Programming handheld device and robot control system

Abstract

This programming handheld device sends a command to a robot control unit to control the operation of a robot. The programming handheld includes a voice input unit, through which a user enters voice commands, and a speech recognition unit for recognizing a voice command received by the voice input unit. The programming handheld also includes a processing unit which, based on the result of the speech recognition by the speech recognition unit, transmits at least one command, including operations in a robot operating program and the termination of alarms, to the robot control unit.

Description

Technical area

[0001] The present invention relates to a teaching pendant and a robot control system. background

[0002] In a conventional robot system, to ensure the safety of a worker, safety measures are taken to prevent the worker from entering the robot's work area during the period in which the robot is being controlled. For example, a safety fence is installed around the robot, and workers are prohibited from entering the area within the safety fence during the period in which the robot is being controlled. In recent years, a robot system has been proposed in which a worker works in cooperation with a robot. In this robot system, the robot and the worker can perform work simultaneously in the state in which no safety fence is provided around the robot (see, for example, Japanese Unexamined Patent Publication (Kokai) No. 2018-30185A).

[0003] When the worker works in cooperation with the robot, the robot can be operated on a teach pendant. A button, a numeric keypad, and the like are arranged on the teach pendant in addition to a display unit for displaying information. The worker operates the button, numeric keypad, and the like on the teach pendant to send a command for operating the robot to a robot control device. Furthermore, in conventional technology, regarding a device including a display unit for displaying an image, it is known to operate an image displayed on the display unit by voice (see, for example, Japanese Unexamined Patent Publication (Kokai) No. 2006-68865A and Japanese Unexamined Patent Publication (Kokai) No. H01-240293A). Citation listPatent literature [PTL1] Japanese Unexamined Patent Disclosure (Kokai) No. 2018-30185A [PTL2] Japanese Unexamined Patent Publication (Kokai) No. 2006-68865A [PTL3] Japanese Unexamined Patent Disclosure (Kokai) No. H01-240293A SummaryTechnical problem

[0004] The worker must operate the teach pendant's button, numeric keypad, and the like when operating the robot on the teach pendant. Therefore, there is a problem in that the worker must interrupt the work being performed when operating the robot. Furthermore, in a work environment where the worker's hands are dirty, precautions such as washing hands, drying hands, or removing gloves are required before operating the teach pendant. In other words, other work is required to operate the teach pendant. Therefore, with the conventional teach pendant, there is a problem in that the worker's work efficiency is poor. Solution to the problem

[0005] A teaching pendant according to one embodiment of the present disclosure sends a command to a robot control device that controls a movement of a robot. The teaching pendant includes a voice input unit into which a worker inputs a voice command, and a voice recognition unit configured to recognize a voice command obtained by the voice input unit. The teaching pendant includes a processing unit configured to send to the robot control device at least one of a command for operating a movement program of the robot and a command for resetting an alarm based on a recognition result of a voice command by the voice recognition unit.

[0006] A robot control system according to the present disclosure includes the above-described teaching pendant and a robot control device that controls a movement of a robot, Advantageous effects of the invention

[0007] An embodiment of the present disclosure may provide a teach pendant that improves work efficiency of a worker and a robot control system including the teach pendant. Brief description of the drawings

[0008] They show: Fig. 1 a schematic representation of a robot system according to an embodiment; Fig. 2 is a block diagram of a robot system including a first teaching pendant according to the embodiment; Fig. 3 an image displayed on a display unit of the teaching pendant; Fig. 4 an image for selecting a language in which speech recognition is performed; Fig. 5 is a descriptive diagram of an image of an icon for performing a mute function to stop speech recognition; Fig. 6 an image in which a warning is displayed on the display unit of the teaching pendant; Fig. 7 is a descriptive diagram showing expressions for voice operation by a worker; Fig. 8 is a flowchart of the controller for sending a command to a robot control device by voice input; Fig. 9 an operation confirmation image displayed before a motion program is executed; Fig. 10 is a block diagram of a second programming handheld device according to the embodiment; and Fig. 11 is a descriptive diagram showing a voice output from the second teaching pendant. Description of implementation examples

[0009] A teaching pendant and a robot control system including the teaching pendant according to an embodiment are described below with reference to Fig. 1 to 11. A robot system according to the present embodiment includes a work tool, a robot, and the robot control system. The robot control system includes the teach pendant and a robot control device that controls the robot. In the robot system according to the present embodiment, a worker and a robot perform a predetermined work in cooperation with each other.

[0010] Fig. 1 shows a perspective view of the robot system according to the present embodiment. Fig. 2 shows a block diagram of the robot system according to the present embodiment. Referring to Fig. 1 and Fig. 2, a robot system 8 according to the present embodiment performs work based on a motion program. The robot system 8 includes a work tool 2 as an end effector, and a robot 1 that moves the work tool 2. Any type of work tool 2 can be attached to the robot 1 according to the type of work performed by the robot system 8. For example, when the robot system 8 carries a workpiece, a hand can be attached to the robot 1. Alternatively, when the robot system 8 performs arc welding, an arc welder can be attached to the robot 1.

[0011] The robot 1 according to the present embodiment is a vertically articulated robot comprising a plurality of joint sections. The robot 1 includes a rotary base 13 supported by a base section 14. The rotary base 13 is configured to rotate with respect to the base section 14. The robot 1 includes an upper arm 11 and a lower arm 12, which are rotatably supported via respective joint sections. Furthermore, the upper arm 11 rotates with respect to a rotation axis parallel to a direction in which the upper arm 11 extends.

[0012] The robot 1 includes a wrist 15 rotatably coupled to an end portion of the upper arm 11. The wrist 15 includes a flange 16 configured to rotate. The work tool 2 is attached to the flange 16 of the wrist 15. The robot 1 according to the present embodiment includes six joint axes, but the robot is not limited to such a structure. Any type of robot capable of operating a work tool can be used.

[0013] The robot 1 according to the present embodiment is a cooperative robot for performing work together with a worker. The cooperative robot includes a sensor for detecting an external force acting on the robot. For example, the cooperative robot includes a force sensor arranged on a base portion or a torque sensor mounted on each joint axis, and is thus configured to be capable of detecting an external force acting on the robot. When the robot 1 is in contact with a worker or another object and detects an external force, a robot controller 41 limits the movement of the robot 1. In this case, the robot controller 41, for example, stops or reduces a driving speed of the robot.

[0014] Alternatively, in the cooperative robot, a component such as an arm or a base is covered with a casing having a soft surface to allow the cooperative robot to come into contact with a worker or the like. Note that the robot is not limited to such a cooperative robot and may be a robot that performs work alone without cooperation with a worker.

[0015] The robot 1 includes a robot drive device for changing a position and posture of the robot 1. The robot drive device includes an electric motor that drives a component such as an arm, a wrist, and the like. The work tool 2 includes a tool drive device for driving the work tool 2. The tool drive device includes an electric motor for driving the work tool 2 and the like. A position detector 18 that outputs a rotational position of the steering axis of the robot 1 is arranged in the robot 1. The position detector 18 is formed, for example, from a encoder attached to the electric motor. The robot control device 41 can detect a position and posture of the robot 1 from an output of the position detector 18.

[0016] The robot system 8 includes a robot control system 4. The robot control system 4 includes the robot control device 41 including an arithmetic processing device that includes a central processing unit (CPU) as a processor. The robot control device 41 forms the main component of a control device. The arithmetic processing device includes a random access memory (RAM), a read-only memory (ROM), and the like, which are connected to the CPU via a bus.

[0017] The arithmetic processing device of the robot control device 41 includes a storage unit 42 that stores predetermined information. The storage unit 42 stores information related to the control of the robot 1 and the work tool 2. The storage unit 42 may be formed from a non-perishable storage medium capable of storing information. For example, the storage unit 42 may be formed from a storage medium such as a volatile memory, a non-volatile memory, a magnetic storage medium, or an optical storage medium. A movement program of the robot, in which the movement of the robot is defined, is stored in the storage unit 42.

[0018] The arithmetic processing device of the robot control device 41 includes a motion control unit 43 that sends a motion command of the robot. The motion control unit 43 corresponds to a processor that runs according to the motion program. The motion control unit 43 is configured to be able to read information stored in the storage unit 42. The motion control unit 43 sends a motion command for driving the robot 1 to an electrical circuit of the robot drive device based on the motion program. The motion control unit 43 sends a motion command for driving the work tool 2 to the electrical circuit of the tool drive device based on the motion program. The robot 1 and the work tool 2 are driven based on the motion program.

[0019] The arithmetic processing device of the robot control device 41 includes a processing unit 45 that performs information processing and arithmetic operations. The processing unit 45 includes a state detection unit 46 that detects a state of the robot 1 and the work tool 2. The state detection unit 46 detects a position and posture of the robot 1 and a position and posture of the work tool 2 based on an output of the position detector 18. Each of the processing unit 45 and the state detection unit 46 corresponds to a processor that runs according to a previously generated program. The processor reads the program and performs control defined in the program, thus functioning as each of the units.

[0020] The robot control system 4 includes a first teach pendant 51, by means of which a worker operates the robot 1, inputs information required for controlling the robot system 8, and confirms the information required for controlling the robot system 8. The teach pendant 51 functions as an operating device for operating the robot 1. The teach pendant 51 is connected to the robot control device 41 via a communication device. The teach pendant 51 sends a command to the robot control device 41, which controls the movement of the robot 1 and the work tool 2.

[0021] The teaching pendant 51 in the present embodiment is formed of a tablet computer. The teaching pendant 51 includes a display device 61, which in turn includes a display panel that displays an image. The display panel of the display device 61 functions as a display unit 62 that displays various types of information. The display device 61 according to the present embodiment is configured to be capable of detecting an input operation by a worker touching a screen of the display device 61. The display device 61 according to the present embodiment includes a touch panel type display panel. Any type of display panel, such as a resistive film type, a capacitance type, a surface acoustic wave type, or the like, can be used as the touch panel type display panel.

[0022] A worker can perform an input operation by operating an image displayed on the display panel with their finger. The display device 61 is configured to display an image (symbol) of a button for operating the robot 1 and the work tool 2. Alternatively, the display device 61 may be configured to display an image for inputting or selecting predetermined information.

[0023] The display device 61 is configured to be able to detect a pressing position on the screen when the worker presses the screen with their finger. The display device 61 is configured to determine that an image of an icon displayed on the screen is pressed when the worker presses the image of the icon with their finger. By pressing an icon displayed on the screen of the display panel with a finger, the worker can perform an operation of the robot corresponding to the icon. In this way, the display panel according to the present embodiment functions as an input unit 63 that detects an input operation by a worker.

[0024] It should be noted that the teaching pendant is not limited to a tablet computer. The teaching pendant may include a display unit that displays information related to controlling the robot system and an input unit that includes an input device such as a button, a keyboard, and a numeric keypad. The display unit may be formed from any type of display panel, such as a liquid crystal display panel, without having the function of a touch panel.

[0025] The teaching pendant according to the present embodiment is formed from a portable terminal. The teaching pendant is configured to communicate with the robot control device in a wired or wireless manner. The portable terminal is not limited to a tablet computer, and any type of portable terminal can be used as the teaching pendant. The portable terminal can be, for example, a smartphone or the like.

[0026] The teaching pendant 51 includes an arithmetic processing device 53 that includes a CPU as a processor. The arithmetic processing device 53 includes a storage unit 54 that stores various types of information related to the robot system. The storage unit 54 may be formed from a non-perishable storage medium capable of storing information. The storage unit 54 may be formed from a storage medium, such as a volatile memory, a non-volatile memory, a magnetic storage medium, or an optical storage medium, for example.

[0027] The teaching pendant 51 in the present embodiment is configured to be capable of transmitting to the robot control device 41 a command for controlling the movement of the robot 1 and the work tool 2 based on a worker's speech. The teaching pendant 51 includes a microphone 65 as a speech input unit through which a worker inputs a speech. The microphone 65 in the present embodiment is built into a main body of the teaching pendant 51. The microphone 65 may be arranged apart from the main body of the teaching pendant 51. For example, a headset including a microphone may be employed as the speech input unit. In this case, the microphone may communicate with the arithmetic processing device 53 through wireless communication.Furthermore, any device that can acquire a worker's speech can be used as the speech input unit.

[0028] The arithmetic processing device 53 includes a speech recognition unit 55 that recognizes speech acquired by the microphone 65. The speech recognition unit 55 can recognize a worker's speech using various types of speech recognition methods. For example, the speech recognition unit 55 can convert a speech expression uttered by a worker into characters. After the speech recognition unit 55 performs data conversion on a speech through acoustic analysis, the speech recognition unit 55 can, for example, estimate characters represented by the speech using an acoustic model. Then, based on the estimated characters, the speech recognition unit 55 can estimate a word using a previously stored dictionary or generate a sentence using a language model.

[0029] The arithmetic processing device 53 includes a processing unit 56 that processes a recognition result of a speech by the speech recognition unit 55. The processing unit 56 includes a communication unit 56a that sends and receives data to and from the robot control device 41. The communication unit 56a sends to the robot control device 41 at least one of a command for operating a motion program of the robot 1 and a command for resetting an alarm. The processing unit 56 receives an input operation performed by a worker via the input unit 63 of the display device 61. The processing unit 56 includes a display control unit 56b that controls an image displayed on the display unit 62 of the display device 61.The display control unit 56b controls an image based on a recognition result of a speech by the speech recognition unit 51. Alternatively, the display control unit 56b controls an image based on an input operation performed by a worker via the input unit 63.

[0030] Each of the speech recognition unit 55, the processing unit 56, the communication unit 56a, and the display control unit 56b included in the arithmetic processing device 53 described above corresponds to the processor, which runs according to a previously generated program. The processor reads the program and executes control defined in the program, thus functioning as each unit.

[0031] Fig. 3 shows an image displayed on the screen of the display unit in the present embodiment. An image 70 is displayed when the robot system 8 performs a work. The image 70 includes an information display area 71 in which predetermined information is displayed. For example, an image 81 of a motion program name, an icon 87 indicating a menu image with various functions, or the like are displayed in the information display area 71.

[0032] The image 70 includes a robot display area 72 in which an image of the robot 1 is displayed. In the robot display area 72 according to the present embodiment, a three-dimensional image 82 of the robot 1 is displayed in such a way that it corresponds to a current posture of the robot 1. Information for generating the three-dimensional image 82 of the robot 1 is stored in advance in the storage unit 54 of the teaching pendant 51. A three-dimensional model of each component of the robot, such as an arm, is stored in the storage unit 54. Such a three-dimensional model can be created in advance by the processing unit 45 of the robot controller 41 based on three-dimensional shape data related to the robot and the like.

[0033] The state detection unit 46 of the robot control device 41 obtains a rotation angle of the electric motor in the joint axis from the position detection device 18 and calculates a position and a posture of the robot 1. The communication unit 56a of the teaching pendant 51 obtains a position and a posture of the robot from the robot control device 41. The display control unit 56b generates an image 82 of the robot using joint angles of the joint portions and the three-dimensional models of the components of the robot.

[0034] In this way, the display device displays a three-dimensional image of the robot such that the image corresponds to the robot's current posture, allowing a worker to confirm the robot's current posture on the teach pendant. Furthermore, the worker can confirm the robot's three-dimensional position. For example, when performing work in a position where the robot is difficult to see, the worker can confirm the robot's position and posture by viewing the image displayed on the display device.

[0035] The display control unit 56b according to the present embodiment can display the image 82 of the robot such that the robot 1 is viewed from a viewpoint designated by a worker. The worker can designate a viewpoint for displaying the image 82 of the robot by operating by touching the robot display area 72. For example, the worker can rotate the image 82 of the robot with the base portion of the robot as the rotation center by moving their finger while pressing the robot display area 72 with the finger. In other words, the display control unit 56b changes a viewpoint by rotating the image 82 of the robot according to a dragging operation on the robot display area 72.Through this control, the worker can confirm a position and posture of the robot by viewing an image by viewing the robot along a specific direction.

[0036] Furthermore, according to the present embodiment, the display control unit 56b can display the image 82 of the robot according to a magnification factor designated by a worker. The worker can enlarge the image 82 of the robot by widening the interval between two fingers touching the robot display area 72. Alternatively, the worker can reduce the image 82 of the robot by narrowing the interval between the two fingers. In this way, the display control unit 56b can enlarge the image 82 of the robot by detecting a pincer-like inward movement of the fingers and can reduce the image 82 of the robot by detecting the pincer-like outward movement of the fingers.

[0037] The display control unit 56b can display a trajectory of the robot's movement. The storage unit 54 can store positions and postures of the robot 1 at predetermined time intervals as the position and posture of the robot 1 change. The display control unit 56b can display a movement path of the robot based on a position and posture of the robot at each time. As a trajectory of the robot's movement, for example, a trajectory along which the rotation center of the surface of the flange 16 of the robot 1 moves can be used. Alternatively, when an image of the work tool is displayed, a trajectory of a tool tip point can be used as a trajectory of the robot's movement.

[0038] The image 70 displayed on the display unit 62 includes an operation area 73 in which at least one of an icon for operating a robot motion program and an icon for resetting an alarm are displayed. The robot controller 41 controls the robot 1 and the work tool 2 based on a command from the teach pendant 51. Furthermore, the display control unit 56b of the teach pendant 51 displays processing results on the display unit 62. In the present embodiment, four icons 83a to 83d are displayed in the operation area 73 for operation by a worker.

[0039] Symbol 83a is a symbol for selecting a single motion program from a plurality of prepared motion programs. Symbol 83b is a symbol for starting the selected motion program and controlling the robot 1 and the work tool 2. Symbol 83c is a symbol for stopping the motion program and stopping the robot 1 and the work tool 2. Symbol 83d is a symbol for resetting the alarm of the robot system 8. For example, if the robot controller 41 detects an abnormality in the movement of the robot 1 or the work tool 2, the robot controller 41 can issue an alarm. Symbol 83d is a symbol for resetting such an alarm.

[0040] The operation of the robot's motion program according to the present embodiment includes selecting, activating, and stopping the robot's motion program. However, the operation of the robot's motion program is not limited to these examples. The operation of the motion program may include, for example, deleting the motion program, adding the motion program, correcting the motion program, or the like.

[0041] The image 70 displayed on the display unit 62 includes a voice recognition setting area 74 for performing voice recognition settings. An icon 84a is an icon displaying an image for selecting a language in which voice recognition is performed. An icon 84b is an icon for executing the mute function for temporarily pausing voice recognition. An icon 84c is an icon for performing voice recognition settings other than those described above.

[0042] Fig. 4 shows an image for selecting a language for speech recognition. Referring to Fig. 3 and Fig. 4, a worker selects a language for performing voice recognition by operating icon 84a in the voice recognition setting area 74. When the worker presses a button 84aa located in icon 84a, the display control unit 56b displays an image 85 for selecting a language. In an example of image 85 in this description, one of English, Chinese, and Japanese is selected. The worker can select a language to be used in voice recognition by pressing a desired language on image 85. The selected language is displayed in icon 84a. In this example, Japanese was selected. Note that the expressions displayed on the screen can also be switched to expressions in the selected language.

[0043] Fig. 5 shows an exemplary diagram showing an operation of an icon for stopping speech recognition. Referring to Fig. 3 and Fig. 5, the icon 84b for stopping the function of performing a voice recognition operation is arranged in the voice recognition setting area 74. In the present embodiment, the function of performing a voice recognition operation is maintained until a worker makes a setting to stop the voice recognition operation. In other words, a state in which an operation of the teach pendant is performed according to the predetermined command statement uttered by the worker is maintained until the worker makes a setting to stop the voice recognition operation.

[0044] The worker can pause the voice operation by pressing icon 84b, as indicated by an arrow 101. In this case, an image, such as a cross, is added to icon 84b to indicate that the voice recognition function is paused. The voice recognition operation can be restarted by pressing icon 84b once again. Normally, the worker does not press icon 84b for the mute function, and therefore the state in which voice recognition operation is enabled is maintained.

[0045] With reference to Fig. 3, the worker can perform a voice recognition setting other than that described above by pressing the icon 84c located in the voice recognition setting area 74 with his / her finger. For example, adjusting the microphone sensitivity and the like can be performed.

[0046] Next, the control for operating the robot 1 and the work tool 2 will be described. In the present embodiment, operation of a movement program of the robot and alarm resetting can be performed by both touch operation by touching the screen of the display device 61 and voice operation.

[0047] First, an example of controlling the movement of the robot 1 by performing the operation by touching the screen of the display device 61 with a finger will be explained with reference to Fig. 2 and Fig. 3. In response to a worker's touch-operated icon operation, the processing unit 56 of the teach pendant 51 transmits a command corresponding to the touched icon to the robot controller 41. The worker can perform a desired operation by pressing one of the icons in the operation area 73. In the image 70 according to the present embodiment, icons for operating the robot system 8 for performing routine work of the robot system 8 are combined in a single operation area 73. With this structure, operability with respect to the worker's operation of the robot is improved.

[0048] In response to the worker pressing the icon 83a, an image including a plurality of movement programs is displayed. The display control unit 56b may display an image describing the names of the plurality of programs, similar to the image indicating the plurality of languages ​​and in Fig. 4. The worker selects a single motion program by pressing a single motion program from among the plurality of motion programs. The image 81 of the name of the selected motion program is displayed in the information display area 71.

[0049] Next, the worker can start the selected motion program by pressing icon 83b. The communication unit 56a of the processing unit 56 transmits the name of the selected motion program and a command to start the motion program to the motion control unit 43 of the robot control device 41. The motion control unit 43 begins controlling the robot 1 and the work tool 2 based on the selected motion program.

[0050] Next, when the worker presses icon 83c in image 70, communication unit 56a sends a command to stop the motion program to motion control unit 43 of robot control device 41. In this case, motion control unit 43 stops the motion program currently being executed. Motion control unit 43 stops work tool 2 and robot 1. In this way, a motion program for performing work can be operated by pressing icons 83a to 83c. Selection, activation, and stopping of the motion program can be performed.

[0051] Furthermore, the robot control device 41 can detect that an operation state of the robot system 8 is abnormal while the robot 1 and the work tool 2 are being controlled. The processing unit 45 of the robot control device 41 can detect an abnormality in an operation state of the robot based on an output of the position detection device 18, a sensor for detecting an external force attached to the robot 1, or the like.

[0052] For example, if a person comes into contact with the robot 1 and the external force increases, the processing unit 45 may determine that the robot's operation state is abnormal. In this case, the processing unit 45 may send a command to stop the robot 1 or a command to slow down the movement speed of the robot 1 to the motion control unit 43. Alternatively, the processing unit 45 may send a movement command of the robot 1 such that the robot 1 performs a movement to avoid contact with an object.

[0053] The processing unit 45 sends information to the teaching pendant 51 indicating that an abnormal condition has occurred and a control state of the robot has changed. The communication unit 56a of the processing unit 56 of the teaching pendant 51 receives the information indicating that the abnormality has occurred.

[0054] Fig. 6 shows an example of an image displayed on the display device when an abnormality occurs in a moving state of the robot system. The display control unit 56b of the processing unit 56 of the teaching pendant 51 displays, in the information display area 71, a warning image 88 indicating that an object or person came into contact with the robot system and the robot system has been stopped. In the example described here, robot 1 is stopped, and the warning is also displayed on the display unit 62. A worker can reset an alarm by pressing the icon 83d in the operation area 73. The worker can reset the alarm after confirming that the abnormality has been resolved. In the example described here, the worker presses the icon 83d, and thus the warning image 88 displayed in the information display area 71 is deleted.The worker can then restart the robot system's operation by pressing the icon 83b to start the motion program.

[0055] Next, on the teaching pendant 51 according to the present embodiment, the worker can perform the same functions as those performed by operating by pressing the icons 83a to 83d arranged in the operation area 73 by voice operation. In other words, a command can be executed by voice instead of pressing one of the icons 83a to 83d.

[0056] Fig. 7 is a descriptive diagram showing operation by voice for comparison with operation by pressing an icon in the operation area. In the present embodiment, a worker, after saying a predetermined expression (set phrase), utters an expression for each command. In the present embodiment, "OK FANUC" is employed as the predetermined expression. After saying "OK FANUC," the worker utters a command for operation and an expression related to the command for operation. When the voice recognition unit 55 acquires a voice with "OK FANUC," the voice recognition unit 55 determines that a command designated by the worker begins.

[0057] By adding a predetermined phrase (such as "OK FANUC") to begin a command before a phrase of a command from the robot system, the voice recognition unit 55 can prevent incorrect voice recognition of the phrase of the command. For example, the voice recognition unit 55 is prevented from misrecognizing a phrase as a command in a situation where a plurality of workers are speaking. The phrase to begin a command is not limited to the example described above, and any phrase may be used. The phrase to begin a command may include, for example, a name (CRX) of the robot, such as "ROBOT CRX."

[0058] A worker 91a can perform the same operation as the operation for selecting a motion program by pressing the icon 83a in the operation area 73 by uttering a phrase related to a motion program after "OK ​​FANUC, select." When a worker selects a desired program from a plurality of motion programs, the worker utters a file name of the motion program as a command by voice. For example, "PROG1-1" can be used as a program name. In this case, the worker utters "OK FANUC, select PROG 1-1," so that the voice recognition unit 55 can recognize the selected motion program as a motion program having a file name "PROG 1-1."

[0059] However, the name of a motion program is often composed of an English letter, a number, a character, and the like. Therefore, there is a problem in that an English letter, a number, and a character are difficult to recognize by voice. As a result, the recognition rate of voice recognition may drop, and a motion program may not be selected, or the wrong motion program may be selected.

[0060] For this reason, according to the present embodiment, a motion program is provided with attribute information for voice recognition in addition to a file name. In the present embodiment, a motion program comment is provided as attribute information. Any comment other than a motion program name may be included in an attribute file attached to a motion program file. Alternatively, a program name may be stored in a storage unit corresponding to a comment. The comment may be another name of the program or a phrase related to the program. Here, a phrase "JYUNBI" is stored as a comment in an attribute file of a motion program for supporting a workpiece. Since Japanese is selected here, "JYUNBI," which represents preparation of a workpiece in Japanese, is set in the attribute file.

[0061] With reference to Fig. 7, a setting is made so that a comment is used for voice recognition when selecting a motion program. The worker 91a utters "OK FANUC, select JYUNBI" instead of pressing the icon 83a to select a motion program. The voice recognition unit 55 recognizes that the comment is "JYUNBI." The voice recognition unit 55 recognizes that the input voice command is a command to select a motion program with the comment "JYUNBI." The processing unit 56 selects a name of the motion program annotated with the comment "JYUNBI." The communication unit 56a of the processing unit 56 transmits the selected motion program name to the robot controller 41.

[0062] In this way, during the operation of selecting a motion program, a motion program can be selected using a predetermined comment that is different from the name of the motion program. The processing unit transmits a command for operating the motion program to the robot controller according to the comment. By implementing this control, incorrect voice recognition can be reduced and the accuracy of selecting a motion program by voice can be improved.

[0063] Next, a worker 91b can start the selected motion program by saying "OK FANUC, start" instead of pressing the motion program start icon 83b located in the operation area 73. Furthermore, a worker 91c can stop the currently selected motion program by saying "OK FANUC, stop" instead of pressing the motion program stop icon 83c. The voice recognition unit 55 recognizes that the voice input command is a command to start or stop the motion program. The communication unit 56a transmits the command to start or stop the motion program to the robot controller 41.

[0064] Furthermore, if an alarm is issued in the robot system, a worker 91d can reset the alarm by uttering "OK FANUC, reset," as in the case where the worker 91d presses the icon 83d. The voice recognition unit 55 recognizes that the voice input command is a command to reset the alarm. The communication unit 56a transmits the alarm reset command to the robot controller 41.

[0065] In this way, in the present embodiment, an operation can be performed by voice instead of operating an icon displayed on the display unit. In the present embodiment, a command can be executed by voice corresponding to a command by operating an icon displayed on the display unit. In the present embodiment, a worker can instruct the robot system to execute at least one of a command for operating the robot and a command for resetting an alarm by voice recognition. The worker can thus reduce the number of operations on the teach pendant during a period in which the robot system is performing a work. The worker does not have to interrupt his / her own work, and therefore the worker's work efficiency improves.Furthermore, the work of washing hands or removing gloves to operate the teaching pendant can be avoided, and therefore the work efficiency of the worker is improved.

[0066] The robot according to the present embodiment is particularly a cooperative robot. Therefore, the robot system and a worker perform the same work or perform different sections of the work simultaneously. In this case, the worker can change motion programs, start a motion program, pause a motion program, and reset an alarm without viewing and operating the teach pendant. Thus, the worker's work efficiency can be improved and the time required for cooperative work with the robot can be reduced.

[0067] As an example of an actual work performed by a worker and the robot system in cooperation with each other, the joining of parts can be taken as an example. For example, the robot carries a workpiece to a predetermined workstation. The robot maintains the position and posture of the workpiece. The worker attaches a first part to the workpiece carried by the robot. Next, the robot changes the orientation of the workpiece and then maintains the position and posture of the workpiece in the workstation. The worker attaches a second part, which is different from the first part, to the workpiece. After the joining of the parts is completed, the robot carries the workpiece to a predetermined position.

[0068] As a motion program, a first motion program including a motion command for bringing in a workpiece and placing the workpiece at a predetermined work station, and a motion command for changing the orientation of the workpiece, may be generated in advance. Furthermore, a second motion program including a motion command for carrying the workpiece out of the work station to a predetermined position may be generated in advance.

[0069] Once the work is completed, the worker selects the first motion program with the "Select" voice command and begins controlling the robot with the "Start" voice command. When the workpiece is brought into the workstation, the robot is stopped with the "Stop" voice command. The worker attaches the first part to the workpiece. Once the attachment of the first part is completed, the worker restarts the movement according to the first motion program with the "Start" voice command. Robot 1 changes the orientation of the workpiece based on the first motion program. The worker stops controlling the robot with the "Stop" voice command. The worker then attaches the second part to the workpiece.

[0070] After the second part has been attached, the worker selects the second motion program using the "Select" voice command. The robot is then controlled using the "Start" voice command, and the workpiece is carried. When the workpiece is carried to the predetermined position, the worker stops the robot using the "Stop" voice command.

[0071] In this way, the worker can select, execute, and pause a movement program by voice, even when the work is complex. The worker can quickly perform the operation of the movement program, thus improving the efficiency of collaborative work.

[0072] Fig. 8 is a flowchart showing the control performed by the arithmetic processing device of the teaching pendant according to the present embodiment. Fig. 8 shows a flowchart for controlling an operation by voice recognition. Referring to Fig. 2, Fig. 3 and Fig. 8, in step 111, the processing unit 56 determines whether the icon 84b in the speech recognition setting area 74 has been pressed. In other words, the processing unit 56 determines whether the icon 84b is pressed to activate the mute function. If the icon 84b is pressed in step 111 and the mute function is selected, control is repeated. If the icon 84b is not pressed in step 111, control proceeds to step 112.

[0073] In step 112, the voice recognition unit 55 acquires a voice command from the microphone 65. The voice recognition unit 55 recognizes the voice command. The voice recognition unit 55 converts the voice command into characters, for example. Next, in step 113, the voice recognition unit 55 determines whether the acquired voice command is a command for selecting a motion program. In the present embodiment, it is determined whether the acquired voice command is a voice command beginning with "OK FANUC, select." If the acquired voice command is the command for selecting the motion program in step 113, control proceeds to step 114. Then, in step 114, the voice recognition unit 55 determines the motion program designated by the voice command. The processing unit 56 transmits a name of the selected motion program to the motion control unit 43 of the robot control device 41.

[0074] Furthermore, the display control unit 56b displays the name of the selected exercise program in an image displayed on the display device 61. In the image 70, the image 81 of the program name is displayed in the information display area 71. The display control unit 56b can display the annotation of the exercise program.

[0075] If the voice command in step 113 is not the command to select the motion program, control proceeds to step 115. In step 115, the voice recognition unit 55 determines whether the voice command is a command to start the motion program. In other words, it determines whether the voice command is "OK FANUC, start." If the voice command in step 115 is the command to start the motion program, control proceeds to step 116.

[0076] Fig. Figure 9 shows a confirmation image that is displayed when the command to start the movement program is received. Referring to Fig. 8 and Fig. 9, in step 116, the display control unit 56b displays a pop-up image 86 for confirming the execution of the motion program. The pop-up image 86 is displayed, which includes a message asking whether the motion program should be executed, with the annotation "JYUNBI."

[0077] In step 117, the voice recognition unit 55 receives a voice command. In step 118, the voice recognition unit 55 determines whether the execution of the motion program has been approved. If the voice recognition unit 55 receives a voice command "OK FANUC, no," the voice determination unit 55 determines that the execution of the motion program has not been approved. Then, control ends.

[0078] If the voice recognition unit 55 receives a voice command "OK FANUC, yes," the voice recognition unit 55 determines that the execution of the motion program has been approved. In this case, control proceeds to step 119.

[0079] In step 119, the selected motion program is executed. The processing unit 56 of the teach pendant 51 sends a command to start the selected motion program to the motion control unit 43 of the robot controller 41. The motion control unit 43 begins executing the selected motion program.

[0080] It should be noted that the image 86 containing a message asking a question about the execution of the motion program is displayed in the present embodiment, but the present invention is not limited to such an embodiment. The motion program may be executed directly without displaying the image 86 containing a message asking a question about the execution of the motion program.

[0081] With reference to Fig. 8, if the voice command in step 115 is not the command to start the motion program, control proceeds to step 121. In step 121, the voice recognition unit 55 determines whether the voice command is a command to stop the motion program. The voice recognition unit 55 determines whether the voice command obtained from the microphone 65 is "OK FANUC, stop." If the voice command in step 121 is the command to stop the motion program, control proceeds to step 122.

[0082] In step 122, the movement of the robot system is stopped. The processing unit 56 of the teach pendant 51 sends the command to stop the movement program to the motion control unit 43 of the robot controller 41. The motion control unit 43 stops the movement of the robot 1 and the work tool 2.

[0083] If the voice command in step 121 is not a command to stop the motion program, control proceeds to step 123. In step 123, the voice recognition unit 55 determines whether the voice command is a command to reset an alarm. In other words, it determines whether the worker's voice command is "OK FANUC, reset." If the worker's voice command is not a command to reset the alarm, control ends. If the worker's voice command is the command to reset the alarm, control proceeds to step 124.

[0084] In step 124, the processing unit 56 of the teaching pendant 51 sends the alarm reset command to the motion control unit 43 of the robot control device 41. Furthermore, the display control unit 56b performs control to delete the alarm from the image of the display device 61. For example, the display control unit 56b performs control to delete the warning image 88 in Fig. 6 out.

[0085] The Fig. The control shown in Figure 8 can be performed repeatedly at predetermined time intervals. Then, according to a voice input from the worker via the microphone, at least one of operating the robot and resetting an alarm can be performed.

[0086] In this way, the worker can perform the operations of the robot system frequently performed on a daily basis using voice commands. In the teaching pendant according to the present embodiment, in particular, the operation of the robot system using icons in the operation area and the operation of the robot system using voice recognition are limited to frequently used operations such as executing a robot movement program and resetting an alarm. Thus, cooperative work with the robot system can be performed efficiently using simple on-screen operation or a simple set of voice commands.

[0087] In the present embodiment, the control for disabling voice recognition is performed by an operation of pressing a mute icon, but the present invention is not limited to such an embodiment. An icon for enabling or disabling voice recognition may be displayed.

[0088] Fig. 10 shows a block diagram of a second teaching pendant provided in the robot control system in the present embodiment. A second teaching pendant 58 includes a speaker 66 as a voice output unit that outputs predetermined information by voice. The second teaching pendant 58 is formed of a tablet terminal including an arithmetic processing device 59, which in turn includes a CPU as a processor, similar to the first teaching pendant 51. In the present embodiment, the speaker 66 is built into the tablet terminal. In another embodiment, the speaker 66 may be arranged at a position remote from the portable terminal. The speaker 66 may be arranged in a work space such that a worker can hear a voice output from the speaker 66.The speaker may, for example, be mounted on a stand or the like and may be configured to communicate with the arithmetic processing device.

[0089] A processing unit 57 of the arithmetic processing device 59 includes a voice output control unit 57c that controls voice output from the speaker 66, in addition to the communication unit 56a and the display control unit 56b. The processing unit 57 and the voice output control unit 57c correspond to a processor that runs according to a predetermined program. By operating according to the program, the processor functions as the processing unit 57 and the voice output control unit 57c. The second teaching pendant 58 can change an image displayed on the display device 61 by the display control unit 56b and also output a voice command from the speaker 66.

[0090] The voice output control unit 57c of the processing unit 57 outputs a voice command input by a worker through the speaker 66. For example, when a worker operates the robot through voice, the voice output control unit 57c can output a voice command indicating completion of the robot operation. Alternatively, when a worker inputs a voice command for operating the robot system, the voice output control unit 57c can voice-question whether to actually perform the robot operation.

[0091] Fig. 11 shows an exemplary diagram again showing voice output from the loudspeaker by the voice output control unit. As an example, control for interaction between a single worker and a single teach pendant will be described below. A worker 92a utters "OK FANUC, select JYUNBI," and thus the voice recognition unit 55 recognizes that the voice-input command is a command for selecting a motion program annotated "JYUNBI." The processing unit 56 transmits information indicating that the motion program annotated "JYUNBI" has been selected to the robot controller 41. The voice output control unit 57c of a teach pendant 58a outputs a voice command "JYUNBI is selected" from the loudspeaker 66.

[0092] Next, the voice output control unit 57c of a teaching pendant 58b outputs a voice from the speaker 66 asking a question about what operation should be performed. In response to the question, a worker 92b issues a command to start the movement program.

[0093] Next, the display control unit 56b of a programming pendant 58c displays image 86 (see Fig.9) to confirm the execution of the motion program. Then, the voice output control unit 57c of the teach pendant 58c outputs a voice confirmation of the execution of the motion program from the speaker 66. In response to the voice output, a worker 92c utters a command authorizing the execution of the motion program. The voice recognition unit 55 recognizes that the voice-input command is an authorization of the execution of the motion program. The motion control unit 43 of the robot controller 41 executes the motion program according to the command from the processing unit 57 of the teach pendant.

[0094] Next, the voice output control unit 57c of the teaching pendant 58d outputs a voice from the speaker 66 indicating that the motion program is being executed. Then, the voice output control unit 57c of a teaching pendant 58e outputs a voice from the speaker 66 asking a question about what operation should be performed. A worker can issue a command in response to the question at a desired time.

[0095] With such voice output from the teach pendant, the worker can continue working while the voice recognition determines whether a command for an operation input by the worker's voice has been correctly recognized. Furthermore, the robot system can perform a task flawlessly. Furthermore, the voice output control unit can output a voice asking the worker a question. Based on this control, the worker can continue operating the robot system by interacting with the teach pendant.

[0096] The further structure, operation and advantageous effects of the second programming pendant 58 are similar to those of the first programming pendant 51, so their descriptions will not be repeated.

[0097] In the teaching pendant according to the present embodiment, an operation can be performed by touching the screen of the display device in addition to an operation by voice recognition. Thus, when voice recognition cannot be performed accurately or when an incorrect operation is selected by voice recognition, a worker can perform an operation of the robot system by touching the screen.

[0098] In each of the control operations described above, the order of the steps can be appropriately changed within a range in which the functions and technical effects thereof are not changed.

[0099] The above-described embodiments can be combined as appropriate. In each of the above-described drawings, the same or a similar portion has the same reference numeral. It should be noted that the above-described embodiments are merely illustrative examples and do not limit the invention. Furthermore, the embodiments include a modification in the embodiments recited in the claims. List of reference symbols 1 robot 4 Robot control system 8 Robot system 41 Robot control device 43 Motion control unit 51.58 Programming pendant 58a-58e programming handset 54 storage unit 55 Speech recognition unit 56, 57 processing unit 56b Display control unit 57c Speech output control unit 61 Display device 65 microphone 66 speakers 70.82 Image 83a-83d Symbol QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] 2018-30185A [0002, 0003] 2006-68865A

[0003] 01-240293A

[0003]

Claims

[1] A teaching pendant configured to send a command to a robot control device that controls a movement of a robot, the teaching pendant comprising: a voice input unit into which a worker enters a voice command; a speech recognition unit configured to recognize a voice command obtained by the speech input unit; and a processing unit configured to transmit to the robot control device at least one of a command for operating a motion program of the robot and a command for resetting an alarm based on a recognition result of a voice command by the voice recognition unit. [2] A teaching pendant according to claim 1, further comprising a display device configured to be capable of detecting an input operation by touching a screen by a worker, wherein the display device is configured to display at least one of a symbol for operating a movement program of a robot and a symbol for resetting an alarm, and based on an operation by a worker touching a symbol, the processing unit transmits a command corresponding to the symbol to the robot control device. [3] The teaching pendant according to claim 1 or 2, further comprising a voice output unit configured to output predetermined information by voice, wherein the processing unit outputs from the voice output unit a voice related to the voice command of the worker. [4] A teaching pendant according to any one of claims 1 to 3, wherein an operation of a movement program of a robot comprises a selection, an activation and a stopping of a movement program of a robot. [5] Programming handheld device according to one of claims 1 to 4, wherein with respect to a motion program, a comment different from a name of the motion program is set as attribute information, and When the speech recognition unit detects that a worker's speech matches the annotation, the processing unit transmits to the robot control device a command for operating the motion program according to the annotation. [6] A teaching pendant according to any one of claims 1 to 5, wherein the robot is a cooperative robot for performing work jointly with the worker. [7] The teaching pendant according to claim 1, further comprising a display device configured to display an image, wherein the display device displays a three-dimensional image of the robot such that the three-dimensional image of the robot corresponds to a current posture of the robot. [8] Robot control system comprising: the programming pendant according to claim 1; and a robot control device configured to control a movement of a robot based on a command from the teaching pendant.

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