Control right processing method for robot, motion controller and control system

Abstract

According to the control right processing method for the robot, the motion controller, the entity manipulator and the control system, the motion controller receives the control right abandoning notice from the entity manipulator and transfers the control right to the virtual manipulator, and the problem that when the control right of the entity manipulator is transferred to the virtual manipulator, the control right of the entity manipulator cannot be transferred to the virtual manipulator is solved. A hot-plug switch and a short-circuit button need to be contained in a controller cabinet, and absolute normal operation of a user is needed, so that the safety risk is caused.

Description

Technical Field

[0001] The present application relates to the field of robot control, and in particular to a method for processing control rights of a robot, a motion controller, a physical operator, and a control system. Background Art

[0002] Usually, a robot is connected to a teach pendant (physical manipulator). As the teach pendant interface becomes more and more universal, one teach pendant can be used with multiple industrial robots. Due to the high purchase cost of robots, users purchase one teach pendant to match multiple robot motion controllers in order to save money and increase efficiency. Some users even do not purchase a physical teach pendant when purchasing a robot, but only use PC software to control a virtual teach pendant (virtual manipulator). So how to use PC software to control the operation of the robot is one of the problems that current robot manufacturers need to solve.

[0003] To solve this problem, ABB (Asea Brown Boveri) added an external IO mode without a virtual teach pendant. Users can operate the robot by configuring the IO port number. At the same time, ABB's Omnicore (ABB's new generation control platform for robots) control cabinet (motion controller cabinet) added a hot-swap option. When the teach pendant clicks to disconnect, unplug the teach pendant, short-circuit the circuit, and then open the PC software (RobotStudio) to control the robot. The essence of hot-swap is to add a button to the control cabinet, connect the emergency stop circuit when the button is pressed, keep the button pressed, unplug the teach pendant, and manually connect the added emergency stop short-circuit device, and then release the button, thereby ensuring that the emergency stop circuit is normal after releasing the button. If this is not done, but the teach pendant is directly removed from the motion controller, the motion controller will start the emergency stop alarm processing, causing the robot to stop running. Another company, Fanuc, also has this technology, but hot-swap can only control the robot's movements, such as jogging, running the teach pendant program, changing the coordinate system, running speed and other basic operations.

[0004] However, for the above solution, the normal operation of this function is based on the user's absolutely normal operation. If the user reinserts the teach pendant into the motion controller and forgets to put the knob in gear 1 (gear 1 is used to short-circuit the emergency stop circuit), the emergency stop button on the teach pendant will be in an invalid state, posing a greater safety risk.

[0005] To address the above problems, no effective solution has been proposed yet. Summary of the invention

[0006] In view of this, the present application proposes a method for processing control rights of a robot, a motion controller, a physical operator and a control system. The motion controller receives a notification of giving up control rights from the physical operator and transfers the control rights to the virtual operator, thereby solving the safety risks caused by the need for a hot-swappable switch and a short-circuit button in the controller cabinet when transferring the control rights of the physical operator to the virtual operator, and requiring the user to operate absolutely normally.

[0007] According to one aspect of the present application, a method for processing control rights of a robot is provided, wherein the robot is controlled to operate by a motion controller via a physical operator or a virtual operator, and the method is executed by the motion controller, comprising:

[0008] receiving a control transfer notification from the entity operator;

[0009] In response to receiving a control right transfer notification, entering a no-control right mode;

[0010] In the no-control right mode, in response to a successful connection with the virtual operator, the control right is transferred to the virtual operator to control the operation of the robot based on the operation of the virtual operator.

[0011] Optionally, where:

[0012] The control right transfer notification includes: a notification that the physical operator gives up the control right or a notification indicating that the control right is transferred to the virtual operator.

[0013] Optionally, it also includes:

[0014] receiving a control acquisition notification from the entity operator;

[0015] In response to receiving the control right acquisition notification, the control right is transferred to the physical operator to control the operation of the robot based on the operation of the physical operator.

[0016] Optionally, it also includes:

[0017] In response to successfully transferring control to the virtual operator, setting a virtual operator flag to be valid;

[0018] In response to successfully transferring the control right to the physical operator, the virtual operator flag is set to invalid.

[0019] Optionally, it also includes:

[0020] When shipped from the factory, the virtual operator flag is set to be valid, so that the virtual operator has control authority by default.

[0021] Optionally, where:

[0022] A virtual operator is software that runs on an electronic device.

[0023] According to another aspect of the present application, a motion controller for a robot is provided, wherein the robot is controlled to operate by the motion controller via a physical manipulator and / or a virtual manipulator, and the motion controller comprises:

[0024] An operator access port, used to access the physical operator to communicate with the physical operator;

[0025] A processing unit is configured to execute the method as described above.

[0026] Optionally, it also includes:

[0027] A short-circuit terminal is connected to the operator access port to short-circuit the emergency stop circuit when the physical operator is removed from the operator access port.

[0028] According to another aspect of the present application, a physical manipulator is provided, wherein the physical manipulator controls the operation of a robot through a motion controller, comprising:

[0029] A connection terminal, used to be connected to an operator access port of the motion controller to communicate with the motion controller;

[0030] A control right selection unit, used for selecting to give up or obtain the control right of the robot;

[0031] The processing unit, in response to selecting to give up or acquire the control right, sends a control right transfer notification or a control right acquisition notification to the motion controller.

[0032] Optionally,

[0033] The control right selection unit includes an enabling switch and / or a control panel, through which the control right can be given up or obtained, wherein:

[0034] The enabling switch can be switched to at least one gear position indicating that the robot has control authority and at least one gear position indicating that the robot has no control authority;

[0035] The control panel has an interface for selecting to give up or acquire control over the robot.

[0036] Optionally, wherein

[0037] When the enabling switch is in the gear state with control right, the selection panel is prohibited from selecting to give up the control right;

[0038] When the enabling switch is in a gear state without control authority, the selection panel can be selected to give up control authority.

[0039] Optionally, wherein

[0040] When the enabling switch is in a gear state without control authority, only the enabling switch is allowed to operate.

[0041] According to another aspect of the present application, a control system of a robot is provided, comprising:

[0042] The motion controller as described above, and the physical manipulator as described above and / or the virtual manipulator as described above.

[0043] According to a method for processing control rights of a robot, a motion controller, a physical operator and a control system proposed in the present application, the motion controller receives a notification of giving up control rights from the physical operator and transfers the control rights to the virtual operator without the need for a hot-swap switch and a short-circuit button in the controller cabinet, which not only ensures the safety of operation but also realizes the smoothness of control right switching.

[0044] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application and implement it according to the contents of the specification, the following is a detailed description of the preferred embodiments of the present application in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] The accompanying drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the accompanying drawings:

[0046] Figure 1 A schematic diagram of an embodiment of a control system of a robot of the present application is shown.

[0047] Figure 2 A schematic diagram showing an embodiment of a motion controller for a robot according to the present application.

[0048] Figure 3 A schematic diagram showing an embodiment of a physical manipulator for a robot according to the present application.

[0049] Figure 4 A schematic diagram showing an embodiment of a method for processing control rights of a robot according to the present application.

[0050] Figure 5 A schematic diagram showing an embodiment of a timing diagram for transferring control rights of a robot according to the present application.

[0051] Figure 6A schematic diagram showing an embodiment of a process for transferring control rights of a robot according to the present application.

[0052] Figure 7 A schematic diagram of an embodiment of a process for transferring control of a teach pendant to a virtual teach pendant for a robot according to the present application is shown.

[0053] Figure 8 A schematic diagram of an embodiment of a process for determining the control right state when starting up a robot according to the present application is shown. DETAILED DESCRIPTION

[0054] In order to make the purpose, technical solution and advantages of the present application clearer, the technical solution of the present application will be clearly and completely described below in combination with the specific embodiments of the present application and the corresponding drawings. 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 without making creative work are within the scope of protection of the present application.

[0055] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0056] Figure 1 A schematic diagram of an embodiment of a control system of a robot of the present application is shown.

[0057] As shown in the figure, the control system 1 is used to control the operation of the robot 5, including controlling the robot 5 to perform various actions. The control system 1 includes a motion controller 2, a physical operator 3, and a virtual operator 4. Among them, for the purpose of saving costs, the control system 1 can include only one of the physical operator 3 and the virtual operator 4 in addition to the motion controller 2, that is, only the physical operator 3 or the virtual operator 4 is configured to have control over the robot, so that the user can only purchase one of them, thereby reducing expenses. Of course, the control system 1 can also include both the physical operator 3 and the virtual operator 4 at the same time, but at the same time, only one of them is allowed to have control over the robot.

[0058] The physical operator 3 is, for example, a physical teaching device, and the physical operator 3 may be provided with various rockers, buttons, and / or screens, so that the user can intuitively control the actions of the robot, such as the grabbing, placing, and rotating actions of the robot's mechanical arm. The physical operator 3 is connected to the operator access port of the motion controller 2 through a connecting terminal, for example, by being connected to the corresponding port of the motion controller 2 by insertion, so that the movement of the robot 5 can be controlled through the motion controller 2 by operating on the physical operator 3. The TCP transmission control protocol can be used between the two to ensure efficient and reliable transmission of data. Through TCP communication, the control instructions issued by the physical operator 3 can be delivered to the motion controller 2 in real time and accurately, ensuring that the motion controller 2 responds in time, accurately drives the robot to run according to the preset actions, and lays a solid foundation for the smooth control of the robot.

[0059] The virtual operator 3 is a software running on an electronic device, such as a computer, a mobile phone, etc. This software is, for example, simulation software, which provides a control panel similar to a physical operator through a software program interface, and then the user can control the robot's motion through the motion controller 2 by operating on the software interface. The carrier of the virtual operator 3, such as an electronic device, can communicate with the motion controller 2 through a network cable or a wireless network, and data can also be transmitted through the TCP protocol.

[0060] Figure 2 A schematic diagram showing an embodiment of a motion controller for a robot according to the present application.

[0061] As shown in the figure, the motion controller 2 includes an operator access port 21 and a processing unit 22. The operator access port 21 is used to access the physical operator to communicate and interact with the physical operator, such as receiving notifications from the physical operator or sending information to the physical operator. The processing unit 22 is, for example, a main control unit MCU, which is operated to execute a method flow related to robot control.

[0062] As an implementation method, the motion controller 2 also includes a short-circuit terminal. When the physical operator is removed from the operator access port, the short-circuit terminal is connected to the operator access port to short-circuit the emergency stop circuit to clear the emergency stop alarm. When the physical operator needs to be used for control again, the short-circuit terminal can be unplugged and then the physical operator is connected. Since the short-circuit terminal has been unplugged, the emergency stop circuit returns to normal, and the emergency stop function on the physical operator can operate normally. Since the short-circuit terminal and the physical operator cannot be connected to the same port (operator access port) at the same time, when one of them is to be used, the other must be removed, so that the problem of failure of the emergency stop function on the physical operator due to forgetting to clear the short circuit of the emergency stop circuit will not occur.

[0063] Figure 3 A schematic diagram showing an embodiment of a physical manipulator for a robot according to the present application.

[0064] As shown in the figure, the physical operator 3 includes a connection terminal 31, a control right selection unit 32, and a processing unit 33. The connection terminal 31 is used to connect to the operator access port of the robot's motion controller to communicate with the motion controller; the control right selection unit 32 is used to choose to give up or obtain the control right of the robot; the processing unit 33, in response to choosing to give up or obtain the control right, sends a control right transfer notification or a control right acquisition notification to the motion controller.

[0065] As an implementation, the control right selection unit 32 may include an enabling switch and / or a control panel, so as to select to give up or obtain the control right through the enabling switch and / or the control panel. The enabling switch may be switched to at least one gear indicating that the robot has the control right (e.g., "manual" gear, "manual high speed" gear) and at least one gear indicating that the robot does not have the control right (e.g., "automatic" gear). When the enabling switch is switched to, for example, the "manual" gear or the "manual high speed" gear, it is equivalent to selecting to obtain the control right. When the enabling switch is switched to, for example, the "automatic" gear, it is equivalent to selecting to give up the control right. The control panel has an interface for selecting to give up or obtain the control right of the robot, and the interface has a page or menu or button for giving up or obtaining the control right. When the enabling switch is switched to the state where the acquisition of control rights is selected, or when the page, menu or button for acquiring control rights is selected through the control panel, the physical operator 3 sends a notification of acquiring control rights to the robot's motion controller through its connection terminal 31; when the enabling switch is switched to the state where the relinquishment of control rights is selected, or when the page, menu or button for relinquishing control rights or transferring control rights to a virtual operator is selected through the control panel, the physical operator 3 sends a notification of control rights transfer (including a notification of relinquishing control rights or a notification indicating that control rights are transferred to a virtual operator) to the robot's motion controller through its connection terminal 31. In addition, in order to avoid misoperation, a double confirmation method can be used, for example, when both the enabling switch and the control panel have selected acquisition or relinquishment of control rights, or after the enabling switch is selected, the control panel is selected again, or vice versa, the physical operator 3 sends a notification of acquiring control rights to the robot's motion controller.

[0066] Optionally, for operational safety and to avoid any misoperation of the enabling switch and the control panel, which may trigger the erroneous sending of a notification of giving up or obtaining control rights, the operations of the enabling switch and the control panel may be constrained to each other. For example, when the enabling switch is in a gear state with control rights, the control panel is prohibited from choosing to give up control rights. Only when the enabling switch is in a gear state without control rights can the control panel be chosen to give up control rights, and vice versa. Furthermore, in order to more comprehensively prevent misoperation, when the enabling switch is in a gear state without control rights, only the enabling switch is allowed to operate, and other functions are not allowed, including the operation of the control panel.

[0067] Figure 4 A schematic diagram showing an embodiment of a method for processing control rights of a robot according to the present application.

[0068] The method is executed by the motion controller of the robot. As shown in the figure, the method includes:

[0069] Step S1, receiving a control transfer notification from a physical operator;

[0070] Step S2, in response to receiving a control right transfer notification, entering a no-control right mode;

[0071] Step S3, in the no-control-right mode, in response to a successful connection with the virtual operator, transferring the control right to the virtual operator to control the operation of the robot based on the operation of the virtual operator.

[0072] In step S1, the motion controller receives a control transfer notification from the physical operator. As described above, for example, when the control panel on the physical operator selects to give up control or transfer control to the virtual operator, the physical operator sends a control transfer notification to the motion controller, and the motion controller receives the notification through its own communication unit.

[0073] In step S2, the motion controller enters the no-control-rights mode in response to receiving the control right transfer notification. In the no-control-rights mode, the control right of the physical operator has been released, that is, at this time, even if the physical operator is still physically connected to the motion controller, the control signal of the physical operator is no longer received or processed, and only the information transmission and reception of the heartbeat packet with the physical operator is maintained. At this time, the physical operator can be unplugged from the motion controller, but as mentioned above, in order to avoid the emergency stop alarm, it is necessary to insert a short-circuit terminal in the operator port of the motion controller for connecting the physical operator to short the emergency stop circuit to clear the emergency stop alarm. In the no-control-rights mode, contact with the virtual operator has not yet been established, so it is a temporary state.

[0074] Step S3, in the no-control-rights mode, in response to the successful connection with the virtual operator, the control right is transferred to the virtual operator. For example, the virtual operator is PC software running on a PC (personal computer) (not limited to PC software, and can also be an application on a portable electronic device such as a mobile phone). After the motion controller is connected to the PC software via a network cable or a wireless communication network, the PC software successfully communicates with the motion controller via, for example, TCP, so the PC software, for example, displays the current mode as "online mode", which indicates that the control right is successfully transferred to the virtual operator. As an implementation method, in response to successfully transferring the control right to the virtual operator, the motion controller sets the virtual operator flag to valid (for example, changed to 1).

[0075] Furthermore, the control right of the virtual operator can also be transferred back to the physical operator. As described above, the operation on the physical operator can trigger the sending of a control right acquisition notification to the motion controller. The motion controller receives the control right acquisition notification from the physical operator, and then, in response to receiving the control right acquisition notification, transfers the control right to the physical operator to control the operation of the robot based on the operation of the physical operator. As an implementation, in response to successfully transferring the control right to the virtual operator, the motion controller sets the virtual operator flag to invalid (for example, changes it to 0).

[0076] As an implementation method, when the motion controller leaves the factory, the virtual operator flag may be set to be valid, so that the virtual operator has control authority by default.

[0077] In order to better understand the present application, further examples are given below.

[0078] Figure 5 A schematic diagram showing an embodiment of a timing diagram for transferring control rights of a robot according to the present application.

[0079] As shown in the figure, S51 shows the timing of the virtual teach pendant returning control rights. The teach pendant (physical operator) gives up control rights, or chooses to give control rights to the virtual teach pendant (virtual operator), and then sends a notification to the controller (the motion controller used to control the robot) through TCP to select the virtual teach pendant as the control right. After receiving the notification, the controller enters a state of no control rights, that is, a state of waiting for connection. When the carrier peripheral of the virtual teach pendant establishes a connection with the controller, the virtual teach pendant obtains control rights over the robot. Thereafter, the movement of the robot can be controlled by the controller through operations on the virtual teach pendant.

[0080] S52 shows the timing of the virtual teach pendant giving up control. The user can choose to give up control through menus, buttons and other interactive methods on the virtual teach pendant, and send a notification of giving up control to the controller. After receiving the notification, the controller enters a waiting state. In this state, if other peripheral devices (such as other virtual teach pendants) need control, the control can be transferred to other peripheral devices.

[0081] S53 shows the timing of the teach pendant grabbing control. When the virtual teach pendant has control, the teach pendant can grab control by 1. switching the key (enable switch) to manual mode on the teach pendant and 2. regaining control of the motor on the teach pendant interface, thereby sending a notification to the controller that the teach pendant needs to gain control. Subsequently, the teach pendant can choose to restart to connect to the controller (optional). The controller waits for the teach pendant to be connected. After the connection is completed, the control is transferred to the teach pendant.

[0082] Figure 6 A schematic diagram showing an embodiment of a process for transferring control rights of a robot according to the present application.

[0083] If the control of the motion controller is in the hands of the teach pendant (physical manipulator), the teach pendant can operate the robot normally.

[0084] Step S601: If the control right needs to be transferred to the virtual teach pendant (virtual operator), the teach pendant needs to give up the control right first. The method for the teach pendant to give up the control right is, for example, to open a page of "give up control right" in the teach pendant (for example, the page is displayed in the control panel of the teach pendant). After clicking to give up the control right, the teach pendant sends a TCP frame to notify the motion controller (hereinafter referred to as the controller) that the teach pendant control right has been transferred.

[0085] At this time, the teaching pendant can be unplugged (step S602), the alarm light of the motion controller is on, and an emergency stop alarm occurs. At this time, the short-circuit terminal is inserted (step S603) to clear the emergency stop alarm.

[0086] You can also proceed directly to the following operation without unplugging the teach pendant.

[0087] Connect the PC simulation software computer and the controller hardware circuit (for example, via a network cable) (step S604), open the PC simulation software (step S605), when the PC simulation software TCP successfully communicates with the controller, it is displayed that the current PC software is in "online mode", which means that the PC simulation software is successfully connected to the controller, and the control is transferred to the virtual teach pendant. The motion controller needs to change the file status of the virtual teach pendant (virtual operator flag) to 1. At this time, the robot can be operated normally by operating the virtual teach pendant. At this time, it means that the control is successfully transferred to the virtual teach pendant (step S606).

[0088] The controller receives the TCP switched to the virtual teach pendant (step S607), and the Tcp_thread thread still keeps monitoring the teach pendant so that the teach pendant can regain control (step S608). Then the controller executes the operation of giving up control (step S609) to enter the mode without control, and only sends and receives the information of the heartbeat packet with the TCP thread of the teach pendant (step S610). The teach pendant can be operated except for the speed and the key switch, and the rest are not allowed to operate. When it is monitored that the teach pendant switches the key to manual low speed (only as an example, not limited to this gear) or regains control (step S611), the control is returned to the teach pendant (step S612).

[0089] After the control of the motion controller is transferred to the virtual teach pendant, the controller will keep listening to the TCP thread (PC_thread) of the virtual teach pendant (step S613). When operating the virtual teach pendant, TCP communication interaction occurs, so the virtual teach pendant can operate the robot.

[0090] In addition, when the teach pendant is unplugged, the teach pendant prompts whether to obtain control authority (S614). If the control right needs to be transferred to the teach pendant, that is, the machine needs to be controlled by the teach pendant, it is necessary to unplug the short-circuit terminal, reinsert the teach pendant, and switch the key (enable switch) to the "manual" position. The teach pendant sends a TCP frame that switches the key to the manual state to the controller, and the motion controller switches the control right to the teach pendant. At the same time, the state file of the virtual teach pendant is changed to 0 to enter the teach pendant mode (step S615).

[0091] Figure 7 A schematic diagram of an embodiment of a process for transferring control of a teach pendant to a virtual teach pendant for a robot according to the present application is shown.

[0092] On the teach pendant, the user uses the shortcut bar to open the virtual teach pendant menu (S701), and the teach pendant determines whether the shortcut menu is in the virtual teach pendant state (S702). If so, a virtual teach pendant state TCP notification is sent to the controller (S703).

[0093] After receiving the notification, the controller determines whether it is in the virtual teach pendant state (S704). If so, write the virtual teach pendant file State to 1 (S705), the control is in the virtual teach pendant (step S706), and send the status TCP to the teach pendant to indicate the current control ownership status (S707); if not, write the virtual teach pendant file State to 0 (S708).

[0094] In the virtual teaching pendant state, the teaching pendant does not perform other operations except the key switch (step S709).

[0095] Figure 8 A schematic diagram of an embodiment of a process for determining the control right state when starting up a robot according to the present application is shown.

[0096] When the robot leaves the factory, in order to ensure that one teach pendant can connect to multiple motion controllers, or when there is no teach pendant, the control is switched to the virtual teach pendant when leaving the factory. That is, the status file of the virtual teach pendant is set to 1 when leaving the factory.

[0097] After the robot is turned on, the motion controller reads the status file of the virtual teach pendant (S801) to obtain the current status. When the current status is 1, the motion controller sends the status value to the teach pendant (physical operator) via TCP (S802).

[0098] The teach pendant obtains the current control right state (S803). After receiving the status that the control right belongs to the virtual teach pendant, it first determines whether the current key switch is in manual or manual high-speed mode (S804). If it is confirmed that the current state is "manual" or "manual high-speed" (gear position) (S805), the control right is transferred to the teach pendant. At the same time, the controller confirms that the teach pendant is currently in manual mode (S806), and the state file of the virtual teach pendant needs to be changed to 0 (S807). If the current state is "automatic" (gear position), the control right is transferred to the virtual teach pendant, and the virtual teach pendant can operate the robot (S808).

[0099] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0100] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0101] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations. It should be noted that the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict. Any simple modifications, equivalent changes and modifications made to the above embodiments according to the technical essence of the present invention still fall within the scope of the technical solution of the present invention.

Claims

1. A method for handling control rights of a robot, wherein the robot is controlled by a motion controller via a physical operator or a virtual operator, and the method is executed by the motion controller, comprising: receiving a control transfer notification from the entity operator; In response to receiving a control right transfer notification, entering a no-control right mode; In the no-control right mode, in response to a successful connection with the virtual operator, the control right is transferred to the virtual operator to control the operation of the robot based on the operation of the virtual operator.

2. The method of claim 1, wherein: The control right transfer notification includes: a notification that the physical operator gives up the control right or a notification indicating that the control right is transferred to the virtual operator.

3. The method of claim 1, further comprising: receiving a control acquisition notification from the entity operator; In response to receiving the control right acquisition notification, the control right is transferred to the physical operator to control the operation of the robot based on the operation of the physical operator.

4. The method according to claim 1 or 3, further comprising: In response to successfully transferring control to the virtual operator, setting a virtual operator flag to be valid; In response to successfully transferring the control right to the physical operator, the virtual operator flag is set to invalid.

5. The method of claim 4, further comprising: When shipped from the factory, the virtual operator flag is set to be valid, so that the virtual operator has control authority by default.

6. The method of claim 1, wherein: A virtual operator is software that runs on an electronic device.

7. A motion controller for a robot, wherein the robot is controlled by the motion controller via a physical operator and / or a virtual operator, the motion controller comprising: An operator access port, used to access the physical operator to communicate with the physical operator; A processing unit, wherein the processing unit is operated to execute the method according to any one of claims 1 to 6.

8. The motion controller of claim 7, further comprising: A short-circuit terminal is connected to the operator access port to short-circuit the emergency stop circuit when the physical operator is removed from the operator access port.

9. A physical manipulator, which controls the operation of a robot through a motion controller, comprising: A connection terminal, used to be connected to an operator access port of the motion controller to communicate with the motion controller; A control right selection unit, used for selecting to give up or obtain the control right of the robot; The processing unit, in response to selecting to give up or acquire the control right, sends a control right transfer notification or a control right acquisition notification to the motion controller.

10. The physical manipulator according to claim 9, wherein: The control right selection unit includes an enabling switch and / or a control panel, through which the control right can be given up or obtained, wherein: The enabling switch can be switched to at least one gear position indicating that the robot has control authority and at least one gear position indicating that the robot has no control authority; The control panel has an interface for selecting to give up or acquire control over the robot.

11. The physical manipulator according to claim 10, wherein: When the enabling switch is in the gear state with control right, the selection panel is prohibited from selecting to give up the control right; When the enabling switch is in a gear state without control authority, the selection panel can be selected to give up control authority.

12. The physical manipulator according to claim 10 or 11, wherein: When the enabling switch is in a gear state without control authority, only the enabling switch is allowed to operate.

13. A robot control system, comprising: A motion controller as claimed in claim 7, and a physical operator as claimed in claim 9 and / or a virtual operator as claimed in claim 1.

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