Robot teaching system and robot teaching method

A robot teaching system comprising:

• a model storage unit that stores a three-dimensional model corresponding to at least a part of a robot existing in an actual environment or a welding torch used for welding, or a teaching member used for teaching of the robot;
• a display device that is mountable to a worker and displays an image to be superimposed on an image of an actual environment or the actual environment itself;
• a positional relationship acquisition unit that acquires a relative positional relationship between the actual environment, the teaching member, and the display device;
• an image generation unit that generates a display image for displaying the three-dimensional model so as to have a predetermined positional relationship with respect to the display device based on the relative positional relationship and the three-dimensional model;
• an output unit that outputs the display image to the display device;
• and
• a detection unit that detects an aerial operation that is an operation performed by a worker in an air separated from the display device on the three-dimensional model displayed on the display device, wherein
• the image generation unit generates the display image for displaying a post-change three-dimensional model in which a posture of the three-dimensional model has been changed based on the aerial operation.

A robot teaching method performed by a system including at least one computer, the method comprising:

• storing a three-dimensional model corresponding to at least a part of a robot existing in an actual environment or a welding torch used for welding, or a teaching member used for teaching of the robot, and operation screen data corresponding to an operation screen used for a display operation of the three-dimensional model;
• acquiring a relative positional relationship with a display device configured to be mountable to the actual environment, the teaching member, and a worker and configured to display an image to be superimposed on an image of the actual environment or the actual environment itself;
• generating a display image for displaying the three-dimensional model and the operation screen so as to have a predetermined positional relationship with respect to the display device based on the relative positional relationship, the three-dimensional model, and the operation screen data, and displays the display image on the display device;
• detecting an aerial operation that is an operation performed by the worker in an air separated from the display device on the operation screen displayed on the display device;
• and
• generating the display image for displaying a post-change three-dimensional model in which a posture of the three-dimensional model has been changed based on the aerial operation.

A robot teaching method performed by a system including at least one computer, the method comprising:

• storing a three-dimensional model corresponding to at least a part of a robot existing in an actual environment or a welding torch used for welding, or a teaching member used for teaching of the robot;
• acquiring a relative positional relationship with a display device configured to be mountable to the actual environment, the teaching member, and a worker and configured to display an image to be superimposed on an image of the actual environment or the actual environment itself;
• generating a display image for displaying the three-dimensional model so as to have a predetermined positional relationship with respect to the display device based on the relative positional relationship, and the three-dimensional model, and displays the display image on the display device;
• detecting an aerial operation that is an operation performed by the worker in an air separated from the display device on the three-dimensional model displayed on the display device;
• and
• generating the display image for displaying a post-change three-dimensional model in which a posture of the three-dimensional model has been changed based on the aerial operation.