Teaching device and computer program

Abstract

A teaching device (30, 30A) for teaching an industrial machine is provided with: an image acquisition unit (32) for acquiring an image obtained by capturing an image of an object to be recognized which can be visually recognized; a recognition unit (131, 131A) that analyzes the acquired image and recognizes an object to be recognized; and a registration unit (132, 132A) that, on the basis of a user operation, generates and stores association information that associates the recognized object with the program.

Description

Technical Field

[0001] The present invention relates to a teaching device and a computer program. Background Art

[0002] Along with the automation and labor saving of factories, multi-skilling has been introduced, where one operator is responsible for multiple processes. Most of the work processes are automated by introducing industrial machinery such as robots and machine tools, and the operator uses the teaching operation panel to select the corresponding program to operate the industrial machinery.

[0003] In this regard, Patent Document 1 records the following: "In an operating panel with NC function for a machine tool, there is a photographing device for reading a matrix-type two-dimensional code mounted on the front surface of the operating panel or on a handheld operating manual pulse generator connected to the operating panel, and a control unit inside the operating panel includes a reading unit that processes image data of the matrix-type two-dimensional code taken in by the above-mentioned photographing device and outputs it as read data, and starts drive control of a processing unit based on job instruction information contained in the above-mentioned read data." (Abstract).

[0004] Patent document 2 records the following: "The emergency stop switch comprises: a switch main body connected by wire to a robot controller for controlling the driving of a robot, and receiving an operation by a user to switch the control of the robot controller to an emergency stop state; a mounting portion for mounting the switch main body on a portable terminal for receiving an operation by a user in a detachable manner; and an identification code portion, which is disposed at a position opposite to a lens of a camera provided in the portable terminal when the mounting portion is mounted on the portable terminal, and displays an identification code in a manner that allows the camera to capture an identification code for identifying the switch main body." (Abstract)

[0005] Prior art literature

[0006] Patent Literature

[0007] Patent Document 1: Japanese Patent Application Publication No. 2017-227948

[0008] Patent Document 2: Japanese Patent Application Publication No. 2020-044625 Summary of the invention

[0009] Problems to be solved by the invention

[0010] When an operator operates a teaching operation panel to select a program, the time required for program search increases as the number of programs increases, and human errors such as wrong program selection may occur. A teaching device and a computer program that can easily and efficiently select a program are sought.

[0011] Means for solving problems

[0012] One method disclosed herein is a teaching device used in teaching industrial machinery, comprising: an image acquisition unit that acquires an image obtained by photographing a visually identifiable object; a recognition unit that analyzes the acquired image to identify the object; and a registration unit that generates and stores corresponding information that corresponds the identified object to a program based on user operations.

[0013] Another embodiment of the present disclosure is a computer program that causes a computer processor to execute the following steps: a step of obtaining an image obtained by photographing a visually identifiable object; a step of analyzing the obtained image to identify the object; and a step of generating and saving corresponding information that corresponds the identified object to the program based on user operations.

[0014] Effects of the Invention

[0015] According to the above configuration, the operator can easily and efficiently select a program. In addition, since any identification object can be registered in association with a program, there is no need to newly generate an identification object on the user side.

[0016] These and other objects, features and advantages of the present invention will become more apparent through the detailed description of typical embodiments of the present invention as shown in the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a diagram showing the configuration of a robot system including the teaching pendant according to the first embodiment and functional blocks of the teaching pendant.

[0018] Figure 2 This is a flowchart showing the registration process of the identification code according to the first embodiment.

[0019] Figure 3 It is a figure which shows an example of a reading / registration screen.

[0020] Figure 4 This is a diagram showing an example of a registration acceptance screen.

[0021] Figure 5 This is a flowchart showing the identification code reading process according to the first embodiment.

[0022] Figure 6 It is a figure which shows an example of a reading / registration screen.

[0023] Fig. 7A This is a diagram showing an example of a notification screen when the number of registered programs is one.

[0024] Figure 7B This is a diagram showing an example of a registration program list screen.

[0025] Figure 7C This is a diagram showing an example of a notification screen when the identification code is not registered.

[0026] Figure 8 It is a diagram showing the configuration of a robot system including a teaching pendant according to a second embodiment and functional blocks of the teaching pendant.

[0027] Fig. 9 This is a flowchart showing the registration process of the identification code according to the second embodiment.

[0028] Fig.10 This is a flowchart showing the identification code reading process according to the second embodiment. DETAILED DESCRIPTION

[0029] Next, the embodiments of the present disclosure are described with reference to the accompanying drawings. In the referenced drawings, the same components or functional parts are marked with the same reference numerals. For easy understanding, the scales of these drawings are appropriately changed. In addition, the method shown in the drawings is an example for implementing the present invention, and the present invention is not limited to the method shown in the drawings.

[0030] First embodiment

[0031] Figure 1 2 shows the structure of the robot system 100 including the teaching operation panel 30 of the first embodiment and the functional blocks of the teaching operation panel 30. Figure 1 As shown, the robot system 100 of the present embodiment includes: a teaching operation panel (teaching device) 30, a robot control device 50, and a robot 10 controlled by the robot control device 50. The teaching operation panel 30 is connected to the robot control device 50. In the robot system 100 with such a structure, the robot 10 is a multi-joint robot, a parallel linkage robot, a dual-arm robot, etc., and various types of robots can be used according to the work object. The robot control device 50 controls the robot 10 according to the instructions or action program (hereinafter referred to as "program") from the teaching operation panel 30. The teaching operation panel 30 provides various functions for teaching the robot 10. In addition, the teaching operation panel 30 can be configured using an information processing device such as a tablet terminal.

[0032] The teaching operation panel 30 of this embodiment provides the following registration function: using a camera to read an arbitrary identification code and registering the robot program in correspondence with the read identification code. In addition, the teaching operation panel 30 can also provide the following function: using a camera to read, for example, an identification code attached to a workpiece, thereby selecting and executing a program registered in correspondence with the identification code.

[0033] like Figure 1As shown, the teaching operation panel 30 includes a processing device 31 , an imaging unit 32 , and a display 33 .

[0034] The calculation processing device 31 is a processing device including a processor and a memory (storage unit 36 ​​).

[0035] As an example, the imaging unit 32 has a built-in camera and provides the following function: obtaining an image obtained by photographing an object through the built-in camera. The imaging unit 32 can also be configured to obtain an image obtained by an external camera. The function of the imaging unit 32 can also be expressed as an image acquisition unit that obtains an image obtained by photographing an object.

[0036] The display 33 includes a display unit 34 and an input unit 35. The display unit 34 is, for example, a tablet-type display panel, and the input unit 35 is, for example, a touch panel integrated with the display panel.

[0037] The calculation processing device 31 includes a recognition unit 131, a registration unit 132, a search unit 133, and a search result output unit 134. These functional blocks may also be realized by the processor of the calculation processing device 31 executing software.

[0038] The recognition unit 131 analyzes the image obtained by the imaging unit 32 by imaging the identification code, thereby recognizing the identification code in the image.

[0039] In addition, various codes including one-dimensional code and two-dimensional code can be used as the identification code. The code is analyzed by image to provide information (encoded pattern) encoded in the code as decoded information.

[0040] The registration unit 132 provides a function of registering the recognized identification code in correspondence with the robot program. The registration unit 132 generates a correspondence table (correspondence information) in which the identification code and the program are associated, and stores the table in the storage unit 36 ​​.

[0041] The search unit 133 provides a function of searching the correspondence table by using the identification code recognized by the recognition unit 131 to identify a program corresponding to the recognized identification code.

[0042] The search result output unit 134 provides the following functions: outputting the search result to the display unit 34, or accepting a user operation for selecting a program from the searched multiple programs. The search result output unit 134 can also be configured to instruct the robot control device 50 to execute a program automatically selected as a program corresponding to the identification code or selected by the user.

[0043] Reference Figures 2 to 4 The registration process that can register an arbitrary identification code in the teaching operation panel 30 will be described. Figure 2 : is a flowchart showing the registration process of the identification code.

[0044] First, the user uses the camera 32 of the teaching operation panel 30 to capture the identification code that is intended to be associated with the program, and obtains the identification code (step S1). In addition, obtaining the identification code specifically refers to obtaining the information represented by the identification code. In step S1, the user performs a predetermined operation via the input unit 35, and thus Figure 3 As shown, a reading / registration screen 200 for reading and registering an identification code is started. Figure 3 An example of the reading / registering screen 200 is shown.

[0045] like Figure 3 As shown, the reading / registering screen 200 has an area for displaying a camera image (real-time image) 201. Below the camera image 201, a register button 211 for registering an identification code and a reading button 212 are arranged.

[0046] The registration button 211 is used to start a process of recognizing the identification code C1 shown in the camera image 201 and registering it in association with the program. The read button 212 is a button for starting a read process described later.

[0047] like Figure 3 As shown, the registration button 211 is clicked while the identification code C1 is displayed in the camera image 201. As a result, the process proceeds from step S1 to step S2, and the display Figure 4 The registration acceptance screen 220 shown accepts an operation for selecting a program for registering the recognized identification code.

[0048] The registration acceptance screen 220 includes: a program list display area 230 that displays a list of programs registered in the robot control device 50; and a registered program list display area 240 that displays a list of programs corresponding to the identification code C1 of the current registration object. Figure 4 In the illustrated situation, the user has selected the first program "DEFAULT." By completing this selection operation, the program "DEFAULT" is displayed as a program corresponding to the identification code C1 in the registered program list display area 240. In addition, in the registration acceptance screen 220, a plurality of programs can be registered for one identification code.

[0049] Through the registration process described above, the identification code and the program are registered in correspondence with each other in the teaching operation panel 30. The teaching operation panel 30 (registering unit 132) generates a correspondence table in which the recognized identification code and the program are associated with each other, and stores the table in the storage unit 36.

[0050] Thus, in this embodiment, the user can register any identification code in correspondence with one or more programs. Since any identification code can be associated with a program, the user does not necessarily need to generate a new identification code, and it is noted that various existing identification codes can be registered in correspondence with programs.

[0051] Next, refer to Figure 5 Flowchart and Figure 6 , Figure 7A to Figure 7C The following describes the process of reading the identification code. Figure 6 The reading / registration screen 200 shown is started and displayed on the display unit 34. In the camera image 201 of the reading / registration screen 200, the identification code C1 photographed by the user through the imaging unit 32 is photographed. Figure 6 The user taps the read button 212 on the read / register screen 200. As a result, the recognition unit 131 analyzes the recognition code C1 shown in the camera image 201 and acquires the recognition code C1 (step S11).

[0052] Next, the search unit 133 compares the registered correspondence table with the identification code obtained in step S11 to confirm the registration status of the program corresponding to the obtained identification code. In step S12, the search unit 133 confirms whether the obtained identification code has been registered (that is, whether the obtained identification code has been registered in the correspondence table in correspondence with the program). If the identification code has been registered (S12: Yes), the process proceeds to step S13, and the search unit 133 determines whether there are multiple programs registered in correspondence with the obtained identification code (step S13).

[0053] When a plurality of programs are registered in association with the identification code ( S13 : Yes), the search result output unit 134 displays a list of the plurality of registered programs (step S15 ). Figure 7B An example of the registration program list screen 320 displayed in step S15 is shown. Figure 7B The registered program list screen 320 shows that three programs ("DEFAULT", "GETDATA", and "REQMENU") are registered in correspondence with the identification code acquired in step S11. The search result output unit 134 may also accept a user operation of selecting a program from the registered program list screen 320.

[0054] When there is one program registered in correspondence with the acquired identification code ( S13 : No), the search result output unit 134 automatically selects one of the registered programs (step S14 ). Fig. 7A In this case, an example of a notification screen 310 displayed on the display unit 34 is shown. The notification screen 310 indicates that the program "DEFAULT" is automatically selected.

[0055] In step S12 , when it is determined that the identification code is not registered (that is, the acquired identification code is not associated with the program) ( S12 : No), the search result output unit 134 notifies that the identification code is not registered (step S16 ). Figure 7C This shows an example of the notification screen 330 when the identification code is not registered.

[0056] The teaching operation panel 30 (processing device 31) may operate in response to the completion of the reading process so that the robot control device 50 executes a program automatically selected or a program selected by the user.

[0057] Thus, in this embodiment, the operator can select and execute a program by performing a simple operation such as reading an identification code using the teaching operation panel. Therefore, the selection of a program by the operator is easy and efficient.

[0058] In this embodiment, through the above-mentioned registration process, the user can register any code as a code for identifying the program. Therefore, the user does not necessarily need to generate a new identification code corresponding to the program. As the identification code, for example, a barcode attached to a product, a barcode of an employee ID card, a QR code of a web link, etc. can be used. In addition, the user can also generate a new code (barcode, etc.).

[0059] The ability to use any code as a code for identifying a program can provide users with significant advantages such as saving or shortening the time required to generate identification codes and expanding the range of code choices.

[0060] Examples of applications in which the identification code is associated with an object include an example of association with a workpiece, an example of association with a worker, an example of association with a work place, and the like.

[0061] In the example of associating the identification code with the workpiece, one or more programs for processing a certain workpiece are registered in correspondence with the identification code. The identification code can also be attached to the workpiece, for example. Even if there are multiple types of workpieces processed by a robot, the program for processing the workpiece can be automatically selected by reading the identification code, or can be selected from a list of programs for processing the workpiece. Therefore, the program can be efficiently applied to the robot system.

[0062] In an example of associating an operator with an identification code, one or more programs used by an operator in a work process on the same day are registered for the identification code. As the identification code, for example, a staff ID card carried by the operator is used. In this case, the program registration for the identification code is performed by, for example, a manager who manages the entire process. The operator reads the identification code himself. The operator can automatically select the program he should perform, or select it from a list, simply by reading the staff code as the identification code. Therefore, the program can be efficiently applied to the robot system.

[0063] In the example of associating the identification code with the workplace, one or more programs that should be executed in a certain workplace are registered in correspondence with the identification code. The identification code is, for example, printed on a paper medium, or configured in the workplace in a state of being displayed on a display device. Thus, the operator can automatically select the program that should be executed in the workplace by reading the identification code, or select and execute the program from the list. Even if the operator is replaced, the replaced operator will not be confused about the choice of program. Therefore, the program can be efficiently applied to the robot system.

[0064] Second embodiment

[0065] Hereinafter, a teaching pendant and a robot system according to a second embodiment will be described. Figure 8 FIG. 2 shows the device configuration of a robot system 100A including a teaching operation panel 30A according to the second embodiment. Figure 8 In addition, the functional blocks are shown in Figure 8 In, with Figure 1 Components having the same functions as those in the first embodiment are denoted by the same reference numerals.

[0066] like Figure 8 As shown, the robot system 100A includes: a teaching operation panel 30A, a robot control device 50, and a robot 10 controlled by the robot control device 50. In addition, the robot system 100A has a server 60 connected to the robot control device 50. The server 60 is also connected to robot control devices 50A, 50B, and 50C of other robot systems. In the robot system 100A, the server 60 maintains and manages the robot program and the correspondence table that corresponds the identification code to the program. The teaching operation panel 30A provides the server 60 with the correspondence table that corresponds the identification code to the program, and registers the correspondence table in the server 60. In addition, the robot program is registered in the server 60 and managed uniformly. The teaching operation panel 30A causes the server 60 to perform a program search based on the identification code and obtains the search result from the server 60.

[0067] like Figure 8As shown, the arithmetic processing device 31A of the teaching operation panel 30A is a processing device including a processor and a memory (storage unit 36A).

[0068] The calculation processing device 31A further includes a recognition unit 131A, a registration unit 132A, a search unit 133A, a search result output unit 134A, and a program acquisition unit 135. These functional blocks may be realized by the processor of the calculation processing device 31A executing software.

[0069] The recognition unit 131A analyzes the image obtained by the imaging unit 32 and obtained by imaging the identification code, thereby recognizing the identification code in the image.

[0070] The registration unit 132A provides a function of registering the recognized identification code in correspondence with the robot program. The registration unit 132 sends a correspondence table in which the identification code and the program are associated to the server 60, and causes the server 60 to register the correspondence table.

[0071] The search unit 133A transmits the identification code recognized by the recognition unit 131A to the server 60 , thereby causing the server 60 to execute a search for a program corresponding to the identification code and obtain a search result.

[0072] The search result output unit 134A provides functions such as displaying the search result on the display unit 34 or accepting a user operation for selecting a program from the searched plurality of programs. The search result output unit 134A can instruct the robot control device 50 to execute a registered program automatically selected as a program corresponding to the identification code or selected by the user.

[0073] The program acquisition unit 135 provides a function of acquiring the program from the server 60 when the program corresponding to the identification code is not stored in the robot control device 50 .

[0074] like Figure 8 As shown, the server 60 includes a registration unit 161, which has the function of storing the correspondence table sent from the teaching operation panel 30A in a storage device in the server 60. In addition, the server 60 includes a search unit 162, which has the function of searching for a program corresponding to the identification code using the correspondence table according to a request from the teaching operation panel 30A. The search unit 162 provides the search result to the teaching operation panel 30A.

[0075] Fig. 9 This is a flowchart showing the flow of a registration process for registering an arbitrary identification code in the robot system 100A. First, the user uses the imaging unit (camera) 32 of the teaching operation panel 30A to capture an identification code that is intended to be associated with a program, thereby acquiring the identification code (step S101). Figure 3The reading / registration screen 200 shown acquires the identification code.

[0076] Next, the registration unit 132A receives a user operation for selecting a program to be registered in correspondence with the recognized identification code (step S102). Figure 4 The user selects the program associated with the identification code on the registration acceptance screen 220 shown, and registers the identification code.

[0077] Next, the registration unit 132A generates a correspondence table of the identification codes and the registered programs in correspondence therewith, and stores the data of the correspondence table in the server 60 via the robot control device 50 (step S103). The registration unit 161 of the server 60 stores the correspondence table received from the teaching operation panel 30A in the storage device in the server 60.

[0078] Through the registration process described above, the identification code and the program are associated with each other and registered in the server 60 .

[0079] Thus, in this embodiment, the user can register any identification code in correspondence with one or more programs. Since any identification code can be associated with a program, the user does not need to generate a new identification code, and can register various existing codes in correspondence with programs.

[0080] like Figure 8 As shown in FIG. 1 , the server 60 is also connected to the robot control devices 50A, 50B, and 50C of other robot systems, so the correspondence table between the identification code and the program generated by the registration process described above in the other robot systems can also be registered in the server 60. The server 60 (registration unit 161) can perform unified management of the correspondence table including the correspondence table sent from the other robot systems. As an example, the server 60 (registration unit 161) can also integrate the correspondence tables sent from the robot control devices (50, 50A, 50B, 50C) and manage them as one correspondence table. In this case, the correspondence table registered in the server 60 from the other robot systems can be used in the robot system 100.

[0081] Next, refer to Fig.10 The flowchart of the process of reading the identification code is explained. When this process is started, Figure 6 The reading / registration screen 200 shown is started and displayed on the display unit 34. Figure 6 As described above, when the identification code C1 captured by the imaging unit 32 is displayed in the camera image 201 of the reading / registering screen 200, the user clicks the read button 212. As a result, the identification code C1 displayed in the camera image 201 is analyzed and acquired by the recognition unit 131 (step S110).

[0082] The search unit 133A transmits the acquired identification code to the server 60, causing the server 60 (search unit 162) to search for a program registered in correspondence with the identification code, acquires the search result, and confirms the registration status (step 111).

[0083] In a series of processes from step S112 to step S121, the search result output unit 134A presents the search result. The method of presenting the search result here is described below.

[0084] (1) When there is only one program registered in correspondence with the identification code: the registered program is automatically selected.

[0085] (2) When a plurality of programs are registered in association with the identification code: a list of programs registered in association with the identification code is displayed, and a user operation of selecting a program from the list is accepted.

[0086] (3) When the identification code is not registered: notify the situation.

[0087] (4) When the program associated with the identification code does not exist in the robot control device 50 : the program is acquired from the server 60 .

[0088] (5) When there is no program associated with the identification code either in the robot control device 50 or in the server 60: a notification is given that there is no program associated with the identification code.

[0089] In step S112, search unit 133A checks whether the acquired identification code has been registered (that is, whether the acquired identification code has been registered in association with the program in the association table). If the identification code has been registered (S112: Yes), the process proceeds to step S113.

[0090] In step S113, the search unit 133A determines whether the program corresponding to the identification code is in the robot control device 50. When the program corresponding to the identification code is in the robot control device 50 (S113: Yes), the process proceeds to step S114, and the search unit 133A determines whether there are multiple programs registered corresponding to the obtained identification code (step S114).

[0091] If there are multiple programs registered in correspondence with the identification code (S114: Yes), the search result output unit 134A displays a list of the registered programs (step S116). The program list screen displayed here may be Figure 7B The contents of the registration program list screen 320 are shown as an example.

[0092] If there is only one program registered in correspondence with the acquired identification code (S114: No), the search result output unit 134A automatically selects the registered program (step S115). Fig. 7A A screen similar to the content of notification screen 310 shown.

[0093] In step S112, when it is determined that the identification code is not registered (S112: No), the search result output unit 134A notifies that the obtained identification code is not registered (step S117). Figure 7C A screen showing the content of the notification screen 330 is displayed on the display unit 34 .

[0094] In step S113 , when it is determined that there is no program registered in association with the identification code in the robot control device 50 ( S112 : No), the program acquisition unit 135 operates to acquire the program from the server 60 (step S118 ).

[0095] As a result, when the program is acquired from the server 60 (S119: YES), the search unit 133A selects the program acquired from the server as the execution target program (step S120).

[0096] When the program is not registered in the server 60 either ( S119 : No), the search result output unit 134A displays an image indicating that the program does not exist in either the robot controller 50 or the server 60 on the display unit 34 (step S121 ).

[0097] According to the configuration of the robot system 100A of the second embodiment as described above, in addition to the various advantages described in the first embodiment, the following advantages can be obtained.

[0098] (1) In the robot system 100A, even if the robot control device 50 does not have a program, it can download and execute the program from the server 60. Therefore, it is possible to reduce the memory for storing the program in the robot control device.

[0099] (2) Since the correspondence table is managed by the server 60, the correspondence table can be updated from the teaching operation panel or other information processing devices. In this case, the time and effort of creating and updating the correspondence table in each robot system can be saved.

[0100] (3) Since the program can be automatically downloaded and executed from the server, there is no need to manually load the program when the robot is replaced. In this case, the robot can execute the program simply by reading the identification code, so it is easy to start the robot after replacement. In addition, it can be suitable for fields where the robot moves a lot, such as high-volume production.

[0101] (4) Since each robot system can download and execute a program from the server, when it is desired to modify a program, the modified program can be applied to each robot system by uploading the modified program to the server 60. This facilitates maintenance of the program.

[0102] As described above, according to each embodiment, the operator can easily and efficiently select a program. In addition, any identification object can be registered in association with a program, so there is no need to generate an identification code on the user side.

[0103] The present invention has been described above using typical embodiments, but it will be understood by those skilled in the art that changes to the above embodiments and various other changes, omissions, and additions may be made without departing from the scope of the present invention.

[0104] In the above embodiment, an example is described in which an identification code is used as an identification object corresponding to a program in the registration process, but in addition to the identification code, graphics, symbols, and other visually identifiable objects with certain characteristics can also be used as identification objects. For example, a diagram of several relatively simple graphics (triangles, circles, etc.) can be used as an identification object.

[0105] The structure of the above-described embodiment can be applied not only to program selection in a robot system but also to program selection in machine tools and other various industrial machine systems.

[0106] In addition, the robot control device 50 may have a structure as a general computer having a CPU, ROM, RAM, a storage device, an operation unit, a display unit, an input / output interface, a network interface, and the like.

[0107] The server 60 may have a configuration as a general computer including a CPU, a ROM, a RAM, a storage device, an operation unit, a display unit, an input / output interface, a network interface, and the like.

[0108] For executing the registration process in the above-mentioned embodiment ( Figure 2 , Fig. 9 )、Read Processing( Figure 5 , Fig.10 ) can be recorded on various computer-readable recording media (for example, semiconductor memories such as ROM, EEPROM, flash memory, magnetic recording media, optical disks such as CD-ROM and DVD-ROM).

[0109] Description of Reference Numerals

[0110] 10. Robot

[0111] 30 Teaching Operation Panel

[0112] 31. Operation processing device

[0113] 32 Filming Department

[0114] 33 Display

[0115] 34 Display unit

[0116] 35 Input unit

[0117] 36.36A Storage unit

[0118] 50, 50A, 50B, 50C robot control device

[0119] 100, 100A Robot System

[0120] 131, 131A Identification Unit

[0121] 132, 132A Registration Department

[0122] 133, 133A Search Department

[0123] 134, 134A Search result output unit

[0124] 161 Registration Department

[0125] 162 Search Department

[0126] 200 Read / register screen

[0127] 220 Registration acceptance screen

[0128] 310 notification screen

[0129] 320 Registration Procedure Overview Screen

[0130] 330 Notification screen.

Claims

1. A teaching device for teaching industrial machinery, characterized in that: have: an image acquisition unit that acquires an image obtained by photographing a visually identifiable object; a recognition unit that analyzes the acquired image to recognize the recognition object; as well as The registration unit generates and stores correspondence information that associates the recognized object with a program based on a user operation.

2. The teaching device according to claim 1, characterized in that: The identification object is an identification code.

3. The teaching device according to claim 1 or 2, characterized in that: The registration unit stores the corresponding information in the storage unit of the teaching device.

4. The teaching device according to claim 3, characterized in that: The teaching device also has: a search unit that uses the corresponding information to search for a program corresponding to the identification object identified by the identification unit; and A search result output unit outputs the search result of the search unit.

5. The teaching device according to claim 1 or 2, characterized in that: The registration unit transmits the correspondence information to an external server so that the server stores the correspondence information.

6. The teaching device according to claim 5, characterized in that: The teaching device also has: a search unit that transmits information indicating the identification object identified by the identification unit to the server, and obtains from the server a search result obtained by searching the server for a program corresponding to the identification object using the corresponding information; and A search result output unit outputs the search result of the search unit.

7. The teaching device according to claim 4 or 6, characterized in that: When the search result output unit searches for one program corresponding to the identified object, the search result output unit automatically selects the searched one program as a program to be executed.

8. The teaching device according to claim 4 or 6, characterized in that: When the search result output unit has searched for a plurality of programs corresponding to the identified recognition target, the search result output unit displays a list of the plurality of searched programs on a display unit and accepts an operation for selecting a program from the list.

9. The teaching device according to claim 4 or 6, characterized in that: When the search result output unit fails to search for a program corresponding to the identified recognition target, the search result output unit displays on the display unit that a program corresponding to the recognition target is not registered.

10. The teaching device according to claim 6, characterized in that: The teaching device further includes a program acquisition unit that acquires the program corresponding to the recognition target from the server when the program corresponding to the recognition target retrieved by the search unit is not in a robot control device connected to the teaching device.

11. The teaching device according to claim 4 or 6, characterized in that: In the correspondence information, one or more programs for processing a specific workpiece are associated with the identification object.

12. The teaching device according to claim 4 or 6, characterized in that: In the correspondence information, one or more programs used in a work process on a specific day are associated with the recognition object.

13. The teaching device according to claim 4 or 6, characterized in that: In the correspondence information, one or more programs to be executed at a specific work location are associated with the identification object.

14. A computer program, characterized in that The computer program is used to cause the processor of the computer to execute the following steps: The step of obtaining an image obtained by photographing a visually identifiable object; The step of analyzing the acquired image to identify the identification object; as well as A step of generating and storing correspondence information for associating the recognized object with a program based on a user operation.

15. The computer program according to claim 14, characterized in that The computer program causes the processor to further perform the following steps: In the step of generating and saving the correspondence information, a step of storing the correspondence information in a storage unit of the computer; Using the corresponding information, searching for a program corresponding to the identified object; as well as Steps for outputting search results.

16. The computer program according to claim 14, characterized in that The computer program causes the processor to further perform the following steps: In the step of generating and saving the corresponding information, a step of sending the corresponding information to an external server so that the server saves the corresponding information; The step of sending information indicating the identified identification object to the server, and obtaining from the server a search result obtained by searching the server for a program corresponding to the identification object using the corresponding information; as well as A step of outputting the obtained search results.

Images