Robot system, teaching control panel, and program

Abstract

The objective of the present invention is to assist work performed by an operator to confirm whether software that has been restored using a backup file has been returned to a time point in the past. A robot system 1 according to one aspect of the present disclosure comprises a robot device 20, a control device 10 for controlling the robot device, and a teaching operation panel 30 connected to the control device. The control device includes a means for storing information relating to control of the robot, and a means for generating data relating to an information screen for displaying the stored information. The teaching operation panel includes: a display means for displaying the information screen; a saving means for saving the displayed information screen as an image data file in association with a saved date and time; and a comparing means for comparing two image data files having different saved dates and times.

Description

Technical Field

[0001] The present invention relates to a robot system, a teaching operation panel, and a program.

Background Art

[0002] A technique for saving a backup file of a robot control device that controls a robot device to an external storage device is known (for example, Patent Document 1). In the backup of the robot control device, various types of information related to the control of the robot device, such as setting information regarding the robot device, setting information regarding network communication with other devices, and programs of the robot device, are saved as backup files in binary format or text format. Since the backup file is an electronic file, a copy thereof can be saved in an external storage device such as a USB memory or a network server. Even if information related to the control of the robot device is lost due to a failure or malfunction of the robot control device, the state of the robot control device can be restored to the state at the time when the backup file was created by using the backup file. Therefore, in recent years when the amount of information to be handled has increased, backup has become an important mechanism.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, backups do not save all the data held by the robot control device. For example, some information, such as information temporarily stored in memory like cache files, and highly secure information like passwords, is not included in the backup file. Therefore, even if the state of the robot control device's software is restored using a backup file, the restored software state may not be exactly the same as the state at the time the backup file was created. For this reason, operators need to verify that the state of the software restored using a backup file is the same as the state at the time the backup file was created. For example, in the case of control software for a robot device, an operator can understand the state of the restored control software by visually checking all the screens displayed on the teaching control panel by the control software. However, the amount of information handled by the robot device's control software is large, and the number of pages displayed on the teaching control panel by the control software is enormous, so it is not practical to visually check all the screens. Moreover, even if visually checked, it is difficult to determine whether the restored state has been returned to the state at the time the backup file was created. Therefore, it is desirable to support the operator's verification process to ensure that the state of the control software restored using a backup file has been returned to the state at the time the backup file was created. [Means for solving the problem]

[0005] A robot system according to one aspect of this disclosure comprises a robot, a control device for controlling the robot, and a teaching control panel connected to the control device. The control device is Means for generating control information display data for displaying control information set for a robot, and means for transmitting the control information display data to a teaching control panel. It has. The teaching control panel is A display device, means for displaying control information display data transmitted from a control device on the display device, and a means for capturing the screen of the display device on which the control information display data is displayed. The system includes means for saving image data files with associated save dates and times, and means for comparing two image data files with different save dates and times. [Effects of the Invention]

[0006] According to this embodiment, it is possible to support the operator's verification process to determine whether the state restored using a backup file has been returned to a past point in time, such as the time the backup was created or when the system was functioning normally. [Brief explanation of the drawing]

[0007] [Figure 1] Figure 1 shows an example of a robot system according to the first embodiment. [Figure 2] Figure 2 is a diagram showing the configuration of the control device and teaching control panel shown in Figure 1. [Figure 3] Figure 3 shows the hierarchical structure of the control sites stored in the control device shown in Figure 1. [Figure 4] Figure 4 shows the state in which Web page A1 from Figure 3 is displayed on the instruction control panel. [Figure 5] Figure 5 shows the state in which Web page B1 from Figure 3 is displayed on the instruction control panel. [Figure 6] Figure 6 shows the state in which Web page B2 from Figure 3 is displayed on the instruction control panel. [Figure 7] Figure 7 is a flowchart illustrating the outline procedure for the screen saving process performed on the teaching control panel shown in Figure 1. [Figure 8] Figure 8 is a flowchart showing the detailed procedure for saving the screen shown in Figure 7. [Figure 9] Figure 9 is a flowchart showing the steps of the comparison process performed on the teaching control panel shown in Figure 1. [Figure 10] Figure 10 shows an example of the display screen for the comparison results in the comparison process shown in Figure 9. [Figure 11] Figure 11 is a diagram showing the hierarchical structure of multiple information screens stored in the control device of the robot system according to the second embodiment. [Figure 12] Figure 12 shows the initial screen of the teaching control panel of the robot system according to the second embodiment. [Figure 13] Figure 13 shows the top menu displayed on the instruction control panel by performing a specific operation on the initial screen shown in Figure 12. [Figure 14] FIG. 14 is a diagram showing a state in which a specific menu is selected in the top menu of FIG. 13. [Figure 15] FIG. 15 is a diagram showing an information screen that transitions when a specific menu is selected in FIG. 14. [Figure 16] FIG. 16 is a diagram showing an example of an information screen that transitions from the information screen of FIG. 15. [Figure 17] FIG. 17 is a diagram showing another example of an information screen that transitions from the information screen of FIG. 15. [Figure 18] FIG. 18 is a flowchart showing an outline procedure of a screen saving process executed on a teaching operation panel of a robot system according to the second embodiment.

BEST MODE FOR CARRYING OUT THE INVENTION

[0008] Hereinafter, the robot system according to the present embodiment will be described with reference to the drawings. In the following description, components having substantially the same functions and configurations are denoted by the same reference numerals, and duplicate explanations will be made only when necessary.

[0009] In the present embodiment, when an information screen for controlling a robot device provided by the control software of the robot device is restored by a backup file, it is configured to assist an operator in confirming whether the restored information screen has returned to the state at a predetermined time point before restoration. In the first embodiment, an example in which the information screen is provided by a web page will be described.

[0010] (First Embodiment) As shown in FIG. 1, a robot system 1 according to the first embodiment includes a robot device 20, a control device 10 that controls the robot device 20, and a teaching operation panel 30 connected to the control device 10.

[0011] As shown in FIG. 2, the control device 10 is a computing device that connects a memory 12, a communication device 13, a storage device 14, etc. to a processor 11 such as a CPU via a data / control bus. Further, the control device 10 includes a power supply unit 15 that supplies power to an instruction operation panel 30 wired to the control device 10. The processor 11 comprehensively controls the control device 10. The memory 12 functions as a workspace for the processor 11. The communication device 13 transmits and receives various information to and from the instruction operation panel 30.

[0012] The storage device 14 includes an HDD, an SSD, etc. The storage device 14 stores various information related to the control of the robot device 20. The various information includes information related to a Web site for controlling the robot device 20 (hereinafter simply referred to as a control site), and various setting data input by the user via the Web site. The information related to the control site includes data of a plurality of html files corresponding to a plurality of Web pages constituting the control site, icon data constituting the Web pages, image data, etc. In addition to these, the various information includes an operation program of the robot device 20, setting data related to the network, setting data related to I / O, setting data related to peripheral devices, etc.

[0013] The storage device 14 stores a management program for the control site. When the management program is executed by the processor 11, the control device 10 responds to a Web page acquisition request from the instruction operation panel 30, reads out an html file corresponding to the requested Web page, writes various setting data stored in the storage device 14 to the read html file, and transmits the data of the constructed html file to the instruction operation panel 30. That is, the control device 10 generates data of an information screen for displaying the various information using the various information stored in the storage device 14.

[0014] The control site is composed of multiple web pages forming a tree structure. As shown in Figure 3, for example, the control site has a three-tiered structure, with web page A1 in the first tier, web pages B1, B2, B3, and B4 in the second tier, and web pages C1 and C2 in the third tier. Web page A1, which corresponds to the first tier, is also called the top page. As shown in Figure 4, the top page A1 displays four buttons B1, B2, B3, and B4, each linked to the four web pages B1, B2, B3, and B4. In other words, the HTML file corresponding to the top page A1 contains four hyperlink tags, which are commands to transition to web pages B1, B2, B3, and B4, respectively. Each of the four hyperlinks refers to one of four URLs. As shown in Figure 5, the web page B1 in the second tier displays two buttons C1 and C2, each linked to two web pages C1 and C2. In other words, the HTML file corresponding to web page B1 contains two hyperlink tags corresponding to two web pages C1 and C2. Each of the two hyperlinks refers to two URLs. In this way, by following the links contained in each page that makes up the control site, all the web pages A1, B1, B2, B3, B4, C1, and C2 that make up the control site can be identified.

[0015] As shown in Figure 2, the teaching control panel 30 is a computing device to which a memory 32, a communication device 33, a storage device 34, an operating device 36, and a display device 37 are connected via a data and control bus to a processor 31 such as a CPU. Typically, the teaching control panel 30 is a device specifically designed for a control device and includes a power supply unit 35 that receives power from a control device 10 connected by a wire.

[0016] The processor 31 provides overall control of the control device 10. The memory 32 functions as a workspace for the processor 31. The communication device 33 transmits and receives various types of information to and from the teaching control panel 30.

[0017] The operating device 36 has buttons, switches, a jog, etc. The teaching control panel 30 may also have a touch panel or the like that serves as both the operating device 36 and the display device 37. The operator can input various information into the teaching control panel 30 by operating the operating device 36.

[0018] The display device 37 has an LCD or the like. The display device 37 displays various pages related to the control of the robot device 20. The HTML files that serve as the source for these various pages are provided by the control device 10.

[0019] The storage device 34 includes an HDD, SSD, etc. The storage device 34 stores a browser, a save program, a comparison program, a backup program, etc. Of course, the save program and the comparison program do not have to be separate entities, but may be written within a single program. When the browser stored in the storage device 34 is executed by the processor 31, the teaching control panel 30 can parse the HTML file and display the web page. When the save program stored in the storage device 34 is executed by the processor 31, the teaching control panel 30 can perform the screen saving process described later. The saved folder generated by the screen saving process is stored in the storage device 34. When the comparison program stored in the storage device 34 is executed by the processor 31, the teaching control panel 30 can perform the comparison process described later. When the backup program stored in the storage device 34 is executed by the processor 31, the teaching control panel 30 creates a backup file that summarizes the various data constituting the control site managed by the control device 10. The created backup file is stored in the storage device 34.

[0020] The screen saving process for the control site by the teaching control panel 30 will be explained below with reference to Figures 7 and 8. As shown in Figure 7, when the teaching control panel 30 receives an instruction from the operator to start the screen saving process (S11), it displays a screen to notify the operator that the screen saving process has started (S12) and executes the screen saving process shown in Figure 8 (S13). When the screen saving process is completed, it displays a screen to notify the operator that the screen saving process is complete (S14), and all steps of the screen saving process are completed.

[0021] As shown in Figure 8, when the screen saving process is started, the teaching control panel 30 creates a folder (save folder) to save the image data file (S21), requests an HTML file corresponding to the top page of the control site from the control device 10, parses the HTML file received from the control device 10, and displays the top page (S22). Typically, the save folder is associated with the save date and time and stored in the teaching control panel 30. To allow for easy confirmation of the date and time the screen saving process was executed, the folder name of the save folder is initially set to the time the screen saving process was executed (save date and time). The save folder is stored in a folder provided for each robot device 20 under control.

[0022] Next, the teaching control panel 30 searches for hyperlinks contained in the currently displayed web page (S23). For example, hyperlinks can be identified by hyperlink tags written in the HTML file corresponding to the currently displayed web page. The teaching control panel 30 records the URLs referenced by the hyperlinks identified in step S23 (S24). The URLs recorded in step S24 are accompanied by a save flag to identify whether or not the screen image of the web page corresponding to that URL has been saved as an image data file, and a search flag to identify whether or not the hyperlink search process has been performed on the web page corresponding to that URL. The save flag is initially set to an unsaved code, and the search flag is initially set to an unsearched code. When step S24 is completed, the search flag of the URL of the currently displayed web page is updated to a searched code to indicate that the search has been completed (S25).

[0023] Next, the teaching control panel 30 saves the image data file of the web page corresponding to the URL recorded in step S24 to the save folder. Specifically, the teaching control panel 30 identifies the URLs among those recorded in step S24 whose save flag is an unsaved code, requests the control device 10 to provide the identified web page (S27), receives the requested web page from the control device 10 (S28), and displays the received web page (S29).

[0024] Then, the screen of the web page displayed on the teaching control panel 30 is captured, an image data file having a predetermined format such as jpg or bmp is created (S30), and the created image data file is saved to the save folder (S31). Typically, in the process of step S30, bitmap data of the screen of the teaching control panel 30 is saved to memory, the saved bitmap data is converted to a predetermined size, and then converted into an image data file having a predetermined format. Attribute information such as the save date and time is added to the image data file. In the process of step S31, the name of the image data file is initially set to be a URL so that the source web page of the image data file can be identified. The teaching control panel 30 updates the save flag of the URL corresponding to the currently displayed web page to a saved code (S32).

[0025] The processes in steps S27 through S32 are repeatedly executed until the save flag for all URLs recorded in step S24 is updated to a saved code (S26; Yes). Once the save flag for all URLs recorded in step S24 is updated to a saved code (S26; No), the teaching control panel 30 requests the control device 10 to provide the web pages corresponding to the URLs recorded in step S24 whose search flag is an unsearched code (S34), receives the requested web pages from the control device 10 (S35), and displays the received web pages (S36). Then, the process returns to step S23, and the following processes are executed sequentially: searching for hyperlinks contained in the displayed web page, recording new URLs referenced by the hyperlinks, capturing the display screen of the web pages corresponding to all newly recorded URLs, and saving the captured image data file. The processes in steps S24 through S32 and steps S34 through S36 are repeatedly executed until the save flag for all URLs newly recorded in step S24 is updated to a saved code and the search flag is updated to a searched code (S33; Yes). When the save flag for all URLs recorded in step S24 is updated to a saved code and the search flag is updated to a searched code (S33; No), the screen saving process is terminated.

[0026] As explained with reference to Figure 8, the screen saving process allows multiple image data files corresponding to multiple web pages located in the lower layers of the control site's top page to be saved to a storage folder.

[0027] When the above screen saving process is performed on a control site having a hierarchical structure as shown in Figure 3, the process proceeds as follows. Specifically, in the first cycle, process S24, four URLs corresponding to the four web pages B1, B2, B3, and B4 linked to the top page A1 are recorded. At this point, the save flag for each of the four URLs is set to an unsaved code, and the search flag is set to an unsearched code. In the processes from S26 to S32 of the first cycle, the four web pages B1, B2, B3, and B4 corresponding to the four URLs are sequentially displayed on the teaching operation panel 30, and the four image data files corresponding to the displayed four web pages B1, B2, B3, and B4 are saved in the save folder, and the save flag for each of the four URLs is updated to a saved code.

[0028] At this point, the search flag for each of the four URLs is set to an unsearched code, so the processing of steps S23 through S32 for the second time is executed for Web page B1, which corresponds to one of the four URLs. As a result, two new URLs corresponding to the two Web pages C1 and C2 linked to Web page B1 are recorded. At this point, the total number of recorded URLs is six. Of the six URLs, the save flag for the two newly recorded URLs (Web pages C1 and C2) is set to an unsaved code, so the two Web pages C1 and C2 corresponding to the two URLs are sequentially displayed on the teaching control panel 30, two image data files corresponding to the two displayed Web pages C1 and C2 are saved in the save folder, and the save flag for each of the two URLs is updated to a saved code.

[0029] At the end of the second cycle, process S32, the search flag for each of the six recorded URLs, excluding the URL corresponding to Web page B1, is set to an unsearched code. Therefore, the processing of processes S23 through S32 of the third cycle is executed for Web page B2, which corresponds to one of the five URLs. Since Web page B2 does not have hyperlinks set, no new URLs are recorded, and the save flags for the six already recorded URLs are set to saved codes. As a result, the search flag for the URL corresponding to Web page B2 is updated to a searched code.

[0030] At the end of the third cycle, process S32, the search flag for four of the six recorded URLs is set to "unsearched," excluding the two URLs corresponding to Web pages B1 and B2, respectively. The four Web pages B3, B4, C1, and C2, corresponding to the four URLs, do not have hyperlinks set, just like Web page B2. Therefore, the same processing as performed on Web page B2 is performed on Web pages B3, B4, C1, and C2, and as a result, the search flag for each of the six recorded URLs is updated to "searched," and the screen saving process is terminated. The screen saving process saves multiple image data files to the save folder, corresponding to the multiple Web pages B1, B2, B3, B4, C1, and C2 located in the sub-levels of the control site's top page.

[0031] The comparison process performed by the instruction control panel 30 will be explained below with reference to Figure 9. The comparison program compares two image data files with the same URL but different save dates and times, and displays the two images (screens) obtained by expanding the two image data files side by side, with the display of the differing parts altered by shading, filling, etc., compared to the display of the parts that do not differ. This will be explained in detail below.

[0032] As shown in Figure 9, the teaching control panel 30 accepts the operator's specification of two save folders with different save dates and times to be compared (S41). Typically, the save folder with the more recent save date and time is created by performing a screen save process on the control site after restoring the control site using a backup file, while the save folder with the older save date and time is created by performing a screen save process on a control site in a normal state.

[0033] The teaching control panel 30 reads one image data file from the newer of the two received save folders, reads an image data file from the old save folder whose file name matches the image data file read from the newer save folder, and compares the two read image data files (S42). Since the file name is the URL of the source web page of the image data file, the process in step S42 compares two image data files with different save dates for the same web page and identifies whether there are any differences. Any comparison method can be used. For example, the presence or absence of differences between two image data files can be identified based on the pixel values ​​of all pixels that make up the image data file. If there are differences between the two image data files (S43; Yes), the file name (URL) of the image data file with differences is recorded (S44). The processes in steps S42 to S44 are repeated until the comparison of all image data files is completed (S45; Yes). When the comparison of all image data files is completed (S45; No), the teaching control panel 30 displays the two image data files for which differences were found as a result of the comparison (S46). Furthermore, if there is a difference in the number of image data files contained in the two read storage folders, the instruction control panel 30 will display this fact as a comparison result.

[0034] As shown in Figure 10, the teaching control panel 30 displays the URLs where differences were found as a comparison result in the comparison process in Figure 9, and displays two images (screens) side by side, each containing two image data files with different save dates corresponding to those URLs. The newer and older images from the two image data files are displayed side by side, and the parts where differences were found are highlighted using a different display method than the parts without differences, such as shading or fill. By tapping the 'Next' button, the two image data files with different save dates corresponding to the linked URLs are expanded, and the two images are displayed side by side.

[0035] The robot system 1 according to this embodiment provides the following advantages. Specifically, the robot system 1 according to this embodiment is characterized by saving an image data file created by capturing the screen of a web page actually displayed on the teaching operation panel 30, and by comparing two image data files with different save dates and times, which are saved for web pages having the same URL.

[0036] For example, one might consider saving only the setting values ​​defined as variables in the HTML files corresponding to the web pages that make up the control site. However, if only two setting values ​​saved at different times are compared, even if the setting values ​​match, there is a possibility that the setting values ​​may not be written to the actual web page and therefore not reflected due to some reason. In the robot system 1 according to this embodiment, since the screens that are actually displayed are compared, it is possible to simultaneously check whether the setting values ​​match and whether they are reflected on the screen. Therefore, the robot system 1 according to this embodiment solves the problems that arise when only setting values ​​are saved and improves the accuracy of verification by the operator.

[0037] Furthermore, the instruction control panel 30 can compare two image data files saved at different times for the same URL web page, and, as shown in Figure 10, display the two image data files where differences were detected side by side, showing the extent of the detected differences. The operator can visually inspect only the two image data files where differences were detected and confirm whether the control site restored from the backup file has been returned to the state it was in when the backup file was obtained. Even if the operator finds that the restored control site has not been returned to the state it was in when the backup file was obtained, if the differences do not pose a problem for using the web page, they can continue to use the control site as is.

[0038] The teaching control panel 30 does not display two image data files corresponding to the same URL that have been determined to have no differences through the comparison process, thereby reducing the number of image data files that the operator must check. This reduces the effort required for the operator to perform the verification work. In addition, as shown in Figure 10, the teaching control panel 30 highlights the parts where differences were found in the comparison results. This also contributes to further reducing the effort required for the operator to perform the verification work. On the screen in Figure 10, the operator can tap the 'Next' button to check two image data files corresponding to the same URL that have been found to have differences, one after the other. This reduces the time required for the operator to perform the verification work.

[0039] According to the screen saving process of the robot system 1 in this embodiment, by following hyperlinks, all web pages constituting the control site can be explored and saved as image data files of the display screens of all explored web pages. Furthermore, the comparison process does not compare the image data file saved after restoration with a pre-saved reference image data file, but rather compares two image data files saved by the screen saving process that have different save dates and times. This allows for flexible handling of situations where the number of web pages constituting the control site increases or decreases, or where URLs change due to customization or other reasons.

[0040] The teaching control panel 30 constituting the robot system 1 according to this embodiment was a device specifically designed for the control device 10. However, the teaching control panel 30 may be provided by a general-purpose information processing device such as a PC, tablet, or smartphone having calculation, communication, operation, and display functions. The teaching control panel 30 is a concept that includes a general-purpose information processing device.

[0041] One feature of this embodiment is that by saving the screen image of the displayed web page as an image data file, it becomes possible to compare the screens of two web pages saved at different times. Therefore, the robot system 1 according to this embodiment can be applied to other systems. For example, the robot device 20 in this embodiment can be an industrial machine such as a machine tool, injection molding machine, or other CNC (Computer Numerical Control) controlled machine, and the object to be saved can be a control site for the industrial machine. Here, machine tools include cutting machines, electrical discharge machines, laser processing machines, ultra-precision machining machines, etc. CNC controlled machines include forging machines, conveying devices, stockers, fabric cutting machines, etc.

[0042] The teaching control panel 30 has a function to perform comparison processing, so as shown in Figure 10, it can display side by side only two image data files with different save dates corresponding to URLs where differences were found. However, from the perspective of supporting the operator's verification work to see if the control site restored by backup has been returned to the state of a specific point in the past, it may be possible to display side by side two image data files with different save dates corresponding to all URLs, not just those where differences were found. In other words, the teaching control panel 30 does not need to have a function to perform comparison processing. By tapping the 'Next' button displayed on the teaching control panel 30, the operator can switch between URLs and successively check for differences between two image data files with different save dates, thus shortening the time the operator spends on verification work.

[0043] In this embodiment, two image data files saved for the same web page were simply compared to identify any differences. However, as shown in Figures 4 to 6, web pages may contain text and images whose displayed content, such as the date and time, may change. From the perspective of reducing the effort required for manual verification by the operator, the range of the web page that contains information known to change in advance, such as the date and time, should be excluded from the comparison process. Therefore, it is desirable that the teaching control panel 30 has a function to accept from the operator in advance the range of the displayed web page that should not be subjected to comparison processing.

[0044] In this embodiment, it was explained that the save folder is stored in the teaching control panel 30. However, since the teaching control panel 30 connected to the control device 10 may be changed, it is desirable that the save folder be stored in at least one of the control device 10 and an external storage device. Of course, the save folder may also be stored in an external storage device such as a USB memory stick or a server device.

[0045] In this embodiment, it was explained that the screen saving process is initiated according to the operator's instructions. However, the screen saving process may be executed automatically at any time. For example, the screen saving process may be executed automatically before or after receiving a backup execution instruction, or before or after any update of software, OS, etc., is performed on at least one of the control device 10 and the teaching operation panel 30. Of course, the screen saving process may also be executed periodically at predetermined intervals, such as one month. By configuring the screen saving process to be executed automatically without operator instructions, it is possible to avoid situations where, due to a sudden malfunction, the opportunity to save a screen image of the web page constituting the control site in a normal state as an image data file is missed.

[0046] In this embodiment, the teaching control panel 30 identified all the web pages constituting the control site by following the hyperlink on the top page of the control site. However, assuming that the URLs of the web pages of the control site do not change, that no new web pages are added to the control site, and that none of the multiple web pages constituting the control site are deleted, the teaching control panel 30 may pre-store the URL information of all the web pages constituting the control site, rather than identifying all the web pages constituting the control site by following the hyperlink each time the screen saving process is performed. Of course, the above preconditions may change, so from the standpoint of reliability, it is superior to identify all the web pages constituting the control site by following the hyperlink each time the screen saving process is performed.

[0047] In the first embodiment, an example was described in which a browser is installed on the teaching control panel 30 and the information screen provided from the control device 10 to the teaching control panel 30 is provided as a web page. However, the information screen may be provided in other formats. Hereinafter, the robot system according to the second embodiment will be described with reference to Figures 11 to 18. The main difference between the first and second embodiments is the format of the information screen provided from the control device 10 to the teaching control panel 30. Therefore, the description of the second embodiment will focus on this difference.

[0048] The storage device 14 of the control device 10 stores data for multiple information screens created on the provider's proprietary platform, instead of information about the control site. Each information screen data is associated with a unique identifier to identify it. Of course, the name of the information screen data file may also be the identifier. The identifier is a unique string that does not overlap with other identifiers. The information screens correspond to web pages in the first embodiment, and the identifiers correspond to URLs in the first embodiment. The source file of an information screen includes screen processing for transitioning to other information screens. The screen processing includes the identifier of the destination information screen.

[0049] Figure 12 shows the initial screen displayed on the teaching control panel 30. When the initial screen shown in Figure 12 is displayed, if a specific key on the control device 36 of the teaching control panel 30 is pressed, or if the "Screen" button on the initial screen is touched, the display device 37 of the teaching control panel 30 displays a top menu of a series of information screens related to robot control, as shown in Figure 13. The top menu is a so-called pop-up menu that is displayed overlaid on the currently displayed screen. As shown in Figure 14, if "I / O" and then "Digital" are selected and confirmed in order on the top menu, the display transitions to the "I / O Digital Output Screen" as shown in Figure 15. When the "I / O Digital Output Screen" of Figure 15 is displayed, if a specific key on the control device 36 of the teaching control panel 30 is pressed, or if the "Details" button on the initial screen is touched, the display transitions to the "Signal Details Screen" as shown in Figure 16. On the other hand, when the "I / O Digital Output Screen" shown in Figure 15 is displayed, if a specific key on the operating device 36 of the teaching control panel 30 is pressed, or if the "Help" button on the initial screen is touched, the display will transition to the "Help Screen" shown in Figure 17.

[0050] In this way, by operating on the top menu shown in Figure 14 and on the "I / O digital output screen" shown in Figure 15, it is possible to transition to all of the multiple information screens displayed on the display device 37. The relationship between the multiple information screens shown in Figures 14 to 17 can be represented as a tree structure with the top menu as the "root," as shown in Figure 11.

[0051] Screen transitions are achieved by "screen processing" of the information screen drawing software installed on the teaching control panel 30. Screen processing is the process of drawing and controlling the information screen corresponding to the item selected on each information screen. Specifically, the drawing software uses text data and image data provided by the control device 10 to draw the information screen on the display device 37 of the teaching control panel 30. The content drawn by screen processing is determined by one or a combination of the following. The drawing software displays the determined drawing content on the display device 37 either as is or after processing. • Fixed content predetermined during software creation. • Contents of specific files stored in the control device 10 and teaching control panel 30 in advance • Contents of the data loaded into the memory 12 of the control device 10 • Contents of data obtained by communicating with peripheral devices connected to the control device 10 Furthermore, screen processing is performed when a specific information screen is displayed, by performing a specific key operation on the operating device 36 of the teaching operation panel 30, a specific touch operation on the display device 37 of the teaching operation panel 30, or a combination of key operations and touch operations.

[0052] Specific key operations include any of the following, or combinations thereof: One of the keys on the control device 36 is pressed once or multiple times in succession. Multiple keys on the control device 36 are pressed in a specific order. Specific touch operations include any of the following, or any combination thereof: A specific location on the display device 37, which is composed of a touch panel, is touched once or multiple times in succession. Multiple locations on the display device 37, which is composed of a touch panel, are touched in a specific order.

[0053] In the first embodiment, all web pages constituting the control site could be identified by repeatedly searching for hyperlinks contained in the web pages displayed on the display device 37 and displaying the web pages corresponding to the URLs referenced by the hyperlinks identified through the search. The screen saving process in the second embodiment will now be described with reference to Figure 18. As shown in Figure 18, the screen saving process in the second embodiment is the same as the screen saving process in the first embodiment described with reference to Figure 8, but with "URL" replaced by "identifier" and "web page" replaced by "information screen". Therefore, the explanation of Figure 18 will be brief.

[0054] Specifically, as shown in Figure 18, when the screen saving process is started, the teaching control panel 30 creates a save folder (S51) and displays the top menu (S52). It searches for the source file of the currently displayed information screen (S53), extracts the screen processing for transitioning from the currently displayed information screen to another information screen, and records the identifier of the information screen to which the user transitions using the extracted screen processing (S54). It updates the search flag for the identifier of the currently displayed information screen to a searched code indicating that the search is complete (S55).

[0055] Next, the teaching control panel 30 identifies identifiers among those recorded in step S54 whose save flag is an unsaved code, requests the control device 10 to provide an information screen corresponding to the identified identifier (S57), receives the requested information screen from the control device 10 (S58), and displays it (S59). Then, it captures the displayed information screen, creates an image data file having a predetermined format (S60), and saves the created image data file to the save folder (S61). The teaching control panel 30 updates the save flag of the identifier corresponding to the currently displayed information screen to a saved code (S62).

[0056] The processes in steps S57 through S62 are repeatedly executed until the save flag for all identifiers recorded in step S54 is updated to a saved code (S56; Yes). Once the save flag for all identifiers recorded in step S54 is updated to a saved code (S56; No), the teaching control panel 30 requests the control device 10 to provide an information screen corresponding to an identifier recorded in step S54 whose search flag is an unsearched code (S64), receives the requested information screen from the control device 10 (S65), and displays the received information screen (S66). Then, the process returns to step S53, where the following are executed sequentially: extraction of screen processing contained in the source file of the displayed information screen, recording of identifiers transitioned by the screen processing, capture processing of information screens corresponding to all newly recorded identifiers, and saving of the captured image data file. The processes in steps S54 to S62 and steps S64 to S66 are repeatedly executed until the save flags of all identifiers newly recorded in step S54 are updated to saved codes and the search flags are updated to searched codes (S63; Yes). When the save flags of all identifiers recorded in step S54 are updated to saved codes and the search flags are updated to searched codes (S63; No), the screen saving process is terminated.

[0057] The screen saving process of the second embodiment, as described with reference to Figure 18, allows for the acquisition of image data files corresponding to all information screens (Web pages in the first embodiment, information screens in the second embodiment) provided by the control software and displayed on the teaching operation panel 30, similar to the screen saving process of the first embodiment. The robot system according to the second embodiment described above provides the same effects as the robot system according to the first embodiment.

[0058] In the screen saving process of the first and second embodiments, when the top page (top menu) is considered the first level, the saving process for the information screens included in the second level below the first level is executed, and then the saving process for the information screens included in the third level below the second level is executed. In other words, the saving process for the information screens was executed sequentially from the top level upwards. However, if it is possible to save all information screens, the method is not limited to the first and second embodiments.

[0059] For example, if we consider the top page of an information screen that forms a tree structure as the root node, information screens that transition to other information screens as branch nodes, and information screens that do not transition to other information screens as leaf nodes, then the screen saving process can be executed sequentially from the root node toward the leaf nodes, and once a leaf node is reached, it can be executed again sequentially from the root node toward the other leaf nodes.

[0060] While several embodiments of the present invention have been described, these embodiments are presented as examples only and are not intended to limit the scope of the invention. These embodiments can be carried out in a variety of other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their variations are included in the scope and spirit of the invention, as well as in the claims and their equivalents. [Explanation of Symbols]

[0061] 10...Control device, 20...Robot device, 30...Teaching control panel, 11, 31...Processor, 12, 32...Memory, 13, 33...Communication device, 14, 34...Storage device, 15, 35...Power supply unit, 36...Operating device, 37...Display device.

Claims

1. Robots and, A control device for controlling the robot, A robot system comprising a teaching control panel connected to the control device, The control device is Means for generating control information display data for displaying control information set for the robot, The system includes means for transmitting the control information display data to the teaching operation panel, The aforementioned teaching control panel is, Display device and A display means for displaying the control information on the display device using the control information display data transmitted from the control device, A means for capturing the screen of the display device on which the control information is displayed, and saving it as an image data file with the date and time associated with it, A robot system having a comparison means for comparing two image data files with different storage dates and times.

2. The robot system according to claim 1, wherein the comparison means extracts portions that differ between the two image data files.

3. The robot system according to claim 2, wherein the display means displays the two image data files side by side and displays the differing parts in a different display manner than the parts without differences.

4. The robot system according to any one of claims 1 to 3, wherein the comparison means compares the two image data files while excluding a specific range.

5. The robot system according to claim 4, wherein the specified range includes a range in which the date and time are arranged on the screen of the display device on which the control information display data is displayed.

6. The screen of the display device on which the control information display data is displayed includes links to transition to other information screens. The robot system according to claim 5, wherein the teaching control panel further has means for following the link to display the other information screen on the display device.

7. In a teaching control panel connected to the robot's control device, Display device and A means for receiving control information display data from the control device for displaying control information set for the robot by the control device, A means for displaying the control information on the display device using the control information display data transmitted from the control device, A means for capturing the screen of the display device on which the control information is displayed, and saving it as an image data file with the date and time associated with it, A teaching control panel comprising a comparison means for comparing two image data files with different storage dates and times.

8. A computer connected to the robot's control device and having a display device, A means for receiving control information display data from the control device for displaying control information set for the robot by the control device, A means for displaying the control information on the display device using the control information display data transmitted from the control device, A means for capturing the screen of the display device on which the control information is displayed, and saving it as an image data file with the date and time associated with it, A program designed to function as a comparison tool for comparing two image data files with different save dates and times.

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