WO2010130289A1 - A teach pendant unit for an industrial robot and a service system - Google Patents

A teach pendant unit for an industrial robot and a service system Download PDF

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Publication number
WO2010130289A1
WO2010130289A1 PCT/EP2009/055782 EP2009055782W WO2010130289A1 WO 2010130289 A1 WO2010130289 A1 WO 2010130289A1 EP 2009055782 W EP2009055782 W EP 2009055782W WO 2010130289 A1 WO2010130289 A1 WO 2010130289A1
Authority
WO
WIPO (PCT)
Prior art keywords
teach pendant
pendant unit
robot
service centre
unit
Prior art date
Application number
PCT/EP2009/055782
Other languages
French (fr)
Inventor
Soenke Kock
Original Assignee
Abb Research Ltd.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Abb Research Ltd. filed Critical Abb Research Ltd.
Priority to PCT/EP2009/055782 priority Critical patent/WO2010130289A1/en
Publication of WO2010130289A1 publication Critical patent/WO2010130289A1/en

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/409—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by using manual input [MDI] or by using control panel, e.g. controlling functions with the panel; characterised by control panel details, by setting parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/32—Operator till task planning
    • G05B2219/32014—Augmented reality assists operator in maintenance, repair, programming, assembly, use of head mounted display with 2-D 3-D display and voice feedback, voice and gesture command
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39443—Portable, adapted to handpalm, with joystick, function keys, display

Definitions

  • the present invention relates to a handheld teach pendant unit for controlling and programming an industrial robot.
  • the present invention also relates to a service system comprising an industrial robot having a handheld teach pendant unit for controlling and programming the robot, a remote service centre providing assistance for trouble with the robot and including at least one computer and a display screen, and a communication line between the robot and the remote service centre so that the teach pendant unit is able to communicate with the computer at the service centre.
  • An industrial robot includes a manipulator, a control unit for automatically operating the manipulator, and a handheld operator control device, generally denoted a teach pendant unit for manually controlling the robot.
  • a robot operator for example, uses the teach pendant unit to program the robot to follow an operating path.
  • the teach pendant unit may also be used for monitoring a robot program, changing certain variables in the robot program, input process parameters, starting, stopping and editing the robot program.
  • a teach pendant unit normally comprises operator control means for manually controlling the motions of the manipulator, such as a joystick, a ball, or a set of buttons.
  • the teach pendant unit further comprises a visual display screen and safety equipment including an enabling device and an emergency stop button.
  • the teach pendant unit is con- nected to the control unit of the robot to enable communication between the teach pendant unit and the control unit.
  • the connection can be wireless or through a cable.
  • robots Up until recently, robots have been isolated once delivered from the manufacture to the field. However, it has been proposed to provide remote services and assistance of the robots at a centralized service centre.
  • the robots are connected to the service centre via a network that allows for backups, control and remote assistance and diagnostics.
  • the network that is used often offers additional internet services like file transfer, secure communication lines like VPN , Voice-over-IP, streaming video, e- mail , chat and so forth.
  • US20040010344A1 describes a system for remote control of a robot over a communication network using a connection device on the robot side.
  • JP2002091528 describes a maintenance supporting method for a robot.
  • the current state is displayed on the screen of the teach pendant unit, and the screen information is transmitted to a computer at a remote service centre.
  • the computer reproduces the teach pendant unit on a screen at the service centre based on the re- ceived information. By using this information an operator on the service centre can send instructions to the control unit and thereby recover the robot from the trouble.
  • One object of the present invention is to enable the robot operator to transmit further information on the trouble to the personnel at the service centre and thereby increasing the possibility to receive help from the service centre.
  • Another object of the invention is to improve the communication between the robot operator at site and the personnel at the remote service centre.
  • this object is achieve by a teach pendant unit as defined in claim 1 .
  • the teach pendant unit is provided with a built-in camera for taking images of the environment, which is typically an industrial production cell, and the teach pendant unit is configured to capture one or more images and to send the images to a remote unit.
  • the images are sent to a remote service centre providing assistance for trouble with the robot.
  • the teach pendant can be configured to capture a single image, a series of images, or a sequence of im- ages forming a motion picture, such as a film or a streaming video.
  • this object is achieved by a service system as defined in claim 1 1 .
  • the teach pendant unit is configured to upon command capture one or more images, to send the images to the service centre, and the computer at the service centre is configured to receive the image, or the sequence of images, and display the image or the film formed by the sequence of images on a display screen at the remote service centre.
  • the invention makes it easy for the operator to take an image, a series of images, or a film of the environment of the robot, or of the robot itself, for example, of defective parts of the robot, and send the image/images to the service centre.
  • the invention makes it possible to easily trans- mit visual evidence of problems that occur only during a movement of the robot.
  • the image or film will facilitate for the personnel at the service centre to diagnose the fault and provide help to troubleshoot faults of the robot.
  • An advantage with the invention is that the operator can take and send the images with the teach pendant unit in his hands, thereby gaining time and maintaining safety as the emergency stop button on the teach pendant unit can quick be reached by the operator. If a separate camera is used, the robot operator has to lay down the teach pendant unit when taking and sending the images.
  • the teach pendant unit comprises a display screen and the teach pendant unit is configured to upon command display the captured images on display screen of the teach pendant unit.
  • This embodiment enables the robot operator to view the image at the same time as the personnel at the service centre, and thereby facilitating a discussion between the robot operator and the service personnel regarding what is the trouble with the robot.
  • the teach pendant unit is provided with a trigger function, and the trigger function is configured to upon activation automatically capture one or more images by means of the first camera and to transmit the images to the service centre.
  • the trigger unit includes a button and the teach pendant unit is configured to upon operation of the button automatically capture an image and send the image to the service centre. This embodiment further facilitates for the operator to provide images to the service centre.
  • the teach pendant unit has a front side adapted to face the operator when the teach pendant unit is hold by the operator, and a back side arranged opposite the front side and facing the environment, and the camera is arranged at the back side of the teach pendant unit.
  • the teach pendant unit is provided with means to allow the robot operator to speak with personnel at the remote service centre.
  • the teach pendant unit is provided with a microphone and a loud speaker, or means for connecting a head-set.
  • the head set can be connected by a plug, or alternatively via a wireless connection, like Bluetooth.
  • VoIP Voice-over-IP
  • An advantage with the invention is that the operator can speak with the service centre with both hands on the teach pendant unit and accordingly can control the robot by means of the teach pendant unit while talking to the service personnel at the remote service centre.
  • This embodiment facilitates the communication between the robot operator and the service centre, and makes it possible to easily transmit evidence of problems, including visual and audible, that occur only during a movement of the robot.
  • the teach pendant unit is provided with a second built-in camera for taking moving pictures of the operator, and the teach pendant unit is configured to send the moving pictures to the service centre.
  • the com- puter at the service centre is configured to receive the moving pictures of the operator and display the moving pictures on the display screen.
  • the second built in camera is, for example, a web-camera.
  • the second camera is arranged in the front side of the teach pendant unit, so that the camera is directed to the face of the operator while the operator is holding the teach pendant unit in the normal position for operation of the teach pendant unit when controlling the robot.
  • the teach pendant unit comprises a display screen
  • the computer at the service centre is provided with a camera for taking moving pictures of the service personnel
  • the computer is configured to transmit the moving pictures of the service personnel to the teach pendant unit
  • the teach pendant unit is configured to receive the moving pictures of the service personnel and to display the moving pictures on the display screen of the teach pendant unit.
  • the teach pendant unit is provided with an e-mail program that allow the robot operator to send e-mail from the teach pendant unit to the service centre.
  • This embodiment further facilitates the communication between the robot operator and the service personnel at the service centre. Further, it allows the operator to send the images together with other data like configuration backups, to the service centre via e-mail.
  • the communication line between the robot and the remote service centre is an on-line connection via Internet.
  • the communication line between the robot and the remote ser- vice centre is established through a VPN connection .
  • Fig. 1 shows a service system including an industrial robot having a teach pendant unit, and a remote service centre according to an embodiment of the invention.
  • Fig. 2a shows a teach pendant unit according to an embodiment of the invention in a view from above.
  • Fig. 2b shows the teach pendant unit shown in figure 2a shown in a view from below.
  • Fig. 2c shows a side view of the teach pendant unit shown in figure 2a and 2b.
  • FIG. 1 shows an example of a service system according to the invention.
  • the service system includes an industrial robot 1 having a portable handheld control unit denoted a teach pendant unit 2 for controlling and programming the robot, and a remote service centre providing assistance for trouble with the robot and including at least one computer 3a and a display screen 3b.
  • the robot is located at a customer, in the following called the robot side of the system.
  • the service centre is located at a dis- tance from the robot, for example, at a manufacture, in the following called the service centre side of the system.
  • the robot comprises a manipulator 5, a robot control unit 6, and the teach pendant unit 2.
  • the manipulator 5 comprises a number of robot arms, which are movable in relation to each other about a plurality of movement axes.
  • the robot control unit 6 controls the position of the axes of the manipulator.
  • the robot control unit includes program memory for storing robot programs including movement instructions for the robot.
  • the robot control unit is further provided with communication equipment for communicat- ing with the teach pendant unit, for communicating with the manipulator, and for communicating with the remote service centre.
  • the portable teach pendant unit 2 is connected to the control unit 6 to operate the robot through the teaching pendant unit.
  • the teach pendant unit 2 comprises operator control means, in this example a set of control buttons 7, a visual display screen 8 for displaying a user interface, and safety equipment in the form of an emergency stop button 9 and an enabling device 10.
  • the display screen 8 is, for example, a touch screen.
  • the teach pendant unit includes hardware and software for performing normal teach pendant operations.
  • the hardware of the teach pendant unit comprises a processing unit, such as a CPU, memory means for storing program modules, and communication equipment for communicating with the robot control unit 6.
  • the teach pendant unit 2 and the robot control unit 6 is configured to communicate with each other.
  • the communication between the teach pendant unit 2 and the robot control unit 6 is wireless. However, the communication can as well be provided trough a cable.
  • the teach pendant unit has a CPU provided in the teach pendant. All user software could be runs on the robot control unit, the teach pendant includes a display and keyboard with a long cable, and the teach pendant just displays the user interface.
  • the service system further includes a communication line 12 between the robot side and the service centre side so that the teach pendant unit 2 is able to communicate with the remote service centre.
  • the connection between the teach pendant unit or the connected robot control unit and the service centre can be made through wired network, wireless network, telecommunication network or similar.
  • the connection may comprise a VPN connection for secure transmission.
  • the teach pendant unit 2 communicates with the remote service centre via the robot control unit 6.
  • the teach pendant unit could be provided with means for direct communication with the service centre.
  • the teach pendant unit can communicate with the service centre, for example, via Internet services, such as VoIP, streaming video, or Skype.
  • the teach pendant unit 2 is shown in more detail in figure 2a-c.
  • the teach pendant unit has a front side 13 adapted to face the operator when the operator holds the teach pendant unit is in his hands during normal operation of the teach pendant unit, such as programming and manual control of the robot, and a back side 14 arranged opposite the front side and facing away from the operator.
  • Figure 2a shows the front side 13 of the teach pendant unit including the human machine interface of the teach pendant unit.
  • the front side includes the display screen 8, the operator control mean 7, and the emergency stop button 9.
  • Figure 2b shows the back side 14 of the teach pendant unit.
  • the teach pendant unit has four side walls. One of the side walls includes the enabling device 10.
  • Figure 2c shows the sidewall 15 opposite the side wall including the enabling device 10.
  • the teach pendant unit is provided with a first built-in camera 16 for taking images of the environment.
  • the first camera 16 is mounted in the back side 14 of the teach pen- dant unit such that the view of sight is in a direction away from the robot operator when the operator holds the teach pendant unit in his hands.
  • the camera is, for example, of the same type as used in mobile phones, such as the OmniVision CameraCube OVM7690, which results in a very low cost solution.
  • the camera is arranged in communication with the display screen 8 of the teach pendant unit such that the view of the camera is displayed on the display screen 8 when the camera is activated.
  • the teach pendant unit is configured to upon command from the robot operator catch one or more images by means of the camera 16 and to send the image or images to the service centre.
  • the computer 3a of the service centre is configured to receive the image or images and display the images at the display screen 3b.
  • the teach pendant unit is provided with a first button 18 for acti- vating the camera 16 and a second button 19 for capturing an image by means of the camera.
  • the teach pendant unit is provided with a trigger function configured to upon activation automatically trigger the camera 16 to capture one or more images and to automatically transmit the captured image or images to the service centre.
  • the second button 19 is a part of a trigger function.
  • the trigger function further includes a software module that is run on the processing unit of the teach pendant unit. The software module of the trigger function is activated by the operator by pushing the button 19. When the trigger function has been activated the software module sends a signal to the camera to capture an im- age. When the image has been taken, the software module sends the image to the computer of the service centre.
  • the captured images are stored on the teach pendant unit, and the teach pendant unit is configured to upon command display one or more of the captured images on the display screen 8 of the teach pendant unit.
  • the images are represented by icons and the robot operator may select which image to be displayed on the screen 8 by pointing at an icon on the screen 8.
  • the first button 18 and the second button 19 are arranged in the sidewall 15 of the teach pendant unit, as shown in figure 2c.
  • the first and second button can be arranged anywhere on the teach pendant unit that is suitable.
  • the camera 16 could be mounted in any of the other side- walls, or in the front side 13 of the teach pendant unit.
  • the second button 19 is a physical button, but in an alternative embodiment the button could be graphic displayed on the touch screen 8.
  • the trigger function includes a microphone and the trigger function could be activated by means of a voice command.
  • the trigger function is arranged to start taking a film by means of the camera, which film automatically transferred to the service centre, and upon deactivation of the trigger function the camera stops taking the film and the transfer of the film to the service centre ceases.
  • the computer 3a is configured to receive the images from the teach pendant unit and to display the images to the screen 3b.
  • the invention makes it possible to send a single image, a plural- ity of images, or films from the teach pendant unit to the remote service centre.
  • the service centre also includes personnel providing assistance for trouble with the robots.
  • the teach pendant unit is further provided with a connection unit 20 for connecting a headset 22 to the teach pendant unit.
  • the teach pendant unit is configured to transfer speech between the remote service centre and the teach pendant unit in order to achieve a communication between the robot operator and service personnel working at the service centre.
  • the teach pendant unit could be provided with a microphone to pick up speech of the operator, and a load speaker to hear the voice of the service personnel.
  • the teach pendant unit 2 is further provided with a second built- in camera 21 arranged for taking moving pictures of the operator, and the teach pendant unit is configured to send the moving pictures to the service centre, and the computer 3a at the service centre is configured to receive the moving pictures of the operator and display the moving pictures on the display screen 3b.
  • the second camera 21 is, for example, a web camera. In this embodiment the second camera 21 is arranged in the front side 13 of the teach pendant unit.
  • the computer 3a at the service centre is also provided with a camera 24 for taking moving pictures of the person sitting in front of the computer, and the computer is configured to transmit the moving pictures of the service personnel to the teach pendant unit.
  • the teach pendant unit is configured to receive the moving pictures and to display them on the display screen 8 of the teach pendant unit.
  • the teach pendant unit is further provided with an e-mail program that allow the robot operator to send e-mail from the teach pendant unit to the service centre.
  • the robot operator may seek help at the remote service centre.
  • the robot operator connects to the service centre and gets help via a video or audio call.
  • the service centre can transmit images, instructions and documents to the teach pendant unit, or to the robot control unit to guide and support the robot operator.
  • the service centre can also remotely log in to the teach pendant unit, or to the connected robot control unit, if approved by the robot operator, and get a remote screen picture.
  • the robot operator and the person- nel at the service centre can speak with each other through the teach pendant unit while trouble shooting the robot.
  • connection be- tween the teach pendant and the service centre is established through a virtual private network (VPN), which allows for secure transmission, and across firewalls.
  • VPN virtual private network
  • the teach pendant is of less sophisticated nature, not containing a separate computer unit, but only displays, controls, and the camera services.
  • the invention can be realized by having the connection to the service center established by the robot controller, which also hosts the programs to establish the services.
  • the teach pendant only displays the user screens and camera images, so that for the user, there is no dif- ference in experience.
  • the present invention is not limited to the embodiments disclosed but may be varied and modified within the scope of the following claims.
  • the invention is also applicable to a robot including a plurality of manipulators controlled by one or more robot control units.
  • the robot side may include more than one teach pendent unit communicating with computer at the service side and the service side may include more than one computer.

Abstract

The present invention relates to a teach pendant unit (2) and a service system comprising an industrial robot (1) having a hand-held teach pendant unit (2) for controlling and programming the robot, a remote service centre providing assistance for trouble with the robot and including at least one computer (3a) and a display screen (3b), and a communication line (12) between the robot and the computer at the service centre so that the teach pendant unit is able to directly or indirectly communicate with the remote service centre. The teach pendant unit is provided with a built-in camera (16) for taking images of the environment, and the teach pendant unit is configured to upon command capture one or more images and send the images to the service centre and the service centre is configured to receive the images and display the images at the display screen.

Description

A TEACH PENDANT UNIT FOR AN INDUSTRIAL ROBOT AND A SERVICE SYSTEM
FIELD OF THE INVENTION
The present invention relates to a handheld teach pendant unit for controlling and programming an industrial robot.
The present invention also relates to a service system comprising an industrial robot having a handheld teach pendant unit for controlling and programming the robot, a remote service centre providing assistance for trouble with the robot and including at least one computer and a display screen, and a communication line between the robot and the remote service centre so that the teach pendant unit is able to communicate with the computer at the service centre.
PRIOR ART
An industrial robot includes a manipulator, a control unit for automatically operating the manipulator, and a handheld operator control device, generally denoted a teach pendant unit for manually controlling the robot. A robot operator, for example, uses the teach pendant unit to program the robot to follow an operating path. The teach pendant unit may also be used for monitoring a robot program, changing certain variables in the robot program, input process parameters, starting, stopping and editing the robot program. A teach pendant unit normally comprises operator control means for manually controlling the motions of the manipulator, such as a joystick, a ball, or a set of buttons. The teach pendant unit further comprises a visual display screen and safety equipment including an enabling device and an emergency stop button. The teach pendant unit is con- nected to the control unit of the robot to enable communication between the teach pendant unit and the control unit. The connection can be wireless or through a cable.
Up until recently, robots have been isolated once delivered from the manufacture to the field. However, it has been proposed to provide remote services and assistance of the robots at a centralized service centre. The robots are connected to the service centre via a network that allows for backups, control and remote assistance and diagnostics. The network that is used often offers additional internet services like file transfer, secure communication lines like VPN , Voice-over-IP, streaming video, e- mail , chat and so forth.
US20040010344A1 describes a system for remote control of a robot over a communication network using a connection device on the robot side.
JP2002091528 describes a maintenance supporting method for a robot. When a failure occurs of an operation of the robot, the current state is displayed on the screen of the teach pendant unit, and the screen information is transmitted to a computer at a remote service centre. The computer reproduces the teach pendant unit on a screen at the service centre based on the re- ceived information. By using this information an operator on the service centre can send instructions to the control unit and thereby recover the robot from the trouble.
However, is some fault situations this information is not suffi- cient for the personnel at the remote service centre to trouble- shoot the robot.
OBJECTS AND SUMMARY OF THE INVENTION
One object of the present invention is to enable the robot operator to transmit further information on the trouble to the personnel at the service centre and thereby increasing the possibility to receive help from the service centre. Another object of the invention is to improve the communication between the robot operator at site and the personnel at the remote service centre.
According to one aspect of the invention this object is achieve by a teach pendant unit as defined in claim 1 .
According to this aspect of the invention, the teach pendant unit is provided with a built-in camera for taking images of the environment, which is typically an industrial production cell, and the teach pendant unit is configured to capture one or more images and to send the images to a remote unit. For example, the images are sent to a remote service centre providing assistance for trouble with the robot. However, it is also possible to send the images to a cell phone or a computer of a skilled person at a remote location who can provide help to trouble shoot the robot in case of a fault. The teach pendant can be configured to capture a single image, a series of images, or a sequence of im- ages forming a motion picture, such as a film or a streaming video.
According to another aspect of the invention this object is achieved by a service system as defined in claim 1 1 .
The teach pendant unit is configured to upon command capture one or more images, to send the images to the service centre, and the computer at the service centre is configured to receive the image, or the sequence of images, and display the image or the film formed by the sequence of images on a display screen at the remote service centre. The invention makes it easy for the operator to take an image, a series of images, or a film of the environment of the robot, or of the robot itself, for example, of defective parts of the robot, and send the image/images to the service centre. The invention makes it possible to easily trans- mit visual evidence of problems that occur only during a movement of the robot.
The image or film will facilitate for the personnel at the service centre to diagnose the fault and provide help to troubleshoot faults of the robot. An advantage with the invention is that the operator can take and send the images with the teach pendant unit in his hands, thereby gaining time and maintaining safety as the emergency stop button on the teach pendant unit can quick be reached by the operator. If a separate camera is used, the robot operator has to lay down the teach pendant unit when taking and sending the images.
According to an embodiment of the invention, the teach pendant unit comprises a display screen and the teach pendant unit is configured to upon command display the captured images on display screen of the teach pendant unit. This embodiment enables the robot operator to view the image at the same time as the personnel at the service centre, and thereby facilitating a discussion between the robot operator and the service personnel regarding what is the trouble with the robot.
According to an embodiment of the invention, the teach pendant unit is provided with a trigger function, and the trigger function is configured to upon activation automatically capture one or more images by means of the first camera and to transmit the images to the service centre. For example, the trigger unit includes a button and the teach pendant unit is configured to upon operation of the button automatically capture an image and send the image to the service centre. This embodiment further facilitates for the operator to provide images to the service centre.
According to an embodiment of the invention, the teach pendant unit has a front side adapted to face the operator when the teach pendant unit is hold by the operator, and a back side arranged opposite the front side and facing the environment, and the camera is arranged at the back side of the teach pendant unit. By arranging the camera at the back side of the teach pendant unit the operator can take a image holding the teach pendant unit as usual during normal operation and without having to turn the teach pendant unit while taking the image.
According to an embodiment of the invention, the teach pendant unit is provided with means to allow the robot operator to speak with personnel at the remote service centre. For example, the teach pendant unit is provided with a microphone and a loud speaker, or means for connecting a head-set. The head set can be connected by a plug, or alternatively via a wireless connection, like Bluetooth. This embodiment makes it possible for the robot operator to speak with the personnel at the service centre through the teach pendant unit, for example, via Voice-over-IP (VoIP) protocols, and without using a separate telephone. An advantage with the invention is that the operator can speak with the service centre with both hands on the teach pendant unit and accordingly can control the robot by means of the teach pendant unit while talking to the service personnel at the remote service centre. This embodiment facilitates the communication between the robot operator and the service centre, and makes it possible to easily transmit evidence of problems, including visual and audible, that occur only during a movement of the robot.
According to an embodiment of the invention, the teach pendant unit is provided with a second built-in camera for taking moving pictures of the operator, and the teach pendant unit is configured to send the moving pictures to the service centre. The com- puter at the service centre is configured to receive the moving pictures of the operator and display the moving pictures on the display screen. The second built in camera is, for example, a web-camera. This embodiment makes it possible for the personnel at the remote service centre to see the robot operator while talking to him and accordingly facilitating the communication be- tween the robot operator and the service personnel at the service centre.
It is advantageous if the second camera is arranged in the front side of the teach pendant unit, so that the camera is directed to the face of the operator while the operator is holding the teach pendant unit in the normal position for operation of the teach pendant unit when controlling the robot.
According to an embodiment of the invention, the teach pendant unit comprises a display screen, the computer at the service centre is provided with a camera for taking moving pictures of the service personnel, and the computer is configured to transmit the moving pictures of the service personnel to the teach pendant unit, and the teach pendant unit is configured to receive the moving pictures of the service personnel and to display the moving pictures on the display screen of the teach pendant unit. This embodiment further facilitates the communication between the robot operator and the service personnel at the service cen- tre.
According to an embodiment of the invention, the teach pendant unit is provided with an e-mail program that allow the robot operator to send e-mail from the teach pendant unit to the service centre. This embodiment further facilitates the communication between the robot operator and the service personnel at the service centre. Further, it allows the operator to send the images together with other data like configuration backups, to the service centre via e-mail.
According to an embodiment of the invention, the communication line between the robot and the remote service centre is an on-line connection via Internet. In an alternative embodiment, the communication line between the robot and the remote ser- vice centre is established through a VPN connection . A teach pendant unit according to the invention and its embodiments makes service support truly interactive and facilitates to troubleshoot industrial robots.
BRIEF DESCRIPTION OF THE DRAWINGS
The invention will now be explained more closely by the description of different embodiments of the invention and with reference to the appended figures.
Fig. 1 shows a service system including an industrial robot having a teach pendant unit, and a remote service centre according to an embodiment of the invention.
Fig. 2a shows a teach pendant unit according to an embodiment of the invention in a view from above.
Fig. 2b shows the teach pendant unit shown in figure 2a shown in a view from below.
Fig. 2c shows a side view of the teach pendant unit shown in figure 2a and 2b.
DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS OF THE INVENTION
Figure 1 shows an example of a service system according to the invention. The service system includes an industrial robot 1 having a portable handheld control unit denoted a teach pendant unit 2 for controlling and programming the robot, and a remote service centre providing assistance for trouble with the robot and including at least one computer 3a and a display screen 3b. The robot is located at a customer, in the following called the robot side of the system. The service centre is located at a dis- tance from the robot, for example, at a manufacture, in the following called the service centre side of the system. The robot comprises a manipulator 5, a robot control unit 6, and the teach pendant unit 2. The manipulator 5 comprises a number of robot arms, which are movable in relation to each other about a plurality of movement axes. The robot control unit 6 controls the position of the axes of the manipulator. The robot control unit includes program memory for storing robot programs including movement instructions for the robot. The robot control unit is further provided with communication equipment for communicat- ing with the teach pendant unit, for communicating with the manipulator, and for communicating with the remote service centre.
The portable teach pendant unit 2 is connected to the control unit 6 to operate the robot through the teaching pendant unit. The teach pendant unit 2 comprises operator control means, in this example a set of control buttons 7, a visual display screen 8 for displaying a user interface, and safety equipment in the form of an emergency stop button 9 and an enabling device 10. The display screen 8 is, for example, a touch screen. The teach pendant unit includes hardware and software for performing normal teach pendant operations. The hardware of the teach pendant unit comprises a processing unit, such as a CPU, memory means for storing program modules, and communication equipment for communicating with the robot control unit 6. Thus, the teach pendant unit 2 and the robot control unit 6 is configured to communicate with each other. In this example the communication between the teach pendant unit 2 and the robot control unit 6 is wireless. However, the communication can as well be provided trough a cable.
It is not necessary that the teach pendant unit has a CPU provided in the teach pendant. All user software could be runs on the robot control unit, the teach pendant includes a display and keyboard with a long cable, and the teach pendant just displays the user interface. The service system further includes a communication line 12 between the robot side and the service centre side so that the teach pendant unit 2 is able to communicate with the remote service centre. The connection between the teach pendant unit or the connected robot control unit and the service centre can be made through wired network, wireless network, telecommunication network or similar. The connection may comprise a VPN connection for secure transmission. In the embodiment disclosed in figure 1 the teach pendant unit 2 communicates with the remote service centre via the robot control unit 6. In an alternative embodiment the teach pendant unit could be provided with means for direct communication with the service centre. The teach pendant unit can communicate with the service centre, for example, via Internet services, such as VoIP, streaming video, or Skype.
The teach pendant unit 2 is shown in more detail in figure 2a-c. The teach pendant unit has a front side 13 adapted to face the operator when the operator holds the teach pendant unit is in his hands during normal operation of the teach pendant unit, such as programming and manual control of the robot, and a back side 14 arranged opposite the front side and facing away from the operator. Figure 2a shows the front side 13 of the teach pendant unit including the human machine interface of the teach pendant unit. The front side includes the display screen 8, the operator control mean 7, and the emergency stop button 9. Figure 2b shows the back side 14 of the teach pendant unit. The teach pendant unit has four side walls. One of the side walls includes the enabling device 10. Figure 2c shows the sidewall 15 opposite the side wall including the enabling device 10.
The teach pendant unit is provided with a first built-in camera 16 for taking images of the environment. In this embodiment the first camera 16 is mounted in the back side 14 of the teach pen- dant unit such that the view of sight is in a direction away from the robot operator when the operator holds the teach pendant unit in his hands. The camera is, for example, of the same type as used in mobile phones, such as the OmniVision CameraCube OVM7690, which results in a very low cost solution. . The camera is arranged in communication with the display screen 8 of the teach pendant unit such that the view of the camera is displayed on the display screen 8 when the camera is activated. The teach pendant unit is configured to upon command from the robot operator catch one or more images by means of the camera 16 and to send the image or images to the service centre. The computer 3a of the service centre is configured to receive the image or images and display the images at the display screen 3b.
The teach pendant unit is provided with a first button 18 for acti- vating the camera 16 and a second button 19 for capturing an image by means of the camera. When the camera is activated the view from the camera is displayed on the display screen 8 and the camera is ready to take a picture. Preferably, the camera should be activated before it is possible to capture an imager. The teach pendant unit is provided with a trigger function configured to upon activation automatically trigger the camera 16 to capture one or more images and to automatically transmit the captured image or images to the service centre. The second button 19 is a part of a trigger function. The trigger function further includes a software module that is run on the processing unit of the teach pendant unit. The software module of the trigger function is activated by the operator by pushing the button 19. When the trigger function has been activated the software module sends a signal to the camera to capture an im- age. When the image has been taken, the software module sends the image to the computer of the service centre.
Optionally, the captured images are stored on the teach pendant unit, and the teach pendant unit is configured to upon command display one or more of the captured images on the display screen 8 of the teach pendant unit. For example, the images are represented by icons and the robot operator may select which image to be displayed on the screen 8 by pointing at an icon on the screen 8.
In this embodiment, the first button 18 and the second button 19 are arranged in the sidewall 15 of the teach pendant unit, as shown in figure 2c. However, the first and second button can be arranged anywhere on the teach pendant unit that is suitable. Also, the camera 16 could be mounted in any of the other side- walls, or in the front side 13 of the teach pendant unit. In this example the second button 19 is a physical button, but in an alternative embodiment the button could be graphic displayed on the touch screen 8. Alternatively, the trigger function includes a microphone and the trigger function could be activated by means of a voice command. In an alternative embodiment, the trigger function is arranged to start taking a film by means of the camera, which film automatically transferred to the service centre, and upon deactivation of the trigger function the camera stops taking the film and the transfer of the film to the service centre ceases.
The computer 3a is configured to receive the images from the teach pendant unit and to display the images to the screen 3b. The invention makes it possible to send a single image, a plural- ity of images, or films from the teach pendant unit to the remote service centre. The service centre also includes personnel providing assistance for trouble with the robots.
The teach pendant unit is further provided with a connection unit 20 for connecting a headset 22 to the teach pendant unit. The teach pendant unit is configured to transfer speech between the remote service centre and the teach pendant unit in order to achieve a communication between the robot operator and service personnel working at the service centre. Alternatively, the teach pendant unit could be provided with a microphone to pick up speech of the operator, and a load speaker to hear the voice of the service personnel.
The teach pendant unit 2 is further provided with a second built- in camera 21 arranged for taking moving pictures of the operator, and the teach pendant unit is configured to send the moving pictures to the service centre, and the computer 3a at the service centre is configured to receive the moving pictures of the operator and display the moving pictures on the display screen 3b. The second camera 21 is, for example, a web camera. In this embodiment the second camera 21 is arranged in the front side 13 of the teach pendant unit. The computer 3a at the service centre is also provided with a camera 24 for taking moving pictures of the person sitting in front of the computer, and the computer is configured to transmit the moving pictures of the service personnel to the teach pendant unit. The teach pendant unit is configured to receive the moving pictures and to display them on the display screen 8 of the teach pendant unit.
The teach pendant unit is further provided with an e-mail program that allow the robot operator to send e-mail from the teach pendant unit to the service centre.
In case of a machine fault the robot operator may seek help at the remote service centre. The robot operator connects to the service centre and gets help via a video or audio call. By having two cameras, both the image of the operator and images of relevant machine parts or environmental information relevant to the fault can be transmitted to the service personnel in real time. The service centre can transmit images, instructions and documents to the teach pendant unit, or to the robot control unit to guide and support the robot operator. The service centre can also remotely log in to the teach pendant unit, or to the connected robot control unit, if approved by the robot operator, and get a remote screen picture. The robot operator and the person- nel at the service centre can speak with each other through the teach pendant unit while trouble shooting the robot.
In a preferred embodiment of the invention , the connection be- tween the teach pendant and the service centre is established through a virtual private network (VPN), which allows for secure transmission, and across firewalls. In another embodiment of the invention, the teach pendant is of less sophisticated nature, not containing a separate computer unit, but only displays, controls, and the camera services. In this case, the invention can be realized by having the connection to the service center established by the robot controller, which also hosts the programs to establish the services. The teach pendant only displays the user screens and camera images, so that for the user, there is no dif- ference in experience.
The present invention is not limited to the embodiments disclosed but may be varied and modified within the scope of the following claims. For example, the invention is also applicable to a robot including a plurality of manipulators controlled by one or more robot control units. Further, the robot side may include more than one teach pendent unit communicating with computer at the service side and the service side may include more than one computer.

Claims

1 . A handheld teach pendant unit (2) for controlling and programming an industrial robot, characterized in that the teach pendant unit is provided with a built-in camera (16) for taking images of the environment and the teach pendant unit is configured to upon command capture one or more images and to send the images to a remote unit.
2. The teach pendant unit according to claim 1 , wherein the teach pendant unit is configured to directly or indirectly communicate with a remote service centre providing assistance for trouble with the robot, and the teach pendant unit is configured to upon command capture one or more images and send the im- ages to the service centre.
3. The teach pendant unit according to claim 1 or 2, wherein the teach pendant unit (2) comprises a display screen (8) and the teach pendant unit is configured to upon command display the captured images on display screen of the teach pendant unit.
4. The teach pendant unit according to any of the previous claims, wherein the teach pendant unit (2) is provided with a trigger function (19) configured to upon activation automatically trigger the camera (16) to capture one or more images and to automatically transmit the captured images to the remote unit.
5. The teach pendant unit according to any of the previous claims, wherein the teach pendant unit has a front side (13) adapted to face the robot operator when the teach pendant unit is hold by the operator, and a back side (14) arranged opposite the front side and facing away from the operator, and the camera is mounted in the back side of the teach pendant unit.
6. The teach pendant unit according to claim 2, wherein the teach pendant unit (2) is provided with a second built-in camera (20) for taking moving pictures of the operator, and the teach pendant unit is configured to send the moving pictures to the service centre.
7. The teach pendant unit according to claim 5 and 6, wherein the second camera (20) is mounted in the front side of the teach pendant unit.
8. The teach pendant unit according to claim 2, wherein the teach pendant unit (2) is provided with means to allow the robot operator to speak with personnel at the remote service centre.
9. The teach pendant unit according to any of the previous claims, wherein the teach pendant unit is provided with a connection unit (20) for connecting a head set.
10. The teach pendant unit according to any of the previous claims, wherein the teach pendant unit (2) is configured to display an e-mail program that allows the robot operator to send e- mail from the teach pendant unit to the service centre.
1 1 . A service system comprising an industrial robot having a handheld teach pendant unit (2) for controlling and programming the robot, a remote service centre providing assistance for trouble with the robot and including at least one computer (3a) and a display screen (3b), and a communication line (12) between the robot and the computer at the service centre so that the teach pendant unit is able to directly or indirectly communicate with the remote service centre, characterized in that the teach pendant unit is provided with a built-in camera (16) for taking images of the environment, and the teach pendant unit is configured to upon command capture one or more images and send the images to the service centre and the service centre is con- figured to receive the images and display the images at the display screen.
12. The service system according to claim 1 1 , wherein the teach pendant unit is provided with a second built-in camera (21 ) for taking moving pictures of the operator, and the teach pendant unit is configured to send the moving pictures to the service centre, and the computer (3a) at the service centre is configured to receive the moving pictures of the operator and display the moving pictures on the display screen (3b).
13. The service system according to claim 12, wherein the teach pendant unit comprises a display screen (8), the computer (3a) at the service centre is provided with a camera (24) for taking moving pictures of the service personnel, and the computer is configured to transmit the moving pictures to the teach pendant unit, and the teach pendant unit is configured to receive the moving pictures of the service personnel and to display the moving pictures on the display screen (3a) of the teach pendant unit.
14. The service system according to any of the claims 1 1 -13, wherein the teach pendant unit is provided with means (20) to allow the robot operator to speak with personnel at the remote service centre and the.
15. The service system according to any of the claims 10-14, wherein the communication line between the robot and the remote service centre is an on-line connection via Internet.
PCT/EP2009/055782 2009-05-13 2009-05-13 A teach pendant unit for an industrial robot and a service system WO2010130289A1 (en)

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CN112008692A (en) * 2019-05-31 2020-12-01 精工爱普生株式会社 Teaching method
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