Teaching method, system and equipment and robot

Abstract

The embodiment of the invention provides a teaching method, system and device and a robot, a teaching device responds to a control instruction, a robot motion part is driven to execute a corresponding action, the pose of an execution part after the action is executed is obtained in real time, and the pose and pose parameters preset for the pose are correspondingly stored in a storage unit of the robot. And after the original control code containing the pose parameter is obtained, the original control code is also stored in the storage unit of the robot. The processor reads the original control code, analyzes the target pose parameter, positions the corresponding pose in the storage unit as a parameter value, and generates an executable target control code for the processor of the robot to execute at any time without the need of compressing and uploading the control code to the robot by the teaching equipment; according to the method, the complex process of programming and compiling execution is performed by the robot, so that the process from programming to execution is simplified, the overall time is shortened, and the programming efficiency is effectively improved.

Description

Technical Field

[0001] The present application relates to the technical field of industrial robots, and in particular to a teaching method, system, device and robot. Background Art

[0002] Current teach pendant programming mainly relies on the teach pendant device for programming and code storage. This mode allows engineers to write and debug the code directly on the teach pendant. However, in actual applications, when the compiled program code needs to be uploaded to the robot to execute instructions, problems arise.

[0003] Especially for large and complex program code files, the upload process often takes too long, which not only increases the time cost of teaching, but also brings many inconveniences in the code debugging stage. Because each modification of the code needs to be re-uploaded, and the long upload process will undoubtedly interrupt the smoothness of debugging and reduce programming efficiency. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide a teaching method, system, device and robot to improve programming efficiency. The specific technical solution is as follows:

[0005] In a first aspect, an embodiment of the present application provides a teaching method, the method comprising:

[0006] The teaching device controls the motion part of the robot to perform the action indicated by the control instruction in response to the control instruction, wherein the robot further includes a storage unit and a processor, and the teaching device is mounted with the storage unit of the robot;

[0007] The processor obtains the position of the moving part after performing the action, and sends it to the teaching device;

[0008] The teaching device stores the posture and the posture parameters preset for the posture in the storage unit in correspondence, obtains a control code including the posture parameters as an original control code, and stores the original control code in the storage unit;

[0009] The processor reads the original control code from the storage unit, determines the posture parameters contained in the original control code as target posture parameters; searches for the posture corresponding to the target posture parameters in the storage unit, uses the found posture as the parameter value of the target posture parameters, and obtains the target control code; and executes the target control code.

[0010] In a possible implementation manner, the teaching device mounts the storage unit in the following manner, including:

[0011] The teaching device sends first verification information to the processor;

[0012] The processor performs identity authentication on the first authentication information, and if the identity authentication is passed, creates a storage subunit in the storage unit;

[0013] Sending identification information and second verification information set for the storage subunit to the teaching device;

[0014] The teaching device mounts the storage subunit according to the identification information and the second verification information;

[0015] The teaching device stores the posture and the posture parameters preset for the posture in the storage unit accordingly, obtains a control code including the posture parameters as an original control code, and stores the original control code in the storage unit, including:

[0016] The teaching device stores the posture and the posture parameters preset for the posture in the storage subunit in correspondence, obtains a control code including the posture parameters as an original control code, and stores the original control code in the storage subunit;

[0017] The processor reads the original control code from the storage unit, and determines the posture parameters contained in the original control code as target posture parameters, including:

[0018] The processor reads the original control code from the storage subunit, and determines the posture parameters contained in the original control code as target posture parameters;

[0019] The step of searching the storage unit for a posture corresponding to the target posture parameter, using the searched posture as a parameter value of the target posture parameter, and obtaining a target control code includes:

[0020] The posture corresponding to the target posture parameter is searched in the storage subunit, and the searched posture is used as the parameter value of the target posture parameter to obtain the target control code.

[0021] In one possible implementation,

[0022] After the teaching device stores the original control code in the storage unit, the method further includes:

[0023] The teaching device sends a teaching completion instruction to the processor;

[0024] The processor reads the original control code from the storage unit, including:

[0025] The processor reads the original control code from the storage unit in response to the teach completion instruction.

[0026] In a possible implementation manner, after obtaining the target control code, the method further includes:

[0027] The teaching device sends uninstall information to the processor;

[0028] In response to the uninstallation information, the processor invalidates the identification information and the second verification information and deletes the storage subunit.

[0029] In a second aspect, an embodiment of the present application provides a teaching system, the system comprising a teaching device and a robot;

[0030] The teaching device is used to control the motion part of the robot to perform the action indicated by the control instruction in response to the control instruction, and the teaching device is mounted with a storage unit of the robot;

[0031] The robot is used for responding to the control of the teaching device, and the moving part performs the action indicated by the control instruction, wherein the robot further includes a storage unit and a processor; the processor obtains the position of the moving part after performing the action and sends it to the teaching device;

[0032] The teaching device is further used to store the posture and the posture parameters preset for the posture in the storage unit in correspondence, obtain a control code containing the posture parameters as an original control code, and store the original control code in the storage unit;

[0033] The robot is also used to read the original control code from the storage unit, determine the posture parameters contained in the original control code as target posture parameters; search for the posture corresponding to the target posture parameters in the storage unit, use the found posture as the parameter value of the target posture parameters, and obtain the target control code; and execute the target control code.

[0034] In a possible implementation manner, the teaching device mounts the storage unit in the following manner, including:

[0035] The teaching device sends first verification information to the processor;

[0036] The processor performs identity authentication on the first authentication information, and if the identity authentication is passed, creates a storage subunit in the storage unit;

[0037] Sending identification information and second verification information set for the storage subunit to the teaching device;

[0038] The teaching device mounts the storage subunit according to the identification information and the second verification information;

[0039] The step of storing the posture and the posture parameters preset for the posture in the storage unit in correspondence, obtaining a control code including the posture parameters as an original control code, and storing the original control code in the storage unit includes:

[0040] Correspondingly storing the posture and the posture parameters preset for the posture in the storage subunit, obtaining a control code including the posture parameters as an original control code, and storing the original control code in the storage subunit;

[0041] The step of reading the original control code from the storage unit and determining the posture parameters contained in the original control code as target posture parameters includes:

[0042] The step of reading the original control code from the storage subunit and determining the posture parameters contained in the original control code as target posture parameters;

[0043] The step of searching the storage unit for a posture corresponding to the target posture parameter, using the searched posture as a parameter value of the target posture parameter, and obtaining a target control code includes:

[0044] The posture corresponding to the target posture parameter is searched in the storage subunit, and the searched posture is used as the parameter value of the target posture parameter to obtain the target control code.

[0045] In one possible implementation,

[0046] The teaching device is further configured to send a teaching completion instruction to the processor after the teaching device stores the original control code in the storage unit;

[0047] The step of reading the original control code from the storage unit comprises:

[0048] In response to the teaching completion instruction, the original control code is read from the storage unit.

[0049] In a possible implementation manner, the teaching device is further configured to send uninstall information to the processor after obtaining the target control code;

[0050] The processor is further configured to invalidate the identification information and the second verification information and delete the storage subunit in response to the uninstallation information.

[0051] In a third aspect, an embodiment of the present application provides a teaching device, which controls a motion part of a robot to perform an action indicated by the control instruction in response to a control instruction, wherein the robot further includes a storage unit and a processor, and the teaching device is mounted with the storage unit of the robot;

[0052] receiving a posture sent by the processor, wherein the posture is a posture of the moving part obtained by the processor after executing the action;

[0053] The posture and the posture parameters preset for the posture are correspondingly stored in the storage unit, a control code containing the posture parameters is obtained as an original control code, and the original control code is stored in the storage unit, so that the processor reads the original control code from the storage unit, determines the posture parameters contained in the original control code as target posture parameters; searches for the posture corresponding to the target posture parameters in the storage unit, uses the found posture as the parameter value of the target posture parameters, and obtains the target control code; and executes the target control code.

[0054] In a fourth aspect, an embodiment of the present application provides a robot, the robot comprising an execution unit, a storage unit, and a processor;

[0055] In response to the control of the teaching device, the motion unit performs the action indicated by the control instruction, wherein the teaching device is mounted with a storage unit of the robot, and the control instruction is used to control the teaching device;

[0056] The processor obtains the position of the moving part after performing the action, and sends it to the teaching device;

[0057] The processor reads the original control code from the storage unit, determines the posture parameters contained in the original control code as the target posture parameters; searches for the posture corresponding to the target posture parameters in the storage unit, uses the found posture as the parameter value of the target posture parameters, and obtains the target control code; executes the target control code, wherein the original control code is a control code containing posture parameters obtained by the teaching device and stored in the storage unit by the teaching device, the posture parameters are preset for the posture, and the posture and the posture parameters are stored in the storage unit accordingly by the teaching device.

[0058] Beneficial effects of the embodiments of the present application:

[0059] The teaching method, system, device and robot provided in the embodiments of the present application drive the robot's motion part to perform corresponding actions by responding to control instructions through the teaching device, and obtain the posture of the execution part after the action is performed in real time, and store the posture and the posture parameters preset for the posture in the storage unit of the robot. After obtaining the original control code containing the posture parameters, the original control code is also stored in the storage unit of the robot. Subsequently, the processor reads the original control code, parses the target posture parameters, and locates the corresponding posture in the storage unit as the parameter value, and generates an executable target control code for the robot's processor to execute at any time without going through the complex process of the teaching device compressing and uploading the control code to the robot, and then the robot decompresses and compiles and executes it, which simplifies the process from programming to execution, shortens the overall time, and does not frequently interrupt the continuity of debugging, thereby effectively improving programming efficiency.

[0060] Of course, implementing any product or method of the present application does not necessarily require achieving all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other embodiments can also be obtained based on these drawings.

[0062] Figure 1 A schematic diagram of a prior art teaching method provided in an embodiment of the present application;

[0063] Figure 2 A first flow chart of the teaching method provided in the embodiment of the present application;

[0064] Figure 3 A schematic diagram of the process of mounting a storage unit provided in an embodiment of the present application;

[0065] Figure 4 A schematic diagram of the interaction between the teaching device and the robot mounting process provided in an embodiment of the present application;

[0066] Figure 5 A second flow chart of the teaching method provided in the embodiment of the present application;

[0067] Figure 6 A schematic diagram of the process of mounting and unmounting the storage subunit provided in this application;

[0068] Figure 7 A schematic diagram of the first structure of the teaching system provided in the embodiment of the present application;

[0069] Figure 8 A second structural schematic diagram of the teaching system provided in an embodiment of the present application;

[0070] Fig. 9 A schematic diagram of a flow chart of a teaching method executed by a teaching device provided in an embodiment of the present application;

[0071] Fig.10 A schematic diagram of a flow chart of a robot execution teaching method provided in an embodiment of the present application;

[0072] Fig.11 A schematic diagram of the interaction between the teaching device and the robot teaching process provided in an embodiment of the present application. DETAILED DESCRIPTION

[0073] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field based on the present application belong to the scope of protection of the present application.

[0074] See also Figure 1 , Figure 1 The schematic diagram of the prior art teaching method provided for the embodiment of the present application, the engineer first uses the teaching device to write the code, and once the code is written, the teaching device automatically saves the code. Subsequently, when it is necessary to control the robot to compile and execute the code, the engineer will compress the code into a compressed package and then upload it to the robot. After the robot receives the compressed package, it will decompress and restore to obtain the original code, and then compile and execute the code. However, there is a significant problem with this process: when the code compression package is too large, the time to upload from the teaching device to the robot will become very long, and since each code needs to be re-uploaded after modification, the long upload process will frequently interrupt the continuity of debugging, thereby greatly reducing the overall programming efficiency.

[0075] Based on this, the present application embodiment provides a teaching method for improving programming efficiency, see Figure 2 , Figure 2 The first flow chart of the teaching method provided in the embodiment of the present application includes:

[0076] S201, the teaching device controls the motion part of the robot to execute the action indicated by the control instruction in response to the control instruction.

[0077] The robot also includes a storage unit and a processor, and the teaching device is mounted with the storage unit of the robot.

[0078] S202: The processor obtains the position of the moving part after executing the action and sends it to the teaching device.

[0079] S203, the teaching device stores the posture and the posture parameters preset for the posture in a storage unit, obtains a control code including the posture parameters as an original control code, and stores the original control code in the storage unit.

[0080] S204, the processor reads the original control code from the storage unit, determines the posture parameters contained in the original control code as the target posture parameters; searches for the posture corresponding to the target posture parameters in the storage unit, uses the found posture as the parameter value of the target posture parameters, and obtains the target control code; executes the target control code.

[0081] By applying the above-mentioned embodiment, the teaching device responds to the control instruction, drives the robot's motion part to perform the corresponding action, and obtains the position and posture of the execution part after the action is performed in real time, and stores the position and posture corresponding to the posture parameters preset for the posture in the storage unit of the robot. After obtaining the original control code containing the posture parameters, the original control code is also stored in the storage unit of the robot. Subsequently, the processor reads the original control code, parses the target posture parameters, and locates the corresponding posture as the parameter value in the storage unit, and generates an executable target control code for the robot's processor to execute at any time, without going through the complex process of the teaching device compressing and uploading the control code to the robot, and then the robot decompresses and compiles and executes it, which simplifies the process from programming to execution, shortens the overall time, and does not frequently interrupt the continuity of debugging, thereby effectively improving programming efficiency.

[0082] The above steps S201-S204 are described in detail below:

[0083] In step S201, the teaching device is used as a human-machine interaction interface to input control instructions and monitor the robot status. The engineer inputs control instructions through the teaching device, and the teaching device controls the robot to perform the actions indicated by the control instructions according to the control instructions.

[0084] The robot includes a moving part, a storage unit and a processor.

[0085] The motion part is responsible for performing various actions, such as moving, rotating, grasping, etc. The motion part can be in many forms, such as a robotic arm, a leg mechanism, a crawler, etc. The specific form depends on the application scenario and design requirements of the robot. For example, in the field of industrial automation, a robotic arm is a common motion part that can accurately perform tasks such as grasping and carrying.

[0086] The storage unit is used to store programs, data, and control instructions required for the operation of the robot. The storage unit can use a variety of storage media, such as disks (including hard disks and solid-state drives), flash memory, etc. Different forms of storage units have their own advantages and disadvantages in terms of capacity, read and write speed, reliability, etc., and need to be selected according to the actual needs of the robot.

[0087] The processor is used to parse the control instructions in the storage unit and control the motion part to perform corresponding actions.

[0088] The storage unit of the robot is mounted on the teaching device. In a possible embodiment, the teaching device supports plug-and-play technology. When the storage unit of the robot is connected to the teaching device, the teaching device will automatically identify and mount the storage unit. However, in this way, as long as the storage unit is connected to the teaching device, it will be automatically mounted regardless of its source or identity. This indiscriminate mounting behavior may cause the data to be at risk of abnormal access or tampering, thereby failing to ensure the security of the data.

[0089] Based on this, in another possible embodiment, the storage unit can be mounted on the teaching device by the following method, see Figure 3 , Figure 3 The schematic diagram of the process of mounting a storage unit provided in the embodiment of the present application includes:

[0090] S301, the teaching device sends first verification information to the processor.

[0091] S302: The processor performs identity authentication on the first authentication information, and if the identity authentication passes, creates a storage sub-unit in the storage unit.

[0092] S303: Send the identification information set for the storage subunit and the second verification information to the teaching device.

[0093] S304: The teaching device mounts the storage subunit according to the identification information and the second verification information.

[0094] The first verification information is to ensure that only authorized teaching devices can request to mount the storage unit. It can be information pre-agreed between the teaching device and the processor to determine whether the identity of the other party is safe. For example, it can be an encrypted data packet containing the teaching device identifier or the identifier of the storage unit requested to be mounted, or it can be timestamp information, etc., which is not specifically limited here. The timestamp refers to the time when the teaching device sends the verification information to the processor.

[0095] After receiving the verification information, the robot's processor first performs a decryption operation, and then extracts the key elements in the verification information for identity verification. Specifically, the processor may verify the verification information using a preset identity verification algorithm (such as a hash algorithm, digital signature, etc.). Corresponding to the aforementioned verification information, the verification process may include checking whether the identification of the teaching device is legal, whether the identification of the storage unit matches the request, and whether the timestamp is within the validity period. The validity period is pre-agreed between the processor and the teaching device, and may be, for example, 0.1S, 1S, 10S, etc.

[0096] If the verification fails (for example, the teach pendant ID is incorrect, the storage unit ID does not match, or the timestamp is expired), the processor will reject the mount request and send an error to the teach pendant.

[0097] If the verification is successful, the processor creates a storage subunit in the storage unit, that is, allocates a temporary mounting area in the storage unit, and sets identification information and second verification information for the storage subunit. The identification information and the second verification information are used to characterize the created storage subunit. For example, the identification information is a password, and the second verification information is a temporary identity.

[0098] The teaching device sends the identification information and the second verification information to the teaching device, and the teaching device mounts the storage subunit according to the identification information and the second verification information.

[0099] In order to better understand the storage unit mounting process, the following will explain in detail the specific steps of interaction between the teaching device and the robot. Figure 4 , Figure 4 The first schematic diagram of the interaction between the teaching device and the robot mounting process provided in the embodiment of the present application includes:

[0100] S401, the teaching device sends a first verification message to the processor.

[0101] S402: The processor receives a first verification message and performs identity authentication according to the first verification message.

[0102] S403, after passing identity authentication, creating a storage subunit in the storage unit.

[0103] S404: The processor sends identification information set for the storage subunit and second verification information to the teaching device.

[0104] S405, the teaching device receives the identification information and the second verification information, and mounts the storage subunit according to the identification information and the second verification information.

[0105] By applying the above-mentioned embodiment, the teaching device sends verification information to the processor, and after identity authentication, the processor creates a storage subunit in the storage unit, and sends the identification information and the second verification information set for the storage subunit to the teaching device, so that the teaching device can mount the storage subunit based on the identification information and the second verification information, effectively preventing unauthorized access and operation, ensuring the security of the storage unit mounting, protecting the security of the data in the storage unit, and greatly improving the convenience and efficiency of operation. In addition, this mounting method also enhances the flexibility and scalability of the system, because different storage subunits can be identified and used by the teaching device only through the corresponding identification information and the second verification information, without the need to modify the hardware or software of the teaching device. In summary, the mounting method provided in the embodiment of the present application not only improves the security of the system, but also simplifies the operation process, enhances the flexibility and scalability of the system, and thus improves programming efficiency and security.

[0106] In step S202, the robot's built-in sensors (such as position sensors, velocity sensors, force sensors, etc.) can collect the position and posture of the moving part after completing the action in real time, and send the position and posture to the teaching device. The position and posture include position and posture, specifically including the coordinate points of the moving part in three-dimensional space, and the orientation of the moving part relative to a reference coordinate system, which can be expressed in a variety of ways, such as Euler angles, axis angles or posture matrices.

[0107] In step S203, after receiving the posture sent by the robot, the teaching device will store the posture and the posture parameters preset for the posture in the storage unit. The original control code containing the posture parameters can be input by the user in real time or can be preset, which is not specifically limited here.

[0108] In a possible embodiment, the original control code includes position, velocity (v100) and smoothness (pl10), and can be movl (pos, v100, pl10) for example, wherein the movl instruction is an instruction in the assembly language. In other possible embodiments, the original control code may also include acceleration, etc., which is not specifically limited here.

[0109] In step S204, the processor searches for the posture corresponding to the target posture parameter, uses the posture as the parameter value of the target posture parameter, obtains the target control code, and realizes the conversion of the posture and posture parameters into executable instruction statements.

[0110] The processor reads the original control code from the storage unit, obtains the target control code based on the original control code and executes it. In a possible embodiment, the processor can read the control code from the storage unit regularly. However, if this method is adopted, if the original control code has not been stored in the storage unit by the teaching device, the processor may "run empty" because it cannot find a valid original control code, which not only wastes system resources, but also may affect the normal operation of the entire robot system. On the other hand, if the original control code has been stored in the storage unit, but the processor fails to read it in time for a long time, the efficiency of the entire programming process will be affected.

[0111] Based on this, in another possible embodiment, after the teaching device stores the original control code in the storage unit, the teaching device can send a teaching completion instruction to the processor, and the processor reads the original control code from the storage unit in response to the teaching completion instruction.

[0112] By applying the above embodiment, after the teaching device stores the original control code in the storage unit, the teaching device sends a teaching completion instruction to the processor, so that the processor can respond to this instruction and accurately read the original control code from the storage unit in time. Such a mechanism can trigger the teaching completion instruction, and the processor can execute subsequent operations in an orderly manner, thereby avoiding the problem of low programming efficiency caused by waiting or manual intervention, and the processor can read the complete original control code each time it reads, thereby avoiding waste of resources.

[0113] To more clearly explain steps S201-S204, see Figure 5 , Figure 5 A second flow chart of the teaching method provided in the embodiment of the present application includes:

[0114] S501, the teaching device clicks to teach, which is equivalent to the aforementioned step S201;

[0115] S502, teaching, which is equivalent to the aforementioned step S201;

[0116] S503, during the teaching process, the robot's moving part moves, which is equivalent to the aforementioned step S201;

[0117] S504, after moving to the designated position, sending the position and posture of the moving part to the teaching device, which is equivalent to the aforementioned step S202;

[0118] S505, the teaching device stores the posture in the storage unit, which is equivalent to the above step S203;

[0119] S506, creating a simulation project, which is equivalent to obtaining a control code containing posture parameters in the aforementioned step S203;

[0120] S507, defining variables, which is equivalent to presetting posture parameters for the posture in the aforementioned step S203. In this step, the posture parameters are stored corresponding to the aforementioned posture;

[0121] S508, designing motion instructions, which is equivalent to using the control code containing the posture parameters as the original control code in the aforementioned step S203;

[0122] S509, generating a simulation project, which is equivalent to the original control code in the aforementioned step S203;

[0123] S510, parsing the current simulation project, which is equivalent to reading the original control code from the storage unit in the aforementioned step S204;

[0124] S511, parsing the motion instruction, which is equivalent to determining the posture parameters contained in the original control code in the aforementioned step S204;

[0125] S512, reading the posture, which is equivalent to taking the posture parameters contained in the original control code as the target posture parameters in the aforementioned step S204;

[0126] S513, sending the robot execution instruction to the algorithm library output, is equivalent to searching the storage unit for the posture corresponding to the target posture parameter in the aforementioned step S204, using the found posture as the parameter value of the target posture parameter, and obtaining the target control code.

[0127] Specifically, when the motion part completes the action indicated by the control instruction, the processor obtains the current posture of the motion part and sends the posture to the teaching device. After receiving the posture, the teaching device writes the posture into a DAT file (i.e., a data file), defines a POS variable (posture information variable) for the posture, and the POS variable name is consistent with the DAT file name. The DAT file and the POS file are stored in a storage unit correspondingly, that is, the posture and the posture parameters preset for the posture are stored in the storage unit correspondingly. The posture can also be a custom posture input by the user to the teaching device. Correspondingly, the teaching device stores the custom posture and the posture parameters preset for the custom posture in the storage unit. The teaching device obtains the original control code and stores the original control code in the storage unit.

[0128] When the processor executes the control code, it obtains the original control code from the storage unit, analyzes the original control code, reads the posture parameters from the original control code, takes the posture corresponding to the posture parameters as the parameter value of the posture parameters, and then obtains the target control code.

[0129] Since the teaching device actually mounts the storage subunit created in the storage unit, based on this, the above step S203 includes:

[0130] The teaching device stores the posture and the posture parameters preset for the posture in the storage subunit in correspondence, obtains a control code including the posture parameters as an original control code, and stores the original control code in the storage subunit;

[0131] The above step of "the processor reads the original control code from the storage unit and determines the posture parameters contained in the original control code as the target posture parameters" includes:

[0132] The processor reads the original control code from the storage subunit, and determines the posture parameters contained in the original control code as the target posture parameters.

[0133] The above step of "searching for a posture corresponding to the target posture parameter in the storage unit, using the searched posture as the parameter value of the target posture parameter, and obtaining the target control code" includes:

[0134] The posture corresponding to the target posture parameter is searched in the storage subunit, and the searched posture is used as the parameter value of the target posture parameter to obtain the target control code.

[0135] After the original control code is stored in the storage subunit, the storage subunit may still be mounted. In a possible embodiment, in order to reduce the occupation of system resources, the storage subunit may be uninstalled, specifically including:

[0136] The teaching device sends uninstall information to the processor, and the processor deletes the storage subunit in response to the uninstall information, the invalid identification information and the second verification information.

[0137] By applying the above embodiment, the connection between the teaching device and the storage unit is disconnected through the uninstallation operation, which can prevent data damage or loss caused by misoperation or system failure in subsequent operations. Secondly, uninstalling the storage unit also helps to reduce the occupation of system resources, ensure the security and integrity of data, and improve system availability.

[0138] For a clearer description of the process of mounting and unmounting storage subunits, see Figure 6 , Figure 6 The schematic diagram of the process of mounting and unmounting the storage subunit provided for this application includes:

[0139] S601, sending a verification message to log in to the robot, which is equivalent to the aforementioned step S301;

[0140] S602, identity authentication, equivalent to the aforementioned step S302;

[0141] S603, determine whether there is mount permission, if so, execute step S604, which is equivalent to the above step S302;

[0142] S604, creating a mount partition and a temporary identity, and sending the temporary identity to the teaching device, which is equivalent to the aforementioned step S303;

[0143] S605, mounting the partition according to the temporary identity, which is equivalent to the aforementioned step S304;

[0144] S606, destroy the temporary identity and unmount the partition to log out of the robot, which is equivalent to the aforementioned step "the teaching device sends uninstall information to the processor, and the processor deletes the storage subunit in response to the uninstall information, invalid identification information and the second verification information.

[0145] Corresponding to the aforementioned teaching method, the present application embodiment also provides a teaching system, see Figure 7 , Figure 7 This is a first structural diagram of a teaching system provided in an embodiment of the present application. The teaching system 701 includes a teaching device 702 and a robot 703. The teaching device 702 and the robot 703 cooperate with each other to implement the aforementioned teaching method.

[0146] See also Figure 8 , Figure 8 This is a second structural diagram of the teaching system provided in an embodiment of the present application. The robot 703 includes a moving part 7031, a storage unit 7032 and a processor 7033, and the storage unit 7032 is mounted on the teaching device 702.

[0147] The teaching device 702 is used to control the moving part 7031 of the robot 703 to perform the action indicated by the control instruction in response to the control instruction.

[0148] The robot 703 is used to respond to the control of the teaching device 702 , and the motion part 7031 performs the action indicated by the control instruction. The processor 7033 obtains the position of the motion part 7031 after performing the action and sends it to the teaching device 702 .

[0149] The teaching device 702 is also used to store the posture and the posture parameters preset for the posture in the storage unit 7032, obtain the control code containing the posture parameters as the original control code, and store the original control code in the storage unit 7032.

[0150] The robot 703 is also used to read the original control code from the storage unit 7032, determine the posture parameters contained in the original control code as the target posture parameters; search for the posture corresponding to the target posture parameters in the storage unit 7032, use the found posture as the parameter value of the target posture parameters, and obtain the target control code; and execute the target control code.

[0151] By applying the above-mentioned embodiment, the teaching device responds to the control instruction, drives the robot's motion part to perform the corresponding action, and obtains the position and posture of the execution part after the action is performed in real time, and stores the position and posture corresponding to the posture parameters preset for the posture in the storage unit of the robot. After obtaining the original control code containing the posture parameters, the original control code is also stored in the storage unit of the robot. Subsequently, the processor reads the original control code, parses the target posture parameters, and locates the corresponding posture as the parameter value in the storage unit, and generates an executable target control code for the robot's processor to execute at any time, without going through the complex process of the teaching device compressing and uploading the control code to the robot, and then the robot decompresses and compiles and executes it, which simplifies the process from programming to execution, shortens the overall time, and effectively improves programming efficiency.

[0152] For a detailed description of the steps executed by the above-mentioned teaching system, please refer to the above description of the teaching method steps, which will not be repeated here.

[0153] The present application also provides a teaching device, see Fig. 9 , Fig. 9 A schematic diagram of a flow chart of a teaching method executed by a teaching device provided in an embodiment of the present application includes:

[0154] S901, in response to a control instruction, controlling a motion part of the robot to execute an action indicated by the control instruction.

[0155] The robot also includes a storage unit and a processor, and the teaching device is mounted with the storage unit of the robot.

[0156] S902, receiving the posture sent by the processor.

[0157] The posture is the posture of the moving part obtained by the processor after executing the action.

[0158] S903, store the posture and the posture parameters preset for the posture correspondingly in a storage unit, obtain a control code containing the posture parameters as an original control code, and store the original control code in the storage unit, so that the processor reads the original control code from the storage unit, determines the posture parameters contained in the original control code as target posture parameters; searches for the posture corresponding to the target posture parameters in the storage unit, uses the found posture as the parameter value of the target posture parameters, and obtains the target control code; executes the target control code.

[0159] By applying the above-mentioned embodiment, the teaching device responds to the control instruction, drives the robot's motion part to perform the corresponding action, and obtains the position and posture of the execution part after the action is performed in real time, and stores the position and posture corresponding to the posture parameters preset for the posture in the storage unit of the robot. After obtaining the original control code containing the posture parameters, the original control code is also stored in the storage unit of the robot. Subsequently, the processor reads the original control code, parses the target posture parameters, and locates the corresponding posture as the parameter value in the storage unit, and generates an executable target control code for the robot's processor to execute at any time, without going through the complex process of the teaching device compressing and uploading the control code to the robot, and then the robot decompresses and compiles and executes it, which simplifies the process from programming to execution, shortens the overall time, and effectively improves programming efficiency.

[0160] For a detailed description of the steps executed by the above-mentioned teaching device, please refer to the above description of the teaching method steps, which will not be repeated here.

[0161] The present application also provides a robot, see Fig.10 , Fig.10 A schematic flow chart of a robot execution teaching method provided in an embodiment of the present application includes:

[0162] S1001, in response to the control of the teaching device, the motion unit executes the action indicated by the control instruction.

[0163] The teaching device is mounted with a storage unit of the robot, and the control instructions are used to control the teaching device.

[0164] S1002: The processor obtains the position of the moving part after executing the action and sends it to the teaching device.

[0165] S1003, the processor reads the original control code from the storage unit, determines the posture parameters contained in the original control code as the target posture parameters; searches for the posture corresponding to the target posture parameters in the storage unit, uses the found posture as the parameter value of the target posture parameters, and obtains the target control code; executes the target control code.

[0166] Among them, the original control code is a control code containing posture parameters obtained by the teaching device and stored in a storage unit by the teaching device. The posture parameters are preset for the posture, and the posture and posture parameters are stored in the storage unit accordingly by the teaching device.

[0167] By applying the above-mentioned embodiment, the teaching device responds to the control instruction, drives the robot's motion part to perform the corresponding action, and obtains the position and posture of the execution part after the action is performed in real time, and stores the position and posture corresponding to the posture parameters preset for the posture in the storage unit of the robot. After obtaining the original control code containing the posture parameters, the original control code is also stored in the storage unit of the robot. Subsequently, the processor reads the original control code, parses the target posture parameters, and locates the corresponding posture as the parameter value in the storage unit, and generates an executable target control code for the robot's processor to execute at any time, without going through the complex process of the teaching device compressing and uploading the control code to the robot, and then the robot decompresses and compiles and executes it, which simplifies the process from programming to execution, shortens the overall time, and effectively improves programming efficiency.

[0168] For a detailed description of the steps executed by the above-mentioned robot, please refer to the aforementioned description of the teaching method steps, which will not be repeated here.

[0169] In order to more clearly illustrate the teaching process of the teaching method provided in the embodiment of the present application, the following is combined with the teaching device 702, the robot 703 and Fig.11 For detailed explanation, Fig.11 A schematic diagram of the interaction between the teaching device and the robot teaching process provided in the embodiment of the present application includes:

[0170] S1101, the teaching device sends first verification information to the robot processor.

[0171] S1102, the robot processor performs identity verification on the first verification information.

[0172] S1103, after identity authentication, the robot creates a storage subunit and sends identification information of the storage subunit and second verification information to the teaching device.

[0173] S1104, the teaching device mounts the storage subunit according to the identification information and the second verification information.

[0174] S1105, the teaching device controls the robot in response to the control instruction.

[0175] S1106, the robot's motion unit executes the action indicated by the control instruction.

[0176] S1107, the robot processor obtains the position and posture of the moving part after executing the action.

[0177] S1108, the robot processor sends the position and posture to the teaching device.

[0178] S1109, the teaching device stores the posture and the posture parameters preset for the posture in the storage subunit accordingly.

[0179] S1110, the teaching device obtains a control code including posture parameters as an original control code, and stores the original control code in a storage subunit.

[0180] S1111, the teaching device sends a teaching completion instruction to the robot processor.

[0181] S1112, the teaching device unloads the storage subunit.

[0182] S1113, the robot processor reads the original control code from the storage subunit, determines the posture parameters contained in the original control code, and uses them as the target posture parameters; searches for the posture corresponding to the target posture parameters in the storage unit, uses the found posture as the parameter value of the target posture parameters, and obtains the target control code.

[0183] S1114, the robot processor compiles and executes the target control code.

[0184] The teaching device 702 and the robot 703 complete the teaching programming through the above steps S1101 to S1114.

[0185] 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 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 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 device including the elements.

[0186] Each embodiment in this specification is described in a related manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system 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.

[0187] The above description is only a preferred embodiment of the present application and is not intended to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application are included in the protection scope of the present application.

Claims

1. A teaching method, characterized in that: The method comprises: The teaching device controls the motion part of the robot to perform the action indicated by the control instruction in response to the control instruction, wherein the robot further includes a storage unit and a processor, and the teaching device is mounted with the storage unit of the robot; The processor obtains the position of the moving part after performing the action, and sends it to the teaching device; The teaching device stores the posture and the posture parameters preset for the posture in the storage unit in correspondence, obtains a control code including the posture parameters as an original control code, and stores the original control code in the storage unit; The processor reads the original control code from the storage unit, determines the posture parameters contained in the original control code as target posture parameters; searches for the posture corresponding to the target posture parameters in the storage unit, uses the found posture as the parameter value of the target posture parameters, and obtains the target control code; and executes the target control code.

2. The method according to claim 1, characterized in that The teaching device mounts the storage unit in the following manner, including: The teaching device sends first verification information to the processor; The processor performs identity authentication on the first authentication information, and if the identity authentication is passed, creates a storage subunit in the storage unit; Sending identification information and second verification information set for the storage subunit to the teaching device; The teaching device mounts the storage subunit according to the identification information and the second verification information; The teaching device stores the posture and the posture parameters preset for the posture in the storage unit accordingly, obtains a control code including the posture parameters as an original control code, and stores the original control code in the storage unit, including: The teaching device stores the posture and the posture parameters preset for the posture in the storage subunit in correspondence, obtains a control code including the posture parameters as an original control code, and stores the original control code in the storage subunit; The processor reads the original control code from the storage unit, and determines the posture parameters contained in the original control code as target posture parameters, including: The processor reads the original control code from the storage subunit, and determines the posture parameters contained in the original control code as target posture parameters; The step of searching the storage unit for a posture corresponding to the target posture parameter, using the searched posture as a parameter value of the target posture parameter, and obtaining a target control code includes: The posture corresponding to the target posture parameter is searched in the storage subunit, and the searched posture is used as the parameter value of the target posture parameter to obtain the target control code.

3. The method according to claim 1, characterized in that After the teaching device stores the original control code in the storage unit, the method further includes: The teaching device sends a teaching completion instruction to the processor; The processor reads the original control code from the storage unit, including: The processor reads the original control code from the storage unit in response to the teach completion instruction.

4. The method according to claim 2, characterized in that: After obtaining the target control code, the method further includes: The teaching device sends uninstall information to the processor; In response to the uninstallation information, the processor invalidates the identification information and the second verification information and deletes the storage subunit.

5. A teaching system, characterized in that: The system includes a teaching device and a robot; The teaching device is used to control the motion part of the robot to perform the action indicated by the control instruction in response to the control instruction, and the teaching device is mounted with a storage unit of the robot; The robot is used for responding to the control of the teaching device, and the moving part performs the action indicated by the control instruction, wherein the robot further includes a storage unit and a processor; the processor obtains the position of the moving part after performing the action and sends it to the teaching device; The teaching device is further used to store the posture and the posture parameters preset for the posture in the storage unit in correspondence, obtain a control code containing the posture parameters as an original control code, and store the original control code in the storage unit; The robot is also used to read the original control code from the storage unit, determine the posture parameters contained in the original control code as target posture parameters; search for the posture corresponding to the target posture parameters in the storage unit, use the found posture as the parameter value of the target posture parameters, and obtain the target control code; and execute the target control code.

6. The system according to claim 5, characterized in that The teaching device mounts the storage unit in the following manner, including: The teaching device sends first verification information to the processor; The processor performs identity authentication on the first authentication information, and if the identity authentication is passed, creates a storage subunit in the storage unit; Sending identification information and second verification information set for the storage subunit to the teaching device; The teaching device mounts the storage subunit according to the identification information and the second verification information; The step of storing the posture and the posture parameters preset for the posture in the storage unit in correspondence, obtaining a control code including the posture parameters as an original control code, and storing the original control code in the storage unit includes: Correspondingly storing the posture and the posture parameters preset for the posture in the storage subunit, obtaining a control code including the posture parameters as an original control code, and storing the original control code in the storage subunit; The step of reading the original control code from the storage unit and determining the posture parameters contained in the original control code as target posture parameters includes: The step of reading the original control code from the storage subunit and determining the posture parameters contained in the original control code as target posture parameters; The step of searching the storage unit for a posture corresponding to the target posture parameter, using the searched posture as a parameter value of the target posture parameter, and obtaining a target control code includes: The posture corresponding to the target posture parameter is searched in the storage subunit, and the searched posture is used as the parameter value of the target posture parameter to obtain the target control code.

7. The system according to claim 5, characterized in that The teaching device is further configured to send a teaching completion instruction to the processor after the teaching device stores the original control code in the storage unit; The step of reading the original control code from the storage unit comprises: In response to the teaching completion instruction, the original control code is read from the storage unit.

8. The system according to claim 5, characterized in that The teaching device is further used to send uninstall information to the processor after obtaining the target control code; The processor is further configured to invalidate the identification information and the second verification information and delete the storage subunit in response to the uninstallation information.

9. A teaching device, characterized in that: In response to the control instruction, the motion part of the robot is controlled to execute the action indicated by the control instruction, wherein the robot further includes a storage unit and a processor, and the teaching device is mounted with the storage unit of the robot; receiving a posture sent by the processor, wherein the posture is a posture of the moving part obtained by the processor after executing the action; The posture and the posture parameters preset for the posture are correspondingly stored in the storage unit, a control code containing the posture parameters is obtained as an original control code, and the original control code is stored in the storage unit, so that the processor reads the original control code from the storage unit, determines the posture parameters contained in the original control code as target posture parameters; searches for the posture corresponding to the target posture parameters in the storage unit, uses the found posture as the parameter value of the target posture parameters, and obtains the target control code; and executes the target control code.

10. A robot, characterized in that: The robot includes an execution unit, a storage unit and a processor; In response to the control of the teaching device, the motion unit performs the action indicated by the control instruction, wherein the teaching device is mounted with a storage unit of the robot, and the control instruction is used to control the teaching device; The processor obtains the position of the moving part after performing the action, and sends it to the teaching device; The processor reads the original control code from the storage unit, determines the posture parameters contained in the original control code as the target posture parameters; searches for the posture corresponding to the target posture parameters in the storage unit, uses the found posture as the parameter value of the target posture parameters, and obtains the target control code; executes the target control code, wherein the original control code is a control code containing posture parameters obtained by the teaching device and stored in the storage unit by the teaching device, the posture parameters are preset for the posture, and the posture and the posture parameters are stored in the storage unit accordingly by the teaching device.

Images