Interaction method and device of demonstrator, electronic equipment and storage medium

Abstract

The embodiment of the invention provides an interaction method and device of a demonstrator, electronic equipment and a storage medium. The method comprises the steps that a program instruction interface is displayed; the program instruction interface comprises at least one instruction option; in response to the first operation, displaying a prompt box; the prompt box comprises an instruction description option and an import example option; in response to the second operation, displaying a specification interface; the specification interface comprises an example of the target instruction and an example importing option corresponding to the example; and in response to a third operation for importing the example option, importing and displaying an example of the target instruction. According to the embodiment of the invention, the corresponding instruction description option and the sample introduction option are displayed through the operation on the target instruction, and the user can click the corresponding option according to the requirement to quickly import the sample of the target instruction, so that the time of manually inputting the instruction by the user is saved, the use process of the demonstrator is simplified, and meanwhile, the user experience is also greatly improved.

Description

Technical Field

[0001] The invention relates to the technical field of automation equipment programming, in particular to an interactive method of a teaching pendant and an interactive device of a teaching pendant. Background Art

[0002] In the field of robot or automation equipment programming, the teach pendant is a key programming device, mainly used to write and edit control programs. Through the teach pendant, the operator can intuitively set the robot's motion path, working parameters and logical control by editing the code in the program editing area, and realize the automated execution of complex tasks. The traditional teach pendant interface is often more complicated, and users face a high threshold of use during use. They need to manually enter the command parameters, which places high demands on users and is prone to errors. Summary of the invention

[0003] In view of the above problems, embodiments of the present invention are proposed to provide an interactive method, device, electronic device and storage medium for a teach pendant that overcome the above problems or at least partially solve the above problems.

[0004] According to a first aspect of an embodiment of the present invention, there is provided an interactive method of a teaching pendant, the method comprising:

[0005] Displaying a program instruction interface; the program instruction interface includes at least one instruction option;

[0006] In response to a first operation on a target instruction option, displaying a prompt box corresponding to the target instruction option; the prompt box includes an instruction description option and an import example option;

[0007] In response to a second operation on the instruction description option, displaying a description interface; the description interface includes at least one example of the target instruction and an import example option corresponding to the at least one example;

[0008] In response to a third operation on the import example option in the prompt box, or in response to a third operation on the import example option in the instruction manual interface, an example of the target instruction is imported and displayed.

[0009] Optionally, before displaying the program instruction interface, the method further includes:

[0010] Display the program editing interface; the program editing interface includes the option to add instructions;

[0011] The display program instruction interface includes:

[0012] In response to a fourth operation on adding an instruction option, a program instruction interface is displayed on the program editing interface.

[0013] Optionally, the example of importing the target instruction and displaying it includes:

[0014] An example of the target instruction is imported, and the example of the target instruction is displayed in a program editing interface.

[0015] Optionally, in response to a third operation on the import example option in the prompt box, importing and displaying an example of the target instruction includes:

[0016] In response to a third operation on the import example option in the prompt box, a default example corresponding to the target instruction is imported and displayed.

[0017] Optionally, in response to a third operation on an import example option in the specification interface, importing and displaying an example of the target instruction includes:

[0018] In response to a third operation on a target import example option in the specification interface, an example corresponding to the target import example option is imported and displayed.

[0019] Optionally, the specification interface further includes: at least one of the function meaning, function prototype, required parameters and optional parameters of the target instruction.

[0020] Optionally, the first operation is a long press operation; the second operation, the third operation and the fourth operation are click operations.

[0021] According to a second aspect of an embodiment of the present invention, there is provided an interactive device for a teaching pendant, the device comprising:

[0022] A first display module is used to display a program instruction interface; the program instruction interface includes at least one instruction option;

[0023] A second display module, configured to display a prompt box corresponding to the target instruction option in response to a first operation on the target instruction option; the prompt box includes an instruction description option and an import example option;

[0024] A third display module, configured to display a manual interface in response to a second operation on the instruction description option; the manual interface includes at least one example of the target instruction and an import example option corresponding to the at least one example;

[0025] The fourth display module is used to import and display an example of the target instruction in response to a third operation on the import example option in the prompt box, or in response to a third operation on the import example option in the instruction manual interface.

[0026] Optionally, the device further comprises:

[0027] The fifth display module is used to display the program editing interface; the program editing interface includes an option to add instructions;

[0028] The display program instruction interface includes:

[0029] In response to a fourth operation on adding an instruction option, a program instruction interface is displayed on the program editing interface.

[0030] Optionally, the fourth display module further includes:

[0031] The fourth display submodule is used to import the example of the target instruction and display the example of the target instruction in the program editing interface.

[0032] Optionally, the fourth display module further includes:

[0033] The fifth display submodule is used to import and display a default example corresponding to the target instruction in response to a third operation on the import example option in the prompt box.

[0034] Optionally, the fourth display module further includes:

[0035] The sixth display submodule is used to import and display the example corresponding to the target import example option in response to the third operation on the target import example option in the specification interface.

[0036] Optionally, the specification interface further includes: at least one of the function meaning, function prototype, required parameters and optional parameters of the target instruction.

[0037] Optionally, the first operation is a long press operation; the second operation, the third operation and the fourth operation are click operations.

[0038] According to a third aspect of the present invention, there is provided an electronic device comprising: a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein when the computer program is executed by the processor, the steps of the interactive method of the teach pendant as described in any one of the above items are implemented.

[0039] According to a fourth aspect of the present invention, there is provided a computer-readable storage medium storing a computer program, wherein the computer program, when executed by a processor, implements the steps of the interactive method of the teach pendant as described in any one of the above items.

[0040] The technical solution provided by the embodiments of the present invention may have the following beneficial effects:

[0041] An embodiment of the present invention provides an interactive method for a teach pendant, the method comprising: displaying a program instruction interface; the program instruction interface includes at least one instruction option; in response to a first operation, displaying a prompt box; the prompt box includes an instruction description option and an import example option; in response to a second operation, displaying a manual interface; the manual interface includes an example of a target instruction and an import example option corresponding to the example; in response to a third operation for the import example option in the prompt box, or in response to a third operation for the import example option in the manual interface, importing and displaying an example of the target instruction. The embodiment of the present invention displays the corresponding instruction description option and import example option for the operation of the target instruction, and the user can click the corresponding option according to the demand to quickly import the example of the target instruction, which saves the user's time of manually inputting instructions, simplifies the use process of the teach pendant, and also greatly improves the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 is a flowchart of a teaching pendant interaction method provided by an embodiment of the present invention;

[0043] Figure 2 is a schematic diagram of an interface of a teaching pendant provided by an embodiment of the present invention;

[0044] Figure 3 This is a schematic diagram of another interface of a teaching pendant provided by an embodiment of the present invention.

[0045] Figure 4 is a schematic diagram of an interface of another teaching pendant provided by an embodiment of the present invention;

[0046] Figure 5 The present invention is a structural block diagram of an interactive device of a teaching pendant provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0047] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0048] One of the core concepts of an embodiment of the present invention is that by displaying corresponding instruction description options and import example options for the operation of the target instruction, the user can click the corresponding option as needed to quickly import examples of the target instruction, saving the user's time in manually entering instructions, simplifying the use process of the teach pendant, and also greatly improving the user experience.

[0049] Reference Figure 1 , shows a flowchart of a teaching pendant interaction method provided by an embodiment of the present invention, and the method may specifically include the following steps:

[0050] Step 101, displaying a program instruction interface; the program instruction interface includes at least one instruction option;

[0051] The teach pendant is an important human-machine interaction device in industrial robots and automation equipment, mainly used for writing, editing and debugging control programs. It is usually a handheld device equipped with a display and various operation buttons, providing an intuitive and convenient programming environment for operators. Through the teach pendant, users can easily set the robot's motion path, working parameters and logical control, thereby automating the execution of complex tasks. There will be at least one instruction option on the program instruction interface of the teach pendant, which is to ensure that users can perform basic control and programming of the robot's behavior. This instruction option can be a simple movement command, such as "straight line movement" or "joint movement", or a more complex logical control statement, such as "conditional judgment", "loop", etc. Each instruction option corresponds to a specific function or action. By combining different instructions, operators can build complex programs that meet specific production needs.

[0052] Step 102, in response to a first operation on a target instruction option, displaying a prompt box corresponding to the target instruction option; the prompt box includes an instruction description option and an import example option;

[0053] Reference Figure 2 , showing a schematic diagram of the interface of a teaching pendant provided by an embodiment of the present invention. The program instruction interface in the figure may include multiple instruction options including MovJ. Among them, the MovJ instruction is a motion instruction commonly used in industrial robot programming, and its full name is "Move Joint". Its main function is to control the robot to move from the current position to the target position, and to achieve smooth movement through interpolation of the joint space.

[0054] The Instruction Description option provides detailed information and usage guidelines for the selected instruction. This is especially important for beginners or users who occasionally use the teach pendant. By clicking the "Instruction Description Option", the user can quickly understand the function of the instruction, the applicable scenarios, the meaning of the parameters, and how to set these parameters correctly. This instant help reduces the time users spend consulting manuals or online documents, making the programming process smoother and more efficient. For example, if the user selects the "Move to a specified position" instruction, the "Instruction Description Option" in the prompt box will explain in detail how to set the coordinates of the target position, the movement speed and acceleration, and the impact of these parameters on the robot's movement.

[0055] The Import Example option provides users with an actual reference case. By clicking the "Import Example Option", a preset sample code snippet can be inserted directly into the current program. These examples are usually carefully designed by equipment manufacturers and cover best practices in common application scenarios. This is very useful for users who need to get started quickly or solve specific problems. For example, if a user needs to write a complex path planning program but is not sure how to start, selecting the "Import Example Option" can immediately get a complete path planning example that the user can modify and adjust according to their needs without having to write code from scratch.

[0056] This design also enhances the user's learning and exploration capabilities. By viewing and modifying sample code, users can better understand the interactions between different instructions and programming logic, and gradually improve their programming skills. At the same time, sample code can also be used as a template to help users quickly build a basic framework, saving a lot of time and energy.

[0057] Step 103, in response to the second operation on the instruction description option, displaying a description interface; the description interface includes at least one example of the target instruction and an import example option corresponding to the at least one example;

[0058] Reference Figure 3 , shows a schematic diagram of another interface of a teaching pendant provided by an embodiment of the present invention. The figure shows an interface view of at least one example in the instruction interface and an import example option corresponding to at least one example.

[0059] The examples in the instruction manual interface provide users with a specific usage scenario. These examples are usually carefully designed to cover common application scenarios and best practices. By viewing these examples, users can intuitively understand how the instructions are applied in actual programming. For example, an example may show how to use the "move to a specified position" instruction to achieve a smooth transition of the robot from one station to another. In this example, users can see how the robot accurately locates the target position, how to adjust the speed and acceleration to ensure smooth movement, and how to make necessary posture adjustments after reaching the target position. Such examples not only help users understand the basic functions of the instructions, but also allow them to master how to adjust parameters according to actual needs to achieve more refined control.

[0060] Another example might show how to combine multiple motion instructions to complete a complex path planning task. In this example, users can see how the robot completes a complex path planning from a starting point to an end point through a series of movement, rotation, and posture adjustment instructions. This example not only shows how to combine instructions, but also shows how to implement path optimization and obstacle avoidance functions through programming. Through such examples, users can learn how to flexibly use various instructions in practical applications to meet different task requirements.

[0061] These examples not only help users quickly master the use of instructions, but also stimulate their creativity and encourage them to try more innovative applications in actual work. For example, users can design more efficient and intelligent robot workflows by referring to the path planning methods in the examples. They can also explore new application scenarios and solutions by adjusting the parameters and instruction combinations in the examples. This example-based learning method not only improves users' learning efficiency, but also provides them with rich practical opportunities, helping them to continuously innovate and make progress in actual work.

[0062] The Import Example option provided in the manual interface provides users with a convenient programming aid tool that greatly simplifies the programming process. This feature is particularly important when users encounter difficulties or are not sure how to start. By customizing and clicking the "Import Example Option" of one of the multiple examples, users can immediately add a complete sample code snippet to the current program, and then use it directly according to their needs, or modify and adjust it. This feature not only saves a lot of time in writing and debugging code, but also reduces the risk of errors. For example, if the user needs to write a complex path planning program, but is not sure how to set the various parameters, selecting the "Import Example Option" can immediately obtain a verified sample code. This sample code usually contains all the key parameters and instructions required for path planning, and the user only needs to make a small modification to meet their needs. This plug-and-play approach not only allows users to get started quickly, but also ensures the correctness and reliability of the code. In addition, by viewing and analyzing the sample code, users can gain in-depth understanding of various programming techniques and best practices. For example, by viewing multiple examples, users can learn how to optimize path planning algorithms, how to deal with complex motion control problems, and how to implement efficient error handling mechanisms. This knowledge and experience not only helps users solve current problems, but also improves their programming skills and innovative thinking.

[0063] Step 104, in response to a third operation on the import example option in the prompt box, or in response to a third operation on the import example option in the instruction manual interface, an example of the target instruction is imported and displayed.

[0064] Reference Figure 4 , shows a schematic diagram of an interface of another teaching pendant provided by an embodiment of the present invention. The figure shows an interface view after an example is imported.

[0065] In response to the third operation of the Import Example option in the prompt box, the Import Example option allows the user to directly insert a sample code snippet into the current program. This feature greatly simplifies the programming process, especially when the user encounters difficulties or is unsure how to start, but there is no need to learn through the instruction explanation option. By clicking the "Import Example Option", the user can immediately add a complete, verified sample code to the program without having to write it from scratch. This not only saves a lot of time in writing and debugging code, but also reduces the risk of errors. For example, if the user needs to write a complex path planning program, but is not sure how to set the various parameters, selecting the "Import Example Option" can immediately obtain a verified sample code, and the user only needs to make a small modification to meet their needs. Displaying the imported sample code provides real-time feedback and visual display. When the sample code is imported, the teach pendant will immediately display the code in the program editing interface, and the user can clearly see the structure and content of the code. This real-time feedback helps users quickly understand how the sample code works and check if there is anything that needs to be adjusted. For example, users can see the order of arrangement, parameter settings, and comments of each instruction in the sample code, making it easier to modify and optimize. In addition, the teach pendant usually provides code highlighting and syntax checking functions to help users find and correct potential errors.

[0066] In response to the third operation of the import example option in the manual interface, the example of the target instruction is imported and displayed. This design concept is intended to provide users with a seamless and efficient programming experience. When users encounter complex or unfamiliar instructions during programming, they often need to spend a lot of time to consult documents, understand syntax and parameter settings, and may even need to conduct repeated trials to ensure the correctness of the code. This process is not only time-consuming, but also prone to errors and frustration. After learning the target instruction in the manual, the user customizes the import example option corresponding to one of the multiple examples, and can directly insert the verified sample code snippet into the user's current program. A learning assistance function is implemented. By viewing and analyzing the sample code, the user can quickly understand the usage and best practices of the target instruction. The sample code usually contains detailed comments and explanations to help users understand the role of each parameter and instruction. This learning method is not only efficient, but also stimulates the creativity of users and encourages them to make more attempts and innovations in practical applications.

[0067] In one embodiment, before displaying the program instruction interface, the method further includes: displaying a program editing interface; the program editing interface includes an option to add instructions;

[0068] The displaying of the program instruction interface includes: in response to a fourth operation for adding an instruction option, displaying the program instruction interface on the program editing interface.

[0069] like Figure 2 , Figure 3 As shown in the figure, the lower left corner of the program editing interface includes the option to add instructions; before displaying the program instruction interface, the system first displays the program editing interface and includes the option to add instructions. This design decision is intended to provide users with a comprehensive and flexible programming environment. As the core platform for users to interact with the system, the program editing interface not only needs to provide basic code editing functions, but also needs to support users' flexible management of program structure and instructions. By integrating the option to add instructions in the program editing interface, the system provides users with an intuitive and convenient way to build and manage programs.

[0070] In response to the fourth operation of "add instruction options", the program instruction interface is displayed in the program editing interface. This design simplifies the process of adding instructions. When programming, users often need to add new instructions frequently to build a complete program. The traditional approach is to select instructions one by one through menus or toolbars, which is not only time-consuming but also prone to errors. By clicking "Add instruction options", the program instruction interface will pop up immediately, showing all available instruction options, and users can quickly browse and select the required instructions. This design greatly reduces the number of times users switch between different interfaces and improves the efficiency and fluency of programming.

[0071] In one embodiment, the example of importing the target instruction and displaying it includes:

[0072] An example of the target instruction is imported, and the example of the target instruction is displayed in a program editing interface.

[0073] Displaying examples of target instructions in the program editing interface provides real-time feedback and visual display. When the sample code is imported, the teach pendant will immediately display this code in the program editing interface, and the user can clearly see the structure and content of the code. This real-time feedback helps users quickly understand how the sample code works and check if there is anything that needs to be adjusted. For example, users can see the order of arrangement and parameter settings of each instruction in the sample code, making it easier to modify and optimize. By importing and displaying sample code, users can complete programming tasks faster and improve programming efficiency. Sample code is usually carefully designed by equipment manufacturers and covers best practices in common application scenarios. Users can directly learn from these best practices to avoid duplication of work and common programming errors. For example, the sample code may contain logic for handling abnormal situations, methods for optimizing motion paths, and techniques for improving production efficiency, which can be directly applied to the user's actual project. This not only improves the quality of programming, but also shortens the project development cycle.

[0074] In addition, the program editing interface imports and displays sample codes, which also promotes user learning and exploration. By viewing and modifying sample codes, users can better understand the interaction between different instructions and programming logic, and gradually improve their programming skills. Sample codes can not only serve as templates to help users quickly build a basic framework, but also as references to help users solve practical problems. For example, users can compare sample codes with their own codes to find potential problems and optimization points, thereby continuously improving programming quality and efficiency. This interactive learning method is more effective than simply reading documents, and users can continuously accumulate experience and knowledge in actual operations.

[0075] In one embodiment, in response to the third operation on the import example option in the prompt box, importing and displaying an example of the target instruction includes: in response to the third operation on the import example option in the prompt box, importing and displaying a default example corresponding to the target instruction.

[0076] The default example can be the first example of the target instruction. Importing the default example simplifies user operations. The default example is usually an optimized and verified standard code snippet that represents the most common and typical usage scenarios of the instruction. By importing the default example, users can immediately get a verified and fully functional code snippet without having to write it from scratch. This not only saves a lot of time in writing and debugging code, but also reduces the risk of errors. For example, if the user needs to use the "Move to Specified Location" instruction, after selecting the "Import Example Option", the system will automatically import a default path planning example, and the user only needs to make a small modification according to actual needs.

[0077] The default examples provide standard references. Default examples are usually carefully designed by equipment manufacturers and follow industry standards and best practices. These examples not only show how to use instructions correctly, but also contain logic and optimization techniques for dealing with common problems. By viewing and learning the default examples, users can better understand the usage and best practices of instructions, thereby improving the quality and efficiency of programming. For example, the default examples may include how to handle abnormal situations during motion, how to optimize path planning to reduce motion time, etc. These are very useful references for users in actual programming.

[0078] In one embodiment, in response to a third operation on the import example option in the manual interface, importing and displaying an example of the target instruction includes: in response to a third operation on the target import example option in the manual interface, importing and displaying an example corresponding to the import example option.

[0079] The examples in the imported manual interface provide a more detailed reference. The examples in the manual interface usually cover a wider range of application scenarios and advanced usage, not just the basic default examples. These examples may include complex logic control, multi-step task planning, combined use with other instructions, etc. By importing these examples, users can get more comprehensive programming guidance to help them solve more complex problems. For example, the examples in the manual interface may show how to combine multiple motion instructions and logic control instructions to complete a complex assembly task, and users can learn more advanced programming techniques from them.

[0080] In addition, importing examples helps reduce the learning curve. Both the default examples and the examples in the manual interface contain detailed comments and instructions, and users can read and understand the code line by line, so as to learn and master programming skills faster. For beginners or users who occasionally use the teach pendant, sample code is a very effective learning tool. By viewing and modifying sample code, users can gradually build up confidence and proficiency in programming. For example, the default examples may contain comments explaining the role of each instruction and how to set parameters, while the examples in the manual interface may contain more complex logic and optimization techniques to help users deeply understand various aspects of programming.

[0081] In one embodiment, the specification interface further includes: at least one of the function meaning, function prototype, required parameters and optional parameters of the target instruction.

[0082] The function meaning provides a clear explanation of the target instruction, helping users understand the function and purpose of the instruction. This is especially important for beginners or users who occasionally use the teach pendant. By reading the function meaning, users can quickly understand the main functions and application scenarios of the instruction. For example, the MovJ instruction is used to control the robot to move from the current position to the target position through joint motion. Joint motion means that each joint moves independently instead of keeping the tool posture unchanged. This method is usually used to move the robot quickly without caring about the specific shape of the path. The MovJ instruction is suitable for scenarios where you need to reach the target position quickly but do not require high path accuracy.

[0083] The function prototype shows the complete format of the instruction, including the function name, parameter list, and return value. This helps users call the instruction correctly and avoid programming problems caused by format errors. Function prototypes are usually displayed in code form, so users can intuitively see how to use the instruction in the program. For example, the function prototype of the MovJ instruction may be MovJ(target_position,speed,acceleration,[additional_options]), and users can clearly see which parameters need to be passed and the order of the parameters.

[0084] Mandatory parameters are parameters that the user must provide. The lack of these parameters will cause the instruction to fail to execute properly. Listing the mandatory parameters in detail in the manual interface can help users ensure that key information is not missed when programming. For example, target_position is the coordinate of the target position and is the core parameter of the MovJ instruction. Users must provide the joint angles of the target position to ensure that the robot can move to the target position correctly. For example, [0,0,0,0,0,0] means that the robot moves to the position where all joint angles are 0. speed is the movement speed, which determines the speed at which the robot moves. Users need to set a reasonable speed value according to actual needs to ensure safety and efficiency. For example, 80% means that the robot will move at 80% of the maximum speed. acceleration is the acceleration, which determines the rate at which the robot accelerates and decelerates. Users need to set a reasonable acceleration value according to actual needs to ensure smooth movement. For example, 50% means that the robot will accelerate and decelerate at 50% of the maximum acceleration.

[0085] Optional parameters are parameters that users can optionally provide to further customize the behavior of the instruction. Introducing optional parameters in the manual interface can help users understand how to use these parameters to optimize the performance of the instruction. For example, blend_radius is the fillet radius used for smooth path transitions. When the robot moves from one MovJ instruction to the next, the fillet radius can be set to smooth the path and reduce pauses and shocks. blend_radius=10 means using a fillet radius of 10 units when transitioning between paths. tool_frame is the tool coordinate system, which is used to specify the coordinate system of the tool. If the robot uses different tools, the tool coordinate system can be set to ensure correct movement. tool_frame=1 means using tool coordinate system 1. base_frame is the base coordinate system, which is used to specify the coordinate system of the base. If the robot works on different bases, the base coordinate system can be set to ensure correct movement. base_frame=2 means using base coordinate system 2. .

[0086] By providing at least one of the following information in the instruction manual interface: function meaning, function prototype, required parameters, and optional parameters, users can understand and use instructions more accurately. This not only reduces errors caused by misunderstanding or misuse of instructions, but also improves programming efficiency. Users can quickly find the information they need without having to flip through complex documents.

[0087] In one embodiment, the first operation is a long press operation; the second operation, the third operation and the fourth operation are click operations.

[0088] As the first operation, long press operation is mainly used to trigger more important functions or display detailed information. Long press operation requires users to continuously press an element for a period of time. This operation method is relatively rare, so the probability of users accidentally triggering it is low, which can effectively reduce misoperation. For example, when a user long presses a command option, the system will display a prompt box with detailed instructions and examples, so that users can more calmly view and understand the detailed information of the command without accidentally triggering other functions due to mistouch.

[0089] Clicking operations are used as the second, third, and fourth operations, and are mainly used to trigger commonly used, high-frequency functions. Clicking operations are simple and fast, and users can complete operations by simply touching the screen, which greatly improves the efficiency of operations. For example, when the user clicks on the "Instruction Instructions Option", the system will immediately display a detailed instruction manual interface; when the user clicks on the "Import Example Option", the system will immediately import and display the sample code. This design allows users to quickly access and use these functions without having to perform complex operation steps.

[0090] By distinguishing different types of interactive operations, the teach pendant interface becomes more intuitive and easy to use. Users can quickly determine which operation method should be used based on the type and frequency of the operation. For example, when a user needs to view the detailed information of a certain instruction, they will naturally think of long pressing the instruction; when a user needs to quickly add or import sample code, they will naturally think of clicking the corresponding option. This design conforms to the user's intuition and habits, making the operation more natural and smooth.

[0091] An embodiment of the present invention provides an interactive method for a teach pendant, the method comprising: displaying a program instruction interface; the program instruction interface includes at least one instruction option; in response to a first operation, displaying a prompt box; the prompt box includes an instruction description option and an import example option; in response to a second operation, displaying a manual interface; the manual interface includes an example of a target instruction and an import example option corresponding to the example; in response to a third operation for the import example option in the prompt box, or in response to a third operation for the import example option in the manual interface, importing and displaying an example of the target instruction. The embodiment of the present invention displays the corresponding instruction description option and import example option for the operation of the target instruction, and the user can click the corresponding option according to the demand to quickly import the example of the target instruction, which saves the user's time of manually inputting instructions, simplifies the use process of the teach pendant, and also greatly improves the user experience.

[0092] It should be noted that, for the sake of simplicity, the method embodiments are described as a series of action combinations, but those skilled in the art should be aware that the embodiments of the present invention are not limited by the order of the actions described, because according to the embodiments of the present invention, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily required by the embodiments of the present invention.

[0093] Reference Figure 5 , shows a structural block diagram of an interactive device of a teaching pendant provided by an embodiment of the present invention, which may specifically include the following modules:

[0094] The first display module 501 is used to display a program instruction interface; the program instruction interface includes at least one instruction option;

[0095] There will be at least one instruction option on the program instruction interface of the teach pendant, which is to ensure that the user can perform basic control and programming on the robot's behavior. This instruction option can be a simple movement command, such as "straight line movement" or "joint movement", or a more complex logic control statement, such as "conditional judgment", "loop", etc. Each instruction option corresponds to a specific function or action. By combining different instructions, the operator can build a complex program that meets specific production needs.

[0096] A second display module 502 is used to display a prompt box corresponding to the target instruction option in response to the first operation on the target instruction option; the prompt box includes an instruction description option and an import example option;

[0097] The Instruction Description option provides detailed information and usage guidelines for the selected instruction. This is especially important for beginners or users who occasionally use the teach pendant. The Import Example option provides users with a practical reference case. This design also enhances the user's learning and exploration capabilities. By viewing and modifying the sample code, users can better understand the interaction and programming logic between different instructions and gradually improve their programming skills. At the same time, the sample code can also be used as a template to help users quickly build a basic framework, saving a lot of time and effort.

[0098] The third display module 503 is used to display a manual interface in response to the second operation on the instruction description option; the manual interface includes at least one example of the target instruction and an import example option corresponding to the at least one example;

[0099] The examples in the instruction manual interface provide users with a specific usage scenario. These examples are usually carefully designed to cover common application scenarios and best practices. By viewing these examples, users can intuitively understand how the instructions are applied in actual programming. For example, an example may show how to use the "move to a specified position" instruction to achieve a smooth transition of the robot from one station to another. In this example, users can see how the robot accurately locates the target position, how to adjust the speed and acceleration to ensure smooth movement, and how to make necessary posture adjustments after reaching the target position. Such examples not only help users understand the basic functions of the instructions, but also allow them to master how to adjust parameters according to actual needs to achieve more refined control.

[0100] Another example might show how to combine multiple motion instructions to complete a complex path planning task. In this example, users can see how the robot completes a complex path planning from a starting point to an end point through a series of movement, rotation, and posture adjustment instructions. This example not only shows how to combine instructions, but also shows how to implement path optimization and obstacle avoidance functions through programming. Through such examples, users can learn how to flexibly use various instructions in practical applications to meet different task requirements.

[0101] The Import Example option provided in the Instruction Manual provides users with a convenient programming aid that greatly simplifies the programming process. This feature is especially important when users encounter difficulties or are unsure how to start.

[0102] The fourth display module 504 is used to import and display an example of the target instruction in response to the third operation on the import example option in the prompt box, or in response to the third operation on the import example option in the instruction manual interface.

[0103] In response to the third operation on the Import Example option in the prompt box, the Import Example option allows the user to directly insert the sample code snippet into the current program. This feature greatly simplifies the programming process, especially when the user encounters difficulties or is not sure how to start, but has the need to learn through the instruction explanation option. By clicking the "Import Example Option", the user can immediately add a complete and verified sample code to the program without having to write it from scratch. This not only saves a lot of time in writing and debugging code, but also reduces the risk of errors.

[0104] In one embodiment, the device further comprises:

[0105] The fifth display module is used to display the program editing interface; the program editing interface includes an option to add instructions;

[0106] The display program instruction interface includes:

[0107] In response to a fourth operation on adding an instruction option, a program instruction interface is displayed on the program editing interface.

[0108] By integrating the Add Instruction option in the program editing interface, the system provides users with an intuitive and convenient way to build and manage programs. When programming, users often need to frequently add new instructions to build a complete program. The traditional approach is to select instructions one by one through the menu or toolbar, which is not only time-consuming but also prone to errors. By clicking the "Add Instruction Option", the program instruction interface will pop up immediately, showing all available instruction options, and users can quickly browse and select the required instructions. This design greatly reduces the number of times users switch between different interfaces, improving the efficiency and fluency of programming.

[0109] In one embodiment, the fourth display module further includes:

[0110] The fourth display submodule is used to import the example of the target instruction and display the example of the target instruction in the program editing interface.

[0111] Displaying examples of target instructions in the program editing interface provides real-time feedback and visual display. When the sample code is imported, the teach pendant will immediately display the code in the program editing interface, and the user can clearly see the structure and content of the code. This real-time feedback helps users quickly understand how the sample code works and check if there is anything that needs to be adjusted.

[0112] In one embodiment, the fourth display module further includes:

[0113] The fifth display submodule is used to import and display a default example corresponding to the target instruction in response to a third operation on the import example option in the prompt box.

[0114] The default examples are usually optimized and verified standard code snippets that represent the most common and typical usage scenarios of the instruction. By importing the default examples, users can immediately get a verified and fully functional code snippet without having to write it from scratch.

[0115] In one embodiment, the fourth display module further includes:

[0116] The sixth display submodule is used to import and display the example corresponding to the target import example option in response to the third operation on the target import example option in the specification interface.

[0117] Importing examples in the manual interface provides a more detailed reference. Examples in the manual interface usually cover a wider range of application scenarios and advanced usage, not just the basic default examples. These examples may include complex logic control, multi-step task planning, combined use with other instructions, etc. By importing these examples, users can get more comprehensive programming guidance to help them solve more complex problems.

[0118] In one embodiment, the specification interface further includes: at least one of the function meaning, function prototype, required parameters and optional parameters of the target instruction.

[0119] By providing at least one of the following information in the instruction manual interface: function meaning, function prototype, required parameters, and optional parameters, users can understand and use instructions more accurately. This not only reduces errors caused by misunderstanding or misuse of instructions, but also improves programming efficiency. Users can quickly find the information they need without having to flip through complex documents.

[0120] In one embodiment, the first operation is a long press operation; the second operation, the third operation and the fourth operation are click operations.

[0121] Setting the first operation as a long press operation and the second, third and fourth operations as click operations not only distinguishes the operation types and reduces misoperation, but also improves the intuitiveness and ease of use of the operation, optimizes the user's learning curve, and significantly improves the user experience. This design reflects the modern industrial automation system's high attention to user experience and efficiency, making the teach pendant a powerful and easy-to-use tool suitable for users of different levels. In this way, users can complete complex programming tasks more easily and improve production efficiency and quality.

[0122] An embodiment of the present invention provides an interactive method for a teach pendant, the method comprising: displaying a program instruction interface; the program instruction interface includes at least one instruction option; in response to a first operation, displaying a prompt box; the prompt box includes an instruction description option and an import example option; in response to a second operation, displaying a manual interface; the manual interface includes an example of a target instruction and an import example option corresponding to the example; in response to a third operation for the import example option in the prompt box, or in response to a third operation for the import example option in the manual interface, importing and displaying an example of the target instruction. The embodiment of the present invention displays the corresponding instruction description option and import example option for the operation of the target instruction, and the user can click the corresponding option according to the demand to quickly import the example of the target instruction, which saves the user's time of manually inputting instructions, simplifies the use process of the teach pendant, and also greatly improves the user experience.

[0123] As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0124] An embodiment of the present invention further provides an electronic device, including:

[0125] It includes a processor, a memory, and a computer program stored in the memory and capable of running on the processor. When the computer program is executed by the processor, the various processes of the interactive method embodiment of the above-mentioned teach pendant are implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0126] An embodiment of the present invention also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the various processes of the interactive method embodiment of the above-mentioned teach pendant are implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0127] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0128] It will be appreciated by those skilled in the art that the embodiments of the present invention may be provided as methods, devices, or computer program products. Therefore, the embodiments of the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the embodiments of the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0129] The embodiments of the present invention are described with reference to the flowcharts and / or block diagrams of the methods, terminal devices (systems), and computer program products according to the embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of the processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing terminal device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0130] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing terminal device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0131] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal device so that a series of operating steps are executed on the computer or other programmable terminal device to produce a computer-implemented process, thereby providing instructions for executing on the computer or other programmable terminal device to implement the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0132] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the embodiments of the present invention.

[0133] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or terminal device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or terminal device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or terminal device including the elements.

[0134] The above is a detailed introduction to an interactive method of a teach pendant and an interactive device of a teach pendant provided by the present invention. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for general technical personnel in this field, according to the idea of ​​the present invention, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. An interactive method of a teaching pendant, characterized in that: The method comprises: Displaying a program instruction interface; the program instruction interface includes at least one instruction option; In response to a first operation on a target instruction option, displaying a prompt box corresponding to the target instruction option; the prompt box includes an instruction description option and an import example option; In response to a second operation on the instruction description option, displaying a description interface; the description interface includes at least one example of the target instruction and an import example option corresponding to the at least one example; In response to a third operation on the import example option in the prompt box, or in response to a third operation on the import example option in the instruction manual interface, an example of the target instruction is imported and displayed.

2. The method according to claim 1, characterized in that Before displaying the program instruction interface, the method further includes: Display the program editing interface; the program editing interface includes the option to add instructions; The display program instruction interface includes: In response to a fourth operation on adding an instruction option, a program instruction interface is displayed on the program editing interface.

3. The method according to claim 2, characterized in that The example of importing the target instruction and showing it includes: An example of the target instruction is imported, and the example of the target instruction is displayed in a program editing interface.

4. The method according to claim 1, characterized in that: In response to the third operation on the import example option in the prompt box, importing and displaying an example of the target instruction includes: In response to a third operation on the import example option in the prompt box, a default example corresponding to the target instruction is imported and displayed.

5. The method according to claim 1, characterized in that In response to the third operation on the import example option in the specification interface, importing and displaying an example of the target instruction includes: In response to a third operation on a target import example option in the specification interface, an example corresponding to the target import example option is imported and displayed.

6. The method according to claim 1, characterized in that The specification interface also includes: at least one of the function meaning, function prototype, required parameters and optional parameters of the target instruction.

7. The method according to claim 2, characterized in that The first operation is a long press operation; the second operation, the third operation and the fourth operation are click operations.

8. An interactive device for a teaching pendant, characterized in that: The device comprises: A first display module is used to display a program instruction interface; the program instruction interface includes at least one instruction option; A second display module, configured to display a prompt box corresponding to the target instruction option in response to a first operation on the target instruction option; the prompt box includes an instruction description option and an import example option; A third display module, configured to display a manual interface in response to a second operation on the instruction description option; the manual interface includes at least one example of the target instruction and an import example option corresponding to the at least one example; The fourth display module is used to import and display an example of the target instruction in response to a third operation on the import example option in the prompt box, or in response to a third operation on the import example option in the instruction manual interface.

9. An electronic device, characterized in that: include: A processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein when the computer program is executed by the processor, the steps of the interactive method of the teach pendant as described in any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the interactive method of the teach pendant as claimed in any one of claims 1 to 7 are implemented.

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