Method and mobile device for teaching an industrial robot

Abstract

A method of teaching an industrial robot (110) includes receiving input from a user (140), wherein the input characterizes a target coordinate system selected by the user (140); continuously synchronizing the target coordinate system with a device coordinate system, wherein the device coordinate system is associated with a mobile device (130); and when the user (140) moves the mobile device (130), in response to receiving control information from a sensor built into the mobile device (130), sending instructions to a robot controller (120) of the industrial robot (110) to teach the industrial robot based on the control information from the sensor. The user can conveniently teach the industrial robot (110) by moving or turning the mobile device (130). A mobile device (130) for teaching an industrial robot (110) is also provided.

Description

Technical Field

[0001] Exemplary embodiments of this disclosure generally relate to the field of industrial robot technology, and more specifically, to an industrial robot teaching method and mobile device. Background Technology

[0002] In the field of industrial robotics, the teach pendant serves as the interface between the industrial robot and the user, thus playing a crucial role in the teaching and control of industrial robots. Typically, each robot system is equipped with one teach pendant. However, replacing a malfunctioning teach pendant is costly. Furthermore, because the teach pendant and the robot controller of the industrial robot are connected via a wired connection, operating multiple industrial robots with a single teach pendant is extremely inconvenient. Summary of the Invention

[0003] In general, exemplary embodiments of this disclosure provide an industrial robot teaching method and a mobile device.

[0004] In a first aspect, this disclosure provides a method for teaching an industrial robot. The method includes: receiving input from a user, wherein the input represents a target coordinate system selected by the user; continuously synchronizing the target coordinate system with a device coordinate system, wherein the device coordinate system is associated with a mobile device; and, when the user moves the mobile device, in response to receiving control information from sensors built into the mobile device, sending instructions to a robot controller of the industrial robot based on the control information from the sensors to teach the industrial robot.

[0005] According to an exemplary embodiment, users can conveniently complete industrial robot teaching by moving or rotating the mobile device.

[0006] In some exemplary embodiments, sending instructions to the robot controller of the industrial robot includes: in response to determining that the user is moving the mobile device in a straight line, sending instructions to control the industrial robot to perform linear motion.

[0007] In some exemplary embodiments, sending instructions to the robot controller of the industrial robot includes: in response to determining that the mobile device is being rolled by a user about a rolling axis, sending instructions to cause the tool of the industrial robot to rotate about its robot axis, wherein the rolling axis is parallel to the main plane of the mobile device.

[0008] In some exemplary embodiments, sending instructions to the robot controller of the industrial robot includes: in response to a determined user rotating the mobile device about a vertical axis of the mobile device, sending instructions to cause the industrial robot to rotate about its joint axis, wherein the vertical axis is perpendicular to the main plane of the mobile device.

[0009] In some exemplary embodiments, the target coordinate system is selected between a base coordinate system and a tool coordinate system, wherein the base coordinate system is established on the mounting base of the industrial robot, and the tool coordinate system is established on the tool mounted on the industrial robot.

[0010] In some exemplary embodiments, before sending instructions to the robot controller of the industrial robot based on the control information from the user, the method further includes: determining whether the user clicked a button, wherein the click of the button serves as a token to move the industrial robot.

[0011] In some exemplary embodiments, continuously synchronizing the target coordinate system with the device coordinate system includes: using the camera module of the mobile device to enable the user to view the industrial robot through the camera module, so as to complete the synchronization of the target coordinate system with the device coordinate system in real time.

[0012] In a second aspect, this disclosure provides a mobile device for teaching an industrial robot. The mobile device includes: a receiving module configured to receive input from a user, wherein the input represents a target coordinate system selected by the user; a synchronization module configured to continuously synchronize the target coordinate system with a device coordinate system associated with the mobile device; and a sending module configured to: when the user moves the mobile device, in response to receiving control information from a sensor built into the mobile device, send instructions to the robot controller of the industrial robot based on the control information from the sensor to teach the industrial robot.

[0013] In some exemplary embodiments, sending instructions to the robot controller of the industrial robot includes: in response to determining that the user is moving the mobile device in a straight line, sending instructions to control the industrial robot to perform linear motion.

[0014] In some exemplary embodiments, sending instructions to the robot controller of the industrial robot includes: in response to determining that the mobile device is being rolled by a user about a rolling axis, sending instructions to cause the tool of the industrial robot to rotate about its robot axis, wherein the rolling axis is parallel to the main plane of the mobile device.

[0015] In some exemplary embodiments, sending instructions to the robot controller of the industrial robot includes: in response to determining that the mobile device is rotated by a user about a vertical axis of the mobile device, sending instructions to cause the industrial robot to rotate about its joint axis, wherein the vertical axis is perpendicular to the main plane of the mobile device.

[0016] In some exemplary embodiments, the target coordinate system is selected between a base coordinate system and a tool coordinate system, wherein the base coordinate system is established on the mounting base of the industrial robot, and the tool coordinate system is established on the tool mounted on the industrial robot.

[0017] In some exemplary embodiments, before sending instructions to the robot controller of the industrial robot based on the control information from the user, the moving device is further configured to: determine whether the user clicks a button, wherein the click of the button serves as a token for moving the industrial robot.

[0018] In some exemplary embodiments, continuously synchronizing the target coordinate system with the device coordinate system includes: using the camera module of the mobile device to enable the user to view the industrial robot through the camera module, so as to complete the synchronization of the target coordinate system with the device coordinate system in real time. Attached Figure Description

[0019] The above and other objects, features, and advantages of the exemplary embodiments disclosed herein will be more readily understood after a detailed description in conjunction with the accompanying drawings. Several exemplary embodiments of the present disclosure are illustrated in the drawings in an exemplary and non-limiting manner, wherein:

[0020] Figure 1 A schematic diagram of a robot system according to an exemplary embodiment of the present disclosure is shown.

[0021] Figure 2 A flowchart illustrating an industrial robot teaching method according to an exemplary embodiment of the present disclosure is shown.

[0022] Figure 3 This illustrates a graphical user interface displayed on a mobile device, according to an exemplary embodiment of the present disclosure, which allows a user to select a target coordinate system.

[0023] Figure 4 This illustrates different scenarios in which the base coordinate system and the device coordinate system are synchronized according to an exemplary embodiment of this disclosure.

[0024] Figure 5 This illustrates a graphical user interface displayed on a mobile device, according to an exemplary embodiment of the present disclosure, which allows a user to select the driving motion mode of an industrial robot.

[0025] Figure 6This illustration shows different scenarios in which a user drives an industrial robot via a mobile device in a base coordinate system, according to an exemplary embodiment of this disclosure.

[0026] Figure 7 This illustrates different scenarios in which the tool coordinate system and the device coordinate system are synchronized according to an exemplary embodiment of this disclosure.

[0027] Figure 8 This illustration shows different scenarios in which a user drives an industrial robot via a mobile device in the tool coordinate system, according to an exemplary embodiment of this disclosure.

[0028] Figure 9 A schematic diagram of a device structure that can be used to implement embodiments of the present disclosure is shown.

[0029] In the accompanying drawings, the same or similar reference numerals refer to the same or similar components. Detailed Implementation

[0030] The implementation principles of this disclosure will be explained below with reference to several exemplary embodiments. It should be understood that these embodiments are described for illustrative purposes only to help those skilled in the art understand and implement this disclosure, and do not constitute any limitation on the scope of protection of this disclosure. The disclosure described herein can be implemented in various ways other than those described below.

[0031] In the following description and claims, unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure pertains.

[0032] The terms "an embodiment," "an exemplary embodiment," etc., appearing in this disclosure refer to embodiments that may include a specific feature, structure, or characteristic, but not every embodiment must include that specific feature, structure, or characteristic. Furthermore, the above expressions do not necessarily refer to the same embodiment. Moreover, when a specific feature, structure, or characteristic is described in conjunction with an embodiment, it should be assumed that those skilled in the art possess the ability to implement that feature, structure, or characteristic in combination with other embodiments, regardless of whether such combination is explicitly described in the document.

[0033] It should be understood that although terms such as "first" and "second" may be used herein to describe various components, these components should not be limited by such terms. These terms are only used to distinguish different components. For example, a first component may be referred to as a second component, and similarly, a second component may be referred to as a first component; this substitution does not depart from the scope of protection of the exemplary embodiments. The term "and / or" as used herein includes any and all combinations of one or more of the listed elements.

[0034] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit exemplary embodiments. In this document, the singular forms “a,” “an,” and “the” also have plural meanings unless the context explicitly defines them to the contrary. It should also be understood that the use of terms such as “comprising,” “including,” “having,” and “possessing” indicates the presence of a recorded feature, element, and / or component, but does not exclude the presence or addition of one or more other features, elements, components, and / or combinations thereof.

[0035] As mentioned above, traditional industrial robot teaching methods suffer from inconvenient teaching processes and high costs. To at least address the shortcomings of existing solutions, this disclosure proposes a teaching method utilizing motion attitude sensors built into mobile devices. These sensors, found in mobile devices such as tablets, can output high-precision, high-accuracy raw data, suitable for monitoring the displacement and attitude of the mobile device. Using these sensors, users can control the mobile device, causing the industrial robot to move along a target coordinate system.

[0036] The following will combine Figures 1 to 9 The exemplary embodiments will be described in more detail below. First, refer to… Figure 1 , Figure 1 A schematic diagram of a robot system 10 according to an exemplary embodiment of the present disclosure is shown.

[0037] like Figure 1 As shown, the robot system 10 includes an industrial robot 110, which can be mounted on a fixed base 113. The industrial robot 110 can control the tool 111 at the end of the robotic arm 112 to complete various tasks, such as milling and grinding. The specific types of tasks performed by the industrial robot 110 are not limited herein. Figure 1 As shown, the industrial robot 110 is communicatively connected to the robot controller 120, which is configured to control the movement of the robotic arm 112 according to preset instructions. With the help of the robot controller 120, the tool 111 mounted on the robotic arm 112 can be driven to the target position to perform the preset task.

[0038] like Figure 1 As shown, user 140 uses mobile device 130 to teach industrial robot 110, storing the position data of each target point to robot controller 120. After teaching is complete, user 140 writes a robot program based on the taught points to drive industrial robot 110 to move along the target path. Mobile device 130 can be a tablet computer that is easy for user 140 to operate by hand. It should be understood that this type is only an example and does not constitute a limitation on the scope of protection of the solution described herein. Mobile device 130 can also be a mobile phone or a foldable screen phone, and its specific form is not limited to the above embodiments.

[0039] Figure 2A teaching method 200 for an industrial robot 110 according to an exemplary embodiment of the present disclosure is shown. In step 202, the method 200 includes receiving input from a user 140, the input representing a target coordinate system selected by the user 140.

[0040] Figure 3 This illustrates a graphical user interface displayed on a mobile device 130, according to an exemplary embodiment of the present disclosure, allowing a user 140 to select a target coordinate system. For example... Figure 3 As shown, the target coordinate system can be selected between the base coordinate system and the tool coordinate system. The base coordinate system is established on the mounting base 113 of the industrial robot 110. The tool coordinate system is established on the tool 111 mounted on the robotic arm 112 of the industrial robot 110. The user 140 can access the target coordinate system via touch... Figure 3 The "Base" or "Tool" button within the graphical user interface allows for convenient selection of the desired coordinate system on the mobile device 130.

[0041] like Figure 3 As shown, before selecting the target coordinate system, user 140 can also enter the IP address of robot controller 120 to complete the connection between mobile device 130 and robot controller 120. In this way, mobile device 130 can establish a wireless connection with robot controller 120, allowing user 140 to move freely and flexibly within the working area of ​​industrial robot 110 without being restricted by cables.

[0042] Back to Figure 2 In step 204, method 200 includes continuously synchronizing the target coordinate system with the device coordinate system, which is associated with the mobile device 130. The mobile device 130 has built-in gravity sensors and attitude sensors, which can calculate the relative position and attitude of the mobile device 130 in space. Therefore, the mobile device 130 can be placed in a position coplanar with the industrial robot 110 to complete the synchronization of the base coordinate system of the industrial robot 110 and the device coordinate system of the mobile device 130.

[0043] Figure 4 This illustration shows different scenarios in which the base coordinate system and the device coordinate system are synchronized according to an exemplary embodiment of this disclosure. The device coordinate system is established on the main plane of the mobile device 130. The main plane can be defined as the screen of the mobile device 130.

[0044] like Figure 4 As shown in sub-figure (a), the industrial robot 110 is mounted on the base 113, and the device coordinate system is synchronized with the base coordinate system, that is, the X-axis of the device coordinate system is parallel to the X-axis of the base coordinate system, the Y-axis of the device coordinate system is parallel to the Y-axis of the base coordinate system, and the Z-axis of the device coordinate system is parallel to the Z-axis of the base coordinate system.

[0045] like Figure 4As shown in sub-figure (b), the industrial robot 110 is inverted on the base 113, and the device coordinate system is synchronized with the base coordinate system, that is, the X-axis of the device coordinate system is parallel to the X-axis of the base coordinate system, the Y-axis of the device coordinate system is parallel to the Y-axis of the base coordinate system, and the Z-axis of the device coordinate system is parallel to the Z-axis of the base coordinate system.

[0046] like Figure 4 As shown in sub-figure (c), the industrial robot 110 is mounted on an inclined base 113 with an inclination angle of θ. The device coordinate system and the base coordinate system are synchronized, that is, the X-axis of the device coordinate system is parallel to the X-axis of the base coordinate system, the Y-axis of the device coordinate system is parallel to the Y-axis of the base coordinate system, and the Z-axis of the device coordinate system is parallel to the Z-axis of the base coordinate system.

[0047] Back to Figure 2 In step 206, method 200 includes: when user 140 moves mobile device 130, in response to receiving control information output by built-in sensor of mobile device 130, sending instructions to robot controller 120 of industrial robot 110 based on the control information of sensor to perform teaching on industrial robot 110.

[0048] User 140 needs to hold the mobile device 130 with both hands to drive the industrial robot 110.

[0049] In some exemplary embodiments, before sending instructions to the robot controller of the industrial robot based on sensor control information, the method further includes determining whether a user has pressed a button, wherein the button press operation serves as a token to drive the industrial robot's movement. For example, user 140 may press a volume button on mobile device 130, which serves as a token to drive the industrial robot 110's movement under wireless connection. The motion control function can only be enabled after the token verification is successful. If the motion function is not used for an extended period, the token will expire. In this case, user 140 needs to press the volume button again to complete the token verification before motion control can be re-executed.

[0050] Figure 5 This illustrates a graphical user interface displayed on a mobile device 130, according to an exemplary embodiment of the present disclosure, allowing a user 140 to select an industrial robot drive motion mode. In some exemplary embodiments, such as Figure 5 As shown, method 200 may also include steps for configuring the motion parameters of the industrial robot, including configuration items such as motor, motion mode, and motion speed. User 140 can use... Figure 5 The graphical user interface shown allows for convenient configuration of the above parameters. As shown, the motion modes include linear, reorient, and axis modes. After the user 140 presses the corresponding button on the interface of the mobile device 130, they can control the industrial robot 110 to operate in the corresponding motion mode.

[0051] Figure 6 This illustration depicts different scenarios in which a user 140 drives an industrial robot 110 via a mobile device 130 in a base coordinate system, according to an exemplary embodiment of this disclosure. For example... Figure 6 As shown in subgraph (a), user 140 selected Figure 5 In the "straight line" mode shown in sub-figure (a), the industrial robot 110 can be controlled to move in a straight line. If the user 140 translates the mobile device 130 along the base coordinate system, the large displacement sensor built into the mobile device 130 can detect the significant displacement of the mobile device 130, and the mobile device 130 then sends a command to control the industrial robot 110 to move in a straight line along the base coordinate system. In this way, the linear movement of the industrial robot 110 along the base coordinate system can be achieved.

[0052] like Figure 6 As shown in subgraph (b), user 140 selected Figure 5 In the "Reorient" mode shown in sub-figure (b), the industrial robot 110 can be controlled to move in reorient mode. If the user 140 rolls the mobile device 130 around the device coordinate system's rolling axis (e.g., the X-axis), the rotation vector sensor and gyroscope can respectively calculate the attitude and rotation rate of the mobile device 130. The mobile device 130 then sends commands to control the industrial robot 110 to rotate and adjust its attitude around the robot axis (e.g., the X-axis of the base coordinate system). In this way, the attitude rotation adjustment of the industrial robot 110 around the robot axis can be achieved. Although Figure 6 Sub-figure (b) shows the mobile device 130 rotating about the X-axis of the device coordinate system. However, it should be understood that in "redirect" mode, the user can also cause the mobile device 130 to roll about the Y-axis of the device coordinate system, thereby controlling the tool 111 of the industrial robot 110 to rotate about the Y-axis of the base coordinate system. Figure 6 As shown, the X and Y axes of the device coordinate system are parallel to the main plane of the mobile device 130 (i.e., the screen).

[0053] like Figure 6 As shown in subgraph (c), user 140 selected Figure 5After selecting the corresponding joint number in the "Axis" mode in sub-diagram (c), the industrial robot 110 can be controlled to move in axis mode. The joint numbers correspond to different joints 115 of the industrial robot 110. For example, the joint 115 closest to the base 113 is labeled as axis 1, and the remaining joints are numbered sequentially. When teaching the industrial robot 110, if the user 140 rotates the mobile device 130 around the vertical axis of the device coordinate system (e.g., the Z-axis), the rotation vector sensor and gyroscope can respectively calculate the attitude and rotation rate of the mobile device 130. The mobile device 130 then sends a command to control the industrial robot 110 to rotate around the corresponding joint axis (e.g., the axis of joint 115-1). In this way, the rotation of the industrial robot 110 around the corresponding joint axis can be achieved. Figure 6 As shown in sub-figure (c), the Z-axis of the device coordinate system is perpendicular to the main plane of the mobile device 130 (i.e., the screen). Although Figure 6 Sub-figure (c) shows industrial robot 110 rotating about joint 115-1, but it should be understood that in "Axis" mode, if user 140 is in Figure 5 If other joint numbers are selected in sub-diagram (c), the industrial robot 110 can also rotate around the remaining joints (e.g., joint 115-2).

[0054] In some exemplary embodiments, after the industrial robot 110 is moved to the target location, the user 140 can tap the screen or back cover of the mobile device 130 with their right hand. The linear acceleration sensor can recognize the gesture to complete the teaching process.

[0055] According to an exemplary embodiment of this disclosure, user 140 can place mobile device 130 in a position coplanar with industrial robot 110 to synchronize the base coordinate system of industrial robot 110 with the device coordinate system of mobile device 130. Afterward, user 140 can wirelessly teach industrial robot 110 by correspondingly moving or rotating mobile device 130.

[0056] Refer again Figure 3 After the user presses the "Tools" button, the coordinate system synchronization process and drive control process of the industrial robot 110 will be executed in the tool coordinate system.

[0057] Figure 7 This illustrates different scenarios in which the tool coordinate system and the device coordinate system are synchronized according to an exemplary embodiment of this disclosure.

[0058] In tool coordinate system mode, the mobile device 130's built-in gravity sensor and attitude sensor can calculate the relative position and attitude of the mobile device 130 in space, while simultaneously activating the mobile device 130's camera module. For example... Figure 7As shown, user 140 can view the real-time captured image by the camera module through the screen of the mobile device and rotate the mobile device 130 synchronously until the mobile device 130 and the tool 111 of the industrial robot 110 are in a parallel posture, thereby completing the synchronization of the tool coordinate system of the industrial robot 110 and the device coordinate system of the mobile device 130.

[0059] Figure 8 This illustration depicts different scenarios in which a user 140 drives an industrial robot 110 via a mobile device 130 in a tool coordinate system, according to an exemplary embodiment of this disclosure. For example... Figure 8 As shown in sub-figure (a), after user 140 selects the "linear" mode through the graphical user interface, industrial robot 110 can be controlled to move in linear mode. If user 140 translates mobile device 130 along the tool coordinate system, the large displacement sensor built into mobile device 130 can detect the significant displacement of mobile device 130, and mobile device 130 then sends a command to control industrial robot 110 to move linearly along the tool coordinate system. In this way, linear movement of industrial robot 110 along the tool coordinate system can be achieved.

[0060] like Figure 8 As shown in sub-figure (b), after user 140 selects the "Redirect" mode through the graphical user interface, industrial robot 110 can be controlled to move in redirection mode. If user 140 rolls mobile device 130 around the machine coordinate system's rolling axis (e.g., the X-axis), the rotation vector sensor and gyroscope can respectively calculate the attitude and rotation rate of mobile device 130. Mobile device 130 then sends commands to control industrial robot 110 to rotate and adjust its attitude around the robot axis (e.g., the tool coordinate system's X-axis). In this way, the attitude rotation adjustment of industrial robot 110 around the robot axis can be achieved. Although Figure 8 Sub-figure (b) shows the mobile device 130 rotating about the X-axis of the device coordinate system. However, it should be understood that in "redirect" mode, the user can also cause the mobile device 130 to roll about the Y-axis of the device coordinate system, thereby controlling the tool 111 of the industrial robot 110 to rotate about the Y-axis of the tool coordinate system. Figure 8 As shown, the X and Y axes of the device coordinate system are parallel to the main plane of the mobile device 130 (i.e., the screen).

[0061] like Figure 8As shown in sub-figure (c), after user 140 selects the "Axis" mode and the corresponding joint number through the graphical user interface, industrial robot 110 can be controlled to move in axis mode. If user 140 rotates mobile device 130 around the vertical axis of the device coordinate system (e.g., the Z-axis), the rotation vector sensor and gyroscope can respectively calculate the attitude and rotation rate of mobile device 130. Mobile device 130 then sends a command to control industrial robot 110 to rotate around the corresponding joint axis (e.g., the axis of joint 115-1). In this way, the rotation of industrial robot 110 around the corresponding joint axis can be achieved. Figure 8 As shown in sub-figure (c), the Z-axis of the device coordinate system is perpendicular to the main plane of the mobile device 130 (i.e., the screen). Although Figure 8 Sub-diagram (c) shows industrial robot 110 rotating about joint 115-1, but it should be understood that in "axis" mode, if user 140 is... Figure 5 If other joint numbers are selected in sub-diagram (c), the industrial robot 110 can also rotate around the remaining joints (e.g., joint 115-2).

[0062] According to an exemplary embodiment of this disclosure, user 140 can rotate mobile device 130 to maintain a parallel posture between mobile device 130 and tool 111 of industrial robot 110, thereby synchronizing the tool coordinate system of industrial robot 110 with the device coordinate system of mobile device 130. Thereafter, user 140 can wirelessly teach industrial robot 110 by correspondingly moving or rotating mobile device 130.

[0063] In a second aspect, this disclosure provides a mobile device for teaching an industrial robot. The mobile device includes: a receiving module configured to receive input from a user, wherein the input represents a target coordinate system selected by the user; a synchronization module configured to continuously synchronize the target coordinate system with a device coordinate system associated with the mobile device; and a sending module configured to: when the user moves the mobile device, in response to receiving control information from a sensor built into the mobile device, send instructions to the robot controller of the industrial robot based on the control information from the sensor to teach the industrial robot.

[0064] In some exemplary embodiments, sending instructions to the robot controller of the industrial robot includes: in response to determining that the user has linearly translated the mobile device, sending instructions to control the industrial robot to perform linear motion.

[0065] In some exemplary embodiments, sending instructions to the robot controller of the industrial robot includes: in response to determining that a user is rolling the mobile device about a rolling axis, sending instructions to cause the tool of the industrial robot to rotate about its robot axis, wherein the rolling axis is parallel to the main plane of the mobile device.

[0066] In some exemplary embodiments, sending instructions to the robot controller of the industrial robot includes: in response to determining that a user is rotating the mobile device about a vertical axis of the mobile device, sending instructions to cause the industrial robot to rotate about its joint axis, wherein the vertical axis is perpendicular to the main plane of the mobile device.

[0067] In some exemplary embodiments, the target coordinate system is selected between a base coordinate system and a tool coordinate system, wherein the base coordinate system is established on the mounting base of the industrial robot, and the tool coordinate system is established on the tool mounted on the industrial robot.

[0068] In some exemplary embodiments, before sending instructions to the robot controller of the industrial robot based on the control information from the user, the motion device is further configured to: determine whether the user clicks a button, wherein the click of the button serves as a token to drive the movement of the industrial robot.

[0069] In some exemplary embodiments, continuously synchronizing the target coordinate system with the device coordinate system includes: using the camera module of the mobile device to enable the user to view the industrial robot through the camera module, so as to complete the synchronization of the target coordinate system with the device coordinate system in real time.

[0070] Compared to existing teaching solutions, the mobile device 130 described in this disclosure can establish a wireless connection with the robot controller 120 of the industrial robot 110. A single mobile device 130 can connect to multiple robot controllers 120 and control multiple industrial robots 110, which can significantly reduce the teaching cost of the industrial robot 110. In addition, the method of using the mobile device 130 to teach the industrial robot 110 is intuitive and easy to operate, which can reduce the time cost of on-site debugging for users.

[0071] Figure 9A schematic diagram of the device 900, which can be used to implement embodiments of the present disclosure, is shown. As shown, the device 900 includes a central processing unit (CPU) 901. The CPU 901 can execute various corresponding actions and processing flows according to computer program instructions stored in the read-only memory (ROM) 902 or loaded from the storage unit 908 into the random access memory (RAM) 903. The RAM 903 also stores various programs and data required for the operation of the device 900. The CPU 901, ROM 902, and RAM 903 are interconnected via a bus 904, and the input / output interface 905 is also connected to the bus 904.

[0072] Multiple components within device 900 are connected to input / output interfaces 905, including: input units 906, such as keyboards and mice; output units 907, such as various displays and speakers; storage units 908, such as hard disks and optical disks; and communication units 909, such as network interface cards (NICs), modems, and wireless communication transceivers. The communication unit 909 enables device 900 to interact with other devices and transmit data via computer networks such as the Internet and / or various communication networks.

[0073] All the processes and steps described above can be executed by the processing unit 901. For example, in some embodiments, the method can be implemented as a computer software program, which is tangibly stored in a machine-readable medium (e.g., storage unit 908). In some embodiments, the computer program can be partially or entirely loaded into and installed into the device 900 via read-only memory 902 and / or communication unit 909. When the computer program is loaded into random access memory 903 and executed by central processing unit 901, one or more steps of the method 200 described above can be implemented.

[0074] In some embodiments, the method 200 described above can be implemented as a computer program product. The computer program product may include a computer-readable storage medium storing computer-readable program instructions for implementing the various technical solutions of this disclosure.

[0075] The computer-readable storage medium is a tangible device capable of storing and retaining instructions for use by an instruction execution device. Computer-readable storage media include, but are not limited to: electrical storage devices, magnetic storage devices, optical storage devices, electromagnetic storage devices, semiconductor storage devices, or any suitable combination of the above. More specific examples (not an exhaustive list) of computer-readable storage media include: portable computer disks, hard disks, random access memory, read-only memory, erasable programmable read-only memory (flash memory), static random access memory, portable optical disc read-only memory, digital multifunction optical disc, memory sticks, floppy disks, mechanical encoding devices (e.g., punched cards storing instructions, embossed markings in grooves), and any suitable combination of the above. The computer-readable storage medium described herein is not to be construed as a transient signal itself, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (e.g., optical pulses transmitted through optical fibers), or electrical signals transmitted through wires.

[0076] The computer-readable program instructions described herein can be downloaded from a computer-readable storage medium to various computing / processing devices, or downloaded to external computers or external storage devices via the Internet, local area network, wide area network, and / or wireless network. The network may include copper transmission cables, fiber optic transmission lines, wireless transmission links, routers, firewalls, switches, gateway computers, and / or edge servers. Network adapters or network interfaces within each computing / processing device receive the computer-readable program instructions from the network and forward them to the computer-readable storage medium of each computing / processing device.

[0077] The computer program instructions used to perform the operations of this disclosure may be assembly instructions, instruction set architecture instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, status configuration data, or source code or object code written using one or more combinations of object-oriented programming languages ​​and traditional procedural programming languages. The computer-readable program instructions may be executed entirely or partially on the user's local computer, or run as a standalone software package, or partially on the local computer and partially on a remote computer, or entirely on a remote computer or server. If a remote computer is involved, the remote computer may establish a connection with the local computer through any type of network, including a local area network (LAN), a wide area network (WAN), or access an external computer via the Internet provided by an Internet service provider. In some embodiments, the status information of the computer-readable program instructions may be used to customize electronic circuits; these electronic circuits may be, for example, programmable logic circuits, field-programmable gate arrays (FPGAs), or programmable logic arrays (PLAs). These electronic circuits execute the computer-readable program instructions to implement the various technical solutions of this disclosure.

[0078] Computer-readable program instructions can be provided to a processing unit of a general-purpose computer, a special-purpose computer, or other programmable data processing equipment to generate a dedicated computing device. When the processing unit of the computer or other programmable data processing equipment executes the instructions, it generates means for implementing the functions / actions specified in one or more boxes of a flowchart or block diagram. Computer-readable program instructions can also be stored in a computer-readable storage medium. These instructions enable a computer, programmable data processing equipment, and / or other equipment to operate in a specific manner, thus the computer-readable medium storing the instructions can form an article of manufacture containing the instructions for implementing the various functions / actions specified in one or more boxes of a flowchart or block diagram.

[0079] Computer-readable program instructions can also be loaded into a computer, other programmable data processing equipment, or other equipment to cause the computer, other programmable data processing equipment, or other equipment to perform a series of operational steps, generating a computer-implemented flow. Therefore, instructions that execute on a computer, other programmable data processing equipment, or other equipment can implement the functions / actions specified by one or more boxes in a flowchart or block diagram.

[0080] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functions, and operations achievable by systems, methods, and computer program products according to various embodiments of this disclosure. At this level, each box in a flowchart or block diagram can represent a module, program segment, or instruction; the module, program segment, or instruction contains one or more executable instructions for implementing a specified logical function. In some alternative embodiments, the execution order of the functions indicated by the boxes may differ from the order depicted in the drawings. For example, two consecutive boxes can actually be executed in parallel, and in some scenarios, the execution order is reversible, depending on the corresponding function. It should also be noted that each box in the block diagram and / or flowchart, and any combination of boxes, can be implemented by a dedicated hardware system for performing the specified function or action; it can also be implemented by a combination of dedicated hardware and computer instructions.

[0081] The various embodiments of this disclosure have been described above. These descriptions are merely illustrative and not exhaustive, nor do they limit the disclosed embodiments. Without departing from the spirit and scope of the embodiments, those skilled in the art can easily make various changes and modifications. The terminology used herein is intended to best explain the implementation principles, practical applications, and industry technical improvements of the embodiments, or to facilitate understanding of the disclosed embodiments by those skilled in the art.

[0082] It should be understood that although the above description uses an object handling scenario as an example to illustrate this disclosure, the example is for illustrative purposes only and does not constitute any limitation on the scope of protection of the solutions described herein.

[0083] Furthermore, although the operations are shown in a specific order, this order should not be interpreted as requiring all operations to be performed sequentially in the order shown to achieve the desired effect. In some scenarios, multitasking and parallel processing modes have advantages. Similarly, the above discussion includes many specific implementation details, but these details should not be interpreted as limiting the scope of protection of this disclosure, but only as feature descriptions corresponding to specific embodiments. Some features described in the context of an independent embodiment can also be combined into a single embodiment for implementation; conversely, multiple features described in the context of a single embodiment can also be decomposed into multiple embodiments for separate implementation, or implemented in any suitable sub-combination manner.

[0084] Although this document describes the technical solutions using terms specific to structural features and / or methodological actions, it should be understood that the protected object as defined by the claims is not necessarily limited to the specific features or actions described above. Rather, the specific features and actions described above are disclosed only as exemplary forms of implementing the technical solutions of the claims.

Claims

1. A method for teaching an industrial robot, comprising: Receive input from a user, wherein the input represents a target coordinate system selected by the user; The target coordinate system is continuously synchronized with the device coordinate system, wherein the device coordinate system is associated with the mobile device; as well as When the user moves the mobile device, in response to receiving control information from the sensors built into the mobile device, instructions are sent to the robot controller of the industrial robot based on the control information from the sensors to teach the industrial robot.

2. The method according to claim 1, wherein sending instructions to the robot controller of the industrial robot includes: In response to determining that the user is moving the mobile device in a straight line, a command is sent to control the industrial robot to perform linear motion.

3. The method according to claim 1, wherein sending instructions to the robot controller of the industrial robot includes: In response to determining that the mobile device is being rolled by a user about its scroll axis, a command is sent to cause the industrial robot's tool to rotate about its robot axis, wherein the scroll axis is parallel to the main plane of the mobile device.

4. The method of claim 1, wherein sending instructions to the robot controller of the industrial robot comprises: In response to determining that the user is rotating the mobile device about its vertical axis, a command is sent to cause the industrial robot to rotate about its joint axis, wherein the vertical axis is perpendicular to the main plane of the mobile device.

5. The method according to any one of claims 1 to 4, wherein the target coordinate system is selected between a base coordinate system and a tool coordinate system, wherein the base coordinate system is established on the mounting base of the industrial robot, and the tool coordinate system is established on the tool mounted on the industrial robot.

6. The method according to any one of claims 1 to 5, wherein before sending instructions to the robot controller of the industrial robot based on the control information from the user, the method further comprises: Determine whether the user clicks a button, wherein the click of the button serves as a token to move the industrial robot.

7. The method according to any one of claims 1 to 6, wherein continuously synchronizing the target coordinate system with the device coordinate system comprises: Using the camera module of the mobile device, the user can view the industrial robot through the camera module to synchronize the target coordinate system with the device coordinate system in real time.

8. A mobile device for teaching industrial robots, comprising: A receiving module configured to receive input from a user, wherein the input represents a target coordinate system selected by the user; A synchronization module, configured to continuously synchronize the target coordinate system with the device coordinate system, wherein the device coordinate system is associated with the mobile device; as well as The sending module is configured to: when the user moves the mobile device, in response to receiving control information from a sensor built into the mobile device, send instructions to the robot controller of the industrial robot based on the control information from the sensor to teach the industrial robot.

9. The mobile device of claim 8, wherein sending instructions to the robot controller of the industrial robot comprises: In response to determining that the user is moving the mobile device in a straight line, a command is sent to control the industrial robot to perform linear motion.

10. The mobile device of claim 8, wherein sending instructions to the robot controller of the industrial robot comprises: In response to determining that the mobile device is being rolled by a user about its scroll axis, a command is sent to cause the industrial robot's tool to rotate about its robot axis, wherein the scroll axis is parallel to the main plane of the mobile device.

11. The mobile device of claim 8, wherein sending instructions to the robot controller of the industrial robot comprises: In response to determining that the user is rotating the mobile device about its vertical axis, a command is sent to cause the industrial robot to rotate about its joint axis, wherein the vertical axis is perpendicular to the main plane of the mobile device.

12. The mobile device according to any one of claims 8 to 11, wherein the target coordinate system is selected between a base coordinate system and a tool coordinate system, wherein the base coordinate system is established on the mounting base of the industrial robot, and the tool coordinate system is established on the tool mounted on the industrial robot.

13. The mobile device according to any one of claims 8 to 12, before sending an instruction to the robot controller of the industrial robot based on the control information from the user, the mobile device is further configured to: determine whether the user clicks a button, wherein the click of the button serves as a token for moving the industrial robot.

14. The mobile device according to any one of claims 8 to 13, wherein continuously synchronizing the target coordinate system with the device coordinate system comprises: Using the camera module of the mobile device, the user can view the industrial robot through the camera module to synchronize the target coordinate system with the device coordinate system in real time.

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