KR102118293B9 - 터치스크린을 포함하는 휴대용 단말을 이용한 로봇 장치 제어 방법 - Google Patents

터치스크린을 포함하는 휴대용 단말을 이용한 로봇 장치 제어 방법

Info

Publication number
KR102118293B9
KR102118293B9 KR1020190164207A KR20190164207A KR102118293B9 KR 102118293 B9 KR102118293 B9 KR 102118293B9 KR 1020190164207 A KR1020190164207 A KR 1020190164207A KR 20190164207 A KR20190164207 A KR 20190164207A KR 102118293 B9 KR102118293 B9 KR 102118293B9
Authority
KR
South Korea
Prior art keywords
device including
portable device
controlling method
robot controlling
including touchscreen
Prior art date
Application number
KR1020190164207A
Other languages
English (en)
Other versions
KR102118293B1 (ko
Inventor
신만수
김심동
Original Assignee
주식회사 아진엑스텍
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 주식회사 아진엑스텍 filed Critical 주식회사 아진엑스텍
Priority to KR1020190164207A priority Critical patent/KR102118293B1/ko
Application granted granted Critical
Publication of KR102118293B1 publication Critical patent/KR102118293B1/ko
Priority to US17/088,906 priority patent/US11485023B2/en
Publication of KR102118293B9 publication Critical patent/KR102118293B9/ko

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
    • G06F3/0487—Interaction techniques based on graphical user interfaces [GUI] using specific features provided by the input device, e.g. functions controlled by the rotation of a mouse with dual sensing arrangements, or of the nature of the input device, e.g. tap gestures based on pressure sensed by a digitiser
    • G06F3/0488—Interaction techniques based on graphical user interfaces [GUI] using specific features provided by the input device, e.g. functions controlled by the rotation of a mouse with dual sensing arrangements, or of the nature of the input device, e.g. tap gestures based on pressure sensed by a digitiser using a touch-screen or digitiser, e.g. input of commands through traced gestures
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/06—Control stands, e.g. consoles, switchboards
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/081—Touching devices, e.g. pressure-sensitive
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/06—Safety devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/409—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by using manual data input [MDI] or by using control panel, e.g. controlling functions with the panel; characterised by control panel details or by setting parameters
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
    • G05B19/425—Teaching successive positions by numerical control, i.e. commands being entered to control the positioning servo of the tool head or end effector
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/017—Gesture based interaction, e.g. based on a set of recognized hand gestures
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
    • G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
    • G06F3/0346—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of the device orientation or free movement in a 3D space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
    • G06F3/0481—Interaction techniques based on graphical user interfaces [GUI] based on specific properties of the displayed interaction object or a metaphor-based environment, e.g. interaction with desktop elements like windows or icons, or assisted by a cursor's changing behaviour or appearance
    • G06F3/0482—Interaction with lists of selectable items, e.g. menus
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
    • G06F3/0484—Interaction techniques based on graphical user interfaces [GUI] for the control of specific functions or operations, e.g. selecting or manipulating an object, an image or a displayed text element, setting a parameter value or selecting a range
    • G06F3/04845—Interaction techniques based on graphical user interfaces [GUI] for the control of specific functions or operations, e.g. selecting or manipulating an object, an image or a displayed text element, setting a parameter value or selecting a range for image manipulation, e.g. dragging, rotation, expansion or change of colour
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
    • G06F3/0487—Interaction techniques based on graphical user interfaces [GUI] using specific features provided by the input device, e.g. functions controlled by the rotation of a mouse with dual sensing arrangements, or of the nature of the input device, e.g. tap gestures based on pressure sensed by a digitiser
    • G06F3/0488—Interaction techniques based on graphical user interfaces [GUI] using specific features provided by the input device, e.g. functions controlled by the rotation of a mouse with dual sensing arrangements, or of the nature of the input device, e.g. tap gestures based on pressure sensed by a digitiser using a touch-screen or digitiser, e.g. input of commands through traced gestures
    • G06F3/04883—Interaction techniques based on graphical user interfaces [GUI] using specific features provided by the input device, e.g. functions controlled by the rotation of a mouse with dual sensing arrangements, or of the nature of the input device, e.g. tap gestures based on pressure sensed by a digitiser using a touch-screen or digitiser, e.g. input of commands through traced gestures for inputting data by handwriting, e.g. gesture or text
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/048—Interaction techniques based on graphical user interfaces [GUI]
    • G06F3/0487—Interaction techniques based on graphical user interfaces [GUI] using specific features provided by the input device, e.g. functions controlled by the rotation of a mouse with dual sensing arrangements, or of the nature of the input device, e.g. tap gestures based on pressure sensed by a digitiser
    • G06F3/0488—Interaction techniques based on graphical user interfaces [GUI] using specific features provided by the input device, e.g. functions controlled by the rotation of a mouse with dual sensing arrangements, or of the nature of the input device, e.g. tap gestures based on pressure sensed by a digitiser using a touch-screen or digitiser, e.g. input of commands through traced gestures
    • G06F3/04886—Interaction techniques based on graphical user interfaces [GUI] using specific features provided by the input device, e.g. functions controlled by the rotation of a mouse with dual sensing arrangements, or of the nature of the input device, e.g. tap gestures based on pressure sensed by a digitiser using a touch-screen or digitiser, e.g. input of commands through traced gestures by partitioning the display area of the touch-screen or the surface of the digitising tablet into independently controllable areas, e.g. virtual keyboards or menus
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/16—Sound input; Sound output
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/16—Sound input; Sound output
    • G06F3/167—Audio in a user interface, e.g. using voice commands for navigating, audio feedback
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36159—Detachable or portable programming unit, display, pc, pda
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/36—Nc in input of data, input key till input tape
    • G05B2219/36168—Touchscreen

Landscapes

  • Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • General Health & Medical Sciences (AREA)
  • Audiology, Speech & Language Pathology (AREA)
  • Health & Medical Sciences (AREA)
  • Automation & Control Theory (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Multimedia (AREA)
  • Manufacturing & Machinery (AREA)
  • Manipulator (AREA)
  • User Interface Of Digital Computer (AREA)
KR1020190164207A 2019-12-10 2019-12-10 터치스크린을 포함하는 휴대용 단말을 이용한 로봇 장치 제어 방법 KR102118293B1 (ko)

Priority Applications (2)

Application Number Priority Date Filing Date Title
KR1020190164207A KR102118293B1 (ko) 2019-12-10 2019-12-10 터치스크린을 포함하는 휴대용 단말을 이용한 로봇 장치 제어 방법
US17/088,906 US11485023B2 (en) 2019-12-10 2020-11-04 Robot controlling method using portable device including touchscreen

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1020190164207A KR102118293B1 (ko) 2019-12-10 2019-12-10 터치스크린을 포함하는 휴대용 단말을 이용한 로봇 장치 제어 방법

Publications (2)

Publication Number Publication Date
KR102118293B1 KR102118293B1 (ko) 2020-06-02
KR102118293B9 true KR102118293B9 (ko) 2023-07-05

Family

ID=71090690

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020190164207A KR102118293B1 (ko) 2019-12-10 2019-12-10 터치스크린을 포함하는 휴대용 단말을 이용한 로봇 장치 제어 방법

Country Status (2)

Country Link
US (1) US11485023B2 (ko)
KR (1) KR102118293B1 (ko)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10866783B2 (en) * 2011-08-21 2020-12-15 Transenterix Europe S.A.R.L. Vocally activated surgical control system

Family Cites Families (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2750103B2 (ja) * 1995-09-21 1998-05-13 川崎重工業株式会社 ロボットの教示装置
DE10142738C1 (de) * 2001-08-24 2003-04-17 Storz Endoskop Prod Gmbh Vorrichtung zur Bedienung eines medizinischen Gerätes, insbesondere eines beweglichen Operationstisches
AU2003218520A1 (en) * 2002-04-12 2003-10-27 Keba Ag Mobile arithmetic unit and extension device for industrial machine control
JP2004355195A (ja) * 2003-05-28 2004-12-16 Yaskawa Electric Corp ロボット用教示操作装置
US20160065414A1 (en) * 2013-06-27 2016-03-03 Ken Sundermeyer Control system user interface
KR20090042342A (ko) * 2007-10-26 2009-04-30 주식회사 메디슨 소프트 버튼을 포함하는 장치 및 그의 속성 변경 방법
US9250768B2 (en) * 2012-02-13 2016-02-02 Samsung Electronics Co., Ltd. Tablet having user interface
DE102012106448B4 (de) * 2012-07-17 2016-03-31 Reis Group Holding Gmbh & Co. Kg Verfahren zur Bedienung eines Industrieroboters sowie sicheres Überwachungsgerät zur Durchführung des Verfahrens
US10037130B2 (en) * 2013-09-13 2018-07-31 Samsung Electronics Co., Ltd. Display apparatus and method for improving visibility of the same
DE102013219155A1 (de) * 2013-09-24 2015-03-26 Siemens Aktiengesellschaft Verfahren zur Steuerung von Bewegungen eines medizinischen Gerätes, Steuergerät hierfür sowie medizinisches Gerät
WO2016014137A2 (en) * 2014-05-06 2016-01-28 Neurala, Inc. Apparatuses, methods, and systems for defining hardware-agnostic brains for autonomous robots
WO2016017367A1 (ja) * 2014-07-30 2016-02-04 ヤンマー株式会社 遠隔操作装置
JP6565151B2 (ja) * 2014-09-19 2019-08-28 株式会社デンソーウェーブ 産業用ロボット操作装置
JP6497021B2 (ja) * 2014-10-01 2019-04-10 株式会社デンソーウェーブ ロボット操作装置、ロボットシステム、及びロボット操作プログラム
US9965173B2 (en) * 2015-02-13 2018-05-08 Samsung Electronics Co., Ltd. Apparatus and method for precise multi-touch input
US11079915B2 (en) * 2016-05-03 2021-08-03 Intelligent Platforms, Llc System and method of using multiple touch inputs for controller interaction in industrial control systems
JP6619398B2 (ja) * 2017-07-31 2019-12-11 ファナック株式会社 操作端末一体型の機械操作盤及び外付けデバイス
JP6904287B2 (ja) * 2018-03-14 2021-07-14 オムロン株式会社 制御装置、制御方法、及び制御プログラム
EP3875230A4 (en) * 2018-11-01 2022-07-27 Canon Kabushiki Kaisha EXTERNAL INPUT DEVICE, ROBOT SYSTEM, CONTROL METHOD FOR ROBOT SYSTEM, CONTROL PROGRAM AND RECORDING MEDIA

Also Published As

Publication number Publication date
US20210170606A1 (en) 2021-06-10
KR102118293B1 (ko) 2020-06-02
US11485023B2 (en) 2022-11-01

Similar Documents

Publication Publication Date Title
GB201818701D0 (en) Control device and methods for a robot system
EP3577300A4 (en) APPARATUS COMPRISING A CONTROL DEVICE AND METHOD OF USING THE SAME
PT3609732T (pt) Dispositivo de controlo e processo para o controlo de uma estação de carregamento
EP3149862A4 (en) Mobile device, robot cleaner, and method for controlling the same
EP3335409A4 (en) Portable device and method for controlling screen thereof
EP3135445A4 (en) Robot arm device, and method and program for controlling robot arm device
EP3126936A4 (en) Portable apparatus for controlling robot and method thereof
IL256401A (en) Method and device for remotely controlling robotic pool cleaner
GB201704535D0 (en) Communication apparatus and control method for controlling the same
EP3683022A4 (en) DEVICE AND PROCEDURE FOR CONTROLLING A COOPERATIVE ROBOT
EP3996884A4 (en) MOBILE ROBOT DEVICE AND METHODS FOR CONTROLLING A MOBILE ROBOT DEVICE
EP3459031A4 (en) METHOD AND APPARATUS FOR A MOBILE ROBOTIC UNIT
DK3200961T3 (da) Fremgangsmåde og indretning til styring/regulering af en robotmanipulator
DK3261808T3 (da) Indretning og fremgangsmåde til styring og regulering af en robotmanipulator
EP3308505A4 (en) Method and apparatus for controlling indoor device
EP3316759A4 (en) METHOD AND APPARATUS FOR CONTROLLING A MANIPULATOR
EP3354418A4 (en) METHOD AND DEVICE FOR CONTROLLING ROBOT
EP3524558A4 (en) DEVICE AND METHOD FOR CONTROLLING THE OPERATION OF AN ELEVATOR USING A MONITOR
EP3408204A4 (en) METHOD AND DEVICE FOR CONTROLLING MOTION IN A WEIGHT COMPENSATING SYSTEM
SG11202002285VA (en) Point stabilization control method and apparatus for a mobile robot
EP3605142A4 (en) SELF-PROPELLED DEVICE AND ITS CONTROL PROCESS
EP3299922A4 (en) Robot device and movement control method for robot device
CA210008S (en) Device controller
GB2600843B (en) Robot control device
SG11202010588UA (en) Control device for massager and method therefor

Legal Events

Date Code Title Description
E701 Decision to grant or registration of patent right
GRNT Written decision to grant
G170 Re-publication after modification of scope of protection [patent]