Teaching device and computer program

Abstract

A teaching device (30, 30A) for teaching industrial machinery, the teaching device (30, 30A) comprising an image acquisition unit (32) that acquires an image of a visually recognizable recognition target, a recognition unit (131, 131A) that analyzes the acquired image and recognizes the recognition target, and a registration unit (132, 132A) that, on the basis of a user operation, generates and saves correspondence information that associates the recognized recognition target and a program.

Description

Technical Field

[0001] The present invention relates to a teaching device and a computer program.

Background Art

[0002] With the automation and labor-saving of factories, multi-skilled workers who are responsible for multiple processes by a single operator have been introduced. Many of the individual work processes are often automated by introducing industrial machines such as robots and machine tools, and the operator selects the corresponding program using a teaching operation panel and operates the industrial machine.

[0003] Regarding this, Patent Document 1 describes, "In an operation panel with an NC function for a machine tool, an imaging device for reading a matrix two-dimensional code is provided on the front surface of the operation panel or a manual pulse generator for hand operation connected to the operation panel, and a control unit inside the operation panel includes a reading unit that processes the image data of the matrix two-dimensional code captured by the imaging device and outputs it as reading data, and based on the work instruction information included in the reading data, starts drive control for the processing unit." (Abstract).

[0004] Patent Document 2 describes, "The emergency stop switch includes a switch main body portion that is wired-connected to a robot controller that controls the drive of a robot and switches the control of the robot controller to an emergency stop state in response to a user's operation, an attachment portion that detachably attaches the switch main body portion to a portable terminal that receives a user's operation, and an identification code portion that is provided at a position facing the lens of a camera provided in the portable terminal when the attachment portion is attached to the portable terminal and displays an identification code for identifying the switch main body portion in a manner that can be photographed by the camera." (Abstract).

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Patent Document 2

[0006] When operators select programs by using a teaching control panel, problems arise as the number of programs increases, such as increased time required to search for programs and the possibility of human errors such as selecting the wrong program. There is a need for teaching devices and computer programs that allow for easy and efficient program selection. [Means for solving the problem]

[0007] One aspect of the present disclosure is a teaching device for use in teaching industrial machinery, comprising: an image acquisition unit that acquires an image of a visually recognizable recognition target; a recognition unit that analyzes the acquired image to recognize the recognition target; and a registration unit that generates and stores correspondence information that associates the recognized recognition target with a program based on user operation.

[0008] Another aspect of this disclosure is a computer program that causes a computer processor to execute the following steps: a step of acquiring an image of a visually recognizable object; a step of analyzing the acquired image to recognize the object; and a step of generating and storing correspondence information that associates the recognized object with a program based on user operation. [Effects of the Invention]

[0009] The above configuration makes program selection by the operator easy and efficient. Furthermore, since it is possible to register any recognition target in association with a program, the user does not need to create new recognition targets.

[0010] These and other objects, features, and advantages of the present invention will become even clearer from the detailed description of typical embodiments of the present invention shown in the accompanying drawings. [Brief explanation of the drawing]

[0011] [Figure 1] This figure shows the configuration of a robot system including a teaching control panel according to the first embodiment, and the functional blocks of the teaching control panel. [Figure 2] This is a flowchart illustrating the registration process of the identification code according to the first embodiment. [Figure 3] This figure shows an example of a read / register screen. [Figure 4] This is a diagram showing an example of a registration screen. [Figure 5] This is a flowchart illustrating the process of reading the identification code according to the first embodiment. [Figure 6] This figure shows an example of a read / register screen. [Figure 7A] This figure shows an example of a notification screen when only one program is registered. [Figure 7B] This figure shows an example of the registered program list screen. [Figure 7C] This figure shows an example of a notification screen when the identification code has not been registered. [Figure 8] This figure shows the configuration of a robot system including a teaching control panel according to the second embodiment, and the functional blocks of the teaching control panel. [Figure 9] This is a flowchart illustrating the registration process of the identification code according to the second embodiment. [Figure 10] This is a flowchart illustrating the process of reading the identification code according to the second embodiment. [Modes for carrying out the invention]

[0012] Next, embodiments of the present disclosure will be described with reference to the drawings. In the drawings to be referred to, the same reference numerals are assigned to the same components or functional parts. For ease of understanding, the scales of these drawings are appropriately changed. Also, the forms shown in the drawings are one example for implementing the present invention, and the present invention is not limited to the illustrated forms.

[0013] First Embodiment FIG. 1 shows the configuration of a robot system 100 including a teaching operation panel 30 according to the first embodiment and the functional blocks of the teaching operation panel 30. As shown in FIG. 1, the robot system 100 according to the present embodiment includes a teaching operation panel (teaching device) 30, a robot control device 50, and a robot 10 controlled by the robot control device 50. The teaching operation panel 30 is connected to the robot control device 50. In the robot system 100 having such a configuration, various types of robots such as an articulated robot, a parallel link type robot, and a dual-arm robot may be used as the robot 10 according to the work target. The robot control device 50 controls the robot 10 according to an instruction from the teaching operation panel 30 or an operation program (hereinafter referred to as "program"). The teaching operation panel 30 provides various functions for teaching the robot 10. Note that the teaching operation panel 30 may be configured using an information processing device such as a tablet terminal.

[0014] The teaching operation panel 30 according to the present embodiment provides a registration function of reading an arbitrary identification code using a camera and registering the operation program of the robot in association with the read identification code. Further, the teaching operation panel 30 can provide a function of selecting and executing the program registered in association with the identification code by reading, for example, the identification code attached to a workpiece using a camera.

[0015] As shown in FIG. 1, the teaching operation panel 30 includes an arithmetic processing unit 31, an imaging unit 32, and a display 33.

[0016] The arithmetic processing unit 31 is a processing unit including a processor and a memory (storage unit 36).

[0017] The imaging unit 32, as an example, has a built-in camera and provides a function of acquiring an image of an object captured by the built-in camera. The imaging unit 32 may be configured to acquire an image by an external camera. The function of the imaging unit 32 may also be expressed as an image acquisition unit that acquires an image of an object.

[0018] The display 33 includes a display unit 34 and an input unit 35. The display unit 34 is, for example, a flat display panel, and the input unit 35 is, for example, a touch panel integrated with the display panel.

[0019] The arithmetic processing unit 31 includes a recognition unit 131, a registration unit 132, a search unit 133, and a search result output unit 134. These functional blocks may be realized by a processor of the arithmetic processing unit 31 executing software.

[0020] The recognition unit 131 recognizes an identification code in the image by analyzing the image of the identification code acquired by the imaging unit 32.

[0021] As the identification code, various codes including one-dimensional codes and two-dimensional codes can be used. The code provides information (encoding pattern) encoded in the code as decoded information by image analysis.

[0022] The registration unit 132 provides a function of registering the recognized identification code in association with a robot program. The registration unit 132 generates a correspondence table (correspondence information) associating the identification code with the program and stores it in the storage unit 36.

[0023] The search unit 133 provides a function of searching the correspondence table by the identification code recognized via the recognition unit 131 and specifying the program corresponding to the recognized identification code.

[0024] The search result output unit 134 provides functions such as outputting search results to the display unit 34 and accepting user input to select a program from among the multiple programs found. The search result output unit 134 may also be configured to instruct the robot control device 50 to execute a program that has been automatically selected as the program corresponding to the identification code, or a program selected by the user.

[0025] The registration process for registering an arbitrary identification code in the instruction control panel 30 will be explained with reference to Figures 2 to 4. Figure 2 is a flowchart showing the identification code registration process.

[0026] First, the user captures an identification code intended to be associated with the program using the imaging unit (camera) 32 of the teaching operation panel 30, and acquires the identification code (step S1). In more detail, acquiring the identification code means acquiring the information represented by the identification code. In step S1, the user performs a predetermined operation via the input unit 35 to activate the read / register screen 200 for reading and registering the identification code, as shown in Figure 3. Figure 3 shows an example of the read / register screen 200.

[0027] As shown in Figure 3, the read / register screen 200 has an area where the camera image (live image) 201 is displayed. Below the camera image 201, a registration button 211 for registering an identification code and a read button 212 are located.

[0028] The registration button 211 is used to initiate a process that recognizes the identification code C1 displayed in the camera image 201, associates it with the program, and registers it. The read button 212 is a button used to initiate the read process described later.

[0029] As shown in Figure 3, the registration button 211 is tapped while the identification code C1 is displayed in the camera image 201. This proceeds the process from step S1 to step S2, where the registration acceptance screen 220 shown in Figure 4 is displayed, and the user is prompted to select a program to register for the recognized identification code.

[0030] The registration acceptance screen 220 has a program list display area 230 that displays a list of programs registered in the robot control device 50, and a registered program list display area 240 that displays a list of programs associated with the identification code C1 currently being registered. In the situation shown in Figure 4, the user has selected the first program, "DEFAULT". Upon completion of this selection operation, the program "DEFAULT" is displayed in the registered program list display area 240 as the program corresponding to the identification code C1. Note that multiple programs can also be registered for a single identification code on the registration acceptance screen 220.

[0031] After the registration process described above, the identification code and the program are associated and registered in the teaching control panel 30. The teaching control panel 30 (registration unit 132) generates a correspondence table that associates the recognized identification code with the program and stores it in the storage unit 36.

[0032] Thus, in this embodiment, the user can register an arbitrary identification code in association with one or more programs. Since any identification code can be associated with a program, it is noteworthy that the user can register various existing identification codes in association with programs without necessarily having to generate new identification codes.

[0033] Next, the flow of the identification code reading process will be explained with reference to the flowchart in Figure 5 and Figures 6, 7A-7C. When this process is started, the reading / registration screen 200 shown in Figure 6 is launched and displayed on the display unit 34. The camera image 201 on the reading / registration screen 200 shows the identification code C1 that the user is capturing with the imaging unit 32. On the reading / registration screen 200 in Figure 6, the user taps the reading button 212. As a result, the identification code C1 displayed in the camera image 201 is analyzed by the recognition unit 131 and the identification code C1 is acquired (step S11).

[0034] Next, the search unit 133 compares the identification code obtained in step S11 with the already registered correspondence table to check the registration status of the program corresponding to the obtained identification code. In step S12, the search unit 133 checks whether the obtained identification code is already registered (i.e., whether the obtained identification code is registered in the correspondence table in association with a program). If the identification code is already registered (S12: Yes), the process proceeds to step S13, where the search unit 133 further determines whether there are multiple programs registered in association with the obtained identification code (step S13).

[0035] If there are multiple programs registered in association with the identification code (S13: Yes), the search result output unit 134 displays a list of these multiple registered programs (step S15). Figure 7B shows an example of the registered program list screen 320 displayed in step S15. The registered program list screen 320 in Figure 7B shows that three programs ("DEFAULT", "GETDATA", and "REQMENU") are registered in association with the identification code obtained in step S11. The search result output unit 134 may also accept a user operation to select a program from the registered program list screen 320.

[0036] If there is only one program registered in association with the acquired identification code (S13: No), the search result output unit 134 automatically selects the registered program (step S14). Figure 7A shows an example of the notification screen 310 displayed on the display unit 34 in this case. The notification screen 310 shows that the program "DEFAULT" has been automatically selected.

[0037] In step S12, if it is determined that the identification code is not registered (i.e., the acquired identification code is not associated with the program) (S12: No), the search result output unit 134 notifies that the identification code is not registered (step S16). Figure 7C shows an example of the notification screen 330 when the identification code is not registered.

[0038] The teaching control panel 30 (arithmetic processing unit 31) may also operate to cause the robot control device 50 to execute a program that has been automatically selected or selected by the user, in response to the completion of the reading process.

[0039] Thus, in this embodiment, the operator can select and execute a program by performing a simple operation of reading an identification code using the teaching control panel. Therefore, program selection by the operator becomes easy and efficient.

[0040] In this embodiment, the registration process described above allows the user to register any code as a code to identify a program. Therefore, the user does not necessarily need to generate a new identification code corresponding to the program. Examples of identification codes that can be used include barcodes attached to products, barcodes on employee ID cards, and 2D codes for web links. The user may also create a new code (such as a barcode).

[0041] The ability to use any code as a code to identify a program offers significant advantages to users, such as saving or shortening the effort required to generate identification codes and expanding the range of code choices.

[0042] Examples of how identification codes can be associated with and applied to various objects include associating them with workpieces, workers, and workplaces.

[0043] In an example where an identification code is associated with a workpiece, one or more programs that handle a particular workpiece are registered and associated with that identification code. The identification code can, for example, be attached to the workpiece. Even if a single robot handles many different types of workpieces, the program that handles that workpiece is automatically selected by reading the identification code, or it can be selected from a list of programs that handle that workpiece. Therefore, the application of programs to the robot system can be done efficiently.

[0044] In an example where an identification code is associated with a worker, one or more programs to be used in the work process on a given day are registered to the identification code of a particular worker. The identification code could be, for example, the employee ID card carried by the worker. In this case, the registration of programs to the identification code is performed, for example, by a manager who oversees the entire process. The worker then reads the identification code themselves. The worker only needs to read the employee ID card used as the identification code, and the program they should perform is automatically selected, or they can select it from a list. Therefore, the application of programs to the robot system can be done efficiently.

[0045] In an example where identification codes are associated with a workspace, one or more programs to be executed in a particular workspace are registered and associated with that identification code. The identification codes are placed in the workspace, for example, printed on paper or displayed on a device. This allows workers to automatically select the program to be executed in that workspace, or select it from a list and execute it, by reading the identification code. Even when workers change shifts, the new worker will not have any trouble selecting a program. Therefore, the application of programs to the robot system can be done efficiently.

[0046] Second Embodiment The following describes the teaching control panel and robot system according to the second embodiment. Figure 8 shows the equipment configuration of the robot system 100A, including the teaching control panel 30A according to the second embodiment. Figure 8 also shows the functional blocks. In Figure 8, components with the same function as those in the first embodiment in Figure 1 are denoted by the same reference numerals.

[0047] As shown in Figure 8, the robot system 100A includes a teaching control panel 30A, a robot control device 50, and a robot 10 controlled by the robot control device 50. Furthermore, the robot system 100A includes a server 60 connected to the robot control device 50. Other robot control devices 50A, 50B, and 50C related to other robot systems are also connected to the server 60. In the robot system 100A, the server 60 holds and manages the robot's program and a correspondence table that associates identification codes with programs. The teaching control panel 30A provides the server 60 with the correspondence table that associates identification codes with programs and registers the correspondence table with the server 60. The robot's program is also registered and centrally managed in the server 60. The teaching control panel 30A causes the server 60 to perform a program search using the identification code and retrieves the search results from the server 60.

[0048] As shown in Figure 8, the arithmetic processing unit 31A of the teaching control panel 30A is a processing unit that includes a processor and memory (storage unit 36A).

[0049] The arithmetic processing unit 31A further includes a recognition unit 131A, a registration unit 132A, a search unit 133A, a search result output unit 134A, and a program acquisition unit 135. These functional blocks may be realized by the processor of the arithmetic processing unit 31A executing software.

[0050] The recognition unit 131A recognizes the identification code within the image by analyzing the image captured by the imaging unit 32.

[0051] The registration unit 132A provides a function to register the recognized identification code in association with the robot's program. The registration unit 132 sends an association table linking the identification code and the program to the server 60 for registration.

[0052] The search unit 133A sends the identification code recognized via the recognition unit 131A to the server 60, causing the server 60 to search for a program corresponding to the identification code and obtain the search results.

[0053] The search result output unit 134A provides functions such as displaying the search results on the display unit 34 and accepting user input to select a program from among the multiple programs found. The search result output unit 134A can instruct the robot control device 50 to execute a registered program that has been automatically selected as the program corresponding to the identification code, or a program selected by the user.

[0054] The program acquisition unit 135 provides a function to acquire a program from the server 60 when the program associated with the identification code is not found in the robot control device 50, etc.

[0055] As shown in Figure 8, the server 60 includes a registration unit 161 that has the function of storing the correspondence table transmitted from the teaching control panel 30A in a storage device within the server 60. Furthermore, the server 60 includes a search unit 162 that has the function of searching for a program associated with an identification code using the correspondence table in response to a request from the teaching control panel 30A. The search unit 162 provides the search results to the teaching control panel 30A.

[0056] Figure 9 is a flowchart showing the flow of the registration process for registering an arbitrary identification code in the robot system 100A. First, the user captures an identification code intended to be associated with a program using the imaging unit (camera) 32 of the teaching operation panel 30A and acquires the identification code (step S101). The acquisition of the identification code is performed via the reading / registration screen 200 shown in Figure 3.

[0057] Next, the registration unit 132A accepts a user input to select a program to register in association with the recognized identification code (step S102). Here again, the user can select a program to associate with the identification code and register the identification code via the registration acceptance screen 220 shown in Figure 4.

[0058] Next, the registration unit 132A creates a correspondence table between the identification code and the program registered in association with it, and saves the data of the correspondence table to the server 60 via the robot control device 50 (step S103). The registration unit 161 of the server 60 saves the correspondence table received from the teaching operation panel 30A to the storage device in the server 60.

[0059] After the registration process described above, the identification code and program are associated and registered with the server 60.

[0060] Thus, in this embodiment as well, the user can register an arbitrary identification code in association with one or more programs. Since an arbitrary identification code can be associated with a program, the user can register various existing codes in association with programs without necessarily having to generate new identification codes.

[0061] As shown in Figure 8, the server 60 is also connected to the robot control devices 50A, 50B, and 50C of other robot systems. Therefore, correspondence tables between identification codes and programs generated through the registration process described above in other robot systems can also be registered with the server 60. The server 60 (registration unit 161) can centrally manage correspondence tables, including those sent from other robot systems. For example, the server 60 (registration unit 161) may integrate the correspondence tables sent from each robot control device (50, 50A, 50B, 50C) and manage them as a single correspondence table. In this case, the correspondence tables registered with the server 60 from other robot systems can be used in the robot system 100.

[0062] Next, the process for reading the identification code will be explained with reference to the flowchart in Figure 10. When this process is started, the reading / registration screen 200 shown in Figure 6 is launched and displayed on the display unit 34. As described above with respect to Figure 6, the user taps the reading button 212 while the identification code C1 captured by the imaging unit 32 is displayed in the camera image 201 of the reading / registration screen 200. As a result, the identification code C1 displayed in the camera image 201 is analyzed and acquired by the recognition unit 131 (step S110).

[0063] The search unit 133A transmits the acquired identification code to the server 60, causing the server 60 (search unit 162) to perform a search for programs registered in association with the said identification code, obtain the search results, and confirm the registration status (step 111).

[0064] In the series of processes from step S112 to S121, the search result output unit 134A presents the search results. The manner in which the search results are presented is described below. (1) If there is only one program registered corresponding to the identification code: The registered program will be automatically selected. (2) If there are multiple programs registered in relation to the identification code: A list of programs registered in relation to the identification code is displayed, and the user is allowed to select a program from the list. (3) If the identification code is not registered, the person will be notified accordingly. (4) If the program associated with the identification code is not found in the robot control device 50: The program is obtained from the server 60. (5) If the program associated with the identification code does not exist in either the robot control device 50 or the server 60: Notify that there is no program associated with the identification code.

[0065] In step S112, the search unit 133A checks whether the acquired identification code is already registered (i.e., whether the acquired identification code is registered in the correspondence table in association with a program). If the identification code is already registered (S112: Yes), the process proceeds to step S113.

[0066] In step S113, the search unit 133A determines whether or not a program associated with the identification code exists within the robot control device 50. If a program corresponding to the identification code exists within the robot control device 50 (S113: Yes), the process proceeds to step S114, where the search unit 133A further determines whether or not there are multiple programs registered associated with the acquired identification code (step S114).

[0067] If there are multiple programs registered in association with the identification code (S114: Yes), the search result output unit 134A displays a list of the registered programs (step S116). The program list screen displayed here may be similar in content to the registered program list screen 320 exemplified in Figure 7B.

[0068] If there is only one program registered in association with the acquired identification code (S114: No), the search result output unit 134A automatically selects the registered program (step S115). The screen displayed here may be similar to the content of the notification screen 310 shown in Figure 7A.

[0069] In step S112, if it is determined that the identification code is not registered (S112: No), the search result output unit 134A notifies that the acquired identification code is not registered (step S117). Here, a screen similar to the content of the notification screen 330 shown in Figure 7C may be displayed on the display unit 34.

[0070] In step S113, if it is determined that there is no program registered in association with the identification code within the robot control device 50 (S112: No), the program acquisition unit 135 operates to acquire the program from the server 60 (step S118).

[0071] As a result, if the program can be obtained from the server 60 (S119: Yes), the search unit 133A selects the program obtained from the server as the program to be executed (step S120).

[0072] If the program is not registered in the server 60 (S119: No), the search result output unit 134A displays an image on the display unit 34 indicating that the program is not in either the robot control device 50 or the server 60 (step S121).

[0073] With the configuration of the robot system 100A according to the second embodiment described above, in addition to the various advantages described in the first embodiment, the following advantages can be obtained. (1) In the robot system 100A, even if the robot control device 50 does not possess a program, it can download and execute one from the server 60. Therefore, the memory required for program storage within the robot control device can be reduced. (2) Since the correspondence table is managed by the server 60, the correspondence table can be updated from the teaching control panel or other information processing device. In this case, the effort of creating and updating the correspondence table in each robot system is eliminated. (3) Because the system is configured to automatically download and execute programs from the server, it is not necessary to manually load programs when replacing robots. In this case, the robot can be made to execute the program simply by reading the identification code, making it easy to start up the robot after replacement. It can also be used in fields where robots move frequently, such as high-mix low-volume production. (4) Since each robot system can be configured to download and execute programs from the server, if a program needs to be modified, the modified program can be uploaded to the server 60 and applied to each robot system. Therefore, program maintenance becomes easier.

[0074] As described above, each embodiment makes it easy and efficient for the operator to select a program. Furthermore, since it is possible to register any recognition target and program in association, there is no need for the user to generate an identification code.

[0075] Although the present invention has been described above using typical embodiments, those skilled in the art will understand that modifications to the above embodiments and various other modifications, omissions, and additions can be made without departing from the scope of the present invention.

[0076] In the above embodiment, an example was described in which an identification code is used as the recognition target to associate with the program in the registration process. However, in addition to identification codes, it is also possible to apply shapes, symbols, and other things that have certain visually recognizable characteristics as recognition targets. For example, it is possible to use an arrangement of several relatively simple shapes (triangles, circles, etc.) as the recognition target.

[0077] The configuration of the above-described embodiment can be applied not only to robot systems but also to the selection of programs in machine tools and various other industrial machine systems.

[0078] The robot control device 50 may have a configuration similar to a general computer, including a CPU, ROM, RAM, storage device, operation unit, display unit, input / output interface, network interface, etc.

[0079] Server 60 may have a configuration similar to a general computer, including a CPU, ROM, RAM, storage device, control unit, display unit, input / output interface, network interface, etc.

[0080] The computer programs that perform the registration process (Figures 2 and 9) and reading process (Figures 5 and 10) in the above-described embodiments can be recorded on various computer-readable recording media (for example, semiconductor memories such as ROM, EEPROM, and flash memory, magnetic recording media, and optical discs such as CD-ROMs and DVD-ROMs). [Explanation of symbols]

[0081] 10 Robots 30. Instructional control panel 31 Arithmetic Processing Unit 32 Imaging Unit 33 Display 34 Display section 35 Input section 36, 36A storage section 50, 50A, 50B, 50C Robot Control Devices 100, 100A Robot System 131, 131A recognition section 132, 132A Registration Section 133, 133A Search section 134, 134A Search Result Output Section 161 Registration Department 162 Search Section 200 Read / Register Screen 220 Registration screen 310 Notification screen 320 Registered Program List Screen 330 Notification screen

Claims

1. A teaching device for use in teaching industrial machinery, An image acquisition unit that acquires an image of a visually recognizable object, A recognition unit that analyzes the acquired image to recognize the object to be recognized, A registration unit generates and stores correspondence information that associates the recognized object with the program based on user operations, A teaching device equipped with the following features.

2. The teaching device according to claim 1, wherein the object to be recognized is an identification code.

3. The teaching device according to claim 1, wherein the registration unit stores the corresponding information in the storage unit of the teaching device.

4. A search unit searches for a program corresponding to the recognition target recognized by the recognition unit using the aforementioned correspondence information, A search result output unit that outputs the search results from the search unit, The teaching device according to claim 3, further comprising:

5. The teaching device according to claim 1, wherein the registration unit transmits the correspondence information to an external server and stores it on the server.

6. A search unit transmits information representing the recognized object recognized by the recognition unit to the server, and retrieves search results from the server, which searches for a program corresponding to the recognized object using the corresponding information. A search result output unit that outputs the search results from the search unit, The teaching device according to claim 5, further comprising:

7. The teaching device according to claim 4 or 6, wherein the search result output unit automatically selects the single program found to correspond to the recognized recognition target as the program to be executed.

8. The teaching device according to claim 4 or 6, wherein, when multiple programs corresponding to the recognized recognition target are found, the search result output unit displays a list of the multiple programs found on the display unit and accepts an operation to select one program from the list.

9. The teaching device according to claim 4 or 6, wherein if the search result output unit does not find a program corresponding to the recognized target, the display unit displays that the program corresponding to the recognized target is not registered.

10. The teaching device according to claim 6, further comprising a program acquisition unit that acquires a program corresponding to the recognition target from the server if the program corresponding to the recognition target found by the search unit is not in the robot control device connected to the teaching device.

11. The teaching device according to claim 4 or 6, wherein the correspondence information includes one or more programs for handling a specific workpiece associated with the recognized object.

12. The teaching device according to claim 4 or 6, wherein the correspondence information associates one or more programs used in a work process on a specific day with the recognition target.

13. The teaching device according to claim 4 or 6, wherein the correspondence information includes one or more programs to be executed in a specific workplace for the recognized object.

14. In a computer processor, Procedure for acquiring an image in which a visually recognizable object is captured, A procedure for analyzing the acquired image to recognize the object to be recognized, A computer program for executing a procedure to generate and save correspondence information that associates a recognized object with a program based on user operation.

15. The aforementioned processor, The procedure for generating and saving the aforementioned correspondence information includes a procedure for storing the aforementioned correspondence information in the storage unit of the computer, A procedure for searching for a program corresponding to the recognized object using the aforementioned correspondence information, A computer program according to claim 14, which further performs a procedure for outputting search results.

16. The aforementioned processor, In the procedure for generating and saving the aforementioned correspondence information, the procedure includes sending the aforementioned correspondence information to an external server and having the server save it, A procedure for transmitting information representing the recognized object to the server, and obtaining search results from the server, which has used the correspondence information to search for a program corresponding to the recognized object, A computer program according to claim 14, which further performs a procedure for outputting the acquired search results.

Images