KR102403568B1 - Robot teaching apparatus and method for teaching robot using the same - Google Patents

Abstract

The present invention relates to a robot teaching apparatus for controlling a programmable robot, and more particularly, to a robot teaching apparatus for robot programming, simulation and control.

Description

Robot teaching device and robot teaching method using the same

The present invention relates to a robot teaching apparatus for teaching a programmable robot, and more particularly, to a robot teaching apparatus (teaching pendant) for robot programming, simulation and control.

Industrial programmable robots are generally known. A common method of programming such robots is to guide certain parts of the robot, such as end effectors and tools on the robot arm, from an initial point in space, for example, and pick-up the end effector's final destination. -up location), the method of sending through the desired path can be used.

Robots or external control devices store information related to movement from an initial position to a final position. After this learning session, the robot can repeat the above procedures and perform the task to be performed.

However, in this robot teaching, the teaching pendant for teaching the robot is complicated and difficult to use, making it difficult for beginners to use. For this reason, there is a problem in that the utility of the teaching pendant is poor.

An object of the present invention is to provide a robot teaching method, program, and apparatus that allow a user to intuitively interact with a robot teaching apparatus according to each situation of the teaching task.

Another object of the present invention is to provide a user interface for teaching a robot while exchanging messages between a user and a robot teaching device.

In addition, an object of the present invention is to provide a user interface that can sequentially interact with the user for each step necessary to complete the robot teaching task.

Another object of the present invention is to provide a user interface that enables a user to predict and prevent a mistake frequently made during a robot teaching task in advance.

In addition, an object of the present invention is to provide a user interface that allows a user to recognize and recover an error situation that occurs when driving and controlling a robot.

The problems to be solved by the present invention are not limited to the problems mentioned above, and other problems not mentioned will be clearly understood by those skilled in the art from the following description.

The present invention for solving the above problems provides a robot teaching method for teaching a robot. Specifically, the present invention provides at least one of outputting a teaching interface from a robot teaching device to teach the operation of the robot, communication information between the robot and the robot teaching device, status information of the robot, and status information of the robot teaching device monitoring one, and outputting a message related to the monitoring result to the teaching interface when the monitoring result satisfies a preset condition, wherein the message is the robot teaching based on the monitoring result It provides a robot teaching method comprising at least one of a text and an image for inducing input of information to the device.

In an embodiment, in the step of outputting the message, the content of the message may change according to the input of the information. The message is output to overlap the execution screen of the teaching interface, and the execution screen of the teaching interface may be maintained while the content of the message is changed.

In an embodiment, the preset condition may be that an error has occurred or an error is expected to occur in at least one of the operation and control of the robot.

In an embodiment, the preset condition may be a state in which information input to be utilized for at least one of operation and control of the robot is required.

In one embodiment, the present invention further comprises displaying a simulation area including motion information of the robot and a control area for receiving an input related to control of the robot on a teaching interface of the robot teaching apparatus, the The message may be displayed to be associated with a region related to the preset condition among the simulation region and the control region.

In an embodiment, the message may include an input area for receiving information to be utilized for at least one of operation, control, and setting of the robot related to the preset condition.

In one embodiment, the present invention comprises the steps of: the robot teaching device receiving information from a user through the input area; The method may further include monitoring at least one of the states of the teaching device and outputting a related message based on a result of monitoring performed after the message is output.

In an embodiment, the preset condition is that it is detected that the attachment device is mounted on the robot, and the message may include at least one of a text and an image for guiding the user to move the robot in a specific motion. .

In one embodiment, the present invention, after the message is output, the step of the robot teaching device monitoring the movement of the robot, and the robot teaching device based on the motion monitoring result, the setting related to the additional device It may further include the step of performing.

In addition, the present invention provides a display unit for outputting a teaching interface, a communication unit configured to transmit and receive data to and from the robot, and at least one of communication information between the robot and the robot teaching device, the status information of the robot, and the status information of the robot teaching device To provide a robot teaching apparatus including a control unit for monitoring and controlling a display unit to output a message related to the monitoring result to the teaching interface when the monitoring result satisfies a preset condition. The message may include at least one of a text and an image for inducing input of information to the robot teaching device based on the monitoring result.

In addition, the present invention provides a robot teaching system including a robot and a robot teaching apparatus for performing the above robot teaching method.

According to the present invention as described above, it has various effects as follows.

According to the present invention, since the user performs the teaching task while recognizing the development of the situation through the user interface according to the present invention, information and actions necessary for completing the robot teaching task are not omitted.

In addition, according to the present invention, since all tasks to be performed by the user with the highest priority can be performed within the area where the message is displayed, the user's work concentration and work speed can be increased.

In addition, according to the present invention, since the monitoring of the robot and the resolution of problems are sequentially implemented at each stage of the robot teaching task through the interaction between the user and the robot teaching device, even beginners can easily teach the robot through this. be able to

In addition, according to the present invention, since the robot teaching device provides the user with information necessary for mounting the additional device through interaction with the user, and collects the information required for setting the additional device from the user, the user can install the additional device mounted on the robot. Additional devices can be easily mounted on the robot without specific knowledge of the device.

In addition, according to the present invention, the number of robot errors is minimized and the number of robot errors is minimized because the user recognizes this when a user's error reaches a work stage in which frequent occurrence is reached, and the user can prevent the mistake through a minimum amount of work. work time can be shortened.

In addition, according to the present invention, since an interface for error recovery and error situations occurring during robot operation and control is provided in one message, the user can immediately perform an error recovery action upon recognizing an error.

In addition, according to the present invention, it is possible to improve the user's robot use proficiency by itself without additional prior (manual, educational curriculum, etc.) learning through the repeated interaction process with the robot teaching device.

Effects of the present invention are not limited to the effects mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art from the following description.

1 is a diagram schematically showing a robot teaching system according to an embodiment of the present invention.
2 is a block diagram illustrating components included in a robot teaching device (teaching pendant) according to an embodiment of the present invention.
3 is a conceptual diagram illustrating a main screen of a robot teaching device (teaching pendant) according to an embodiment of the present invention.
4 is a conceptual diagram for explaining the operation of the programmable robot controlled by the robot teaching device according to an embodiment of the present invention.
5 is a flowchart illustrating an embodiment of outputting a message according to the present invention.
6 and 7 are conceptual diagrams illustrating an embodiment of outputting a message according to the present invention.
8A to 10C are conceptual diagrams illustrating an embodiment of using a message for mounting an additional device according to an embodiment of the present invention.
11 is a conceptual diagram illustrating an embodiment in which a message is used for a function executed for the first time by a user according to an embodiment of the present invention.
12 is a conceptual diagram illustrating an embodiment of using a message in order to prevent a mistake frequently made by a user according to an embodiment of the present invention.
13 to 17 are conceptual diagrams illustrating an embodiment of using a message for robot error recovery according to an embodiment of the present invention.

Advantages and features of the present invention and methods of achieving them will become apparent with reference to the embodiments described below in detail in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but may be implemented in various different forms, and only the present embodiments allow the disclosure of the present invention to be complete, and those of ordinary skill in the art to which the present invention pertains. It is provided to fully understand the scope of the present invention to those skilled in the art, and the present invention is only defined by the scope of the claims.

The terminology used herein is for the purpose of describing the embodiments and is not intended to limit the present invention. In this specification, the singular also includes the plural unless specifically stated otherwise in the phrase. As used herein, “comprises” and/or “comprising” does not exclude the presence or addition of one or more other components in addition to the stated components. Like reference numerals refer to like elements throughout, and "and/or" includes each and every combination of one or more of the recited elements. Although "first", "second", etc. are used to describe various elements, these elements are not limited by these terms, of course. These terms are only used to distinguish one component from another. Accordingly, it goes without saying that the first component mentioned below may be the second component within the spirit of the present invention.

Unless otherwise defined, all terms (including technical and scientific terms) used herein will have the meaning commonly understood by those of ordinary skill in the art to which this invention belongs. In addition, terms defined in a commonly used dictionary are not to be interpreted ideally or excessively unless specifically defined explicitly.

Hereinafter, preferred embodiments of the present invention will be described in more detail with reference to the accompanying drawings. In describing the present invention, in order to facilitate the overall understanding, the same reference numerals are used for the same components in the drawings, and duplicate descriptions of the same components are omitted.

Three methods may be used for teaching the robot, and the three methods may include an offline programming method, an online programming method, and a direct teaching method. Offline programming is a programming method that operates based on the simulator, is mainly used for path generation and verification, and is a programming method executed through the EtherCAT master controller.

Online programming is a method using a robot teaching device, which is mainly used for robot motion commands and path generation/repeat work, and is performed by wired/wireless connection between the robot teaching device and the robot.

Direct teaching is a method in which a user (or an operator) learns a path by directly manipulating the robot, and the support of a control algorithm may be required. This is a system that allows the user to intuitively determine the target trajectory of the robot, in which the user holds the end of the robot and directly applies force and moment to the robot to drive the robot as intended. Due to this, the user can simply generate target trajectory information of the robot, and the robot is controlled by memorizing this path and then following it during automatic operation.

The robot teaching device according to an embodiment of the present invention is a user interface device for controlling the robot, and may include a Teaching Pendant (TP). Teaching pendants are equipment used in industrial equipment or robots, and mainly include touchpads (or key buttons) and display screens (e.g., It can be implemented in the form of a tablet PC using LCD and LED screens), and it can be used by being connected to the robot by wire or wirelessly.

robot teaching system

1 is a diagram schematically showing a robot teaching system according to an embodiment of the present invention. 1, the robot teaching system according to an embodiment of the present invention can be programmed based on (a) offline programming and (b) online programming. The robot teaching system according to an embodiment of the present invention may include at least one of the robot teaching apparatus 100 (eg, it may be a teaching pendant), a master controller, and the robot 300 . The present invention can be used in both an online programming-based robot teaching system and an offline programming-based robot teaching system. In addition, the robot teaching system is a term that defines a system based on the teaching, and may be referred to as a robot system based on a robot.

Referring to FIG. 1A , in the offline programming control according to an embodiment of the present invention, the robot teaching device 100 and the master controller 200 transmit control signals or programming data to the control of the robot 300 . It is transmitted to a system (not shown) to drive the robot 300 . The control system of the robot 300 may control it so that an operation corresponding to programming is performed by applying a current to a driving means for driving each robot part.

The robot teaching apparatus 100 according to an embodiment of the present invention may be a touch-based teaching pendant. That is, an offline programming function can be provided by mounting a simulator on the function of the teaching pendant used for online programming. The robot teaching apparatus 100 may implement this by mounting a robot/sensor/environment modeling mobile robot and humanoid ROS (software) based on an open source dynamics engine (ODE). The software can run on various operating systems, such as Windows or Linux. The robot teaching apparatus 100 may verify the collision avoidance algorithm and the optimal path calculation algorithm through the simulator.

The robot teaching apparatus 100 may be used to control the functions and movements of parts of the robot 300 including the end effector of the robot 300 . To this end, the robot teaching apparatus 100 includes a storage unit for storing pre-stored robot-related movements and functions as well as related information about the surrounding environment in which the robot 300 operates and objects handled by the robot 300. can The robot teaching apparatus 100 may communicate with the robot 300 and control the robot 300 during programming of the robot 300 . It is also possible to search for a pattern of movements of the robot 300 and a pre-programmed scenario. Thus, this scenario or robot-related information can be used to perform different tasks within the setup needed to re-program the robot for a new test.

The master controller 200 may be a fieldbus for controlling a plurality of distributed sensors and drivers in real time through Ethernet communication using an Internet Gateway of Things (IGoT) that can immediately provide an Internet of Things (IoT) service. Here, IGoT is a gateway capable of instantaneous Internet of Things service, and it is possible to utilize fieldbus RS485 and CAN-based sensors for the Industrial Internet of Things, and to utilize EtherCAT for real-time distributed control. That is, the master controller 200 may be a Linux-based real-time controller supporting EtherCAT. Through the master controller 200, it is possible not only to secure the stability and high performance of the industrial controller, but also to utilize the real-time operating system and EtherCAT master software to lower the cost of owning and maintaining the product. The master controller 200 may be connected to the robot teaching device 100 through USB, and may receive programming data or a control signal from the robot teaching device 100 to drive the robot. The master controller 200 may include a Science and Technology Embedded Platform (STEP).

In the online programming control, the robot teaching apparatus 100 may control the robot 300 online using EtherCAT. That is, according to an embodiment of the present invention, by implementing the robot teaching apparatus 100 integrated with the real-time robot controller, online programming and offline programming can be integrated.

Robot teaching device (teaching pendant)

2 is a block diagram illustrating components included in the robot teaching device (teaching pendant) according to an embodiment of the present invention, and FIG. 3 is a main screen of the robot teaching device (teaching pendant) according to an embodiment of the present invention. is a conceptual diagram showing

Referring to FIG. 2 , the robot teaching apparatus 100 according to an embodiment of the present invention includes a display unit 110 , a user input unit 120 , a control unit 130 , a storage unit 140 , a communication unit 150 , and a simulation. It may include a unit 160 .

The display unit 110 provides menus related to programming steps to be performed by the user during programming of the robot and/or a computer-generated representation (eg, 3D) representing the shape of the robot during programming, actual operation or test execution of the robot. CAD images) can be displayed. The display unit 110 may display a graph composed of a time axis and a motion information axis indicating a value of a degree of movement of at least one of robot parts. Meanwhile, various messages for assisting a user's work may be displayed on the display unit 110 . This will be described later.

The user input unit 120 may input an instruction word programmed into the control system for the robot. The user input unit 120 may receive an instruction input from the user, which may include a touch screen. The touch screen may receive a user input through a touch pen or a user's hand. The touch screen allows a 3D representation of the robot to be displayed with various icons for positioning and orienting a specific part of the robot in an arbitrary position, and clicks on the icons can be received.

The controller 130 is a processor for programming and controlling the robot. It may consist of a hardware processor. The controller 130 may generate a programming code input to the robot according to the instruction input from the user input unit 120 . Alternatively, it can generate a control signal that can control the robot. The controller 130 may generate a graph composed of a time axis and a movement degree value by analyzing the flow over time based on the movement or coordinate values of each part of the robot. In addition, by specifying the time, the target robot part, and the waypoint using the graph, the position of the waypoint may be changed by changing the value of the movement degree of the corresponding part, or a new waypoint may be added. The controller 130 may calculate the optimal path of the robot by identifying the surrounding environment of the robot, for example, obstacles and prohibited areas. It is also possible to obtain detailed coordinates of a position or spatial area of a robot by moving a tool or one or more joints of the robot through sequences of waypoints or through a path in space.

To this end, the control unit 130 is basically equipped with a dynamic dynamic control algorithm for each arm, an impedance control algorithm, a compliance control algorithm, a collision detection and avoidance algorithm according to arm manipulation, an object impedance control algorithm, and an internal force impedance control algorithm. and verification of such an algorithm may be performed through simulation of the simulation unit 160 .

Also, the controller 130 may control the display 110 to display previous and next menus and icons according to each click of menus and icons. Control 130 may have access to pre-programmed templates that describe preferred movements, actions and other characteristics associated with the robot, at least during programming of the robot, with respect to certain actions. At this point, the template can define different movements of the robot to optimize and facilitate subsequent programming of the robot. The template may be stored in the storage unit 140 .

The storage unit 140 may store information related to programming and operations of the robot, and may also store information about obstacles to be avoided during movement of the robot and/or information about the robot's surroundings, such as prohibited areas in space. This may include flash memory, such as RAM, ROM, and/or non-volatile memory, such as hard memory. The storage unit 140 stores information indicating the initial position of the tool, the activation/triggering parameters of the tool at the initial position, the final position of the tool, the activation/triggering parameters at the final position, and the space between the initial position and the final position. It is possible to store information related to the path on the

The communication unit 150 may receive robot-related information such as movement information or location information of the robot from a sensor attached to the actual robot. This can be implemented with a communication processor. Also, the communication unit 150 may be configured to transmit/receive data between robots.

The simulation unit 160 may generate the motion of the real robot as a computer-generated expression based on information received from the real robot or information from an external sensor of the robot teaching device to perform the simulation. Also, apart from the real robot, it is possible to simulate the movement of the robot virtually by generating a computer-generated representation of the robot according to the programming generated by the control unit 130 . This simulated computer-generated representation may be transmitted to and displayed on the display unit 110 .

That is, the simulation information described in this specification may include at least one of information describing the actual motion of the robot and information describing the virtual motion of the robot.

Information describing the actual movement of the robot may be expressed through at least one of a static image or a dynamic image. Furthermore, the information describing the actual movement of the robot corresponds to the appearance of the robot, and each joint (or joint) of the robot It may be an image depicting the position of

Similarly, the information describing the virtual motion of the robot may be expressed through at least one of a static image or a dynamic image. Furthermore, the information describing the virtual motion of the robot may include the appearance and joints of the robot expected when the robot actually moves. It may be an image for the cover of

In the present invention, for convenience of explanation, a function or process performed by the robot teaching device is expressed using the “robot teaching device” as the main subject, such as “the robot teaching device outputs information”. Here, “under control” may mean that data is transmitted and received through communication between the robot teaching device, the master controller, and the robot, and a series of processes are performed based thereon.

In addition, being “under the control” means that the controller of the robot teaching device can perform the functions described below based on the command, program or function provided by the robot teaching device according to the present invention. can do.

The robot teaching apparatus according to the present invention may display various screen information on the display unit 110 .

Specifically, referring to FIG. 3 , a plurality of icons 111 related to functions executable in the robot teaching apparatus 100 may be displayed on the display unit. The user may execute a specific function by touching any one of the icons.

Meanwhile, the display unit 110 may output a computer-generated representation 112 for the robot. Here, the computer-generated representation 112 is simulation information related to the operation and control of the robot. The computer-generated representation 112 is an image of a simulation result performed by the simulation unit 160 or the master controller 200 based on information authorized by the user. In this specification, the region in which the computer-generated representation 112 is displayed is referred to as a simulation region.

The computer-generated representation is displayed in the same shape as the real robot, and when the type of robot to be controlled is different, the computer-generated representation 112 may also be different. The teaching robot 100 may use the computer-generated representation 112 to provide the user with the shape of the robot and the expected movement of the robot according to specific control commands. That is, computer-generated representation 112 includes moving images as well as still images.

Additionally, the teaching robot 100 may highlight a portion 112 ′ of the computer-generated representation 112 , so that the user can recognize that there is a problem in a particular part of the robot. Embodiments utilizing computer-generated representations 112 are described below.

Meanwhile, an area 113 in which project information can be input may be displayed on the display unit 110 .

Meanwhile, the display unit 110 may display a plurality of tabs 114 for selecting the type of control command applied to the robot. The user may select a type of control command to be applied to the robot by touching any one of the plurality of taps. Information to be input into the control command input window 115 may vary according to the type of tab selected by the user.

In this specification, the plurality of icons 111 , the area 113 for inputting project information, the plurality of tabs 114 and the input window 115 are referred to as a control area. Accordingly, the screen information output to the display unit of the robot teaching apparatus according to the present invention includes a simulation area and a control area.

The above-described screen information displayed on the display unit represents an embodiment according to the present invention, and the information displayed on the display unit is not limited to the above-listed contents.

robot movement

4 is a conceptual diagram for explaining the operation of the programmable robot controlled by the robot teaching device according to an embodiment of the present invention.

The robot may include a plurality of individual arm sections, adjacent arm sections being interconnected by respective joints. At least a portion of the joints may contain a drivable driving means. In addition, the robot may include a control system for controlling such a drive circuit. The joint may include a safety brake and may include an annular member rotatable with respect to a motor axis of rotation.

The robot may include a decoder for decoding instructions received from the robot teaching device, and a sensor for sensing information related to the position and movement of each part of the robot (eg, a force/torque sensor (F/T sensor); a position sensor, a vision sensor). These sensors can also sense the robot's surroundings. In addition, it may include an encoder for encoding the motion-related information.

The robot can perform at least the following operations: pick-and-place operation, filing operation, peg-in-hole operation, assembly It can perform assembly operation, palletizing operation, direct teaching, deburring operation, spraying, welding operation, and human interaction. This can be done by basic functions: it can be implemented by specification of position, tracking, movement pattern, triggers and events/actions.

Referring to FIG. 4 , the robot 300 includes a plurality of joints 320 , 330 , 340 , 350 , 360 and 370 to realize movement of multiple degrees of freedom. 4 illustrates a robot 300 configured to have six degrees of freedom using six joints 320 , 330 , 340 , 350 , 360 and 370 as an example of a multi-degree-of-freedom cooperative robot.

The first joint 320 is rotatably coupled to the upper portion of the base 310 , and the first joint 320 rotates around the Z-axis (vertical direction with respect to FIG. 4 ). One end surface (surface facing the base 310) and the other end surface (surface facing the second joint 330) of the first joint 320 are located on a plane perpendicular to each other. The second joint 330 is rotatably coupled to the other end of the first joint 320 . Since one end face and the other end face of the first joint 320 are positioned on a plane perpendicular to each other, the second joint 330 rotates about an axis in a direction perpendicular to the axis of rotation of the first joint 320 . One end surface (surface facing the first joint 320) and the other end surface (surface facing the third joint 340) of the second joint 330 are located on a plane that is parallel or coincident with each other.

The third joint 340 is rotatably coupled to the other end of the second joint 330 . Since one end face and the other end face of the second joint 330 are located on a plane that is parallel or coincident with each other, the third joint 340 rotates about an axis parallel to the axis of rotation of the second joint 330 . One end surface (surface facing the second joint 330) and the other end surface (surface facing the fourth joint 350) of the third joint 340 are located on a plane perpendicular to each other.

The fourth joint 350 is rotatably coupled to the other end of the third joint 340 . Since one end face and the other end face of the third joint 340 are positioned on a plane perpendicular to each other, the fourth joint 350 rotates about an axis in a vertical direction with respect to the axis of rotation of the third joint 340 . One end face (the face facing the third joint 340) and the other end face (the face facing the fifth joint 360) of the fourth joint 350 are located on a plane perpendicular to each other.

The fifth joint 360 is rotatably coupled to the other end of the fourth joint 350 . Since the one end face and the other end face of the fourth joint 350 are positioned on a plane perpendicular to each other, the fifth joint 360 rotates about an axis in a direction perpendicular to the axis of rotation of the fourth joint 350 . One end surface (surface facing the fourth joint 350) and the other end surface (surface facing the sixth joint 370) of the fifth joint 360 are located on a plane perpendicular to each other.

The sixth joint 370 is rotatably coupled to the other end of the fifth joint 360 . Since one end face and the other end face of the fifth joint 360 are positioned on a plane perpendicular to each other, the sixth joint 370 rotates about an axis in a direction perpendicular to the axis of rotation of the fifth joint 360 . One end face (the face facing the fourth joint 350) and the other end face of the fifth joint 360 are located on a plane perpendicular to each other.

An additional device (not shown) is mounted on the other end of the sixth joint 370 . Various types of additional devices exist depending on the work performed by the robot 300 , and the other end of the sixth joint 370 is configured to replace and mount various additional devices.

The additional device may be a tool for the operation of the robot or a sensor mounted on the robot.

The present invention enables the robot to be controlled through the above-described robot teaching device. The above-described robot shows an embodiment of the present invention, and the structure of the robot that can be controlled according to the present invention is not limited to the above-described robot.

Hereinafter, a robot teaching method that allows a user to intuitively interact with a robot teaching apparatus according to each situation of the teaching task will be described in detail.

5 is a flowchart illustrating an embodiment of outputting a message according to the present invention, and FIGS. 6 and 7 are conceptual diagrams illustrating an embodiment of outputting a message according to the present invention.

The robot teaching apparatus according to the present invention helps the user to work smoothly through interaction with the user for each situation. To this end, referring to FIG. 5 , the robot teaching apparatus according to the present invention monitors ( S110 ) at least one of communication information between the robot and the robot teaching apparatus, the state of the robot, and the state of the robot teaching apparatus.

In this case, prior to the monitoring ( S110 ), the step of outputting a teaching interface from the robot teaching device to teach the operation of the robot may be performed. However, the present invention is not necessarily limited thereto, and it is also possible that the monitoring ( S110 ) is performed before the step of outputting the teaching interface.

The teaching interface is an interface output for interaction with a user in the robot teaching device, and includes a graphic user interface, a sound interface, and the like. More specifically, the teaching interface may be interpreted as meaning including both the simulation area and the control area, as described above with reference to FIG. 3 . The communication information between the robot and the robot teaching device may be information related to a communication connection between the robot and the robot teaching device using a wired or wireless signal. Hereinafter, in the present specification, wireless communication is mainly described as an example for convenience of description.

Here, the state information of the robot includes at least one of the current setting of the robot, the driving state of the robot, whether an additional device is installed, the communication state, and the current posture of the robot, and information received from the master controller 200 and the robot 300 . to monitor using

The state information of the robot teaching device 100 includes at least one of a user input value for the robot teaching device, a currently executing function, a function execution history, currently displayed screen information, and a user's usage pattern for the robot teaching device, It may be periodically collected by the controller 130 .

That is, the robot teaching apparatus 100 monitors data transmitted and received with the master controller and the robot, data input from the user, and data generated in the robot teaching apparatus.

As a result of monitoring, when a preset condition is satisfied, a message of a preset output method is output on the display unit 110 (S120). For this example, when the monitoring result satisfies a preset condition, a message related to the monitoring result is output to the teaching interface.

A plurality of the preset conditions may be set, and the plurality of conditions may be roughly divided into three types. Specifically, the preset condition may include a condition for job suggestion, a condition for a job warning, and a condition for robot error recovery. Each of the conditions and examples thereof will be described later.

In order to determine whether the preset condition is satisfied, the robot teaching device periodically monitors the status information of the robot and the status information of the robot teaching device.

The message may include at least one of a text and an image for inducing input of information to the robot teaching device based on the monitoring result.

For example, the message may include different screen information according to the type of a preset condition that causes the message output. Specifically, the message may include only information about the state of the robot and the state of the robot teaching device. The robot teaching apparatus may change information displayed in the message based on a user input to the message. For example, when the message includes an image, the robot teaching apparatus may display an image in which the image is deformed based on a user input for an area in which the message is displayed. As described above, the present invention enables the user to monitor the progress of the teaching task in real time through the message.

Alternatively, the message may include an input area for inputting information necessary for driving and controlling the robot. The type of information that can be input into the input area may vary according to the preset condition. For example, when the message is generated due to the attachment of the additional device, the message may include an input area for inputting a setting value related to the additional device. The input area may be formed in the form of a button for user's input convenience. For example, the message may include at least one button, and information necessary for driving and controlling the robot may be matched to each of the buttons. Each of the buttons may include text and an image to guide the matched information. The robot teaching apparatus may perform a task related to driving and controlling the robot based on a user input applied to an area where the button is displayed.

Through the screen information included in the above-described message, the robot teaching device induces the user to take a specific action through the message. Specifically, the robot teaching apparatus induces the user to touch a part of the message, touch a part of screen information displayed on the display unit, or apply a direct manipulation to the robot through the message.

In an embodiment, the robot teaching device displays an input area in the message so that the user may touch a part of the message or input a setting value. In another embodiment, the robot teaching device displays a guide message in the message so that the user touches specific screen information. In another embodiment, the robot teaching device displays a moving image or a still image in a message so that the user performs a specific action.

As described above, the above-described message includes an input area capable of performing at least a part of the teaching task while guiding the teaching task situation. Through this, the robot teaching device according to the present invention interacts with the user.

Meanwhile, the position where the message 400 is displayed may vary depending on the type of problem related to the message.

Specifically, the location of the message may be displayed so as to be related to menus, icons, and screen information related to the function in which the problem occurs. Here, “a message is displayed so as to be related to the specific screen information” means to display the message so that the user can recognize that the specific screen information and the message are related. For example, “displaying a message to be related to a specific screen” may include displaying within a predetermined distance from specific screen information, highlighting specific screen information, or connecting a message and specific screen information through a connection unit. have. However, the present invention is not limited thereto, and when the user can recognize that the specific screen information and the message are related, “a message is displayed to be related to the specific screen information”.

Meanwhile, the timing at which the message is output may vary depending on the type of problem related to the message.

In an embodiment, in the case of a message for robot error recovery, an error may be output immediately, and a condition for a job warning may also be output as soon as the corresponding condition is satisfied.

Contrary to this, in the case of a message for a task proposal, the robot teaching device may display a separate icon capable of outputting a message without directly outputting the message even if the corresponding condition is satisfied. When the user touches the icon, a message is output.

In addition, in the step of outputting the message ( S120 ), the content of the message may be changed according to the input of the information. As such, the message may include information in the form of information exchanged between the user and the robot teaching device, and thus the message may be defined as a ping-pong message.

In this case, the message is output to overlap the execution screen of the teaching interface, and the execution screen of the teaching interface may be maintained while the content of the message is changed. More specifically, by sequentially outputting the ping-pong message while maintaining one execution screen, the robot teaching apparatus may interact with the user based on the monitoring result in the teaching step related to the corresponding execution screen.

In order to change the content of such a message, after the message is output as necessary, the robot teaching apparatus monitors at least one of the state of the robot and the state of the robot teaching apparatus (S130).

The robot teaching device receives information necessary for driving and controlling the robot from the user through the input area included in the message, and then monitors the status of the robot and the status of the robot teaching device, and solves the problem that caused the message output determine whether

Based on the monitoring result, the robot teaching device outputs a related message (S140).

In the present specification, for convenience of explanation, a message displayed according to the monitoring result of the robot and the robot teaching device after the message is displayed is referred to as a related message. After the message is output, the robot teaching device determines whether to output a related message according to whether a problem related to the message is solved.

On the other hand, a plurality of related messages may be sequentially output, and the robot teaching apparatus determines whether to output an additional related message according to whether a problem related to the specific related message is solved after the specific related message is output. That is, the robot teaching device outputs related messages until all problems related to the initially displayed message are resolved.

The related message is a message for guiding whether to solve a problem to the user or providing additional guidance. If the problem is solved after the user performs a specific action based on the message, the robot teaching device displays an associated message to inform that the problem has been solved. Meanwhile, when the user performs a specific action based on the message, the robot teaching apparatus may output a related message for inducing the user's next action. In this case, the related message may be continuously displayed whenever the user's action is terminated. That is, the relevant messages can continue to be displayed until the problem is resolved.

Meanwhile, the related message may include an input area for receiving information necessary for driving and controlling the robot, similar to the message of the preset format. Since the input area is the same as the input area included in the message of the preset format, a detailed description thereof will be omitted.

As described above, according to the present invention, since the user performs the teaching task while recognizing the development of the situation through the user interface according to the present invention, information and actions necessary for completing the robot teaching task are not omitted. Hereinafter, an embodiment of the present invention will be described in detail with reference to the accompanying drawings.

For example, as shown in FIG. 6 , the robot teaching apparatus 100 monitors the communication state of the robot, and outputs a message 400 in a preset format when communication between the robot and the robot teaching apparatus is impossible. The robot teaching device displays a message related to the communication state of the robot around the connection state icon 111 . Meanwhile, when a message is displayed, the robot teaching apparatus may highlight ( 401 ) a specific icon to recognize that the message and the specific icon are related.

In another embodiment, referring to FIG. 7 , the robot teaching apparatus may display the connection unit 402 connecting the message 400 and the specific icon 111 .

In another embodiment, although not shown, the robot teaching device displays a message related to an additional device mounted on the robot in the simulation area. In another embodiment, when an error occurs in the robot, the robot teaching device highlights the location where the error occurred on the simulation-generated expression and displays a message around the highlighted location.

Hereinafter, a message output condition and various embodiments related thereto will be described along with the accompanying drawings. In the present specification, embodiments related to the present invention are described by classifying them into a task proposal, a task warning, and a robot error, but the present invention is not limited to the above classification and interpreted.

work proposal

The present invention provides a user interface that can sequentially interact with a user for each step necessary to complete a robot teaching task.

8A to 10C are conceptual diagrams illustrating an embodiment of using a message for mounting an additional device according to an embodiment of the present invention, and FIG. 11 is a diagram showing an embodiment of using a message for a function executed by a user for the first time according to an embodiment of the present invention. It is a conceptual diagram showing an embodiment of the

The robot teaching apparatus according to the present invention outputs a message for suggesting a task to the user. Specifically, the robot teaching device outputs a message suggesting a task to be performed with the highest priority by the user in the current situation.

Here, the condition for which the message is output is that it is detected that a new additional device is mounted on the robot, that the user executes a specific function for the first time, that the user executes the function executed within a preset number of times, that the user is performing a specific function It may include at least one of the requested ones. Hereinafter, embodiments related to the above-described conditions will be described in detail.

When the robot is equipped with an additional device, the robot transmits related data to the robot teaching device. When the robot teaching device detects that the robot is equipped with an additional device, the robot teaching device outputs a message.

At this time, when the additional device of the robot is mounted, the message may be output on the teaching interface of the robot teaching device. To this end, the robot teaching device monitors the attachment of the attachment device, and outputs the message in response to the attachment of the attachment device. In this case, the message may include setting information for calibration of the additional device. Accordingly, the user may perform calibration of the additional device according to the induction of the message.

Here, the content of the message may be different depending on the type of the attached additional device.

In one embodiment, referring to FIGS. 8A to 8C , when it is detected that a force/torque sensor (F/T sensor) is mounted on the robot, the robot teaching device displays a message 400 informing that a new device has been detected. print out When a preset time elapses after the message 400 is output, or when a touch input to the message 400 is detected, the robot teaching device guides the user to move the robot in a specific movement message 404 to output Here, the message 404 may include a video.

In a state in which the message 404 is output, the robot teaching device monitors a value sensed by a sensor included in the robot, and sets the coordinate system of the robot using the monitored value.

At this time, the message 404 is displayed until the user moves the robot to a specific movement, and may be displayed around the simulation-generated expression.

In addition, a region corresponding to the location where the sensor is installed among the entire region of the simulation-generated expression may be highlighted 403 .

On the other hand, when the robot teaching device cannot set the coordinate system of the robot using the monitored value, the robot teaching device outputs a related message guiding the remounting of the additional device. At the same time, a video supporting the installation of the additional device may be output together.

On the other hand, when the robot teaching apparatus completes the setting of the robot's coordinate system, a related message 405 is displayed to guide it.

In another embodiment, referring to FIGS. 9A to 9C , when it is sensed that the vision sensor is mounted on the robot, the robot teaching device outputs a message 406 for sensing a specific position with the vision sensor. In a state in which the message 406 is output, the robot teaching apparatus monitors a value sensed by a vision sensor included in the robot, and performs calibration using the monitored value.

At this time, the message is displayed until a specific position is sensed by the vision sensor, and may be displayed around the simulation-generated representation.

Meanwhile, when the robot teaching device cannot perform calibration using the monitored value, the robot teaching device outputs a related message for allowing the vision sensor to sense another position. At the same time, a video supporting the installation of the additional device may be output together.

In another embodiment, referring to FIGS. 10A to 10C , if it is detected that the additional device is mounted, but the type of the mounted additional device cannot be detected, the robot teaching device determines the type of the additional device mounted by the user. A message 407 to enable selection is output.

Specifically, the robot teaching device displays the shape of the additional device expected to be mounted by the user as a two-dimensional or three-dimensional image. When an image related to an additional device is displayed as a three-dimensional image, the robot teaching apparatus displays an image viewed from a different angle when there is a touch input for the three-dimensional image. Through this, the present invention allows the user to mount and use the additional device even if the user does not know the exact name of the additional device.

Meanwhile, although not shown, the message 407 may include a list of additional devices. The user may select an additional device installed by the user from the list.

On the other hand, the robot teaching device outputs a message when the user executes a function executed within a predetermined number of times. In this case, the message includes a message guiding a task to be executed in a state in which a specific function is executed by the user. The robot teaching device monitors whether the user performs the task guided through the message, and when the user performs the task, outputs a related message for inducing the next task.

For example, referring to FIG. 11 , when a user executes a specific function for the first time, the robot teaching device notifies that the corresponding function is first executed, and switches the robot teaching device to a specific mode (eg, tutorial mode). A message 408 for receiving a selection is output. When the user selects to execute a specific mode, the robot teaching device outputs a related message guiding the user to perform the task with the highest priority.

As described above, according to the present invention, since the monitoring of the robot and the resolution of the problem are sequentially implemented at each stage of the robot teaching task through the interaction between the user and the robot teaching device, through this, even beginners can easily teach the robot be able to do

In addition, according to the present invention, since the robot teaching device provides the user with information necessary for mounting the additional device through interaction with the user, and collects the information required for setting the additional device from the user, the user can install the additional device mounted on the robot. Additional devices can be easily mounted on the robot without specific knowledge of the device.

job warning

Meanwhile, the present invention provides a user interface that enables a user to predict and prevent a mistake frequently made during a robot teaching task in advance.

12 is a conceptual diagram illustrating an embodiment of using a message in order to prevent a mistake frequently made by a user according to an embodiment of the present invention.

The robot teaching apparatus according to the present invention outputs a message to give a task warning to the user. Specifically, the robot teaching device frequently outputs a message at a point in time when a mistake occurs.

Here, the message is output condition, when the robot teaching device receives a request for execution of a specific function from the user in a state where the specific condition is satisfied, the message is output. Here, the specific condition may include at least one of that an additional device is not set after the additional device is mounted, and that an error occurs more than a preset number of times when a specific function is executed. Hereinafter, with respect to the embodiments related to the above-described conditions, a case in which the additional device is a tool mounted on the arm of the robot as an end effector of the robot will be described in detail.

When the robot is equipped with an additional device, the robot transmits related data to the robot teaching device. The robot teaching device may detect that the robot is equipped with an additional device.

Since the attachment device has its own weight, a control command must be applied in consideration of the weight. To this end, after the additional device is mounted on the robot, the user must input the setting value related to the additional device into the robot teaching device to set the additional device related settings.

In this example, the robot teaching system detects that a tool is connected to the robot and monitors the input of weight. At this time, a message may be output when the weight is not input, and the message may be configured to receive an input for the weight of the tool.

More specifically, the robot teaching apparatus is configured to set a value higher than the estimated value related to the tool and a preset level when a driving request for the robot is applied without a separate setting in a state in which a new tool is detected, or a value input from the user If there is a difference, the message can be output. The message may include a separate button. When a user input is applied to the button, the robot teaching device may display an input window for inputting a setting value related to the additional device.

For example, referring to FIG. 12 , when a request for movement of a robot joint is applied without a separate setting after the additional device is mounted on the robot, the robot teaching device provides a message 400 to guide input of the setting value related to the additional device. ) is output. When a touch input for the message 400 is applied or a preset time elapses without a separate user input from the time the message 400 is output, the robot teaching device inputs a setting value related to the additional device An input window 409 is output.

In addition, when the input of the weight as a set value through the input window 409 is completed, the message disappears and the robot performs the operation.

The example of monitoring the tool connection issue described above can be extended and utilized in various forms. For example, after connecting the tool, the robot teaching system may monitor the operation of the robot and detect an abnormal operation of the robot. Such an abnormal operation may be, for example, an abnormal acceleration.

As such, when an abnormal operation is detected, the driving of the robot may be stopped and the message may be output to the teaching interface of the robot teaching apparatus. The message inquires whether the user intended the robot to operate, and may be an interface for receiving the user's response.

If a response indicating the user's intended operation is input through the message, the robot may be continuously driven. On the other hand, when a response indicating that the user's intended operation is not inputted through the message, an input window for inputting the weight of the tool may be output on the message.

Furthermore, in this example, it is also possible that the input of the weight of the tool is performed automatically. For example, when the connection of the tool is detected, the robot teaching system receives the specification or type of the tool, and calculates the weight of the tool using the specification or type of the tool. The robot teaching device may output the calculated weight as a suggested value to the message, and perform a suggestion for automatically inputting the weight.

Meanwhile, although not shown, when an error occurs more than a preset number of times when a specific function is executed, the robot teaching device frequently outputs a message guiding that the function has an error whenever the specific function execution request is applied. In this case, the message may include text or an image guiding the method used by the user to resolve the error.

As described above, according to the present invention, the number of robot errors is reduced because it allows the user to recognize when a user's error reaches a work stage in which frequent occurrence is reached, and allows the user to prevent a mistake through a minimum amount of work. It is minimized and the user's working time can be shortened.

robot error

On the other hand, the present invention provides a user interface that allows a user to recognize and recover an error situation that occurs when driving and controlling a robot.

13 to 17 are conceptual diagrams illustrating an embodiment of using a message for robot error recovery according to an embodiment of the present invention.

The robot teaching device according to the present invention outputs a message to recover the robot error. Specifically, the robot teaching device outputs a message at a time when a robot error occurs.

Here, the conditions for the message to be output are that the robot teaching device cannot operate the robot according to the applied control command, the current posture of the robot and the shape of the computer-generated expression are different, and the user input cannot be recognized It may include at least one. Hereinafter, embodiments related to the above-described conditions will be described in detail.

The robot teaching device forms a control command based on the value input by the user and transmits it to the robot. The robot is driven according to the received control command. The robot teaching device transmits a control command to the robot and monitors the driving state of the robot. When detecting that the robot does not operate according to the control command, the robot teaching device outputs a message.

In this case, the message may be output in various ways. Specifically, the message may guide the user on how to recover an error, or include an icon related to error recovery.

Furthermore, when the error is an error that has occurred before, the robot teaching apparatus may guide the method used by the user to recover the error as it is. In this case, the message may include at least one of text and an image guiding a method used by the user for error recovery.

In one embodiment, referring to FIG. 13 , the robot teaching apparatus receives a value for driving the robot from the user through the input window 410 , and then generates a control command and transmits it to the robot. When detecting that the robot does not operate according to the control command, the robot teaching device outputs a message 400 . In addition, the robot teaching apparatus highlights the partial area 411 of the display unit so that the user can easily recognize that a robot error has occurred.

In another embodiment, referring to FIG. 14 , the robot teaching apparatus may output a message 400 including a recovery button 413 when a robot error occurs. The robot teaching device recovers a robot error when a user input is applied to the recovery button 413 . Through this, the present invention enables the robot error to be restored without the user taking a separate action when a robot error occurs.

On the contrary, in the case of a robot error, the present invention clearly guides the location of the error and allows the user to select an error recovery method. Specifically, when a robot error occurs, the robot teaching device highlights the area corresponding to the location where the error occurred among the entire area of the computer-generated representation. Multiple regions of the computer-generated representation may be highlighted if there are multiple locations where the error occurred. Thereafter, when a user input is applied to the highlighted area, the robot teaching apparatus recovers an error in a position corresponding to the highlighted area.

In one embodiment, referring to FIG. 15 , the robot teaching apparatus highlights 414 a plurality of regions of the computer-generated representation 112 ′ when an error occurs in a plurality of positions of the robot. At the same time, the robot teaching apparatus outputs a message 400 to guide that an error has occurred and to select a location to be restored.

Specifically, when a singularity error occurs in which the robot is no longer able to move, the robot teaching device highlights an area of the computer-generated representation 112 ′ corresponding to a joint that cannot be driven. Thereafter, when a user input is applied to one highlighted region, the robot teaching apparatus recovers the singularity error by unraveling a joint corresponding to the one region. If the error is not recovered only by unraveling the joint corresponding to the area selected by the user, the robot teaching device outputs a related message 415 to induce the user to select an additional joint. At this time, the robot teaching device changes the color of a region of the computer-generated representation 112 ′ corresponding to the restored joint to inform that the restoration of the part has been completed.

On the other hand, the present invention prevents a part of the robot from colliding with other parts of the robot or from colliding with a surrounding object when the robot is driven. Specifically, the robot teaching device simulates the operation of the robot after receiving information necessary for driving and controlling the robot from the user. As a result of the simulation, when the collision of the robot is expected, the robot teaching device outputs a message related to the collision on the execution screen of the robot teaching device. The message related to the collision may include various information related to the collision. For example, the message related to a collision may include at least one of joint information of a robot in which a collision is expected, 3D coordinate information in which a collision is expected, a direction in which a collision is expected, and time information in which a collision is expected.

In this case, the message may be output in the form of a ping-pong message similar to the above-described example.

Meanwhile, when a collision of the robot is expected, an icon for guiding the collision may be displayed on an image corresponding to a joint included in the robot included in the computer-generated expression. When an impact to a plurality of parts is expected, icons may be displayed in a plurality of positions.

The robot teaching apparatus according to the present invention may be capable of resolving the above-described collision error through a user input to an output message. Specifically, in the message, a recovery icon may be displayed for each part in which a collision has occurred. The recovery icon may be displayed overlapping a portion where a collision occurred during the computer-generated expression. When there are a plurality of parts where the collision has occurred, a recovery icon may be displayed on the plurality of parts.

When a user input is applied to any one of the recovery icons, the robot teaching device calculates a setting value for avoiding collision of the corresponding part, and simulates the operation of the robot with the calculated value. The robot teaching device recalculates a set value capable of avoiding the collision of the corresponding part until the collision of the corresponding part is resolved as a result of the simulation. Through this, the present invention enables the user to resolve a collision error without the need to input a separate setting value.

On the other hand, the robot teaching apparatus receives a set value corresponding to the part where the collision has occurred again so that the collision error can be resolved. Specifically, in the message, an input area corresponding to a region in which a collision error occurs is displayed. The robot teaching device receives a set value input from the user through the input area, and simulates the operation of the robot with the input set value. The robot teaching device receives a set value for avoiding the collision of the corresponding part again until the collision of the corresponding part is resolved as a result of the simulation.

On the other hand, the present invention enables the collision error to be resolved by resetting the collision sensitivity for a specific part of the robot. Specifically, the message may indicate the collision sensitivity for each part of the robot. In response to a user input to the message, the robot teaching device may modify a collision sensitivity value for a specific part. Specifically, the user lowers the collision sensitivity value for a specific part so that the collision error can be resolved. In this case, the collision error may be an error generated as the robot is actually driven.

As the collision sensitivity value is set low, when the collision error for a specific part is resolved, the robot teaching apparatus may display a message guiding that the collision error is resolved and a related message including the collision sensitivity change history. The related message may include an icon that can be restored to the collision sensitivity before the change. As described above, the present invention can reduce unnecessary collision detection by resetting the collision sensitivity for a specific part of the robot through the ping-pong message.

In one embodiment, referring to FIG. 16 , the robot teaching apparatus drives and simulates the robot using information input from the user, and outputs a message 400 when a collision is detected in a specific part as a result of the simulation. In this case, the information output to the message 400 may include collision information according to the driving of the actual robot.

The message 400 includes a simulation image 112 of the robot. As such, the simulation image 112 may be information according to the driving of the actual robot. A collision sensitivity value 416 of each joint may be output to a region corresponding to each joint of the robot in the simulation image 112 . On the other hand, a separate icon 416 ′ may be overlapped and displayed together with the collision sensitivity value 416 in an area where a collision is expected or a collision has occurred.

In addition, an input area 417 corresponding to a joint in which a collision has occurred is displayed in the message 400 , and a recommended setting value for resolving the collision may be displayed together. When a touch input is applied to the input area 417 corresponding to the first joint, the robot teaching device changes the setting value corresponding to the first joint and simulates the operation of the robot. As a result of the simulation, when the collision at the first joint is not detected, the collision icon 416 ′ corresponding to the first joint disappears ( 418 ).

Meanwhile, referring to FIG. 17 , when a touch is applied to the icon 416 ′ indicating that a collision has occurred in the sixth joint, the robot teaching device may display a separate number input window. Through the numerical input window, the robot teaching device may receive a collision sensitivity value for the sixth joint from the user. When a collision is not detected as a result of simulating the motion of the robot using the collision sensitivity input from the user, the collision icon 416 ′ corresponding to the sixth joint disappears ( 419 ). In addition, the changed collision sensitivity value is displayed in the region corresponding to the sixth joint in the simulation image.

In the above, a method of simplifying control gain tuning for collision avoidance using a ping-pong message has been described, and through this, guide performance for an element that is difficult for a user to set can be implemented more intuitively.

Meanwhile, the ping-pong message of the present invention may be utilized for teaching or controlling another type of robot. In addition, a monitoring issue that is difficult for a user to recognize in relation to teaching through the ping-pong message may be resolved. For example, the robot teaching device allows the user to restore the robot's initial posture setting when it is changed.

Specifically, the initial posture of the robot is a reference value, which is a value set when the robot is shipped from the factory. An error may occur in the initial posture of the robot while the robot is in use, and the robot posture in the reference value may be different from the initial posture.

The robot teaching apparatus of the present invention may output a message when the initial posture setting value is changed while the robot is in use. In order to output such a message, an error in the initial posture of the robot may be monitored.

In this case, the message may include an input area for inputting an initial posture setting value. The user may reset the initial robot posture by inputting an initial posture setting value in the input area. Furthermore, in the message, a value set at the time of factory shipment of the robot may be displayed. The user may reset the initial robot posture with reference to the initial setting value.

As described above, according to the present invention, since the interface for error condition and error recovery generated during robot operation and control is provided in one message, the user can immediately perform the action for error recovery upon recognizing the error. there will be

As mentioned above, although embodiments of the present invention have been described with reference to the accompanying drawings, those skilled in the art to which the present invention pertains know that the present invention may be embodied in other specific forms without changing the technical spirit or essential features thereof. you will be able to understand Therefore, it should be understood that the embodiments described above are illustrative in all respects and not restrictive.

Claims (12)

A method of teaching a robot for teaching a robot, the method comprising:
outputting a teaching interface from the robot teaching device to teach the operation of the robot;
Communication information between the robot and the robot teaching device, status information of the robot including the driving state of the robot and whether an additional device is installed, and the state of the robot teaching device including a value input by a user for the robot teaching device monitoring at least one of the information; and
When the monitoring result satisfies a preset condition, outputting a message related to the monitoring result to the teaching interface,
The message is
Based on the monitoring result, it includes at least one of a text and an image for inducing information input to the robot teaching device or a specific action of the user,
The preset condition is that it is detected that the attachment device is mounted on the robot,
The message includes at least one of a text and an image guiding the user to move the robot in a specific motion,
Monitoring the value sensed by the sensor included in the robot in a state in which the message guiding the robot to move in a specific motion is output,
The robot teaching device performs settings related to the additional device based on the sensed value,
The robot teaching device forms a control command for driving the robot based on a value input from the user through the robot teaching device,
The robot is
driven according to the control command received from the robot teaching device,
In the step of outputting the message,
monitoring the driving state of the robot that has received the control command, and when detecting an error that the robot does not operate according to the control command, outputs a message related to the error,
The message related to the error is:
When the error is an error that has occurred even before the error occurred, the method of teaching a robot comprising at least one of a text and an image guiding a method used by the user to recover the error. According to claim 1,
In the step of outputting the message,
The robot teaching method, characterized in that the content of the message changes according to the input of the information. 3. The method of claim 2,
The message is output to overlap the execution screen of the teaching interface,
The method for teaching a robot, characterized in that while the content of the message is changed, the execution screen of the teaching interface is maintained. According to claim 1,
The preset condition is a robot teaching method, characterized in that an error has occurred or an error is expected to occur in at least one of the operation and control of the robot. According to claim 1,
The preset condition is a robot teaching method, characterized in that the input of information to be used for at least one of the operation and control of the robot is required. According to claim 1,
Displaying a simulation area including motion information of the robot and a control area for receiving an input related to control of the robot on a teaching interface of the robot teaching device further comprising:
The message is
The method for teaching a robot, characterized in that it is displayed in association with an area related to the preset condition among the simulation area and the control area. 7. The method of claim 6,
The message is
Robot teaching method comprising an input area for receiving information to be utilized for at least one of operation, control, and setting of the robot related to the preset condition. 8. The method of claim 7,
receiving, by the robot teaching device, information from a user through the input area;
monitoring, by the robot teaching device, at least one of a status of the robot and a status of the robot teaching device using information received through the input area; and
Based on the monitoring result performed after the message is output, the robot teaching method further comprising the step of outputting a related message. delete delete A robot teaching apparatus for teaching a robot, comprising:
a display unit for outputting a teaching interface;
a communication unit configured to transmit and receive data to and from the robot; and
Among the communication information between the robot and the robot teaching device, the status information of the robot including the driving state of the robot and whether an additional device is installed, and the status information of the robot teaching device including a user input value for the robot teaching device monitor at least one;
a control unit controlling the display unit to output a message related to the monitoring result to the teaching interface when the monitoring result satisfies a preset condition;
The message is
Based on the monitoring result, it includes at least one of a text and an image for inducing information input to the robot teaching device or a specific action of the user,
The preset condition is that it is detected that the attachment device is mounted on the robot,
The message includes at least one of a text and an image guiding the user to move the robot in a specific motion,
The control unit is
In a state in which a message guiding the robot to move in a specific movement is output, a value sensed by a sensor included in the robot is monitored, and based on the sensed value, settings related to the additional device are performed,
Forming a control command for driving the robot based on the value input from the user through the robot teaching device,
The robot is driven according to the control command received from the robot teaching device,
The control unit is
monitoring the driving state of the robot that has received the control command, and when detecting an error that the robot does not operate according to the control command, outputs a message related to the error,
The message related to the error is:
When the error is an error that has occurred even before the error occurs, the robot teaching apparatus comprises at least one of a text and an image guiding a method used by the user to recover the error. robot; and
A robot teaching device for teaching the operation of the robot,
The robot and the robot teaching device perform a robot teaching method of teaching the robot,
The robot teaching method,
outputting a teaching interface from the robot teaching device to teach the operation of the robot;
Communication information between the robot and the robot teaching device, status information of the robot including the driving state of the robot and whether an additional device is installed, and the state of the robot teaching device including a value input by a user for the robot teaching device monitoring at least one of the information; and
When the monitoring result satisfies a preset condition, outputting a message related to the monitoring result to the teaching interface,
The message is
Based on the monitoring result, it includes at least one of a text and an image for inducing information input to the robot teaching device or a specific action of the user,
The preset condition is that it is detected that the attachment device is mounted on the robot,
The message includes at least one of a text and an image guiding the user to move the robot in a specific motion,
Monitoring the value sensed by the sensor included in the robot in a state in which the message guiding the robot to move in a specific motion is output,
The robot teaching device performs settings related to the additional device based on the sensed value,
The robot teaching device forms a control command for driving the robot based on a value input from the user through the robot teaching device,
The robot is
driven according to the control command received from the robot teaching device,
In the step of outputting the message,
monitoring the driving state of the robot that has received the control command, and when detecting an error that the robot does not operate according to the control command, outputs a message related to the error,
The message related to the error is:
and when the error is an error that has occurred before the error occurred, at least one of a text and an image guiding a method used by the user to recover from the error.

Images