Educational system and methods

Abstract

To provide an educational system capable of controlling a participant by a lecturer.SOLUTION: An educational system for education of operation about a robot in remote access environment comprises: a robot, a control device, a lecturer operation machine and a lecturer communication device arranged in a lecturer area; and a participant operation machine and a participant communication device arranged in a participant area. The participant operation machine is connected to the control device and the lecturer operation machine so that data communication is possible, via the participant communication device, a communication network and the lecturer communication device. The lecturer operation machine transmits a command for input permission of the command from the participant operation machine to the control device, to the control device and the participant operation machine. The control device can control action of the robot, and operates the robot, according to the command received from the participant operation machine in a state of receiving the input permission.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to education systems. [Background technology]

[0002] For example, it is stipulated by law that workers who work with industrial robots must receive special training. The special training includes both academic and practical training. In addition, at the work site, an expert instructor teaches beginners the operation and teaching techniques of industrial robots. For example, Patent Document 1 discloses a robot control system, which connects a portable operating device to a robot control device to perform robot teaching work, while providing operation training while monitoring the state of the teaching work with another portable operating device. The robot control device and the portable operating device are connected via network communication. The robot control system enables multiple portable operating devices to communicate with one robot control device simultaneously, and enables the use mode of the portable operating device at that time to be determined. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 5774317 Summary of the Invention [Problem to be solved by the invention]

[0004] In the robot control system of Patent Document 1, when a network communication is already established between the robot control device and the portable operating device and the robot teaching function is enabled, if a network communication connection request is made from another portable operating device, the teaching function is disabled for the other portable operating device and communication is established that displays only the status of the robot control device. Such a configuration for establishing communication and enabling the teaching function in a robot control system is not suitable for education in which an instructor with a portable operating device guides and controls a student with a portable operating device, that is, education related to robot work.

[0005] An object of the present disclosure is to provide an educational system that enables an instructor to control students. [Means for solving the problem]

[0006] An educational system according to one aspect of the present disclosure is an educational system for teaching robot-related tasks in a remote access environment, comprising: a robot arranged in an instructor area; a control device arranged in the instructor area; an instructor operation device arranged in the instructor area capable of data communication with the control device, receiving input from an instructor in the instructor area and outputting commands in accordance with the instructor's input to the control device; an instructor communication device arranged in the instructor area and connecting the control device to a communication network in a data communicable manner; and a student area arranged in a student area, receiving input from a student in the student area and outputting commands in accordance with the student's input. The system comprises a student operator, and a student communication device that is placed in the student area and connects the student operator to the communication network so as to enable data communication, the student operator being connected to the control device and the instructor operator so as to enable data communication via the student communication device, the communication network and the instructor communication device, the instructor operator transmitting a command to the control device and the student operator requesting permission to input commands from the student operator to the control device, and the control device being capable of controlling the operation of the robot and causing the robot to operate in accordance with commands received from the student operator which has been granted permission to input commands. Effect of the Invention

[0007] The technology disclosed herein enables the instructor to control the students. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a schematic diagram showing an example of a configuration of an education system according to an embodiment. [Diagram 2] FIG. 1 is a plan view showing an example of the configuration of an instructor controller according to an embodiment; [Diagram 3] FIG. 1 is a plan view showing an example of a configuration of a trainee operating device according to an embodiment; [Figure 4] FIG. 1 is a block diagram showing an example of a hardware configuration of an education system according to an embodiment. [Figure 5A] FIG. 1 is a sequence diagram showing an example of the operation of the education system in practical training of robot operation according to an embodiment. [Figure 5B] FIG. 1 is a sequence diagram showing an example of the operation of the education system in practical training of robot operation according to an embodiment. [Figure 6A] FIG. 11 is a sequence diagram showing an example of the operation of the education system in practical training for generating a control program according to the embodiment. [Figure 6B] FIG. 11 is a sequence diagram showing an example of the operation of the education system in practical training for generating a control program according to the embodiment. [Figure 6C] FIG. 11 is a sequence diagram showing an example of the operation of the education system in practical training for generating a control program according to the embodiment. [Figure 7] FIG. 1 is a sequence diagram showing an example of the operation of an educational system for academic education according to an embodiment. [Figure 8] FIG. 1 is a sequence diagram showing an example of the operation of the education system in certifying completion of education according to an embodiment. [Figure 9] FIG. 13 is a diagram showing an example of an image displayed on a student area display. [Figure 10] FIG. 13 is a diagram showing an example of an image displayed on the instructor area display. [Figure 11]FIG. 13 is a diagram showing an example of an image displayed on a student area display. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, the embodiments of the present disclosure will be described with reference to the drawings. Note that the embodiments described below are all comprehensive or specific examples. In addition, among the components in the following embodiments, components that are not described in the independent claims showing the highest concept are described as optional components. In addition, each figure in the attached drawings is a schematic diagram and is not necessarily illustrated precisely. Furthermore, in each figure, substantially the same components are given the same reference numerals, and duplicated descriptions may be omitted or simplified. In addition, in this specification and the claims, "apparatus" may mean not only one apparatus but also a system consisting of multiple apparatuses.

[0010] [Structure of the Educational System] The configuration of an education system 1 according to an embodiment will be described. FIG. 1 is a schematic diagram showing an example of the configuration of an education system 1 according to an embodiment. As shown in FIG. 1, the education system 1 according to an embodiment is an education system for teaching robot-related tasks in a remote access environment. The education system 1 includes components arranged in an instructor area AL and components arranged in at least one student area AS.

[0011] The instructor area AL is an area where an instructor L who provides training on robot-related tasks stays, and where a robot 110 used for training is located. The instructor L provides the training using the robot 110. The student area AS is an area where students S who receive training on robot-related tasks stay, and is located away from the instructor area AL. For example, the student area AS is located in a position where a student S in the student area AS cannot directly communicate, such as by direct conversation, with the instructor L in the instructor area AL. Thus, the instructor L and the students S communicate with each other via telecommunications.

[0012] The education system 1 enables an instructor L in one instructor area AL to educate students S in one or more student areas AS. In this embodiment, an instructor L in one instructor area AL can educate students S in two or more student areas AS. In the example of FIG. 1, there is one student S in one student area AS, but there may be two or more students S.

[0013] In the instructor area AL, the education system 1 includes a robot 110, a peripheral device 120 of the robot 110, a control device 130, an instructor operation device 140, an instructor communication device 150, image capture devices 161-163, an instructor area display 170, a microphone 180, and a speaker 190. The control device 130 is connected to the robot 110, the peripheral device 120, the instructor operation device 140, the instructor communication device 150, the image capture devices 161-163, the instructor area display 170, the microphone 180, and the speaker 190 via wired communication or wireless communication. The wired communication and wireless communication may be any wired communication, wireless communication, or a combination thereof. The instructor communication device 150 is connected to a communication network N so as to be able to perform data communication.

[0014] In each student area AS, the education system 1 includes at least one student operating device 210, a student communication device 220, an imaging device 230, a student area display 240, a microphone 250, and a speaker 260. The student communication device 220 is connected to the student operating device 210, the imaging device 230, the student area display 240, the microphone 250, and the speaker 260 via wired communication or wireless communication. The wired communication and wireless communication may be any wired communication, wireless communication, or a combination thereof. The student communication device 220 is connected to a communication network N so as to be able to perform data communication.

[0015] Furthermore, the education system 1 includes a server 310 connected to the communication network N so as to be capable of data communication.

[0016] The communication network N is not particularly limited, and may include, for example, a local area network (LAN), a wide area network (WAN), the Internet, or a combination of two or more of these. The communication network N may be configured to use short-distance wireless communication such as Bluetooth (registered trademark) and ZigBee (registered trademark), a network dedicated line, a dedicated line of a communication carrier, a public switched telephone network (PSTN), a mobile communication network, the Internet network, satellite communication, or a combination of two or more of these. The mobile communication network may use a fourth generation mobile communication system and a fifth generation mobile communication system, etc. The communication network N may include one or more networks. In this embodiment, the communication network N is the Internet.

[0017] The server 310 manages the communication via the communication network N. The server 310 includes a computer device. The server 310 manages the authentication, connection, and disconnection of the communication between the instructor communication device 150 and the student communication device 220, and the authentication, connection, and disconnection of the communication between the student communication device 220 and the other student communication devices 220. For example, the server 310 stores the identification information and security information of the instructor communication device 150 and the student communication device 220 registered in the education system 1, and uses the information to authenticate the qualification of each device to connect to the education system 1. The server 310 manages the transmission and reception of data between the instructor communication device 150 and the student communication device 220, and between the student communication device 220 and the other student communication devices 220. The data transmitted and received between the instructor communication device 150 and the student communication device 220, and the data transmitted and received between the student communication device 220 and the other student communication devices 220, are passed through the server 310. The server 310 may be configured to convert data sent from a source into a data type usable by the destination.

[0018] The server 310 may also store programs and data for the academic education in the education system 1. The academic education is performed between the instructor operation device 140 and the student operation device 210 via the communication network N, and the programs and data for the academic education are used by the instructor operation device 140 and the student operation device 210. The programs and data for the academic education may be configured to be executed on a dedicated website.

[0019] The server 310 may store certification data used for certification of the completion of education. The certification data includes programs and data for tests of the academic education, programs and data for certifying the completion of education based on the evaluation of the academic education and the evaluation of the practical education, and the like. The programs and data for tests of the academic education include programs and data for carrying out tests of the academic education, grading the tests, and determining the evaluation of the academic education based on the grading results, and the like. The evaluation of the practical education may be an evaluation input by the instructor L to the instructor operation device 140.

[0020] In addition, the programs and data for the academic education, and some or all of the certification data may be stored in the control device 130.

[0021] [Components of the instructor area] Each component of the instructor area AL will be described. As shown in FIG. 1, in this embodiment, the robot 110 is an industrial robot, but is not limited thereto. For example, the robot 110 may be a service robot, a construction machine, a tunnel boring machine, a crane, a cargo handling vehicle, a humanoid, or the like. A service robot is a robot used in various service industries such as nursing care, medical care, cleaning, security, guidance, rescue, cooking, and product provision. Although not limited thereto, in this embodiment, the robot 110 includes a robot arm 111 and an end effector 112 attached to the tip of the robot arm 111. The robot arm 111 has a plurality of joints and can operate with multiple degrees of freedom. The robot arm 111 can move the end effector 112 to various positions and postures. The end effector 112 is configured to be able to apply an action to a workpiece W, which is an object to be processed. The action of the end effector 112 is not particularly limited, but in this embodiment, it is an action of gripping the workpiece W.

[0022] The peripheral device 120 is disposed around the robot 110 and is configured to operate, for example, in coordination with the operation of the robot 110. The peripheral device 120 may be configured to operate in coordination with the robot 110 to act on the workpiece W. Although not limited thereto, in this embodiment, the peripheral device 120 is a belt conveyor that transports the workpiece W. The peripheral device 120 is not essential.

[0023] The imaging devices 161-163 are equipped with cameras that capture digital images, and send the captured image data to the control device 130. The control device 130 processes the image data captured by the imaging devices 161-163 into image data that can be transmitted over a network, and sends the image data to the student area display 240 of at least one student area AS via the communication network N. The imaging device 161 is fixedly disposed within the instructor area AL, and captures an image of the entire robot 110 and the peripheral device 120. The imaging device 162 is a wearable imaging device that is worn by the instructor L. Although not limited thereto, in this embodiment, the imaging device 162 is worn on the head of the instructor L and is oriented in the same direction as the line of sight of the instructor L. The imaging device 162 can capture an image that projects an image similar to the image reflected in the field of vision of the instructor L. The imaging device 163 is disposed facing the instructor L. Although not limited thereto, in this embodiment, the imaging device 163 is disposed at the top of the instructor area display 170, and disposed so as to capture an image of the face of the instructor L. The imaging device 163 may be disposed on the instructor controller 140 .

[0024] The microphone 180 is disposed at a position and orientation such that it can capture the voice uttered by the instructor L. The microphone 180 captures the voice uttered by the instructor L and transmits an audio signal of the voice to the control device 130. The control device 130 processes the audio signal transmitted from the microphone 180 into audio data that can be transmitted over a network, and transmits the audio data to the speaker 260 of at least one student area AS via the communication network N. Although not limited thereto, in this embodiment, the microphone 180 is disposed above the instructor area display 170. The microphone 180 may be disposed in the instructor operation device 140.

[0025] The speaker 190 emits sound toward the instructor L and is disposed in a position and orientation such that the instructor L can hear the sound. The speaker 190 emits a sound signal sent from the control device 130 as sound. The control device 130 converts sound data sent from the microphone 250 of at least one student area AS via the communication network N into a sound signal and sends the sound signal to the speaker 190. Although not limited to this, in this embodiment, the speaker 190 is disposed below the instructor area display 170. The speaker 190 may be disposed in the instructor operation device 140.

[0026] The instructor area display 170 displays an image toward the instructor L and is disposed at a position and orientation such that the instructor L can view the image. The instructor area display 170 displays image data sent from the control device 130 as an image. The control device 130 processes image data sent from the imaging device 230 of at least one student area AS via the communication network N, and causes the instructor area display 170 to display an image corresponding to the image data.

[0027] The instructor operator 140 is configured to be able to transmit and receive various commands, information, data, etc. to and from the control device 130. The instructor operator 140 is configured to be able to operate the robot 110 and the peripheral device 120 via the control device 130. The instructor operator 140 is configured to be able to transmit and receive commands, information, data, etc. to and from the student operator 210 in each student area AS via the control device 130. Note that the instructor operator 140 may be configured to be able to transmit and receive commands, information, data, etc. to and from the student operator 210 in each student area AS without via the control device 130.

[0028] The configuration of the instructor operation device 140 is not particularly limited, and for example, the instructor operation device 140 may be a known teaching device used for teaching a robot, a known operation device for a robot, a smart device such as a smartphone, a smart watch, or a tablet, a computer device such as a personal computer, other known operation devices, a device using these, or a device that has been improved from these. In this embodiment, the instructor operation device 140 is a teach pendant, which is an example of a teaching device. In this embodiment, the instructor operation device 140 does not have a function or device that can be directly connected to the communication network N. However, the instructor operation device 140 may be configured to have the function of the instructor communication device 150 and to be directly connected to the communication network N.

[0029] 2 is a plan view showing an example of the configuration of instructor operator 140 according to the embodiment. As shown in FIG. 2, instructor operator 140 includes operator display 141, a plurality of input elements 142, a plurality of highlighting elements 143, trigger switch 144, emergency stop switch 145, and operation controller 146.

[0030] The operation controller 146 controls the overall operation of the instructor operation device 140 and includes a computer device. The operation device display 141 displays various images according to commands from the operation controller 146. For example, the operation device display 141 can display an image of the operation screen of the instructor operation device 140, an image of the operation screen of the student operation device 210 sent from the student operation device 210 in the student area AS, and the like.

[0031] The multiple input elements 142 accept input by the instructor L and output a signal indicating the input content. The signal output by each input element 142 is sent to the control device 130 by the operation controller 146. The signal may be converted by the operation controller 146 before being sent. The multiple input elements 142 may include known input elements such as levers, buttons, keys, keyboards, touch panels, touch displays, joysticks, motion capture devices, etc.

[0032] A plurality of highlighting elements 143 are arranged corresponding to a plurality of input elements 142, respectively. A plurality of highlighting elements 143 may be arranged in one input element 142. The highlighting elements 143 are configured to be able to highlight the input elements 142 individually. The highlighting elements 143 operate according to the control of the operation controller 146. The operation controller 146 determines the highlighting element 143 to be highlighted according to the information of the input element 212 of the student operation device 210 sent from the student operation device 210 in the student area AS. For example, the information of the input element 212 is the information of the input element 212 receiving the input from the student S, and the operation controller 146 highlights the input element 142 having the same function as the input element 212, that is, the highlighting element 143 of the input element 142 corresponding to the input element 212.

[0033] For example, if the input element 142 is a physical element, the highlighting element 143 may be arranged near the input element 142 or on the input element 142 itself, and configured to highlight the input element 142 by emitting light. In this case, the highlighting element 143 may be a light source such as an LED (Light Emitting Diode). The highlighting element 143 that highlights the input element 142 may be configured to be shown on the operator display 141. If the input element 142 is an image within an image displayed on a touch panel or touch display, the highlighting element 143 may be configured to form an image that highlights the image of the input element 142 within the image displayed on the touch panel or touch display.

[0034] The trigger switch 144 is configured to selectively output a command to permit supply of drive power to the robot 110 and the peripheral device 120 and a command to stop supply. In this embodiment, two trigger switches 144 are provided. Each trigger switch 144 outputs an ON-state signal to the operation controller 146 when pressed, and does not output an ON-state signal when not pressed. The operation controller 146 outputs a supply permission command to the control device 130 while receiving ON-state signals from the two trigger switches 144 simultaneously. The operation controller 146 outputs a supply stop command to the control device 130 when not receiving ON-state signals from the two trigger switches 144 simultaneously. Note that the operation controller 146 may send output signals of the two trigger switches 144 to the control device 130, and the control device 130 may determine supply permission and supply stop in the same manner as the operation controller 146.

[0035] In the supply-stopped state, the power of the robot 110 and the peripheral device 120 is ON. However, even if the control device 130 receives a command to operate the robot 110 and the peripheral device 120, it does not supply drive power for the operation to the robot 110 and the peripheral device 120. The supply-stopped state is a state in which standby power is supplied to the robot 110 and the peripheral device 120 to keep them in standby without operating, for example, a ready state.

[0036] In the supply permission state, when the control device 130 receives a command to operate the robot 110 and the peripheral device 120, the control device 130 supplies the driving power for the operation to the robot 110 and the peripheral device 120.

[0037] The emergency stop switch 145 is configured to output an emergency stop command for urgently stopping the robot 110 and the peripheral device 120 by shutting down the power supply to the robot 110 and the peripheral device 120. In this embodiment, the emergency stop switch 145 outputs an emergency stop command signal to the operation controller 146 only when the emergency stop switch 145 is pressed. The operation controller 146 outputs the emergency stop command to the control device 130.

[0038] In the emergency stop state, the power supply of the robot 110 and the peripheral device 120 is in an OFF state. When the control device 130 receives an emergency stop command, it turns off the power supply of the robot 110 and the peripheral device 120.

[0039] The operation controller 146 sends to the control device 130, in accordance with the input by the instructor L to the input element 142, commands for operating the robot 110 and the peripheral devices 120, commands for generating teaching data which is a program for making the robot 110 execute a predetermined task, and commands for transmitting image data displayed on the operator display 141 to the student operator 210. In accordance with the input by the instructor L to the input element 142, the operation controller 146 sends to the control device 130 and the student operator 210, commands for permitting the student operator 210 to operate the robot 110 and the peripheral devices 120, commands for permitting the student operator 210 to generate teaching data, commands requesting the student operator 210 to transmit image data displayed on the operator display 211 of the student operator 210, and the like. The operation controller 146 sends commands to the student operator 210 via the control device 130.

[0040] The control device 130 includes an information processing device 131 and a robot controller 132 (see FIG. 3). The robot controller 132 controls the operations of the robot 110 and the peripheral devices 120. The information processing device 131 processes commands, information, data, etc. received from the instructor operation device 140 and the student operation device 210, and outputs them to a transmission destination. The robot controller 132 and the information processing device 131 include a computer device. The robot controller 132 may include an electric circuit for controlling the power supplied to the robot 110 and the peripheral devices 120.

[0041] The instructor communication device 150 includes a communication interface connectable to the communication network N. The instructor communication device 150 is connected to the control device 130, and connects the control device 130 and the communication network N so that data communication can be performed between them. The instructor communication device 150 may be configured to be connected to the instructor operation device 140, and connects the instructor operation device 140 and the communication network N so that data communication can be performed between them. The instructor communication device 150 may include communication devices such as a modem, an ONU (optical line termination device), and a router. The instructor communication device 150 may include a computer device having a calculation function or the like.

[0042] [Components of the student area] Each component of the student area AS will be described. As shown in FIG. 1, the imaging device 230 includes a camera for capturing digital images, and transmits captured image data to the control device 130 of the lecturer area AL via the student communication device 220 and the like. The student communication device 220 processes the received image data into image data that can be transmitted over a network. The control device 130 processes the received image data and displays an image corresponding to the image data on the lecturer area display 170. The imaging device 230 is disposed facing the student S. Although not limited thereto, in this embodiment, the imaging device 230 is disposed above the student area display 240 so as to capture an image of the student S's face. The imaging device 230 may be disposed on the student operation device 210.

[0043] The microphone 250 is disposed at a position and orientation such that it can pick up the voice uttered by the student S. The microphone 250 picks up the voice uttered by the student S and transmits the voice signal of the voice to the control device 130 in the instructor area AL via the student communication device 220 or the like. The student communication device 220 processes the received voice signal into voice data that can be transmitted over a network. The control device 130 converts the received voice data into a voice signal and transmits it to the speaker 190. Although not limited to this, in this embodiment, the microphone 250 is disposed above the student area display 240. The microphone 250 may be disposed in the student operation device 210.

[0044] The speaker 260 emits sound toward the student S and is disposed in a position and orientation such that the student S can hear the sound. The student communication device 220 converts the sound data transmitted from the microphone 180 in the instructor area AL via the communication network N into an audio signal and transmits it to the speaker 260. Although not limited to this, in this embodiment, the speaker 260 is disposed below the student area display 240. The speaker 260 may be disposed in the student operation device 210.

[0045] The student area display 240 displays an image toward the student S and is disposed at a position and orientation such that the student S can view the image. The student communication device 220 processes image data sent from the imaging devices 161-163 in the instructor area AL via the communication network N and sends it to the student area display 240. The student area display 240 displays the image data as an image.

[0046] The student operator 210 is configured to be able to transmit and receive various commands, information, data, etc. to and from the control device 130 via the student communication device 220 and the communication network N, etc. The student operator 210 is configured to be able to operate the robot 110 and the peripheral device 120 via the control device 130 when permission is received from the instructor operator 140. The student operator 210 is configured to be able to transmit and receive commands, information, data, etc. to and from the instructor operator 140 via the control device 130. The student operator 210 may be configured to transmit and receive commands, information, data, etc. to and from the instructor operator 140 without via the control device 130.

[0047] The configuration of the student operation device 210 is not particularly limited, and for example, the student operation device 210 may be a device such as that exemplified as the lecturer operation device 140. Although not limited thereto, in this embodiment, the student operation device 210 has a configuration similar to that of the lecturer operation device 140. This makes education easier because the contents input by the lecturer L and the student S to the lecturer operation device 140 and the student operation device 210 for the same command or the like are the same. The student operation device 210 may be configured so as to be directly connectable to the communication network N.

[0048] Fig. 3 is a plan view showing an example of the configuration of the student operation device 210 according to the embodiment. As shown in Fig. 3, the student operation device 210 includes an operation device display 211, a plurality of input elements 212, a plurality of highlighting elements 213, a trigger switch 214, an emergency stop switch 215, and an operation controller 216, similar to the lecturer operation device 140. The functions of the operation device display 211, the input elements 212, the highlighting elements 213, the trigger switch 214, the emergency stop switch 215, and the operation controller 216 are similar to those of the operation device display 141, the input elements 142, the highlighting elements 143, the trigger switch 144, the emergency stop switch 145, and the operation controller 146 of the lecturer operation device 140, and therefore detailed description thereof will be omitted.

[0049] In addition, in accordance with instructions from the operation controller 216, the operation device display 211 can display an image of the operation screen of the student operation device 210, an image of the operation screen of the instructor operation device 140 sent from the instructor operation device 140, and an image of the operation screen of the student operation device 210 sent from another student operation device 210.

[0050] The multiple highlighting elements 213 operate under the control of the operation controller 146, which highlights the highlighting elements 213 of the input elements 212 corresponding to the input elements 142 receiving input based on information about the input elements 142 sent from the instructor operation device 140. The operation controller 146 highlights the highlighting elements 213 of the input elements 212 corresponding to the input elements 212 receiving input on the other student operation devices 210 based on information about the input elements 212 sent from the other student operation devices 210.

[0051] The operation controller 216 outputs commands, in accordance with input by the student S to the input element 212, for operating the robot 110 and the peripheral devices 120, commands for generating teaching data which is a program for making the robot 110 perform a specified task, and commands for transmitting data of an image displayed on the operator display 211 to the instructor operator 140 and other student operators 210.

[0052] For example, when the student operator 210 is permitted to operate the robot 110 and the peripheral devices 120, the control device 130 operates the robot 110 and the peripheral devices 120 according to commands from the student operator 210 while simultaneously receiving information on the ON state of the two trigger switches 144 of the instructor operator 140 and information on the ON state of the two trigger switches 214 of the student operator 210. When the instructor operator 140 is capable of operating the robot 110 and the peripheral devices 120, the control device 130 operates the robot 110 and the peripheral devices 120 according to commands from the instructor operator 140 while receiving information on the ON state of the two trigger switches 144.

[0053] The student communication device 220 has a communication interface that can be connected to the communication network N. The student communication device 220 is connected to the student operation device 210, the imaging device 230, the student area display 240, the microphone 250, and the speaker 260, and connects these to the communication network N so that data communication is possible. The student communication device 220 may include communication equipment such as a modem, an ONU (optical line terminal device), and a router. The student communication device 220 includes a computer device having a calculation function, etc.

[0054] [Hardware configuration of the education system] The hardware configuration of the education system 1 according to the embodiment will be described. Fig. 4 is a block diagram showing an example of the hardware configuration of the education system 1 according to the embodiment. In Fig. 4, the relationship between one lecturer operation device 140 and one student operation device 210 is shown, but the other student operation devices 210 also have the same configuration as the student operation device 210 shown in the figure.

[0055] As shown in Fig. 4, the instructor operation device 140, the information processing device 131, the robot controller 132, the server 310, the student communication device 220, and the student operation device 210 include computer devices. Each computer device includes a processor Pr and a memory M. The processor Pr and the memory M constitute a computing unit. The computing unit transmits and receives commands, information, data, and the like to and from other devices. The computing unit inputs signals from various devices and outputs control signals to each controlled object.

[0056] The memory M stores programs executed by the processor Pr, various fixed data, etc. The memory M may be configured with a storage device such as a semiconductor memory, such as a volatile memory and a nonvolatile memory. Although not limited thereto, in the present embodiment, the memory M includes a RAM (Random Access Memory), which is a volatile memory, and a ROM (Read-Only Memory), which is a nonvolatile memory.

[0057] The processor Pr, together with the RAM and the ROM, forms a computer system. The computer system may realize the functions of a computer device by the processor Pr using the RAM as a work area to execute a program recorded in the ROM. A part or all of the functions of the computer device may be realized by the computer system, by a dedicated hardware circuit such as an electronic circuit or an integrated circuit, or by a combination of the computer system and the hardware circuit. The computer device may execute each process under centralized control by a single computer device, or may execute each process under distributed control by cooperation of multiple computer devices.

[0058] For example, the processor Pr may include, but is not limited to, a CPU (Central Processing Unit), an MPU (Micro Processing Unit), a GPU (Graphics Processing Unit), a microprocessor, a processor core, a multiprocessor, an ASIC (Application-Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), etc., and each process may be realized by a logic circuit or a dedicated circuit formed in an IC (Integrated Circuit) chip, an LSI (Large Scale Integration), etc. A plurality of processes may be realized by one or more integrated circuits, or may be realized by a single integrated circuit.

[0059] The server 310 further includes a storage St in addition to the processor Pr and the memory M. The storage St may be configured with a storage device such as a hard disk drive or a solid state drive (SSD). The storage St stores information about the instructor communication device 150 and the student communication device 220 registered in the education system 1, programs and data for academic education in the education system 1, and certification data used for certifying the completion of education.

[0060] The student communication device 220 further includes a communication circuit 221 in addition to the processor Pr and the memory M. The communication circuit 221 is a circuit that establishes a connection between the student communication device 220 and the communication network N.

[0061] The instructor communication device 150 includes a communication circuit 151. The communication circuit 151 is a circuit that establishes a connection between the instructor communication device 150 and a communication network N. The instructor communication device 150 may include a computer device including a processor Pr and a memory M, similar to the student communication device 220. The computer device may include at least a part of the functions of the information processing device 131.

[0062] [The operation of the education system] [Practical training in robot operation] The operation in the practical training of robot operation will be described. Fig. 5A and Fig. 5B are sequence diagrams showing an example of the operation of the education system 1 in the practical training of robot operation according to the embodiment. The robot operation is an operation for manually controlling the robot 110 using the instructor operation device 140 or the student operation device 210. As shown in Fig. 5A and Fig. 5B, first, the instructor L operates the instructor operation device 140 to start an application program for practical training of robot operation (step S101). The server 310 receives a notification of the start of the application program from the instructor operation device 140, and transmits a notification of participation permission to the student operation device 210 of the student S who is scheduled to participate in the practical training (step S102).

[0063] Each student S operates the student operator 210 to start the practical training application program, and logs in after being authenticated by the server 310 (step S103). The server 310 transmits login information, which is information about the student operator 210 that is logged in, to the instructor operator 140 (step S104).

[0064] Instructor L designates one student operator 210 from among the logged-in student operator devices 210 for which commands will be allowed to be input to the control device 130, i.e., one student operator 210 for which robot operation will be permitted, via input to the instructor operator 140, and the instructor operator 140 transmits information about the designated student operator 210 for which permission is granted to the information processing device 131 of the control device 130 (step S105).

[0065] The information processing device 131 transmits information about the participant's operator 210 to be authorized and a request for information about the image data of the operator display 211 of the participant's operator 210 and the input state of the input element 212 to the participant's operator 210 to be authorized via the server 310, etc. (step S106).

[0066] Furthermore, the information processing device 131 transmits data of images captured by the imaging devices 161-163 and audio data acquired through the microphone 180 to the server 310, with the destination being the student communication device 220 of the student operation device 210 that is the permitted target, and the server 310 transmits the data to the destination student communication device 220 (step S107). The student communication device 220 outputs the received image data and audio data to the student area display 240 and the speaker 260, respectively. Any of the imaging devices 161-163 may be arbitrarily designated by an input to the lecturer operation device 140, and in this case, the information processing device 131 may transmit image data of the designated imaging device 161-163 to the server 310.

[0067] The permitted student operator 210 transmits the requested information to the server 310 (step S108). Specifically, the student operator 210 continuously transmits image data of the operator display 211 to the server 310, and when there is an input to the input element 212, transmits information of the input element 212 to the server 310. The server 310 transmits the information sent from the permitted student operator 210 to the lecturer operator 140 and the other student operator 210 (step S109). For example, an image identical to the image on the operator display 211 of the permitted student operator 210 is displayed on the operator display 141 of the lecturer operator 140 and the operator display 211 of the other student operator 210.

[0068] Furthermore, the student communication device 220 of the permitted student operation device 210 transmits image data captured by the imaging device 230 and audio data acquired through the microphone 250 to the information processing device 131 via the server 310 or the like (step S110). The information processing device 131 outputs the received image data and audio data to the instructor area display 170 and speaker 190, respectively.

[0069] When the student S inputs an operation to operate the robot 110 and / or the peripheral device 120 to the input element 212 of the student operator 210 that is the subject of permission (Yes in step S111), the student operator 210 transmits an operation command indicating the content of the operation, information on the input element 212 that has been input, and image data on the operator display 211 to the information processing device 131 via the server 310 or the like (step S112). The student S can input the operation while visually checking the captured image of the imaging device 161 and / or 162 displayed on the student area display 240.

[0070] If there is no operation input by the student S (No in step S111), the process proceeds to step S118.

[0071] The information processing device 131 judges whether the sender of the received operation command is the permitted user's operation device 210 (step S113). For example, the information processing device 131 makes the above judgment using sender information such as identification information included in the operation command.

[0072] When the sender is the student operator 210 that is the permitted target (Yes in step S113), the information processing device 131 transmits the operation command to the robot controller 132 (step S114). Note that the information processing device 131 transmits the operation command to the robot controller 132 only when it simultaneously receives information on the ON state of the two trigger switches 144 of the lecturer operator 140 and information on the ON state of the two trigger switches 214 of the student operator 210 that is the permitted target. The robot controller 132 converts the operation command, generates a drive command for operating the robot 110 and the peripheral device 120 according to the operation command, and outputs the drive command to the robot 110 and the peripheral device 120. For example, the drive command includes a current value to be applied to the drive device of the robot 110 and the peripheral device 120, and the like. As a result, the robot 110 and the peripheral device 120 perform operations according to the operation command.

[0073] Furthermore, the information processing device 131 transmits the information of the inputted input element 212 and the image data of the operation device display 211 to the instructor operation device 140 (step S115). As a result, the instructor operation device 140 displays an image corresponding to the image data of the operation device display 211 on the operation device display 141, and highlights the input element 142 of the instructor operation device 140 corresponding to the inputted input element 212 with the highlighting element 143 (step S116). The information processing device 131 also transmits the above information and image data to the other student operation devices 210. The other student operation devices 210 display an image similar to that of the permitted student operation device 210 on the operation device display 211, and highlights the input element 212 similar to the inputted input element 212 of the permitted student operation device 210.

[0074] If the sender is not the student operating device 210 that is permitted to input (No in step S114), the information processing device 131 transmits a notification that input is not permitted to the sender of the operation command (step S117).

[0075] In step S118, when the instructor L inputs an operation to the input element 142 of the instructor operation device 140 in order to correct the operation of the student S or to teach the student S an operation (Yes in step S118), the instructor operation device 140 transmits information of the inputted input element 142 to the server 310 via the information processing device 131 (step S119), and the server 310 transmits the information to all the student operation devices 210 (step S120). Each student operation device 210 highlights the input element 212 of the student operation device 210 corresponding to the inputted input element 142 by the highlighting element 213 (step S121). Thus, all the students S, including the students S who have been given input permission, can check the instruction of the instructor L on their own student operation devices 210.

[0076] If there is no operation input by the instructor L (No in step S118), the process proceeds to step S122.

[0077] When the instructor L inputs a command to change the student operator 210 that is the input permission target to the instructor operator 140 (Yes in step S122), the instructor operator 140 transmits a notification of the command to the server 310 via the information processing device 131 (step S123), and returns to step S105. The server 310 transmits the notification to all student operator devices 210 (step S124).

[0078] When the instructor operation device 140 does not receive a command to change the student operation device 210 that is the subject of input permission (No in step S122), the process proceeds to step S125.

[0079] When the instructor L inputs a command to end the program to the instructor operation device 140 (Yes in step S125), the instructor operation device 140 transmits the command to the information processing device 131 (step S126). The information processing device 131 transmits a notification of the end of the program to the server 310 (step S127), and the server 310 transmits the notification to all of the student operation devices 210 (step S128). The information processing device 131 terminates the program (step S129).

[0080] If the instructor operating device 140 does not receive a command to end the program (No in step S125), the process returns to step S111.

[0081] [Practical training in generating control programs] An operation in practical training to generate teaching data, which is an example of a control program, will be described. FIGS. 6A to 6C are sequence diagrams showing an example of the operation of the education system 1 in practical training to generate a control program according to an embodiment. In this embodiment, the control program is teaching data. The practical training includes generating teaching data and verifying the generated teaching data. As shown in FIGS. 6A to 6C, first, the instructor L operates the instructor operator 140 to start an application program for practical training to generate teaching data (step S201). The processing of steps S202 to S210 is the same as the processing of steps S102 to S110 in practical training to operate a robot. In step S205, the instructor L designates one student operator 210 that is permitted to generate teaching data, that is, permitted to input a command to the control device 130, via an input to the instructor operator 140.

[0082] Here, the student S causes the robot 110 to perform an operation in order to set teaching points that constitute the teaching data. For example, the information on the teaching points includes the target position, posture, speed, and acceleration of the end effector 112. The teaching data includes information on the teaching points and auxiliary information on the teaching points, and the auxiliary information may include information for interpolating trajectories between the teaching points, the time of arrival at the teaching points, etc. The generated teaching data is stored in the information processing device 131 or the robot controller 132.

[0083] When the student S inputs an operation for operating the robot 110 into the input element 212 of the permitted student operator 210 in order to set a teaching point (Yes in step S211), the student operator 210 transmits the operation command, the input information of the input element 212, and the image data of the operator display 211 to the information processing device 131 (step S212), as in step S111. If the student S has not input an operation (No in step S211), the process proceeds to step S218. Proceed to.

[0084] The processing in steps S213 to S221 is similar to the processing in steps S113 to S121 in the practical training of robot operation.

[0085] When the setting of all the teaching points using the robot 110 is completed, the student S inputs a check of the contents of the teaching data to the student operator 210 that is the permitted target (Yes in step S222), and the student operator 210 transmits a command to execute the check to the information processing device 131 via the server 310 or the like (step S223). The information processing device 131 transmits an operation command according to the teaching data to the robot controller 132 (step S224), and the robot controller 132 outputs a drive command according to the operation command to the robot 110 and the peripheral device 120. The student S can check the operation of the robot 110 and the peripheral device 120 by the image captured by the imaging device 161 and / or 162 displayed on the student area display 240.

[0086] If a command to execute the check is not input to the student operation device 210 (No in step S222), the process returns to step S211.

[0087] If the student S needs to edit the teaching data, he / she inputs a command to edit the teaching data to the student operation device 210 that is the permitted target (Yes in step S224), and the student operation device 210 transmits a command to execute a check to the information processing device 131 via the server 310 or the like (step S225). The information processing device 131 starts a program to edit the teaching data (step S226), and proceeds to step S211.

[0088] If the instruction to edit the teaching data is not input to the student operation device 210, the process proceeds to step S227.

[0089] The processing in steps S227 to S234 is similar to the processing in steps S122 to S129 in the practical training of robot operation.

[0090] [Academic education] The operation in the academic education will be described. Fig. 7 is a sequence diagram showing an example of the operation of the education system 1 in the academic education according to the embodiment. As shown in Fig. 7, first, the instructor L operates the instructor operation device 140 to start an application program for the academic education, and the instructor operation device 140 transmits a notification of the start to the server 310 (step S301). The server 310 transmits a notification of participation permission to the student operation device 210 of the student S who is scheduled to participate in the academic education (step S302).

[0091] Each student S operates the student operation device 210 to start up the application program for the subject education and log in (step S303). The server 310 transmits the log-in information to the instructor operation device 140 (step S304).

[0092] The instructor L inputs a command to the instructor operator 140 to share the screen of the operator display 141 of the instructor operator 140 on the operator display 211 of each student operator 210, and the instructor operator 140 transmits the command to the information processing device 131 (step S305).

[0093] The information processing device 131 transmits screen data, which is data of an image on the operation device display 141 of the instructor operation device 140, to the server 310 (step S306), and the server 310 transmits the screen data to each student operation device 210 (step S307).

[0094] Furthermore, the information processing device 131 transmits the image data of the imaging device 163 and the audio data of the microphone 180 to the server 310 (step S308), and the server 310 transmits the data to the student communication device 220 of each student operation device 210 (step S309). Each student communication device 220 outputs the received image data and audio data to the student area display 240 and speaker 260, respectively.

[0095] Furthermore, each student communication device 220 transmits image data captured by the imaging device 230 and audio data from the microphone 250 to the information processing device 131 via the server 310 or the like (step S310). The information processing device 131 outputs the received image data and audio data to the instructor area display 170 and speaker 190, respectively.

[0096] Therefore, each student S can receive the lecture from instructor L using the same screen on the operator display 211 of the student operator 210 as the screen of the operator display 141 of the instructor operator 140, while being able to see and hear each other and communicate with the instructor L.

[0097] When the instructor L inputs a command to end the program to the instructor operation device 140 (Yes in step S311), the instructor operation device 140 transmits the command to the information processing device 131 (step S312). The information processing device 131 transmits a notification of the end of the program to the server 310 (step S313), and the server 310 transmits the notification to all of the student operation devices 210 (step S314). The information processing device 131 terminates the program (step S315). If the instructor operation device 140 does not receive a command to end the program (No in step S311), step S311 is repeated.

[0098] [Certification of Completion of Education] The operation of certifying the completion of education will be described. In this embodiment, the education system 1 certifies the completion of education after conducting a test for the academic education, although this is not limited thereto. The education system 1 may be configured to separately conduct the test for the academic education and the certification of the completion of education. FIG. 8 is a sequence diagram showing an example of the operation of the education system 1 in the certification of the completion of education according to the embodiment. As shown in FIG. 8, first, the student S operates the student operation device 210 to start an application program for the test for the academic education and to log in (step S401). The server 310 transmits test data to the student operation device 210 (step S402). As a result, a test screen on which an answer can be input is displayed on the operation device display 211 of the student operation device 210.

[0099] The student S inputs the answer using the input element 212 of the student operating device 210 in accordance with the screen displayed on the operating device display 211 (step S403).

[0100] During the test, the student operating device 210 keeps time using a built-in clock or the like, and when the time reaches the test time limit (Yes in step S404), it ends the test and transmits the answer data entered by the student S to the server 310 (step S405). If the time has not reached the test time limit (No in step S404), steps S403 to S404 are repeated.

[0101] The server 310 compares the stored data of the correct answer with the received data of the answer, and determines an evaluation such as a score for the answer of the student S based on the stored evaluation criteria (step S406). In other words, the server 310 determines an evaluation of the academic education for the student S.

[0102] The server 310 requests the information processing device 131 to evaluate the practical training of the student S (step S407), and the information processing device 131 transmits information on the evaluation of the practical training of the student S, which has been input by the instructor L using the instructor operation device 140 and stored, to the server 310 (step S408). For example, the evaluation of the practical training of the student S is input by the instructor L to the instructor operation device 140 when the practical training is completed.

[0103] The server 310 determines whether or not to certify the completion of the education for the student S, using the evaluation of the academic education, the evaluation of the practical education, and the criteria for certifying the completion of the education stored in the server 310 (step S409). The server 310 transmits the result of the certification to the student operating device 210 of the student S (step S410), and ends the program (step S411).

[0104] The information processing device 131 may be configured to execute at least a part of the processes of the server 310 in steps S401 to S410. For example, the information processing device 131 may be configured to be connected to the student operating device 210 without going through the server 310. In this case, the information processing device 131 has all the functions of the server 310.

[0105] (Modification) In the embodiment, the education system 1 is configured to emphasize the input element 212 of the student operator 210 corresponding to the input element 142 input in the instructor operator 140 using the emphasis element 213, and to emphasize the input element 142 of the instructor operator 140 corresponding to the input element 212 input in the student operator 210 using the emphasis element 143. In this modification, the education system 1 is configured to emphasize the input element 142 input in the instructor operator 140 in the image of the instructor operator model, and to emphasize the input element 212 input in the student operator 210 in the image of the student operator model. Hereinafter, the modification will be described focusing on the points different from the embodiment, and the description of the points similar to the embodiment will be omitted as appropriate.

[0106] The information processing device 131 stores information on the instructor operator model in which the instructor operator 140 is modeled as a two-dimensional model or a three-dimensional model, and information on the student operator model in which the student operator 210 is modeled as a two-dimensional model or a three-dimensional model.

[0107] The information for each controller model may include information such as the appearance of the controller model corresponding to the appearance of the controller 140 or 210, a display model having a configuration, arrangement and display screen corresponding to the controller display 141 or 211, an input element model having a configuration and arrangement corresponding to the input element 142 or 212, an emphasis element model having a configuration and arrangement corresponding to the emphasis element 143 or 213, a trigger switch model having a configuration and arrangement corresponding to the trigger switch 144 or 214, and an emergency stop switch model having a configuration and arrangement corresponding to the emergency stop switch 145 or 215.

[0108] The information processing device 131 generates image data of the instructor operator model and transmits it to the student area display 240 for display. The information processing device 131 generates image data of the student operator model and transmits it to the instructor area display 170 and / or the student area display 240 for display. The information processing device 131 reflects the output signal of each input element 142 received from the instructor operator 140 in the image data of the instructor operator model, and reflects the output signal of each input element 212 received from the student operator 210 in the image data of the student operator model.

[0109] Specifically, in the data of the image of the instructor operator model, the information processing device 131 emphasizes, among the input element models of the instructor operator model, an input element model corresponding to the input element 142 receiving input. In the data of the image of the student operator model, the information processing device 131 emphasizes, among the input element models of the student operator model, an input element model corresponding to the input element 212 receiving input. For example, the information processing device 131 may emphasize the input element model by changing the color, pattern, texture, etc. of the input element model, blinking, emitting light or deforming the input element model, adding figures, symbols, etc.

[0110] Furthermore, although not limited thereto, in this modified example, the information processing device 131 generates image data showing together an image of the instructor operation device model and an image captured by a selected imaging device among the imaging devices 161 to 163. For example, the information processing device 131 displays a first display image IA as shown in FIG. 9 on the student area display 240. FIG. 9 is a diagram showing an example of an image displayed on the student area display 240. The first display image IA shows an image Ld of the instructor L, an image 110d of the robot 110, and an image 140Md of the instructor operation device model, and one of the images 142d of the input element model is highlighted. In this example, the highlighted element model is not included.

[0111] The information processing device 131 also generates image data showing both an image of the student operator model and an image captured by the imaging device 230 corresponding to the student operator model. The imaging device 230 corresponding to the student operator model is connected to the student communication device 220 of the student operator 210 corresponding to the student operator model. For example, the information processing device 131 displays a second display image IB as shown in FIG. 10 on the lecturer area display 170. FIG. 10 is a diagram showing an example of an image displayed on the lecturer area display 170. The second display image IB shows an image Sd of the student S and an image 210Md of the student operator model, and one of the images 212d of the input element model is highlighted. In this example, the highlighted element model is not included.

[0112] Further, the information processing device 131 generates image data showing both the image of the student operator model and an image captured by a selected one of the imaging devices 161 to 163. For example, the information processing device 131 displays a third display image IC as shown in FIG. 11 on the student area display 240. FIG. 11 is a diagram showing an example of an image displayed on the student area display 240. The third display image IC shows an image Ld of the instructor L, an image 110d of the robot 110, and an image 210Md of the student operator model, and one of the images 212d of the input element model is highlighted. In this example, the highlighted element model is not included.

[0113] The information processing device 131 displays image data of the instructor operation device model such as the first display image IA at least on the student area displays 240 corresponding to the student operation devices 210 that have been given permission to input to the control device 130, and in this modified example, displays the data on the student area displays 240 corresponding to all of the student operation devices 210. The student area displays 240 corresponding to the student operation devices 210 are connected to the student communication devices 220 of the student operation devices 210.

[0114] The information processing device 131 at least displays data of an image of a student operator model corresponding to the student operator 210 for which input permission has been granted on the instructor area display 170, and in this modified example, also displays the data on the student area displays 240 corresponding to student operators 210 other than the student operator 210. For example, the information processing device 131 displays data of the second display image IB on the instructor area display 170, and displays data of the third display image IC on the student area displays 240 corresponding to student operators 210 other than the student operator 210 for which input permission has been granted. The information processing device 131 may display data of the second display image IB on the student area display 240, and may display data of the third display image IC on the instructor area display 170.

[0115] In the above-mentioned modified example, the instructor L and the student S can easily visually confirm the state of input to the instructor operation device 140 and the student operation device 210 via the instructor area display 170 and the student area display 240. Furthermore, the instructor operation device 140 and the student operation device 210 do not need to be provided with the highlighting elements 143 and 213. This makes it possible to use existing operation devices such as existing teaching pendants as the instructor operation device 140 and the student operation device 210, thereby reducing costs.

[0116] (Other embodiments) Although the examples of the embodiments of the present disclosure have been described above, the present disclosure is not limited to the above-mentioned embodiments and modifications. In other words, various modifications and improvements are possible within the scope of the present disclosure. For example, the embodiments and modifications to which various modifications have been applied, and forms constructed by combining components in different embodiments and modifications are also included within the scope of the present disclosure.

[0117] For example, in the embodiment and the modified example, the education system 1 is configured to include the server 310, but is not limited to this. If the education system 1 does not include the server 310, the control device 130, for example, the information processing device 131, may have the functions of the server 310.

[0118] In the embodiment and the modified example, the control device 130 includes an information processing device 131 and a robot controller 132. The information processing device 131 and the robot controller 132 may be configured as separate devices, or may be integrated into a single device.

[0119] In the embodiment and the modified example, the education system 1 is configured to be used for teaching the operation of the robot 110 and the generation of a control program, but is not limited to this. The education system 1 can be used for teaching various tasks related to the robot, for example, for teaching the inspection, maintenance, repair, etc. of the robot 110.

[0120] Examples of each aspect of the technology of the present disclosure are given below: An education system according to one aspect of the present disclosure is an education system for teaching robot-related tasks in a remote access environment, comprising a robot arranged in an instructor area, a control device arranged in the instructor area, an instructor operation device arranged in the instructor area capable of data communication with the control device, receiving input from an instructor in the instructor area and outputting commands in accordance with the instructor's input to the control device, an instructor communication device arranged in the instructor area and connecting the control device to a communication network in a data communication manner, and an instructor area arranged in a student area, receiving input from a student in the student area and outputting commands in accordance with the student's input. The system comprises a student operator, and a student communication device that is placed in the student area and connects the student operator to the communication network so as to enable data communication, the student operator being connected to the control device and the instructor operator so as to enable data communication via the student communication device, the communication network and the instructor communication device, the instructor operator transmitting a command to the control device and the student operator requesting permission to input commands from the student operator to the control device, and the control device being capable of controlling the operation of the robot and causing the robot to operate in accordance with commands received from the student operator which has been granted permission to input commands.

[0121] According to the above aspect, the instructor operation device and the student operation device can communicate data with each other via the communication network and the control device. Even if the student is located away from the instructor area, the student can receive training on robot-related tasks through communication via the communication network, and can actually operate the robot in the instructor area using his / her student operation device. Furthermore, even if the instructor operation device and the student operation device do not have a communication function to the communication network, they can communicate with each other via the network. This allows the instructor operation device and the student operation device to use existing general-purpose operation devices such as a teach pendant. Furthermore, permission to input from the student operation device to the control device depends on the instructor operation device. In other words, only the student operation device permitted by the instructor operation device can control the operation of the robot. Thus, the instructor can control the student who operates the robot.

[0122] In an educational system according to one aspect of the present disclosure, the instructor controller may be configured to accept input of instructions for the robot's movements in accordance with instructions from the student controller, and to transmit information about the instructions to the student controller.

[0123] According to the above aspect, it is possible for the instructor to give guidance to the students in real time. Specifically, the instructor can send guidance to the students on their operations, and the students can refer to the guidance and correct their own operations.

[0124] In an educational system according to one embodiment of the present disclosure, the control device may be configured to have a function of generating a control program for causing the robot to automatically execute at least a portion of a specified task, and may generate the control program in accordance with instructions received from the student operator device that has been granted input permission.

[0125] According to the above aspect, even if a student is located away from the instructor's area, the student can receive training in generating a control program for a robot using the student's own student operating device. For example, the student can receive training in generating teaching data for causing a robot to execute a specified task, as an example of a control program. Since a control program such as teaching data is generated by a control device, the student can have the control device execute the control program and actually operate the robot, thereby confirming the content of the control program generated by the student.

[0126] In an educational system according to one aspect of the present disclosure, the instructor operator and the student operator each have an operator display capable of outputting and displaying images, and the control device is configured to transmit image data displayed on the operator display of the student operator when the input permission has been received to the instructor operator, and the instructor operator may be capable of displaying the image data on the operator display of the instructor operator.

[0127] According to the above aspect, an image of the controller display of the student controller is shared on the controller display of the instructor controller. The instructor can visually check in real time, via the controller display of the instructor controller, the content displayed on the controller display of the student controller when the student is inputting information into the student controller to cause the robot to operate. The instructor can judge in real time whether each input content made by the student is acceptable or not based on the image of the controller display of the instructor controller and the operation of the robot in the instructor area, and can provide guidance to the student based on that judgment. This enables the instructor to provide accurate guidance to the student.

[0128] In an educational system according to one aspect of the present disclosure, the instructor operator and the student operator each have an operator display capable of outputting and displaying images, the control device is configured to transmit image data displayed on the operator display of the instructor operator to the student operator, and the student operator may be capable of displaying the image data on the operator display of the student operator.

[0129] According to the above aspect, an image of the display of the instructor operation device is shared on the operation device display of the student operation device. The instructor can make the student visually see in real time, via the operation device display of the student operation device, the content displayed on the operation device display of the instructor operation device when the instructor is inputting into the instructor operation device to operate the robot. Thus, the student can learn from the instructor's example of operation. Furthermore, when the student is inputting into the student operation device to operate the robot, the instructor can input a more appropriate operation into the instructor operation device and make the student visually see the content of the operation displayed on the operation device display of the instructor operation device via the operation device display of the student operation device. Thus, the instructor can guide the student's input to a more appropriate input.

[0130] In an educational system according to one aspect of the present disclosure, the instructor operation device has a plurality of instructor input elements that can be input by the instructor and a instructor emphasis device that individually highlights each of the plurality of instructor input elements, the student operation device has a plurality of student input elements that can be input by the student and that correspond to the plurality of instructor input elements, and a student emphasis device that individually highlights each of the plurality of student input elements, the control device is configured to transmit information about the instructor input elements that are being input to the student operation device and to transmit information about the student input elements that are being input to the instructor operation device, the student operation device is configured to cause the student emphasis device to highlight the student input element that corresponds to the instructor input element that is being input, and the instructor operation device is configured to cause the instructor emphasis device to highlight the instructor input element that corresponds to the student input element that is being input.

[0131] According to the above aspect, information on the instructor input element inputted on the instructor operation device is shared on the student operation device, and information on the student input element inputted on the student operation device is shared on the instructor operation device. The instructor can check the student input element being inputted by the student through the instructor input element highlighted on the instructor operation device. The student can check the instructor input element being inputted by the instructor through the student input element highlighted on the student operation device. By inputting into the instructor input element, the instructor can show the student an example of how to input into the student input element. Furthermore, the instructor can input into the instructor input element while visually checking the input by the student into the student input element, thereby guiding the student to input a more appropriate student input element.

[0132] An educational system according to one aspect of the present disclosure further includes a lecturer area display arranged in the lecturer area so as to be capable of data communication with the control device, and a lecturer area display arranged in the lecturer area and connected to the communications network so as to be capable of data communication with the control device, wherein the lecturer operator has a plurality of lecturer input elements that can be input by the lecturer, and the lecturer operator has a plurality of lecturer input elements that can be input by the lecturer, and the control device generates image data of a lecturer operator model in which an image of a lecturer input element model corresponding to the lecturer input elements receiving input is highlighted and transmits it to the lecturer area display for display, and the control device generates image data of a lecturer operator model in which an image of a lecturer input element model corresponding to the lecturer input elements receiving input is highlighted and transmits it to the lecturer area display for display.

[0133] According to the above aspect, information on the instructor input element inputted in the instructor operation device is shared in the student area display, and information on the student input element inputted in the student operation device is shared in the instructor area display. The instructor can check the student input element being inputted by the student through the student input element model highlighted in the image on the instructor area display. The student can check the instructor input element being inputted by the instructor through the instructor input element model highlighted in the image on the student area display. The instructor can show the student an example of inputting into the student input element by inputting into the instructor input element. Furthermore, the instructor can input into the instructor input element while visually checking the input by the student into the student input element, thereby guiding the student to input a more appropriate student input element. In addition, it is also possible to omit a part or all of the highlighting device of each operation device, thereby reducing costs.

[0134] In one embodiment of the educational system of the present disclosure, the system includes at least two of the student operating devices arranged in at least one of the student areas, and at least two of the student communication devices arranged in the at least one of the student areas and connecting each of the at least two student operating devices to the communication network so as to enable data communication, wherein the instructor operating device transmits the input permission command to a first student operating device of the at least two student operating devices and to the control device, and the control device causes the robot to operate in accordance with the command received from the first student operating device.

[0135] According to the above embodiment, the instructor can operate the instructor operation device to arbitrarily select one of the multiple student operation devices and give input permission to the selected student operation device. This allows multiple student operation devices to operate the robot simultaneously, preventing the robot from performing unintended operations. This allows the robot to operate safely.

[0136] In an educational system according to one embodiment of the present disclosure, the instructor operator and the at least two student operator devices each have an operator display capable of outputting and displaying an image, and the control device transmits first image data, which is data for an image displayed on the operator display of the first student operator, to a second student operator which is a student operator other than the first student operator and to the instructor operator, and the second student operator and the instructor operator may be capable of displaying the first image data on their respective operator displays.

[0137] According to the above aspect, an image of the controller display of the student controller that has been given input permission is shared among the controller displays of the other student controllers and the instructor controller. When the student is inputting into the student controller to operate the robot, the content displayed on the controller display of the student controller can be viewed in real time by the instructor and the other students. The other students can view in real time the input content that they have not made and the input content that they are receiving guidance on from the instructor.

[0138] In an educational system according to one embodiment of the present disclosure, the instructor operator and the at least two student operator devices each have an operator display capable of outputting and displaying an image, and the control device transmits second image data, which is data for an image to be displayed on the operator display of the instructor operator, to the at least two student operator devices, and the at least two student operator devices may be capable of displaying the second image data on their respective operator displays.

[0139] According to the above aspect, the image on the controller display of the instructor controller is shared among the controller displays of all of the student controllers. All of the student controllers can visually confirm, as a model, the content displayed on the controller display of the instructor controller when the instructor is inputting information into the instructor controller.

[0140] In an educational system according to one aspect of the present disclosure, the instructor operation device has a plurality of instructor input elements that can be input by the instructor and an instructor highlighting device that individually highlights each of the plurality of instructor input elements, and the at least two student operation devices each have a plurality of student input elements that can be input by the student and that correspond to the plurality of instructor input elements, and a student highlighting device that individually highlights each of the plurality of student input elements, and the control device transmits information about the instructor input elements to the student operation device that is in a state in which input is permitted among the at least two student operation devices. the student operation device may be configured to transmit information of the student input element being input at the student operation device in the input permission state to at least the lecturer operation device among the student operation devices other than the student operation device in the input permission state and the lecturer operation device, the student operation device may be configured to cause the student emphasis device to highlight the student input element corresponding to the lecturer input element being input, and the lecturer operation device may be configured to cause the lecturer emphasis device to highlight the lecturer input element corresponding to the student input element being input.

[0141] According to the above aspect, information on a lecturer input element inputted into a lecturer operation device is shared by at least one of a lecturer operation device that has been given input permission and a lecturer operation device that has not been given input permission. Information on a lecturer input element inputted into a lecturer operation device that has been given input permission is shared by at least one of a lecturer operation device and a lecturer operation device that has not been given input permission.

[0142] An educational system according to one embodiment of the present disclosure further includes a lecturer area display arranged in the lecturer area so as to be able to communicate data with the control device, and at least one lecturer area display arranged in each of the at least one lecturer area and connected to the communication network by the lecturer communication device so as to be able to communicate data with the communication network, wherein the lecturer operator has a plurality of lecturer input elements that can be input by the lecturer, and the at least two lecturer operators each have a plurality of lecturer input elements that can be input by the lecturer, and the control device generates data of an image of a lecturer operator model in which an image of a lecturer input element model corresponding to the lecturer input element receiving input is highlighted, and transmits the data to at least the lecturer area display corresponding to the lecturer operator in the at least one lecturer area display that is in the input permission state, and the control device generates data of an image of a lecturer operator model in which an image of a lecturer input element model corresponding to the lecturer input element receiving input on the lecturer operator in the input permission state is highlighted, and transmits the data to at least the lecturer area display among the lecturer area displays and the lecturer area displays that correspond to the lecturer operator other than the lecturer operator in the input permission state.

[0143] According to the above aspect, information on a lecturer input element inputted in a lecturer operation device is shared at least between a lecturer area display corresponding to a lecturer operation device that has been given input permission and a lecturer area display corresponding to a lecturer operation device that has not been given input permission. Information on a lecturer input element inputted in a lecturer operation device that has been given input permission is shared at least between a lecturer area display and a lecturer area display corresponding to a lecturer operation device that has not been given input permission.

[0144] An educational system according to one embodiment of the present disclosure includes at least two instructor-operated devices in the instructor area, the at least two instructor-operated devices being capable of transmitting the input permission command to the control device and the student-operated devices, and the control device may cause the robot to operate in accordance with a command received from the student-operated device that has received the input permission from a selected instructor-operated device among the at least two instructor-operated devices.

[0145] According to the above aspect, a selected instructor operation device among at least two instructor operation devices can give input permission to the student operation device. Thus, it is possible to avoid input permission being given to one student operation device in duplicate, and input permission being given to a plurality of student operation devices at the same time. Furthermore, since there are at least two instructor operation devices, education by a plurality of instructors is possible. For example, one instructor may be in charge of teaching a part of a series of operations of the robot, and another instructor may be in charge of teaching the other part. For example, an instructor who is skilled in each of the movements included in the series of operations of the robot may teach the movement. Thus, more effective education is possible.

[0146] An educational system according to one aspect of the present disclosure further includes an imaging device arranged in the instructor area capable of imaging the robot and connected to the control device for data communication, and a student area display arranged in the student area and connected to the communication network by the student communication device for data communication, and the control device may transmit image data captured by the imaging device to the student area display for display.

[0147] According to the above aspect, an image of the imaging device showing the state of the robot in the instructor area is displayed on the student area display. The student can receive education while visually checking the image of the robot or the like displayed on the display, and can operate the robot by operating the student operation device, for example.

[0148] An educational system according to one embodiment of the present disclosure includes a plurality of imaging devices including a wearable imaging device worn by the instructor and a fixed imaging device fixedly positioned in the instructor area, and the control device may transmit image data captured by at least one selected imaging device in accordance with input to the instructor operator to the student area display for display.

[0149] According to the above aspect, the student area display can display an image in which the imaging position and imaging direction change according to the instructor's movements such as the instructor's line of sight, and an image in which the instructor's area is shown and the imaging position is fixed. For example, the student can operate the student controller while visually checking an image of the detailed part of the robot captured by the wearable imaging device and an image of the entire robot captured by the fixed imaging device.

[0150] In an educational system according to one aspect of the present disclosure, the instructor operator has an instructor trigger switch that selectively outputs a command to permit the supply of drive power to the robot and a command to stop the supply, and the student operator has a student trigger switch that selectively outputs a command to permit the supply of drive power to the robot and a command to stop the supply, and the control device may cause the robot to operate in accordance with the commands received from the student operator while it is receiving the supply permission from both the instructor trigger switch and the student trigger switch.

[0151] According to the above aspect, the student trigger switch prevents the robot from being operated by an unintended input to the student operation device when the student trigger switch is not operated by the student, such as when the student is not holding the student operation device. The instructor trigger switch prevents the student from operating the robot using the student operation device without the instructor's permission. This allows the robot to operate safely. Note that the state in which the supply of drive power to the robot is stopped does not necessarily mean that the power supply to the robot is cut off, but may also mean that standby power is supplied to the robot to keep it in standby without operating.

[0152] In an educational system according to one aspect of the present disclosure, the instructor operator and the student operator each have an emergency stop switch that outputs an emergency stop command to bring the robot to an emergency stop by shutting down the power supply to the robot, and the control device may bring the robot to an emergency stop when it receives the emergency stop command from at least one of the instructor operator and the student operator.

[0153] According to the above aspect, the emergency stop switch can completely stop the robot when an emergency occurs in which the robot's operation cannot be controlled by the instructor operation device and the student operation device. Both the instructor and the student can completely stop the robot when they recognize the emergency. This allows for safe education.

[0154] In an educational system according to one aspect of the present disclosure, the control device is configured to store certification data used to certify the completion of the education, certify the completion of the education using the certification data, and transmit the certification result to the student operation device, the control device transmits image data for a test of the academic education included in the certification data to the student operation device, determines an evaluation of the academic education based on the test answers received from the student operation device and the correct answers included in the certification data, and certifies the completion of the education using standards included in the certification data, information on the evaluation of the academic education, and information on the evaluation of the academic education received from the instructor operation device, the student operation device has a operation device display capable of outputting and displaying images, and is configured to display the image data for the test on the operation device display of the student operation device, accept input of answers to the student operation device, and transmit the accepted answers to the control device, and the instructor operation device is configured to accept input of an evaluation of the movement of the robot in accordance with an instruction from the student operation device, and transmit information on the evaluation of the practical education including the evaluation to the control device.

[0155] According to the above aspect, the control device can conduct tests on the academic education and evaluate the academic education via the trainee's operation device. Furthermore, the control device can certify the completion of the education based on the evaluation of the academic education and the evaluation of the practical education and send the certification result to the trainee's operation device. Therefore, it is possible to complete the entire education through communication using the communication network.

[0156] In the education system according to one aspect of the present disclosure, the instructor operation device and the student operation device may be operation devices for teaching the robot how to perform an action. According to the above aspect, it is possible to teach robot-related tasks in a remote access environment using an operation device for teaching that is used in actual work. Education in an environment similar to actual work is possible.

[0157] In addition, all the numbers such as ordinal numbers and quantities used above are exemplified to specifically explain the technology of the present disclosure, and the present disclosure is not limited to the exemplified numbers. In addition, the connection relationships between the components are exemplified to specifically explain the technology of the present disclosure, and the connection relationships that realize the functions of the present disclosure are not limited to these. [Explanation of symbols]

[0158] 1. Education System 110 Robot 111 Robot Arm 112 End Effector 130 Control device 131 Information processing equipment 132 Robot Controller 140 Instructor controller 141 Operator display 142 Input Elements 143 Emphasis element 144 Trigger Switch 145 Emergency stop switch 150 Teacher communication device 161~163,230 Imaging device 170 Instructor Area Display 210 Participant control device 211 Operator display 212 Input elements 213 Emphasis element 214 Trigger Switch 215 Emergency stop switch 220 Student communication device 240 Participant Area Display 310 Server AL Teacher Area AS Participant Area N Communication Network

Claims

1. An educational system for teaching robot-related tasks in a remote access environment, comprising: A robot placed in the instructor area, A control device disposed in the instructor area; an instructor operation device that is disposed in the instructor area so as to be capable of data communication with the control device, receives an input from an instructor in the instructor area, and outputs a command according to the input from the instructor to the control device; an instructor communication device that is disposed in the instructor area and connects the control device to a communication network so as to be capable of data communication; a student operation device that is arranged in the student area, receives input from a student in the student area, and outputs a command according to the input from the student; a participant communication device that is disposed in the participant area and connects the participant operation device to the communication network so as to be capable of data communication; the student operation device is connected to the control device and the instructor operation device via the student communication device, the communication network, and the instructor communication device so as to be capable of data communication; The lecturer operation device transmits a command for allowing input of a command from the lecturer operation device to the control device to the control device and the lecturer operation device; the control device is capable of controlling the movement of the robot, and causes the robot to move in accordance with a command received from the trainee operation device that is in a state in which input is permitted; The instructor operation device includes an emergency stop input unit, and when an input is received from the emergency stop input unit, the instructor operation device outputs an emergency stop command to the control device or a robot controller included in the control device; When the control device receives the emergency stop command, the control device prohibits the student operation device from operating the robot, the instructor operation device includes a plurality of instructor input elements that can be input by the instructor, and an instructor highlighting device that individually highlights each of the plurality of instructor input elements; the student operation device includes a plurality of student input elements which can be input by the student and correspond to the plurality of instructor input elements, and a student highlighting device which individually highlights each of the plurality of student input elements; The control device is configured to transmit information on the instructor input element that is being input to the student operation device, and to transmit information on the student input element that is being input to the instructor operation device; The student operation unit is configured to cause the student highlighting device to highlight the student input element corresponding to the instructor input element being input; The instructor operation unit is configured to cause the instructor highlighting device to highlight the instructor input element corresponding to the student input element being input. Education system.

2. The control device causes the robot to operate in accordance with a command received from the trainee operation device when the emergency stop command has not been received. The education system according to claim 1 .

3. The instructor operation device is configured to receive an input of instruction for the operation of the robot in accordance with an instruction from the student operation device, and to transmit information of the instruction to the student operation device.

3. The education system according to claim 1 or 2.

4. The control device or the robot controller includes: The robot is configured to have a function of generating a control program for causing the robot to automatically execute at least a part of a predetermined task, The control program is generated according to a command received from the student operation device in a state in which the student operation device has received permission to input a command to the control device from the instructor operation device or in a state in which the student operation device is connected to the control device. The education system according to any one of claims 1 to 3.

5. each of the lecturer operation device and the student operation device has an operation device display capable of outputting and displaying an image; the control device is configured to transmit to the instructor operation device data of an image displayed on the operation device display of the student operation device that is in a state where it has received permission from the instructor operation device to input a command from the student operation device to the control device or is in a connected state to the control device; The instructor operation device is capable of displaying the image data on the operation device display of the instructor operation device. The education system according to any one of claims 1 to 4.

6. each of the lecturer operation device and the student operation device has an operation device display capable of outputting and displaying an image; The control device is configured to transmit data of an image displayed on the controller display of the instructor controller to the student controller; The lecturer's operating device is capable of displaying the image data on the operating device display of the lecturer's operating device. An education system according to any one of claims 1 to 5.

7. an instructor area display disposed in the instructor area and capable of data communication with the control device; a participant area display disposed in the participant area and connected to the communication network by the participant communication device for data communication; the instructor operation device has a plurality of instructor input elements that can be input by the instructor, The attendee operation device has a plurality of attendee input elements that can be input by the attendee, The control device or the information processing device included in the control device generates data of an image of a teacher's controller model in which an image of a teacher's input element model corresponding to the teacher's input element being input is highlighted, and transmits the data to the student area display to display the image. The control device generates image data of a student operating device model in which an image of a student input element model corresponding to the student input element being input is highlighted, and transmits the generated image data to the instructor area display for display. An education system according to any one of claims 1 to 6.

8. At least two of the attendee operating devices disposed in at least one of the attendee areas; at least two of the participant communication devices are arranged in the at least one participant area and connect the at least two participant operating devices to the communication network so as to be capable of data communication; the lecturer operation device transmits a command for permitting input of a command from the lecturer operation device to the control device to a first lecturer operation device of the at least two lecturer operation devices and to the control device or an information processing device included in the control device; The control device causes the robot to operate in accordance with a command received from the first trainee operating device. An education system according to any one of claims 1 to 7.

9. an instructor area display disposed in the instructor area and capable of data communication with the control device; at least one attendee area display disposed in each of the at least one attendee area and data communicatively connected to the communications network by the attendee communication device; the instructor operation device has a plurality of instructor input elements that can be input by the instructor, Each of the at least two user operators has a plurality of user input elements that can be input by the user; the control device generates image data of a lecturer operator model in which an image of a lecturer input element model corresponding to the lecturer input element receiving input is highlighted, and transmits the image data to at least one lecturer area display corresponding to the lecturer operator receiving the input permission among the at least one lecturer area display, and causes the lecturer area display to display the image data; The control device generates image data of a student operator model in which an image of a student input element model corresponding to the student input element receiving input on the student operator in the input permission-permitted state is emphasized, and transmits the generated image data to at least the instructor area display of the student area display and the instructor area display corresponding to the student operator in the input permission-permitted state or connected to the control device, and displays the generated image data on the student operator model. The education system according to claim 8.

10. an imaging device that is arranged in the instructor area so as to be able to image the robot and is connected to the control device so as to be able to perform data communication; a participant area display disposed in the participant area and connected to the communication network by the participant communication device for data communication; The control device or the robot controller transmits the image data captured by the imaging device to the student area display and displays the image data. An educational system according to any one of claims 1 to 9.

11. The imaging device includes a wearable imaging device worn by the instructor and a fixed imaging device fixedly disposed in the instructor area, The control device transmits data of an image captured by at least one of the selected imaging devices to the lecturer area display in accordance with an input to the lecturer operation device, and displays the data on the lecturer area display. The education system according to claim 10.

12. the instructor operation device has an instructor trigger switch that selectively outputs a command to permit supply of driving power to the robot or a command to stop supply of driving power to the robot, the trainee operation device has a trainee trigger switch that selectively outputs a command to permit supply of driving power to the robot and a command to stop supply of driving power to the robot; The control device or the robot controller causes the robot to operate in accordance with a command received from the student operation device while the supply permission is received from both the instructor trigger switch and the student trigger switch. An educational system according to any one of claims 1 to 11.

13. each of the instructor operation device and the student operation device has an emergency stop switch that outputs an emergency stop command to shut down the power supply to the robot, thereby causing the robot to come to an emergency stop, When the control device or the robot controller receives the emergency stop command from at least one of the instructor operation device and the student operation device, the control device or the robot controller performs an emergency stop of the robot. An educational system according to any one of claims 1 to 12.

14. The control device is configured to store certification data used for certifying completion of the education, certify completion of the education using the certification data, and transmit a certification result to the trainee operation device; The control device transmits image data for a test of the academic education included in the certification data to the student operation device, determines an evaluation of the academic education based on the answers to the test received from the student operation device and the correct answers included in the certification data, and certifies the completion of the education using standards included in the certification data, information on the evaluation of the academic education, and information on the evaluation of the practical training received from the instructor operation device; the student operator has an operator display capable of outputting and displaying an image, and is configured to display the image data for the test on the operator display of the student operator, to accept input of an answer into the student operator, and to transmit the accepted answer to the control device; The instructor operation device is configured to receive an input of an evaluation of the motion of the robot in accordance with the command of the student operation device, and to transmit information on the evaluation of the practical training including the evaluation to the control device. An educational system according to any one of claims 1 to 13.

15. The instructor operation device and the student operation device are operation devices for teaching the robot how to perform a certain action. An educational system according to any one of claims 1 to 14.

16. the instructor operation device is an operation device for teaching a motion to the robot, The participant operating device is a personal computer or a smart device. An educational system according to any one of claims 1 to 14.

17. A method for teaching robot-related tasks in a remote access environment, comprising: receiving an input from a lecturer in the lecturer area by a lecturer operating device disposed in the lecturer area in which a robot and a control device capable of controlling an operation of the robot are disposed, and outputting a command according to the lecturer's input to the control device; receiving input from a student in the student area by a student operation device that is arranged in the student area and is connected to the control device and the lecturer operation device via a communication network so as to be capable of data communication; and outputting a command in accordance with the input from the student. transmitting, by the lecturer's operation device, a command for allowing input of a command from the lecturer's operation device to the control device to the control device and the lecturer's operation device; causing the robot to operate according to a command received from the trainee operation device in the input permission state by the control device; When an input is received from an emergency stop input unit included in the instructor operation device, an emergency stop command is output to the control device or a robot controller included in the control device. prohibiting the student operator from operating the robot when the control device receives the emergency stop command; transmitting, by the control device, information on the instructor input element that is being input, among a plurality of instructor input elements that are included in the instructor operation device and that can be input by the instructor, to the student operation device; transmitting, by the control device, information on the student input element that is being input, among a plurality of student input elements that are included in the student operation device, that can be input by the student, and that correspond to the plurality of instructor input elements, to the instructor operation device; a student highlighting device that is included in the student operating device and that individually highlights each of the plurality of student input elements, highlighting the student input element that corresponds to the lecturer input element being input by the student operating device; and causing a lecturer highlighting device, which is included in the lecturer operator and which individually highlights each of the plurality of lecturer input elements, to highlight the lecturer input element corresponding to the student input element being input by the lecturer operator.

Images