KR102567361B1 - Robot teaching apparatus and method for teaching robot using the same - Google Patents

Abstract

The present invention relates to a robot teaching device for controlling a programmable robot, and more particularly, to a robot teaching device for programming, simulating, and controlling a robot.

Description

Robot teaching device and robot teaching method using the same {ROBOT TEACHING APPARATUS AND METHOD FOR TEACHING ROBOT USING THE SAME}

The present invention relates to a robot teaching device for teaching a programmable robot, and more particularly, to a robot teaching device (teaching pendant) for programming, simulating, and controlling a robot.

Industrial programmable robots are generally known. A common method of programming such a robot is to guide a specific part of the robot, e.g., an end effector and a tool on a robot arm, from an initial point in space, and pick-up the final destination of the end effector. -up location) can be used to send through the desired path.

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 tasks to be performed.

However, in this robot teaching, the teaching pendant for teaching the robot is complicated and difficult to use for beginners. Due to this, there is a problem in that the usability of the teaching pendant is poor.

An object of the present invention is to provide a robot teaching method, program, and apparatus that enable a user to intuitively interact with a robot teaching device according to each situation of a 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 capable of interacting with a user sequentially for each step required to complete a robot teaching task.

In addition, an object of the present invention is to provide a user interface that enables users to predict and prevent frequent mistakes during robot teaching work in advance.

In addition, an object of the present invention is to provide a user interface that enables a user to recognize and recover from 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 description below.

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 the robot teaching device to teach the operation of the robot, communication information between the robot and the robot teaching device, state information of the robot, and state information of the robot teaching device. monitoring one, and if the monitoring result satisfies a predetermined condition, outputting a message related to the monitoring result to the teaching interface, wherein the message is configured to teach the robot based on the monitoring result. It provides a robot teaching method comprising at least one of text and images for inducing information input into a device.

In one embodiment, in the step of outputting the message, the content of the message may change according to the information input. The message is displayed overlapping with the execution screen of the teaching interface, and the execution screen of the teaching interface may be maintained while the contents of the message change.

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

In one embodiment, the preset condition may be a state in which information input to be used 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 device, wherein the The message may be displayed in association with a region related to the preset condition among the simulation region and the control region.

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

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

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

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

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

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

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 required to complete the robot teaching task are not omitted.

In addition, according to the present invention, since the user can perform all of the tasks to be performed with the highest priority 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 monitoring of the robot and solving problems are sequentially implemented at each stage of the robot teaching task through 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, the robot teaching device provides the user with information necessary for mounting the additional device through interaction with the user and collects information necessary for setting the additional device from the user, so that the user can attach the additional device to 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 because the user is made aware of this when the user's error frequently occurs and the user can prevent mistakes through minimal work. working time can be shortened.

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

In addition, according to the present invention, the user's proficiency in using the robot can be improved by itself without separate prior learning (manual, educational curriculum, etc.) through a process of repeated interaction with the robot teaching device.

The 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 description below.

1 is a diagram schematically showing a robot teaching system according to an embodiment of the present invention.
2 is a block diagram showing components included in a robot teaching device (teaching pendant) according to an embodiment of the present invention.
3 is a conceptual diagram showing a main screen of a robot teaching device (teaching pendant) according to an embodiment of the present invention.
4 is a conceptual diagram illustrating the operation of a programmable robot controlled by a 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 that a user first executes according to an embodiment of the present invention.
12 is a conceptual diagram illustrating an embodiment of using a message to prevent mistakes that users often make 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 clear with reference to the detailed description of the following embodiments taken 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, only these embodiments are intended to complete the disclosure of the present invention, and are common in the art to which the present invention belongs. It is provided to fully inform the person skilled in the art of the scope of the invention, and the invention is only defined by the scope of the claims.

Terminology used herein is for describing the embodiments and is not intended to limit the present invention. In this specification, singular forms also include plural forms unless specifically stated otherwise in a phrase. As used herein, "comprises" and/or "comprising" does not exclude the presence or addition of one or more other elements other than the recited elements. Like reference numerals throughout the specification refer to like elements, 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 components, these components 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 element mentioned below may also be the second element within the technical spirit of the present invention.

Unless otherwise defined, all terms (including technical and scientific terms) used in this specification may be used with meanings commonly understood by those skilled in the art to which the present invention belongs. In addition, terms defined in commonly used dictionaries are not interpreted ideally or excessively unless explicitly specifically defined.

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

Three methods may be used for robot teaching, and the three methods may include offline programming, online programming, and direct teaching. Offline programming is a programming method that operates based on a simulator, and is mainly used when creating and verifying paths, and is a programming method that is 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/repetitive tasks, 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) directly manipulates a robot to learn a path, and 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. The user holds the distal 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 route and following it during automatic driving.

A robot teaching device according to an embodiment of the present invention is a user interface device for controlling a robot, and may include a teaching pendant (TP). Teaching pendant is equipment used in industrial equipment or robots, and is mainly used in industrial sites where monitors and mice cannot be used and in automation equipment that does not require special manipulation. It can be implemented in the form of a tablet PC using LCD and LED screens) and can be 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. As shown in FIG. 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. A robot teaching system according to an embodiment of the present invention may include at least one of a robot teaching device 100 (eg, a teaching pendant), a master controller, and the robot 300 . The present invention can be used for both an online programming-based robot teaching system and an offline programming-based robot teaching system. Also, the robot teaching system is a term defining a system based on teaching, and may be referred to as a robot system based on a robot.

Referring to (a) of FIG. 1 , in 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 control the robot 300. It can be transmitted to a system (not shown) to drive the robot 300 . The control system of the robot 300 may apply current to the driving means for driving each part of the robot to control the operation corresponding to the programming to be performed.

The robot teaching device 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 device 100 can implement this by loading 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 a collision avoidance algorithm and an optimal path calculation algorithm through a simulator.

The robot teaching device 100 may be used to control functions and movements of parts of the robot 300, including an end effector of the robot 300. To this end, the robot teaching apparatus 100 may include a storage unit for storing pre-stored robot-related movements and functions as well as related information on the surrounding environment in which the robot 300 operates and objects handled by the robot 300. can The robot teaching device 100 may communicate with the robot 300 during programming of the robot 300 and may control the robot 300 . In addition, patterns of movements of the robot 300 and pre-programmed scenarios may be retrieved. Thus, these scenarios or robot-related information can be used to perform different tasks within the setup needed to re-program the robot for new tests.

The master controller 200 may be a fieldbus for controlling a plurality of distributed sensors and actuators in real time through Ethernet communication using an Internet Gateway of Things (IGoT) that enables Internet of Things (IoT) services immediately. Here, IGoT is a gateway that enables Internet of Things service immediately, and it is possible to use fieldbus RS485 and CAN-based sensors for industrial Internet of Things and to use EtherCAT for real-time distributed control. That is, the master controller 200 may be a Linux-based real-time controller supporting EtherCAT. Stability and high performance of an industrial controller can be secured through the master controller 200, and cost of ownership and maintenance of a product can be reduced by utilizing a real-time operating system and EtherCAT master software. The master controller 200 may be connected to the robot teaching device 100 through a USB, receive programming data or control signals from the robot teaching device 100, and drive the robot. The master controller 200 may include a Science and Technology Embedded Platform (STEP).

In 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, online programming and offline programming can be integrated by implementing the robot teaching apparatus 100 in a form integrated with a real-time robot controller.

Robot teaching device (teaching pendant)

2 is a block diagram showing components included in a 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. It 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 controller 130, a storage unit 140, a communication unit 150, and a simulation unit. may include section 160 .

The display unit 110 displays menus related to programming steps to be performed by the user during programming of the robot and/or a computer-generated representation (e.g., 3D representation) of the shape of the robot during programming, actual operation or test execution. CAD image) can be displayed. The display unit 110 may display a graph composed of a time axis and a motion information axis representing a motion degree value 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 instructions programmed into the control system for the robot. The user input unit 120 may receive an instruction from a user, and 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 along with various icons for positioning and orienting specific parts of the robot to an arbitrary location, and can receive clicks on the icons.

The controller 130 is a processor for programming and controlling the robot. It may consist of a hardware processor. The control unit 130 may generate a programming code input to the robot according to the instruction input through the user input unit 120 . Alternatively, a control signal capable of controlling the robot may be generated. The controller 130 may analyze the flow over time based on the movement or coordinate values of each part of the robot to generate a graph consisting of a time axis and movement degree values. In addition, by specifying time, a target robot part, and a waypoint using a graph, the position of a waypoint may be changed through a change in the motion degree value of the corresponding part, or a new waypoint may be added. The control unit 130 may calculate an optimal path of the robot by recognizing the surrounding environment of the robot, such as obstacles and prohibited areas. Further, by moving one or more joints or a tool of the robot through sequences of waypoints or through a path in space, detailed coordinates of a location or spatial area of the robot may be obtained.

To this end, the control unit 130 can basically include a dynamic dynamics control algorithm, 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 for each arm. There is, and verification of this algorithm can be performed through simulation of the simulation unit 160.

Also, the controller 130 may control the display unit 110 to display previous and next menus and icons according to clicks of each menu and icon. Controller 130 may have access to pre-programmed templates that describe preferred movements, actions and other features associated with the robot, in relation to specific actions, at least during programming of the robot. At this time, the template can define different movements of the robot in order to optimize and facilitate the further 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 while moving the robot and/or information about the robot's surroundings, such as forbidden 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 includes information indicating the initial position of the tool, activation/triggering parameters of the tool at the initial position, final position of the tool, activation/triggering parameters at the final position, and a space between the initial position and the final position. It can store information related to the path of the phase.

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. In addition, the communication unit 150 may be configured to transmit and receive data between robots.

The simulation unit 160 may create a motion of a 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, so that the simulation is performed. In addition, apart from the actual robot, it is possible to create a computer-generated representation of the robot according to the programming generated in the controller 130 to simulate the robot's movement virtually. This simulated computer-generated representation can 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 position of) may be an image depicting.

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

In the present invention, for convenience of description, functions or processes performed by the robot teaching device are expressed with the “robot teaching device” as the 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, “under control” means that the control unit of the robot teaching device according to the present invention can perform functions described below based on commands, programs, or functions provided by the robot teaching device according to the present invention. can do.

The robot teaching device 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 associated with functions executable in the robot teaching apparatus 100 may be displayed on the display unit. A user can execute a specific function by touching any one of the icons.

Meanwhile, the display unit 110 may output a computer-generated representation 112 of the robot. Here, the computer-generated representation 112 is simulation information related to driving and controlling the robot. The computer-generated expression 112 is an image of a simulation result performed by the simulation unit 160 or the master controller 200 based on information received from the user. The area in which the computer-generated representation 112 is displayed is referred to herein as a simulation area.

The computer-generated representation is displayed in the same shape as the actual robot, and if the type of robot to be controlled is different, the computer-generated representation 112 may also be different. The robot teaching device 100 may use the computer-generated representation 112 to provide the user with the shape of the robot and expected movements of the robot according to specific control commands. That is, the computer-generated representation 112 includes not only still images, but also moving images.

In addition, the robot teaching device 100 may highlight a portion 112' of the computer-generated representation 112 so that the user can recognize that there is a problem with a specific part of the robot. An embodiment utilizing computer-generated representation 112 is described below.

Meanwhile, an area 113 for inputting project information may be displayed on the display unit 110 .

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

In this specification, a plurality of icons 111, an area 113 where project information can be input, a plurality of tabs 114 and an input window 115 described above 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 is merely an example of an embodiment according to the present invention, and the information displayed on the display unit is not limited to the contents listed above.

action of the robot

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

The robot may include a plurality of individual arm sections, and adjacent arm sections are interconnected by respective joints. At least some of the joints may include driving means capable of being driven. In addition, the robot may include a control system for controlling these driving circuits. The joint may include a safety brake and may include an annular member that is rotatable with respect to the axis of rotation of the motor.

The robot may include a decoder for decoding instructions received from the robot teaching device, and sensors 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) may be included. These sensors may sense the robot's surroundings. Also, an encoder for encoding the motion-related information may be included.

The robot can perform at least the following operations: pick-and-place operation, filing operation, peg-in-hole operation, and assembly. It can perform assembly operation, palletizing operation, direct teaching, deburring operation, spraying, welding operation and human interaction. This can be done by basic functionality: specification of position, tracking, movement patterns, 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 multi-degree-of-freedom movement. 4 shows 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 collaborative 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 surface and the other end surface of the first joint 320 are positioned on a plane perpendicular to each other, the second joint 330 rotates around an axis perpendicular to the rotation axis 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 coincides with each other.

The third joint 340 is rotatably coupled to the other end of the second joint 330 . Since one end surface and the other end surface of the second joint 330 are positioned on a plane that is parallel or coincides with each other, the third joint 340 rotates around 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 surface and the other end surface of the third joint 340 are positioned on a plane perpendicular to each other, the fourth joint 350 rotates around an axis perpendicular to the rotation axis of the third joint 340. One end surface (surface facing the third joint 340) and the other end surface (surface 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 one end surface and the other end surface of the fourth joint 350 are positioned on a plane perpendicular to each other, the fifth joint 360 rotates around an axis perpendicular to the rotation axis 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 surface and the other end surface of the fifth joint 360 are positioned on a plane perpendicular to each other, the sixth joint 370 rotates around an axis perpendicular to the rotation axis of the fifth joint 360. One end surface (surface facing the fourth joint 350) and the other end surface 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 . There are various types of additional devices depending on the tasks performed by the robot 300, and the other end of the sixth joint 370 is configured to be replaced with various additional devices.

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

The present invention makes it possible to control a robot through the robot teaching device described above. The above-described robot is only an example 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 enables a user to intuitively interact with a robot teaching device according to each situation of a 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 apparatus for teaching robots according to the present invention helps the user to work smoothly through interaction with the user according to situations. To this end, referring to FIG. 5 , the robot teaching device according to the present invention monitors at least one of communication information between the robot and the robot teaching device, a state of the robot, and a state of the robot teaching device (S110).

In this case, prior to the monitoring ( S110 ), a 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 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 from the robot teaching device, and includes a graphic user interface, an audio interface, and the like. More specifically, the teaching interface may be interpreted as meaning including both the simulation area and the control area 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 this 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 mounted, the communication state, and the current posture of the robot, and information received from the master controller 200 and the robot 300. monitoring using

The state information of the robot teaching device 100 includes at least one of a user's 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 device 100 monitors data transmitted and received between the master controller and the robot, data received from the user, and data generated within the robot teaching device.

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

A plurality of the predetermined conditions may be set, and the plurality of conditions may be largely classified into three types. Specifically, the preset condition may include a condition for suggesting a job, a condition for warning a job, and a condition for recovering a robot error. Each condition and an embodiment according to it will be described later.

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

The message may include at least one of text and image for inducing input of information on 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 to be 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 device may change information displayed in the message based on a user input for the message. For example, if the message includes an image, the robot teaching device may display an image in which the image is transformed based on a user input for an area where the message is displayed. As described above, the present invention allows 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 conditions. For example, when the message is generated due to mounting of an additional device, the message may include an input area for inputting a set value related to the additional device. The input area may be formed in the form of a button for user 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 images for guiding matched information. The robot teaching device may perform tasks related to driving and controlling the robot based on a user input applied to the area where the button is displayed.

Through the screen information included in the above message, the robot teaching device induces the user to perform a specific action through the message. Specifically, the robot teaching device induces the user to touch a portion of the message, touch a portion of screen information displayed on the display unit, or directly manipulate the robot through a message.

According to an embodiment, the robot teaching device displays an input area within the message so that the user can touch a part of the message or input a setting value. In another embodiment, the robot teaching device displays a guide message within 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 location 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 in association with a menu, icon, or screen information related to a function in which a problem occurs. Here, “displaying a message to be associated with specific screen information” means that the message is displayed so that the user can recognize that the message is related to specific screen information. For example, "displaying a message associated with a specific screen" may include displaying specific screen information within a predetermined distance, highlighting specific screen information, or connecting a message and specific screen information through a connection unit. there is. However, it is not limited thereto, and if the user can recognize that a message is related to specific screen information, “the message is displayed to be associated with specific screen information”.

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

In one embodiment, in the case of a message for robot error recovery, it may be output immediately when an error occurs, and a message may be output as soon as the condition for a task warning is satisfied.

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

Also, in the step of outputting the message (S120), the contents of the message may be changed according to the input of the information. As such, the message may include content 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.

At this time, the message is displayed overlapping with the execution screen of the teaching interface, and the execution screen of the teaching interface may be maintained while the contents of the message change. More specifically, as the ping-pong messages are sequentially output while maintaining one execution screen, the robot teaching device may interact with the user based on a monitoring result in a teaching step related to the corresponding execution screen.

In order to change the content of the message, after the message is output as necessary, the robot teaching device monitors at least one of the state of the robot and the state of the robot teaching device (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, monitors the state of the robot and the robot teaching device, and solves the problem that caused the message to be output. judge whether it has been

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

In this specification, for convenience of description, a message displayed according to a monitoring result of the robot and robot teaching device after the message is displayed is referred to as a related message. After the message is output, the robot teaching apparatus determines whether to output a related message according to whether or not a problem related to the message is solved.

Meanwhile, a plurality of related messages may be output sequentially, and the robot teaching apparatus determines whether to output additional related messages depending on whether a problem related to the specific related message is solved after a 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 informing the user whether or not to solve the problem 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 a related message guiding that the problem is solved. Meanwhile, when the user performs a specific action based on the message, the robot teaching device 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 ends. That is, the associated message may be continuously displayed until the problem is solved.

Meanwhile, the related message may include an input area for receiving information necessary for driving and controlling the robot, similar to the message in the preset format. Since the input area is the same as the input area included in the message in 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 to complete 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 device 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 device 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 device may highlight a specific icon ( 401 ) to recognize that the message and the specific icon are related.

In another embodiment, referring to FIG. 7 , the robot teaching device may display a connection unit 402 connecting a message 400 and a 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 emphasizes a location where an error occurred on a simulation-generated expression and displays a message around the highlighted location.

Hereinafter, a condition for outputting a message and various embodiments related thereto will be described with accompanying drawings. In the present specification, embodiments related to the present invention are described by classifying them into task suggestions, task warnings, and robot errors, but the present invention is not limited to the above classifications.

job offer

The present invention provides a user interface capable of interacting with a user sequentially for each step required 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 uses a message for a function initially executed by a user according to an embodiment of the present invention. It is a conceptual diagram showing an embodiment of doing.

The robot teaching apparatus according to the present invention outputs a message for suggesting a task to the user. In detail, the robot teaching device outputs a message presenting a task to be performed by the user as the top priority in the current situation.

Here, the conditions for outputting the message are that a new additional device is detected being mounted on the robot, that the user executes a specific function for the first time, that the user executes a function that has been executed within a predetermined number of times, and that the user is performing a specific function. It may contain at least one of the requested ones. Hereinafter, embodiments related to the above conditions will be described in detail.

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

At this time, the message may be output on the teaching interface of the robot teaching device at the time when the additional device of the robot is mounted. To this end, the robot teaching device monitors the mounting of the additional device and outputs the message in response to the mounting of the additional 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 sends 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 for the message 400 is detected, the robot teaching device provides a message 404 for guiding the user to move the robot in a specific movement. outputs Here, the message 404 may include a video.

In the state in which the message 404 is output, the robot teaching device monitors the value sensed by the 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 in a specific motion, and may be displayed around the simulation generated expression.

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

Meanwhile, when the coordinate system of the robot cannot be set using the monitored value, the robot teaching device outputs a related message guiding remounting of the additional device. At the same time, a video that assists in mounting the additional device may be output together.

On the other hand, the robot teaching device displays a related message 405 for guiding when setting the coordinate system of the robot is completed.

In another embodiment, referring to FIGS. 9A to 9C , when it is detected 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 the state in which the message 406 is output, the robot teaching device monitors the value sensed by the 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 expression.

Meanwhile, when the robot teaching device cannot perform calibration using the monitored value, it outputs a related message that causes the vision sensor to sense another position. At the same time, a video that assists in mounting the additional device may be output together.

In another embodiment, referring to FIGS. 10A to 10C , when it is detected that an additional device is mounted, but the type of the attached device cannot be detected, the robot teaching device determines the type of the additional device mounted by the user. Outputs a message 407 allowing selection.

Specifically, the robot teaching device displays the shape of an additional device expected to be mounted by a user as a 2D or 3D image. When an image related to an additional device is displayed as a 3D image, the robot teaching device displays an image viewed from a different angle when there is a touch input for the 3D image. Through this, the present invention enables a user to mount and use an additional device even if he or she does not accurately know the 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.

Meanwhile, the robot teaching device outputs a message when the user executes a function executed within a predetermined number of times. At this time, the message includes a message informing the user of a task to be executed in a state in which a specific function is executed. The robot teaching device monitors whether the user performs the task guided through the message, and when the user performs the corresponding task, outputs a related message leading to the next task.

For example, referring to FIG. 11 , when a user executes a specific function for the first time, the robot teaching device informs that the corresponding function has been executed for the first time 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, even beginners can easily teach the robot through this. will be able to do

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

work warning

Meanwhile, the present invention provides a user interface that enables users to predict and prevent frequent mistakes during robot teaching work in advance.

12 is a conceptual diagram illustrating an embodiment of using a message to prevent mistakes that users often make according to an embodiment of the present invention.

The apparatus for teaching a robot according to the present invention outputs a message to warn a user of an operation. Specifically, the robot teaching device outputs a message when a mistake frequently occurs.

Here, the condition for outputting the message is that the robot teaching apparatus outputs the message when receiving a request for execution of a specific function from the user in a state in which the specific condition is satisfied. Here, the specific condition may include at least one of not setting the additional device 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, a case in which the additional device is a tool mounted on a robot arm as an end effector of the robot will be described in detail with respect to embodiments related to the above conditions.

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

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

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

More specifically, the robot teaching device may be used when a drive request for the robot is applied without a separate setting in a state where a new tool is detected, or when a value input from a user is equal to or higher than a preset level from an estimated value related to the tool. If there is a difference, the above 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 set value related to the additional device.

For example, referring to FIG. 12 , when a robot joint movement request is applied without a separate setting after an additional device is mounted on the robot, the robot teaching device provides a message 400 guiding input of setting values 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 set value related to the additional device. The input window 409 is output.

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

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

As such, when an abnormal operation is detected, driving of the robot may be stopped and the message may be output to a teaching interface of the robot teaching device. The message may be an interface that inquires whether the user intends to operate the robot and receives the user's response.

Through the message, when a response indicating that the user's intended operation is input, driving of the robot may be continued. On the other hand, if a response indicating that the operation is not the user's intention is input through the message, an input window for inputting the weight of the tool may be displayed on the message.

Furthermore, in this example, it is also possible to automatically input the weight of the tool. For example, when the connection of a tool is sensed, the robot teaching system receives a 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 automatically input the weight.

On the other hand, although not shown, if an error occurs more than a predetermined number of times while executing a specific function, the robot teaching device frequently outputs a message informing that the error has occurred whenever a request to execute the specific function is applied. In this case, the message may include text or images to guide the user on the method used to solve the error.

As described above, according to the present invention, the number of robot errors is reduced because the user is allowed to recognize when a user's error frequently occurs and the user can prevent mistakes through minimal work. It is minimized and the user's work 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 from 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 apparatus according to the present invention outputs a message to recover a robot error. Specifically, the robot teaching device outputs a message when a robot error occurs.

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

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

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

Furthermore, if the error is an error that has occurred in the past, the robot teaching device may guide the user to the method used to recover the error as it is. In this case, the message may include at least one of text and image that guides the method used by the user for error recovery.

In one embodiment, referring to FIG. 13 , the robot teaching device 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 drive according to the control command, the robot teaching device outputs a message 400. In addition, the robot teaching device highlights the partial area 411 of the display unit so that the user can easily know that a robot error has occurred.

In another embodiment, referring to FIG. 14 , the robot teaching device 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 allows the user to recover the robot error without taking a separate action when a robot error occurs.

Unlike this, the present invention clearly guides the location where the error occurred when a robot error occurs and allows the user to select an error recovery method. Specifically, when a robot error occurs, the robot teaching device highlights a region corresponding to a location where an error occurred among the entire region of the computer-generated expression. Multiple areas 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 device recovers an error of a position corresponding to the highlighted area.

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

Specifically, when a singularity error in which the robot cannot move any more occurs, the robot teaching device highlights a region of the computer-generated representation 112 ′ corresponding to the joint that cannot be driven. Thereafter, when a user input is applied to the highlighted area, the robot teaching apparatus recovers the singularity error by releasing a joint corresponding to the area. If the error is not recovered only by solving the joint corresponding to the region selected by the user, the robot teaching apparatus 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 one area of the computer-generated expression 112 ′ corresponding to the restored joint to inform that partial restoration has been completed.

On the other hand, the present invention prevents a part of the robot from colliding with another part of the robot or 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 a collision between the robots is expected, the robot teaching device outputs a message related to the collision on the execution screen of the robot teaching device. A message related to collision may include various types of information related to collision. For example, the message related to the 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 robot collision is expected, an icon guiding a collision may be displayed on an image corresponding to a joint included in a robot included in a computer-generated expression. When an impact is expected in a plurality of parts, icons may be displayed at the plurality of parts.

The apparatus for teaching robots according to the present invention can resolve the above-described collision error through a user input for an output message. Specifically, a repair icon may be displayed for each part where a collision occurs in the message. The repair icon may overlap and display a part where a collision occurs among computer-generated expressions. When there are a plurality of sites where a collision has occurred, a repair icon may be displayed on the plurality of sites.

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

Unlike this, the robot teaching apparatus re-inputs the setting value corresponding to the part where the collision occurred, so that the collision error can be resolved. Specifically, the message displays an input area corresponding to a region where a collision error has occurred. The robot teaching device receives a set value from the user through the input area and simulates driving of the robot with the input set value. As a result of the simulation, the robot teaching device receives a re-input of a setting value capable of avoiding a collision of the corresponding part until the collision of the part is resolved.

Meanwhile, the present invention allows collision errors to be resolved through resetting the collision sensitivity of a specific part of the robot. Specifically, the message may indicate collision sensitivity for each part of the robot. In response to the user's input for 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 actual robot is driven.

As the collision sensitivity value is set low, when the collision error with respect to a specific part is resolved, the robot teaching apparatus may display a message informing that the collision error has been resolved and a related message including a collision sensitivity change history. The associated message may include an icon that can be restored to the collision sensitivity before the change. As described above, the present invention makes it possible to reset the collision sensitivity of a specific part of the robot through the ping-pong message, thereby reducing unnecessary collision detection.

In one embodiment, referring to FIG. 16 , the robot teaching apparatus drives and simulates a robot using information input from a 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 driving of the actual robot.

The message 400 includes a simulation image 112 of the robot. In this way, the simulation image 112 may be information according to driving of an 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 . Meanwhile, a collision sensitivity value 416 and a separate icon 416' may be overlapped and displayed in an area where a collision is expected or a collision has occurred.

In addition, the message 400 displays an input area 417 corresponding to a joint in which a collision occurs, and recommended setting values for collision resolution 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, if 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 at the sixth joint, the robot teaching device may display a separate number input window. Through the number 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 a 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 execution for elements that are difficult for a user to set can be implemented more intuitively.

Meanwhile, the ping-pong message of the present invention can be used for another type of robot teaching or control. In addition, a monitoring issue that is difficult for a user to perceive in relation to teaching may be resolved through the ping-pong message. For example, the robot teaching apparatus allows the user to restore the initial posture setting of the robot when it is changed.

Specifically, the initial posture of the robot is a value set when the robot is shipped from the factory as a reference value. An error may occur in the initial posture of the robot while the robot is in use, and the robot posture at 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. Errors in the initial posture of the robot may be monitored to output such a message.

In this case, the message may include an input area for inputting an initial posture setting value. The user may reset the initial posture of the robot by inputting an initial posture setting value in the input area. Furthermore, a value set when the robot is shipped from the factory may be displayed in the message. The user may reset the robot's initial posture by referring to the initial setting values.

As described above, according to the present invention, since an error situation occurring during robot operation and control and an interface for error recovery are provided in one message, the user can immediately take action for error recovery upon recognizing an error. there will be

Although the 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 can be implemented in other specific forms without changing the technical spirit or essential features of the present invention. 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 (7)

In the robot teaching method for teaching a robot,
outputting a teaching interface including an image corresponding to the shape of the robot from a robot teaching device to teach the operation of the robot;
monitoring at least one of communication information between the robot and the robot teaching device, state information of the robot, and state information of the robot teaching device;
As a result of the monitoring, when an error occurs in at least one of the operation of the robot and the control of the robot, a region corresponding to a specific part of the robot in which the error occurs is highlighted in the image of the teaching interface. and outputting a message related to the monitoring result to the teaching interface; and
When a user input is applied to the highlighted area in the image, recovering an error corresponding to the specific part of the robot corresponding to the highlighted area;
When an error occurs in a plurality of parts of the robot, a plurality of regions corresponding to the plurality of parts in the image are highlighted, and the message guides selecting a specific part to recover an error from among the plurality of parts. Robot teaching method comprising the information to. According to claim 1,
The robot is a multi-degree-of-freedom collaborative robot including a plurality of joints,
The robot teaching method according to claim 1 , wherein the part of the robot where the error occurs corresponds to a joint incapable of being driven among the plurality of joints. According to claim 2,
When a first joint among the plurality of joints and a second joint different from the first joint cannot be driven,
In the image, a plurality of regions corresponding to each of the first joint and the second joint are highlighted;
When the user input is applied to a region corresponding to the first joint among the plurality of highlighted regions, the first joint is restored to enable driving of the first joint. According to claim 3,
When the restoration of the first joint is completed, the robot teaching method characterized in that to guide the completion of the restoration of the first joint by changing the color of the region corresponding to the first joint in the image. According to claim 4,
Outputting a related message guiding selection of the second joint to the teaching interface when errors in operation and control of the robot are not recovered even though the first joint can be driven. A robot teaching method characterized in that for doing. In the robot teaching device for teaching a robot,
a display unit outputting a teaching interface including an image corresponding to the shape of the robot;
A communication unit made to transmit and receive data with the robot; and
monitoring at least one of communication information between the robot and the robot teaching device, state information of the robot, and state information of the robot teaching device;
As a result of the monitoring, when an error occurs in at least one of the operation and control of the robot, a region corresponding to a specific part of the robot in which the error occurs is highlighted in the image of the teaching interface, and the teaching Control a display unit to output a message related to the monitoring result to an interface;
When a user input is applied to the highlighted area in the image, a control unit for recovering an error corresponding to the specific part of the robot corresponding to the highlighted area;
When an error occurs in a plurality of parts of the robot, a plurality of regions corresponding to the plurality of parts in the image are highlighted, and the message guides selecting a specific part to recover an error from among the plurality of parts. A robot teaching device characterized in that it includes information to. 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 for teaching the robot;
The robot teaching method,
outputting a teaching interface including an image corresponding to the shape of the robot from a robot teaching device to teach the operation of the robot;
monitoring at least one of communication information between the robot and the robot teaching device, state information of the robot, and state information of the robot teaching device;
As a result of the monitoring, when an error occurs in at least one of the operation of the robot and the control of the robot, a region corresponding to a specific part of the robot in which the error occurs is highlighted in the image of the teaching interface. and outputting a message related to the monitoring result to the teaching interface; and
When a user input is applied to the highlighted area in the image, recovering an error corresponding to the specific part of the robot corresponding to the highlighted area;
When an error occurs in a plurality of parts of the robot, a plurality of regions corresponding to the plurality of parts in the image are highlighted, and the message guides selecting a specific part to recover an error from among the plurality of parts. A robot teaching system comprising information to

Images