Remote support system

Abstract

To enable the smooth acceptance of remote support by on-site workers while ensuring on-site safety, and to allow remote supporters to focus solely on providing operational assistance to on-site workers. [Solution] The remote support system comprises a control device 40 for controlling industrial machinery, a teaching control panel 50 connected to the control device for operating the control device, and an information processing terminal 60 connected to the control device directly or via a network line. As a user operation to the teaching control panel, the information processing terminal receives an instruction to grant permission to view the screen of the teaching control panel. The control device transmits the screen data displayed on the teaching control panel to the information processing terminal in accordance with the instruction to grant permission to view the screen received as a user operation to the teaching control panel.

Description

Technical Field

[0001] The present invention relates to a remote support system.

Background Art

[0002] In recent years, the functionality of industrial machines such as robots and machine tools introduced into manufacturing factories has been advancing. Therefore, in the event of unexpected situations such as an industrial machine stopping and becoming immovable, it may not be possible to resolve the issue solely with the on-site workers. In such cases, the person in charge of the work contacts the manufacturer's representative via email, phone, etc., and the person in charge of the work or the on-site workers operate the industrial machine as instructed by the representative. If the issue still cannot be resolved, the schedule is adjusted and the manufacturer's engineer visits the site directly to handle the situation. It would be ideal if the representative could visit the site immediately, but if the representative cannot visit immediately, the task downtime will become longer, resulting in delays in the manufacturing schedule and the like. To address this, Patent Document 1 discloses a remote operation system for realizing support by a service technician when a robot malfunctions. Such support by remote operation is one effective means for preventing delays in the manufacturing schedule and the like.

[0003] However, in a remote operation system, there may be problems with unintended operations by third parties who have infiltrated the system or by service technicians who are remote operators, against the on-site workers. For example, there is a possibility that a robot may be moved by an operator who does not understand the on-site situation, causing the robot to collide with on-site workers or obstacles. There is also a possibility that the data of the information processing terminal being operated remotely may be illegally accessed. Thus, there is room for improvement from the perspective of the security of service technicians performing remote operations or intruders into the network, and the safety of the site during remote operation, and a more secure remote support system is desired.

Prior Art Documents

Patent Documents

[0004] [Patent Document 1] Japanese Patent Publication No. 2001-142512 [Overview of the project] [Problems that the invention aims to solve]

[0005] It is desirable that remote supporters focus solely on assisting on-site workers with their operations, while ensuring on-site safety and enabling the smooth acceptance of remote support by on-site workers. [Means for solving the problem]

[0006] A remote support system according to one aspect of the present disclosure comprises a control device for controlling an industrial machine, a teaching control panel connected to the control device for operating the control device, and an information processing terminal connected to the control device directly or via a network line. The remote support system receives a user instruction from the information processing terminal to allow viewing of the screen of the teaching control panel as a user operation to the teaching control panel. The control device transmits the screen data displayed on the teaching control panel to the information processing terminal in accordance with the permission instruction for viewing the screen received as a user operation to the teaching control panel. [Effects of the Invention]

[0007] According to one aspect of this disclosure, a remote support system can ensure on-site safety during remote operation and prevent unauthorized data manipulation. [Brief explanation of the drawing]

[0008] [Figure 1] Figure 1 shows an example of a remote support system according to this embodiment. [Figure 2] Figure 2 is a block diagram of the remote support system shown in Figure 1. [Figure 3] Figure 3 shows an example sequence of steps leading up to the remote operation of the control device shown in Figure 1 using a remote terminal. [Figure 4]Figure 4 shows an example of the reception page displayed on the operating terminal shown in Figure 1. [Figure 5] Figure 5 shows an example of a remote control page displayed on the remote terminal in Figure 1. [Figure 6] Figure 6 is a sequence illustrating another example of the procedure leading up to the remote control of the control device by the remote terminal shown in Figure 1. [Figure 7] Figure 7 shows a sequence of steps for the pre-registration process of a remote terminal for the control device shown in Figure 1. [Figure 8] Figure 8 shows another example of the remote support system according to this embodiment. [Modes for carrying out the invention]

[0009] Hereinafter, a remote support system according to an embodiment of the present invention will be described with reference to the drawings. In the following description, components having substantially the same function and configuration will be denoted by the same reference numerals, and redundant explanations will be given only when necessary.

[0010] As shown in Figure 1, the remote support system 1 according to this embodiment includes a robot arm mechanism 10 installed in a factory, which corresponds to industrial machinery; a camera 20 for photographing workpieces, which corresponds to peripheral equipment of industrial machinery; a control device 40 that controls the robot arm mechanism 10 and the camera 20; a first information processing terminal 50 (operation terminal 50) used by a user to operate the control device 40; and a second information processing terminal 60 (remote terminal 60) used by maintenance personnel, manufacturers' technicians, etc., to remotely operate the control device 40. The operation terminal 50 can be a general-purpose terminal such as a PC or tablet, a dedicated operation pendant, or a PLC (Programmable Logic Controller) that comprehensively controls the control device 40. The remote terminal 60 can be a general-purpose terminal such as a PC or tablet.

[0011] Typically, the robot arm mechanism 10 and the camera 20 are directly connected to the control device 40 by wired cables. The control device 40 and the operating terminal 50 are connected to the router 110 according to the wireless LAN standard. The control device 40 and the operating terminal 50 can communicate with each other freely via the router 110. In addition, the control device 40 and the operating terminal 50 can connect to the internet 100 via the router 110. The remote terminal 60 can connect to the control device 40 and the operating terminal 50 via the internet 100. Of course, a hub may be connected to the router 110 by wired cables, and the control device 40 and the operating terminal 50 may be connected to the hub by wired cables.

[0012] As shown in Figure 2, the control device 40 is connected to the robot arm mechanism 10, camera 20, and router 110 via interfaces 46, 47, and 48. The control device 40 can connect to the operating terminal 50 and the internet via the router 110.

[0013] The control device 40 has a processor 41. The processor 41 consists of a CPU (Central Processing Unit) and a GPU (Graphics Processing Unit), and comprehensively controls each device and controller connected to the system bus. The ROM 42 stores the BIOS (Basic Input Output System), operating system program (OS), etc., which are executed by the processor 41. The RAM 43 functions as the main memory, work area, etc., of the processor 41.

[0014] The storage device 44 stores information related to the robot system, control applications, remote control applications, and the like. Information regarding the robot system includes a task program for causing the robot system to execute a predetermined task, setting information for the robot arm mechanism 10, setting information for the camera 20, and the like. The setting information for the robot arm mechanism 10 includes, for example, parameter information related to operations such as the operating speed, acceleration, and operating range of the robot arm mechanism 10, on / off information for functions, parameter information related to the operations of the hand (end effector) equipped on the robot arm mechanism 10, and on / off information for functions. The setting information for the camera 20 includes the shooting range, shooting speed, and the like.

[0015] The control application is software for controlling the robot arm mechanism 10 and the camera 20. By executing the control application by the processor 41, the process of providing a control page for the operation terminal 50 registered in advance in the control device 40, and the control process of the robot arm mechanism 10 and the camera 20 based on user operations on the control page are realized. The control here includes directly controlling the motors of each joint part of the robot arm mechanism 10, modifying the task program, and modifying, changing, and adding information related to the robot system such as changing the setting information.

[0016] The remote operation application is software for executing processes related to remote operations. By executing the remote operation application by the processor 41, the process of providing an application page to the remote terminal 60, the process of receiving a remote operation application from the remote terminal 60, the process of providing a reception page to the user's operation terminal 50 for judging whether to accept the remote operation (transfer process of the remote operation application), the process of providing a remote operation page to the remote terminal 60 for which the remote operation is permitted, and the process of changing data based on operations on the remote operation page are realized.

[0017] Hereinafter, referring to FIG. 3, an example of the procedure from when a remote operation of the control device 40 is requested from the remote terminal 60 until the control device 40 is remotely operated by the remote terminal 60 will be described. By the operation of the applicant who applies for the remote operation of the control device 40, a browser is launched on the remote terminal 60, and the URL of the application page for the remote operation of the control device 40 is input on the browser screen (step S11). The browser of the remote terminal 60 identifies the control device 40 by the IP address corresponding to the input URL and requests the application page for the remote operation.

[0018] The control device 40 reads the data of the HTML file of the application page for the remote operation requested from the browser of the remote terminal 60 and transmits it to the browser of the remote terminal 60 (step S12).

[0019] The browser of the remote terminal 60 analyzes the HTML file and displays the application page for the remote operation (step S13). The application page includes input items for applicant information for identifying the applicant, such as the name and affiliation of the applicant (e.g., maintenance worker). When the input of the necessary items is completed on the application page and the application button is tapped, the browser of the remote terminal 60 transmits the remote operation application to the control device 40 (step S14). The remote operation application is accompanied by terminal information for identifying the remote terminal 60 as the remote operation source, device information for identifying the control device 40 as the remote operation destination, and applicant information input on the application page.

[0020] Based on the various information received together with the remote operation application, the control device 40 creates a reception page for receiving from the user a determination on the acceptance of the remote operation as shown in FIG. 4. Then, the control device 40 transmits a request for determination of acceptance of the remote operation to the operation terminal 50 of the user (administrative responsible person) registered in advance in the control device 40 by means of transmission such as mail or push notification (step S15). A link to the reception page is attached to this determination request.

[0021] When a user taps a link attached to a received decision request via the operation terminal 50, a browser is launched and the browser displays a reception page (step S16). On the reception page, the user selects whether to allow or deny remote control of the control device 40 by the remote terminal 60. If permission is granted, the control range of the control device 40 is entered. Here, as shown in Figure 4, it is assumed that remote control of the control device 40 by the remote terminal 60 is permitted and the control range is set to a predetermined range. When the necessary items are entered on the reception page and the completion button is tapped, the browser on the operation terminal 50 sends an acceptance instruction for remote control to the control device 40 that sent the input request (step S17). The acceptance instruction includes information such as the setting of the control range.

[0022] When the control device 40 receives an instruction to accept remote operation, it creates a remote operation page as shown in Figure 5 based on the control range setting information and sends it to the remote terminal 60 that requested the remote operation as the application result (step S18). In this case, since the remote operation was approved, the data of the remote operation page was sent to the remote terminal 60 as the application result. However, if the remote operation is not approved, the data of a notification page informing the remote terminal 60 of that fact is sent to the remote terminal 60.

[0023] When the browser on the remote terminal 60 receives the application result, it displays a remote operation page (step S19). Applicants such as maintenance personnel and manufacturers' technicians can remotely operate the control device 40 via the remote operation page. For example, if the value of a specific variable is changed by an operation on the remote operation page (step S20), the change information is sent to the control device 40. The control device 40 changes the value of the specific variable based on the change information received from the remote terminal 60 (step S21).

[0024] Figure 4 shows an example of a reception page displayed on the operating terminal 50. As shown in Figure 4, the reception page includes applicant information to identify the applicant who requested remote control, terminal information for the remote terminal 60 to identify the remote terminal 60 that requested remote control, device information for the control device 40 to identify the control device 40 to which remote control was requested, a selection box to select whether to approve or deny the application, and a selection box to set the control range. Figure 4 shows that remote control of the control device 40 by the remote terminal 60 is permitted, and the control range allows operations to check the status of the robot and operations to change the robot's program / variables, while operations to directly control the robot's movement are not permitted. When the complete button is tapped, the entered information is sent to the control device 40 identified by the device information.

[0025] Figure 5 shows an example of a remote control page displayed on the remote terminal 60. The remote control page corresponds to the control range set on the reception page in Figure 4. As shown in Figure 5, since operations to check the robot's status are permitted, buttons corresponding to various items related to the robot's status are enabled so that they can be selected. Similarly, since operations to change the robot's program / variables are permitted, buttons corresponding to various items related to changing the robot's program / variables are enabled so that they can be selected. On the other hand, since operations to directly control the robot's movement are not permitted, buttons corresponding to various items related to robot movement control are disabled so that they cannot be selected. In this way, the remote control page is configured so that the remote operator cannot control the control device 40 beyond the control range set by the user.

[0026] As described above, with the remote support system 1 according to this embodiment, the decision to accept a remote operation of the control device 40 by the remote terminal 60 is not made by the control device 40, which is the remote operation destination (party), but rather by an external operation terminal 50 connected to the control device 40. When a remote operation request is made to the control device 40 from the remote terminal 60, the request is forwarded to the user's operation terminal 50, so that the user can respond immediately even if they are not on-site. By allowing or denying the remote operation at the operation terminal 50 in response to the remote operation request from the remote terminal 60, the time from when the remote operation is requested until it is permitted can be shortened, and for example, the time the robot system needs to be stopped can also be shortened. In this way, the remote support system 1 according to this embodiment can reduce the effort required on the part of the user who manages the industrial machine that is being remotely operated.

[0027] Furthermore, the user can arbitrarily set the control range of the control device 40 by the remote terminal 60 via the operation terminal 50. Since the applicant for remote operation cannot control the control device 40 beyond the control range set by the user, it is possible to prevent unauthorized data manipulation, such as changing setting information held in the control device 40 in a range not authorized by the user. Also, in many cases, the operator operating the remote terminal 60 is not on-site and therefore cannot grasp the situation on-site in detail. For this reason, the possibility that on-site workers may be endangered by remote operation of the control device 40 cannot be completely ruled out. However, by setting the control range so that items that actually operate industrial machinery or items that may endanger workers cannot be controlled, such situations can be avoided. Thus, according to the remote support system 1 of this embodiment, on-site safety during remote operation can be ensured and unauthorized data manipulation can be prevented.

[0028] In the procedure described in Figure 3, when a remote operation request was made from the remote terminal 60 to the control device 40, the details of the request were transferred to the user's operation terminal 50, which decides whether to accept the remote operation of the control device 40. However, the procedure may also be configured so that the remote operation request is sent directly from the remote terminal 60 to the operation terminal 50. Referring to Figure 6, another example of the procedure from when a remote operation request for the control device 40 is made from the remote terminal 60 until the control device 40 is remotely operated by the remote terminal 60 will be described below. Since steps 31 to 34 in Figure 6 correspond to steps S11 to S14 in Figure 3, respectively, steps 35 to S36 in Figure 6 correspond to steps S16 and S17 in Figure 3, respectively, and steps S39 to S42 in Figure 6 correspond to steps 18 to S21 in Figure 3, respectively, a detailed explanation of these steps will be omitted.

[0029] The operating terminal 50 has an application installed that accepts requests for remote control of the control device 40 from the remote terminal 60. When the processor executes the application, the operating terminal 50 can accept requests for remote control from the remote terminal 60, display an acceptance page, and transmit various information entered by the user on the acceptance page to the control device 40 at the remote control destination.

[0030] As shown in Figure 6, in process S34, when the required items are entered on the application page displayed on the remote terminal 60 and the application button is tapped, the browser on the remote terminal 60 identifies the operating terminal 50 based on the user information associated with the application page and sends the remote operation application. The user information is information that identifies the user who manages the control device 40 at the remote operation destination, and includes an email address, terminal information of the operating terminal 50, etc. The remote operation application is accompanied by terminal information to identify the remote terminal 60 that is the remote operation source, device information to identify the control device 40 at the remote operation destination, and applicant information entered on the application page.

[0031] Based on the various information received along with the remote operation request, the operating terminal 50 creates and displays a remote operation acceptance page as shown in Figure 4 (step S35). Once the necessary items are entered on the acceptance page and the completion button is tapped, the operating terminal 50 identifies the remote control device 40 based on the device information and sends a remote operation acceptance instruction (step S36). The remote operation acceptance instruction includes an authentication code indicating that the operating terminal 50 has the right to grant the remote terminal 60 permission to remotely operate the control device 40, terminal information of the remote terminal 60 that requested the remote operation, and information on setting the control range of the control device 40 by remote operation.

[0032] When the control device 40 receives an acceptance instruction from the operation terminal 50, it authenticates the operation terminal 50 based on the authentication code (step S37), and registers the terminal information and control range setting information of the remote terminal 60 in association with the terminal list that accepts remote operation (step S38). The control device 40 then creates a remote operation page as shown in Figure 5 and sends it as an application result to the remote terminal 60 identified by the terminal information (step S39). As a result, the remote operation page is displayed on the remote terminal 60 (step S40), and if a variable is changed by an operation performed by a maintenance worker on the remote operation page (step S41), the change information is sent to the control device 40. When the control device 40 receives the change information from the remote terminal 60, it changes the variable based on the change information (step S42).

[0033] In the procedure described in Figure 6, a remote operation request for the control device 40 from the remote terminal 60 triggers the registration process of the remote terminal 60 to the control device 40. However, the registration process of the remote terminal 60 may be performed in advance. The procedure when the remote terminal 60 that accepts remote operation of the control device 40 is pre-registered will be described below with reference to Figure 7. Steps 51 to 54 in Figure 7 correspond to steps S35 to S38 in Figure 6, respectively, step 55 in Figure 7 corresponds to step S31 in Figure 6, and steps S57 to S60 in Figure 7 correspond to steps 39 to S42 in Figure 6, respectively, so the details of these steps will be omitted.

[0034] The user obtains the information necessary to register the remote control of the control device 40 on the acceptance list from the applicant via email or other means (applicant information, terminal information of the remote terminal 60 from which the remote control is originating, and device information of the control device 40 to which the remote control is being performed) in advance.

[0035] As shown in Figure 7, a user operation displays a pre-registration page on the operation terminal 50 (step S51). On the pre-registration page, the user inputs the applicant information obtained in advance, the terminal information of the remote terminal 60 that is the remote control source, the device information of the control device 40 that is the remote control destination, and the control range of the control device 40. Once the input is complete and the completion button is tapped, the operation terminal 50 identifies the control device 40 that is the remote control destination based on the device information and sends an instruction to accept the remote control (step S52). The instruction to accept the remote control includes an authentication code indicating that the operation terminal 50 has the right to grant the remote terminal 60 permission to remotely control the control device 40, as well as applicant information, terminal information, and control range setting information.

[0036] When the control device 40 receives an acceptance instruction from the operation terminal 50, it authenticates the operation terminal 50 based on the authentication code (step S53) and registers the applicant information, terminal information, and control range setting information in association with the list of terminals that accept remote control (step S54). Through the processing in steps S51 to S54, the pre-registration of remote terminals 60 that are authorized to accept remote control of the control device 40 is completed.

[0037] When the control device 40 receives a remote operation request from the remote terminal 60, it authenticates the remote terminal 60 using applicant information, terminal information, etc. (S56). If the authentication result is positive, it creates a remote operation page as shown in Figure 5 and sends it to the remote terminal 60 as the application result (step S57). As a result, the remote operation page is displayed on the remote terminal 60 (step S58). For example, if a variable is changed by an operation performed by a maintenance worker on the remote operation page (step S59), the change information is sent to the control device 40. When the control device 40 receives the change information from the remote terminal 60, it changes the variable based on the change information (step S60).

[0038] The configuration is not limited to this embodiment, as long as the control device 40 can be controlled by the remote terminal 60. In this embodiment, the operating terminal 50 could be connected to the control device 40 via a network line such as a LAN, but it may also be connected directly to the control device 40 via a wired cable, for example. Also, in this embodiment, the remote terminal 60 could be connected to the control device 40 via the Internet 100, but since it is conceivable that maintenance personnel may be at the factory site, it may also be connected directly to the control device 40 via a wired cable, for example.

[0039] Furthermore, the operation terminal 50 may function as a relay device that relays between the remote terminal 60 and the control device 40. For example, as shown in Figure 8, in the remote support system 1, the operation terminal 50 is connected to the control device 40 directly or via a network. The remote terminal 60 is connected to the operation terminal 50 directly or via a network. In this case, the operation terminal 50 permits or denies remote operation of the control device 50 by the remote terminal 60. In other words, the operation terminal 50 permits or denies accepting remote operation from the remote terminal 60 to the operation terminal 50 or the control device 40. The permit or denial of acceptance of remote operation by the remote terminal 60, which is input to the operation terminal 50, is performed in response to the remote operation request from the remote terminal 60. Therefore, the above input may be performed at the time the remote operation is to be performed, or it may be performed in advance. The operation terminal 50 also sets the control range of the control device 40 by the remote terminal 60 or the range of remote operation of the operation terminal 50. By setting the control range of the control device 40, the remote operator can control the control device 40 within the set control range. By setting the remote control range of the operating terminal 50, the remote operator can remotely control the operating terminal 50 within the set remote control range, effectively limiting the control range of the control device 40 that can be remotely controlled.

[0040] When the remote terminal 60 and the control device 40 are connected, the operating terminal 50 functions as a relay device that mediates the transmission and reception of data between the remote terminal 60 and the control device 40. Similar to the configuration shown in Figure 1, the remote operator can remotely operate the control device 40 via the remote operation page displayed on the remote terminal 60. In this case, the operating terminal 50 may display the same screen as the screen displayed on the remote terminal 60. This allows the user to continuously check the remote operation performed by the remote operator, thereby confirming whether or not there is any unauthorized data manipulation and deterring unauthorized manipulation by the remote operator. Of course, when the operating terminal 50 functions as a relay device that relays between the remote terminal 60 and the control device 40, the operating terminal 50 may also be remotely operated by the remote terminal 60. The remote operator can effectively operate the control device 40 by remotely operating the operating terminal 50 connected to the control device 40. In any of the above configurations, the operating terminal 50 can decide whether to accept remote operation from the remote terminal 60 and set the control range, thereby ensuring on-site safety and preventing unauthorized data manipulation.

[0041] In this embodiment, the operating terminal 50 could be configured with a control application installed and used by the user to operate the control device 40. However, the operating terminal 50 only needs to be a terminal that allows the user to input permission / denial of remote operation to the remote terminal 60, and it does not need to have a control application installed, meaning it may not be able to operate the control device 40.

[0042] In manufacturing plants where many industrial machines are installed, a manager may be responsible for managing multiple machines. In such cases, if a malfunction occurs in any of the multiple industrial machines, even if the manager wishes to use a remote control service, it is time-consuming because the manager must configure the settings for remote control for each machine. The remote support system according to this embodiment can be configured to have multiple industrial machines, multiple control devices 40 that control each of the multiple industrial machines, and one operation terminal 50 connected to the multiple control devices 40. With a remote support system configured in this way, one operation terminal 50 can handle the acceptance of remote control requests from remote terminals 60 to each of the multiple control devices 40. As a result, it is not necessary to select whether to accept remote control for each control device 40, and the user's effort related to remote support can be reduced.

[0043] In this embodiment, the controlled objects were the robot arm mechanism 10 and the camera 20. However, the controlled objects can be industrial machines such as machine tools, injection molding machines, and other CNC (Computer Numerical Control) controlled machines. Here, machine tools include cutting machines, electrical discharge machines, laser processing machines, and ultra-precision machining machines. CNC controlled machines include forging machines, conveying devices, stockers, and fabric cutting machines. Of course, the controlled object may be one of these industrial machines or a system combining two or more. Furthermore, the controlled object may also include sensors such as force sensors, acceleration sensors, and proximity sensors.

[0044] The application page may include an input field for the applicant's desired control range. By allowing users to specify the desired control range, users can avoid situations where they set the control range unnecessarily wide, increasing the risk of unauthorized operation, or where they set it unnecessarily narrow, requiring them to readjust the control range. In other words, it prevents unauthorized operation by remote operators and reduces the effort required on the user's side for remote operation.

[0045] From the perspective of ensuring on-site safety in remote operation, it is desirable that when setting the control range for remote operation, it be clear whether the control items are related to robot movement or not. To achieve this, for example, the reception page could display control ranges related to robot movement and control ranges unrelated to robot movement separately. Alternatively, the reception page could be provided so that control ranges related to robot movement and control ranges unrelated to robot movement can be set individually. This would prevent situations where control ranges related to robot movement are mistakenly set as the control range for remote operation. Furthermore, it would be possible to raise awareness of on-site safety among users when setting the control range for remote operation.

[0046] The items included in the range of remote control are not limited to those shown in Figures 4 and 5. For example, the control range may include the following items: • Adding, removing, and updating software • Addition of operating programs ·troubleshooting • Regular checkups • Check the settings and adjust the parameters of peripheral devices (camera, force sensor, etc.) • Check and change settings for other applications. • Direct operation of peripheral devices "Adding, removing, and updating software" allows remote operators to add, remove, or upgrade control software installed on the control unit 40 for controlling industrial machinery from their remote terminal 60 or other remote operator side. It also allows them to upgrade already installed control software to a revised version incorporating new features and bug fixes. The added control software may include software for controlling newly added vision and force sensors in the industrial machinery, as well as software for new features developed after the industrial machinery is installed at the user's production site. "Adding motion programs" allows remote operators to add motion programs created through offline simulation to the control unit 40, or copy motion programs installed on other industrial machinery and add them to another control unit 40. "Troubleshooting" allows remote operators to analyze and resolve malfunctions. "Periodic diagnostics" allows remote operators to periodically check whether industrial machinery such as the robot arm mechanism 10 and camera 20 are operating smoothly, even when no problems are occurring. "Troubleshooting" and "Periodic diagnostics" may allow remote operators to view motion parameters and statuses that are inaccessible to the user. One advantage of the configuration of this embodiment is that the control device 40 can be controlled directly without going through the operation terminal 50, allowing for the verification of information that cannot be accessed through the operation terminal 50.

[0047] In "Confirming settings and adjusting parameters of peripheral devices (cameras, force sensors, etc.)", the remote terminal 60 can directly confirm settings for controlling peripheral devices such as cameras and force sensors incorporated into industrial machinery, and adjust detailed parameters for vision detection and force control. Users are often unfamiliar with handling peripheral devices, so remote operation allows for efficient user support. In "Confirming settings of other applications", the remote operator can confirm the settings of applications used during spot welding, arc welding, laser processing, sealing, and palletizing, and turn functions on or off, adjust parameters, etc. In "Direct operation of peripheral devices", the remote operator can operate the robot and cameras installed around it to check the site conditions. This allows the remote operator to freely check the areas they want to check, enabling efficient user support through remote operation.

[0048] The range of remote control may include I / O signals that control communication between the hand and peripheral devices equipped on the robot arm mechanism 10 and the control device 40. In the event of trouble on site, unexpected events may cause interlocks between the control device 40 and peripheral devices, or between peripheral devices themselves, to malfunction as expected, leading to problems. In such cases, the remote operator can quickly troubleshoot by checking the details of the I / O signals that control communication between devices and making appropriate corrections.

[0049] While several embodiments of the present invention have been described, these embodiments are presented as examples only and are not intended to limit the scope of the invention. These embodiments can be carried out in a variety of other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their variations are included in the scope and spirit of the invention, as well as in the claims and their equivalents. [Explanation of symbols]

[0050] 1...Remote support system, 10...Robot arm mechanism, 20...Camera, 40...Control device, 50...First information processing terminal (operating terminal), 60...Second information processing terminal (remote terminal), 100...Internet, 110...Router.

Claims

1. Control devices for controlling industrial machinery, A teaching control panel connected to the control device and for operating the control device, A remote support system comprising the control device and an information processing terminal connected directly or via a network line, As a user operation on the teaching control panel, the information processing terminal receives an instruction requesting permission to view the screen of the teaching control panel. The remote support system is characterized in that the control device transmits screen data displayed on the teaching control panel to the information processing terminal in accordance with the permission instruction for viewing the screen received as a user operation of the teaching control panel.

2. The control device receives a screen viewing request from the information processing terminal requesting to view the screen of the teaching operation panel. The remote support system according to claim 1, wherein the teaching control panel displays a reception screen for inputting permission or denial regarding the screen viewing request.

3. The remote support system according to claim 2, wherein the reception screen includes at least one of terminal information that identifies the information processing terminal, applicant information that identifies the applicant operating the information processing terminal, and device information that identifies the control device.

4. The remote support system according to claim 2, wherein the teaching control panel displays, on the reception screen, a choice that permits viewing the screen and a choice that permits operating the control device from the information processing terminal.

5. The instruction control panel receives an instruction on the reception screen that permits viewing of the screen only. The remote support system according to claim 2, wherein the control device transmits screen data displayed on the teaching control panel to the information processing terminal in accordance with an instruction that permits only screen viewing, while not accepting operation input from the information processing terminal to the control device.

6. The remote support system according to claim 5, wherein the control device does not perform operation control of the industrial machine, program modification, or variable modification based on the operation input, even when it receives operation input based on the screen data from the information processing terminal.

7. The remote support system according to claim 1, wherein the control device, after receiving an instruction granting permission to view the screen, registers terminal information identifying the information processing terminal and permission information indicating that viewing the screen has been permitted, in association with each other.

8. The remote support system according to claim 7, wherein the control device transmits screen data displayed on the teaching control panel only to the information processing terminal identified by the terminal information.

9. The teaching control panel transmits an instruction granting permission to view the screen, along with an authentication code indicating that the teaching control panel has the right to grant permission to view the information processing terminal's screen. The remote support system according to claim 1, wherein the control device authenticates the teaching operation panel based on the authentication code and then transmits the screen data to the information processing terminal.

10. The remote support system according to claim 2, wherein the reception screen includes a selection unit for selecting whether or not to allow the information processing terminal to view the screen of the teaching operation panel, and a selection unit for selecting whether or not to allow remote operations other than viewing the screen.

11. The remote support system according to claim 10, wherein the remote operation other than viewing the screen includes at least one of controlling the operation of the industrial machine, checking the status of the industrial machine, setting a program or variable, and setting peripheral equipment.

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