adaptive display module is used to adaptively change the display parameters of the displayed content according to the display parameters of the custom window area during the process of adjusting the display parameters of the custom window area.

[0050] Optionally, in one implementation, the second response module includes:

[0051] an adjusting submodule, configured to adjust a position of a replacement area for the bad screen area in response to a touch operation on at least one of the second button, the third button, the fourth button, and the fifth button of the first sub-button group in the button group;

[0052] The bad screen area is selected in the following manner: a click operation on the bad screen area in the touch screen is received, and the bad screen area is selected according to the click operation.

[0053] Optionally, in one implementation, the apparatus further includes:

[0054] a mapping module, configured to, when receiving a touch operation on the bad screen area, map the touch operation to the replacement area;

[0055] The synchronous display module is used to synchronously change the display content of the replacement area when the display of the bad screen area changes.

[0056] Optionally, in one implementation, the sliding screen pattern includes at least one of the following: a circle, a rectangle, or a triangle.

[0057] According to a third aspect of an embodiment of the present invention, an electronic device is provided, including:

[0058] Memory, for storing computer instructions;

[0059] The processor is used to call and execute the computer instructions to implement the teaching pendant control method according to the first aspect of the present invention.

[0060] A fourth aspect of an embodiment of the present invention provides a teach pendant, which includes a touch screen and a button group, wherein the teach pendant adopts the method described in any method embodiment described in the first aspect above, or has a teach pendant control device shown in any device embodiment described in the second aspect above, or has the electronic device described in the third aspect.

[0061] The technical solution of the present invention, in response to a first touch operation on the teach pendant, opens a custom window mode and switches each key in the first sub-key group in the key group from a first function to a second function; in response to a second touch operation on the first sub-key group, determines a custom window area on the touch screen; and in response to a mode switching instruction, switches to a bad screen mode, in which each key in the first sub-key group implements the first function. The technical solution of the present invention, by customizing the window area and replacing the bad screen area, allows the user to bypass the untouchable bad screen area during operation, effectively solving the problem of the teach pendant being unusable after a bad screen and requiring factory repair. Since there is no need to return to the factory for repair, repair time and costs can be saved, and normal production in the production workshop is not affected.

[0062] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0064] Figure 1 is a flow chart of a teaching pendant control method according to an exemplary embodiment;

[0065] Figure 2 is a schematic diagram of a button group displayed on a teaching pendant in a broken screen mode according to an exemplary embodiment;

[0066] Figure 3 is a flow chart of another teaching pendant control method according to an exemplary embodiment;

[0067] Figure 4 This is a flow chart of a teaching pendant control method according to a specific example;

[0068] Figure 5 is a flow chart of yet another teaching pendant control method according to an exemplary embodiment;

[0069] Figure 6 This is a flow chart of a teaching pendant control method according to a specific example;

[0070] Figure 7 is a block diagram of a teach pendant control device according to an exemplary embodiment;

[0071] Figure 8 is a block diagram of an electronic device according to an exemplary embodiment. DETAILED DESCRIPTION

[0072] In order to enable those skilled in the art to better understand the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of this application.

[0073] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in a sequence other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0074] According to an embodiment of the present application, a teaching pendant control method is provided, referring to Figure 1 , methods include:

[0075] 100: In response to a first touch operation on the teach pendant, start a custom window mode, and switch each key in a first sub-key group in a key group from a first function to a second function.

[0076] The teach pendant control method provided in an embodiment of the present application is applied to a teach pendant including a touch screen and a button group. When a portion of the touch screen of the teach pendant is damaged, a user can trigger the teach pendant to enter a custom window mode by performing a first touch operation on the teach pendant. After entering the custom window mode, the user can further perform corresponding operations to customize the window area on the touch screen.

[0077] The first touch operation may include, but is not limited to, a single click, double click, long press, or slide. The first touch operation can be performed on the teach pendant's touch screen or on one or more specific keys in the key group. The first function of the first sub-key group is to control the movement direction of the robot joints, and the second function is to adjust the size and position of the custom window in custom window mode.

[0078] 102 : In response to a second touch operation on the first sub-key group, determine a custom window area on the touch screen.

[0079] Wherein, determining the custom window area on the touch screen includes at least one of the following: selecting a window area on the touch screen, and selecting a replacement area for the bad screen area on the touch screen.

[0080] Different types of custom window areas may include different sub-operations in the second touch operation. The second touch operation may be a sequential touch of one or more keys in the first sub-key group. The specific number of keys touched and the order in which the keys are touched can be flexibly configured by those skilled in the art and are not specifically limited in the embodiments of this application.

[0081] 104: In response to the mode switching instruction, switch to the bad screen mode.

[0082] In the broken screen mode, each key in the first sub-key group realizes the first function.

[0083] The mode switching command can be generated by touching a preset button or by touching the touch screen, without specific limitation. After each button in the first sub-button group performs the first function, the user can control the robot by operating the teach pendant in the broken screen mode.

[0084] By adopting the teach pendant control method provided in this embodiment, by customizing the window area and replacing the bad screen area, the user can bypass the bad screen area that cannot be touched during operation, effectively solving the problem that the teach pendant cannot be used after the screen is broken and needs to be returned to the factory for repair. Since there is no need to return to the factory for repair, repair time and cost can be saved, and the normal production of the production workshop will not be affected.

[0085] Optionally, in one implementation of this embodiment, after switching to the bad screen mode in response to the mode switching instruction, the user can further operate the touch screen after the bad screen area is adjusted by using touch combination keys or sliding patterns.

[0086] An exemplary process includes the following sub-steps:

[0087] Sub-step 1: The teach pendant receives a touch operation on a combination key in the key group;

[0088] An exemplary diagram of the teaching pendant in bad screen mode is shown in FIG. Figure 2 As shown, the teach pendant button group includes 20 buttons, among which buttons 1-18 are the first sub-button group, and 19-20 are the second sub-button group. In the bad screen mode, each button in the first sub-button group returns to the function in the normal mode, that is, the first function, but new buttons 19 and 20 are added.

[0089] In the bad screen mode, in addition to the first function realized by each key in the first sub-key group, a second sub-key group is added. The user can generate the first control instruction by performing a touch operation on the combination key in the second sub-key group; can generate the first control instruction by performing a touch operation on the combination key in the second sub-key group and the first sub-key group; or can generate the first control instruction by performing a touch operation on the combination key in the first sub-key group.

[0090] The touch operation on the combination keys in the key group may include, but is not limited to: performing touch operations on the combination keys sequentially, performing touch operations on the combination keys simultaneously, and the like.

[0091] Sub-step 2: Determine the first control instruction corresponding to the key combination;

[0092] The first control instruction includes: displaying an event log, turning on an automatic function, and setting the program operation to a single-step mode.

[0093] Different key combinations correspond to different first control instructions. After determining the specific keys included in the touched key combination, the first control instruction corresponding to the touched key combination can be determined based on the pre-set correspondence between the key combination and the control instruction.

[0094] An exemplary correspondence between the key combination and the first control instruction can be: the F1 (19) + -B (9) key combination corresponds to displaying the event log, the F1 (19) + Jog (15) + Mot (16) key combination corresponds to turning on the automatic function, and the F2 (20) + Mot (16) + -X (1) key combination corresponds to setting the program operation to single-step mode.

[0095] It should be noted that the above only lists the correspondence between three combination keys and control instructions by way of example. In actual implementation, those skilled in the art can flexibly set the correspondence between 15 or even more combination keys and the first control instruction according to actual needs.

[0096] Sub-step 3: In response to the first control instruction, execute a corresponding operation.

[0097] Another exemplary process includes the following sub-steps:

[0098] Sub-step 1: monitoring the sliding pattern received by the touch screen;

[0099] Exemplarily, the sliding screen pattern includes at least one of the following: circle, rectangle, triangle. The above are only exemplary examples of three sliding screen patterns, and the sliding screen pattern is not limited to these, and may also include a five-pointed star, a straight line, a trapezoid, and a semicircle.

[0100] Sub-step 2: Determine the second control instruction corresponding to the sliding pattern;

[0101] Exemplarily, the second control instruction includes: displaying a log on the touch screen, opening a robot operation status interface, and pausing the operation task.

[0102] Different sliding patterns correspond to different second control instructions. After determining the sliding pattern input by the user on the touch screen, the second control instruction corresponding to the sliding pattern input by the user can be determined based on the pre-set correspondence between the sliding pattern and the control instruction.

[0103] An exemplary mapping between a sliding pattern and a second control instruction might be: a circle prints a log to the screen; a rectangle opens the robot's operating status interface; and a triangle pauses the task. It should be noted that these three mappings between sliding patterns and control instructions are merely examples. In actual implementation, those skilled in the art can flexibly adjust these mappings based on actual needs.

[0104] Sub-step 3: In response to the second control instruction, perform a corresponding operation.

[0105] In this embodiment, in order to cope with the situation where some functions are difficult to click out or inconvenient to click with a stylus after the window becomes smaller, a shortcut function is provided for operating the touch screen through a touch combination key or a sliding pattern. This shortcut function can ensure that the user can continue to operate the teaching pendant without obstacles.

[0106] According to an embodiment of the present application, a teaching pendant control method is provided, referring to Figure 3 , methods include:

[0107] 300: In response to a first touch operation on the teach pendant, start a custom window mode, and switch each key in a first sub-key group in a key group from a first function to a second function.

[0108] The teach pendant control method of the embodiment of the present application is applied to a teach pendant comprising a touch screen and a button group. In actual implementation, when the teach pendant's touch screen fails, the user can confirm the location and size of the defective touch point and then execute the teach pendant control method provided by the embodiment of the present application. The first touch operation can be performed on the teach pendant's touch screen or on one or more specific buttons in the button group.

[0109] Reference Figure 2 According to the arrangement of the key groups shown in FIG, an exemplary first touch operation may be: triggering the teach pendant to open the "custom window mode" by using the combination key F1 (19) + Start (13) + -X (1).

[0110] The "+" on buttons 1-18 indicates the positive direction of the axis, and the "-" indicates the negative direction of the axis. In the first function, they are used to control the direction of the robot joints. In the custom mode, they switch to the second function to adjust the size and position of the custom window.

[0111] In response to the second touch operation on the first sub-button group, the teach pendant defines a custom window area on the touch screen. This custom window area may include, but is not limited to, selecting a window area on the touch screen and selecting a replacement area for a defective screen area on the touch screen. This embodiment of the present application uses the example of the teach pendant selecting a window area on the touch screen in response to the second touch operation on the first sub-button group. The specific process for defining the window area on the touch screen is shown in steps 302-310.

[0112] 302: Receive a touch operation on the second button and / or the third button in the first sub-button group in the button group, and adjust the horizontal size of the custom window area.

[0113] 304: Receive a touch operation on the fourth button and / or the fifth button in the first sub-button group in the button group, and adjust the size of the custom window area in the vertical direction.

[0114] The touch operations on the keys in the first sub-key group may include but are not limited to: single click, double click and long press. The specific keys indicated by the second key, the third key, the fourth key and the fifth key can be flexibly set by those skilled in the art.

[0115] In an exemplary embodiment, the -X (1) button and the +X (2) button can be set to adjust the size of the teaching software window in the horizontal direction, and the -Y (3) button and the +Y (4) button can be set to adjust the size of the window in the vertical direction.

[0116] Optionally, in an implementation of this embodiment, in the process of adjusting the display parameters of the custom window area, the display parameters of the displayed content are adaptively changed according to the display parameters of the custom window area.

[0117] Displayed content includes buttons and UI images within the teaching software. The displayed content can be resized to the custom window, adaptively changing its display parameters. Adaptive changes include, but are not limited to, changes in the display position, smaller button sizes, smaller or summarized event log fonts, smaller or collapsed taskbar icons, and abbreviated or key-activated program editing functions, allowing the displayed content to adapt to the system-defined window size during the adjustment process.

[0118] It should be noted that step 304 is not limited to being performed after step 302 , but may also be performed before step 302 .

[0119] 306: After the custom window area size is determined, receive a touch operation on the sixth button in the second sub-button group in the button group, and switch the second button, the third button, the fourth button, and the fifth button in the first sub-button group from the second function to the third function.

[0120] The second, third, fourth, and fifth buttons have the secondary function of adjusting the custom window size, meaning you can use these four buttons to change the size of the custom window area along the X and Y axes. Their third function is adjusting the position of the custom window on the touch screen, meaning you can use these four buttons to change the position of the custom window area along the X and Y axes.

[0121] In an exemplary embodiment, the sixth button is Figure 2 As shown in the F2(20) key, when pressing F2(20) without exiting the "custom window mode", the function of triggering keys 1 to 4 is switched from adjusting the size of the custom window to adjusting the position of the custom window on the touch screen.

[0122] 308: Receive a touch operation on the second button and / or the third button in the first sub-button group in the button group, and adjust the horizontal position of the custom window area.

[0123] 310: Receive a touch operation on the fourth button and / or the fifth button in the first sub-button group in the button group, and adjust the vertical position of the custom window area to select the window area on the touch screen.

[0124] In an exemplary embodiment, the -X (1) button and the +X (2) button are used to move the custom window in the horizontal direction, and the -Y (3) button and the +Y (4) button are used to move the custom window in the vertical direction.

[0125] It should be noted that step 310 is not limited to being performed after step 308, but may also be performed before step 308. Furthermore, the process of adjusting the custom window position is not limited to being performed after the process of adjusting the custom window size, but may also be performed before the process.

[0126] 312: In response to the mode switching instruction, switch to the bad screen mode.

[0127] In the broken screen mode, each key in the first sub-key group realizes the first function.

[0128] After selecting a window area on the touch screen, the user can issue a mode switching instruction by touching a key in the key group, or by operating the touch screen.

[0129] In an exemplary embodiment, a mode switching instruction is issued by operating the Start button (13), and the teaching pendant saves the information of the selected window area in response to the mode switching instruction, and exits the "custom window mode" and switches to the "bad screen mode".

[0130] In the "bad screen mode", the original function of the key remains unchanged, and a combination key function and a sliding screen pattern function are added. These two functions generate control instructions to instruct the teaching pendant operation. The combination key function requires pressing at least two keys to be triggered. The starting key of the combination key function is the key F1 (19) or F2 (20) contained in the second sub-key group. After the teaching system recognizes that the key is touched, it enters the monitoring state and waits for the input of the next key to trigger the function of the combination key. When the touch operation of F1 (19) or F2 (20) is detected again, the combination key monitoring state is exited, and it is determined that the touch operation of this combination key is completed. That is, the first key and the last key pressed in the combination key touch operation are keys in the second sub-key group, and the middle key is a key in the first sub-key group.

[0131] The sliding pattern function monitors the sliding pattern input by the user on the touch screen and generates different control instructions based on the different sliding patterns detected.

[0132] For the specific instructions on generating control instructions based on the combination key function and the sliding screen pattern function and instructing the operation of the teaching pendant, please refer to the relevant content in the aforementioned embodiments and will not be repeated here.

[0133] Refer to the following Figure 2 、 Figure 4 A specific example is used to illustrate the control method of the teaching pendant. Figure 4 , methods include:

[0134] 400: Enable custom window mode via key combination.

[0135] The teaching pendant includes Figure 2 The key combination and touch screen shown. The key combination can be F1(19)+Start(13)+-X(1). By touching this key combination, the teach pendant is triggered to open the "custom window mode".

[0136] 402: Click the F1 button and use the -x, +x or -y, +y keys to adjust the length and width of the custom window.

[0137] In the custom window mode, the original functions of keys 1 to 18 are changed to functions associated with the "custom window mode", that is, changed from the first function described in the above embodiment to the second function.

[0138] 406: Click the F2 button and use the -x, +x or -y, +y buttons to move the position of the custom window on the touch screen.

[0139] 408: After confirming the window size and position, click the Start button to save the current changes and exit the custom window mode.

[0140] After switching to custom window mode, the broken screen mode is entered, and the user can touch the screen with a stylus and use the teach pendant in conjunction with combination keys and special sliding patterns.

[0141] By adopting the teach pendant control method provided in this embodiment, the user can bypass the bad screen area that cannot be touched during operation by customizing the window area, effectively solving the problem that the teach pendant cannot be used after the screen is broken and needs to be returned to the factory for repair. Since there is no need to return to the factory for repair, repair time and cost can be saved, and the normal production of the production workshop will not be affected.

[0142] According to an embodiment of the present application, a teaching pendant control method is provided, referring to Figure 5 , methods include:

[0143] 500: In response to a first touch operation on the teach pendant, start a custom window mode, and switch each key in a first sub-key group in a key group from a first function to a second function.

[0144] When the touch screen of the teach pendant is damaged, the user can confirm the location and size of the bad touch point and then execute the teach pendant control method provided in the embodiment of the present application. The first touch operation can be performed on the touch screen of the teach pendant or on one or more specific keys in the key group.

[0145] Reference Figure 2 In the arrangement of the key groups shown in , an exemplary first touch operation can be: triggering the teach pendant to turn on the "custom window mode" by pressing the combination key F1(19)+Start(13)++X(2). In the embodiment of the present application, the teach pendant is taken as an example to explain the selection of a replacement area for the bad screen area on the touch screen in response to the second touch operation on the first sub-key group. The specific process of selecting a replacement area for the bad screen area on the touch screen is shown in 502-506. Since the bad screen area is cut on the touch screen after turning on the "custom window mode" in this embodiment, it can also be called turning on the "screen cutting mode".

[0146] 502: Receive a user click operation on the damaged screen area of ​​the touch screen.

[0147] In Custom Window Mode, the teach pendant screen dims and turns gray. The teach pendant monitors user touch events. The user can click two points, the upper left and lower right corners of the defective area, to confirm the screen area to be cut. For example, if the defective area is 1cm*1cm, the user can click the upper left and upper right corners of the defective area. The teach pendant system will calculate the x and y coordinates to determine the area of ​​the defective area to be cut.

[0148] 504: Select the bad screen area based on the click operation.

[0149] 506: In response to a touch operation on at least one of the second button, the third button, the fourth button, and the fifth button of the first sub-button group in the button group, adjust a position of the replacement area of ​​the bad screen area.

[0150] After successfully cutting out the bad screen area, the user can adjust the relative position of the cut screen on the entire screen by pressing the positive and negative X and positive and negative Y buttons.

[0151] The touch operations on the keys in the first sub-key group may include but are not limited to: single click, double click and long press. The specific keys indicated by the second key, the third key, the fourth key and the fifth key can be flexibly set by those skilled in the art.

[0152] In an exemplary embodiment, the -X (1) and +X (2) buttons can be set to adjust the horizontal coordinate position of the bad screen area window, and the -Y (3) and +Y (4) buttons can be set to adjust the vertical coordinate position of the bad area window.

[0153] 508: In response to the mode switching instruction, switch to the bad screen mode.

[0154] In the broken screen mode, each key in the first sub-key group realizes the first function.

[0155] After selecting a window area on the touch screen, the user can issue a mode switching instruction by touching a key in the key group, or by operating the touch screen.

[0156] In an exemplary embodiment, a mode switching instruction is issued by operating the Start button (13). In response to the mode switching instruction, the teach pendant saves the information of the selected window area and exits the "custom window mode" to switch to the "bad screen mode". Optionally, in an implementation of this embodiment, when a touch operation is received on the bad screen area, the touch operation is mapped to the alternative area; when the display of the bad screen area changes, the display content of the alternative area changes synchronously.

[0157] The cut screen, or the damaged screen area, simulates the cut location on the software level, creating a rectangular window. After placing the cut screen in a healthy, touchable location (the replacement area), clicking the cut screen is equivalent to clicking the cut area. When the page changes (such as controls, UI, and color), the changes to the cut area are synchronized with the cut screen, enabling real-time updates.

[0158] In "bad screen mode," the original functions of the buttons remain unchanged, with the addition of a combination key function and a screen-slide pattern function. These two functions generate control instructions for instructing the teach pendant. Detailed instructions for generating control instructions and instructing the teach pendant based on the combination key function and the screen-slide pattern function are provided in the preceding embodiments and are not repeated here.

[0159] Refer to the following Figure 2 、 Figure 6 A specific example is used to illustrate the control method of the teaching pendant. Figure 6 , methods include:

[0160] 600: Enable custom window mode via key combination.

[0161] In this example, the screen slicing mode included in the custom window mode is enabled.

[0162] The teaching pendant includes Figure 2 The key combination and touch screen shown. The key combination can be F1(19)+Start(13)+﹢X(2). By touching this key combination, the teach pendant is triggered to start the screen cutting mode.

[0163] 602: Determine the area of ​​the cut rectangle by clicking two points at the damaged part of the screen.

[0164] The clipped screen corresponding to the clipped rectangular area can be regarded as the bad screen area.

[0165] 606: The generated cut screen can be moved on the touch screen using the X and Y keys.

[0166] Clicking Cut Screen is equivalent to operating the screen at the broken part.

[0167] By adopting the teach pendant control method provided in this embodiment, by selecting a replacement area for the bad screen area on the touch screen, the user can bypass the bad screen area that cannot be touched during operation, effectively solving the problem that the teach pendant cannot be used after the screen is broken and needs to be returned to the factory for repair. Since there is no need to return to the factory for repair, repair time and cost can be saved, and the normal production of the production workshop will not be affected.

[0168] The teach pendant control method provided in an embodiment of the present application monitors trigger events of the teach pendant key group. When the combination key corresponding to the "custom window mode" is detected to be triggered, the current "normal mode" is switched to the "custom window mode", and the original key functions are replaced with special function keys in the custom window mode, that is, the key group in the teach pendant key group is switched from the first function to the second function. In the "custom window mode", the window area is customized, specifically including selecting a window area on the touch screen or selecting a replacement area for the bad screen area on the touch screen. During the process of customizing the window area, the display parameters of icons, buttons and other display contents of each interface UI are adaptively changed according to the size of the window area. After detecting the key combination for turning off the "custom window mode", it is determined whether the current interface size and position have changed or whether an event of screen clipping has occurred. If neither of the two conditions exists, the "custom window mode" is switched to the "normal mode". If either of the two conditions exists, the "custom window mode" is switched to the "bad screen mode". After switching to the bad screen mode, more combination key functions and the sliding screen pattern function are enabled to facilitate the user to continue operating the teach pendant in the "bad screen mode".

[0169] It should be noted that the embodiment of the present application is only a solution to the problem of the bad screen by customizing the window area and replacing the bad screen area so that the user can bypass the bad screen area that cannot be touched during operation without changing the angle of the teach pendant. In the actual implementation process, other solutions can also be used to solve this problem, for example: providing an external screen similar to a display, connecting the teach pendant through the USB interface on the teach pendant, projecting the teach pendant software interface onto the external screen display, and operating the teach pendant through a keyboard or touchpad to solve the bad screen problem.

[0170] According to an embodiment of the present application, a teaching pendant control device is provided, which is applied to a teaching pendant including a touch screen and a key group. Figure 7 , the teaching pendant control device includes the following functional modules:

[0171] A first response module 700 is configured to, in response to a first touch operation on the teach pendant, enable a custom window mode and switch each key in the first sub-key group in the key group from a first function to a second function;

[0172] a second responding module 702 configured to determine a custom window area on the touch screen in response to a second touch operation on the first sub-key group, wherein determining the custom window area on the touch screen comprises at least one of: selecting a window area on the touch screen, or selecting a replacement area for a bad screen area on the touch screen;

[0173] The third response module 704 is configured to respond to a mode switching instruction and switch to a bad screen mode. In the bad screen mode, each button in the first sub-button group implements the first function.

[0174] Optionally, in an implementation of this embodiment, the apparatus further includes:

[0175] a receiving module, configured to receive a touch operation on a combination key in the key group after the third responding module switches to the bad screen mode in response to the mode switching instruction;

[0176] A first instruction determination module is configured to determine a first control instruction corresponding to the key combination, wherein the first control instruction includes: displaying an event log, enabling an automatic function, and setting program operation to a single-step mode;

[0177] The first execution module is configured to execute a corresponding operation in response to the first control instruction.

[0178] Optionally, in an implementation of this embodiment, the apparatus further includes:

[0179] a monitoring module, configured to monitor a sliding pattern received by the touch screen after the third response module switches to the bad screen mode in response to the mode switching instruction;

[0180] A second instruction determination module is configured to determine a second control instruction corresponding to the sliding screen pattern, wherein the second control instruction includes: displaying a log on the touch screen, opening a robot operation status interface, and pausing an operation task;

[0181] The second execution module is configured to execute a corresponding operation in response to the second control instruction.

[0182] Optionally, in an implementation of this embodiment, the second response module includes:

[0183] a first receiving submodule, configured to receive a touch operation on a second button and / or a third button in a first sub-button group in the button group, and adjust a horizontal size of the custom window area;

[0184] a second receiving submodule, configured to receive a touch operation on the fourth button and / or the fifth button in the first sub-button group in the button group, and adjust the size of the custom window area in the vertical direction;

[0185] a third receiving submodule, configured to, after the size of the window area to be customized is determined, receive a touch operation on the sixth button in the second sub-button group in the button group, and switch the second, third, fourth, and fifth buttons in the first sub-button group from the second function to the third function;

[0186] a fourth receiving submodule, configured to receive a touch operation on the second button and / or the third button in the first sub-button group in the button group, and adjust the horizontal position of the custom window area;

[0187] The fifth receiving submodule is configured to receive a touch operation on the fourth button and / or the fifth button in the first sub-button group in the button group, and adjust the vertical position of the custom window area to select the window area on the touch screen.

[0188] Optionally, in an implementation of this embodiment, the apparatus further includes:

[0189] The adaptive display module is used to adaptively change the display parameters of the displayed content according to the display parameters of the custom window area during the process of adjusting the display parameters of the custom window area.

[0190] Optionally, in an implementation of this embodiment, the second response module includes:

[0191] an adjusting submodule, configured to adjust a position of a replacement area for the bad screen area in response to a touch operation on at least one of the second button, the third button, the fourth button, and the fifth button of the first sub-button group in the button group;

[0192] The bad screen area is selected in the following manner: a click operation on the bad screen area in the touch screen is received, and the bad screen area is selected according to the click operation.

[0193] Optionally, in an implementation of this embodiment, the apparatus further includes:

[0194] a mapping module, configured to, when receiving a touch operation on the bad screen area, map the touch operation to the replacement area;

[0195] The synchronous display module is used to synchronously change the display content of the replacement area when the display of the bad screen area changes.

[0196] Optionally, in an implementation of this embodiment, the sliding screen pattern includes at least one of the following: a circle, a rectangle, and a triangle.

[0197] about Figure 7 For a more detailed description of the relevant operations, please refer to the description in the previous method embodiment, which will not be repeated here.

[0198] One embodiment of the present invention further provides a product for implementing various method embodiments of the present invention. The product may be a computer software product, or an electronic device or hardware product that installs or integrates the computer software product, wherein the electronic device has a touch screen and a keypad. Preferably, the electronic device is a teaching pendant.

[0199] For example, Figure 8 As shown, the electronic device may include a memory 81 for storing computer instructions; a processor 82 for invoking and executing the computer instructions to implement the methods provided in the relevant embodiments or implementations of the present invention. Optionally, the electronic device may also include an external communication interface 83 for communicating data with the outside world.

[0200] One embodiment of the present invention further provides a teach pendant, comprising a touch screen and a key group, wherein the teach pendant employs the teach pendant control method described in any of the above method embodiments, or comprises the teach pendant control device described in any of the above embodiments, or comprises the electronic device described in the above embodiments. The teach pendant is the host computer of the industrial robot controller, and operates the robot through keys and a touch screen, receives operating data in real time, and adds instructions for point movement. In addition to the touch screen and key group, the teach pendant also includes an indicator light, a key switch, an emergency stop switch, a power cord, and a plastic housing. The key group can be provided on a membrane keyboard of the teach pendant.

[0201] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0202] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of such features. Throughout the description of this application, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0203] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code comprising one or more executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may be performed out of the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present application belong.

[0204] The logic and / or steps represented in the flowcharts or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing the logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (e.g., a computer-based system, a system including a processor, or other system that can fetch and execute instructions from an instruction execution system, apparatus, or device). For purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include the following: an electrical connection with one or more wires (electronic devices), a portable computer disk cartridge (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and programmable read-only memory (EPROM or flash memory), fiber optic devices, and a portable compact disc read-only memory (CDROM). Furthermore, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing it in another suitable manner if necessary, and then storing it in a computer memory.

[0205] It should be understood that various parts of the present application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented using hardware, as in another embodiment, any one of the following technologies known in the art or a combination thereof can be used to implement: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application-specific integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0206] Those skilled in the art will understand that all or part of the steps in the method of the above embodiment can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiment.

[0207] In addition, the functional units in the various embodiments of the present application may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into a module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0208] The storage medium mentioned above may be a read-only memory, a magnetic disk, or an optical disk, etc. Although the embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application. Persons skilled in the art may make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present application.

Claims

1. A teaching pendant control method, wherein the teaching pendant includes a touch screen and a button group, characterized in that: The method comprises: In response to a first touch operation on the teach pendant, opening a custom window mode and switching each key in the first sub-key group in the key group from a first function to a second function; In response to a second touch operation on the first sub-key group, determining a custom window area on the touch screen, wherein determining the custom window area on the touch screen comprises at least one of the following: selecting a window area on the touch screen, or selecting a replacement area for a bad screen area on the touch screen; In response to the mode switching instruction, the mode is switched to the bad screen mode. In the bad screen mode, each button in the first sub-button group realizes the first function.

2. The method according to claim 1, characterized in that After the step of switching to the bad screen mode in response to the mode switching instruction, the method further includes: receiving a touch operation on a combination key in the key group; Determining a first control instruction corresponding to the key combination, wherein the first control instruction includes: displaying an event log, turning on an automatic function, and setting program operation to a single-step mode; In response to the first control instruction, a corresponding operation is performed.

3. The method according to claim 1, characterized in that After the step of switching to the bad screen mode in response to the mode switching instruction, the method further includes: monitoring a sliding pattern received by the touch screen; Determining a second control instruction corresponding to the sliding screen pattern, wherein the second control instruction includes: displaying a log on the touch screen, opening a robot operation status interface, and pausing a running task; In response to the second control instruction, a corresponding operation is performed.

4. The method according to claim 1, wherein In response to a second touch operation on the first sub-key group, the step of determining a custom window area on the touch screen includes: receiving a touch operation on a second button and / or a third button in the first sub-button group in the button group, and adjusting a horizontal size of the custom window area; receiving a touch operation on the fourth button and / or the fifth button in the first sub-button group in the button group, and adjusting the size of the custom window area in the vertical direction; After the size of the customized window area is determined, receiving a touch operation on the sixth button in the second sub-button group in the button group, and switching the second button, the third button, the fourth button, and the fifth button in the first sub-button group from the second function to the third function; receiving a touch operation on a second button and / or a third button in the first sub-button group in the button group, and adjusting a horizontal position of the custom window area; A touch operation on the fourth button and / or the fifth button in the first sub-button group in the button group is received, and a vertical position of the custom window area is adjusted to select the window area on the touch screen.

5. The method according to claim 4, characterized in that The method further comprises: In the process of adjusting the display parameters of the custom window area, the display parameters of the displayed content are adaptively changed according to the display parameters of the custom window area.

6. The method according to claim 1, characterized in that In response to a second touch operation on the first sub-key group, the step of determining a custom window area on the touch screen includes: In response to a touch operation on at least one of the second button, the third button, the fourth button, and the fifth button of the first sub-button group in the button group, adjusting a position of the replacement area for the bad screen area; The bad screen area is selected in the following manner: a click operation on the bad screen area in the touch screen is received, and the bad screen area is selected according to the click operation.

7. The method according to claim 6, characterized in that The method further comprises: When a touch operation on the bad screen area is received, mapping the touch operation to the replacement area; When the display of the bad screen area changes, the display content of the replacement area changes synchronously.

8. The method according to claim 3, characterized in that The sliding screen pattern includes at least one of the following: circle, rectangle, and triangle.

9. A teaching pendant control device, applied to a teaching pendant including a touch screen and a key group; characterized in that: The device comprises: a first response module, configured to, in response to a first touch operation on the teach pendant, enable a custom window mode and switch each key in the first sub-key group in the key group from a first function to a second function; a second response module, configured to determine, in response to a second touch operation on the first sub-key group, a custom window area on the touch screen, wherein determining the custom window area on the touch screen comprises at least one of: selecting a window area on the touch screen, or selecting a replacement area for a bad screen area on the touch screen; The third response module is configured to respond to a mode switching instruction to switch to a bad screen mode, wherein each button in the first sub-button group implements the first function in the bad screen mode.

10. An electronic device, characterized in that: The electronic device comprises: Memory, for storing computer instructions; A processor is used to call and execute the computer instructions to implement the teaching pendant control method according to any one of claims 1 to 8.

11. A teaching pendant comprising a touch screen and a button group, characterized in that: The teaching pendant adopts the method according to any one of claims 1 to 8, or has the teaching pendant control device according to claim 9, or has the electronic device according to claim 10.

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