KR20110069446A - Method and apparatus for providing robot control - Google Patents

Abstract

PURPOSE: An apparatus and method for robot control is provided to reduce of a load in a robot control unit and simplified a system by monitored of a state of the robots with a teaching pendant. CONSTITUTION: A robot control apparatus for controlling a robot device comprises a terminal(100) and a teaching pendant(300). The terminal is connected to a network(200). The teaching pendant transmits the control signal received from the terminal through the network with the robot device. The teaching pendant transmits monitoring state information for the status information of the robot device to the terminal through the network.

Description

METHOD AND APPARATUS FOR PROVIDING ROBOT CONTROL}

The present invention relates to a robot control apparatus and method, and more particularly to a robot control technology through a network.

In a conventional robot control environment, a teaching pendant is provided for manipulating the robot, and the teaching pendant and the robot controller are connected by serial communication to control the robots by key manipulation of the teaching pendant. We adopt technique to say.

In addition, in order to monitor and control the robot in real time at a remote location, the remote terminal and the robot control unit are connected to each other through a network (for example, the Internet) to transmit a control signal to the robot control unit via a remote terminal, State information of the robots collected through the robot controller may be transmitted to a terminal of a remote site.

However, according to the related art, when the terminal directly connects to the robot control unit in order to connect to a remote robot, the load on the robot control unit is increased. In addition, since the robot must include a web server or the like in the robot controller in order to connect with the terminal, the system configuration of the robot controller is inevitably complicated.

Therefore, in the present invention, when controlling the remote robots to the terminal through the network, the technology that can remotely control the robot by remotely accessing the teaching pendant (teaching pendant) for the robot operation without the remote connection directly from the robot control unit I want to come up with a plan.

In another aspect, the present invention is to provide a technical method for monitoring the status of the robots managed by the teaching pendant by allowing a remote terminal to directly access the teaching pendant via a network.

According to a robot control apparatus for solving the problems of the present invention, the remote control via a network to control the robot device group, and provides a remote terminal receiving the state information of the robot device group through the network, and through the network A teaching pendant configured to receive a control signal of the remote terminal and transmit the control signal to the robot device group, and to transmit monitoring status information monitoring the status information of the robot device group to the remote terminal through the network ( teaching pendant).

Here, in the teaching pendant to the robot device group, a remote control standard protocol communication standard may be applied.

In addition, the communication from the robot device group to the teaching pendant may be a remote monitoring standard protocol communication standard.

The teaching pendant may receive a control signal from the remote terminal or monitoring status information from the robot device group, transmit the received control signal to the robot device group, or transmit the received monitoring status information to the remote device. A transmission / reception unit for transmitting to a terminal, a transmission / reception control for remote control or remote monitoring of the transmission / reception unit, a monitoring unit for performing monitoring management and control of the robot device group, and monitoring status information of the robot device group; And a monitoring unit providing the monitored state information to the transceiver unit under the control of the controller.

The controller may control the transceiver to interpret the control signal and transmit the control signal to the robot device group when the control signal of the remote terminal is received through the transceiver.

The controller may control the transceiver to receive the monitoring state information from the robot device group through the monitoring unit and transmit the monitoring state information to the network.

The teaching pendant may further include a web server.

The remote terminal may be a wired communication terminal and / or a mobile communication terminal.

The network may connect the remote terminal and the teaching pendant in a wired and / or wireless manner.

According to a robot control apparatus for solving the problems of the present invention, a remote terminal via a network to control the robot device group, a remote terminal for receiving the state information of the robot device group through the network and is provided through the network A teaching pendant that receives the control signal of the remote terminal and transmits the control signal to the robot device group, and transmits monitoring status information monitoring the state information of the robot device group to the remote terminal through the network; It may include a robot control unit for transmitting the control signal of the remote terminal received through the network to the robot device group, or receives the monitoring status information from the robot device group to transmit to the remote terminal via the network.

Here, the remote terminal may be connected to the robot controller or connected to the teaching pendant depending on whether the teaching pendant is activated.

The robot controller stops transmitting control signals from the robot controller when the teaching pendant is activated, and passes through control signals through the teaching pendant from the robot controller to pass through the robot controller. Send to device group.

In addition, the robot control apparatus may directly transmit a control signal through the robot controller to the robot device group when the teaching pendant is not activated.

The network may connect the remote terminal and the robot controller in a wired and / or wireless manner.

In addition, the teaching pendant may monitor state information of the robot device group, and transmit the monitored state information to the remote terminal through the network.

In addition, the communication between the teaching pendant and the robot device group may be applied to a remote control standard protocol and / or a remote monitoring standard protocol.

The robot controller may determine whether the teaching pendant is activated in real time, and directly transmit the control signal to the robot device group or directly transmit the control signal to the robot device group according to whether the teaching pendant is activated. Stop and pass-through to send only a control signal through the teaching pendant to the robotic device group.

According to the robot control method for solving the problems of the present invention, a) determining whether a control signal is received from the remote terminal when the remote terminal is connected through a network, and b) if the control signal is received, the control Transmitting a signal to the robot device group, c) monitoring an operating state of the robot device group, determining whether a robot action of the robot device group occurs based on a monitoring result, and d) the robot When an action occurs, the method may include transmitting robot action information of the robot device group to the remote terminal through the network.

According to a robot control method for solving the problems of the present invention, a robot control method in which a remote terminal is connected to the robot control unit and / or a teaching pendant via a network, a) the remote terminal when the remote terminal is connected through the network Determining whether a control signal is received from the terminal; b) determining whether the teaching pendant is currently activated when the control signal is received from the remote terminal; and c) if the teaching pendant is activated. Stopping transmission of a control signal, passing through a control signal through the teaching pendant to transmit the control signal to the robot device group, and d) monitoring an operating state of the robot device group and based on a monitoring result. Determining whether a robot action of the device group is generated, and e) Controlling robot action information of the robot device group to pass through to the teaching pendant when a robot action occurs; and f) controlling the control signal received through the network when the teaching pendant is not activated. And transmitting to the robot device group.

Here, the control signal transmitted to the robot device group may be based on a remote control standard protocol.

In addition, the operation status monitoring of the robot device group may be based on a remote monitoring standard protocol.

According to the present invention, it is possible to remotely control the robot by remotely accessing the teaching pendant (teaching pendant) for the robot operation without remote access directly from the robot controller, and to monitor the status of the robots managed by the teaching pendant. Bar, the load on the robot controller can be reduced and the overall system configuration can be simplified.

Advantages and features of the present invention and methods for achieving them will be apparent with reference to the embodiments described below in detail with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but can be implemented in various different forms, and only the embodiments make the disclosure of the present invention complete, and the general knowledge in the art to which the present invention belongs. It is provided to fully inform the person having the scope of the invention, which is defined only by the scope of the claims. Like numbers refer to like elements throughout.

In describing the embodiments of the present invention, if it is determined that a detailed description of a known function or configuration may unnecessarily obscure the gist of the present invention, the detailed description thereof will be omitted. In addition, terms to be described below are terms defined in consideration of functions in the embodiments of the present invention, which may vary according to intentions or customs of users and operators. Therefore, the definition should be based on the contents throughout this specification.

Combinations of each block of the accompanying block diagram and each step of the flowchart may be performed by computer program instructions. These computer program instructions may be mounted on a processor of a general purpose computer, special purpose computer, or other programmable data processing equipment such that instructions executed through the processor of the computer or other programmable data processing equipment may not be included in each block or flowchart of the block diagram. It will create means for performing the functions described in each step. These computer program instructions may also be stored in computer usable memory or computer readable memory that can be included in a computer or other programmable data processing equipment to implement functionality in a particular manner, and thus the computer usable memory or computer readable memory. It is also possible for the instructions stored in the memory to produce an article of manufacture containing an instruction means for performing the functions described in each block or flow chart step of the block diagram. Computer program instructions may also be mounted on a computer or other programmable data processing equipment, such that a series of operating steps are performed on the computer or other programmable data processing equipment to create a computer-implemented process that generates each block and a block diagram. It is also possible to provide steps for executing the functions described in each step of the flowchart.

In addition, each block or step may represent a portion of a module, segment or code that includes one or more executable instructions for executing a specified logical function (s). It should also be noted that in some alternative embodiments, the functions noted in the blocks or steps may occur out of order. For example, the two blocks or steps shown in succession may in fact be executed substantially concurrently, or the blocks or steps may sometimes be performed in the reverse order, depending on the functionality involved. In addition, the function of the present invention can be implemented in hardware to solve the problem of speed, it is also possible to be implemented in the form of simultaneously processing the function of the block proposed in the present invention.

Hereinafter, with reference to the accompanying drawings will be described in detail an embodiment of the present invention.

1 is a schematic block diagram of a robot control apparatus according to an embodiment of the present invention.

As shown in FIG. 1, the robot control apparatus according to an embodiment of the present invention includes a remote terminal 100, a network 200, a teaching pendant 300, and a robot device group. 400, and the like.

First, the remote terminal 100 may control the robot device group 400 by remotely accessing the teaching pendant 300, which will be described later, through the network 200, and include a plurality of robot devices included in the robot device group 400. Their status information can be monitored through the teaching pendant 300.

The remote terminal 100 refers to a client such as a wired communication terminal, for example, a desktop or a laptop, or a mobile client such as a cellular phone, a video phone, a smart phone, or the like. To refer to, the network 200 and the wired / wireless connection to provide a wired / wireless communication service to the subscriber. At this time, the remote terminal 100 as a mobile client is not only a second generation that supports a Code Division Multiple Access (CDMA) scheme, but also a third generation or more mobile communication technique of a wideband code division multiple access (W-CDMA) scheme. It can include all of the wireless environment to support. Although one remote terminal is shown in the drawings, this is only an example for convenience of description, and a remote terminal that may be connected to the network 200 may be configured with a plurality of remote terminal groups including a plurality of remote terminals. It will be readily apparent to those of ordinary skill in the art.

The network 200 is a means for connecting the remote terminal 100 and the teaching pendant 300 in a wired and / or wireless manner, and transmits a control signal generated from the remote terminal 100 to the teaching pendant 300, or teaches. It may serve to deliver the state monitoring information of the robot device group 400 provided from the pendant 300 to the remote terminal 100.

The wired wired network in the network 200 is, for example, the Internet, and is a transmission control protocol / Internet protocol (TCP / IP) protocol and various services existing in the upper layer, that is, HTTP (HyperText Transfer). Protocol (Telnet), File Transfer Protocol (FTP), Domain Name System (DNS), Simple Mail Transfer Protocol (SMTP), Simple Network Management Protocol (SNMP), Network File Service (NFS), Network Information Service It refers to a global open computer network structure for providing a), may provide an environment that allows the remote terminal 100 to be connected to the teaching pendant (300).

On the other hand, the wireless network of the wireless type, for example, is involved in call setup and resource allocation of the remote terminal 100, and although not shown in the figure to the call setup and resource allocation of the second other remote terminal (or group) It will be readily apparent to one of ordinary skill in the art that a wireless network may be established.

Such a wireless network serves to guarantee the mobility of the remote terminal 100, and may perform a function of managing handover and radio resources. The wireless network may comprise a base station and a base station controller, and may support both synchronous and asynchronous. Here, in the case of synchronous, the base station will be a base transceiver station (BTS), the base station controller will be a base station controller (BSC), in the case of asynchronous, the base station is a Node B (Node B), and the base station controller is a Radio Network Controller (RNC). Will be. Of course, the wireless network is not limited thereto, and may include a Global System for Mobile Communication (GSM) network, not a CDMA network, and an access network of all future mobile communication systems.

A base station having such an example configuration may receive a call attempt message from the remote terminal 100 through a traffic channel among signal channels, and transmit the received call attempt message to the base station controller. In addition, the base station is a network endpoint device that is directly connected to the remote terminal 100 by performing the baseband signal processing, wired and wireless conversion, transmission and reception of a wireless signal. The base station controller controls the base station, and assigns and releases radio channels to the remote terminal 100, controls transmission output of the remote terminal 100 and the base station, soft hand-over and hard hand-to-cell Determination of hard hand-over, transcoding and vocoding, global positioning system (GPS) clock distribution, and operation and maintenance functions for a base station can be performed.

The exchange in the wireless network may perform basic and additional service processing, incoming and outgoing call processing of subscribers, location registration and handover procedures of remote terminal groups, and interworking with other networks. The exchange includes an Access Switching Subsystem (ASS) that performs distributed call processing, an Interconnection Network Subsystem (INS) that performs centralized call processing, a Central Control Subsystem (CCS) that centralizes operations and maintenance, and mobile. It may include a subsystem such as a Location Registration Subsystem (RLS) that performs storage and management of information for the subscriber.

The teaching pendant 300 according to the present embodiment receives a control signal (specifically, a user input signal for controlling a robot) of the remote terminal 100 through the network 200, and interprets the received control signal. The control signal may be transmitted from the robot device according to the control signal, for example, the robot device group 400 to the robot device 1 400/1 according to the control signal.

Here, the control signal received from the remote terminal 100 may include target information on which robot device of the robot device group 400 is a control signal. In this case, the teaching pendant 300 according to the present exemplary embodiment may analyze the target information and transmit the control signal to the robot device.

In addition, the teaching pendant 300 monitors the status information of any robot device, for example, the robot device 1 (400/1) of the robot device group 400, and remotely monitors the monitored status information through the network 200. It may transmit to the terminal 100. At this time, the state information may include, for example, work history information, error information, identification information, and the like of the robot.

Communication between the teaching pendant 300 and the robotic device group 400 may be applied, for example, a remote control standard protocol and a remote monitoring standard protocol, which facts are easily understood by those skilled in the art. As can be, a detailed technical description will be omitted.

2 is a block diagram illustrating the teaching pendant 300 in detail.

As shown in FIG. 2, the teaching pendant 300 according to the present exemplary embodiment may include a transceiver 32, a controller 34, a monitor 36, and the like.

The transceiver 32 may receive a control signal from the remote terminal 100 and transmit the received control signal to the robot device group 400. In addition, the transceiver 32 may receive the monitoring status information from the robot device group 400, and may transmit the received monitoring status information to the remote terminal 100.

The control unit 34 controls overall control of the teaching pendant 300, for example, the transmission / reception control based on the remote control (or remote monitoring) standard protocol of the transmission / reception unit 32, the monitoring management for the robot device group 400, the robot device group ( A web server function for controlling 400 may be performed.

Specifically, when the control signal of the remote terminal 100 is received through the transmission and reception unit 32 through the network 200, the control unit 34 interprets the received control signal, for example a robot device according to the control signal, for example The transmitter / receiver 32 may be controlled to transmit the control signal to the robot device 1 400/1 of the robot device group 400 based on a remote control standard protocol.

Here, the control signal received from the remote terminal 100 may include target information on which robot device of the robot device group 400 is a control signal. In this case, the controller 34 according to the present exemplary embodiment may control the transceiver 32 to interpret the target information and transmit the control signal to the robot device.

In addition, the controller 34 may control the transceiver 32 to receive the monitoring state information from the robot device group 400 through the monitoring unit 36 and transmit the monitoring state information to the network 200.

The monitoring unit 36 may monitor state information of the robot device group 400 and provide the monitored state information to the transceiver 32 under the control of the controller 34. In this case, the monitoring state information between the robot device group 400 and the monitoring unit 36 may be transmitted based on, for example, a remote monitoring standard protocol.

3 is a schematic block diagram of a robot control apparatus according to another embodiment of the present invention.

As shown in FIG. 3, the robot control apparatus according to the present embodiment includes a remote terminal 100, a network 200, a teaching pendant 300, a robot device group 400, a robot control unit 500, and the like. can do.

In the embodiment of FIG. 3, the control and monitoring functions of the teaching pendant 300 are highlighted as in the embodiment of FIG. 1, but unlike the embodiment of FIG. 1, the teaching pendant 300 is not activated, for example, teaching In this embodiment, the pendant 300 is in a failure state or an inactive state such as an error check state. In this embodiment, the teaching pendant 300 and the robot control unit 500 are managed in parallel to control the robot device group 400. And it is characterized in that implemented to increase the reliability for monitoring.

First, the remote terminal 100 may control the robot device group 400 by remotely accessing the teaching pendant 300 or the robot controller 500 through the network 200, and included in the robot device group 400. Status information of the plurality of robotic devices may be monitored through the teaching pendant 300 or the robot controller 500. That is, the teaching pendant 300 may be connected to the robot control unit 500 or the teaching pendant 300 depending on whether the teaching pendant 300 is activated. When the teaching pendant 300 is activated, as described below, the robot The control unit 500 may stop transmitting the control signal, pass-through the control signal through the teaching pendant 300, and transmit the control signal to the robot device group 400 by passing through the robot control unit 500. On the other hand, when the teaching pendant 300 is not activated, the control signal through the robot controller 500 may be directly transmitted to the robot device group 400.

Like the embodiment of FIG. 1 described above, the remote terminal 100 may be a wired communication terminal or a wireless communication terminal, and detailed descriptions thereof will be omitted in order to avoid duplication of description.

The network 200 is a means for connecting the remote terminal 100 and the teaching pendant 300 in a wired and / or wireless manner, and transmits or transmits a control signal generated from the remote terminal 100 to the teaching pendant 300. It may serve to transmit the state monitoring information of the robot device group 400 provided from the pendant 300 to the remote terminal 100. In this case, as the teaching pendant 300 is activated, a control signal transmitted to the teaching pendant 300 is passed through in the robot controller 500 to be provided to the robot device group 400 or the robot device group 400. The monitoring state information of) is passed through the robot controller 500 to be provided to the teaching pendant 300.

In addition, the network 200 is a means for connecting the remote terminal 100 and the robot controller 500 in a wired and / or wireless manner, and transmits a control signal generated from the remote terminal 100 to the robot controller 500. The robot may transmit the state monitoring information of the robot device group 400 provided from the robot controller 500 to the remote terminal 100. In this case, as the teaching pendant 300 is not activated, the robot controller 500 may be a control and monitoring agent.

Such a network 200, as in the embodiment of FIG. 1 described above, will be readily appreciated by those skilled in the art that a wired network or a wireless network may be selectively applied.

The teaching pendant 300 according to the present embodiment receives a control signal (specifically, a user input signal for controlling a robot) of the remote terminal 100 provided through the network 200, and receives the received control signal. By analyzing, the control signal may be transmitted from the robot device according to the control signal, for example, the robot device group 400 to the robot device 1 (400/1) according to the control signal.

As described above, the control signal received from the remote terminal 100 may include target information on which robot device of the robot device group 400 is a control signal. In this case, the teaching pendant 300 according to the present exemplary embodiment may analyze the target information and transmit the control signal to the robot device.

In addition, in the present embodiment, when the teaching pendant 300 is not activated, the robot controller 500 may perform the function of the teaching pendant 300 described above. That is, the target information in the control signal received from the remote terminal 100 can be analyzed and the control signal can be transmitted to the robot device.

In addition, the teaching pendant 300 monitors the status information of any robot device, for example, the robot device 1 (400/1) of the robot device group 400, and remotely monitors the monitored status information through the network 200. It may transmit to the terminal 100. At this time, the state information may include, for example, work history information, error information, identification information, and the like of the robot.

Communication between the teaching pendant 300 and the robotic device group 400 may be applied, for example, a remote control standard protocol and a remote monitoring standard protocol, which can be easily understood by those skilled in the art. As can be appreciated, detailed technical descriptions will be omitted.

According to this embodiment, when the teaching pendant 300 is not activated, the robot controller 500 transmits a control signal of the remote terminal 100 received through the network 200 to the robot device group 400, Receives monitoring status information from the robot device group 400 and transmits the monitoring state information to the remote terminal 100 through the network 200.

In addition, the robot controller 500 determines whether the teaching pendant 300 is activated in real time, and directly transmits a corresponding control signal to the robot device group 400 according to whether the teaching pendant 300 is activated, or the robot device group ( Direct control signal transmission to 400 may be stopped and pass-through to transmit only the control signal through the teaching pendant 300 to the robotic device group 400.

For example, when the teaching pendant 300 is not activated, the corresponding control signal may be directly transmitted to the robot device group 400. However, when the teaching pendant 300 is activated, the transmission of the control signal is stopped and the remote terminal ( The control signal from 100 may be passed through to be transmitted to the robot device group 400.

In addition, according to the present exemplary embodiment, the robot controller 500 determines whether the teaching pendant 300 is activated in real time, and when the teaching pendant 300 is deactivated, the relevant information is transmitted to the remote terminal 100 through the network 200. It will be apparent to those skilled in the art in the light of the technical idea of the present invention.

Up to now, in order to facilitate the understanding and explanation of the present invention, it has been described that the robot controller 500 is activated when the teaching pendant 300 is deactivated due to abnormal operation or the like. However, this is only one embodiment and may be variously modified, applied and changed.

For example, when some functions of the teaching pendant 300 are abnormal or are not deactivated, as described above, the functions of the robot control 500 may not be activated. In this case, when the teaching pendant 300, which is a part of the function, analyzes the received control signal to control an arbitrary robot device, the accuracy of the operation may decrease. In this case, according to an exemplary embodiment of the present disclosure, the teaching pendant 300 may be deactivated and the robot controller 500 may be activated according to a predetermined request signal received from the remote terminal 100. That is, a user who controls and monitors a group of robotic devices may arbitrarily deactivate or activate the teaching pendant 300 for more accurate control and monitoring. In this case, it will be apparent to those skilled in the art in view of the technical spirit of the present invention that the robot controller 500 may be activated or deactivated complementarily to the activation of the teaching pendant 300. In the reverse case, the robot controller 500 may be activated or deactivated according to a user's input at the remote terminal 100.

Hereinafter, the robot control method according to the embodiment of the present invention together with the above-described configuration will be described in detail with reference to the flowcharts of FIGS. 4 and 5.

First, FIG. 4 is a flowchart illustrating a robot control method according to an embodiment of the present invention, specifically, a control and monitoring process of the teaching pendant 300.

As illustrated in FIG. 4, the teaching pendant 300 determines whether the remote terminal 100 is connected through the network 200 (S100), and when the remote terminal 100 is connected, the teaching pendant 300 steps. In operation S102, it may be determined whether a control signal (specifically, a robot control signal) is received from the remote terminal 100.

When a control signal is received from the remote terminal 100, the teaching pendant 300 transmits the control signal to the robot device group 400 based on a remote control standard protocol, thereby allowing any robot device of the robot device group 400 to be transmitted. For example, the robot device 1 400/1 can be controlled (S104).

Thereafter, the teaching pendant 300 monitors the operation state of the corresponding robot device, that is, the robot device 1 (400/1), and determines whether the robot action of the robot device 1 (400/1) is generated based on the monitoring result. It may be (S106).

When the robot action occurs, the teaching pendant 300 may transmit the monitoring state information, that is, the robot action information of the robot device 1 (400/1) to the remote terminal 100 through the network 200 (S108). .

On the other hand, Figure 5 is a flow chart illustrating a robot control method according to an embodiment of the present invention, specifically the control signal processing process of the robot controller 500.

As illustrated in FIG. 5, the robot controller 500 determines whether the remote terminal 100 is connected through the network 200 (S200), and when the remote terminal 100 is connected, the robot controller 500 performs a step. In operation S202, it may be determined whether a control signal (specifically, a robot control signal) is received from the remote terminal 100.

When the control signal is received from the remote terminal 100, the robot controller 500 may determine whether the teaching pendant 300 is currently activated (S204).

If it is determined that the teaching pendant 300 is activated, the robot controller 500 transmits a control signal currently received through the network 200 (specifically, transmits a control signal to the robot device group 400). Stopping and passing the control signal through the teaching pendant 300 to the robot control unit 500 based on the remote control standard protocol may be transmitted to the robot device group 400 (S206). That is, since the control signal received through the network 200 may be provided to both the teaching pant 300 and the robot controller 500, the robot controller 500 may determine whether the teaching pendant 300 is currently activated. Accordingly, the control signal is directly transmitted to the robot device group 400, or the control signal received from the teaching pendant 300 is stopped and the control signal received from the teaching pendant 300 is transmitted to the robot device group 400. Can act as a thru This is to reduce the load of the robot controller 500 by blocking the transmission of the control signal through the robot controller 500 when the teaching pendant 300 is activated.

Thereafter, the robot controller 500 monitors the operation state of the robot device, that is, the robot device 1 (400/1), and determines whether the robot action of the robot device 1 (400/1) is generated based on the monitoring result. It may be (S208).

When the robot action occurs, the robot controller 500 may control the monitoring state information, that is, the robot action information of the robot device 1 (400/1) to pass through to the teaching pendant 300 (S210). Monitoring state information passed through the teaching pendant 300, specifically, monitoring state information passed through the remote monitoring standard protocol may be transmitted to the remote terminal 100 through the network 200 later.

On the other hand, when the teaching pant is not activated as a result of the determination in step S204, the robot controller 500 controls the robot device group 400 based on a remote control standard protocol based on a control signal received through the network 200. By directly transmitting to the robot), any robot device of the robot device group 400, for example, the robot device 1 (400/1) can be controlled (S212).

Subsequently, although not shown in the drawing, the robot controller 500 monitors the operation state of the robot device, for example, the robot device 1 (400/1), and the robot action of the robot device 1 (400/1) based on the monitoring result. Is determined, and when a robot action occurs, a series of processes of transmitting corresponding monitoring state information, that is, robot action information of the robot device 1 (400/1) to the remote terminal 100 through the network 200 are performed. You can do it. At this time, the monitoring status information may also be transmitted to the robot controller 500 based on the remote monitoring standard protocol as described above.

As described above, in the present embodiment, when remote robots are controlled through a network, the robot can be remotely controlled by remotely accessing a teaching pendant for robot operation without remote access directly from the robot controller. Through the remote terminal can be directly connected to the teaching pendant to remotely implemented to monitor the status of the robots managed by the teaching pendant.

The foregoing embodiments are intended to illustrate, not limit, the invention, and those skilled in the art should note that many other embodiments can be designed without departing from the scope of the invention as defined by the appended claims. do. In the claims, any reference signs placed between parentheses shall not be construed to limit the invention. The expression “comprising”, “comprising” and the like does not exclude the presence of elements or steps other than those listed in all the claims or the specification as a whole. The singular references of components do not exclude a plurality of references of such components, and vice versa. The simple fact that certain means are described in different dependent claims does not indicate that a combination of these means cannot be used.

1 is a block diagram of a robot control apparatus according to an embodiment of the present invention;

2 is a detailed configuration diagram of the teaching pendant 300 of FIG.

3 is a block diagram of a robot control apparatus according to another embodiment of the present invention;

4 is a flowchart illustrating a control and monitoring process of the teaching pendant 300 as a robot control method according to an embodiment of the present invention;

5 is a flowchart illustrating a control signal processing process of the robot controller 500 as a robot control method according to another exemplary embodiment of the present invention.

<Description of the symbols for the main parts of the drawings>

100: remote terminal

200: network

300: teaching pendant

400: robot device group

500: robot control unit

32: transceiver

34: control unit

36: monitoring unit

Claims (11)

In the robot control apparatus for controlling a robot device, A terminal connected to the network, Teaching pendant for transmitting a control signal received from the terminal through the network to the robot device, and transmitting monitoring status information monitoring the status information of the robot device to the terminal through the network. Robot control device comprising a. The method of claim 1, The teaching pendant, A transceiver for transmitting and receiving data with the terminal or the robot device; A monitoring unit for monitoring the state information of the robot device to generate the monitoring state information by monitoring; And a control unit for controlling the transmission / reception unit or controlling the monitoring of the monitoring unit for transmission and reception of the control signal or the monitoring state information. Robot control device characterized in that. The method of claim 2, The robot device is a plurality, The control unit, Analyze the target information included in the control signal received from the terminal, and controls the transceiver to transmit the control signal to the robot device according to the target information, The target information is information on which robot device is a control signal of a plurality of robot devices; Robot control device characterized in that. The method of claim 1, The teaching pendant is a web server Robot control device further comprising. The method of claim 1, A robot control unit which transmits a control signal received from the terminal through the network to the robot device, and transmits the monitoring status information monitoring the status information of the robot device to the terminal through the network. Robot control device further comprising. The method of claim 5, The robot controller And the teaching pendant is activated when the teaching pendant is inactive. The method of claim 6, When the teaching pendant is activated, the robot controller is deactivated, but passes through a control signal received from the teaching pendant to the robot device group. Robot control device characterized in that. The method of claim 6, The robot controller may determine whether the teaching pendant is activated in real time. In a method in which a teaching pendant included in a robot control device controls a robot device, a) receiving a control signal from a networked terminal; b) transmitting the control signal to the robotic device; c) generating monitoring status information monitoring the status information of the robot device when a robot action occurs in the robot device according to the control signal; d) transmitting the monitoring state information to the terminal through the network; Robot control method comprising a. In the method for controlling the robot device by a robot control device including a teaching pendant and a robot control unit, a) receiving a control signal from a networked terminal; b) transmitting the control signal to the robotic device; c) generating monitoring status information monitoring the status information of the robot device when a robot action occurs in the robot device according to the control signal; d) transmitting the monitoring state information to the terminal through the network; &Lt; / RTI &gt; And when the teaching pendant is deactivated, the robot controller performs steps a) to d). 11. The method according to claim 9 or 10, B) process, Analyzing the target information included in the control signal; Including the step of transmitting the control signal to the robot device according to the target information, The target information is information on which robot device is a control signal of a plurality of robot devices Robot control method characterized in that.

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