Images for robot operation

Abstract

This image is a robot operation image displayed on a portable display device such as a robot controller display device or robot teaching device for robot operation, including robot teaching. More specifically, this image is a robot operation image that allows setting the robot's movements for multiple items. This robot operation image may also be displayed on a computer display device connected to the robot controller by wire or wireless, or on a computer display device for robot simulation or program creation. In this image, the user sets the movements in this image using an input device including a mouse, an input means including a pointer appearing on the display device, a touch panel function on the display device, or a touchscreen function on the display device. By selecting a "layer for stacking items" shown in the "Reference Image Diagram Showing the Names of Each Part" using the aforementioned operation functions, the "Image Diagram" indicates the "layer for stacking items" selected by the user with a thick line or the like. In the "Image Diagram," the color of the line may change to indicate the selected "layer for stacking items," and other forms may also be used. The "Image Diagram" displays the "Item Arrangement" shown in the "Reference Image Diagram Showing the Names of Each Part," and the "Item Arrangement" shows the arrangement of multiple items in each of the selected "Layers for Stacking Items," Layer01 Normal and Layer02 Flipped. When the user operates "OK" using the aforementioned operation function in the "Image Diagram," the selected "Layers for Stacking Items" are displayed in the "Image Diagram Showing the Changed State." The "Image Diagram Showing the Changed State" shows that the two "Layers for Stacking Items" selected in the "Image Diagram" are placed on top of the two "Layers for Stacking Items" of UL1, and that items are placed in each of the multiple "Layers for Stacking Items" as set. In one example, the "Image Diagram Showing the Changed State" also displays the item arrangement of the two "Layers for Stacking Items" of UL3 that are selected. This operation is intended to cause the robot to stack items according to the "Item Arrangement" of each "Layer for Stacking Items" shown in the "Image Diagram" and the "Image Diagram Showing the Changed State."In the "Image Diagram" and the "Image Diagram Showing the Changed State," UL3 is an example of a name for a layer in which multiple items are stacked, and other layers in which items are stacked may be pre-set with other names such as UL1, UL2, stacking method 1, etc. In this application, "UL" means a pre-set layer in which multiple or single items are stacked. The "Image Diagram Showing the Changed State" is an image in which multiple types of pre-set ULs can be displayed side by side in the vertical direction. Furthermore, by "UL Selection" shown in the "Reference Image Diagram Showing the Names of Each Part," UL3 displayed in the "Image Diagram" is changed to another UL such as UL2, and by "Position Selection," the vertical position of the "layer in which items are stacked" selected in the "Image Diagram" in the "Image Diagram Showing the Changed State" is changed. In one example, as shown in "Reference Image Diagram Showing the Usage State 1," where there are already two layers of UL1 and one layer of UL2, which are "layers in which items are stacked," UL3 set in the "Image Diagram" is added to the position based on the setting of "Position Selection." In other examples, such as "Reference Image Diagram 2 showing the usage state," if UL3 is set in the "Image Diagram" when there are no "layers for stacking items" in the "Image Diagram showing the changed state," only UL3 set in the "Image Diagram" will be added. In this case, as in "Reference Image Diagram 3 showing the usage state" and "Reference Image Diagram 4 showing the usage state," only one "layer for stacking items" will be selected in the "Image Diagram." In "Reference Image Diagram 3 showing the usage state," it is also possible that one layer other than the bottom layer will be selected. Furthermore, although the "Image Diagram" shows a state where two out of three "layers for stacking items" are selected, if only two "layers for stacking items" are pre-configured for UL3, the user can select two out of the two "layers for stacking items," and it is also possible that four or more "layers for stacking items" are pre-configured for UL3. In the "image diagrams" and "image diagrams showing changed states," the "item arrangement" diagram may be positioned in a different location relative to the "layers on which items are stacked" diagram, the item arrangement may be illustrated in a different manner, and the item arrangement diagram may not be displayed when the item arrangement is known, etc.

Images