Learning device and computer program

Abstract

A teaching device (30, 30A) for teaching industrial machines, wherein the teaching device (30, 30A) comprises an image acquisition unit (32) that captures an image of a visually recognizable recognition target, a recognition unit (131, 131A) that analyzes the captured image and recognizes the recognition target, and a registration unit (132, 132A) that, based on a user operation, generates and stores correspondence information linking the recognized recognition target and a program.

Description

Area

[0001] The present invention relates to a learning device and to a computer program. State of the art

[0002] There are cases where, with the advancement of automation and the reduction of labor force, a multi-skilled worker capable of handling multiple processes performs a job in a plant. Each work process is often automated through the introduction of industrial machines such as a robot and a machine tool, and the worker selects an appropriate operating program using a teach pendant to operate an industrial machine.

[0003] In view of the above, PTL 1 describes as follows: “An operation panel with an NC function for machine tools includes an image pickup device for reading a two-dimensional matrix-type code, which is mounted on the front of the operation panel or on a manual encoder for manual operation connected to the operation panel, wherein a control unit within the operation panel includes a reading unit that processes image data of a two-dimensional matrix-type code acquired by the image pickup device, outputs the processed data as read data, and starts drive control of a machining unit based on work instruction information included in the read data.” (SUMMARY).

[0004] PTL 2 describes as follows: “An emergency stop switch including: a main switch unit connected in a wired manner to a robot control device that controls a drive of a robot and switches a controller of the robot control device to an emergency stop state in response to a user operation; an attachment unit that detachably attaches the main switch unit to a mobile terminal that accepts a user operation; and an identification code unit that is provided at a position facing a lens of a camera included in a mobile terminal when the attachment unit is attached to the mobile terminal, and that displays an identification code for identifying the main switch unit in such a manner as to allow an image of the identification code to be captured by the camera.” (SUMMARY). List of citationsPatent literature [PTL 1] Unexamined Japanese Patent Publication (Kokai) No. 2017-227948 A [PTL 2] Unexamined Japanese Patent Publication (Kokai) No. 2020-044625 A OverviewTechnical task

[0005] When a worker selects an operation program to be executed on an industrial machine by operating a teaching pendant, a problem arises in that as the number of registered operation programs increases, the time required to search for an operation program increases, and human error such as incorrect selection of an operation program may occur. A teaching device and a computer program that enable a worker to easily and efficiently select an operation program to be executed on an industrial machine are desirable. Technical solution

[0006] One aspect of the present disclosure is a teaching device used for teaching an industrial machine, the teaching device including: an image acquisition unit configured to acquire a captured image of a visually recognizable recognition target; a recognition unit configured to recognize the recognition target by analyzing the captured image; and a registration unit configured to generate and store, in accordance with a user operation, correspondence information linking the recognized recognition target to a program.

[0007] Another aspect of the present disclosure is a computer program for causing a processor in a computer to execute: a step of acquiring a captured image of a visually recognizable recognition target; a step of recognizing the recognition target by analyzing the captured image; and a step of generating and storing correspondence information linking the recognized recognition target to a program in accordance with a user operation. Advantageous effects of the invention

[0008] The above configurations enable a worker to select a program easily and efficiently. Since any type of detection target and a program can be registered in conjunction with each other, there is no need to recreate a detection target on the user side.

[0009] The objects, features and advantages of the present invention and other objects, features and advantages will become more apparent from the detailed description of typical embodiments of the present invention illustrated in the accompanying drawings. Short description of the drawings Fig. 1 is a diagram illustrating a configuration of a robot system including a teach pendant according to a first embodiment, and functional blocks of the teach pendant. Fig. 2 is a flowchart illustrating registration processing of an identification code according to the first embodiment. Fig. Figure 3 is a graphical representation showing an example of a reading / registration screen. Fig. Figure 4 is a graphical representation illustrating an example of a registration acceptance screen. Fig. 5 is a flowchart illustrating reading processing of an identification code according to the first embodiment. Fig. Figure 6 is a graphical representation showing an example of the reading / registration screen. Fig. 7A is a graphical representation showing an example of a message screen when a program is registered. Fig. Figure 7B is a graphical representation showing an example of a screen with a list of registered programs. Fig. Figure 7C is a graphical representation showing an example of a message screen when an identification code is not registered. Fig. 8 is a diagram illustrating a configuration of a robot system including a teaching pendant according to a second embodiment, and functional blocks of the teaching pendant. Fig. 9 is a flowchart illustrating registration processing of an identification code according to the second embodiment. Fig. 10 is a flowchart illustrating reading processing of an identification code according to the second embodiment. Description of the embodiments

[0010] Next, embodiments of the present disclosure will be described with reference to the drawings. In the referenced drawings, similar components or functional parts are designated by similar reference numerals. For ease of understanding, the drawings may use different scales. Furthermore, configurations illustrated in the drawings are examples of an implementation of the present invention, and the present invention is not limited to the illustrated configurations. First embodiment

[0011] Fig. 1 illustrates a configuration of a robot system 100 according to a first embodiment, including a teaching pendant 30, and functional blocks of the teaching pendant 30. As shown in Fig. As shown in Fig. 1, the robot system 100 according to the present embodiment includes the teach pendant (teaching device) 30, a robot control device 50, and a robot 10 controlled by the robot control device 50. The teach pendant 30 is connected to the robot control device 50. In the robot system 100 with such a configuration, various types of robots such as an articulated robot, a parallel linkage robot, and a dual-arm robot can be used as the robot 10 depending on a work target. The robot control device 50 controls the robot 10 in accordance with an instruction from the teach pendant 30 or an operation program (hereinafter referred to as a "program"). The teach pendant 30 provides various functions for performing teaching of the robot 10.The teaching pendant 30 can be configured using an information processing device such as a tablet terminal.

[0012] The teaching pendant 30 according to the present embodiment provides a registration function for reading any type of identification code using a camera and registering the read identification code in association with a robot program. Furthermore, by reading an identification code attached to a workpiece, for example, using the camera, the teaching pendant 30 can provide a function for selecting and executing a program registered in association with the identification code.

[0013] As in Fig. 1, the teaching pendant 30 includes an arithmetic processing device 31, an image pickup unit 32, and a display 33.

[0014] The arithmetic processing device 31 is a processing device including a processor and a memory (a storage unit 36).

[0015] For example, the image capture unit 32 includes a built-in camera and provides a function for capturing an image of a target object captured by the built-in camera. The image capture unit 32 may be configured to capture an image captured by an external camera. The function of the image capture unit 32 may be described as an image capture unit that captures a captured image of a target object.

[0016] The display 33 includes a display unit 34 and an input unit 35. For example, the display unit 34 is a flat display panel and the input unit 35 is a touch panel integrated into the display panel.

[0017] The arithmetic processing device 31 includes a recognition unit 131, a registration unit 132, a search unit 133, and a search result output unit 134. The functional blocks may be provided by executing software by the processor in the arithmetic processing device 31.

[0018] By analyzing a captured image of an identification code, the image being captured by the image capturing unit 32, the recognition unit 131 recognizes an identification code in the image.

[0019] Various codes can be used as identification codes, including one-dimensional codes and two-dimensional codes. Through image analysis, a code provides information encoded within the code (a coded pattern) as decoded information.

[0020] The registration unit 132 provides a function for registering a recognized identification code in association with a robot program. The registration unit 132 generates a correspondence table (correspondence information) linking an identification code to a program and stores the table in the storage unit 36.

[0021] The search unit 133 provides a function for searching the correspondence table for an identification code recognized by the recognition unit 131 and for executing a program corresponding to the recognized identification code.

[0022] The search result output unit 134 provides a function for outputting a search result on the display unit 34, accepting a user operation for selecting a program from a plurality of retrieved programs, etc. The search result output unit 134 may be further configured to instruct the robot control device 50 to execute a program that has been automatically selected as a program corresponding to an identification code or selected by a user.

[0023] Registration processing that enables registration of any type of identification code in the teaching pendant 30 will be described with reference to Fig. 2 to Fig. 4 described. Fig. 2 is a flowchart illustrating the registration processing of an identification code.

[0024] First, a user acquires an identification code to be associated with a program by capturing an image of the identification code with the image capturing unit (camera) 32 of the teaching pendant 30 (step S1). Specifically, capturing an identification code means capturing information indicated by the identification code. In step S1, the user starts a reading / registration screen 200 for reading and registering an identification code by performing a predetermined operation through the input unit 35, as shown in Fig. 3 shown. Fig. 3 illustrates an example of the read / registration screen 200.

[0025] As in Fig. As shown in Figure 3, the read / registration screen 200 includes an area in which a camera image (live image) 201 is displayed. A registration button 211 for registering an identification code and a read button 212 are arranged below the camera image 201.

[0026] The registration button 211 is used to start processing for recognizing an identification code C1 appearing in the camera image 201 and registering the code in conjunction with a program. The read button 212 is a button for starting read processing to be described below.

[0027] The registration button 211 is tapped in a state where the identification code C1 is displayed in the camera image 201, as shown in Fig. 3. The processing then proceeds from step S1 to step S2, a Fig. 4 is displayed, and an operation for selecting a program to be registered for the recognized identification code is accepted.

[0028] The registration acceptance screen 220 includes a program list display area 230 for displaying a program list registered in the robot controller 50 and a registered program list display area 240 for displaying a list of programs associated with the identification code C1, which is the current registration target. Fig. 4 illustrates a state where the user selects a first program "DEFAULT." Upon completion of the selection process, the program "DEFAULT" is displayed in the registered program list display area 240 as the program corresponding to the identification code C1. A plurality of programs can be registered for one identification code on the registration acceptance screen 220.

[0029] Through the registration processing described above, an identification code and a program are registered in association with each other in the teaching pendant 30. The teaching pendant 30 (the registration unit 132) generates a correspondence table that links a recognized identification code to a program and stores the table in the storage unit 36.

[0030] In this way, a user can register any type of identification code and one or more programs according to the present embodiment in association with each other. A noteworthy point is that since any type of identification code can be associated with a program, the user does not necessarily have to create a new identification code and can, for example, register various existing identification codes in association with programs.

[0031] Next, a flow of reading processing of an identification code will be described with reference to a flowchart in Fig. 5, Fig. 6 and Fig. 7A to Fig. 7C. When the read processing is started, a Fig. 6 is started and displayed on the display unit 34. An image of an identification code C1, which is captured by a user with the image capture unit 32, appears in a camera image 201 on the reading / registration screen 200. The user taps the read button 212 on the reading / registration screen 200 in Fig. 6. The identification code C1 appearing in the camera image 201 is then analyzed by the recognition unit 131, and the identification code C1 is detected (step S11).

[0032] Next, the search unit 133 checks the previously registered correspondence table against the identification code acquired in step S11 to confirm a registration status of a program associated with the acquired identification code. In step S12, the search unit 133 confirms whether the acquired identification code is registered (that is, whether the acquired identification code is registered in the correspondence table in association with a program). If the identification code is registered (S12: Yes), processing proceeds to step S13, and the search unit 133 further determines whether a plurality of programs are registered in association with the acquired identification code (step S13).

[0033] When a plurality of programs are registered in association with the identification code (S13: Yes), the search result output unit 134 displays a list of the plurality of registered programs (step S15). Fig. Fig. 7B illustrates an example of a registered program list screen 320 displayed in step S15. A state in which three programs ("DEFAULT", "GETDATA" and "REQMENU") are registered in association with the identification code acquired in step S11 is displayed on the registered program list screen 320 in Fig. 7B. The search result output unit 134 can accept a user operation to select a program from the registered program list screen 320.

[0034] If a program is registered in association with the acquired identification code (S13: No), the search result output unit 134 automatically selects the one registered program (step S14). Fig. 7A illustrates an example of a message screen 310 displayed on the display unit 34 in this case. The automatic selection of the “DEFAULT” program is displayed on the message screen 310.

[0035] If it is determined in step S12 that the identification code is not registered (ie, the acquired identification code is not associated with a program) (S12: No), the search result output unit 134 reports that the identification code is not registered (step S16). Fig. 7C illustrates an example of a message screen 330 when the identification code is not registered.

[0036] The teaching pendant 30 (the arithmetic processing unit 31) may operate to cause the robot control device 50 to execute the program automatically selected or selected by a user in response to the completion of the reading processing.

[0037] In this way, according to the present embodiment, a worker can select and execute a program through a simple and easy operation of reading an identification code using a teach pendant. Accordingly, program selection by the worker becomes simple and efficient.

[0038] According to the present embodiment, a user can register any code as a code for identifying a program through the registration processing described above. Accordingly, the user does not necessarily need to regenerate an identification code associated with a program. For example, a barcode affixed to a product, a barcode on an employee ID card, a two-dimensional code on a web link, etc., can be used as an identification code. The user can regenerate a code (such as a barcode).

[0039] The feature that allows any code to be used as code to execute a program provides a user with significant advantages, such as saving and reducing the time and effort required to generate an identification code and providing a wider range of codes to choose from.

[0040] Applications of the present embodiment with respect to the type of target to which an identification code is to be connected may include an example of connecting the identification code to a workpiece, an example of connecting the identification code to a worker, and an example of connecting the identification code to a work site.

[0041] In the example of linking an identification code to a workpiece, one or more programs that handle a specific workpiece are registered in association with an identification code. For example, the identification code may be affixed to the workpiece. Even if a robot handles a wide variety of workpieces, a program that handles the workpiece is automatically selected by reading the identification code or can be selected from a list of programs that handle the workpiece. Accordingly, the program can be efficiently applied to the robot system.

[0042] In the example of linking an identification code to a worker, one or more programs used by a specific worker in a work process that day are registered in association with an identification code. For example, assume that the identification code is an employee badge worn by the worker. In this case, the registration of a program for the identification code is performed, for example, by a manager who manages the entire process. The worker himself performs the work of reading the identification code. Simply by the worker performing the work of reading an employee code as an identification code, a program to be executed by the worker is automatically selected or can be selected from a list. Accordingly, the program can be efficiently applied to the robot system.

[0043] In the example of linking an identification code to a workstation, one or more programs to be executed at a specific workstation are registered in association with an identification code. For example, the identification code is placed at the workstation in a state where it is printed on a printing medium or displayed on a display device. Then, by the worker performing the work of reading the identification code, a program to be executed at the workstation is automatically selected or can be selected from a list and can be executed by the worker. Even in a situation where a worker is replaced, the worker is not undecided about the selection of the program after the replacement. Accordingly, the program can be efficiently applied to the robot system. Second embodiment

[0044] In the following, a teaching pendant and a robot system according to a second embodiment are described. Fig. 8 illustrates a configuration of a robot system 100A according to the second embodiment, which includes a teaching pendant 30A. Fig. 8 also shows functional blocks. In Fig. 8 is a component connected to a component according to the first embodiment in Fig. 1, marked with the same symbol.

[0045] As in Fig. As shown in Figure 8, the robot system 100A includes the teach pendant 30A, a robot controller 50, and a robot 10 controlled by the robot controller 50. Furthermore, the robot system 100A includes a server 60 connected to the robot controller 50. The server 60 is further connected to robot controllers 50A, 50B, and 50C associated with other robot systems. The server 60 in the robot system 100A includes and manages a robot program and a correspondence table linking an identification code to the program. The teach pendant 30A provides the correspondence table linking an identification code to a program to the server 60 to register the correspondence table in the server 60. Robot programs are registered in the server 60 and centrally managed.The teaching pendant 30A causes the server 60 to search for a program based on an identification code and acquires the search result from the server 60.

[0046] As in Fig. 8, an arithmetic processing device 31A in the teaching pendant 30A is a processing device including a processor and a memory (a storage unit 36A).

[0047] The arithmetic processing device 31A further includes a recognition unit 131A, a registration unit 132A, a search unit 133A, a search result output unit 134A, and a program acquisition unit 135. The functional blocks may be provided by executing software by the processor in the arithmetic processing device 31A.

[0048] By analyzing a captured image of an identification code, the image being acquired by the image capturing unit 32, the recognition unit 131A recognizes the identification code in the image.

[0049] The registration unit 132A provides a function for registering a recognized identification code in association with a robot program. The registration unit 132 transmits a correspondence table linking an identification code to a program to the server 60 to register the table in the server 60.

[0050] By sending an identification code recognized by the recognition unit 131A to the server 60, the search unit 133A causes the server 60 to search for a program corresponding to the identification code and acquires the search result.

[0051] The search result output unit 134A provides a function for displaying a search result on a display unit 34, accepting a user operation for selecting a program from a plurality of retrieved programs, etc. The search result output unit 134A can instruct the robot control device 50 to execute a registered program that has been automatically selected as a program corresponding to an identification code or selected by a user.

[0052] The program acquisition unit 135 provides a function for acquiring the program from the server 60 when, for example, there is no program associated with an identification code in the robot control device 50.

[0053] As in Fig. As shown in Figure 8, the server 60 includes a registration unit 161 having a function of storing a correspondence table transmitted from the teaching pendant 30A in a storage unit in the server 60. The server 60 further includes a search unit 162 having a function of searching for a program associated with an identification code using the correspondence table in response to a request from the teaching pendant 30A. The search unit 162 provides the search result to the teaching pendant 30A.

[0054] Fig. Fig. 9 is a flowchart illustrating a flow of registration processing for registering any type of identification code in the robot system 100A. First, a user acquires an identification code to be associated with a program by capturing an image of the identification code with the image capturing unit (camera) 32 of the teaching pendant 30A (step S101). Acquisition of the identification code is performed by the Fig. 3 shown reading / registration screen 200.

[0055] Next, the registration unit 132A accepts a user operation to select a program to be registered in association with the recognized identification code (step S102). The user can select a program to be associated with the identification code and register the identification code through the registration acceptance screen 220, as shown in Fig. 4 shown.

[0056] Next, the registration unit 132A creates a correspondence table including an identification code and a program registered in association with the identification code, and stores data of the correspondence table in the server 60 through the robot controller 50 (step S103). The registration unit 161 in the server 60 stores the correspondence table received from the teach pendant 30A in the storage unit in the server 60.

[0057] An identification code and a program are registered in association with each other in the server 60 through the registration processing described above.

[0058] In this way, a user can register any type of identification code and one or more programs in association with each other, even according to the present embodiment. Since any type of identification code can be associated with a program, the user does not necessarily have to create a new identification code and can, for example, register various existing codes in association with programs.

[0059] Since the server 60 is also connected to the robot control devices 50A, 50B and 50C for other robot systems, as shown in Fig. As shown in Figure 8, a correspondence table including an identification code and a program generated in another robot system through the registration processing described above may also be registered in the server 60. The server 60 (the registration unit 161) may centrally manage correspondence tables including a correspondence table transmitted from another robot system. For example, the server 60 (the registration unit 161) may combine correspondence tables sent from the robot control devices (50, 50A, 50B, and 50C) into one correspondence table and manage the combined table. In this case, a correspondence table registered in the server 60 by another robot system may be used in the robot system 100.

[0060] Next, a procedure for reading an identification code will be described with reference to a flowchart in Fig. 10. When processing is started, the Fig. 6 is started and displayed on the display unit 34. As described above with respect to Fig. 6, a user taps the read button 212 in a state where an image of the identification code C1 captured by the image capture unit 32 appears in the camera image 201 on the read / registration screen 200. Subsequently, the identification code C1 appearing in the camera image 201 is analyzed and detected by the recognition unit 131 (step S110).

[0061] The search unit 133A causes the server 60 (the search unit 162) to perform a search for a program registered in association with the acquired identification code by transmitting the identification code to the server 60, acquires the search result, and confirms the registration status (step 111).

[0062] The search result display unit 134A performs a series of processing operations in steps S112 to S121. The display modes of the search result in this case are described below. (1) If a program is registered in connection with the identification code: Automatically select the registered program. (2) When a plurality of programs are registered in association with the identification code: Display a list of programs registered in association with the identification code and accept a user operation to select a program from the list. (3) If the identification code is unregistered, report the status. (4) When a program associated with the identification code does not exist in the robot control device 50: Acquire the program from the server 60. (5) When there is no program associated with the identification code in the robot control device 50 or the server 60: Report the absence of a program associated with the identification code.

[0063] In step S112, the search unit 133A confirms whether the acquired identification code is registered (that is, whether the acquired identification code is registered in association with a program in the correspondence table). If the identification code is registered (S112: Yes), processing proceeds to step S113.

[0064] In step S113, the search unit 133A determines whether a program associated with the identification code exists in the robot control device 50. If a program associated with the identification code exists in the robot control device 50 (S113: Yes), the processing proceeds to step S114, and the search unit 133A further determines whether a plurality of programs associated with the acquired identification code are registered (S114).

[0065] If a plurality of programs are registered in association with the identification code (S114: Yes), the search result output unit 134A displays a list of registered programs (step S116). The displayed program list screen may have a similar content to that shown in Fig. 7B, displaying the list of registered programs.

[0066] If a program is registered in association with the acquired identification code (S114: No), the search result output unit 134A automatically selects the registered program (step S115). A message screen in this case may have a similar content to that shown in Fig. 7A shown message screen 310.

[0067] If it is determined in step S112 that the identification code is unregistered (S112: No), the search result output unit 134A reports that the acquired identification code is unregistered (step S117). A screen with a similar content to that in Fig. The message screen 330 shown in Fig. 7C may be displayed on the display unit 34.

[0068] If it is determined in step S113 that no program registered in association with the identification code exists in the robot control device 50 (S112: No), the program acquisition unit 135 operates to acquire the program from the server 60 (step S118).

[0069] As a result, when the program is successfully acquired from the server 60 (S119: Yes), the search unit 133A selects the program acquired from the server as a program that is an execution target (step S120).

[0070] If the program is also not registered in the server 60 (S119: No), the search result output unit 134A displays an image indicating that the program is not present in either the robot control device 50 or the server 60 on the display unit 34 (step S121).

[0071] The configuration of the robot system 100A according to the second embodiment as described above can provide the following advantages in addition to various advantages described in the first embodiment. (1) Even if the robot control device 50 does not contain a program, the program can be downloaded from the server 60 and executed in the robot system 100A. Accordingly, the size of a memory for storing programs in the robot control device can be reduced. (2) Since the correspondence table is managed by the server 60, the correspondence table can be updated from the teach pendant or another information processing device. In this case, the time and effort required to create and update the correspondence table in each robot system can be saved. (3) Since a program can be automatically downloaded and executed from the server, manual program loading, for example, when replacing the robot, is unnecessary. In this case, a user can cause the robot to execute the program simply by performing work to read an identification code, thus facilitating robot commissioning after robot replacement. Furthermore, the robot system can be suitably used in areas where a robot is frequently moved, such as in small-batch and multi-product production. (4) A program can be downloaded from the server and executed in each robot system, and therefore, when the program needs to be modified, a modified program can be applied to each robot system by uploading the modified program to the server 60. Accordingly, program maintenance is facilitated.

[0072] As described above, each embodiment provides for simple and efficient program selection by a worker. Since any type of detection target can be registered in association with a program, no identification code needs to be generated on the user side.

[0073] Although the present invention has been described above by means of the typical embodiments, it will be apparent to those skilled in the art that changes and various other changes, omissions and additions can be made to the above-mentioned embodiments without departing from the scope of the present invention.

[0074] Although an example of using an identification code as a recognition target in conjunction with a program in registration processing has been described in the above embodiments, an object with a specific visually recognizable property, such as a figure or a symbol, may be used as a recognition target instead of an identification code. For example, an array of several relatively simple figures (such as triangles or circles) may be used as the recognition target.

[0075] The configurations according to the above-mentioned embodiments can be applied not only to a robot system but also to a selection of a program in a system including various industrial machines such as a machine tool.

[0076] The robot control device 50 may have a configuration as an ordinary computer including a CPU, a ROM, a RAM, a storage device, an operation unit, a display unit, an input / output interface, a network interface, etc.

[0077] The server 60 may have a configuration as an ordinary computer including a CPU, a ROM, a RAM, a storage device, an operation unit, a display unit, an input / output interface, a network interface, etc.

[0078] A computer program that performs registration processing ( Fig. 2 and Fig. 9) and reading processing ( Fig. 5 and Fig. 10) according to the embodiments described above may be recorded on various computer-readable recording media (such as semiconductor memories such as a ROM, an EEPROM, and a flash memory; a magnetic recording medium; and optical disks such as a CD-ROM and a DVD-ROM). List of reference symbols 10 robots 30 Programming pendant 31 Arithmetic processing device 32 Image acquisition unit 33 Advertisement 34 display unit 35 Input unit 36, 36A storage unit 50, 50A, 50B, 50C robot control device 100, 100A robot system 131, 131A detection unit 132, 132A Registration Unit 133, 133A search unit 134, 134A Search result output unit 161 Registration Unit 162 search unit 200 Reading / Registration Screen 220 Registration Acceptance Screen 310 Message screen 320 Screen with a list of registered programs 330 Message screen 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] JP 2017-227948 A

[0004] JP 2020-044625 A

[0004]

Claims

[1] A teaching device used to teach an industrial machine, the teaching device comprising: an image acquisition unit configured to acquire a captured image of a visually recognizable detection target; a recognition unit configured to recognize the detection target by analyzing the captured image; and a registration unit configured to generate and store, in accordance with a user operation, correspondence information linking the recognized recognition target to a program. [2] The teaching device according to claim 1, wherein the recognition target is an identification code. [3] The learning device according to claim 1 or 2, wherein the registration unit stores the correspondence information in a storage unit in the learning device. [4] A learning device according to claim 3, further comprising: a search unit configured to search for a program corresponding to the detection target detected by the detection unit using the correspondence information; and a search result output unit configured to output a search result by the search unit. [5] The learning device according to claim 1 or 2, wherein the registration unit transmits the correspondence information to an external server and causes the server to store the correspondence information. [6] A learning device according to claim 5, further comprising: a search unit configured to transmit information indicating the recognition target recognized by the recognition unit to the server and to acquire from the server a search result of searching in the server for a program corresponding to the recognition target using the correspondence information; and a search result output unit configured to output the search result by the search unit. [7] The teaching device according to claim 4 or 6, wherein, when a program corresponding to the recognized recognition target is retrieved as a search result, the search result output unit automatically selects the one retrieved program as a program to be executed. [8] The teaching device according to claim 4 or 6, wherein, when a plurality of programs corresponding to the recognized recognition target are retrieved as a search result, the search result output unit displays a list of a plurality of retrieved programs on a display unit and accepts an operation for selecting a program from the list. [9] The learning device according to claim 4 or 6, wherein, when a program related to the recognized recognition target is not retrieved as a search result, the search result output unit displays information indicating that a program corresponding to the recognition target is not registered on a display unit. [10] The teaching device according to claim 6, further comprising a program acquisition unit configured to acquire a program corresponding to the recognition target from the server when a program corresponding to the recognition target retrieved by the search unit is not present in a robot control device connected to the teaching device. [11] A teaching device according to claim 4 or 6, wherein one or a plurality of programs handling a specific workpiece are linked to the recognition target in the correspondence information. [12] The teaching apparatus according to claim 4 or 6, wherein one or a plurality of programs used in a work process on a certain day are linked to the recognition target in the correspondence information. [13] A teaching device according to claim 4 or 6, wherein one or a plurality of programs to be executed at a specific work site are linked to the recognition target in the correspondence information. [14] Computer program for causing a processor in a computer to carry out: a step of acquiring a captured image of a visually recognizable detection target; a step of detecting the detection target by analyzing the captured image; and a step of generating and storing correspondence information linking the recognized recognition target to a program in accordance with a user operation. [15] A computer program according to claim 14, further causing the processor to execute: a step of storing the correspondence information in a storage unit in the computer in the step of generating and storing the correspondence information; a step of searching for a program corresponding to the detected detection target using the correspondence information; and a step to return a search result. [16] A computer program according to claim 14, further causing the processor to execute: a step of transmitting the correspondence information to an external server and causing the server to store the correspondence information in the step of generating and storing the correspondence information; a step of transmitting information indicating the detected detection target to the server and acquiring, from the server, a search result of searching in the server for a program corresponding to the detection target using the correspondence information; and a step to output the captured search result.

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