KR20230134328A - Apparatus and method for teaching robot - Google Patents

Abstract

A robot teaching method is disclosed. The robot teaching method includes: displaying, by a portable computer, a first GUI screen configured to guide robot teaching; generating, by a handheld device, first teaching point data by recognizing a teaching motion of a user operating according to teaching guidance provided through the first GUI; A robot control device receiving the first teaching point data from the handheld device, correcting the first teaching point data to meet the user's teaching intention, and generating second teaching point data; receiving, by the portable computer, the second starting point data from the robot control device, and displaying a second GUI screen configured to allow a user to select the second starting point data; and transmitting, by the portable computer, a teaching command corresponding to the second teaching point data selected by the user through the second GUI screen to the robot control device.

Description

Apparatus and method for teaching robots {APPARATUS AND METHOD FOR TEACHING ROBOT}

The present invention relates to robot teaching technology.

Robot teaching refers to a technique where an operator (operator) teaches a new task by transmitting commands to a robot. As for such robot teaching, the user directly writes a program corresponding to the user's teaching intention and records it on the robot, and uses a teaching pendant to record teaching points such as the target path point on the robot. There are methods, etc.

Using a teaching pendant is relatively easier than writing a program yourself, but in order to implement actual process automation, both methods are only possible for users with expertise, making them less accessible to non-experts.

Additionally, in order for a robot to perform highly difficult tasks such as peg-in-hole work, a precise teaching method for the robot's speed, acceleration, and contact force is needed. Here, the peg-in-hole work is a work of fitting a specific object (peg) into a hole of the correct shape, and examples include assembling screws or fixing a toothed wheel to an axle.

Because robot teaching for performing these highly difficult tasks is very difficult and complex, research and development on teaching methods that can be used universally is still insufficient.

The purpose of the present invention to solve the above-described problems is to provide an apparatus and method for teaching robots to perform highly difficult tasks.

A method for robot teaching according to one aspect of the present invention for achieving the above-described object includes the steps of displaying, by a portable computer, a first GUI screen configured to guide robot teaching; generating, by a handheld device, first teaching point data by recognizing a teaching motion of a user operating according to teaching guidance provided through the first GUI; A robot control device receiving the first teaching point data from the handheld device, correcting the first teaching point data to meet the user's teaching intention, and generating second teaching point data; receiving, by the portable computer, the second starting point data from the robot control device, and displaying a second GUI screen configured to allow a user to select the second starting point data; and transmitting, by the portable computer, a teaching command corresponding to the second teaching point data selected by the user through the second GUI screen to the robot control device.

An apparatus for robot teaching according to another aspect of the present invention includes a portable computer that displays a first GUI screen configured to guide robot teaching and a second GUI screen configured to generate teaching commands; And a handheld device that recognizes the user's teaching motion that operates according to the teaching guidance provided through the first GUI screen, generates first teaching point data, and transmits the first teaching point data to the robot control device. And, the portable computer receives second teaching point data obtained by reconstructing the first teaching point data to meet the user's teaching intention from the robot control device, and the user uses the second GUI screen. A teaching command corresponding to the selected second teaching point data is transmitted to the robot control device.

According to the present invention, a user performs a robot teaching task for a high-difficulty task using a handheld device, according to teaching guidance provided step by step through an application (GUI) installed on a portable computer and a simulation image that visually represents the teaching guidance. By using a handheld device, even non-experts without expertise in robot teaching tasks can easily perform teaching tasks on robot teaching tasks of high difficulty.

In addition, the application receives result information (teaching trajectory information) of a teaching task performed according to guidance information related to direct teaching from the robot controller, and the received result information (teaching trajectory information) The accuracy of the robot teaching task can be increased by providing a correction process for the received result information (teaching trajectory information) to match the user's teaching intent.

1 is a configuration diagram of a device for robot teaching according to an embodiment of the present invention.
Figure 2 is a diagram for explaining the main screen configuration provided in the teaching guide application according to an embodiment of the present invention.
Figures 3 and 4 are diagrams for explaining screen configurations provided when the setting item shown in Figure 2 is selected.
FIG. 5 is a diagram for explaining screen configurations provided when the tutorial item shown in FIG. 2 is selected.
FIG. 6 is a diagram for explaining the screen configuration provided when a device usage method is selected from the plurality of main menus shown in FIG. 5.
FIG. 7 is a diagram illustrating a screen configuration provided when a 3D free trajectory is selected from the plurality of main menus shown in FIG. 5.
FIG. 8 is a diagram for explaining the main screen configuration provided when the wizard item shown in FIG. 2 is selected.
Figures 9 to 13 are diagrams for explaining screen configurations provided when the grab item shown in Figure 8 is selected.
FIG. 14 is a diagram illustrating a screen configuration for providing a correction process of a teaching trajectory generated by a user according to teaching guidance related to the grasping task shown in FIGS. 8 and 14.
Figure 15 is a flowchart illustrating a method for robot teaching according to an embodiment of the present invention.
Figure 16 is a block diagram showing a portable computer according to an embodiment of the present invention.
Figure 17 is a block diagram showing a handheld device according to an embodiment of the present invention.

The terms used herein are only used to describe specific embodiments and are not intended to limit the invention. Singular expressions include plural expressions unless the context clearly dictates otherwise. In this application, terms such as “comprise” or “have” are intended to designate the presence of features, numbers, steps, operations, components, parts, or combinations thereof described in the specification, but are not intended to indicate the presence of one or more other features. It should be understood that this does not exclude in advance the possibility of the existence or addition of elements, numbers, steps, operations, components, parts, or combinations thereof.

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

Figure 1 is a block diagram showing a device for robot teaching according to an embodiment of the present invention.

Referring to FIG. 1, an apparatus 100 for robot teaching according to an embodiment of the present invention includes a portable computer 110 and a handheld device 120.

The portable computer 110 is a device that guides a user without expertise in a complex robot teaching task including several steps, and may be implemented in the form of a tablet PC, for example. To guide the robot teaching task, a teaching guidance application 112 is installed on the portable computer 110.

The portable computer 110 runs the teaching guidance application 112 and provides various graphical user interfaces (GUIs) to guide the user in robot teaching tasks.

The handheld device 120 is a device for remotely performing a teaching operation on the robot 220 according to teaching guidance information provided by a teaching guidance application. Here, the teaching operation broadly includes a bolting operation and an insertion operation. , It includes highly difficult tasks such as pick-in-hole work, and narrowly may include tasks for teaching the arm and gripper movements of the robot 220 to perform such difficult tasks.

The handheld device 120 measures and recognizes the user's manipulative movements according to the user's arm and hand movements, and generates a link containing the position coordinates of the handheld device 120 according to the user's arm and hand movements. Generate viewpoint data (teaching point data or waypoint data). This teaching point data is used as data to teach the arm and gripper movements of the robot 220.

In order to recognize the user's teaching intent, the handheld device 120 may be implemented with, for example, a 6-axis mouse, an Xbox joystick, or a motion recognition controller that recognizes the user's arm and hand movements. Here, the motion recognition controller may be implemented, for example, in a form such as a vive controller used in augmented reality ( AR ) or virtual reality ( VR ) equipment.

The teaching point data generated by the handheld device 120 is transmitted to the robot control device 210 described later using wireless communication. Wireless communication is not particularly limited, but may be short-distance wireless communication such as Wi-Fi or Bluetooth. To support such short-range wireless communication, the handheld device 120 and the robot control device 210 may each be configured to include a wireless communication module.

The robot control device 210 is a device that controls the operation of the robot 220, and may basically be a computing device configured to include a processor, memory, and wireless communication module.

The robot control device 210 receives teaching point data (first teaching point data) indicating the current location of the handheld device 120 from the handheld device 120 using wireless communication. Additionally, the robot control device 210 may comprehensively analyze the user's teaching intention and perform a correction process on the teaching point data using a teaching trajectory correction algorithm to match the teaching intention.

As an example, the correction process compares the teaching point data with reference teaching point data that matches the user's teaching intention, and corrects (reconstructs) the teaching point data so that the teaching point data matches the reference teaching point data. It may be.

As another example, the correction process may be to correct the teach point data based on the difference between the reference teach point data and the teach point data.

The user's teaching intention may be analyzed based on teaching task information received from the portable computer 110, where the teaching task information indicates the type of teaching task and detailed teaching task selected by the user through the teaching guidance application 112. It may be information that represents.

To receive this teaching task information, the robot control device 210 may perform wireless communication with the portable computer 110. Here, wireless communication is not particularly limited, but may be short-distance wireless communication such as Wi-Fi or Bluetooth. To support such short-range wireless communication, the portable computer 110 and the robot control device 210 may each be configured to include a wireless communication module.

Additionally, the robot control device 210 may transmit teaching point data and corrected teaching point data to the teaching guidance application 112 installed on the portable computer 110 using wireless communication.

The teaching guidance application 112 simulates the teaching point data and the corrected teaching point data, and provides a teaching trajectory image visualizing the teaching point data and a corrected teaching trajectory image visualizing the corrected teaching point data on the portable computer 110. It can be provided to the user through the screen.

The user can use the selection function provided by the teaching guidance application 112 to decide whether to select the corrected teaching trajectory image or perform re-teaching. . For example, when the user selects the corrected teaching trajectory image using the selection function, the teaching guidance application 112 generates a teaching command corresponding to the corrected teaching trajectory image selected by the user, and then wirelessly communicates it. It is transmitted to the robot control device 210 using . If the user does not select the corrected teaching trajectory image using the selection function, a re-teaching command is generated and transmitted to the robot control device 210.

When receiving the teaching command from the teaching guidance application 112, the robot control device 210 stores teaching point data corresponding to the corrected teaching trajectory image in the internal memory, thereby performing a series of teachings that the user wants to perform. The task can be completed.

The robot 220 may be an industrial robot or a collaborative robot (Cobot: Collaboraion Robot) that operates under the control of the robot control device 210. Since the present invention is not characterized by the function or hardware configuration of the robot 220, description thereof will be omitted. However, in FIG. 1, the robot control device 210 is shown as a separate configuration from the robot 220, but may be included within the robot 220.

Hereinafter, various GUI screen configurations provided upon execution of the teaching guide application 112 installed on the portable computer 110 will be described in detail.

Figure 2 is a diagram for explaining the main screen configuration provided when executing a teaching guide application according to an embodiment of the present invention.

Referring to Figure 2, as the teaching guide application is executed, the main screen configuration is displayed on the screen of the portable computer. The entire menu is displayed through the main screen configuration. The entire menu may be configured to include a tutorial item (22), a wizard item (24), and a settings item (25).

When the user touches and selects the tutorial item 22, the teaching guide application 112 provides a plurality of screen configurations for explaining how to use the device 100 for robot teaching.

When the user touches and selects the wizard item 24, the teaching guidance application 112 provides a plurality of screen configurations to guide the robot teaching task.

When the user touches and selects a setting item 26, the teaching guide application 112 provides a plurality of consecutive screen configurations to guide wireless communication settings between the portable computer 110 and the robot control device 210. .

Figures 3 and 4 are diagrams for explaining screen configurations provided when the setting item shown in Figure 2 is selected.

Referring to FIG. 3, when the user selects the setting item 26 shown in FIG. 2, a menu 30 for selecting a communication connection method is created in the upper right corner of the main screen. In this embodiment, the communication connection method may include a Wi-Fi connection method (32) and a USB cable connection method (34).

Referring to FIG. 4, when the user touches and selects the Wi-Fi connection method 32, an address input window 40 is created, and the IP address of the robot control device 210 is entered in the generated address input window 40. After entering , a communication connection between the portable computer 110 and the robot control device 210 is established by pressing the connection button 40.

FIG. 5 is a diagram for explaining screen configurations provided when the tutorial item shown in FIG. 2 is selected.

Referring to FIG. 5, when a user touches and selects the tutorial item 22 shown in FIG. 2, a plurality of main menus are displayed. A plurality of main menus include device usage items (51), circular/linear motion items (52), 3D free trajectory items (53), 2D shape trajectory items (54), 3D shape items (55), and 6-axis mouse It may consist of usage items (56).

FIG. 6 is a diagram for explaining a screen configuration displayed when a device usage method is selected from the plurality of main menus shown in FIG. 5.

Referring to Figure 6, when the user touches and selects the device usage item 51 shown in Figure 5, a robot arm image 62 is displayed on the left side of the screen, and the usage method of the handheld device is explained on the right side of the screen. A video (64) is displayed.

A replay button 66 is displayed below the video 64, and when the replay button 66 is pressed, the video 64 is played again.

FIG. 7 is a diagram for explaining a screen configuration displayed when a 3D free trajectory is selected from the plurality of main menus shown in FIG. 5.

Referring to FIG. 7, when the user touches and selects the 3D free trajectory item 53 shown in FIG. 5, a screen appears on the left side of the screen so that the user can perform preliminary learning on teaching tasks related to the 3D free trajectory. A robotic arm image 72 is displayed, and a video 64 is displayed on the right side of the screen explaining how to perform a teaching task related to a three-dimensional free trajectory. When performing a teaching task involving three-dimensional free trajectories, video 74 shows the user's arm movements while holding a handheld device and shows how to enter teach points.

FIG. 8 is a diagram for explaining the main screen configuration provided when the wizard item shown in FIG. 2 is selected.

Referring to FIG. 8, when the user touches and selects a wizard item from the entire menu shown in FIG. 2, a menu for selecting the teaching task the user wishes to perform and the end of the detailed teaching task is displayed.

As an example, the menu related to the type of teaching task may be divided into a door task item 80 and a pack-in-hole task item 81, and each item may be composed of items indicating the end of a detailed teaching task. As an embodiment, the detailed teaching work items of the door work item 80 may be divided into a grabbing item (80_1), a door opening item (80_2), a door closing item (80_3), and a placing item (80_4), and a pack-in hole work item. (81) This detailed teaching work item can be divided into a reach item (81_1) and other work item (81_2).

Figures 9 to 13 are diagrams for explaining screen configurations provided when the grab item shown in Figure 8 is selected.

First, referring to FIG. 9, when the user touches and selects the door work item 80 and the grabbing item 80_1 as the detailed teaching task of the door work item 80 shown in FIG. 8, a method for selecting a target type is performed. The screen configuration is displayed. The target refers to the object that the robot arm wants to manipulate. If the target type is a doorknob, the screen configuration for selecting the target type includes an image (90) visualizing the robot arm and the doorknob and items for selecting the doorknob. It can be composed of (91).

Referring to FIG. 10, when the user touches and selects the door handle item 91, a screen configuration for selecting the type of door handle is displayed. If the type of door handle is a bar-shaped handle, an item 92 for selecting the bar-shaped handle is displayed.

Referring to FIG. 11, when the user touches and selects the bar-shaped handle item 92, a screen configuration for selecting the type of robot gripper is displayed. If the type of robot gripper is a pincer gripper, an item 93 for selecting the pincer gripper is displayed.

Referring to FIG. 12, when the user touches and selects the claw gripper item 93, a screen configuration for selecting the direction in which the door is opened is displayed. If the door opens from right to left, an item 94 for selecting the direction in which the door opens from right to left is displayed.

When selection of items related to the teaching task and detailed teaching task shown in FIGS. 9 to 12 is completed, the current screen configuration is converted to a screen configuration for guiding the teaching task.

FIG. 13 is a diagram illustrating screen configurations for guiding a grasping task provided after selection of items related to the teaching task and detailed teaching task shown in FIGS. 9 to 12 is completed.

Referring to FIG. 13, the screen configuration for guiding the grasping task may be configured to include a video 95 guiding the step-by-step teaching task. The user actually operates the handheld device 120 to perform the grasping task and Perform related teaching tasks.

The step-by-step scene provided through the video 95 may consist of a scene of moving the handheld device 120 toward the door handle and a scene of storing the current location (teaching point) of the handheld device 120 moved toward the door handle. there is.

Meanwhile, in the screen configuration of FIG. 13, a scale adjustment bar 96 is displayed below the image 90, and the scale adjustment bar 96 controls the movement of the handheld device 120 and the movement of the robot arm. It provides a scale function to synchronize between

When the user adjusts the scale value using the scale adjustment bar 96, the adjusted scale value is transmitted from the portable computer 110 to the robot control device 210, and the robot control device 210 controls the handheld device 120. The movement intensity (speed) of the robot arm can be adjusted according to the adjusted scale value received from the portable computer 110 to be synchronized with the movement intensity (speed) of ).

FIG. 14 is a diagram illustrating a screen configuration for providing a correction process of a teaching trajectory generated by a user according to teaching guidance related to the grasping task shown in FIGS. 8 and 14.

The user moves the handheld device 120 according to the teaching guide provided through the video and uses the save button installed on the handheld device 120 to save teaching point data indicating the current location of the moved handheld device 120. creates .

Thereafter, as described above, the handheld device 120 transmits the generated teaching point data (first teaching point data) to the robot control device 210 using wireless communication.

The robot control device 210 analyzes the user's teaching intention based on the teaching task information (type of teaching task and detailed teaching task) selected by the user through the teaching guidance application 112, and teaches according to the analyzed teaching intention. The viewpoint data is reconstructed to generate corrected teaching point data (second teaching point data). Thereafter, the robot control device 210 transmits the teaching point data (first teaching point data) and the corrected teaching point data (second teaching point data) to the portable computer 110 using wireless communication.

Afterwards, the teaching guidance application 112 simulates the teaching point data (first teaching point data) and the corrected teaching point data (second teaching point data), and provides a teaching visualizing the teaching point data (first teaching point data). A corrected teaching trajectory (second teaching trajectory) is generated that visualizes the trajectory image (first teaching trajectory) and the corrected teaching point data (second teaching point data).

Thereafter, the teaching guidance application 112 provides a screen configuration as shown in FIG. 14 so that the user can select the corrected teaching trajectory image.

Referring to FIG. 14, in the screen configuration provided to select a corrected teaching trace image (second teaching trace), a plurality of selection buttons 98 for generating a corrected teaching trace image (T2) and a re-teach command and 99) are displayed.

The user visually checks the corrected teaching trajectory image (T2: second teaching trajectory) visualized through the three-dimensional coordinate system 14, and then, when the corrected teaching trajectory image (T2) is selected by the user, clicks the selection button 98 ) is used to generate a teaching command, and if the corrected teaching trajectory image (T2) is not selected, a re-teaching command is generated using the selection button 99.

When the user touches and selects the corrected teaching trajectory button 98, the teaching guidance application 112 displays the corrected teaching trajectory image (T2: second teaching trajectory), that is, correcting the teaching trajectory of the robot control device 210. A teaching command according to the teaching trajectory (second teaching trajectory) corrected according to the algorithm is generated and transmitted to the robot control device 210.

The robot control device 210 stores teaching point data (second teaching point data) corrected according to the teaching trajectory correction algorithm in the internal memory in response to the teaching command. For reference, Figure 14 shows a case where the user selects the corrected teaching trajectory.

When the user touches and selects the re-teach button 99, the teaching guide application 112 generates a re-teach command and transmits it to the robot control device 210. The robot control device 210 deletes the teach point data received from the handheld device 120 and waits until new teach point data is received from the handheld device 120.

The GUI screen for providing teaching guidance and a correction process for the teaching trajectory related to the grasping task described with reference to FIGS. 2 to 14 is the same for the door opening task (80_2), the door closing task (80_3), and the placing task (80_4). It can be applied easily.

Therefore, the description of the GUI screen for providing teaching guidance and teaching trajectory correction process for each of the door opening operation (80_2), door closing operation (80_3), and placing operation (80_4) is the screen configuration shown in FIGS. 2 to 14. Replace with an explanation.

Figure 15 is a flowchart illustrating a method for robot teaching according to an embodiment of the present invention.

Referring to FIG. 15, first, in S110, a first communication connection between the portable computer 110 and the robot control device 210 and a second communication connection between the handheld device 120 and the robot control device 210 are established. A process of establishing a communication connection is performed, including: The communication connection may be a wired or wireless communication connection, and the wireless communication connection may be a short-range wireless communication connection such as Wi-Fi, as shown in FIG. 4.

Then, at S120, when communication connection establishment between the devices 110, 120, and 210 is completed, the portable computer 110, such as a tablet PC, performs a process of displaying a first GUI screen configured to guide robot teaching. do. Here, the first GUI screen may be the screen configurations shown in FIGS. 2 to 13.

Next, in S130, the handheld device (120) may perform a process of generating first teaching point data by recognizing the teaching motion of the user operating according to teaching guidance provided through the first GUI. there is.

Then, in S140, the robot control device 210 receives the first teaching point data from the handheld device 120, corrects the first teaching point data to match the user's teaching intention, and generates a second teaching point data. A process for generating teaching point data can be performed. Here, a teaching trajectory correction algorithm may be used to correct the first teaching point data.

Then, in S150, the portable computer 110 receives the second starting point data from the robot control device 210 and displays a second GUI screen configured to allow the user to select the second starting point data. carry out the process. Here, the second GUI screen may have the screen configuration shown in FIG. 14.

Next, in S160, the portable computer 110 performs a process of transmitting a teaching command corresponding to the second teaching point data selected by the user through the second GUI screen to the robot control device 210.

In an embodiment, the process of displaying the first GUI screen (S120) may be a process of displaying a screen configuration so that the user can select the type of teaching task and detailed teaching task.

In an embodiment, the process of displaying the first GUI screen (S120) is a process of displaying a screen configuration so that the user can select the type of object the robot wants to manipulate, the type of gripper of the robot, and the manipulation direction of the object. It can be. Here, the manipulation direction of the object may be a direction in which the object moves, for example, as shown in FIG. 12 .

In an embodiment, the process of generating the second teaching point data (S140) may be a process of analyzing the user's teaching intention based on teaching task information received from the portable computer. Here, the teaching task information may be information selected by the user through the first GUI screen. The information selected through the first GUI screen includes information indicating the types of teaching tasks and detailed teaching tasks, information indicating the type of object the robot wants to manipulate, information indicating the type of gripper of the robot, and the manipulation direction of the object. Sloth may be information that includes at least one piece of information.

In an embodiment, the process of displaying the second GUI screen (S150) may be a process of displaying a selection button for the user to select the corrected teaching trajectory. Here, if the user does not select the corrected teaching trajectory, a selection button for generating a re-teaching command may be additionally provided.

Figure 16 is a block diagram showing a portable computer according to an embodiment of the present invention.

Referring to FIG. 16, the portable computer 1300 includes a processor 1310, a memory 1330, an input interface device 1350, an output interface device 1360, and a storage device 1340 that communicate through a bus 1370. ) may include at least one of Portable computer 1300 may also include a communication device 1320 coupled to a network.

The processor 1310 includes at least one CPU and at least one GPU, and may be a semiconductor device that executes instructions stored in the memory 1330 or the storage device 1340.

In addition, the processor 1310 configures the first GUI screen shown in FIGS. 2 to 13 and the second GUI screen shown in FIG. 14, and an output interface device ( 1360) can be controlled.

Memory 1330 and storage device 1340 may include various types of volatile or non-volatile storage media. For example, memory may include read only memory (ROM) and random access memory (RAM).

The communication device 1320 may be a communication module that supports wired and/or wireless communication. The communication device 1320 is a wireless communication module that receives the first and second teaching point data from the robot control device 210 and transmits the teaching command to the robot control device under the control of the processor 1310. It can be implemented as:

The input interface device 1350 may be implemented as a display unit with a touch function.

Figure 17 is a block diagram showing a handheld device according to an embodiment of the present invention.

Referring to FIG. 17 , the handheld device 1400 includes a processor 1410, a motion recognition sensor 1420, and a wireless communication module 1430.

The processor 1410 may be implemented as at least one CPU or a microcontroller unit (MCU) configured to include at least one CPU.

The motion recognition sensor 1420 recognizes the user's teaching motion under the control of the processor 1420, generates first teaching point data including the current location coordinates of the handheld device, and recognizes the user's teaching motion. It can be configured to include various motion sensors to do this.

The wireless communication module 1430 transmits the first teaching point data to the robot control device using wireless communication under the control of the processor.

Although the embodiments of the present invention have been described in detail above, the scope of the present invention is not limited thereto, and various modifications and improvements can be made by those skilled in the art using the basic concept of the present invention defined in the following claims. It falls within the scope of rights.

Claims (15)

displaying, by the portable computer, a first GUI screen configured to guide robot teaching;
generating, by a handheld device, first teaching point data by recognizing a teaching motion of a user operating according to teaching guidance provided through the first GUI;
A robot control device receiving the first teaching point data from the handheld device, correcting the first teaching point data to meet the user's teaching intention, and generating second teaching point data;
receiving, by the portable computer, the first and second starting point data from the robot control device, and displaying a second GUI screen configured to allow a user to select the second starting point data; and
Transmitting, by the portable computer, a teaching command corresponding to the second teaching point data selected by the user through the second GUI screen to the robot control device.
A method for teaching robots including. In paragraph 1:
The step of displaying the first GUI screen is,
A method for teaching a robot, comprising the step of displaying a screen configuration so that the user can select a type of teaching task and detailed teaching task. In paragraph 1:
The step of displaying the first GUI screen is,
A method for teaching a robot, which is a step of displaying a screen configuration so that the user can select the type of object the robot wants to manipulate, the type of gripper of the robot, and the manipulation direction of the object. In paragraph 1:
The step of generating the second teaching point data is,
A method for teaching a robot, comprising analyzing the user's teaching intention based on teaching task information received from the portable computer. In paragraph 4,
The teaching work information is,
Information selected by the user through the first GUI screen,
The information selected through the first GUI screen is:
It includes at least one of information indicating the types of teaching tasks and detailed teaching tasks, information indicating the type of object the robot wants to manipulate, information indicating the type of gripper of the robot, and information indicating the manipulation direction of the object. Methods for teaching robots. In paragraph 1:
The step of displaying the second GUI screen is,
A first screen configuration that displays a second teaching trajectory visualizing the second teaching point data in a three-dimensional coordinate system and a second screen configuration configured to include a selection button for the user to select the second teaching trajectory. step
A method for teaching robots. In paragraph 6:
The second screen configuration is,
If the user does not select the second teaching trajectory, the method for teaching a robot further includes a selection button for generating a re-teaching command and transmitting it to the robot control device. a portable computer displaying a first GUI screen configured to guide robot teaching and a second GUI screen configured to generate teaching instructions; and
It includes a handheld device that recognizes the user's teaching motion operating according to the teaching guidance provided through the first GUI screen, generates first teaching point data, and transmits the first teaching point data to the robot control device; ,
The portable computer,
Receive from the robot control device the first teaching point data and the second teaching point data obtained by reconstructing the first teaching point data to match the teaching intention of the user, and select the first teaching point data through the second GUI screen by the user. An apparatus for teaching a robot, wherein a teaching command corresponding to the second teaching point data is transmitted to the robot control device. In paragraph 8:
The handheld device,
processor;
a motion recognition sensor that recognizes the user's teaching motion under the control of the processor; and
A wireless communication module that transmits the first teaching point data to the robot control device using wireless communication under the control of the processor.
A device for robot teaching including. In paragraph 9:
A device for teaching a robot wherein the wireless communication is short-distance wireless communication. In paragraph 8:
The portable computer,
A processor including at least one CPU and at least one GPU;
a display unit that displays the first and second GUI screens under control of the processor; and
A wireless communication module that receives the first and second teaching point data from the robot control device and transmits the teaching command to the robot control device under control of the processor.
A device for robot teaching including. In paragraph 8:
The portable computer,
A device for teaching a robot that displays a screen configuration for the user to select a type of teaching task and detailed teaching task through the first GUI screen. In paragraph 8:
The portable computer,
An apparatus for teaching a robot, wherein the user displays a screen configuration for selecting the type of object the robot wants to manipulate, the type of gripper of the robot, and the manipulation direction of the object through the first GUI screen. In paragraph 8:
The portable computer,
A first screen configuration that displays a second teaching trajectory visualizing the second teaching point data in a three-dimensional coordinate system through the second GUI screen, and a selection button for generating the teaching command according to the second teaching trajectory and when the user does not select the second teaching trajectory, displaying a second screen configuration configured to include a selection button for generating a re-teaching command. In paragraph 8:
The portable computer,
A device for teaching a robot that plays a video demonstrating a teaching task selected by a user according to the teaching guide through the first GUI.