A teaching method, system, device and robot

Abstract

The embodiment of the application provides a kind of demonstration method, system, equipment and robot, through demonstration equipment response control instruction, drive robot movement department to execute corresponding action, and the pose of the execution department after executing action is acquired in real time, pose and the pose parameter that is preset to pose is stored in the storage unit of robot correspondingly.The original control code containing pose parameter is acquired, and the original control code is also stored in the storage unit of robot.Processor reads original control code, parses target pose parameter, and locates corresponding pose in storage unit as parameter value, generates executable target control code, for the processor of robot to execute at any time, without experiencing the complex process that demonstration equipment first compresses control code and uploads to robot, then decompresses and compiles and executes by robot, simplify the process from programming to execution, shorten the overall time, so as to effectively improve the programming efficiency.

Description

TECHNICAL FIELD

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

[0002] Current teaching device programming mainly relies on teaching device programming and code storage. This mode enables engineers to directly write and preliminarily debug codes on the teaching device. However, in actual application, when the programmed code needs to be uploaded to the robot to execute instructions, problems arise.

[0003] In particular, for large and complex program code files, the uploading process is often time-consuming, which not only increases the teaching time cost, but also brings many inconveniences in the code debugging stage. Because each modification of the code needs to be re-uploaded, the long uploading process undoubtedly interrupts the smoothness of debugging and reduces the programming efficiency. SUMMARY

[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 solutions are as follows:

[0005] In a first aspect, the embodiments of the present application provide a teaching method, which comprises:

[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 comprises a storage unit and a processor, and the storage unit of the robot is mounted on the teaching device;

[0007] The processor obtains the pose of the motion part after performing the action and sends it to the teaching device;

[0008] The teaching device stores the pose and the preset pose parameter corresponding to the pose in the storage unit, obtains the control code containing the pose parameter as the 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 pose parameter contained in the original control code as the target pose parameter, finds the pose corresponding to the target pose parameter in the storage unit, takes the found pose as the parameter value of the target pose parameter, obtains the target control code, and executes the target control code.

[0010] In a possible implementation, the teaching device mounts the storage unit by the following way, which comprises:

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

[0012] The processor authenticates the first verification information, and if the authentication is passed, a storage subunit is created in the storage unit;

[0013] The teaching device sends identification information set for the storage subunit and second verification information 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 pose and the pose parameter preset for the pose in the storage unit, obtains a control code containing the pose parameter as an original control code, and stores the original control code in the storage unit, including:

[0016] The teaching device stores the pose and the pose parameter preset for the pose in the storage unit, obtains a control code containing the pose parameter as an original control code, and stores the original control code in the storage unit;

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

[0018] The processor reads the original control code from the storage unit, and determines the pose parameter contained in the original control code as a target pose parameter;

[0019] The target pose parameter in the storage unit is searched for a pose corresponding to the target pose parameter, and the found pose is taken as a parameter value of the target pose parameter to obtain a target control code, including:

[0020] The target pose parameter in the storage unit is searched for a pose corresponding to the target pose parameter, and the found pose is taken as a parameter value of the target pose parameter to obtain a target control code.

[0021] In a possible implementation manner,

[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 teaching completion instruction.

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

[0027] The teaching device sends unloading information to the processor.

[0028] The processor invalidates the identification information and the second verification information and deletes the storage subunit in response to the unloading information.

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

[0030] The teaching device is configured to control a moving part of the robot to perform an action indicated by a 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 configured to control the moving part to perform the action indicated by the control instruction in response to the control of the teaching device, and the robot further includes a storage unit and a processor; the processor acquires a pose of the moving part after performing the action and sends the pose to the teaching device.

[0032] The teaching device is further configured to store the pose and a preset pose parameter corresponding to the pose in the storage unit, acquire a control code containing the pose parameter as an original control code, and store the original control code in the storage unit.

[0033] The robot is further configured to read the original control code from the storage unit, determine a pose parameter contained in the original control code as a target pose parameter, find a pose corresponding to the target pose parameter in the storage unit, take the found pose as a parameter value of the target pose parameter, obtain a target control code, and execute the target control code.

[0034] In a possible implementation, the teaching device mounts the storage unit by the following method, which includes:

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

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

[0037] The teaching device sends identification information and second verification information set for the storage subunit to the processor.

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

[0039] The storing the pose and the preset pose parameter corresponding to the pose into the storage subunit, obtaining the control code containing the pose parameter as the original control code, and storing the original control code into the storage subunit, includes:

[0040] The storing the pose and the preset pose parameter corresponding to the pose into the storage subunit, obtaining the control code containing the pose parameter as the original control code, and storing the original control code into the storage subunit;

[0041] The reading the original control code from the storage subunit, and determining the pose parameter contained in the original control code as the target pose parameter, includes:

[0042] The reading the original control code from the storage subunit, and determining the pose parameter contained in the original control code as the target pose parameter;

[0043] The searching the pose corresponding to the target pose parameter in the storage subunit, taking the searched pose as the parameter value of the target pose parameter, and obtaining the target control code, includes:

[0044] The searching the pose corresponding to the target pose parameter in the storage subunit, taking the searched pose as the parameter value of the target pose parameter, and obtaining the target control code.

[0045] In a possible implementation manner,

[0046] The teaching device is further configured to send a teaching completion instruction to the processor after the original control code is stored into the storage subunit;

[0047] The reading the original control code from the storage subunit includes:

[0048] The reading the original control code from the storage subunit in response to the teaching completion instruction.

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

[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 unloading information.

[0051] In a third aspect, the embodiments of the present application provide a teaching device, which is configured to control a motion part of a robot to perform an action indicated by a control instruction in response to the control instruction, wherein the robot further comprises a storage unit and a processor, and the teaching device is mounted with the storage unit of the robot.

[0052] receive a pose sent by the processor, wherein the pose is a pose of the motion part after the processor performs the action;

[0053] store the pose and a preset pose parameter corresponding to the pose in the storage unit, obtain a control code containing a pose parameter as 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 a pose parameter contained in the original control code as a target pose parameter, finds a pose corresponding to the target pose parameter in the storage unit, takes the found pose as a parameter value of the target pose parameter, obtains a target control code, and executes the target control code.

[0054] In a fourth aspect, the embodiments of the present application provide a robot, which comprises an execution part, a storage unit and a processor.

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

[0056] The processor obtains a pose of the motion part after the action is performed, and sends the pose to the teaching device.

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

[0058] The embodiments of the present application have the following beneficial effects:

[0059] The teaching method, system, device and robot provided by the embodiment of the application, through the teaching device responding to the control instruction, driving the robot movement part to perform corresponding actions, and acquiring the pose of the execution part after performing the action in real time, the pose is stored in the storage unit of the robot corresponding to the preset pose parameter of the pose. After obtaining the original control code containing the pose parameter, 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 pose parameter, and locates the corresponding pose in the storage unit as the parameter value, generates executable target control code for the processor of the robot to execute at any time, without going through the complex process of the teaching device first compressing and uploading the control code to the robot, and then decompressing and compiling and executing by the robot, simplifying the programming to execution process, shortening the overall time, and not frequently interrupting the coherence of debugging, thereby effectively improving the programming efficiency.

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

[0061] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or prior art description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other embodiments can also be obtained by those skilled in the art based on these drawings.

[0062] Figure 1 The schematic diagram of the prior art teaching method provided by the embodiment of the present application;

[0063] Figure 2 The first flowchart of the teaching method provided by the embodiment of the present application;

[0064] Figure 3 The flowchart of the storage unit mounting provided by the embodiment of the present application;

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

[0066] Figure 5 The second flowchart of the teaching method provided by the embodiment of the present application;

[0067] Figure 6 The flowchart of the storage subunit mounting and unloading provided by the present application;

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

[0069] Figure 8 A second structural schematic diagram of a teaching system provided by an embodiment of the present application is provided.

[0070] Figure 9 A flowchart of a teaching method executed by a teaching device provided by an embodiment of the present application is provided.

[0071] Figure 10 A flowchart of a teaching method executed by a robot provided by an embodiment of the present application is provided.

[0072] Figure 11 An interaction diagram between a teaching device and a robot in a teaching process provided by an embodiment of the present application is provided. DETAILED DESCRIPTION

[0073] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art based on the present application are within the scope of protection of the present application.

[0074] Referring to Figure 1 , Figure 1 A schematic diagram of a prior art teaching method provided by an embodiment of the present application is provided. First, an engineer uses a teaching device to compile code. Once the code is compiled, the teaching device automatically saves the code. Then, when the robot needs to compile and execute the code, the engineer compresses the code into a compressed package and uploads it to the robot. After receiving the compressed package, the robot decompresses and restores the original code, and then compiles and executes the code. However, there is a significant problem with this process: when the size of the code compressed package is too large, the time taken to upload from the teaching device to the robot will be very long, and because the code needs to be re-uploaded every time it is modified, the long upload process will frequently interrupt the continuity of debugging, thereby greatly reducing the overall programming efficiency.

[0075] Based on this, an embodiment of the present application provides a teaching method for improving programming efficiency, referring to Figure 2 , Figure 2 A first flowchart of a teaching method provided by an embodiment of the present application includes:

[0076] S201, 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.

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

[0078] S202, the processor acquires the pose of the motion part after performing the action and sends it to the teaching device.

[0079] S203, the teaching device stores the pose and the corresponding preset pose parameter of the pose in the storage unit, acquires the control code containing the pose parameter as the 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 pose parameter contained in the original control code as the target pose parameter; finds the corresponding pose of the target pose parameter in the storage unit, takes the found pose as the parameter value of the target pose parameter, and obtains the target control code; executes the target control code.

[0081] By applying the above embodiment, the teaching device responds to the control instruction to drive the motion part of the robot to perform the corresponding action, and the pose of the motion part after performing the action is acquired in real time. The pose and the corresponding preset pose parameter of the pose are stored in the storage unit of the robot. After acquiring the original control code containing the pose parameter, 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 pose parameter, and locates the corresponding pose in the storage unit as the parameter value to generate the executable target control code for the processor of the robot to execute at any time, without going through the complex process of first compressing and uploading the control code to the robot by the teaching device, and then decompressing and compiling and executing by the robot. The programming to execution process is simplified, the overall time is shortened, and the continuity of debugging is not frequently interrupted, thereby effectively improving the programming efficiency.

[0082] The foregoing steps S201-S204 will be described in detail as follows:

[0083] In step S201, the teaching device serves as a man-machine interactive interface for inputting control instructions and monitoring the state of the robot, etc. The engineer inputs the control instruction through the teaching device, and the teaching device controls the robot to perform the action indicated by the control instruction according to the control instruction.

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

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

[0086] The storage unit is used for storing programs, data, control instructions and the like required for the robot to run. The storage unit can adopt various storage media, such as a disk (including a hard disk and a solid state disk), a flash memory and the like. Different forms of storage units have advantages and disadvantages in terms of capacity, read / write speed, reliability and the like, and need to be selected according to the actual requirements of the robot.

[0087] The processor is used for parsing the control instructions in the storage unit and controlling 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 the plug-and-play technology, and when the storage unit of the robot is connected to the teaching device, the teaching device automatically identifies and mounts 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, and this indiscriminate mounting behavior may cause the data to face the risk of being abnormally accessed or tampered, thereby failing to ensure the security of the data.

[0089] Therefore, in another possible embodiment, the storage unit can be mounted on the teaching device by the following method, as shown in Figure 3 , Figure 3 The flowchart of the mounting of the storage unit provided by the embodiment of the application includes the following steps.

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

[0091] S302, the processor performs identity verification on the first verification information, and if the identity verification is passed, a storage subunit is created in the storage unit.

[0092] S303, the identification information set for the storage subunit and second verification information are sent 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 used to ensure that only an authorized teaching device can request to mount the storage unit, and can be information that the teaching device and the processor agree in advance to determine whether the identity of the other party is safe. For example, it can be an encrypted data packet containing the identification of the teaching device or the identification of the storage unit requested to be mounted, or a timestamp information, which is not limited here. The timestamp refers to the time when the teaching device sends the verification information to the processor.

[0095] After the processor of the robot receives the verification information, the processor first performs a decryption operation, and then extracts key elements in the verification information for identity verification. Specifically, the processor can use a preset identity verification algorithm (such as a hash algorithm, a digital signature, etc.) to verify the verification information. Corresponding to the foregoing verification information, the verification process can include checking whether the identity of the teaching device is legal, whether the identity of the storage unit matches the request, and whether the timestamp is within a valid period, etc. The valid period is agreed upon in advance by the processor and the teaching device, and is exemplarily 0.1S, 1S, 10S, etc.

[0096] If the verification fails (for example, the identity of the teaching device is incorrect, the identity of the storage unit does not match, or the timestamp is expired), the processor will reject the mounting request and send an error prompt to the teaching device.

[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 identity information and second verification information for the storage subunit. The identity information and the second verification information are used to represent the created storage subunit. Exemplarily, the identity information is a password, and the second verification information is a temporary identity.

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

[0099] To more clearly understand the mounting process of the storage unit, the specific steps of interaction between the teaching device and the robot will be described in detail below. See Figure 4 , Figure 4 The first schematic diagram of interaction in the teaching device and robot mounting process provided by 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 the first verification message and performs identity verification according to the first verification message.

[0102] S403, after identity verification, a storage subunit is created in the storage unit.

[0103] S404, the processor sends identity information and second verification information set for the storage subunit to the teaching device.

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

[0105] With the above embodiments, the teaching device can send the verification information to the processor, and after the verification, the processor can create a storage subunit in the storage unit and send the identification information set for the storage subunit and the second verification information 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 by the embodiments 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 the programming efficiency and security.

[0106] In step S202, the pose of the motion part after completing the action can be collected in real time by the sensors (such as position sensors, speed sensors, force sensors, etc.) built in the robot, and the pose is sent to the teaching device. The pose includes position and attitude, specifically including the coordinate point of the motion part in the three-dimensional space and the orientation of the motion part relative to a certain reference coordinate system, which can be represented in various ways, such as Euler angles, axis angles or attitude matrices.

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

[0108] In one possible embodiment, the original control code includes the pose, the speed (v100) and the smoothness (pl10), and an exemplary can be movl (pos, v100, pl10), wherein the movl instruction is an instruction in assembly language. In other possible embodiments, the original control code can also include acceleration, etc., which is not limited here.

[0109] In step S204, the processor obtains the target control code by finding the pose corresponding to the target pose parameter and taking the pose as the parameter value of the target pose parameter, which realizes the conversion of the pose and the pose parameter 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 performs. In a possible embodiment, the processor can read the control code from the storage unit at a fixed time. However, if the original control code has not been stored into the storage unit by the teaching device, the processor can be "empty" because no valid original control code is found, which not only wastes system resources but also affects the normal operation of the entire robot system. On the other hand, if the original control code has been stored into the storage unit, but the processor fails to read 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 original control code is stored into 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] According to the above embodiment, after the original control code is stored into the storage unit, the teaching device sends a teaching completion instruction to the processor, so that the processor can read the original control code from the storage unit in time and accurately in response to the instruction. Through the triggering mechanism of the teaching completion instruction, the processor can orderly perform subsequent operations, 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, thereby avoiding waste of resources.

[0113] To more clearly illustrate steps S201-S204, refer to Figure 5 , Figure 5 A second flowchart of a teaching method provided in the embodiment of the present application includes the following steps.

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

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

[0116] S503, during the teaching process, the robot motion part moves, which is equivalent to the foregoing step S201;

[0117] S504, after moving to the specified position, the pose of the motion part is sent to the teaching device, which is equivalent to the foregoing step S202;

[0118] S505, the teaching device stores the pose into the storage unit, which is equivalent to the foregoing step S203;

[0119] S506, creating a simulation project, which is equivalent to obtaining the control code containing the pose parameter in the foregoing step S203;

[0120] S507, define a variable, equivalent to the aforementioned step S203 for the pose preset pose parameters for the pose, in which the pose parameters are stored in the corresponding previous pose;

[0121] S508, design motion instructions, equivalent to the aforementioned step S203, the control code containing the pose parameters as the original control code;

[0122] S509, generate simulation project, equivalent to the aforementioned step S203, the original control code;

[0123] S510, parse the current simulation project, equivalent to the aforementioned step S204, the original control code is read from the storage unit;

[0124] S511, parse the motion instructions, equivalent to the aforementioned step S204, determine the pose parameters contained in the original control code;

[0125] S512, read the pose, equivalent to the aforementioned step S204, the pose parameters contained in the original control code as the target pose parameters;

[0126] S513, send into the algorithm library output robot execution instructions, equivalent to the aforementioned step S204, in the storage unit to find the pose corresponding to the target pose parameters, the pose found as the parameter value of the target pose parameters, get the target control code.

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

[0128] When the processor executes the control code, the original control code is acquired from the storage unit, the original control code is analyzed, and the pose parameters are read from the original control code, the pose corresponding to the pose parameters is taken as the parameter value of the pose parameters, and then the target control code is obtained.

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

[0130] The teaching device stores the pose and the preset pose parameter corresponding to the pose into the storage subunit, acquires a control code containing the pose parameter as an original control code, and stores the original control code into the storage subunit;

[0131] The step of "the processor reads the original control code from the storage unit, and determines the pose parameter contained in the original control code as a target pose parameter" includes:

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

[0133] The step of "finding the pose corresponding to the target pose parameter in the storage unit, taking the found pose as the parameter value of the target pose parameter, and obtaining a target control code" includes:

[0134] The pose corresponding to the target pose parameter is found in the storage subunit, and the found pose is taken as the parameter value of the target pose parameter to obtain a target control code.

[0135] After the original control code is stored into the storage subunit, the mounting of the storage subunit can still be maintained. In a possible embodiment, in order to reduce the occupation of system resources, the storage subunit can be unloaded, and specifically includes:

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

[0137] By using the above embodiment, the connection between the teaching device and the storage unit is disconnected through the unloading operation, which can prevent data damage or loss caused by misoperation or system failure in subsequent operations. In addition, unloading the storage unit also helps to reduce the occupation of system resources, ensuring the safety and integrity of data and improving the system availability.

[0138] In order to more clearly illustrate the mounting and unloading process of the storage subunit, refer to Figure 6 , Figure 6 The flowchart of the mounting and unloading of the storage subunit provided in the present application includes:

[0139] S601, a verification message is sent to realize login to the robot, which is equivalent to the foregoing step S301;

[0140] S602, identity verification, which is equivalent to the foregoing step S302;

[0141] S603, it is judged whether there is a mounting permission, if yes, step S604 is executed, which is equivalent to the foregoing step S302;

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

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

[0144] S606, destroying the temporary identity and canceling the mounting partition, so as to realize logout of the robot, which corresponds to the aforementioned step S306, the teaching device sending unloading information to the processor, and the processor deleting the storage subunit in response to the unloading information, invalidation of the identification information and the second verification information.

[0145] Corresponding to the aforementioned teaching method, the embodiments of the present application also provide a teaching system, which is described with reference to Figure 7 , Figure 7 The first structure diagram of the teaching system provided by the embodiments of the present application is shown in FIG. 7, which comprises a teaching device 702 and a robot 703. The teaching device 702 and the robot 703 cooperate with each other to realize the aforementioned teaching method.

[0146] Referring to Figure 8 , Figure 8 The second structure diagram of the teaching system provided by the embodiments of the present application is shown in FIG. 8, which comprises a robot 703, a storage unit 7032 and a processor 7033. The storage unit 7032 is mounted on the teaching device 702.

[0147] The teaching device 702 is configured to control the motion 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 configured to perform the action indicated by the control instruction by the motion part 7031 in response to the control of the teaching device 702, and the processor 7033 acquires the pose of the motion part 7031 after performing the action and sends it to the teaching device 702.

[0149] The teaching device 702 is further configured to store the pose and the pose parameter preset for the pose in the storage unit 7032, acquire the control code containing the pose parameter as the original control code, and store the original control code in the storage unit 7032.

[0150] The robot 703 is further configured to read the original control code from the storage unit 7032, determine the pose parameter contained in the original control code as the target pose parameter, find the pose corresponding to the target pose parameter in the storage unit 7032, take the found pose as the parameter value of the target pose parameter, obtain the target control code, and execute the target control code.

[0151] Applying the above embodiment, the teaching device responds to the control instruction to drive the robot motion part to perform the corresponding action, and real-time acquires the pose of the execution part after performing the action, and stores the pose and the preset pose parameter corresponding to the pose into the storage unit of the robot. After acquiring the original control code containing the pose parameter, the original control code is also stored into the storage unit of the robot. Subsequently, the processor reads the original control code, parses the target pose parameter, and locates the corresponding pose in the storage unit as the parameter value to generate the executable target control code for the processor of the robot to execute at any time without going through the complex process of the teaching device first compressing and uploading the control code to the robot, and then decompressing and compiling and executing by the robot, thereby simplifying the programming-to-execution process, shortening the overall time, and effectively improving the programming efficiency.

[0152] For detailed description of the steps performed by the teaching system, refer to the description of the steps of the teaching method, which will not be repeated here.

[0153] The embodiment of the present application also provides a teaching device, which refers to Figure 9 , Figure 9 The teaching device provided by the embodiment of the present application performs the flowchart of the teaching method, which includes:

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

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

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

[0157] The pose is the pose of the motion part acquired by the processor after performing the action.

[0158] S903, storing the pose and the preset pose parameter corresponding to the pose into the storage unit, acquiring the control code containing the pose parameter as the original control code, and storing the original control code into the storage unit, so that the processor reads the original control code from the storage unit, determines the pose parameter contained in the original control code as the target pose parameter, finds the pose corresponding to the target pose parameter in the storage unit, takes the found pose as the parameter value of the target pose parameter to obtain the target control code, and executes the target control code.

[0159] Applying the above embodiment, the teaching device is driven to respond to the control instruction, the robot motion part performs the corresponding action, and the pose of the execution part after performing the action is acquired in real time, and the pose and the preset pose parameter corresponding to the pose are stored in the storage unit of the robot. After the original control code containing the pose parameter is acquired, 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 pose parameter, and locates the corresponding pose in the storage unit as the parameter value to generate the executable target control code for the processor of the robot to execute at any time without going through the complex process of the teaching device first uploading the control code to the robot, then decompressing and compiling the execution of the robot, simplifying the programming-to-execution process, shortening the overall time, and thus effectively improving the programming efficiency.

[0160] For detailed description of the steps performed by the teaching device, refer to the foregoing description of the steps of the teaching method, which will not be repeated here.

[0161] The embodiment of the present application also provides a robot, which can be seen from Figure 10 , Figure 10 The robot provided by the embodiment of the present application executes the teaching method, and a flowchart thereof is shown in the figure, which includes the following steps.

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

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

[0164] S1002, the processor acquires the pose of the motion part after performing the action and sends it to the teaching device.

[0165] S1003, the processor reads the original control code from the storage unit, determines the pose parameter contained in the original control code as the target pose parameter, finds the pose corresponding to the target pose parameter in the storage unit, takes the found pose as the parameter value of the target pose parameter, obtains the target control code, and executes the target control code.

[0166] The original control code is the control code containing the pose parameter acquired by the teaching device and stored in the storage unit by the teaching device, the pose parameter is preset for the pose, and the pose and the pose parameter are correspondingly stored in the storage unit by the teaching device.

[0167] Applying the above embodiment, the teaching device responds to the control instruction, drives the robot motion part to perform the corresponding action, and acquires the pose of the execution part after performing the action in real time, and stores the pose and the pose parameter preset for the pose in the storage unit of the robot correspondingly. After acquiring the original control code containing the pose parameter, 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 pose parameter, and locates the corresponding pose as the parameter value in the storage unit to generate the executable target control code for the processor of the robot to execute at any time, without going through the complex process of the teaching device first compressing and uploading the control code to the robot, and then decompressing and compiling and executing by the robot, simplifying the programming-to-execution process and shortening the overall time, thereby effectively improving the programming efficiency.

[0168] For detailed description of the steps performed by the robot, refer to the foregoing description of the teaching method steps, which will not be repeated here.

[0169] In order to more clearly describe the teaching process of the teaching method provided by the embodiment of the application, the following will be described in combination with the teaching device 702, the robot 703 and Figure 11 be described in detail, Figure 11 The schematic diagram of the interaction between the teaching device and the robot teaching process provided by the embodiment of the 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, through identity verification, the robot creates a storage subunit and sends the 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 motion part of the robot performs the action indicated by the control instruction,

[0176] S1107, the robot processor acquires the pose of the motion part after performing the action.

[0177] S1108, the robot processor sends the pose to the teaching device.

[0178] S1109, the teaching device stores the pose and the pose parameter preset for the pose correspondingly in the storage subunit.

[0179] S1110, the teaching device obtains the control code containing the pose parameter as the original control code, and stores the original control code to the 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 pose parameter contained in the original control code as the target pose parameter; finds the pose corresponding to the target pose parameter in the storage unit, and takes the found pose as the parameter value of the target pose parameter to obtain 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-S1114.

[0185] It should be noted that, in this document, the terms such as first and second are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or device. Without more limitations, the element defined by the statement "including a" does not exclude the presence of another identical element in the process, method, article or device including the element.

[0186] Each embodiment in the specification is described in a relevant manner, and the same and similar parts between each embodiment can be referred to each other. Each embodiment focuses on the difference 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 part of the method embodiment.

[0187] The above only describes the preferred embodiments of the present application, and is not used 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 is included in the protection scope of the present application.

Claims

1. A teaching method characterized by comprising: 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 comprises a storage unit and a processor, and the storage unit of the robot is mounted on the teaching device; The processor acquires a pose of the motion part after the action is performed and sends it to the teaching device; The teaching device stores the pose and a preset pose parameter corresponding to the pose in the storage unit, acquires a control code containing the pose parameter 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 pose parameter contained in the original control code as a target pose parameter, finds the pose corresponding to the target pose parameter in the storage unit, takes the found pose as the parameter value of the target pose parameter, obtains a target control code, and executes the target control code; The teaching device mounts the storage unit by the following methods, which comprise: The teaching device sends first verification information to the processor; The processor performs identity verification on the first verification information, and if the identity verification is passed, a storage subunit is created in the storage unit; The identification information set for the storage subunit and second verification information are sent 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 pose and a preset pose parameter corresponding to the pose in the storage unit, acquires a control code containing the pose parameter as an original control code, and stores the original control code in the storage unit, which comprises: The teaching device stores the pose and a preset pose parameter corresponding to the pose in the storage subunit, acquires a control code containing the pose parameter 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, determines the pose parameter contained in the original control code as a target pose parameter, which comprises: The processor reads the original control code from the storage subunit, determines the pose parameter contained in the original control code as a target pose parameter; The processor finds the pose corresponding to the target pose parameter in the storage unit, takes the found pose as the parameter value of the target pose parameter, obtains a target control code, and executes the target control code, which comprises: The processor finds the pose corresponding to the target pose parameter in the storage subunit, takes the found pose as the parameter value of the target pose parameter, obtains a target control code, and executes the target control code.

2. The method of claim 1, wherein, After the teaching device stores the original control code in the storage unit, the method further comprises: The teaching device sends a teaching completion instruction to the processor; The processor reads the original control code from the storage unit, which comprises: The processor reads the original control code from the storage unit in response to the teaching completion instruction.

3. The method of claim 1, wherein, After obtaining the target control code, the method further comprises: The teaching device sends unloading information to the processor; The processor invalidates the identification information and the second verification information in response to the unloading information, and deletes the storage subunit.

4. A teaching system characterized by comprising: The system comprises a teaching device and a robot; The teaching device is configured to control a moving part of the robot to perform an action indicated by a control instruction in response to the control instruction, and the teaching device is mounted with a storage unit of the robot; The robot is configured to control the moving part to perform the action indicated by the control instruction in response to the control of the teaching device, wherein the robot further comprises a storage unit and a processor; the processor obtains a pose of the moving part after performing the action and sends the pose to the teaching device; The teaching device is further configured to store the pose and a preset pose parameter corresponding to the pose in the storage unit, obtain a control code containing the pose parameter as an original control code, and store the original control code in the storage unit; The robot is further configured to read the original control code from the storage unit, determine the pose parameter contained in the original control code as a target pose parameter, find a pose corresponding to the target pose parameter in the storage unit, take the found pose as a parameter value of the target pose parameter, obtain a target control code, and execute the target control code; The teaching device mounts the storage unit by the following way, comprising: The teaching device sends first verification information to the processor; The processor performs identity verification on the first verification information, and if the identity verification is passed, creates a storage subunit in the storage unit; The teaching device sends the identification information and the 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 is further configured to store the pose and a preset pose parameter corresponding to the pose in the storage unit, obtain a control code containing the pose parameter as an original control code, and store the original control code in the storage unit; The teaching device is further configured to store the pose and a preset pose parameter corresponding to the pose in the storage unit, obtain a control code containing the pose parameter as an original control code, and store the original control code in the storage unit; The teaching device is further configured to store the pose and a preset pose parameter corresponding to the pose in the storage unit, obtain a control code containing the pose parameter as an original control code, and store the original control code in the storage unit; The teaching device is further configured to store the pose and a preset pose parameter corresponding to the pose in the storage unit, obtain a control code containing the pose parameter as an original control code, and store the original control code in the storage unit; The teaching device is further configured to store the pose and a preset pose parameter corresponding to the pose in the storage unit, obtain a control code containing the pose parameter as an original control code, and store the original control code in the storage unit. ​ 5. The system of claim 4, wherein, the teaching device is further configured to send a teaching completion instruction to the processor after the teaching device stores the original control code to the storage unit; the reading of the original control code from the storage unit comprises: in response to the teaching completion instruction, reading the original control code from the storage unit.

6. The system of claim 4, wherein, the teaching device is further configured to send unloading information to the processor after obtaining the target control code; the processor is further configured to, in response to the unloading information, invalidate the identification information and the second verification information, and delete the storage subunit.

7. A teaching device, comprising: in response to a control instruction, controlling a moving part of a robot to perform an action indicated by the control instruction, wherein the robot further comprises a storage unit and a processor, and the teaching device is mounted with the storage unit of the robot; the teaching device is mounted with the storage unit by the following way, comprising: the teaching device sends first verification information to the processor, so that the processor performs identity verification on the first verification information, and if the identity verification is passed, a storage subunit is created in the storage unit; identification information and second verification information set for the storage subunit are sent to the teaching device; and the teaching device mounts the storage subunit according to the identification information and the second verification information; receiving a pose sent by the processor, wherein the pose is a pose of the moving part acquired by the processor after performing the action; storing the pose and a pose parameter preset for the pose in the storage unit, obtaining a control code containing the pose parameter as an original control code, and storing the original control code in the storage unit, so that the processor reads the original control code from the storage unit, determines the pose parameter contained in the original control code as a target pose parameter, finds a pose corresponding to the target pose parameter in the storage unit, takes the found pose as a parameter value of the target pose parameter, obtains a target control code, and executes the target control code; the storing of the pose and the pose parameter preset for the pose in the storage unit, the obtaining of the control code containing the pose parameter as the original control code, and the storing of the original control code in the storage unit, comprises: the teaching device stores the pose and the pose parameter preset for the pose in the storage subunit, obtains a control code containing the pose parameter as an original control code, and stores the original control code in the storage subunit; the reading of the original control code from the storage unit by the processor, the determination of the pose parameter contained in the original control code as the target pose parameter, comprises: the processor reads the original control code from the storage subunit, and determines the pose parameter contained in the original control code as the target pose parameter. The target pose parameter is searched in the storage unit, and a pose corresponding to the target pose parameter is found as a parameter value of the target pose parameter, to obtain a target control code. The target pose parameter is searched in the storage unit, and a pose corresponding to the target pose parameter is found as a parameter value of the target pose parameter, to obtain a target control code.

8. A robot, characterized in that The robot comprises a motion part, a storage unit and a processor; In response to control of a teaching device, the motion part performs an action indicated by a control instruction, wherein the storage unit of the robot is mounted on the teaching device, and the control instruction is used to control the teaching device; the teaching device mounts the storage unit by the following method, comprising: the teaching device sends first verification information to the processor, the processor performs identity verification on the first verification information, and if the identity verification is passed, a storage subunit is created in the storage unit; identification information set for the storage subunit and second verification information are sent to the teaching device; the teaching device mounts the storage subunit according to the identification information and the second verification information; The processor acquires a pose of the motion part after the action is performed and sends the pose to the teaching device; The processor reads an original control code from the storage unit, determines a pose parameter contained in the original control code as a target pose parameter, searches for a pose corresponding to the target pose parameter in the storage unit, takes the found pose as a parameter value of the target pose parameter, obtains a target control code, and executes the target control code, wherein the original control code is a control code containing a pose parameter acquired by the teaching device and stored in the storage subunit by the teaching device, the pose parameter is preset for the pose, and the pose and the pose parameter are stored in the storage subunit by the teaching device in correspondence; The processor reads the original control code from the storage unit, determines a pose parameter contained in the original control code as a target pose parameter, comprises: The processor reads the original control code from the storage unit, determines a pose parameter contained in the original control code as a target pose parameter, comprises: The target pose parameter is searched in the storage unit, and a pose corresponding to the target pose parameter is found as a parameter value of the target pose parameter, to obtain a target control code. The target pose parameter is searched in the storage unit, and a pose corresponding to the target pose parameter is found as a parameter value of the target pose parameter, to obtain a target control code.

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