EP3374137A1

EP3374137A1 - Method and computer program for producing a graphical user interface of a manipulator program

Info

Publication number: EP3374137A1
Application number: EP16798402.0A
Authority: EP
Inventors: Andreas Sedlmayr
Original assignee: KUKA Deutschland GmbH
Current assignee: KUKA Deutschland GmbH
Priority date: 2015-11-11
Filing date: 2016-11-09
Publication date: 2018-09-19
Also published as: KR20180081774A; US10940583B2; CN108349082B; US20180370030A1; CN108349082A; WO2017080648A1; DE102015222164A1

Abstract

The present invention relates to a computer program for producing a graphical user interface (100) of a manipulator program and to a method for navigating through a manipulator program, wherein the manipulator system (1) controlled by the manipulator program comprises at least one manipulator (30). The manipulator program comprises at least one set-down point (AP1 to AP5). The user interface (100) has a graphical program progress indicator (150) which indicates the current program progress of the manipulator program and the at least one set-down point (AP1 to AP5) of the manipulator program. The at least one set-down point (AP1 to AP5) indicated can be selected by a user, and the manipulator program is set up to control the manipulator system (1) in such a manner that the system assumes a system state assigned to the selected set-down point (AP1 to AP5) in response to the selection. The method comprises the steps of: providing a manipulator program; producing the graphical user interface; stopping the manipulator program; receiving a selection of a set-down point on the program progress indicator of the graphical user interface; and guiding the manipulator program to the selected set-down point, with the result that the manipulator program controls the manipulator system in such a manner that the system assumes the system state assigned to the selected set-down point. Such navigation may be advantageous, in particular, in the field of debugging, error correction and parameter correction or parameter optimization.

Description

METHOD AND COMPUTER PROGRAM FOR PRODUCING A GRAPHIC USER INTERFACE OF A MANIPULATOR PROGRAM

Field of the invention

The invention relates to a method and a computer program for generating a graphical user interface of a manipulator program, which comprises

Manipulator system controls. Furthermore, the invention relates to control devices for manipulator systems, which manipulator systems comprise at least one manipulator and are controlled by means of a manipulator program.

background

Manipulator systems typically include at least one manipulator that is configured to physically interact with its environment. For example, such a manipulator may be an industrial robot having at least three movable, freely programmable axes and having an end effector, such as a gripper or a machining tool. such

Manipulator systems are used in industrial applications, such as in automobile production.

Manipulator systems are typically controlled by means of a

Manipulator program, which specifies the system behavior application-specific. The requirement for programming manipulator programs has changed, for example, through the use of new sensors that open up new fields of activity. For example, through the use of force and / or

Momentary sensors, such as those used in the industrial robot LBR iiwa from KUKA AG, are programmed with new functionalities. These include, among other things, search trips with sensors, force-controlled tool operation, MRK (human-robot cooperation) capabilities and sensitive gripping.

The programming of manipulator programs is usually done today

domain-specific programming languages that are based on BASIC or PASCAL, for example. Much of the programming is troubleshooting and process or parameter optimization, which takes place after the programming of the actual manipulator program. Troubleshooting requires significant time and manpower resources, resulting in high costs. Furthermore, high damages threaten, if a mistake is not recognized and leads eg to an interruption of a serial production.

Use common troubleshooting and error correction techniques

typically "Jump To Line" commands These "Jump To Line" commands are used to undo already executed code and / or resume the program in a new location. However, an ordinary "Jump To Line" command can not ensure that the program will continue correctly from the new location because not all of the significant system parameters can be reset to achieve a system state that would match the system state that existed This could, for example, lead to unwanted movements of a manipulator in the manipulator system, for example, a parameter that describes the target manipulator speed can not be reset to a previously valid value Move the "Jump To Line" command with a different manipulator speed than actually intended.

In order to avoid such errors, debugging backwards-in-time methods have been developed which describe the execution history of a program, such as a

Manipulator program, record. These debugging backwards-in-time procedures allow the manipulator program to be "rewinded" and the manipulator program to be deterministically continued since it can always fall back on previously valid system parameters. Consequently, the manipulator program always behaves as if it were executed for the first time. In order to completely capture and store the execution history of the manipulator program and thus each past system state, however, complex sensors and high storage and computational resources are necessary. In particular, such sensors detect parameters of the manipulator system. For example, cameras, joint angle sensors, force and / or moment sensors, or the like are used.

In addition to the high hardware requirements, debugging backwards-in-time processes have complex operating structures, which may cause further errors in the Programming can occur. It is therefore an object of the present invention to provide navigation through a manipulator program, in particular during program creation by means of a graphical user interface. Such navigation can be especially in the field of troubleshooting and

Parameterkorrektur, or parameter optimization be advantageous. Furthermore, it is an object of the present invention to at least partially overcome the above-mentioned disadvantages.

Detailed description of the invention

The object is achieved by a computer program according to claim 1, a method according to claim 16 and by a control device according to claim ig.

In particular, the object is achieved by a computer program comprising instructions for generating a graphical user interface of a

Manipulator program for controlling a manipulator system, wherein the

Manipulator system comprises at least one manipulator, wherein the

Manipulator program includes at least one touchdown point, and wherein the

User interface a graphical program progress display, the current program progress of the manipulator program and the at least one

Touching point of the manipulator program displays, wherein the displayed at least one touchdown point is selectable by a user. Furthermore, the manipulator program is set up to control the manipulator system in such a way that it assumes a system state assigned to the selected touchdown point upon selection.

Typically, the graphical user interface will be displayed on a display of the

Manipulator system displayed. The display can be a display screen or an input screen, such as a touch screen.

The manipulator program controls the manipulator system and in particular at least one manipulator. The controller can for example provide a defined movement of the manipulator or the gripping of workpieces and the machining of workpieces by means of a manipulator. This includes the

Manipulator preferably a plurality of operations, wherein a touchdown point forms the beginning and / or end of an operation. The touchdown points of the manipulator program are preferably each assigned a defined system state of the manipulator system. In the touchdown points is the system state preferably consistent, so that the manipulator program can be continued deterministically from a touchdown point. Consequently, an operation performed from a touchdown point always results in the same result regardless of the execution history of the manipulator program. Preferably, a touchdown point is linked to at least one further touchdown point via at least one operation. The order of operations from a touchdown point to a second touchdown point is referred to as a path. The manipulator program can be represented in program code or in higher program models. Likewise, a representation of the manipulator program in model form is possible. The graphical program progress indicator indicates to the user (regardless of the selected representation of the manipulator program) how far the flow of the manipulator program has progressed. For example, the beginning of a new operation or the successful completion of a performed operation can be displayed. The touchpoints that lie between two operations are also displayed on the program progress bar.

If the manipulator program is not yet completely executable, d. H. if errors are still present, programming errors may occur when the program is run through. For example, these errors lead to an interruption of the manipulator program. Alternatively, the operator may interrupt the execution of the manipulator program if he detects an error. Typical errors are parameterization errors or a wrong sequence of operations in the course of the manipulator program. For example, a wrong movement may be programmed or a parameter threshold of a measured value may not be set high enough. Similarly, parameter values can be calculated incorrectly or passed incorrectly. Other errors, such as caused by

unforeseen events, or by addressing a

Security monitoring is also possible.

If such an error has occurred and has been detected, then a user can select a preparation point preceding the error in the course of the manipulator program on the program progress display. In this case, that will

The manipulator program is then "rewound" so that it again assumes the parameter values that correspond to the touchdown points, and the manipulator system is returned to the system state assigned to the selected touchdown point Aufsetzpunkt possible, regardless of the execution history of the

Manipulator program to achieve the same results.

Before the restart, detected errors can preferably be remedied and / or parameters adjusted. Thus is no demolition and restart of the

Manipulator program necessary to correct an error, but it can be continued immediately from the selected touchdown point. Furthermore, it is not necessary to record all system parameters and the complete execution history, since defined setup points provide suitable starting points. The system state must therefore only be defined for an assigned touchdown point. The path to a selected touchdown point from the current location in the flow of the manipulator program is preferably calculated automatically.

Preferably, a touchdown point defines a location in the flow of the

Manipulator program, which is associated with a system state of the manipulator system. The assignment of a system state of the manipulator system to a

Touchdown allows "rewinding" the manipulator program and the

Manipulator system to the system state from which the manipulator program can be continued.

Preferably, the manipulator program comprises a plurality of operations, wherein the at least one touchdown point forms the beginning and / or the end of an operation and preferably the beginning and / or the end of an operation structure. An operation structure preferably comprises several operations. Preferably, not every operation ends and / or begins at a touchdown point. Preferably, a plurality of operations are combined into an operation structure and these operation structures are linked to one another via touchdown points. This makes it possible to define touchdown points at the points in the flow of the manipulator program whose respectively assigned system state is characteristic and / or important for the correct execution of the manipulator program. For example, a touchdown point can be set after a successful movement of the manipulator along a defined trajectory. Likewise, processing steps that the manipulator performs may be limited by touchdown points.

If several operation structures are executed in succession, the previous operation structure is completed in each case. However, a single first operation may start a second operation that extends beyond the execution time of the first operation. In this case, the context of the operation structure must be remain until the last operation of the operation structure is completed. Thus, the surgical structures do not affect each other. Consequently, parallel operation structures lead to the same results as serially executed operation structures. Furthermore, a change of state of a performed operation structure is permanent.

As described above, the beginning and / or the end of an operation structure may form a touchdown point. From a Aufsetzpunkt can the

Manipulator program will be continued regardless of its execution history. The same results are always achieved.

Preferably, an operational structure is assigned at least one reaction structure, wherein the at least one reaction structure contains reaction operations, in the execution of which the manipulator program controls the manipulator system such that it is guided into a system state that corresponds to a touchdown point.

If an error occurs that is based on a programming error or if it is due to an unforeseen event, then by means of a reaction structure such an attachment point can be reached and the manipulator program can continue from this. The touchdown point does not have to correspond to the last touchdown point. Likewise, from a touchdown point, a different operation structure can be executed, as the one in which the error has occurred. Thus, a started process can be corrected or continued with a new plan without having to abort or restart the manipulator program.

Furthermore, by the direct allocation of operational structure and

Reaction structure allows a clear manipulator program, which errors in programming can be reduced. Furthermore, the

Troubleshooting simplified.

The reaction structure preferably comprises reaction operations which can undo individual operations if the respective operation structure describes a reversible process. If the respective operation structure describes an irreversible process, then reaction operations may be contained in the reaction structure which make it possible to continue with a modified plan, that is to say deviate from the operations performed by a pure rewinding. For example, when placing a rivet by means of a manipulator, the rivet may jam in a bore. In this case correct riveting is not possible. If the manipulator system recognizes this error, the operation structure "riveting" can be broken off and an associated reaction structure initiated.A possible reaction structure in this example could include opening the riveting tool, then forcing the jammed rivet out of the hole a new rivet will be taken, and the operations structure "riveting" will be performed again. Other reaction structures are also possible. For example, depending on the number of failed attempts to execute an operation structure, a response structure may command a different approach. To stay in the previous example, after repeatedly performing the

Operation structure "riveting" which leads to the same error "jammed rivet", commanded another procedure and called an operator. This could be prompted to manually remove the jammed rivet.

An operation structure and an associated reaction structure are preferably implemented in a common semantic module. Thus, in the

Manipulator program a fixed assignment of operations structure and

Reaction structure ensured, whereby the complexity is reduced.

In addition to undoing an operation structure, a reaction structure can also cancel the operation structure and / or continue the operation

Command manipulator program from another touchdown point.

Preferably, the system state of the manipulator system at a touchdown point and / or before and / or after executing an operation structure is not consistent in all system parameters. However, there must be consistency in the essential parameters, so that resuming or repeating the

Manipulator program is possible from this Aufsetzpunkt.

Such non-consistent system parameters may be due, for example, to irreversible processes. For example, if a welding process using the

Controlled manipulator program, the parameter "weld length" is irreversible, since, for example, a certain part of the weld was already welded until the error occurs.If an error occurs, the

Reaction structure does not produce the same system state as before Execution of the welding process. Therefore, in this case, the reaction structure must provide a corresponding reaction operation, which makes it possible to eliminate the causative error of the welding process (eg cleaning of the welding process)

Welding tool) and then continue at the point of the weld at which the weld was interrupted. It is also possible that in this case, the reaction structure provides an alternative approach, after which the interrupted weld is not finished welded, but to be reworked in a manual step. The manipulator program can be continued elsewhere in this case.

Preferably, the execution of an operation structure is interrupted upon the occurrence of a fault, and is then continued with the execution of a reaction structure. Thus, an operation structure of the manipulator program can be repeated immediately after the occurrence of an error or

Manipulator program continue from another touchdown point. This makes it possible to minimize downtime of the manipulator system and

preferably automated, d. H. without an operator intervention, continue. Thus, the productivity of the manipulator system can be increased.

Particularly preferably, not every operation of an operation structure is assigned its own reaction operation to a corresponding reaction structure. Likewise, not every operation structure must have its own reaction structure.

Preferably, an operation structure is assigned a reaction structure, wherein the reaction structure is preferably assigned to at least one further operation structure. Thus, with a reduced number of reaction structures, it is possible to react to errors of different operational structures. Preferably, a reaction structure is assigned to a plurality of operation structures if the operation structures have a common touchdown point.

Preferably, the reaction structure includes at least one reaction operation whose execution leads the manipulator system to a system state corresponding to the touchdown point, which touchdown point forms the beginning of the operation structure in which the failure occurred. Such response structures allow the manipulator system to be "rewound." Thus, the operation structure in which the error occurred can be repeated, and the return to the touchdown point need not correspond to a direct inversion of the operation structure, but can be performed in an alternative way (path) shall be For example, a movement of a manipulator are reversed and the direct return path is blocked, so the manipulator on an alternative

Trajectory can be traced back to the starting point of the movement.

Preferably, the at least one reaction operation undoes an operation of the operation structure. Thus, individual operations can be reversed immediately. This is particularly advantageous in reversible processes. For example, a movement performed by the manipulator can be immediately reduced.

Preferably, an operation of the manipulator program is defined by at least one parameter, wherein the at least one parameter is defined by a

Reaction operation of the reaction structure is changeable. Preferably, the parameter can be adjusted by means of the graphical user interface.

A parameter can be a numeric parameter, such as a

Manipulator speed, or an instruction parameter, the sequence of operations of an operation structure or the selection of the subsequent

Operation structure influenced. Thus, a response operation may cause the operation structure to change with changed parameters (eg, slower

Manipulator speed) is continued or repeated with changed parameters. It is also possible to achieve an alternative branching of the manipulator program.

Preferably, the reaction structure includes at least one reaction operation whose execution continues the interrupted operation structure with at least one changed parameter or executes the interrupted operation structure again. Thus, it is possible to have operational structures in which an error has occurred again or, if necessary, with changed, preferably optimized ones

To execute parameters.

The reaction structure preferably includes at least one reaction operation whose execution interrupts the interrupted operation structure until an operator input, preferably by means of the graphical user interface, has taken place. This makes it possible, if the error has not occurred automatically by the

Manipulator system can be resolved to request the intervention of an operator. For example, the operator may be prompted for a particular one To check system condition, faulty parts or workpieces from the

Manipulator system to remove or replace and / or the like. If the operator confirms to the manipulator system a successful execution of the task, it is possible to continue with the reaction structure or an operation structure. Preferably, depending on the type of error that has occurred,

carried out different reaction operations of the reaction structure. This is advantageous because it allows you to respond individually to different types of errors. Preferably, different reaction structures are performed depending on the error that has occurred. For this purpose, an operational structure is preferably assigned a plurality of reaction structures, which are executed as a function of the error that has occurred.

For example, if an operation structure is aborted as a

If the security mechanism of the manipulator system intervenes, then the operation structure may simply be repeated if the reason for the intervention of the security device was a temporary one. On the other hand, if an error occurs that can not be remedied automatically, an operator may

be called, preferably inputs by means of the graphical

User interface to correct an error that has occurred. For example, it is possible for one error to continue on another

Touchdown point of the manipulator program requires. For example, a

Operations structure are skipped and continue the manipulator program elsewhere. Thus, an erroneous operation of an operation structure and / or a faulty executed operation structure may be followed by a corresponding reaction structure of the manipulator program. This allows error-dependent, differential error resolution and resuming the

Manipulator program from a suitable touchdown point.

Furthermore, parameters can preferably be changed differently depending on the error that has occurred. For example, repeating a reduced-speed operation structure of the manipulator may be performed when a first error occurs or with a changed force threshold of a force monitor of the manipulator when a second error occurs. Other changed parameters are also conceivable. Preferably, a touchdown point allows a correct continuation of the manipulator program from this point in the course of the manipulator program, regardless of the execution history of the manipulator Manipulator program. This ensures that the influence of an error correction or an optimized parameter value can be considered in isolation. If the error correction or the parameter correction leads to the desired results in the continuation of the manipulator program, then it is possible to proceed further. If a further iteration loop is necessary for troubleshooting or parameter correction, it is possible to return to the previous touchdown point and to restart the manipulator program under the same conditions (for example, the same parameterization).

Preferably, the computer program is set up to cause the manipulator program to automatically determine a path from a current location in the course of the manipulator program to the selected touchdown point. If an error occurs in an operation of the manipulator program and it has been detected, before re-executing the erroneous operation, the program must be rewound to a previous touchdown point. This is preferably done by means of at least one suitable reaction structure. For example, a manipulator must be moved back to the system state corresponding to the selected touchdown point. If the computer program can cause the manipulator program to automatically detect a path from a current point in the manipulator program to the selected point of attachment, then the program can be quickly continued or the erroneous operation can be executed again without the operator having to intervene.

Preferably, the computer program is set up, if an automatic determination of the path is not possible to open an input dialog, which allows the manual determination of a path. Manually determining a path to a selected touchdown point allows debugging, debugging, or error correction and parameter optimization to continue without the need to abort and restart the manipulator program. The manual determination of a path can be done, for example, by selecting suitable operations, operational structures and / or reaction structures that undo already performed operations or allow an alternative path to a selected touchdown point. Likewise, the path can be manually configured by the user, for example by means of a joystick or other input device brings the manipulator or the manipulator system in the system state, which is assigned to the selected touchdown point. A feedback to the operator who did the Displaying or simplifying the state of the system can be displayed by means of the graphical user interface.

Preferably, the graphical user interface comprises at least one

Model representation of the manipulator program, wherein the program progress and / or the at least one touchdown point of the manipulator program and / or a selection of a touchdown point of the manipulator program on the

Program progress indicator can be displayed in the model representation of the manipulator program. The program progress may be indicated by, for example, a cursor, an arrow or a colored deposit or the like. The model representation can be a semantic model, a flow chart or another known graphically representable model of a manipulator program.

The touchdown points can be represented for example by appropriate emphasis between the individual operations of the manipulator program. A selection of a touchdown point of the manipulator program can also be identified by a cursor or a color or graphic highlighting. Other display methods are also possible. Thus, the user sees at what point in the flow the manipulator program is located and, if he has one

Touch point selects which touchdown point he selects. It can also be displayed to him, which Aufsetzpunkte are currently selectable, d. H. which touch points are in front of the current location in the course of the manipulator program, or which

Attachment points can be reached via alternative paths.

Preferably, when navigating through the manipulator program by means of the graphical user interface and in particular by means of the

Program progress display shows the user's current selection in places

Program progress indicator, which correspond to a touchdown point caught in order to simplify the selection of the touchdown point. For example, if a user selects a point near a touchdown point, the selection can automatically jump to the corresponding touchdown point. Likewise, if the user guides the selection via the program progress indication, the selection can be made on one

Touchdown point persist, i. be caught in order to inform the user of the position of the touchdown point and to simplify the selection of the touchdown point.

Preferably, the link is assigned to the at least one displayed touchdown point, with the aid of which an input dialog can be opened by means of which the manipulator program can be changed. For example, at

Occurrence of an error and the selection of a touchdown point, a parameter list will be displayed in an input dialog which is characteristic of the operations performed after the touchdown point. Thus directly one can

Parameter optimization are performed. It is also possible to display an editor that can, for example, change the sequence or sequence of operations performed after the touchdown point. Further changes in the manipulator program can also be possible by means of the input dialog. Thus, immediately after the selection of a touchdown point in the error correction mode can be changed, which allows an efficient and fast fixing of errors. Similarly, parameters can be optimized quickly and easily.

Preferably, the graphical user interface comprises at least one graphical representation of the manipulator system, which the manipulator system in a

System state that corresponds to the at least one touchdown point, wherein the at least one graphical representation is linked to the displayed touchdown point. Is displayed on the graphical user interface alongside a progress of

Manipulator also presented the actual manipulator system, so it is easier for an operator, touchdown points, the system state of the

Correspond to the manipulator system. Thus, the selection of a correct or favorable touchdown point is simplified. The graphic representation of the

Manipulator system can be an actual image of the manipulator system, which was created before, during or after the programming of the manipulator program. Likewise, the graphical representation may be an abstracted representation such as a stroke representation or a representation created from a CAD model of the manipulator system.

Preferably, the program progress indicator may further indicate at least one of:

- A link to other data, with more data graphical

Representations and / or model representation of the manipulator program;

a wait and / or synchronization instruction of the manipulator program;

- Repetitions and / or branches of the manipulator program. Graphical representations and model representations of the manipulator program simplify the assignment of a system state to a selectable one

Touchdown. An indication of wait and / or synchronization instructions of the manipulator program also enables the user to perform operations of the manipulator

Manipulator program on the graphical user interface to capture, which have no immediate effect on the manipulator system. Thus, instructions and operations that do not cause any operator-perceivable change in the system state can be detected by the operator. As a result, the operator can check at any time whether the manipulator program is still running or if there may be an error.

The display of repetitions and / or branches of the

Manipulator program allows a clear representation of a flow of the manipulator program. For example, the manipulator program may branch off at a touchdown point if there are different options for proceeding in the touchdown point or in another point of the manipulator program.

For example, a manipulator program may provide that when an object has been grabbed, that object is first inspected, and take further action based on the examination. These can be, for example, a reworking of the object, a removal of the object from a production process or a continuation of the processing of the object. The display of repetitions also makes it possible to save recurring elements of the manipulator program in a space-saving manner.

Preferably, the graphical user interface has at least one of the following buttons: a button by means of which the manipulator program can be stopped;

a button, by means of which a new touchdown point at a

selected location indicated on the program progress display can be defined and / or by means of which a new path can be defined; a button, by which the manipulator program of a

selected location indicated on the program progress indication can continue; a button, by means of which touchdown points can be selected which lie between the currently selected point of the program progress display and the point at which the stop of the manipulator system has taken place;

a button by means of which individual operations of the

Manipulator program can be undone and / or

Aufsetzpunkte can be selected and / or

a button, by means of which already executed touchdown points

can be selected.

The buttons mentioned make it easy and intuitive through the

Manipulator program or a model representation of the manipulator program to navigate. The button which triggers a stop of the manipulator program makes it possible to interrupt the manipulator program if the operator recognizes an error or wants to optimize parameters. The button, by means of which new touch points can be defined, makes it possible to record a system state as a touch point, which is used for a specific error correction or

Parameter optimization is optimal. For example, the distance from two adjacent touchdown points can be reduced by defining a new touchdown point between two existing touchdown points. Thus, you can

Repetitions of already stable operations are avoided and time is saved. The button with which the manipulator program can be continued allows the program to continue after the interruption and, if necessary, after the correction of an error. The touchdown point selection button allows the manipulator program to be "rewinded" and the manipulator system returned to a system state corresponding to the point of attachment selected, and the button used to undo individual operations of the manipulator program allows independent manipulation backward from touchdown points in the course of the manipulator program, in order, for example, to be able to directly check the influence of a changed parameter The button, by means of which already executed touchdown points can be selected, allows a quick selection of the previous one

Placement points. Thus, the essential functions of the computer program can be called up directly from the graphical user interface via buttons.

Preferably, the graphical user interface comprises at least a second program progress indicator, which displays the current program progress of a Manipulator program displays a second manipulator. This is particularly advantageous when the manipulator system comprises a plurality of manipulators. For example, these manipulators can work together. If these are controlled individually, they can also assume different system states. It is therefore advantageous to indicate at which point in the process the respective

Manipulator program is located.

Preferably, the program progress bar is associated with a time scale, the time scale being zoomable. By a zoomable time scale, a smaller or larger portion of the program progress indicator may be displayed on the display of the manipulator system. Thus, both an overview of the entire

Manipulator program as well as details of the manipulator program are displayed. Depending on the nature of the error to be corrected, either an overview, for example to change the order of operations, or details of the manipulator program can be displayed in order to optimize parameters.

Preferably, waiting times of the manipulator system in the

Program progress indicator is displayed in a shallow time scale and more preferably hidden. Consequently, the timescale that the

Program progress indicator assigned is not linear. Thus, times in the course of the manipulator program that do not provide any noteworthy information to the user can be compressed or even hidden, thereby increasing the clarity of relevant information.

Preferably, the program progress indicator is a program progress bar. Program progress bars have the advantage that they can be intuitively captured quickly and give the user a quick feedback on the current

Program progress.

Preferably, the computer program comprising instructions for generating a graphical user interface is integrated in the manipulator program for controlling a manipulator system. It is also possible that the computer program is an independent computer program based on existing computer programs

Manipulator programs can be applied.

The object is further achieved by a method for navigating through a manipulator program by means of a computer program as described above, the method comprising: - Providing a manipulator program;

- generation of the graphical user interface;

- stopping the manipulator program;

- Receipt of a selection of a touchdown point on the

Program progress display of the graphical user interface, and

- Guide the manipulator program to the selected touchdown point, so that the manipulator program controls the manipulator system so that it assumes the system state assigned to the selected touchdown point.

The method makes it possible to stop a manipulator program by means of a graphical user interface if an error has been detected. Similarly, the manipulator program can be stopped when, for example, a breakpoint is set for debugging. A breakpoint gives a place in the expiration of the

Manipulator program at which the manipulator program is stopped or

should be interrupted, for example, to control parameters, optimize or the like. If the manipulator program is stopped, changes to the manipulator program can be made. These changes may include adjusting parameters and / or changing an order and / or adding operations of the manipulator program and / or the like. The receipt of a touchdown point on the program progress display of the graphical user interface makes it possible to control a selected touchdown point or to establish a system state of the manipulator system which corresponds to the touchdown point. Thus, the manipulator program can be "rewound", with the manipulator system assuming a system state corresponding to the touchdown point, after which the manipulator program can be continued from the touchdown point.

Preferably, the method further comprises automatically determining a path from a current location in the flow of the manipulator program to the selected touchdown point and, if automatic detection is not possible, opening an input dialog allowing manual determination of a path. This ensures that the selected touchdown point can be reached. This can on the one hand automatically or on the other hand by an intervention of an operator, as described above, take place.

Preferably, in guiding the manipulator program to the selected touchdown point, an interaction of an operator with the manipulator system may occur are serviced, and preferably an interaction is displayed to an operator. For example, it may be possible that an error that occurs is not

can be corrected automatically by the manipulator system. For example, in a manufacturing process, a component may jam or a defective component may be present. For example, if the manipulator system can not automatically remove these components from the production cycle, operator intervention may be necessary. In this case, the described method may respond to this error case by adding an operator to fix the error. Preferably, the manipulator system or graphical user interface indicates to the operator which error has been detected and / or how the error can be remedied. Thus, even if a touchdown point can not be reached automatically, this can be achieved after intervention of the operator, without the manipulator program must be restarted.

The object is further achieved by a control device for a

Manipulator system comprising a computer program as described above, wherein the graphical user interface preferably on a hand-held

Display device such as a tablet computer and / or smartphone is generated. A control device for a manipulator system is typically the

Associated manipulator system and is used to control the manipulator system. Such control devices may themselves include a display on which the graphical user interface may be displayed. Such displays may be, for example, touchscreens or the like. It is also possible for the control device to display the graphical user display additionally or exclusively on a further display device. Display devices are known and may be, for example, tablet computers or smartphones. This is advantageous because tablet computers and smartphones in large quantities are procurable and cheap to procure.

Description of the figures

In the following the invention will be described by means of the appended figures. It shows

Fig. 1 is a schematic representation of a manipulator system;

FIG. 2 is a schematic model representation of a manipulator program; FIG. 3 shows a schematic illustration of a display device comprising a graphical user interface;

Fig. 4 is a schematic representation of a display device comprising a

further graphical user interface, and Fig. 5 is a schematic representation of a program progress display.

In particular, FIG. 1 shows a manipulator system 1 which comprises a manipulator 30, a control device 20 and a display device 10. The manipulator 30 may be, for example, an industrial robot. The display device 10 may be integrated in the control device 20 or be designed as a separate device. For example, the display device 10, a tablet computer or a

Smartphone, which is wired or wirelessly communicates with the control device 20 of the manipulator system 1. A computer program for generating a graphical user interface of a manipulator program can be installed on the display device 10 and / or on the control device 20. Likewise, the computer program can be integrated into an existing manipulator program.

Fig. 2 shows a graphical representation of a manipulator program 2. The graphical representation of the manipulator program comprises operations S200 to S261, which are represented by circles. The individual arrows are linked with each other via the solid arrows. The operations of the manipulator program can be executed consecutively or also contain branches.

Individual operations are assigned touch points AP 1 to AP5 (shown in squares). In these touchdown points APi to AP5, the system state of

Manipulator system each consistent, ie, starting from the touchdown point operations lead to the same result, regardless of the execution history of the manipulator program. The dotted arrows indicate a possible sequence of the manipulator program. Starting at touchdown point APi, first operation S200 is executed. Subsequently, operation S210 and S211 are proceeded to proceed to operation S220. Based on operation S220 associated with the touchdown point AP3, operations S221, S222, S223, and S225 are performed. In operation S225, an error occurs as indicated by a flash. The manipulator program is consequently interrupted in operation S225. Now, for example, by an operator touchdown AP2 is selected to the

Manipulator program 2 continue. The computer program, which the

Manipulator program 2 is assigned can now automatically a path to

Determine attachment point 2 and have corresponding operations performed by the manipulator program. For this purpose, first operation S250 is executed. In S260, in order to get to touchdown point AP2, operation S262 must be selected as the next operation. This leads to touchdown point AP3. The touchdown point AP3 is linked to touchdown point AP2 via the path defined via operation S263. As a result, the erroneous operation S225 can be automatically returned to the touchdown point AP2. The manipulator system increases according to the

Operations again the system state, which is assigned to the touchdown point AP2.

In addition, a troubleshooting can be performed so that when the manipulator program is re-executed starting from AP2, the

Manipulator program can be continued without having to be interrupted in operation S225. Thereafter, operation S250, S260, and S261, for example, may proceed to get to touchdown point AP5.

Fig. 3 shows a graphic display device 10, which for example a

Smartphone or a tablet computer is. Likewise, the display device can be integrated in a control device of the manipulator system. On the

Display 210, the graphical user interface 100 is displayed. The graphical user interface 100 includes a program progress indicator 150, which is displayed in the form of a program progress bar. The

Program progress bar 150 is, for example, a timeline which indicates by means of a cursor at which point in the course of the manipulator program the manipulator program is currently located.

On another part of the graphical user interface 100 will be

Block structures 210 to 225 are displayed. These block structures 210 to 225 are a model representation of the manipulator program. For example, block 210 represents an operation corresponding to operation S210. Accordingly, block 220 represents an operation corresponding to operation S220 of FIG. Block 220 includes other subordinate blocks corresponding to operations S221, S223, and S225. The current in the course of the manipulator program not executed operations S224, S226 and S227 are in the selected

Model display hidden. Thus, the clarity can be increased.

In addition to the program progress bar 150, the current program progress can also be represented in the model representation, for example by the colored deposit of the current block. For example, here block 223, the operation S 223 corresponds in color. Thus, the operator is notified that the

Manipulator program currently located in operation S223.

4 shows another form of the model representation of the manipulator program on the graphical user interface. In addition to the program progress indicator 150, a graphical model or the like may also be displayed on the graphical user interface 100. For example, the graphic model of the manipulator program already known from FIG. 2 can be displayed. This allows a clear representation of all possible branches of the

Manipulator program. For example, operations are represented as circles and attachment points as rectangles. The currently running operation of the

Manipulator program is highlighted by an appropriate deposit. Additionally, an arrow or cursor 160 may indicate the current program progress.

The program progress indicator 150 is shown in detail in FIG. Of the

Program progress indicator 150 is associated with a time scale 151. Furthermore, a sequence of touchdown points APi to AP4 is shown on the program progress display. The cursor 155 indicates at which point in the expiration of the

Manipulator program is the manipulator program. If, for example, an error occurs after touchdown point AP4 (dashed representation of cursor 155), then the program can be returned to touchdown point AP3. To do this, drag the cursor to the appropriate position in the program progress bar and select the corresponding touch point. Alternatively, a touchdown point can also be selected directly. Buttons 160-165 allow easy operation of the graphical user interface. For example, with button 160, the

Manipulator program are interrupted. With button 161 can be a

Touch point at the current position in the course of the manipulator program defined and / or a new path to be defined. Button 162 allows the program to continue, while button 163 causes the jump to a touchdown point that is after the current location in the flow of the manipulator program. With Button 164, individual operations of the manipulator program can be undone. Button 165 allows direct jump back to

previous touchdown points.

LIST OF REFERENCE NUMBERS

1 manipulator system

10 graphical display device

20 control device

30 manipulator

AP1-AP5 touchdown points

S200-S261 operations

100 graphical user interface

210-225 blocks of a block diagram of the manipulator program

150 program progress indicator

160 arrow / cursor

151 time scale

155 Cursor

160 to 165 buttons

Claims

Claims 1 to 19

A computer program comprising instructions for generating a graphical user interface (100) of a manipulator program for controlling a manipulator system (1), wherein

the manipulator system (1) comprises at least one manipulator (30), wherein

the manipulator program comprises at least one touchdown point (APi to AP5), and wherein the user interface (100) comprises:

a graphical program progress indicator (150) indicating the current program progress of the manipulator program and the at least one touchdown point (APi to AP5) of the manipulator program, wherein

the displayed at least one touchdown point (APi to AP5) is selectable by a user; and

wherein the manipulator program is adapted to the

Manipulator system (1) to be controlled so that it takes on a dial the selected touchdown point (APi to AP5) associated system state.

The computer program of claim 1, wherein a touchdown point (APi to AP5) defines a location in the flow of the manipulator program that includes

System state of the manipulator system (1) is assigned.

Computer program according to one of claims 1 or 2, wherein the

Manipulator program comprises a plurality of operations (Ol to On), wherein the at least one touchdown point (APi to AP5) the beginning and / or end of an operation (Ol to On) and preferably the beginning and / or end of an operation structure comprising a plurality of operations ( Ol to On). Computer program according to one of the preceding claims, wherein a

Touchdown point (APi to AP5) the correct continuation of the

Manipulator program from this point in the course of the

Manipulator program, regardless of the execution history of the

Manipulator program, allows. Computer program according to one of the preceding claims, wherein the computer program is set up to cause the manipulator program to specify a path from a current position in the course of the program

Manipulator program to the selected touchdown point (APi to AP5) to determine automatically.

Computer program according to claim 5, wherein the computer program is set up if an automatic determination is not possible to open an input dialog, which allows the manual determination of a path.

Computer program according to one of the preceding claims, wherein the graphical user interface (100) comprises at least one model representation (2) of the manipulator program, wherein

• the program progress and / or

• the at least one touchdown point (APi to AP5) of the

manipulator program

• and / or a selection of a touchdown point (APi to AP5) of the

manipulator program

can be displayed on the program progress indicator (150) in the model representation (2) of the manipulator program,

Computer program according to one of the preceding claims, wherein the at least one displayed touchdown point (APi to AP5) is associated with a link, with the aid of which an input dialog can be opened, by means of which the manipulator program can be changed.

A computer program according to any one of the preceding claims, wherein the graphical user interface (100) comprises at least one graphical representation of the manipulator system (1) showing the manipulator system (1) in a system state corresponding to the at least one touchdown point (APi to AP5) at least one graphical representation is linked to the displayed touchdown point (APi to AP5).

The computer program of any one of the preceding claims, wherein the program progress indicator (150) is further capable of displaying at least one of:

• A link to other data, with additional data being graphical

Representations and / or model representation of the manipulator program;

• A wait and / or synchronization instruction of the

Manipulator program;

• Repetitions and / or branches of the manipulator program.

The computer program of any one of the preceding claims, wherein the graphical user interface (100) comprises at least one of the following

Buttons have:

a button (160) by means of which the manipulator program can be stopped;

a button (161) by means of which a new touchdown point can be defined at a selected location indicated on the program progress indicator and / or by means of which a new path can be defined; a button (162) by means of which the manipulator program can be continued from a selected location indicated on the program progress indicator;

a button (163), by means of which Aufsetzpunkte can be selected, between the currently selected point of

Program progress indicator and the position at which a stop of the

Manipulator system is done lying;

a button (164), by means of which individual operations of the manipulator program can be undone and / or attachment points (APi to AP5) can be selected, and / or

a button (165), by means of which already completed touchdown points can be selected.

12. Computer program according to one of the preceding claims, wherein the graphical user interface (100) at least a second

The program progress indicator includes which program progress indicator the program progress indicator displays current program progress of a manipulator program displays at least a second manipulator.

13. Computer program according to one of the preceding claims, wherein the program progress indicator (150) is associated with a time scale (151), wherein the time scale (151) is zoomable.

14. Computer program according to one of the preceding claims, wherein the program progress indicator (150) displays waiting times of the manipulator system (1) in a shingled time scale and preferably hides.

The computer program of any one of the preceding claims, wherein the program progress indicator (150) is a program progress bar.

16. Method for navigation by a manipulator program by means of a

A computer program according to any one of the preceding claims, the method comprising:

• providing a manipulator program;

• generating the graphical user interface (100);

• stopping the manipulator program;

• Receive a selection of a touchdown point (APi to AP5) on the

Program progress indicator (150) of the graphical user interface, and

• Guide the manipulator program to the selected one

Touchdown point fAPi to AP5) so that the manipulator program controls the manipulator system (1) to assume a system state associated with the selected touchdown point (APi to AP5).

17. The method of claim 16, further comprising:

Automatically determining a path from a current location in the flow of the manipulator program to the selected touchdown point (APi to AP5) and, if automatic detection is not possible,

Open an input dialog, which allows the manual determination of a path.

18. The method according to any one of claims 16 or 17, wherein in guiding the manipulator program to the selected touchdown point (APi to AP5), an interaction of an operator with the manipulator system (1) can be waited, and preferably the interaction for an operator is displayed ,

19. A control system (20) for a manipulator system (1), comprising a computer program according to any one of claims 1 to 15, wherein the graphical user interface (100) is preferably on a hand-held

Display device (10), such as a tablet computer and / or a smartphone is generated.