Robot utilization support device and robot utilization support program

Abstract

To improve operability related to the switching of an operation mode.SOLUTION: A robot use support device comprises a display part which can display an image, an input part for accepting an operation from a user, and a display processing part for performing processing for making the display part display the image corresponding to the operation which is inputted into the input part. The display processing part can perform processing for making the display part display a robot image being an image simulating a robot being an operation object, and an operation marker for accepting the operation from the user for changing a posture of the robot image, processing for making the display part display the operation marker by changing the posture of the robot image according to an operation position in the display part when the operation marker is selected by the user, and processing for setting a specified region in a region which is the same with a region in which the robot image and the operation marker are displayed, and displaying, on the display part, a switching menu for switching an operation mode of the robot image when the specified region is selected by the user.SELECTED DRAWING: Figure 6

Description

Technical Field

[0001] Embodiments of the present invention relate to a robot utilization support device and a robot utilization support program.

Background Art

[0002] As support for a user when teaching a robot, there are, for example, so-called offline simulators and offline teach-ins that reproduce the posture and movement of the robot on a computer. In an offline simulator or offline teach-in, etc., the user can change the posture of the three-dimensional robot image displayed within a screen such as a monitor based on their own operations or the like.

[0003] Here, for teaching a robot with multiple degrees of freedom, there are a plurality of operation modes based on specific coordinate spaces such as each axis space, XYZ coordinate space, and tool coordinate space. When the user performs an offline simulator or offline teach-in, etc., it is necessary to switch to an operation mode suitable for the scene. However, in the conventional configuration, there is room for improvement in the operability when switching this operation mode.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] The present invention has been made in view of the above circumstances, and its object is to improve the operability regarding the switching of operation modes in a robot utilization support device that performs an offline simulator, offline teach-in, etc.

Means for Solving the Problems

[0006] The robot utilization support device according to the embodiment is This applies to input / output devices handled by the user when conducting offline simulator or offline teaching, or to teaching pendants operated by the user when actually operating the target robot. The robot user support device is The system comprises a display unit capable of displaying images, an input unit that accepts user input, and a display processing unit that performs the process of displaying an image corresponding to the input input on the display unit. The display processing unit is capable of performing the following processes: displaying a robot image, which is an image modeled after the robot to be operated, and an operation marker that accepts user input to change the posture of the robot image on the display unit; changing the posture of the robot image according to the operation position within the display unit when the operation marker is selected by the user and displaying it on the display unit; and setting a specific area within the same area as the area where the robot image and the operation marker are displayed, and displaying a switching menu on the display unit for switching the operating mode of the robot image when the specific area is selected by the user. [Brief explanation of the drawing]

[0007] [Figure 1] A block diagram conceptually illustrating an example of the electrical configuration of a robot utilization support device according to one embodiment. [Figure 2] This figure shows an example of the display content shown on the display unit of a robot user support device according to one embodiment, illustrating a state where no user operation is being performed. [Figure 3] This figure shows an example of the display content shown on the display unit of a robot utilization support device according to one embodiment, visualizing a specific area. [Figure 4] This figure shows an example of the display content shown on the display unit of a robot utilization support device according to one embodiment, illustrating a state in which the posture of the robot image has been changed from the state shown in Figure 3. [Figure 5] This figure shows an example of the display content shown on the display unit of a robot utilization support device according to one embodiment, illustrating the state when a specific area has been selected. [Figure 6] This figure shows an example of the display content shown on the display unit of a robot utilization support device according to one embodiment, illustrating the state in which the switching menu is displayed. [Figure 7]This figure shows an example of the display content shown on the display unit of a robot utilization support device according to one embodiment, illustrating the state when a selection item in the switching menu has been selected. [Figure 8] This figure shows another example of the display content shown on the display unit of a robot utilization support device according to one embodiment, illustrating a specific area in a visualized manner. [Figure 9] This figure shows another example of the display content shown on the display unit of a robot utilization support device according to one embodiment, illustrating the state when a specific area has been selected. [Figure 10] This figure shows another example of the display content shown on the display unit of a robot utilization support device according to one embodiment, specifically a state in which the switching menu is displayed. [Figure 11] A flowchart showing an example of the control content performed by a robot utilization support device according to one embodiment. [Figure 12] This figure shows an example of the display content shown on the display unit of a robot user support device, based on a comparative example. [Modes for carrying out the invention]

[0008] The embodiments will be described below with reference to the drawings. The robot user support device 10 shown in Figure 1 is for assisting users when introducing or developing systems using robots. The robot user support device 10 is intended for multi-axis robots. The robot user support device 10 can be applied to input / output devices handled by the user when performing, for example, offline simulators or offline teaching. The robot user support device 10 can also be applied to a teaching pendant operated by the user when actually operating the target robot. When the robot user support device 10 is applied to a teaching pendant, the robot user support device 10 is connected to a robot controller for controlling the operation of the robot to be operated, although details are not shown in the drawings.

[0009] The robot user support device 10 can be configured using dedicated components, or it can be configured by installing a computer program on a commercially available personal computer, smartphone, or tablet, for example. As shown in Figure 1, the robot user support device 10 comprises a control device 11, a display unit 12, an input unit 13, an auxiliary storage device 14, and a display processing unit 15. The control device 11 has a CPU 111 and a main memory device 112. The CPU 111 executes each process in the robot user support device 10. The main memory device 112 is a temporary storage medium such as RAM, which temporarily stores the information necessary for each process.

[0010] The display unit 12 is a user interface capable of displaying images, etc., and can be configured as, for example, a liquid crystal display. The input unit 13 is a user interface that receives operation input from the user, and can be configured as, for example, a mouse, keyboard, or touch panel. In this case, the input unit 13 includes at least a pointing device or touch device that can specify a specific position on the screen. When the display unit 12 is a liquid crystal panel and the input unit 13 is a touch panel, the display unit 12 and the input unit 13 can also be configured as touch panel displays arranged on top of each other.

[0011] The auxiliary storage device 14 consists of a tangible, non-temporary computer-readable medium. Examples of the auxiliary storage device 14 include HDDs (Hard Disk Drives), SSDs (Solid State Drives), magnetic disks, magneto-optical disks, CD-ROMs (Compact Disc Read Only Memory), DVD-ROMs (Digital Versatile Disc Read Only Memory), and semiconductor memory.

[0012] The auxiliary storage device 14 stores the robot user support program 21. The robot user support device 10 can virtually implement the display processing unit 15 on the computer by having the CPU 111 read the robot user support program 21 from the auxiliary storage device 14, load it into the main memory 112, and execute it. The implementation of the display processing unit 15 is not limited to the combination of hardware and program described above; it may also be implemented by a single piece of hardware, such as an integrated circuit that implements the display program, or some functions may be implemented by dedicated hardware, and some functions may be implemented by a combination of hardware and program.

[0013] When performing offline simulation or offline teaching in the robot utilization support device 10, the display processing unit 15 displays the robot image 31 within the virtual space area 121 set on the display unit 12, as shown in Figure 2. The virtual space area 121 is an area for displaying the robot image 31 and, for example, simulates the three-dimensional space in which the robot to be operated is installed. The robot image 31 is an image that simulates the robot to be operated. In addition to the robot image 31, images of equipment and other objects placed around the robot can also be displayed in the virtual space area 121.

[0014] Furthermore, the area 122 of the display unit 12 other than the virtual space area 121 can be used, for example, as an area for displaying various information related to the robot. The display processing unit 15 changes the posture of the robot image 31 in accordance with the operation input to the input unit 13. Therefore, the user can use the input unit 13 to simulate or teach the robot's movements while viewing the robot image 31 displayed on the display unit 12.

[0015] The robot use support device 10 has, for example, three types of operation modes for operating the robot image 31 displayed on the display unit 12, namely, the respective axis space mode, the XYZ coordinate space mode, and the tool coordinate space mode. The user can appropriately select any operation mode from these three types of operation modes. The respective axis space mode is an operation mode in which the user operates the robot image 31 by directly specifying the rotation amount of each axis of the robot. The XYZ coordinate space mode is an operation mode in which the robot image 31 is operated in an absolute coordinate space with a fixed position as the origin. And the tool coordinate space mode is an operation mode in which the robot image 31 is operated in a relative coordinate space with the tip of the robot's hand as the origin.

[0016] When the XYZ coordinate space mode or the tool coordinate space mode is selected, the display processing unit 15 displays an operation marker 32 together with the robot image 31 within the virtual space area 121. The operation marker 32 is an image for receiving an operation from the user for changing the posture of the robot image 31, that is, a GUI (Graphical User Interface). The operation marker 32 can be configured to include, for example, three orthogonal arrow lines with the tip of the robot image 31 as the origin. In this case, the three arrow lines indicate the X-Y-Z directions respectively.

[0017] When operating the robot image 31, the user first performs a selection operation of selecting the operation marker 32 displayed on the display unit 12 as shown in FIGS. 3 and 4. Then, the user can change the posture of the robot image 31 by moving the operation position 33 while the operation marker 32 is selected. That is, when the operation marker 32 is selected by the user, the display processing unit 15 changes the posture of the robot image 31 according to the operation position 33 within the display unit 12 and displays it on the display unit 12.

[0018] For example, if the input unit 13 is a so-called pointing device such as a mouse, the selection operation can be performed by pressing a mouse button. In this case, the display processing unit 15 displays, for example, the user's operation position 33 as a pointer 33 on the display unit 12. When a selection operation is input to the input unit 13 while the pointer 33 is overlapping the operation marker 32, the display processing unit 15 can determine that the user has selected the operation marker 32.

[0019] In this case, the display processing unit 15 can determine that a selection operation has been performed on the operation marker 32 when it detects that the mouse button has been pressed while the pointer 33 is overlapping the operation marker 32, i.e., when a mouse down event has occurred. Furthermore, the display processing unit 15 can determine that the selection operation continues from the time the mouse down event occurs until the mouse button is released, i.e., until a mouse up event is detected.

[0020] Then, as shown in Figures 3 and 4, when the operation position 33 on the display unit 12 is changed, such as by dragging the mouse while the operation marker 32 is selected, the display processing unit 15 changes the posture of the robot image 31 displayed on the display unit 12 to follow the movement of the operation position 33.

[0021] Furthermore, if the input unit 13 is a touch device, the display processing unit 15 determines that a selection operation has been performed on the operation marker 32, that is, that the user has selected the operation marker 32, when a touch operation is performed on the operation marker 32. In this case, the display processing unit 15 can determine that a selection operation has been performed, for example, when it detects that the user's fingers or other body parts have come into contact with the position on the touch device corresponding to the operation marker 32, i.e., when it detects the occurrence of a touch-down event. The display processing unit 15 can also determine that the selection operation continues from the time the touch-down event occurs until the user's fingers or other body parts leave the touch device, i.e., until it detects the occurrence of a touch-up event.

[0022] Then, when the operation position 33 on the display unit 12 is changed, such as by dragging the selected operation marker 32, the display processing unit 15 changes the posture of the robot image 31 displayed on the display unit 12 to follow the movement of the operation position 33, as shown in Figures 3 and 4.

[0023] Furthermore, as shown in Figure 3 or Figure 8, the display processing unit 15 sets a specific area 34 within the same area 121 in the display unit 12 where the robot image 31 is displayed, that is, within the virtual space area 121. The virtual space area 121 is the area where the robot image 131 and the operation marker 32 are displayed, and where the specific area 34 is set. The specific area 34 is the area that receives operations to display the switching menu 35. The display processing unit 15 can choose not to display the specific area 34 in the display unit 12, or it can choose to display it to an extent that does not impair the visibility of the operation marker 32, for example by making it semi-transparent. The display processing unit 15 can set the specific area 34 to include the area surrounding the operation marker 32 and the area surrounding the robot image 131.

[0024] The specific area 34 is set so that it does not substantially overlap with the operation marker 32. In other words, the display processing unit 15 sets the specific area 34 so that it does not overlap with the operation marker 32, or if they overlap, it prioritizes operations on the operation marker 32 over operations on the specific area 34.

[0025] Specifically, the display processing unit 15 determines whether a selection operation has been performed on the operation marker 32 and the specific area 34 only when a mouse down or touchdown event occurs on the input unit 13. Alternatively, if the operation marker 32 is selected, the display processing unit 15 cancels the setting of the specific area 34. This prevents the user from accidentally selecting the specific area 34 and unintentionally displaying the switching menu 35 when the user is operating the robot image 31 by selecting the operation marker 32.

[0026] The display processing unit 15 can set the operation marker 32 to a part of the virtual space area 121, rather than the entire virtual space area 121. Although not shown in detail, the display processing unit 15 can also set the entire part of the virtual space area 121 excluding the operation marker 32 to a specific area. In Figures 3 to 5, 8, and 9, the specific area 34 is shown by a dashed line. The display processing unit 15 can set the specific area 34 to a shape that encloses the operation marker 32, for example, as shown in Figures 3 to 5. In this case, the operation marker 32 is set to a shape smaller than the virtual space area 121.

[0027] Furthermore, in the examples shown in Figures 3 to 5, the display processing unit 15 can set the specific region 34 to a rectangular, circular, or elliptical shape centered on, for example, the end effector of the robot image 31 or its vicinity. As shown in Figures 3 and 4, the display processing unit 15 makes the specific region 34 follow the posture of the robot image 31. In this configuration, as shown in Figure 5, when the user performs a selection operation around the operation marker 32, the switching menu 35 is displayed as shown in Figure 6.

[0028] Furthermore, the display processing unit 15 can set a specific region 34 to be superimposed on the robot image 31, for example, as shown in Figures 8 and 9. In this case, the specific region 34 will inevitably follow the posture of the robot image 31. In this configuration, when the user makes a selection operation on the robot image 31 as shown in Figure 9, the display processing unit 15 will, as shown in Figure 10, The switching menu 35 is displayed centered on the operation position 33 where the user made a selection.

[0029] As described above, the user can make the switching menu 35 appear by making a selection operation on a specific area 34 set around the operation marker 32. That is, when the display processing unit 15 detects a selection operation on the specific area 34 while the operation marker 32 is not selected, it displays the switching menu 35 in the virtual space area 121, as shown in Figures 6 and 10.

[0030] The switching menu 35 is an image, or GUI, that receives input for switching the robot's operating mode. The switching menu 35 has, for example, several selection items 351, 352, and 353. Each item 351, 352, and 353 corresponds to one of the operating modes provided by the robot user support device 10. In this embodiment, the switching menu 35 includes selection item 351 for switching to each axis space mode, selection item 352 for switching to the XYZ coordinate space mode, and selection item 353 for switching to the tool coordinate space mode.

[0031] Each of the selection items 351, 352, and 353 is arranged around the operating position 33, for example, when a specific area 34 is selected. In this case, no other selection items 351, 352, and 353 are positioned between the center of the switching menu 35 and each of the selection items 351, 352, and 353. In other words, the system is configured so that when the user's operating position 33 moves from the center of the switching menu 35 to a particular selection item 351, 352, or 353, it does not cross over any other selection items 351, 352, or 353.

[0032] The switching menu 35 can be configured such that, for example, the selection items 351, 352, and 353 are arranged within a circular shape centered around the operation position 33. In this case, the distance from the operation position 33 to each selection item 351, 352, and 353 is equal. Therefore, the distance traveled from selecting a specific area 34 to display the switching menu 35 to reach each selection item 351, 352, and 353 can be made equal. The switching menu 35 is not limited to a circle; it can also be a rectangle or a polygon. When the user makes a selection operation for one of the selection items 351, 352, and 353, the display processing unit 15 switches to an operation mode corresponding to the selected selection item 351, 352, or 353.

[0033] Furthermore, the display processing unit 15 can be configured to execute a process to hide the switching menu 35 when the input unit 13 receives an operation on an area other than the switching menu 35 while the switching menu 35 is displayed on the display unit 12. In this case, for example, if the user has displayed the switching menu 35 but wants to cancel the operation mode switch, they can hide the switching menu 35 and cancel the operation mode switch by selecting an area outside the switching menu 35.

[0034] Next, the series of control operations will be explained with reference to Figure 11. When the display processing unit 15 starts the series of control operations, it first determines in step S11 whether or not an operation on the input unit 13 has been detected. The display processing unit 15 waits until an operation on the input unit 13 is detected (NO in step S11). When an operation on the input unit 13 is detected (YES in step S11), the display processing unit 15 determines in step S12 whether or not that operation is for a specific area 34.

[0035] If the operation on the input unit 13 is not for the specific area 34 (NO in step S12), the display processing unit 15 proceeds to step S13 to determine whether the operation on the input unit 13 is for the operation marker 32. If the operation on the input unit 13 is not for the operation marker 32 (NO in step S13), the display processing unit 15 returns to step S11. On the other hand, if the operation on the input unit 13 is for the operation marker 32 (YES in step S13), the display processing unit 15 proceeds to step S14.

[0036] In step S14, the display processing unit 15 determines whether or not the operation on the operation marker 32 has been released. In this case, the display processing unit 15 can determine that the operation on the operation marker 32 has been released if, for example, the input unit 13 is a mouse and a mouse-up event occurs, or if the input unit 13 is a touch device and a touch-up event occurs.

[0037] If the operation on the operation marker 32 is not released (NO in step S14), the display processing unit 15 proceeds to step S15 and changes the posture of the robot image 31 displayed on the display unit 12 based on the operation on the operation marker 32. The display processing unit 15 then repeats steps S14 and S15 until the operation on the operation marker 32 is released. When the operation on the operation marker 32 is released (YES in step S14), the display processing unit 15 returns to step S11 and executes steps S11 and onward again.

[0038] Furthermore, if the operation on the input unit 13 in step S12 is for a specific area 34 (YES in step S12), the display processing unit 15 moves the process to step S16 and displays the switching menu 35 on the display unit 12. Subsequently, in step S17, the display processing unit 15 determines whether the selection operation of the switching menu 35 has been canceled. The display processing unit 15 may determine whether the selection operation of the switching menu 35 has been canceled based on, for example, the occurrence of a mouse up event or a touch up event, or based on the occurrence of a mouse down event or a touch down event for an area other than the switching menu 35.

[0039] If the selection operation for the switching menu 35 is canceled (YES in step S17), the display processing unit 15 proceeds to step S20. On the other hand, if the selection operation for the switching menu 35 is canceled (NO in step S17), the display processing unit 15 proceeds to step S18 to determine whether selection items 351, 352, and 353 have been selected. If selection items 351, 352, and 353 have not been selected (NO in step S18), the display processing unit 15 returns to step S17.

[0040] If selection items 351, 352, and 353 are selected (YES in step S18), the display processing unit 15 proceeds to step S19 and switches to the operating mode corresponding to the selected selection items. Then, in step S20, the display processing unit 15 hides the switching menu 35, returns to step S11, and executes the processes from step S11 onwards again.

[0041] According to the embodiment described above, the robot user support device 10 comprises a display unit 12, an input unit 13, and a display processing unit 15. The display unit 12 is capable of displaying images. The input unit 13 accepts operations from the user. The display processing unit 15 executes a process to display an image on the display unit 12 corresponding to the operation input to the input unit 13.

[0042] Furthermore, the display processing unit 15 can execute the process of displaying a robot image 31, which is an image that mimics the robot to be operated, and an operation marker 32 that accepts user input to change the posture of the robot image 31, on the display unit 12. In addition, when the user selects the operation marker 32, the display processing unit 15 can execute the process of changing the posture of the robot image 31 according to the operation position 33 within the display unit 12 and displaying it on the display unit 12. As a result, the user can change the posture of the robot image 31, that is, virtually operate the robot image 31 on the display unit 12, by selecting the operation marker 32 and moving the operation position 33.

[0043] Here, for example, as shown in the comparative example in Figure 12, the display processing unit 15 may display a GUI such as the switching menu 91 in an area 122 of the display unit 12 other than the virtual space area 121, that is, an area 122 outside the virtual space area 121. The switching menu 91 has the function of accepting operations from the user to switch the operating mode of the robot image 31. However, in the above configuration, the switching menu 91 is located far from the operation marker 32, so the distance traveled between the operation marker 32 and the switching menu 91 is also long. For this reason, if the user frequently switches the operating mode, the user has to move the long distance between the switching menu 91 and the operation marker 32 many times, which is inconvenient.

[0044] In contrast, in this embodiment, as shown in Figures 3 and 8, the display processing unit 15 sets a specific area 34 within the virtual space area 121, which is the same area as the area where the robot image 31 and operation marker 32 are displayed on the display unit 12. That is, the display processing unit 15 does not set a specific area 34 in any area 122 other than the virtual space area 121. The display processing unit 15 can then execute a process to display a switching menu 35 on the display unit 12 for switching the operating mode of the robot image 31 when the specific area 34 is selected by the user.

[0045] In this case, the specific region 34 is set within the virtual space region 121, which is the same region as the region where the robot image 31 and the operation marker 32 are displayed. That is, the specific region 34 is set in the vicinity of the robot image 31 and the operation marker 32. Therefore, when a user tries to switch the operating mode of the robot image 31, they can make the switching menu 35 appear by selecting the specific region 34 set in the vicinity of the robot image 31 and the operation marker 32. Thus, the distance between the operation marker 32 and the switching menu 35 can be made as short as possible, and as a result, the operability when switching operating modes can be improved.

[0046] As shown in the example in Figure 4, the display processing unit 15 can set a specific region 34 in a shape that is part of the virtual space region 121 where the robot image 31 and the operation marker 32 are displayed, and that encloses the operation marker 32, and can also execute a process to make the specific region 34 follow the posture of the robot image 31. In other words, the display processing unit 15 can execute a process to make the specific region 34 follow the position of the operation marker 32, that is, the movement of the user's operation position 33. As a result, the specific region 34 can always be positioned in the vicinity of the operation marker 32. Therefore, the distance between the operation marker 32 and the switching menu 35 can be made as short as possible, and as a result, the operability when switching operation modes can be further improved.

[0047] Furthermore, the display processing unit 15 can perform the process of setting a specific region 34 overlaid on the robot image 31, as shown in the example in Figure 8. In this configuration, the user can select the specific region 34 by selecting the robot image 31, thereby displaying the switching menu 35. In this case, since the robot image 31 is an image that is always displayed during operation, even if the specific region 34 is hidden, the user can easily grasp the position of the specific region 34, and as a result, operability can be improved.

[0048] As shown in Figure 6 or Figure 10, the switching menu 35 includes multiple selection items 351, 352, and 353 arranged around the user's operating position 33 when a specific area 34 is selected. This ensures that when the user's operating position 33 moves from the center of the switching menu 35 to a particular selection item 351, 352, or 353, it does not cross over other selection items 351, 352, or 353. Therefore, the distance the user's operating position 33 moves can be kept to a minimum, and the user's unintended selection of selection items 351, 352, or 353 can be minimized. As a result, user operability can be further improved.

[0049] The display processing unit 15 can hide the toggle menu 35 when the input unit 13 receives an operation on an area other than the toggle menu 35 while the toggle menu 35 is displayed on the display unit 12. This allows the user to hide the toggle menu 35 if they change their mind and no longer need it, for example, by performing an operation on the area surrounding the toggle menu 35. As a result, user operability can be further improved.

[0050] When a user selects an operation marker 32 and operates the robot image 31, if the switching menu 35 is displayed even when the operation position 33 overlaps with a specific area 34, the display of the switching menu 35 becomes unintended by the user, leading to a decrease in user operability. Therefore, the display processing unit 15 can execute a process to prevent the switching menu 35 from being displayed on the display unit 12 when the operation marker 32 is selected.

[0051] According to this, if the operation marker 32 is selected, the switching menu 35 will not be displayed on the display unit 12, even if the operation position 33 is located in a specific area 34. This prevents the switching menu 35 from being displayed unintentionally by the user, and as a result, reduces the deterioration of user operability.

[0052] While this disclosure is described in accordance with the embodiments, it is understood that this disclosure is not limited to those embodiments or structures. This disclosure also encompasses various modifications and variations within the equivalence. In addition, various combinations and forms, as well as other combinations and forms that include only one, more, or fewer of those elements, fall within the scope and concept of this disclosure. [Explanation of Symbols]

[0053] 10...Robot user support device, 12...Display unit, 13...Input unit, 15...Display processing unit, 21...Display program, 31...Robot image, 32...Operation marker, 34...Specific area, 35...Switching menu, 351...Selection item, 352...Selection item, 353...Selection item, P...Operation position

Claims

1. Applicable to an input / output device handled by a user when performing an offline simulator or offline teaching, or to a teaching pendant operated by a user when actually operating the target robot, A display unit capable of displaying images, An input section that accepts user input, The system comprises a display processing unit that performs a process to display an image corresponding to an operation input to the input unit on the display unit, The display processing unit, A process for displaying a robot image, which is an image that mimics the robot to be operated, and an operation marker that accepts user input to change the posture of the robot image, on the display unit, When the user selects the operation marker, the process of changing the posture of the robot image in the display unit according to the operation position and displaying it in the display unit, The system can perform the following steps: set a specific area within the same area where the robot image and the operation marker are displayed, and display a switching menu on the display unit for switching the operating mode of the robot image when the user selects the specific area. Robot utilization support device.

2. The display processing unit can set the specific region in a shape that is part of the area where the robot image and the operation marker are displayed and that encloses the operation marker, and can perform a process to make the specific region follow the posture of the robot image. The robot utilization support device according to claim 1.

3. The display processing unit is capable of performing the process of setting the specific region overlaid on the robot image. The robot utilization support device according to claim 1.

4. The aforementioned switching menu includes multiple selection items arranged around the operating position when the specific area is selected. The robot utilization support device according to claim 1.

5. The display processing unit can perform a process to hide the switching menu when the input unit receives an operation for an area other than the switching menu while the switching menu is displayed on the display unit. The robot utilization support device according to claim 1.

6. The display processing unit can perform a process to prevent the switching menu from being displayed on the display unit when the operation marker is selected. The robot utilization support device according to claim 1.

7. A computer controls an input / output device used by a user when performing an offline simulator or offline teaching, or a teaching pendant operated by a user when actually operating the target robot, comprising a display unit capable of displaying an image and an input unit that accepts operations from the user, A process for displaying a robot image, which is an image that mimics the robot to be operated, and an operation marker that accepts user input to change the posture of the robot image, on the display unit, When the user selects the operation marker, the process of changing the posture of the robot image in the display unit according to the operation position and displaying it in the display unit, A process to set a specific area within the same area where the robot image and the operation marker are displayed, and to display a switching menu on the display unit for switching the operating mode of the robot image when the user selects the specific area, A robot utilization support program that enables the execution of certain actions.

Images