Robot System

Abstract

To provide an operation terminal, robot system, and computer program which enable operation of specific movement of a robot by various operators.SOLUTION: An operation terminal of a movable robot is structured so as to operate the robot. The operation terminal is structured so as to execute reception of input of movement operation as operation for making a movement device provided with the robot act, and output of a command to make the movement device execute movement according to the received movement operation to a controller for controlling movement of the robot.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to an operation terminal, a robot system, and a computer program. [Background technology]

[0002] For example, Patent Document 1 discloses a machine control panel that can perform operations for teaching a robot. The machine control panel includes a tablet terminal and an external device connected to the tablet terminal. The external device is connected to a robot control device. The tablet terminal communicates with the control device via the external device. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 6619398 Summary of the Invention [Problem to be solved by the invention]

[0004] The teaching operation on the machine control panel in Patent Document 1 is limited to operators who have received training in teaching. The present disclosure provides an operation terminal, a robot system, and a computer program that enable various operators to control specific robot movements. [Means for solving the problem]

[0005] An operation terminal according to one aspect of the present disclosure is an operation terminal for a mobile robot, the operation terminal being configured to be capable of operating the robot, and the operation terminal being configured to receive input of a movement operation which is an operation for causing a movement device provided on the robot to operate, and to output to a controller that controls the operation of the robot a command for causing the movement device to perform an operation in accordance with the received movement operation. [Brief explanation of the drawings]

[0006] [Figure 1] FIG. 1 is a diagram illustrating an example of a configuration of a robot system according to an embodiment. [Figure 2] FIG. 2 is a block diagram showing an example of the hardware configuration of the robot controller, the teaching device, and the operation terminal according to the embodiment. [Figure 3] FIG. 3 is a block diagram illustrating an example of functional configurations of a robot controller, a teaching device, and an operation terminal according to the embodiment. [Figure 4] FIG. 4 shows an example of a home screen displayed on the operation terminal after the robot operation application is started. [Figure 5] FIG. 5 shows an example of a connection setting screen displayed on the operation terminal. [Figure 6] FIG. 6 shows an example of a connection setting screen displayed on the operation terminal. [Figure 7] FIG. 7 shows a modified example of the connection setting screen displayed on the operation terminal. [Figure 8] FIG. 8 shows an example of an operation selection screen among the playback operation screens displayed on the operation terminal. [Figure 9] FIG. 9 shows an example of a robot operation screen among the playback operation screens displayed on the operation terminal. [Figure 10] FIG. 10 shows an example of a monitor function screen displayed on the operation terminal. [Figure 11] FIG. 11 shows an example of a mobile device operation screen displayed on the operation terminal. [Figure 12] FIG. 12 shows an example of a teaching target selection screen among the teaching operation screens displayed on the operation terminal. [Figure 13] FIG. 13 shows an example of a robot teaching screen displayed on the operation terminal. [Figure 14] FIG. 14 shows an example of a moving device instruction screen displayed on the operation terminal. [Figure 15] FIG. 15 shows a manual operation setting screen for the robot body displayed on the operation terminal. [Figure 16]FIG. 16 shows an example of a mobile device monitor screen of the mobile device displayed on the operation terminal. [Figure 17] FIG. 17 shows an example of a screen for setting the movement range of the moving device, which is displayed on the operation terminal. [Figure 18] FIG. 18 shows an example of a manual operation setting screen for a mobile device displayed on an operation terminal. [Figure 19] FIG. 19 shows an example of a setting selection screen among the setting screens displayed on the operation terminal. [Figure 20] FIG. 20 shows an example of an application setting screen among the setting screens displayed on the operation terminal. [Figure 21] FIG. 21 shows an example of a robot selection screen among the setting screens displayed on the operation terminal. [Figure 22] FIG. 22 shows an example of a robot main body setting screen among the setting screens displayed on the operation terminal. [Figure 23] FIG. 23 shows an example of an error log screen among the setting screens displayed on the operation terminal. [Figure 24] FIG. 24 shows an example of a playback operation setting screen for the robot body among the setting screens displayed on the operation terminal. [Figure 25] FIG. 25 shows an example of a mobile device setting screen among the setting screens displayed on the operation terminal. [Figure 26] FIG. 26 shows an example of a playback operation setting screen for a mobile device among the setting screens displayed on the operation terminal. [Figure 27] FIG. 27 shows an example of a management screen among the setting screens displayed on the operation terminal. [Figure 28] FIG. 28 shows an example of a data management screen among the setting screens displayed on the operation terminal. [Figure 29] FIG. 29 shows an example of a data management screen among the setting screens displayed on the operation terminal. [Figure 30] FIG. 30 shows an example of a signal monitor screen among the setting screens displayed on the operation terminal. DETAILED DESCRIPTION OF THE INVENTION

[0007] Hereinafter, 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. Among the components in the following embodiments, components that are not described in the independent claims that represent the highest concepts will be described as optional components. Each figure in the accompanying drawings is a schematic diagram and is not necessarily an exact illustration. Furthermore, in each figure, substantially identical components are assigned the same reference numerals, and duplicated descriptions may be omitted or simplified. In this specification and claims, the term "device" may refer not only to a single device but also to a system consisting of multiple devices.

[0008] [Robot system configuration] The configuration of a robot system 1 according to an embodiment will be described with reference to Fig. 1. Fig. 1 is a diagram showing an example of the configuration of a robot system 1 according to an embodiment. The robot system 1 includes one or more robots 100, one or more robot controllers 200, one or more teaching devices 300, and one or more operation terminals 400.

[0009] The number of robots 100 is the same as the number of robot controllers 200. The number of teaching devices 300 and the number of operation terminals 400 may be the same as the number of robot controllers 200, or may be more or less than the number of robot controllers 200.

[0010] The robot controller 200 is mounted on the robot 100 and controls the operation of the robot 100. However, the robot controller 200 may be located at a location remote from the robot 100 and connected to the robot 100 via a wired connection, wireless communication, or both wireless communication and wired communication. The teaching device 300 is connected to the robot controller 200 of one of the robots 100 to be taught. In this embodiment, the teaching device 300 is connected to the robot 100 via a wired connection, but may also be connected via wireless communication or both wireless communication and wired communication. The operation terminal 400 is connected to the robot controller 200 of one of the robots 100 to be operated. In this embodiment, the operation terminal 400 is connected to the robot controller 200 via wireless communication, but may also be connected via wired communication or both wired communication and wireless communication.

[0011] The wireless communication used by the operation terminal 400 is not particularly limited, but in this embodiment, a wireless communication network N is used. The wireless communication network N is not particularly limited, but may be a wireless LAN (Local Area Network) such as WiFi (Wireless Fidelity), a wireless WAN (Wide Area Network) using a mobile communication network, etc., satellite communication, short-range wireless communication such as Bluetooth (registered trademark) and ZigBee (registered trademark), or a combination of two or more of these. The mobile communication network may be a fourth-generation mobile communication system, a fifth-generation mobile communication system, etc. In this embodiment, the wireless communication network N is a wireless LAN. For wired connection, a direct interconnection using a cable or the like, a wired communication network, or a combination of these may be used. The wired communication network may be any network.

[0012] The robot 100 is a self-propelled robot and includes a robot body 110 and a moving device 120. However, the robot 100 may be configured without the moving device 120. In this embodiment, the robot body 110 includes a robot arm 111 having one or more joints and an end effector 112 attached to the tip of the robot arm 111. The robot arm 111 can freely move the position and orientation of the end effector 112. The end effector 112 is configured to be able to apply an action to an object according to a purpose. The robot arm 111 includes one or more servo motors 113 as driving devices for operating one or more movable parts. The end effector 112 may include one or more servo motors 113 as driving devices for operating the movable parts.

[0013] The mobile device 120 can carry the robot body 110 and move. In this embodiment, the mobile device 120 can move on a supporting surface such as a floor or the ground, and is equipped with wheels 121 for movement. The mobile device 120 includes one or more servo motors 122 as a drive device that rotates and drives the wheels 121. Note that the mobile device 120 may be configured to be able to perform other operations such as ascending and descending, flying, navigating on water, and diving.

[0014] Furthermore, the mobile device 120 includes a position detection device 123 that detects the position of the mobile device 120. The position detection device 123 may be capable of detecting the absolute position or relative position of the mobile device 120 in a three-dimensional space or on a two-dimensional plane. Examples of the position detection device 123 that detects the absolute position may include a GNSS (Global Navigation Satellite System) and a measurement device including an acceleration sensor and an angular velocity sensor.

[0015] Examples of the position detection device 123 that detects the relative position may be a device that uses magnetism, light waves, ultrasound, lasers, camera images, or a combination of two or more of these. Such a position detection device 123 can detect the position of the mobile device 120 relative to the surrounding environment using magnetism, light waves, ultrasound, lasers, camera images, etc. In this embodiment, the position detection device 123 is a device that uses magnetism and can detect the position of a magnetic object placed on a support surface such as a floor. For example, the position detection device 123 detects the position of a line of magnetic material such as magnetic tape attached to the support surface, and the robot controller 200 uses the detection result of the position detection device 123 to cause the mobile device 120 to travel along the line of magnetic material.

[0016] Furthermore, the mobile device 120 includes one or more light sources 124. In this embodiment, four light sources 124 are arranged at four corners of the rectangular exterior of the mobile device 120 and exposed from the exterior. However, the light sources 124 may be arranged at any position on the robot 100 as long as they are visible from outside the robot 100. The light sources 124 emit light when supplied with power and may include, for example, LEDs (light-emitting diodes). The turning on and off of the light sources 124 may be controlled by the robot controller 200. The mobile device 120 may include a storage battery as a power source, or may be configured to receive power from an external power supply source such as a commercial power source.

[0017] The robot controller 200 controls the operation of the robot 100 in accordance with commands received from the teaching device 300 and the operation terminal 400. For example, the robot controller 200 controls the operation of the robot arm 111 of the robot main body 110 and the servo motor 113 of the end effector 112, and the operation of the servo motor 122 of the moving device 120. The robot controller 200 generates and outputs commands for operating the servo motors 113 and 122, and controls the currents supplied to the servo motors 113 and 122. The robot controller 200 includes a computer and a drive circuit. Although not limited thereto, in this embodiment, the robot controller 200 can operate in two operation modes, a teaching mode and a playback mode, and selectively executes one of the two operation modes.

[0018] The teaching mode is an operation mode for teaching the robot controller 200 a program for causing the robot 100 to execute a predetermined operation. For example, the predetermined operation may be an operation related to a task to be executed by the robot 100. For example, teaching data, which is data used by the program, may be taught to the robot controller 200. The teaching data may include the position, posture, and torque (generated force) of the movable parts of the robot arm 111 and the end effector 112, as well as the position and posture of the moving device 120, during the execution of the predetermined operation.

[0019] Teaching in the teaching mode may be performed using the teaching device 300, the operation terminal 400, or both. For example, an operator may operate the teaching device 300 or the operation terminal 400 to cause the robot controller 200 to operate the robot 100, and store data of the operation during the operation as teaching data in the robot controller 200, thereby teaching the operation. Any existing teaching method may be used. In this embodiment, the teaching device 300 is configured to be used for teaching the robot arm 111 and the end effector 112, and the operation terminal 400 is configured to be used for teaching the mobile device 120. However, the teaching device 300 may be configured for teaching the mobile device 120, and the operation terminal 400 may be configured for teaching the robot arm 111 and the end effector 112.

[0020] In the teaching mode, the teaching device 300 and the operation terminal 400 generate operation commands for causing the robot 100 to perform operations in accordance with manual operations input to the teaching device 300 and the operation terminal 400, and output the operation commands to the robot controller 200. The robot controller 200 controls the operation of the robot 100 so that the robot 100 performs operations in accordance with the operation commands.

[0021] The playback mode is an operation mode for causing the robot 100 to execute a taught operation. In the playback mode, the robot controller 200 causes the robot 100 to autonomously execute a predetermined operation in accordance with a taught program. The robot controller 200 uses the teaching data and controls the operation of the robot 100 so that the robot 100 operates in accordance with the teaching data.

[0022] The teaching device 300 accepts input from an operator and outputs commands, information, data, etc. to the robot controller 200 in accordance with the input content. In this embodiment, the teaching device 300 is a teaching pendant, but any device capable of teaching the robot 100 may be used, for example, other devices including a computer such as a personal computer. Furthermore, in this embodiment, the teaching device 300 is an existing general-purpose teaching pendant, but it may also be a teaching pendant designed specifically for the robot system 1. The teaching device 300 includes a display 310 and an input device 320. The display 310 displays images for operating the teaching device 300. The display 310 may be a touch panel that accepts input by touching the screen. The input device 320 accepts input from the operator and converts the input content into signals. Examples of the input device 320 include devices that receive input through operator operation, such as buttons, levers, dials, joysticks, and keys. The teaching device 300 outputs a signal generated by the input device 320 or a signal processed from the signal to the robot controller 200. In this embodiment, the teaching device 300 does not include a computer, but may include a computer.

[0023] For example, when the teaching device 300 receives a command to execute teaching or playback via the input device 320, it outputs the command to execute teaching or playback to the robot controller 200. In the case of teaching, the teaching device 300 receives a manual operation by an operator and outputs an operation command according to the manual operation to the robot controller 200, thereby causing the robot 100 to perform an operation according to the manual operation. Although not limited to this, in the present embodiment, the teaching device 300 receives manual operation of the robot arm 111 and the end effector 112. The teaching device 300 stores data of the operation in the robot controller 200 as teaching data.

[0024] In the case of playback, the teaching device 300 receives a playback execution command input from the operator and outputs a command to execute, i.e., play, the predetermined taught motion specified by the operator to the robot controller 200. Although not limited to this, in the present embodiment, the teaching device 300 receives a playback execution command for the entire robot 100 including the robot main body 110 and the moving device 120. When the teaching device 300 receives a teaching execution command during playback of the predetermined motion, it causes the robot controller 200 to transition to teaching mode.

[0025] The operation terminal 400 accepts input from the operator and outputs commands, information, data, etc. to the robot controller 200 in accordance with the input content. The operation terminal 400 includes a computer. The operation terminal 400 includes an input device 410 and a presentation device 420. The input device 410 accepts input from the operator, converts the input content into a signal, and outputs it to the computer of the operation terminal 400. Examples of the input device 410 are devices to which input is given through operation by the operator, such as buttons, levers, dials, joysticks, mice, keys, touch panels, and motion capture devices. The input device 410 may include a camera that captures an image of the operator, etc., and a microphone that accepts audio input from the operator, etc. The input device 410 may output captured image data and a signal indicating the input audio to the computer of the operation terminal 400.

[0026] The presentation device 420 is configured to present information, etc. to the operator. The presentation device 420 may be configured to present information, etc. by outputting light, sound, an image, a tactile sensation such as vibration and load, temperature, or a combination of two or more of these. Although not limited thereto, in this embodiment, the presentation device 420 includes a display that outputs images and a speaker that outputs sound. Furthermore, the display is a touch panel.

[0027] In this embodiment, the operation terminal 400 is a smart device such as a smartphone, a smart watch, or a tablet. The operation terminal 400 may be a smart device developed specifically for the robot system 1, but in this embodiment, it is a general-purpose smart device available on the market. For example, a general-purpose smart device can function as the operation terminal 400 by incorporating a computer program that realizes the functions of the operation terminal 400 disclosed in this specification and claims.

[0028] The computer program installed in the operation terminal 400 may be an application program. Hereinafter, this application program will also be referred to as a "robot operation application program." The robot operation application program may be installed in an OS (Operating System), which is the system software of the operation terminal 400, and may be a native application that runs on the OS. The robot operation application program may be a web application that runs on a web browser to which the operation terminal 400 is connected, or may be a hybrid application that runs on the operation terminal 400 using a web environment for some processing, such as operations that use data.

[0029] The operation terminal 400 may be any device that can incorporate a computer program that realizes the functions of the operation terminal 400 disclosed in this specification and claims, and that can accept input of operations required for the operation terminal 400. For example, the operation terminal 400 may be a combination of a personal computer and a display, a notebook personal computer, a combination of a game console and a display, or a PDA (Personal Digital Assistant), etc.

[0030] The operation terminal 400 is communicably connected to the robot controller 200. In this embodiment, the operation terminal 400 is connected to the robot controller 200 via a communication path separate from that of the teaching device 300, but is not limited to this. The operation terminal 400 may be communicably connected to the teaching device 300 and connected to the robot controller 200 via the teaching device 300.

[0031] The operation terminal 400 is configured to be capable of operating the robot 100. The operation terminal 400 may be configured to be capable of operating only the robot body 110, only the mobile device 120, or both the robot body 110 and the mobile device 120. The operation terminal 400 may be configured to be capable of operating the robot 100 only in the teaching mode, only in the replay mode, or in both the teaching mode and the replay mode. In this embodiment, the operation terminal 400 is capable of operating the mobile device 120 in the teaching mode, and can replay a predetermined motion that has been taught to the entire robot 100 in the replay mode.

[0032] The operation terminal 400 may be configured to be connected to the robot controller 200 in parallel with the teaching device 300, instead of the teaching device 300, or in series via the teaching device 300. The above connection indicates a communicable state in which commands, information, data, etc. can be transmitted and received between them, and is not limited to a physical connection. When both the operation terminal 400 and the teaching device 300 are connected in parallel or in series with the robot controller 200, the operation terminal 400 and the teaching device 300 may be configured to be able to transmit commands, etc. to the robot controller 200 at any timing without being affected by each other, or may be configured to be regulated by the robot controller 200, etc., so that the timing of both transmissions does not overlap.

[0033] The operation terminal 400 is configured to be able to perform some of the operations that the teaching device 300 can perform on the robot 100. For example, the operation terminal 400 can accept a specific operation, which is some of the operations that the teaching device 300 can accept to make the robot 100 operate. The operation terminal 400 outputs an operation command to the robot controller 200 to make the robot 100 perform an operation in accordance with the accepted specific operation.

[0034] For example, the specific operation may be, but is not limited to, an operation for teaching the robot 100 by the teaching device 300, e.g., an operation different from an operation for causing the robot 100 to operate that may be used in teaching by the teaching device 300. The specific operation may include a movement operation, which is an operation for causing the mobile device 120 to operate, as the above-mentioned operation. In the present embodiment, the specific operation includes a movement operation for teaching the mobile device 120. The movement operation may be a manual operation. The specific operation may include an operation for playing back a taught operation to the robot 100 autonomously. In the present embodiment, the specific operation includes an operation for playing back a predetermined taught operation for the entire robot 100. The specific operation may include an operation for commanding the robot 100 to autonomously return to the origin position. The specific operation may include an operation for commanding an emergency stop of the robot 100. The emergency stop of the robot 100 may be an emergency stop of the robot main body 110, an emergency stop of the mobile device 120, or an emergency stop of both the robot main body 110 and the mobile device 120.

[0035] The origin position may include various states and positions of the robot 100. For example, the origin position may include the initial position of the robot 100 in a predetermined task that has been taught and the state at that position, the position of the robot 100 set at the start and intermediate points of the task and the state at that position, the position of the robot 100 set at the start and intermediate points of a task section included in the task and the state at that position, the position of the robot 100 at the end of the task and the state at that position, the state of the robot 100 when the robot arm 111 is folded so that it fits within the area occupied by the mobile device 120, the state of the robot 100 to prevent pinching by the robot arm 111 when a person approaches the robot 100, the position of the robot 100 and the state at that position when charging, the state of the robot 100 when the end effector 112 is replaced, the state of the robot 100 when the robot main body 110, the mobile device 120, or both are undergoing maintenance, the state of the robot 100 when being transported, etc.

[0036] The operation terminal 400 can receive robot information, which is information indicating the state of the robot 100, from the robot controller 200, and display the robot information on the touch panel of the presentation device 420. For example, the robot information may include various information such as the operation mode of the robot 100, the work content of the robot 100, the progress of the work being performed, the step that the robot 100 is currently performing among the steps included in the work, the operating status of the servo motors 113 and 122 of the robot 100, such as the rotation amount and current value, and the detection result of the position detection device 123.

[0037] The computers of the robot controller 200 and the operation terminal 400 include a circuit or a processing circuit. The circuit may include a processing circuit. The processing circuit or circuit includes a processor, a storage device, etc. The processing circuit or circuit transmits and receives commands, information, data, etc. to and from other devices. The processing circuit or circuit inputs signals from various devices and outputs control signals to the controlled object.

[0038] The storage device may include a memory, a storage, or both a memory and a storage. Examples of memory include a random access memory (RAM), which is a volatile semiconductor memory, and a read-only memory (ROM), which is a nonvolatile semiconductor memory. Examples of storage include a semiconductor memory such as a flash memory, a hard disk, and a solid state drive (SSD). For example, the storage device stores a processing circuit or a program executed by the circuit, various data, and the like.

[0039] At least some of the functions of the robot controller 200 and the operation terminal 400 may be realized by cooperation of a processor, memory, storage, etc. The processor and memory including RAM and ROM constitute a computer system. For example, the computer system may realize the above functions by the processor using RAM as a work area and executing a program recorded in ROM.

[0040] Some or all of the functions of the robot controller 200 and the operation terminal 400 may be realized by the above-mentioned computer system, by dedicated hardware circuits such as electronic circuits or integrated circuits, or by a combination of the above-mentioned computer system and hardware circuits. Both the robot controller 200 and the operation terminal 400 may execute processing under centralized control by a single computer, or may execute processing under distributed control through the cooperation of multiple computers.

[0041] For example, the processor 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), a reconfigurable processor, etc., and processing may be realized by a dedicated circuit or a logic circuit, which is a hardware circuit formed in an integrated circuit such as an IC (Integrated Circuit) chip or an LSI (Large Scale Integration). Multiple functions of the robot controller 200 and the operation terminal 400 may be realized by individual integrated circuits formed on a single chip, or by an integrated circuit that includes some or all of the functions on a single chip.

[0042] [Hardware configuration] An example of the hardware configuration of the robot controller 200, teaching device 300, and operation terminal 400 according to the embodiment will be described with reference to Fig. 2. Fig. 2 is a block diagram showing an example of the hardware configuration of the robot controller 200, teaching device 300, and operation terminal 400 according to the embodiment. Note that the hardware configuration described below is an example, and the hardware configurations of the robot controller 200, teaching device 300, and operation terminal 400 are not limited to the following configurations and can be changed as appropriate.

[0043] The robot controller 200 includes a control unit 210, a drive circuit 220, and a communication device 230. The control unit 210 includes, as components, a processor P, a memory M, a storage S, an input / output I / F (interface) 211, a drive I / F 212, and a communication I / F 213. The components of the control unit 210 are connected to each other by a bus B, but may also be connected by electrical wiring, cables, or the like. The control unit 210 may also be an electronic circuit board, an electronic control unit, a microcomputer, or other electronic device, or the like.

[0044] The input / output I / F 211 is configured to be connected to the teaching device 300 and controls the transmission and reception of signals between the control unit 210 and the teaching device 300. The drive I / F 212 is configured to be connected to the drive circuit 220 and controls the transmission and reception of signals, etc. between the control unit 210 and the drive circuit 220. The drive circuit 220 is a circuit that controls the current supplied to the robot 100. The communication I / F 213 is configured to be connected to the communication device 230 and controls the transmission and reception of signals, etc. between the control unit 210 and the communication device 230. The communication device 230 is a device that mediates communication between the operation terminal 400 and the control unit 210 and includes a communication circuit, etc. Although not limited to this, in the present embodiment, the communication device 230 is a wireless communication device and may include communication devices such as a modem, a router, and a mobile data communication device, for example.

[0045] The teaching device 300 includes a circuit C and input / output I / Fs 301 to 303. The circuit C and the input / output I / Fs 301 to 303 are connected by electrical wiring, cables, or the like. The input / output I / F 301 is configured to be connected to the input / output I / F 211 of the robot controller 200 and controls the transmission and reception of signals between the teaching device 300 and the robot controller 200. The input / output I / F 302 is configured to be connected to the display 310 and controls the transmission and reception of signals to and from the display 310. The input / output I / F 303 is configured to be connected to the input device 320 and controls the transmission and reception of signals to and from the input device 320. The circuit C processes signals transmitted and received between the input / output I / Fs 301 to 303. The circuit C may be configured to control the transmission and reception, conversion, etc. of signals.

[0046] The operation terminal 400 includes a processor P, a memory M, a storage S, input / output I / Fs 431 and 432, and a communication I / F 433. The processor P, memory M, storage S, input / output I / Fs 431 and 432, and communication I / F 433 are connected to one another by a bus B, but may also be connected by electrical wiring, a cable, or the like. The operation terminal 400 further includes a communication device 440.

[0047] The input / output I / F 431 is configured to be connected to the input device 410 and controls transmission and reception of signals to and from the input device 410. The input / output I / F 432 is configured to be connected to the presentation device 420 and controls transmission and reception of signals to and from the presentation device 420. The communication I / F 433 is configured to be connected to the communication device 440 and controls transmission and reception of signals to and from the communication device 440. The communication device 440 is a wireless communication device and may include an antenna, a communication circuit, etc.

[0048] [Functional configuration] An example of the functional configuration of the robot controller 200, teaching device 300, and operation terminal 400 according to the embodiment will be described with reference to Fig. 3. Fig. 3 is a block diagram showing an example of the functional configuration of the robot controller 200, teaching device 300, and operation terminal 400 according to the embodiment. Note that the functional configuration described below is an example, and the functional configurations of the robot controller 200, teaching device 300, and operation terminal 400 are not limited to the following configuration and can be changed as appropriate.

[0049] The robot controller 200 includes a communication control unit 200a, an operation control unit 200b, and a storage unit 200c as functional components. The teaching device 300 includes a processing unit 300a as functional components. The operation terminal 400 includes a communication control unit 400a, a screen control unit 400b, an information processing unit 400c, and a storage unit 400d as functional components.

[0050] In the robot controller 200, the functions of the communication control unit 200a and the operation control unit 200b may be realized by a processor P and a memory M, etc., and the functions of the storage unit 200c may be realized by the memory M and a storage S.

[0051] The communication control unit 200a controls wireless communication between the operation terminal 400 and the communication device 230. For example, the communication control unit 200a processes commands, information, data, etc. received from the operation terminal 400 and converts them into a data format that can be used by the operation control unit 200b. The communication control unit 200a processes commands, information, data, etc. to be transmitted to the operation terminal 400 and converts them into a transmittable data format.

[0052] The storage unit 200c stores teaching data, information indicating the state of the robot 100, and the like.

[0053] The operation control unit 200b controls the operation of the robot 100. The operation control unit 200b manages input and output of commands, information, data, and the like between the robot controller 200, the teaching device 300, and the operation terminal 400. For example, the operation control unit 200b controls the operation of the robot 100 in accordance with teaching data stored in the memory unit 200c, operation commands received from the teaching device 300, operation commands received from the operation terminal 400 via the communication control unit 200a, or a combination of two or more of these. The operation control unit 200b acquires information indicating the operating state of the robot 100, such as the rotation amount and current value of the servo motors 113 and 122, and outputs the information to the teaching device 300, the operation terminal 400, the memory unit 200c, or two or more of these. In the teaching mode, the operation control unit 200b generates teaching data using the information indicating the operating state of the robot 100 and stores the teaching data in the memory unit 200c.

[0054] In the teaching device 300, the function of the processing unit 300a may be realized by the circuit C. The processing unit 300a processes commands, information, etc. input via the input device 320, as well as commands, information, data, etc. received from the robot controller 200. For example, the processing unit 300a generates a signal indicating an operation command from the commands, information, etc. input via the input device 320, and transmits it to the robot controller 200. When the processing unit 300a receives a signal indicating robot information of the robot 100 from the robot controller 200, it converts the signal into a signal that can be processed by the display 310 and outputs it to the display 310. As a result, the display 310 displays the robot information.

[0055] In the operation terminal 400, the functions of the communication control unit 400a, the screen control unit 400b, and the information processing unit 400c may be realized by a processor P and a memory M, etc., and the functions of the memory unit 400d may be realized by the memory M and a storage S.

[0056] The communication control unit 400a controls communication between the robot controller 200 and the communication device 440. For example, the communication control unit 400a processes commands, information, data, etc. received from the robot controller 200 and converts them into a data format that can be used by the information processing unit 400c. The communication control unit 400a processes commands, information, data, etc. to be transmitted to the robot controller 200 and converts them into a transmittable data format.

[0057] The screen control unit 400b controls the screen displayed on the presentation device 420 in accordance with the program and instructions received from the information processing unit 400c.

[0058] The information processing unit 400c processes commands, information, etc. input via the input device 410, as well as commands, information, data, etc. received from the robot controller 200. The information processing unit 400c manages the input and output of commands, information, data, etc. between the operation terminal 400 and the robot controller 200. For example, the information processing unit 400c generates an operation command from commands, information, etc. input via the input device 410 and transmits it to the robot controller 200. The information processing unit 400c acquires robot information of the robot 100 from the robot controller 200 and displays the robot information on the screen control unit 400b.

[0059] The storage unit 400d stores various data such as screen data and data received from the robot controller 200.

[0060] [Operation terminal operation] Various operations of the operation terminal 400 according to the embodiment and examples of operations for the operations will be described.

[0061] <Starting the robot operation application on the operation terminal> When a robot operation application is launched on the operation terminal 400, the operation terminal 400 displays a home screen ID0, for example, as shown in Fig. 4, on the presentation device 420. Fig. 4 shows an example of the home screen displayed on the operation terminal 400 after the robot operation application has been launched. Although not limited to this, in the present embodiment, the operation terminal 400 displays, in the upper portion of the home screen ID0, a connected robot field ID0a, an error reset button ID0b1, a motor power lamp ID0b2, an emergency stop lamp ID0b3, a pause button ID0b4, a connection settings tab ID0c1, a monitor screen tab ID0c2, a teaching screen tab ID0c3, and a settings tab ID0c4.

[0062] The center to bottom portion of the home screen ID0 may include any display. Regardless of the type of screen displayed, the operation terminal 400 always displays the connected robot field ID0a, buttons ID0b1 and ID0b4, lamps ID0b2 and ID0b3, and tabs ID0c1 to ID0c4. ​​The buttons and tabs are input elements that accept input from the operator.

[0063] The connected robot column ID0a indicates a robot currently connected to the operation terminal 400. As will be described later, the connection targets of the operation terminal 400 include the real robot 100 and a virtual robot. Hereinafter, when the term "robot" is used, the "robot" may refer to the real robot 100, a virtual robot, or both.

[0064] The error reset button ID0b1 indicates whether an error, such as an abnormality, has been detected in the robot 100, the virtual robot, the robot controller 200, the operation terminal 400, or in communication between the robot controller 200 and the operation terminal 400. The operation terminal 400 does not accept input to the error reset button ID0b1 if no error is detected, but accepts input to the error reset button ID0b1 if an error is detected. When the operation terminal 400 accepts a predetermined input on the error reset button ID0b1, it sends a command to clear the error to the robot controller 200. The operation terminal 400 may switch the screen of the presentation device 420 to a screen related to the error. For example, the predetermined input may be, but is not limited to, an input in which the operator presses the error reset button ID0b1 with a finger, a touch pen, or the like, i.e., a tap input.

[0065] For example, the operation terminal 400 may have a function for detecting whether or not there is an abnormality in the communication state between the robot controller 200 and the operation terminal 400. If the operation terminal 400 detects an abnormality, it may disconnect the communication between the robot controller 200 and the operation terminal 400 and indicate the detection of the error on the error reset button ID0b1. This prevents the robot 100 from malfunctioning due to an abnormality in the communication state.

[0066] The motor power lamp ID0b2 indicates whether the power to the servo motors 113 and 122 of the robot 100 is on or off. The operation terminal 400 does not accept input to the motor power lamp ID0b2.

[0067] The emergency stop lamp ID0b3 indicates whether the emergency power supply of the robot 100 is in the ON or OFF state. The operation terminal 400 does not accept input to the emergency stop lamp ID0b3. For example, when the robot controller 200 receives a command to emergency stop the robot 100, it transitions from normal power supply power control to emergency power supply power control by transitioning the emergency power supply from the OFF state to the ON state. Under normal power supply power control, all functions of the robot 100 are operable. Under emergency power supply power control, some functions of the robot 100 are operable. For example, the functions of the robot 100 for performing tasks may be inoperable, while functions for communication between the operation terminal 400 and the teaching device 300 and functions of the robot 100 for minor operations such as returning to the origin position may be operable. Therefore, the emergency stop lamp ID0b3 can also indicate whether the robot 100 is in an emergency stop state.

[0068] The operation terminal 400 may have a function to receive input from the emergency stop lamp ID0b3. When the operation terminal 400 receives a predetermined input, such as a long press on the emergency stop lamp ID0b3, the operation terminal 400 may send a command to the robot controller 200 to bring the robot 100 to an emergency stop.

[0069] The pause button ID0e is a button for temporarily pausing the operation of the robot. The operation terminal 400 accepts input to the pause button ID0e at any timing. The operation terminal 400 selectively displays the pause button ID0e between a pause display and a play display. For example, when the operation terminal 400 accepts a predetermined input, such as a tap on the pause button ID0e in the pause display, it transmits a command to the robot controller 200 to temporarily pause the operation of the robot 100, and changes the display of the pause button ID0e to a play display. When the operation terminal 400 accepts a predetermined input, such as a tap on the pause button ID0e in the play display, it transmits a command to the robot controller 200 to resume the operation of the robot, and changes the display of the pause button ID0e to a pause display.

[0070] The connection setting tab IDc1 is a tab that opens a screen for setting a connection between the operation terminal 400 and the robot. The operation terminal 400 accepts input to the connection setting tab IDc1 at any timing. When the operation terminal 400 accepts a predetermined input, such as a tap on the connection setting tab IDc1, the operation terminal 400 transitions the screen of the presentation device 420 to the connection setting screen ID1.

[0071] The monitor screen tab ID0c2 is a tab that opens a screen for making the robot execute, i.e., replay, a predetermined taught motion. The operation terminal 400 accepts input to the monitor screen tab ID0c2 at any timing. When the operation terminal 400 accepts a predetermined input, such as a tap on the monitor screen tab ID0c2, it transitions the screen of the presentation device 420 to the playback operation screen ID2.

[0072] The teaching screen tab ID0c3 is a tab that opens a screen for teaching the robot. The operation terminal 400 accepts input to the teaching screen tab IDc3 at any timing. When the operation terminal 400 accepts a predetermined input, such as a tap on the teaching screen tab IDc3, it transitions the screen of the presentation device 420 to the teaching operation screen ID3.

[0073] The setting tab ID0c4 is a tab that opens a screen for configuring various settings for the robot. The operation terminal 400 accepts input to the setting tab ID0c4 at any time. When the operation terminal 400 accepts a predetermined input, such as a tap on the setting tab ID0c4, the screen of the presentation device 420 transitions to the setting screen ID4.

[0074] <Connection between the operation terminal and the robot> When the operation terminal 400 receives a predetermined input on the connection setting tab IDc1, the operation terminal 400 transitions the screen of the presentation device 420 to a connection setting screen ID1, for example, as shown in FIGS. 5 and 6. FIGS. 5 and 6 show an example of a connection setting screen displayed on the operation terminal 400. Although not limited thereto, in this embodiment, the operation terminal 400 displays a target robot field ID1a and a connection target field ID1b on the connection setting screen ID1. Furthermore, when the operation terminal 400 receives a predetermined input, such as a tap on the connection setting tab IDc1 while the connection setting screen ID1 is displayed, the operation terminal 400 may transition the screen of the presentation device 420 to a home screen ID0.

[0075] As shown in FIG. 5, the target robot field ID1a includes a list of connectable robots registered in the operation terminal 400. The connectable robots may include the real robot 100 and a virtual robot. The virtual robot is a simulation model of the real robot 100. In the target robot field ID1a, the real robot 100 may be represented by its name, such as "robot_1." The virtual robot may be represented by a name that includes, as a part of the name of the real robot 100 corresponding to the virtual robot, such as "robot_1_debug." For example, robot model information representing the virtual robot may be stored in the operation terminal 400, the robot controller 200, or an external device such as a cloud server. The operation terminal 400 may acquire the robot model information from the robot controller 200 or an external device.

[0076] The operation terminal 400 accepts a predetermined input, such as tapping on the robot's name, to select a robot in the target robot field ID1a. The operation terminal 400 displays information about the robot with the selected name in the connection target field ID1b. The connection target field ID1b includes a name field ID1b1, a connect button ID1b2 and a disconnect button ID1b3 that indicate the connection status, a communication mode field ID1b4, and a connection confirmation button ID1b5.

[0077] The name field ID1b1 includes the name and address of the selected robot. When the operation terminal 400 receives a predetermined input, such as a tap on the connect button ID1b2, it connects to the robot in the name field ID1b1 and highlights the connect button ID1b2. When the operation terminal 400 receives a predetermined input, such as a tap on the disconnect button ID1b3, it disconnects from the robot in the name field ID1b1 and highlights the disconnect button ID1b3.

[0078] For example, if the name of the actual robot 100 is displayed in the name field ID1b1, the operation terminal 400, upon receiving a predetermined input on the connection button ID1b2, sends a command to the robot controller 200 of the robot 100 requesting permission for an operable connection. When the operation terminal 400 receives a response indicating permission for the request from the robot controller 200, the operation terminal 400 enters an operable connection state with the robot controller 200 and highlights the connection button ID1a. When the operation terminal 400 enters an operable connection state, the operation terminal 400 may send a command to the robot controller 200 requesting that the light source 124 of the robot 100 be turned on. Upon receiving the command, the robot controller 200 may turn on the light source 124 of the moving device 120. The robot controller 200 may turn on the light source 124 temporarily or may keep it on continuously while the operable connection state continues. For example, in an operable connection state, the operation terminal 400 may request robot information about the robot 100 from the robot controller 200 at a predetermined time, such as at a predetermined time interval, and acquire the information.

[0079] The communication mode field ID1b4 indicates the mode of communication with the robot. If the robot in the name field ID1b1 is the actual robot 100, the operation terminal 400 displays "actual communication mode" in the communication mode field ID1b4, as shown in Fig. 5. If the robot in the name field ID1b1 is a virtual robot, the operation terminal 400 displays "simulation mode" in the communication mode field ID1b4, as shown in Fig. 6.

[0080] When the operation terminal 400 is connected to the robot 100 in the real device communication mode, it is possible to operate the robot 100 using the operation terminal 400. When the operation terminal 400 is connected to a virtual robot in the simulation mode, it is possible to use the virtual robot to simulate at least a part of the functions of the operation terminal 400 and to check various screen contents of the operation terminal 400.

[0081] When the operation terminal 400 receives a predetermined input, such as a tap on the connection confirmation button ID1b5, it transmits a command to the connected actual robot 100 requesting connection confirmation. When the robot controller 200 of the robot 100 receives the command, it causes the robot 100 to execute a predetermined operation. For example, the predetermined operation may be, but is not limited to, the operation of the robot arm 111, the operation of the moving device 120, or the turning on of the light source 124 of the robot 100. In this embodiment, the robot controller 200 temporarily turns on the light source 124.

[0082] Note that connecting the actual robot 100 and the operation terminal 400 means connecting the robot controller 200 that controls the robot 100 and the operation terminal 400. Hereinafter, "connecting the robot controller 200 and the operation terminal 400" may also be expressed as "connecting the robot 100 that is the control target of the robot controller 200 and the operation terminal 400." Furthermore, the connection between the robot 100 or the robot controller 200 and the operation terminal 400 means a connection that allows the robot controller 200 to accept operations by the operation terminal 400, that is, a connection that allows operation by the operation terminal 400.

[0083] In the above example, the operation terminal 400 displays connectable robots registered in the operation terminal 400 in the target robot field ID1a, but the present invention is not limited to this. For example, the operation terminal 400 may be configured to search for connectable actual robots 100. For example, as shown in FIG. 7, the target robot field ID1a may include a search button ID1a1. FIG. 7 shows a modified example of the connection setting screen displayed on the operation terminal 400.

[0084] The operation terminal 400 may be configured to, upon receiving a predetermined input such as a tap on the search button ID1a1, simultaneously transmit a request to the robot controllers 200 of all robots 100 within the transmission area of ​​the operation terminal 400, informing them of whether or not they can establish an operable connection with the operation terminal 400. All robot controllers 200 are always in a request-waiting state in which they are ready to receive a request from the operation terminal 400. The operation terminal 400 may display the name of the robot 100 of the robot controller 200 from which the operation terminal 400 has received a response indicating that an operable connection is possible in the target robot field ID1a as a connectable real robot. The target of the simultaneous transmission may be a real robot registered in the operation terminal 400 among all robots 100 within the transmission area. In this case, the operation terminal 400 may display only the registered real robots from which the operation terminal 400 has received a response indicating that an operable connection is possible.

[0085] <Operation for reproducing the movements of robots, etc. using an operation terminal> When the operation terminal 400 receives a predetermined input on the monitor screen tab ID0c2, it transitions the screen of the presentation device 420 to one of the playback operation screens ID2, for example, as shown in FIG. 8 . FIG. 8 shows an example of an action selection screen on the playback operation screen ID2 displayed on the operation terminal 400. For example, when the operation terminal 400 and the robot are not connected, the operation terminal 400 may be configured not to accept input on the monitor screen tab ID0c2, or may be configured to display a message indicating that the connection is not established. In this example, as shown in the connected robot field ID0a, the operation terminal 400 is connected to a real robot 100 named “robot_1.” Furthermore, when the operation terminal 400 receives a predetermined input, such as a tap on the monitor screen tab ID0c2 while the playback operation screen ID2 is displayed, it may transition the screen of the presentation device 420 to the home screen ID0.

[0086] The operation terminal 400 displays, on the operation selection screen ID21, an operation selection button ID21a indicating a predetermined operation that has been taught, such as a taught task. Although not limited to this, in this example, the operation selection screen ID21 includes one or more operation selection buttons ID21a corresponding to one or more predetermined operations. When the operation terminal 400 receives a predetermined input, such as a tap on one of the operation selection buttons ID21a, it transitions the screen of the presentation device 420 to a robot operation screen ID22, for example, as shown in FIG. 9. FIG. 9 shows an example of a robot operation screen among the playback operation screens displayed on the operation terminal 400, specifically showing an example of a robot operation screen for air conditioner assembly work.

[0087] The operation terminal 400 transitions to playback mode when the screen is switched to the robot operation screen ID22, but the timing of the transition to playback mode may be any timing after the transition to the playback operation screen ID2. When or after the transition to playback mode, the operation terminal 400 may send a command to the robot controller 200 to execute control of the air conditioner assembly work in playback mode. Although not limited to this, in this embodiment, the operation terminal 400 displays an execution task field ID22a, an operation key ID22b, a lock button ID22c, a monitor button ID22d, a switch button ID22e, an origin position button ID22f, and a call source button ID22g on the robot operation screen ID22. The above elements except for the execution task field ID22a are input elements.

[0088] The in-progress work column ID 22a indicates a work in progress, which is a predetermined action currently being performed.

[0089] The operation key ID 22b is a key into which commands and the like are input to cause the robot 100 to execute a taught task. When the operation terminal 400 receives an input on the operation key ID 22b, it transmits an operation command according to the received input content to the robot controller 200. For example, the above input may include a long press input, a tap input, and the like, and may also include other inputs.

[0090] In the case of an air conditioner assembly task as in this example, the operation key ID22b may include a play / stop button ID22ba for instructing the robot 100 to perform or stop the task, a circular bar ID22bb around the play / stop button ID22ba indicating the load on the robot 100, and a scroll bar ID22bc for instructing the robot 100 to perform or stop the task. The play / stop button ID22ba is a button for instructing the robot 100 to autonomously perform or stop the taught task. The operation terminal 400 may accept commands to perform or stop the task using a single play / stop button ID22ba. For example, while the task is being performed, the operation terminal 400 may activate and display the play / stop button ID22ba as a stop button and process the received input as a stop command, and while the task is stopped, the operation terminal 400 may activate and display the play / stop button ID22ba as a play button and process the received input as an execution command. The operation key ID 22b is not limited to the above, and may include various keys such as a key for commanding the execution and stopping of one or more steps included in a job, and a key for commanding the execution and stopping of a single job.

[0091] The lock button ID22c is a button for switching between a locked state in which input to the robot operation screen ID22 is not accepted and an unlocked state in which input to the robot operation screen ID22 is accepted. In the locked state, the operation terminal 400 may not accept input to all input elements of the robot operation screen ID22 except for the lock button ID22c, or may not accept input to some of the input elements. For example, some of the input elements may be input elements related to the execution of the operation of the robot 100, such as the operation key ID22b.

[0092] When the operation terminal 400 is in an unlocked state, it displays the lock button ID22c in a form indicating the unlocked state, and when the operation terminal 400 is in a locked state, it displays the lock button ID22c in a form indicating the locked state.

[0093] When the operation terminal 400 is in the locked state, upon receiving a predetermined input such as a long press on the lock button ID22c, the operation terminal 400 transitions to an unlocked state and switches the state of the lock button ID22c from the locked state to the unlocked state. When the operation terminal 400 is in the unlocked state, upon receiving no input to an input element for a predetermined time period, the operation terminal 400 may transition to the locked state and switch the state of the lock button ID22c from the unlocked state to the locked state. The input element may be an unlocked input element. When the operation terminal 400 is in the unlocked state, upon receiving a predetermined input such as a long press on the lock button ID22c, in addition to or instead of the above, the operation terminal 400 may transition to the locked state.

[0094] The input for transitioning to the unlocked state and the locked state is not limited to the above, and may be, for example, another input to the robot operation screen ID 22. For example, the input may be the trajectory of an action such as a swipe on the robot operation screen ID 22 using the operator's finger, a touch pen, or the like, input of letters, numbers, and a password, input of biometric information such as the operator's fingerprint and voice to a sensor provided in the operation terminal 400, input of an image of the operator's face or the like to a camera provided in the operation terminal 400, and the like.

[0095] The origin position button ID22f is a button for commanding the robot 100 to return to the origin position. When the operation terminal 400 receives a predetermined input on the origin position button ID22f, it transmits a command to the robot controller 200 to return the robot 100 to the origin position. For example, the predetermined input may be a tap or a long press. Examples of the origin position are as described above.

[0096] The call source button ID22g is a button for returning the screen of the presentation device 420 to the action selection screen ID21. When the operation terminal 400 receives a predetermined input such as a tap on the call source button ID22g, it transitions the screen of the presentation device 420 to the action selection screen ID21.

[0097] The monitor button ID22d is a button for calling up the status of the robot 100. When the operation terminal 400 receives a predetermined input, such as a tap on the monitor button ID22d, it transitions the screen of the presentation device 420 to a monitor function screen ID23, for example, as shown in FIG. 10. FIG. 10 shows an example of the monitor function screen displayed on the operation terminal 400. The monitor function screen ID23 indicates the operating status and work progress of the robot 100. Although not limited thereto, in this embodiment, the operation terminal 400 displays an execution task field ID22a, a call source button ID23a, a work progress field ID23b, a time field ID23c, and an error code field ID23d on the monitor function screen ID23. The call source button ID23a and the error code field ID23d are input elements.

[0098] When the operation terminal 400 receives the above-described predetermined input on the monitor button ID22d, it may request robot information indicating the state of the robot 100 from the robot controller 200. Additionally or instead, the operation terminal 400 may request robot information from the robot controller 200 at predetermined times, such as at predetermined time intervals. The operation terminal 400 may store and accumulate the robot information received from the robot controller 200. The operation terminal 400 may generate and display a monitor function screen ID23 using the robot information received from the robot controller 200, the robot information stored in the operation terminal 400, or both.

[0099] The call source button ID23a is a button for returning the screen of the presentation device 420 to the robot operation screen ID22, and has the same function as the call source button already described.

[0100] The work progress field ID23b indicates the progress of the work being performed. Although not limited to this, in this embodiment, the operation terminal 400 indicates all steps included in the work being performed and the step being performed in the work progress field ID23b. In Fig. 10, the step being performed is highlighted.

[0101] The time field ID23c indicates elapsed time. Although not limited to this, in this embodiment, the operation terminal 400 indicates, in the time field ID23c, an in-operation time, which is the elapsed time since the work being performed started, and a work time, which is the elapsed time since the process being performed started.

[0102] The error code field ID23d includes a display field ID23d1 and a link button ID23d2. The display field ID23d1 shows details of the error that occurred. The link button ID23d2 is a button for transitioning to a screen related to the error shown in the display field ID23d1.

[0103] When the operation terminal 400 acquires information about an error that has occurred in the robot 100, the virtual robot, the robot controller 200, the operation terminal 400, or in communication between the robot controller 200 and the operation terminal 400, the operation terminal 400 displays details of the error in a display field ID23d1. For example, the display field ID23d1 may display an identification number such as an error code, and the name of the error. The display field ID23d1 may display details of the most recent error, or may display a history of errors. Errors include errors in a simulation using a virtual robot.

[0104] When the operation terminal 400 receives a predetermined input such as a tap on the link button ID 23d2, the operation terminal 400 transitions the screen of the presentation device 420 to a screen related to the error shown in the display field ID 23d1. For example, the screen may be an error management screen, a screen showing troubleshooting, a screen showing the error history, or the like.

[0105] 9, the switching button ID22e is a button for calling up the status of the mobile device 120. When the operation terminal 400 receives a predetermined input such as a tap on the switching button ID22e, it transitions the screen of the presentation device 420 to a mobile device operation screen ID24 as shown in FIG. 11. FIG. 11 shows an example of the mobile device operation screen displayed on the operation terminal 400. The mobile device operation screen ID24 indicates the operating status and various settings of the mobile device 120.

[0106] Although not limited to this, in this embodiment, the operation terminal 400 displays a call source button ID24a, a start button ID24b, a stop button ID24c, a pause button ID24d, a motor power button ID24e, a travel parameter setting button ID24f, a start condition switch ID24g, an error code field ID24h, a monitor speed change bar ID24i, a path field ID24j, a current parameter field ID24k, a lock button ID24l, and an origin position button ID24m on the mobile device operation screen ID24. All of the above elements are input elements.

[0107] When the operation terminal 400 receives a predetermined input on the switching button ID22e, it may request information about the mobile device 120 from the robot controller 200. Additionally or instead of this, the operation terminal 400 may request information about the mobile device 120 from the robot controller 200 at a predetermined time, such as at a predetermined time interval. The operation terminal 400 may store and accumulate the information about the mobile device 120 received from the robot controller 200. The operation terminal 400 may generate and display a mobile device operation screen ID24 using the information about the mobile device 120 received from the robot controller 200, the information about the mobile device 120 stored in the operation terminal 400, or both.

[0108] The call source button ID24a is a button for returning the screen of the presentation device 420 to the robot operation screen ID22, and has the same function as the call source button already mentioned.

[0109] The start button ID24b is a button for starting the mobile device 120, but may be configured to start the entire robot 100. When the operation terminal 400 receives a predetermined input such as a tap on the start button ID24b, it transmits a command to start the mobile device 120 to the robot controller 200 and highlights the start button ID24b.

[0110] The stop button ID24c is a button for stopping the mobile device 120, but may also be configured to stop the entire robot 100. When the operation terminal 400 receives a predetermined input, such as a tap on the stop button ID24c, it sends a command to stop the mobile device 120 to the robot controller 200 and highlights the stop button ID24c. For example, stopping may be turning off the power of the robot 100, turning off the power of the mobile device 120, cutting off the power supply to components related to the mobile device 120, cutting off control of the mobile device 120 by the robot controller 200, etc.

[0111] The pause button ID24d is a button for temporarily pausing the operation of the mobile device 120, but may be configured to temporarily pause the operation of the entire robot 100. When the mobile device 120 is temporarily paused, power may be supplied to the mobile device 120. The pause button ID24d has the same function as the function exemplified for the pause button ID0e. When the operation terminal 400 receives a predetermined input, such as a tap on the pause button ID24d in the pause display, the operation terminal 400 sends a command to the robot controller 200 to temporarily pause the operation of the mobile device 120 and changes the display of the pause button ID24d to a play display. When the operation terminal 400 receives a predetermined input, such as a tap on the pause button ID24d in the play display, the operation terminal 400 sends a command to the robot controller 200 to resume the operation of the mobile device 120 and changes the display of the pause button ID24d to a pause display.

[0112] The motor power button ID24e indicates whether the power of the servo motor 122 of the moving device 120 is in an ON state or an OFF state. The operation terminal 400 may accept input to the motor power button ID24e. For example, when the operation terminal 400 accepts a predetermined input, such as a tap on the motor power button ID24e indicating an ON state, the operation terminal 400 may send a command to the robot controller 200 to turn the power of the servo motor 122 to an OFF state, and change the display of the motor power button ID24e to an OFF state. When the operation terminal 400 accepts a predetermined input, such as a tap on the motor power button ID24e indicating an OFF state, the operation terminal 400 may send a command to the robot controller 200 to turn the power of the servo motor 122 to an ON state, and change the display of the motor power button ID24e to an ON state.

[0113] The travel parameter setting button ID24f is a button for setting parameters related to travel of the moving device 120. Examples of the parameters include parameters indicating information such as speed, type of operation, operation program, radius of curvature of the travel path, next target point, and line of magnetic material to be followed. When the operation terminal 400 receives a predetermined input such as a tap on the travel parameter setting button ID24f, it may open a screen for setting the travel parameters and accept changes to the travel parameters.

[0114] The activation condition switch ID 24g is a switch for switching the activation conditions. For example, the activation conditions may include the initial state of the moving device 120 at the time of activation, and may also include the initial state of the robot main body 110. When the operation terminal 400 receives an input to rotate the activation condition switch ID 24g, it switches the activation conditions to be adopted.

[0115] The error code field ID24h includes a display field ID24h1 and a link button ID24h2, similar to the error code field ID23d of the monitor function screen ID23. The operation terminal 400 also includes functions in the error code field ID24h similar to the functions exemplified for the error code field ID23d. The operation terminal 400 displays details of an error related to the mobile device 120 in the display field ID24h1 and links to a screen related to the error via the link button ID24h2.

[0116] The monitor speed change bar ID24i is a bar for setting and displaying the motion speed of the mobile device 120. The monitor speed change bar ID24i includes a point that can slide along a linear bar. The operation terminal 400 accepts input onto a point on the monitor speed change bar ID24i, and changes the motion speed by sliding the point along the bar. For example, the input and slide may be a slide in a tapped state. The operation terminal 400 determines the motion speed based on the position of the point on the bar, and displays the determined motion speed in a numerical value.

[0117] The route field ID24j indicates information about the route of the mobile device 120. The route field ID24j includes a route group field ID24j1, an address field ID24j2, and a change button ID24j3. The operation terminal 400 indicates codes such as numbers and symbols representing route groups set in the mobile device 120 in the route group field ID24j1, and indicates codes such as numbers and symbols representing destination points set in the mobile device 120 in the address field ID24j2. The destination points may include a starting point, one or more waypoints, a destination point, or a combination of two or more of these. A route group may include a combination of one or more routes. For example, a route group may include a combination of one or more routes that sequentially connect a starting point, one or more waypoints, and a destination point. For example, a route group may be a program that defines routes and the order in which the routes proceed.

[0118] The change button ID24j3 is a button for changing the route group and the destination point shown in the route group field ID24j1 and the address field ID24j2. When the operation terminal 400 receives a predetermined input such as a tap on the change button ID24j3, the operation terminal 400 may open a screen for setting the route group and the destination point and may receive the change of the route group and the destination point.

[0119] The current parameter field ID24k indicates the current status of parameters set in the mobile device 120 and parameters related to the mobile device 120. The parameters may include driving parameters set in the mobile device 120. The parameters may also be parameters currently being executed. When the operation terminal 400 receives a predetermined input such as a tap on the current parameter field ID24k, it opens and displays a field showing details of the parameters.

[0120] The lock button ID24l is a button that indicates a locked state in which input to the input elements of the mobile device operation screen ID24 is not accepted, and an unlocked state in which input to the input elements is accepted. The operation terminal 400 has the lock button ID24l with the same function as the function exemplified for the lock button ID22c of the robot operation screen ID22.

[0121] The origin position button ID24m is a button for instructing the robot 100 to return to the origin position. The operation terminal 400 provides the origin position button ID24m with the same function as the function exemplified for the origin position button ID22f on the robot operation screen ID22.

[0122] <Operation for teaching robots and other devices using an operating terminal> When the operation terminal 400 receives a predetermined input on the teaching screen tab IDc3, the operation terminal 400 transitions the screen of the presentation device 420 to one of the teaching operation screens ID3, for example, as shown in FIG. 12 . FIG. 12 shows an example of a teaching target selection screen among the teaching operation screens IDc3 displayed on the operation terminal 400. For example, when the operation terminal 400 and the robot are not connected, the operation terminal 400 may be configured not to accept input on the teaching screen tab IDc3 or to display a message indicating the disconnection. In this example, as shown in the connected robot field ID0a, the operation terminal 400 is connected to a real robot 100 named “robot_1.” Furthermore, when the operation terminal 400 receives a predetermined input, such as a tap on the teaching screen tab IDc3 while the teaching operation screen ID3 is displayed, the operation terminal 400 may transition the screen of the presentation device 420 to the home screen ID0.

[0123] The operation terminal 400 displays selection buttons ID31a1 and ID31a2 indicating the teaching target on the teaching target selection screen ID31. Although not limited to this, in this example, the selection button ID31a1 is a button for selecting teaching of the robot main body 110, and the selection button ID31a2 is a button for selecting teaching of the mobile device 120. Note that the teaching target may be the robot main body 110 and the mobile device 120 of the actual robot 100, or the robot main body and the mobile device of a virtual robot.

[0124] When the operation terminal 400 receives a predetermined input, such as a tap on the selection button ID31a1 or IDa2, it transmits a command to the robot controller 200 requesting the execution of teaching of the robot main body 110 or the mobile device 120. When the operation terminal 400 receives a response approving the teaching of the robot main body 110 from the robot controller 200, it transitions the screen of the presentation device 420 to a robot teaching screen ID32 as shown in FIG. 13, for example. When the operation terminal 400 receives a response approving the teaching of the mobile device 120 from the robot controller 200, it transitions the screen of the presentation device 420 to a mobile device teaching screen ID33 as shown in FIG. 14, for example. FIG. 13 shows an example of the robot teaching screen displayed on the operation terminal 400, and FIG. 14 shows an example of the mobile device teaching screen displayed on the operation terminal 400.

[0125] The operation terminal 400 may be configured to accept and execute a transition to the teaching target selection screen ID31 at any timing. For example, the operation terminal 400 may transition to the teaching target selection screen ID31 while the robot 100 is reproducing a taught motion. For example, the operation terminal 400 may be configured to transition to the teaching target selection screen ID31 when the robot 100 is paused or stopped. Alternatively, the operation terminal 400 may be configured to transition to the teaching target selection screen ID31 regardless of the state of the robot 100, and after the transition, may be configured to transition to the robot teaching screen ID32 and the mobile device teaching screen ID33 when the robot 100 is paused or stopped.

[0126] The operation terminal 400 transitions to the teaching mode when the operation terminal 400 transitions to the robot teaching screen ID32, but the timing of the transition to the teaching mode may be any timing after the transition to the teaching operation screen ID3. When or after the transition to the teaching mode, the operation terminal 400 may transmit a command to the robot controller 200 to control the robot main body 110 in the teaching mode.

[0127] 13, the operation terminal 400 displays, on the robot teaching screen ID 32, a call source button ID 32a, a motor power button ID 32b, a pause button ID 32c, an arm speed change bar ID 32d, an arm direction change bar ID 32e, an end effector speed change bar ID 32f, a set button ID 32g, an origin position set button ID 32h, and a lock button ID 32i. All of the above elements are input elements.

[0128] Although not limited to this, in this embodiment, the operation terminal 400 accepts operations and settings for teaching, excluding manual operations of the robot arm 111 and end effector 112 of the robot main body 110, and transmits commands according to the operations and settings to the robot controller 200. The operation terminal 400 may be capable of teaching the robot main body 110 and the robot controller 200 relatively simple operations, and may not be capable of teaching complex operations such as those taught using the teaching device 300. For example, an example of teaching a relatively simple operation may be teaching a simple operation of the robot main body 110.

[0129] The call source button ID32a is a button for returning the screen of the presentation device 420 to the teaching object selection screen ID31, and has the same function as the call source button already described.

[0130] The motor power button ID 32b indicates whether the power of the servo motor 113 of the robot main body 110 is in an ON state or an OFF state. The operation terminal 400 may accept an input to the motor power button ID 32b. The operation terminal 400 may provide the motor power button ID 32b with a function similar to the function exemplified for the motor power button ID 24e of the moving device operation screen ID 24, and may turn the power of the servo motor 113 to an ON state or an OFF state in accordance with an input to the motor power button ID 32b.

[0131] The pause button ID32c is a button for temporarily stopping the operation of the robot main body 110. The operation terminal 400 has the same function as the function exemplified for the pause button ID24d on the moving device operation screen ID24 in the pause button ID32c.

[0132] The arm speed change bar ID32d is a bar for setting and displaying the operating speed of the robot arm 111. The operation terminal 400 provides the arm speed change bar ID32d with the same function as the function exemplified for the monitor speed change bar ID24i on the moving device operation screen ID24.

[0133] The arm direction change bar ID32e is a bar for setting and displaying the direction of the robot arm 111. For example, the arm direction change bar ID32e may be a bar for setting and displaying the orientation, which is the horizontal orientation of the robot arm 111. The arm direction change bar ID32e includes a point that can slide along a circular bar. The operation terminal 400 accepts input onto a point on the arm direction change bar ID32e, and changes the orientation by sliding the point along the bar. For example, the input and slide may be a slide while tapping. The operation terminal 400 determines the orientation based on the position of the point on the bar, and displays the determined orientation.

[0134] The end effector speed change bar ID32f is a bar for setting and displaying the operating speed of the end effector 112. The operation terminal 400 provides the end effector speed change bar ID32f with the same functions as those exemplified for the monitor speed change bar ID24i on the mobile device operation screen ID24.

[0135] The setting button ID32g is a button that opens a manual operation setting screen ID321 for setting manual operation of the robot main body 110. When the operation terminal 400 receives a predetermined input such as a tap on the setting button ID32g, it transitions the screen of the presentation device 420 to the manual operation setting screen ID321.

[0136] The origin position setting button ID32h is a button for setting the origin position of the robot main body 110. When the operation terminal 400 receives a predetermined input such as a tap on the origin position setting button ID32h, it determines the origin position including the position and orientation of the robot main body 110 at the time the input is received, and stores this as teaching data. For example, the position and orientation of the robot main body 110 may be the position and orientation of the end effector 112. The above timing may be when the robot main body 110 is operating, or when it is temporarily stopped.

[0137] The lock button ID32i is a button that indicates a locked state in which input to the input elements of the robot teaching screen ID32 is not accepted, and an unlocked state in which input to the input elements is accepted. The operation terminal 400 has the lock button ID32i with the same function as the function exemplified for the lock button ID22c of the robot operation screen ID22. The operation terminal 400 in the locked state may not accept input to all input elements except for the lock button ID32i, or may not accept input to some of the input elements. For example, some of the input elements may be input elements related to the execution of the operation of the robot main body 110, such as the motor power button ID32b, pause button ID32c, arm speed change bar ID32d, arm direction change bar ID32e, and end effector speed change bar ID32f.

[0138] The operation terminal 400 transitions to the teaching mode when the operation terminal 400 transitions to the mobile device teaching screen ID33, but the timing of the transition to the teaching mode may be any timing after the transition to the teaching operation screen ID3. When or after the transition to the teaching mode, the operation terminal 400 may transmit a command to the robot controller 200 to control the mobile device 120 in the teaching mode.

[0139] 14, the operation terminal 400 displays a call source button ID33a, a motor power button ID33b, a travel speed change bar ID33c, a manual operation key ID33d, a monitor button ID33e, a movement width button ID33f, a setting button ID33g, an origin position setting button ID33h, and a lock button ID33i on a movement device teaching screen ID33. All of the above elements are input elements.

[0140] Although not limited to this, in this embodiment, the operation terminal 400 accepts operations and settings for teaching, including manual operation of the mobile device 120, and transmits commands in accordance with the operations and settings to the robot controller 200.

[0141] The call source button ID33a is a button for returning the screen of the presentation device 420 to the teaching object selection screen ID31, and has the same function as the call source button already described.

[0142] The motor power button ID 33b indicates whether the power of the servo motor 122 of the moving device 120 is in an ON state or an OFF state. The operation terminal 400 may accept an input to the motor power button ID 33b. The operation terminal 400 may provide the motor power button ID 33b with a function similar to the function exemplified for the motor power button ID 24e of the moving device operation screen ID 24, and may turn the power of the servo motor 122 to an ON state or an OFF state in accordance with an input to the motor power button ID 33b.

[0143] The traveling speed change bar ID33c is a bar for setting and displaying the operating speed of the moving device 120. The operation terminal 400 provides the traveling speed change bar ID33c with the same function as the function exemplified for the monitor speed change bar ID24i on the moving device operation screen ID24.

[0144] The manual operation key ID 33d is a key through which commands, etc., for causing the mobile device 120 to perform manual operations according to manual operation are input. In this embodiment, the manual operation key ID 33d includes, but is not limited to, four keys for instructing the mobile device 120 to "move forward," "move backward," "turn left," and "turn right." These keys are arranged around the model of the mobile device 120 on the mobile device teaching screen ID 33. For example, the operation terminal 400 may simultaneously accept input to one or more of the four keys. While accepting input to one or more keys, the operation terminal 400 continues to transmit operation commands to the robot controller 200 for executing operations corresponding to the one or more keys. This causes the mobile device 120 to continue the operation. For example, the operation terminal 400 may transmit operation commands to the robot controller 200 for changing the speed of an operation corresponding to a specific key input, such as the number of taps per predetermined time, the number of swipes per predetermined time, the swipe direction, and the swipe distance.

[0145] The monitor button ID33e is a button that opens a mobile device monitor screen ID331 that shows the state of the mobile device 120. When the operation terminal 400 receives a predetermined input such as a tap on the monitor button ID33e, it transitions the screen of the presentation device 420 to the mobile device monitor screen ID331.

[0146] The movement range button ID33f is a button that opens a movement range setting screen ID332 for setting the movement range of the movement device 120 in response to the input amount to the manual operation key ID33d. When the operation terminal 400 receives a predetermined input such as a tap on the movement range button ID33f, it transitions the screen of the presentation device 420 to the movement range setting screen ID332.

[0147] The setting button ID33g is a button that opens a manual operation setting screen ID333 for setting manual operations of the mobile device 120. When the operation terminal 400 receives a predetermined input such as a tap on the setting button ID33g, it transitions the screen of the presentation device 420 to the manual operation setting screen ID333.

[0148] The origin position setting button ID33h is a button for setting the origin position of the mobile device 120. When the operation terminal 400 receives a predetermined input such as a tap on the origin position setting button ID33h, it determines the origin position including the position and orientation of the mobile device 120 at the time the input is received, and stores the determined origin position as teaching data. The timing may be when the mobile device 120 is operating or when it is temporarily stopped.

[0149] The lock button ID33i is a button that indicates a locked state in which input to the input elements of the mobile device teaching screen ID33 is not accepted, and an unlocked state in which input to the input elements is accepted. The operation terminal 400 has the lock button ID33i with the same function as the function exemplified for the lock button ID22c of the robot operation screen ID22. The operation terminal 400 in the locked state may not accept input to all input elements except for the lock button ID33i, or may not accept input to some of the input elements. For example, some of the input elements may be input elements related to the execution of the operation of the mobile device 120, such as the motor power button ID33b, the traveling speed change bar ID33c, and the manual operation key ID33d.

[0150] Fig. 15 shows an example of a manual operation setting screen for the robot main body 110 displayed on the operation terminal 400. Although not limited to this, in this embodiment, as shown in Fig. 15, the operation terminal 400 displays a call source button ID321a, a setting item field ID321b, and an apply button ID321c on a manual operation setting screen ID321. All of the above elements are input elements.

[0151] The call source button ID321a is a button for returning the screen of the presentation device 420 to the robot teaching screen ID32, and has the same function as the call source button already described.

[0152] The setting item field ID321b displays setting items related to manual operation of the robot main body 110. The operation terminal 400 accepts addition, deletion, change, etc. of setting items in the setting item field ID321b by input to the manual operation setting screen ID321.

[0153] The apply button ID321c is a button for applying the settings displayed in the setting item field ID321b to manual operation of the robot main body 110. When the operation terminal 400 receives a predetermined input such as a tap on the apply button ID321c, it determines the settings displayed in the setting item field ID321b as the settings for manual operation of the robot main body 110, and may store the determined settings or transmit them to the robot controller 200.

[0154] Fig. 16 shows an example of a mobile device monitor screen of the mobile device 120 displayed on the operation terminal 400. Although not limited to this, in this embodiment, as shown in Fig. 16, the operation terminal 400 displays a call source button ID 331a and a status column 331b on a mobile device monitor screen ID 331. The call source button ID 331a is an input element.

[0155] The call source button ID331a is a button for returning the screen of the presentation device 420 to the moving device instruction screen ID33, and has the same function as the call source button already described.

[0156] The status column 331b displays items related to the status of the mobile device 120. For example, the status column 331b displays items related to the operational status of the mobile device 120 and items set for manual operation. For example, the status column 331b may include the speed of the mobile device 120 in the operation direction corresponding to the manual operation key ID 33d, the amount of positional deviation of the mobile device 120 from the line of magnetic material that is the path, the movement width set for the mobile device 120, and the like.

[0157] The operation terminal 400 may display a command value or a target value for the speed of the moving device 120 and a current value of the speed in the status column 331b. The operation terminal 400 may determine a command value for the speed based on the input content received via the manual operation key ID 33d, and may calculate the current value of the speed based on the rotation amount of the servo motor 122 received from the robot controller 200. The operation terminal 400 may obtain a target value for the speed from the teaching data.

[0158] The operation terminal 400 may be configured to display the detection result of the position detection device 123 in the status column 331b. The operation terminal 400 may detect a difference between the moving device 120 and a predetermined trajectory based on robot information of the robot 100 received from the robot controller 200. For example, the predetermined trajectory may be a target trajectory included in the teaching data, a line of a magnetic material, or the like.

[0159] Fig. 17 shows an example of a movement distance setting screen for the moving device 120 displayed on the operation terminal 400. Although not limited to this, in this embodiment, as shown in Fig. 17, the operation terminal 400 displays a call source button ID332a, a setting item field ID332b, and an apply button ID332c on the movement distance setting screen ID332. All of the above elements are input elements.

[0160] The call source button ID332a is a button for returning the screen of the presentation device 420 to the moving device instruction screen ID33, and has the same function as the call source button already described.

[0161] The setting item field ID332b displays a setting item for the movement width related to the manual operation of the mobile device 120. The movement width is also called the inching width. The movement width may indicate the movement amount of the mobile device 120 per one input, such as a single tap on the manual operation key ID33d, the movement amount of the mobile device 120 per predetermined time of continuous input to the manual operation key ID33d, or both. In this example, the movement width in the setting item field ID332b includes the forward and backward movement distances and the movement angles for left and right turns. The operation terminal 400 accepts changes to the numerical value of the movement width in the setting item field ID332b by input to the movement width setting screen ID332.

[0162] The apply button ID332c is a button for applying the movement range displayed in the setting item field ID332b to manual operation of the mobile device 120. When the operation terminal 400 receives a predetermined input such as a tap on the apply button ID332c, it determines the movement range displayed in the setting item field ID332b as the movement range for manual operation of the mobile device 120, and may store the determined movement range or transmit it to the robot controller 200. For example, during manual operation, the operation terminal 400 may generate an operation command using the input content to the manual operation key ID33d and the movement range, and transmit it to the robot controller 200.

[0163] Fig. 18 shows an example of a manual operation setting screen of the mobile device 120 displayed on the operation terminal 400. Although not limited to this, in this embodiment, as shown in Fig. 18, the operation terminal 400 displays a call source button ID 333a, a setting item field ID 333b, and an apply button ID 333c on the manual operation setting screen ID 333. All of the above elements are input elements.

[0164] The call source button ID333a is a button for returning the screen of the presentation device 420 to the moving device instruction screen ID33, and has the same function as the call source button already described.

[0165] The setting item field ID333b displays setting items related to manual operation of the mobile device 120. The operation terminal 400 accepts addition, deletion, change, etc. of setting items in the setting item field ID333b by input to the manual operation setting screen ID333. Although not limited to this, in the present embodiment, the setting item field ID333b displays the number of the magnetic line followed by the mobile device 120, a sound effect such as a melody when the mobile device 120 operates, whether or not position monitoring of the mobile device 120 is performed using something other than the magnetic line, and the operating speed of the mobile device 120. The position monitoring may be position monitoring that uses a function of the position detection device 123 other than detection of the magnetic line, or position monitoring that uses an external device.

[0166] The apply button ID333c is a button for applying the settings displayed in the setting item field ID333b to manual operation of the mobile device 120. When the operation terminal 400 receives a predetermined input such as a tap on the apply button ID333c, it determines the settings displayed in the setting item field ID333b as the settings for manual operation of the mobile device 120, and may store the determined settings or transmit them to the robot controller 200.

[0167] <Operations for setting up the operating terminal> When the operation terminal 400 receives a predetermined input on the setting tab ID0c4, it transitions the screen of the presentation device 420 to one of the setting screens ID4 as shown in Fig. 19. Fig. 19 shows an example of a setting selection screen from the setting screen ID4 displayed on the operation terminal 400. Furthermore, when the operation terminal 400 receives a predetermined input, such as a tap on the setting tab ID0c4 while the setting screen ID4 is displayed, it may transition the screen of the presentation device 420 to the home screen ID0.

[0168] Although not limited to this, in this embodiment, the operation terminal 400 displays selection buttons ID41a1 to ID41a3 indicating the setting target on the setting selection screen ID41. The selection button ID41a1 is a button for selecting the setting of the robot operation application of the operation terminal 400. The selection button ID41a2 is a button for selecting the setting of the robot. The robot may be a robot registered in the operation terminal 400, or may be a robot connected to the operation terminal 400. Furthermore, the robot may be the actual robot 100 or a virtual robot. The selection button ID41a3 is a button for selecting management of the operation terminal 400.

[0169] When the operation terminal 400 receives a predetermined input such as a tap on the selection button ID41a1, it transitions the screen of the presentation device 420 to the application setting screen ID42, and when it receives a predetermined input on the selection button ID41a2, it transitions the screen of the presentation device 420 to the robot selection screen ID43, and when it receives a predetermined input on the selection button ID41a2, it transitions the screen of the presentation device 420 to the management screen ID44.

[0170] Specifically, when the operation terminal 400 receives a predetermined input on the selection button ID41a1, it displays an application setting screen ID42 as shown in Fig. 20, for example. Fig. 20 shows an example of an application setting screen of the setting screen ID4 displayed on the operation terminal 400. Although not limited to this, in this embodiment, the operation terminal 400 displays a call source button ID42a and a setting field ID42b on the application setting screen ID42. All of the above elements are input elements.

[0171] The call source button ID42a is a button for returning the screen of the presentation device 420 to the setting selection screen ID41, and has the same function as the call source button already described.

[0172] The setting field ID42b includes various setting item IDs 42b1 of the robot operation application and setting content IDs 42b2 for each setting item ID 42b1. The operation terminal 400 accepts addition, deletion, change, etc. of the setting content IDs 42b2 by input to the application setting screen ID 42. For example, in Fig. 20, the setting items 42ba include the destination port, the lock time until the screen is locked, the output destination of the log file, backup means, whether or not to perform communication diagnostics, the license status of the application, the password, the application version, etc.

[0173] For example, the setting item 42ba may include items for setting the language, the working folder path, the display update time on the presentation device 420, the watchdog error time, the number of watchdog tries, etc. The watchdog may be a bidirectional watchdog between the operation terminal 400 and the robot controller 200, for example, a watchdog from the operation terminal 400 to the robot controller 200.

[0174] The watchdog error time is a criterion for determining an error in a request for the watchdog, and may be, for example, the time during which the robot controller 200 does not respond after a request for the watchdog is sent from the operation terminal 400 to the robot controller 200. The number of watchdog tries is a criterion for determining a failure of the watchdog, and may be, for example, the number of times a request for the watchdog is repeated until a response is received from the robot controller 200 when an error in a request for the watchdog occurs. If there is no response from the robot controller 200 in response to requests sent that exceed the number of watchdog tries, a failure of the watchdog is determined.

[0175] 19, when the operation terminal 400 receives a predetermined input on the selection button ID41a2, it displays a robot selection screen ID43 as shown in FIG. 21, for example. FIG. 21 shows an example of a robot selection screen of the setting screen ID4 displayed on the operation terminal 400. Although not limited to this, in this embodiment, the operation terminal 400 displays a call source button ID43a and selection buttons ID43b and 43c on the robot selection screen ID43. All of the above elements are input elements.

[0176] The call source button ID43a is a button for returning the screen of the presentation device 420 to the setting selection screen ID41, and has the same function as the call source button already described.

[0177] The selection button ID43b is a button for selecting the settings of the robot main body, and the selection button ID43c is a button for selecting the settings of the moving device. When the operation terminal 400 receives a predetermined input such as a tap on the selection button ID43b, it transitions the screen of the presentation device 420 to a robot main body setting screen ID431. When the operation terminal 400 receives a predetermined input such as a tap on the selection button ID43c, it transitions the screen of the presentation device 420 to a moving device setting screen ID432.

[0178] In this embodiment, the operation terminal 400 displays a selection button ID 43b for the robot body 110 of the actual robot 100 connected to the operation terminal 400, and a selection button ID 43c for the movement device 120 of the robot 100. For example, if the operation terminal 400 is capable of configuring the robots registered in the operation terminal 400, the operation terminal 400 may be configured to display a screen for selecting a robot to be configured from the registered robots, for example, a screen similar to the connection setting screen ID1.

[0179] 22 shows an example of a robot main body setting screen of the setting screen ID4 displayed on the operation terminal 400. Although not limited to this, in this embodiment, the operation terminal 400 displays a call source button ID431a, a version button ID431b, an error log button ID431c, and a playback operation setting button ID431d on the robot main body setting screen ID431. All of the above elements are input elements.

[0180] The call source button ID431a is a button for returning the screen of the presentation device 420 to the robot selection screen ID43, and has the same function as the call source button already described.

[0181] The version button ID 431b is a button for displaying version information of the robot main body 110. When the operation terminal 400 receives a predetermined input such as a tap on the version button ID 431b, it transitions the screen of the presentation device 420 to a screen displaying version information of the robot main body 110. On this screen, information such as software for controlling the robot main body 110, the number and model of servo motors, etc. may be displayed. Furthermore, information such as the software and model of the operation terminal 400 may be displayed.

[0182] The error log button ID431c is a button for acquiring an error log. When the operation terminal 400 receives a predetermined input, such as a tap on the error log button ID431c, the operation terminal 400 transitions the screen of the presentation device 420 to an error log screen ID4311 for acquiring an error log, as shown in FIG. 23 . FIG. 23 shows an example of the error log screen of the setting screen ID4 displayed on the operation terminal 400. The operation terminal 400 enables selective acquisition of two error logs: errors in the robot system 1 and errors in the robot operation application, by inputting information on the error log screen ID4311. Furthermore, the operation terminal 400 receives input of an error code for each of the two error systems and enables searching for an error log corresponding to the error code. The operation terminal 400 displays the contents of the searched error log. Furthermore, the operation terminal 400 displays a call source button ID4311a on the error log screen ID4311. The call source button ID4311a is a button for returning the screen of the presentation device 420 to the robot main body setting screen ID431, and has the same function as the call source button already described.

[0183] The playback operation setting button ID431d is a button for setting the playback operation of the robot main body 110. When the operation terminal 400 receives a predetermined input, such as a tap on the playback operation setting button ID431d, it transitions the screen of the presentation device 420 to a playback operation setting screen ID4312 as shown in FIG. 24, for example. FIG. 24 shows an example of a playback operation setting screen for the robot main body 110 out of the setting screen ID4 displayed on the operation terminal 400. Although not limited thereto, in this embodiment, the operation terminal 400 displays a call source button ID4312a and a setting field ID4312b on the playback operation setting screen ID4312. All of the above elements are input elements.

[0184] The call source button ID4312a is a button for returning the screen of the presentation device 420 to the robot main body setting screen ID431, and has the same function as the call source button described above. The setting field ID4312b includes various setting item IDs 4312b1 related to the playback operation of the robot main body 110, and setting content IDs 4312b2 for each setting item ID4312b1. The operation terminal 400 accepts addition, deletion, change, etc. of the setting content ID4312b2 by input to the playback operation setting screen ID4312.

[0185] 25 shows an example of a moving device setting screen of the setting screen ID4 displayed on the operation terminal 400. Although not limited to this, in this embodiment, the operation terminal 400 displays a call source button ID432a, a version button ID432b, an error log button ID432c, and a playback operation setting button ID432d on the moving device setting screen ID432. All of the above elements are input elements.

[0186] The call source button ID432a is a button for returning the screen of the presentation device 420 to the robot selection screen ID43, and has the same function as the call source button already described.

[0187] The version button ID 432b is a button for displaying version information of the mobile device 120. When the operation terminal 400 receives a predetermined input, such as a tap on the version button ID 432b, it transitions the screen of the presentation device 420 to a screen that displays version information of the mobile device 120. On this screen, information such as software for controlling the mobile device 120 and the number and model of servo motors may be displayed. Furthermore, information such as the software and model of the operation terminal 400 may be displayed.

[0188] The error log button ID432c is a button for acquiring an error log, and has the same function as the error log button ID431c on the robot main body setting screen ID431. When the operation terminal 400 receives a predetermined input such as a tap on the error log button ID432c, it transitions the screen of the presentation device 420 to the same screen as the error log screen ID4311 shown in FIG.

[0189] The playback operation setting button ID432d is a button for setting the playback operation of the mobile device 120. When the operation terminal 400 receives a predetermined input, such as a tap on the playback operation setting button ID432d, it transitions the screen of the presentation device 420 to a playback operation setting screen ID4322 as shown in FIG. 26, for example. FIG. 26 shows an example of a playback operation setting screen for the mobile device 120 out of the setting screen ID4 displayed on the operation terminal 400. Although not limited thereto, in this embodiment, the operation terminal 400 displays a call source button ID4322a and a setting field ID4322b on the playback operation setting screen ID4322. All of the above elements are input elements.

[0190] The call source button ID4322a is a button for returning the screen of the presentation device 420 to the movement device setting screen ID432, and has the same function as the call source button described above. The setting field ID4322b includes various setting item IDs 4322b1 related to the playback operation of the movement device 120 and setting content IDs 4322b2 for each setting item ID4322b1. The operation terminal 400 accepts addition, deletion, change, etc. of the setting content ID4322b2 by input to the playback operation setting screen ID4322.

[0191] 19, when the operation terminal 400 receives a predetermined input on the selection button ID41a3, it displays, for example, a management screen ID44 as shown in FIG. 27. FIG. 27 shows an example of a management screen of the setting screen ID4 displayed on the operation terminal 400. Although not limited to this, in this embodiment, the operation terminal 400 displays a call source button ID44a and selection button IDs 44b and 44c on the management screen ID44. All of the above elements are input elements.

[0192] The call source button ID44a is a button for returning the screen of the presentation device 420 to the setting selection screen ID41, and has the same function as the call source button already described.

[0193] The selection button ID44b is a button for selecting data management of the operation terminal 400, and the selection button ID43c is a button for selecting management of signal input and output of the operation terminal 400. When the operation terminal 400 receives a predetermined input such as a tap on the selection button ID44b, it transitions the screen of the presentation device 420 to a data management screen ID441. When the operation terminal 400 receives a predetermined input such as a tap on the selection button ID44c, it transitions the screen of the presentation device 420 to a signal monitor screen ID442.

[0194] 28 and 29 show an example of a data management screen of the setting screen ID4 displayed on the operation terminal 400. Although not limited to this, in this embodiment, the operation terminal 400 displays a call source button ID 441a, a device field ID 441b, and a switch button ID 441c on the data management screen ID 441. The call source button ID 441a and the switch button ID 441c are input elements.

[0195] The call source button ID441a is a button for returning the screen of the presentation device 420 to the management screen ID44, and has the same function as the call source button already described.

[0196] The device field ID441b includes an output field ID441ba indicating a target to which the operation terminal 400 outputs data, and an input field ID441bb indicating a target to which the operation terminal 400 accepts data input. In the device field ID441b shown in Fig. 28, the target of the output field ID441ba and input field ID441bb is the robot controller 200. In the device field ID441b shown in Fig. 29, the target of the output field ID441ba and input field ID441bb is the work folder of the operation terminal 400, that is, the storage device. The target of data input / output to / from the operation terminal 400 is not limited to the above devices, and may be any device.

[0197] When the operation terminal 400 receives a predetermined input such as a tap on the output field ID441ba, it outputs work data, etc. to the output target. When the operation terminal 400 receives a predetermined input such as a tap on the input field ID441bb, it requests work data, etc. from the request target. When the operation terminal 400 acquires work data, etc. from the request target, it may store the work data in the operation terminal 400. The work data may be data acquired and generated by the operation terminal 400 during work, data acquired and generated by the request target during work, teaching data, etc.

[0198] The switch button ID441c is a button for switching the targets shown in the output field ID441ba and input field ID441bb of the device field ID441b. When the operation terminal 400 receives a predetermined input such as a tap on the switch button ID441c, it changes the combination of the operation terminal 400 and the target shown in the output field ID441ba and input field ID441bb. The combination may be set in advance and stored in the operation terminal 400.

[0199] 30 shows an example of a signal monitor screen of the setting screen ID4 displayed on the operation terminal 400. Although not limited to this, in this embodiment, the operation terminal 400 displays a call source button ID442a and a signal field ID442b on the signal monitor screen ID442. The call source button ID442a is an input element.

[0200] The signal field ID442b includes an output signal field ID442ba indicating the state of an output signal from the operation terminal 400 to the robot controller 200, an output signal field ID442bb indicating the state of an input signal from the robot controller 200 to the operation terminal 400, and an output signal field ID442bc indicating the state of an internal signal of the operation terminal 400. While the signal monitor screen ID442 is displayed, the processor P of the operation terminal 400 outputs a command requesting the state of each signal and acquires the state.

[0201] (Other embodiments) Although exemplary embodiments of the present disclosure have been described above, the present disclosure is not limited to the above exemplary embodiments. In other words, various modifications and improvements are possible within the scope of the present disclosure. For example, various modifications made to the exemplary embodiments and embodiments constructed by combining components of different exemplary embodiments are also included within the scope of the present disclosure.

[0202] For example, in the embodiment, the operation terminal 400 is configured to be connected to one robot controller 200, but is not limited to this. The operation terminal 400 may be connected to two or more robot controllers 200 simultaneously. The operation terminal 400 may be configured to transmit and receive commands, information, data, etc. to and from all of the two or more robot controllers 200 in parallel. The operation terminal 400 may be configured to select one or more robot controllers 200 out of the two or more robot controllers 200 and transmit and receive commands, information, data, etc. to and from the one or more robot controllers 200 in parallel. The operation terminal 400 may be configured to select one robot controller 200 out of the two or more robot controllers 200 and transmit and receive commands, information, data, etc. to and from the one robot controller 200.

[0203] Examples of each aspect of the technology of the present disclosure are as follows: An operation terminal according to one aspect of the present disclosure is an operation terminal for a mobile robot, the operation terminal being configured to be capable of operating the robot, and the operation terminal being configured to receive an input of a movement operation which is an operation for operating a mobile device provided in the robot, and to output to a controller that controls the operation of the robot, a command for causing the mobile device to perform an operation in accordance with the received movement operation.

[0204] According to the above aspect, the operation terminal can operate the robot's mobile device. The operation of the robot's mobile device is a specific motion of the robot. Manual operation of the robot's mobile device is easier than manual operation of the robot's main body, such as a robot arm. For example, if the mobile device is a traveling device that travels on a support surface, manual operation of the mobile device may be even easier. A smart device, such as a tablet, can also be used as such an operation terminal, and the smart device can further simplify operation. An operator who manually operates the mobile device may not need to receive special training, as is the case with teaching operations for the robot main body. Therefore, the operation terminal enables various operators to operate the robot's specific motion.

[0205] An operation terminal according to one aspect of the present disclosure may be configured to selectively transition between a locked state in which no input for an operation to cause the robot to operate is accepted and an unlocked state in which input for an operation to cause the robot to operate is accepted, and the operation terminal may be configured to transition to the unlocked state when an input for an unlocking operation is accepted in the locked state. According to the above aspect, the operation terminal can reduce acceptance of input unintended by the operator. Therefore, the operation terminal can reduce malfunction of the robot.

[0206] An operation terminal according to one aspect of the present disclosure may be configured to transition to the locked state when a predetermined time has passed since the operation terminal was in the unlocked state and no operation input was accepted. According to this aspect, when the operation terminal continues to accept no input, the operation terminal can reduce contact with the surrounding environment, such as surrounding objects, and receive unnecessary input from the surrounding environment. Therefore, the operation terminal can reduce malfunction of the robot.

[0207] An operation terminal according to one aspect of the present disclosure may include a display, and the operation terminal may be configured to output a request for robot information, which is information indicating the state of the robot, to the controller, and, upon receiving the robot information from the controller, display the robot information on the display.

[0208] According to the above aspect, the operation terminal can request robot information from the controller and visually display the robot information obtained from the controller to the operator, thereby making it easier and more reliable for the operator to operate the mobile device via the operation terminal.

[0209] The operation terminal according to one aspect of the present disclosure may be configured to accept input of the movement operation when the robot is to execute a previously taught movement.

[0210] According to the above aspect, when the robot is autonomously executing the taught motion, the operation terminal can operate the mobile device. For example, if the robot's position deviates from the position according to the taught motion due to a disturbance such as contact with the surrounding environment, the operator can operate the mobile device via the operation terminal to correct the robot's position. The operation terminal enables various operators to perform the above-mentioned correction operations.

[0211] An operating terminal according to one aspect of the present disclosure may be configured to output to the controller an instruction to operate in a teaching mode that teaches the mobile device a predetermined operation, accept input of the movement operation in the teaching mode, and output to the controller an instruction to cause the mobile device to perform an operation in accordance with the accepted movement operation.

[0212] According to the above aspect, the operation terminal enables the mobile device to be put into the teaching mode and to be operated in the teaching mode, thereby enabling the operation of the mobile device to be taught using the operation terminal.

[0213] According to one aspect of the present disclosure, the operation terminal may be configured to receive an input of an emergency stop command to make an emergency stop of the mobile device, and to output to the controller a command to cause the mobile device to stop operation in accordance with the received emergency stop command.

[0214] An operation terminal according to one aspect of the present disclosure may be configured to output a request to one or more of the controllers as to whether or not an operable connection with the operation terminal is possible, and upon receiving a response from the controller to the request as to whether or not an operable connection is possible, present information about the controllers that are operable by the operation terminal, accept input for selecting the controller to be operated, and output a request for an operable connection with the operation terminal to the controller to be operated.

[0215] According to the above aspect, the operation terminal can connect to a controller selected from various controllers. In the connection process, the operation terminal can sequentially search for connectable controllers, present the search results to the operator, and connect to the controller selected by the operator from the search results.

[0216] An operation terminal according to one aspect of the present disclosure may be configured to output, to the controller, a request for an operable connection with the operation terminal, and to output, to the controller, a request for indicating, using the robot, the establishment of the operable connection between the controller and the operation terminal. According to the above aspect, the operation terminal can indicate, using the robot, for example, visually, the establishment of the connection between the operation terminal and the controller.

[0217] A robot system according to an embodiment of the present disclosure includes one or more operation terminals according to an embodiment of the present disclosure, one or more robots, and one or more controllers that control the operation of the one or more robots, wherein the operation terminal is configured to be operably connected to a controller selected from the one or more controllers. According to the above embodiment, the same effect as that of the operation terminal according to an embodiment of the present disclosure can be obtained. The operation terminal is connectable to a controller selected from the one or more controllers.

[0218] A robot system according to one aspect of the present disclosure may further include one or more teaching devices communicatively connected to the one or more controllers, and the controller may be configured to selectively operably connect to one of the operation terminal and the teaching devices. According to this aspect, the controller reduces the number of times the robot operates in accordance with a command received from the operation terminal while teaching the robot using the teaching devices. This reduces the likelihood of the robot malfunctioning.

[0219] A computer program according to an aspect of the present disclosure is a computer program for operating an operation terminal according to an aspect of the present disclosure, and causes the operation terminal to receive an input of the movement operation, generate an operation command for causing the mobile device to perform an operation according to the received movement operation, and output the operation command to the controller. According to the above aspect, the same effects as those of the operation terminal according to an aspect of the present disclosure can be obtained.

[0220] A computer program according to an aspect of the present disclosure may be a program that is installed in the operation terminal as an application program. According to the above aspect, even if the operation terminal is not a dedicated device but, for example, a general-purpose device, the functions of the present disclosure can be realized by installing the computer program.

[0221] An operation terminal according to another aspect of the present disclosure is an operation terminal for a robot, the operation terminal being communicatively connected to a controller that controls the operation of the robot and configured to be capable of operating the robot, the operation terminal being configured to accept input of operations to cause the robot to operate, and outputting instructions to the controller to cause the robot to perform an operation in accordance with the accepted operations, and the operation terminal being capable of accepting specific operations that are part of the operations to cause the robot to operate that can be accepted by the robot's teaching device.

[0222] According to the above aspect, the robot operations that can be accepted by the operation terminal are specific operations that are part of the operations that can be accepted by the teaching device for causing the robot to perform an action. The specific operations may be simple operations among the operations that can be accepted by the teaching device. A smart device such as a tablet can also be used as such an operation terminal, and the smart device can further simplify the specific operations. An operator who performs simple operations may not need to receive special training, as is the case with teaching operations for the robot. Therefore, the operation terminal enables various operators to operate the specific actions of the robot.

[0223] In an operation terminal according to another aspect of the present disclosure, the specific operation may be different from an operation for causing the robot to perform a certain action in order to instruct the robot. According to the above aspect, since the specific operation is different from an operation for teaching, special training for the operator is not required, and the operation can be simple. Therefore, the operation terminal enables various operators to control the specific action of the robot.

[0224] In the operation terminal according to another aspect of the present disclosure, the specific operation may include an operation for causing the robot to autonomously execute a previously taught motion. According to the above aspect, the operation for causing the robot to autonomously execute a previously taught motion may be a simple operation, thereby enabling simplification of the specific operation.

[0225] In the operation terminal according to another aspect of the present disclosure, the specific operation may include an operation for instructing the robot to return to a predetermined state, that is, an origin position. According to the above aspect, the operation for instructing the robot to return to the origin position may be a simple operation, thereby enabling simplification of the specific operation.

[0226] In the operation terminal according to another aspect of the present disclosure, the specific operation may include an operation for issuing a command to bring the robot to an emergency stop. According to the above aspect, the operation for issuing a command to bring the robot to an emergency stop may be a simple operation, thereby enabling simplification of the specific operation.

[0227] According to another aspect of the present disclosure, an operation terminal may be configured to selectively transition between a locked state in which the specific operation is not accepted and an unlocked state in which the specific operation is accepted, and the operation terminal may be configured to transition to the unlocked state when an unlocking operation is accepted in the locked state. According to the above aspect, the operation terminal can reduce acceptance of inputs unintended by the operator. Therefore, the operation terminal can reduce malfunction of the robot.

[0228] An operation terminal according to another aspect of the present disclosure may be configured to transition to the locked state when a predetermined time has passed since the operation terminal was in the unlocked state and no operation input was accepted. According to this aspect, when the operation terminal continues to accept no input, the operation terminal can reduce contact with the surrounding environment, such as surrounding objects, and receive unnecessary input from the surrounding environment. Thus, the operation terminal can reduce malfunction of the robot.

[0229] An operation terminal according to another aspect of the present disclosure may include a display, and the operation terminal may be configured to output a request for robot information, which is information indicating the state of the robot, to the controller, and, upon receiving the robot information from the controller, display the robot information on the display.

[0230] According to the above aspect, the operation terminal can request robot information from the controller and visually display the robot information obtained from the controller to the operator, which can make it easier and more reliable for the operator to perform specific operations via the operation terminal.

[0231] An operation terminal according to another aspect of the present disclosure may be configured to output a request to one or more of the controllers as to whether or not an operable connection with the operation terminal is possible, and upon receiving a response from the controller to the request as to whether or not an operable connection is possible, present information about the controllers that are operable by the operation terminal, accept input for selecting the controller to be operated, and output a request for an operable connection with the operation terminal to the controller to be operated.

[0232] According to the above aspect, the operation terminal can connect to a controller selected from various controllers. In the connection process, the operation terminal can sequentially search for connectable controllers, present the search results to the operator, and connect to the controller selected by the operator from the search results.

[0233] An operation terminal according to one aspect of the present disclosure may be configured to output, to the controller, a request for an operable connection with the operation terminal, and to output, to the controller, a request for indicating, using the robot, the establishment of the operable connection between the controller and the operation terminal. According to the above aspect, the operation terminal can indicate, using the robot, for example, visually, the establishment of the connection between the operation terminal and the controller.

[0234] A robot system according to another aspect of the present disclosure includes one or more operation terminals according to another aspect of the present disclosure, one or more robots, and one or more controllers that control the operation of the one or more robots, wherein the operation terminal is configured to be operably connected to a controller selected from the one or more controllers. According to the above aspect, the same effect as that of the operation terminal according to another aspect of the present disclosure can be obtained. The operation terminal is connectable to a controller selected from the one or more controllers.

[0235] A robot system according to another aspect of the present disclosure may further include one or more teaching devices communicatively connected to the one or more controllers, and the controller may be configured to be operably connected to one or both of the operation terminal and the teaching devices. According to this aspect, the controller is less likely to cause the robot to operate in accordance with commands received from the operation terminal while teaching the robot using the teaching devices. This reduces malfunctions of the robot.

[0236] A computer program according to another aspect of the present disclosure is a computer program for operating an operation terminal according to another aspect of the present disclosure, causing the operation terminal to execute the following operations: receiving input of the specific operation, generating an operation command for causing the robot to perform an action according to the received specific operation, and outputting the operation command to the controller communicably connected to the operation terminal. According to the above aspect, similar effects to those of the operation terminal according to another aspect of the present disclosure can be obtained.

[0237] A computer program according to an aspect of the present disclosure may be a program that is installed in the operation terminal as an application program. According to the above aspect, even if the operation terminal is not a dedicated device but, for example, a general-purpose device, the functions of the present disclosure can be realized by installing the computer program.

[0238] The functions of the elements disclosed herein can be performed using circuits or processing circuitry, including general-purpose processors, special-purpose processors, integrated circuits, ASICs, conventional circuits, and / or combinations thereof, configured or programmed to perform the disclosed functions. A processor is considered a processing circuit or circuitry because it includes transistors and other circuitry. In this disclosure, a circuit, unit, or means is hardware that performs the recited functions or hardware that is programmed to perform the recited functions. The hardware may be hardware disclosed herein or other known hardware that is programmed or configured to perform the recited functions. Where the hardware is a processor, which is considered a type of circuit, the circuit, means, or unit is a combination of hardware and software, and the software is used to configure the hardware and / or processor.

[0239] All numbers such as ordinal numbers and quantities used in this specification are provided as examples to specifically explain the technology of the present disclosure, and the present disclosure is not limited to the illustrated numbers. The connection relationships between components are provided as examples 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.

[0240] Because the present disclosure may be embodied in various forms without departing from the spirit of its essential features, the scope of the present disclosure is defined by the appended claims rather than the description in the specification, and therefore the exemplary embodiments and modifications are intended to be illustrative and not limiting. All modifications within the scope of the claims, or equivalents thereof, are intended to be embraced by the claims. [Explanation of symbols]

[0241] 1. Robot System 100 robots 110 Robot body 111 Robot Arm 112 End Effector 120 Mobile Device 200 Robot Controller 300 Teaching device 400 Operation terminal

Claims

1. One or more mobile robots; one or more operation terminals configured to be able to operate the one or more robots, receiving an input of a movement operation that is an operation for operating a movement device provided in the robot; one or more operation terminals configured to execute the received movement operation and output a command to a controller that controls the movement of the robot, for causing the movement device to perform the movement operation according to the received movement operation; one or more controllers for controlling the operation of the one or more robots; one or more teaching devices communicatively connected to the one or more controllers; the operation terminal is configured to be operably connected to a controller selected from the one or more controllers; The controller is configured to selectively operably connect to one of the operation terminal and the teaching device. Robot system.

2. the operation terminal is configured to selectively transition between a locked state in which no operation input for causing the robot to operate is accepted and an unlocked state in which an input for causing the robot to operate is accepted; The operation terminal is configured to transition to the unlocked state when it receives an input of an unlocking operation in the locked state. The robot system of claim 1 .

3. The operation terminal is configured to transition to the locked state when a predetermined time has elapsed since the operation terminal has not accepted any operation input in the unlocked state. The robot system according to claim 2 .

4. the operation terminal includes a display; The operation terminal outputting a request for robot information, which is information indicating a state of the robot, to the controller; and upon receiving the robot information from the controller, displaying the robot information on the display. The robot system according to any one of claims 1 to 3.

5. The operation terminal is configured to receive the input of the movement operation when the robot executes a previously taught movement. The robot system according to any one of claims 1 to 4.

6. The operation terminal outputting to the controller a command to operate in a teaching mode to teach the moving device a predetermined movement; accepting an input of the movement operation in the teaching mode; and outputting to the controller a command for causing the moving device to perform an operation in accordance with the received moving operation. The robot system according to any one of claims 1 to 5.

7. The operation terminal receiving an input of an emergency stop command to bring the moving device to an emergency stop; and outputting to the controller a command to cause the mobile device to stop operation in accordance with the received emergency stop command. The robot system according to any one of claims 1 to 6.

8. The operation terminal outputting a request to one or more of the controllers as to whether or not an operable connection with the operation terminal is possible; When a response to the request for the operable connection is received from the controller, presenting information about the operable controller by the operation terminal; receiving an input for selecting the controller to be operated; and outputting a request for operable connection with the operation terminal to the controller to be operated. The robot system according to any one of claims 1 to 7.

9. The operation terminal outputting to the controller a request for operable connection with the operation terminal; and outputting to the controller a request that manifests, using the robot, the establishment of the operable connection between the controller and the operation terminal. The robot system according to any one of claims 1 to 8.

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