CN103279206A - Robot control system with gesture-sensing teaching machine - Google Patents
Robot control system with gesture-sensing teaching machine Download PDFInfo
- Publication number
- CN103279206A CN103279206A CN2013102373914A CN201310237391A CN103279206A CN 103279206 A CN103279206 A CN 103279206A CN 2013102373914 A CN2013102373914 A CN 2013102373914A CN 201310237391 A CN201310237391 A CN 201310237391A CN 103279206 A CN103279206 A CN 103279206A
- Authority
- CN
- China
- Prior art keywords
- teaching machine
- robot
- sensing
- controller
- control system
- Prior art date
- Legal status (The legal status 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 status listed.)
- Pending
Links
Images
Landscapes
- Numerical Control (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a robot control system with a gesture-sensing teaching machine. The robot control system comprises the teaching machine, a controller and a robot, the controller is electrically connected with the teaching machine and the robot respectively, a sensing module is arranged on the teaching machine and senses spatial gestures of the teaching machine, the teaching machine transmits sensed information to the controller, and the controller controls the robot to simulate the spatial gestures of the teaching machine according to received information. By the control system, difficulty is turned into easiness, operating processes are simplified, and operating personnel can start to work and operate after simple training, so that using cost of a robot system is lowered.
Description
Technical field
The present invention relates to a kind of robot control system, refer to a kind of robot control system with gesture sensing teaching machine especially.
Background technology
Robot can significantly improve the industrial competitiveness of country to the great significance of the whole industrial level of country.The effect of industrial robot is not limited in boosts productivity, and alleviates labor strength, can also bear the complicated accurate work that manually is difficult to finish, and guarantees crudy.The robot teaching device of conventionally form mainly is to utilize the mode of button that robot is operated, and uses more loaded down with trivial detailsly, and operation uses robot to need certain professional knowledge and corresponding programming basis, and operating personnel's the training cycle is relatively long.
Summary of the invention
Technical matters to be solved by this invention is: a kind of robot control system with gesture sensing teaching machine is provided, this control system is abbreviatied, simplify the operation course, operating personnel just can on dutyly operate through simple training, reduce the use cost of robot system.
For solving the problems of the technologies described above, technical scheme of the present invention is: a kind of robot control system with gesture sensing teaching machine, comprise teaching machine, controller and robot, described controller electrically connects with teaching machine and robot respectively, described teaching machine is provided with sensing module, the spatial attitude of described sensing module sensing teaching machine, teaching machine passes to controller with the information that sensing obtains, and described controller is according to the spatial attitude of the information control robot imitation teaching machine that receives.
As a kind of preferred scheme, the spatial attitude of described sensing module sensing teaching machine comprises the kinematic parameter of movement and/or the rotation of sensing teaching machine.
As a kind of preferred scheme, described kinematic parameter comprises speed, acceleration and deflection.
As a kind of preferred scheme, described teaching machine also comprises display module, feature operation button and the sound generator that is connected with sensing module, and this display module shows the state of teaching machine and the information of attitude information, robot running status and controller; But this feature operation button manually-operated teaching machine is also imported data.
As a kind of preferred scheme, described controller is circumscribed with display screen.
As a kind of preferred scheme, the signal transfer mode between described teaching machine and the controller is wired or wireless.
As a kind of preferred scheme, the spatial attitude of robot imitation teaching machine comprises when teaching machine moves that robot moves according to the motion track of teaching machine; When teaching machine rotated, robot rotated according to the rotary motion trace of teaching machine.
After having adopted technique scheme, effect of the present invention is: because this teaching machine has sensing module, the spatial attitude of described sensing module sensing teaching machine, teaching machine passes to controller with the information that sensing obtains, described controller is according to the spatial attitude of the information control robot imitation teaching machine that receives, and therefore, ROBOT CONTROL is very simple, operating personnel just can on dutyly operate through simple training, reduce the use cost of robot system.
Description of drawings
The present invention is further described below in conjunction with drawings and Examples.
Fig. 1 is the structural representation of the embodiment of the invention;
In the accompanying drawing: 1. teaching machine; 2. controller; 3. robot.
Embodiment
The present invention is described in further detail below by specific embodiment.
As shown in Figure 1, a kind of robot 3 control system with gesture sensing teaching machine 1, comprise teaching machine 1, controller 2 and robot 3, described controller 2 electrically connects with teaching machine 1 and robot 3 respectively, described teaching machine 1 is provided with sensing module, the spatial attitude of described sensing module sensing teaching machine 1, the information that teaching machine 1 obtains sensing passes to controller 2, and described controller 2 is according to the spatial attitude of the information control robot 3 imitation teaching machines 1 that receive.The spatial attitude of robot 3 imitation teaching machines 1 comprises that when teaching machine 1 moved, robot 3 moved according to the motion track of teaching machine 1; When teaching machine 1 rotated, robot 3 rotated according to the rotary motion trace of teaching machine 1, and namely robot 3 and teaching machine 1 are realized the profiling of action.Signal transfer mode between described teaching machine 1 and the controller 2 is wired or wireless.
Wherein, the spatial attitude of described sensing module sensing teaching machine 1 comprises the kinematic parameter of movement and/or the rotation of sensing teaching machine 1.That is to say, the movement that sensing module can independent sensing teaching machine 1, the also rotation of sensing teaching machine 1 separately, but also both while sensings, this sensing module can detect the movement locus of teaching machine 1 fully like this.And mentioned herein to kinematic parameter comprise speed, acceleration and deflection, certainly can also other kinematic parameter.Teaching machine 1 is handled the athletic posture delta data of teaching machine 1 in real time, passes to controller 2 in real time.
Described teaching machine 1 also can comprise display module, feature operation button and the sound generator that is connected with sensing module, and this display module shows the state of teaching machine 1 and the information of attitude information, robot 3 running statuses and controller 2; But this feature operation button manually-operated teaching machine 1 is also imported data, also can carry out the additions and deletions operation to the setting position of having finished on this teaching machine 1 in addition, repeats aforesaid operations, adapts to various different situations.Wherein, display module can be touch-screen display module.
And controller 2 can also connect display screens in addition, and controller 2 can change the movement locus of the teaching machine 1 that receives and kinematic parameter and shows in display screen.
Following in working order when the hand-held teaching machine 1 of user, when swing arbitrarily, displacement, rotation teaching machine 1, the action of corresponding similar property and synchronism can be done by robot 3.After robot 3 is drawn to the position, working point, after confirming, form effective setting position, command control robot 3 to carry out operation regeneration by controller 2 according to the setting position set of above-mentioned teaching machine 1 after all the setting position of teaching is determined to finish.
Certainly, function according to teaching machine 1 can be found, can also adopt mobile phone or panel computer with similar sensing module to be used as teaching machine, this mobile phone or panel computer can detect the spatial attitude of self, and controller 2 receives mobile phone or panel computer and sends the profiling action of signal synchro control robot then.Therefore, the mobile phone of this moment or the function of panel computer are the function of teaching machine, so the teaching machine of mentioning among the present invention also should comprise mobile phone or the panel computer with similar sensing module.
Claims (7)
1. robot control system with gesture sensing teaching machine, comprise teaching machine, controller and robot, described controller electrically connects with teaching machine and robot respectively, it is characterized in that: described teaching machine is provided with sensing module, the spatial attitude of described sensing module sensing teaching machine, teaching machine passes to controller with the information that sensing obtains, and described controller is according to the spatial attitude of the information control robot imitation teaching machine that receives.
2. a kind of robot control system with gesture sensing teaching machine as claimed in claim 1, it is characterized in that: the spatial attitude of described sensing module sensing teaching machine comprises the kinematic parameter of movement and/or the rotation of sensing teaching machine.
3. a kind of robot control system with gesture sensing teaching machine as claimed in claim 2, it is characterized in that: described kinematic parameter comprises speed, acceleration and deflection.
4. a kind of robot control system with gesture sensing teaching machine as claimed in claim 3, it is characterized in that: described teaching machine also comprises display module, feature operation button and the sound generator that is connected with sensing module, and this display module shows the state of teaching machine and the information of attitude information, robot running status and controller; But this feature operation button manually-operated teaching machine is also imported data.
5. a kind of robot control system with gesture sensing teaching machine as claimed in claim 3, it is characterized in that: described controller is circumscribed with display screen.
6. as claim 4 or 5 described a kind of robot control systems with gesture sensing teaching machine, it is characterized in that: the signal transfer mode between described teaching machine and the controller is wired or wireless.
7. a kind of robot control system with gesture sensing teaching machine as claimed in claim 1 is characterized in that: the spatial attitude of robot imitation teaching machine comprises when teaching machine moves that robot moves according to the motion track of teaching machine; When teaching machine rotated, robot rotated according to the rotary motion trace of teaching machine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013102373914A CN103279206A (en) | 2013-06-15 | 2013-06-15 | Robot control system with gesture-sensing teaching machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2013102373914A CN103279206A (en) | 2013-06-15 | 2013-06-15 | Robot control system with gesture-sensing teaching machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN103279206A true CN103279206A (en) | 2013-09-04 |
Family
ID=49061763
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2013102373914A Pending CN103279206A (en) | 2013-06-15 | 2013-06-15 | Robot control system with gesture-sensing teaching machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103279206A (en) |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104057458A (en) * | 2014-06-16 | 2014-09-24 | 浙江大学 | Multi-shaft mechanical arm visual control system and method based on somatosensation and touch |
| CN104483978A (en) * | 2014-10-21 | 2015-04-01 | 王旭途 | A method for remotely controlling a device through postures of an intelligent module and the device controlled by the method |
| CN104827457A (en) * | 2014-02-07 | 2015-08-12 | 广明光电股份有限公司 | Robot arm instruction device and method |
| CN105116994A (en) * | 2015-07-07 | 2015-12-02 | 百度在线网络技术（北京）有限公司 | Intelligent robot tracking method and tracking device based on artificial intelligence |
| CN105204441A (en) * | 2015-09-24 | 2015-12-30 | 苏州安柯那智能科技有限公司 | Hand-push teaching type five-axis polishing grinding robot |
| CN105960623A (en) * | 2014-04-04 | 2016-09-21 | Abb瑞士股份有限公司 | Portable apparatus for controlling robot and method thereof |
| CN105955489A (en) * | 2016-05-26 | 2016-09-21 | 苏州活力旺机器人科技有限公司 | Robot gesture identification teaching apparatus and method |
| CN106625664A (en) * | 2016-12-15 | 2017-05-10 | 中国科学院沈阳自动化研究所 | Robot demonstration system and method based on service |
| CN107520845A (en) * | 2017-10-18 | 2017-12-29 | 佛山市南方数据科学研究院 | A kind of teaching robot's control system |
| CN107995886A (en) * | 2016-12-22 | 2018-05-04 | 深圳配天智能技术研究院有限公司 | A kind of gesture control industrial robot method and industrial robot hand held controller |
| CN108153233A (en) * | 2016-12-06 | 2018-06-12 | 东友科技股份有限公司 | It is remotely controlled the control method of diced system and cutter device |
| CN108388252A (en) * | 2018-04-10 | 2018-08-10 | 中科新松有限公司 | A kind of robot teaching method, apparatus, equipment and medium |
| CN109531579A (en) * | 2018-12-30 | 2019-03-29 | 北京猎户星空科技有限公司 | Mechanical arm teaching method, device, system, medium, controller and mechanical arm |
| CN110299062A (en) * | 2018-03-21 | 2019-10-01 | 北京猎户星空科技有限公司 | Mechanical arm teaching system, method, apparatus, medium, controller and mechanical arm |
| CN111390882A (en) * | 2020-06-02 | 2020-07-10 | 季华实验室 | Robot teaching control method, device and system and electronic equipment |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101206544A (en) * | 2006-12-22 | 2008-06-25 | 财团法人工业技术研究院 | Man machine interactive touch sensing device and method thereof |
| CN101419499A (en) * | 2008-11-14 | 2009-04-29 | 东南大学 | Multimedia human-computer interaction method based on cam and mike |
| CN101799934A (en) * | 2010-04-02 | 2010-08-11 | 北京大学软件与微电子学院无锡产学研合作教育基地 | Real time human movement capture system based on micro electro mechanical inertia sensing network |
| CN102426477A (en) * | 2011-08-09 | 2012-04-25 | 广东科学中心 | Gesture detecting method and detecting device |
| CN102814814A (en) * | 2012-07-31 | 2012-12-12 | 华南理工大学 | Kinect-based man-machine interaction method for two-arm robot |
| CN103135765A (en) * | 2013-02-20 | 2013-06-05 | 兰州交通大学 | Human motion information capturing system based on micro-mechanical sensor |
-
2013
- 2013-06-15 CN CN2013102373914A patent/CN103279206A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101206544A (en) * | 2006-12-22 | 2008-06-25 | 财团法人工业技术研究院 | Man machine interactive touch sensing device and method thereof |
| CN101419499A (en) * | 2008-11-14 | 2009-04-29 | 东南大学 | Multimedia human-computer interaction method based on cam and mike |
| CN101799934A (en) * | 2010-04-02 | 2010-08-11 | 北京大学软件与微电子学院无锡产学研合作教育基地 | Real time human movement capture system based on micro electro mechanical inertia sensing network |
| CN102426477A (en) * | 2011-08-09 | 2012-04-25 | 广东科学中心 | Gesture detecting method and detecting device |
| CN102814814A (en) * | 2012-07-31 | 2012-12-12 | 华南理工大学 | Kinect-based man-machine interaction method for two-arm robot |
| CN103135765A (en) * | 2013-02-20 | 2013-06-05 | 兰州交通大学 | Human motion information capturing system based on micro-mechanical sensor |
Cited By (24)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104827457A (en) * | 2014-02-07 | 2015-08-12 | 广明光电股份有限公司 | Robot arm instruction device and method |
| CN104827457B (en) * | 2014-02-07 | 2016-09-14 | 广明光电股份有限公司 | The teaching device and method of robotic arm |
| CN105960623A (en) * | 2014-04-04 | 2016-09-21 | Abb瑞士股份有限公司 | Portable apparatus for controlling robot and method thereof |
| CN105960623B (en) * | 2014-04-04 | 2019-02-05 | Abb瑞士股份有限公司 | For controlling the mancarried device and its method of robot |
| US10166673B2 (en) | 2014-04-04 | 2019-01-01 | Abb Schweiz Ag | Portable apparatus for controlling robot and method thereof |
| CN104057458A (en) * | 2014-06-16 | 2014-09-24 | 浙江大学 | Multi-shaft mechanical arm visual control system and method based on somatosensation and touch |
| CN104057458B (en) * | 2014-06-16 | 2015-12-02 | 浙江大学 | A kind of Multi-shaft mechanical arm visual control system and method based on body sense and touch |
| CN104483978A (en) * | 2014-10-21 | 2015-04-01 | 王旭途 | A method for remotely controlling a device through postures of an intelligent module and the device controlled by the method |
| CN105116994A (en) * | 2015-07-07 | 2015-12-02 | 百度在线网络技术（北京）有限公司 | Intelligent robot tracking method and tracking device based on artificial intelligence |
| CN105204441A (en) * | 2015-09-24 | 2015-12-30 | 苏州安柯那智能科技有限公司 | Hand-push teaching type five-axis polishing grinding robot |
| CN105204441B (en) * | 2015-09-24 | 2018-06-29 | 苏州安柯那智能科技有限公司 | Five axis polishing grinding machine people of hand push teaching type |
| CN105955489A (en) * | 2016-05-26 | 2016-09-21 | 苏州活力旺机器人科技有限公司 | Robot gesture identification teaching apparatus and method |
| CN108153233A (en) * | 2016-12-06 | 2018-06-12 | 东友科技股份有限公司 | It is remotely controlled the control method of diced system and cutter device |
| CN106625664A (en) * | 2016-12-15 | 2017-05-10 | 中国科学院沈阳自动化研究所 | Robot demonstration system and method based on service |
| WO2018112851A1 (en) * | 2016-12-22 | 2018-06-28 | 深圳配天智能技术研究院有限公司 | Method for controlling industrial robot by means of gestures and handheld controller for industrial robot |
| CN107995886A (en) * | 2016-12-22 | 2018-05-04 | 深圳配天智能技术研究院有限公司 | A kind of gesture control industrial robot method and industrial robot hand held controller |
| CN107520845A (en) * | 2017-10-18 | 2017-12-29 | 佛山市南方数据科学研究院 | A kind of teaching robot's control system |
| CN110299062A (en) * | 2018-03-21 | 2019-10-01 | 北京猎户星空科技有限公司 | Mechanical arm teaching system, method, apparatus, medium, controller and mechanical arm |
| CN108388252A (en) * | 2018-04-10 | 2018-08-10 | 中科新松有限公司 | A kind of robot teaching method, apparatus, equipment and medium |
| CN108388252B (en) * | 2018-04-10 | 2021-04-09 | 中科新松有限公司 | Robot teaching method, device, equipment and medium |
| CN109531579A (en) * | 2018-12-30 | 2019-03-29 | 北京猎户星空科技有限公司 | Mechanical arm teaching method, device, system, medium, controller and mechanical arm |
| CN109531579B (en) * | 2018-12-30 | 2022-03-08 | 北京猎户星空科技有限公司 | Mechanical arm demonstration method, device, system, medium, controller and mechanical arm |
| CN111390882A (en) * | 2020-06-02 | 2020-07-10 | 季华实验室 | Robot teaching control method, device and system and electronic equipment |
| CN111390882B (en) * | 2020-06-02 | 2020-08-18 | 季华实验室 | Robot teaching control method, device and system and electronic equipment |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103279206A (en) | Robot control system with gesture-sensing teaching machine | |
| CN103324100B (en) | A kind of emotion on-vehicle machines people of information-driven | |
| CN104057458B (en) | A kind of Multi-shaft mechanical arm visual control system and method based on body sense and touch | |
| JP6526098B2 (en) | Operating device for operating a robot, robot system, and operating method | |
| CN106826877A (en) | A kind of easy Manipulation of the machine people teaching machine | |
| CN104302452B (en) | For operating the method for industrial robot | |
| CN106896796B (en) | Industrial robot master-slave type teaching programming method based on data gloves | |
| CN102819398A (en) | Method for slidingly controlling camera via touch screen device | |
| EP2930597A3 (en) | Mobile terminal and method for controlling the same | |
| CN104349195A (en) | Control method of multipurpose remote controller of intelligent TV and control system thereof | |
| CN102658549A (en) | Six-axis industrial robot control system with PLC (programmable logic control) function | |
| TWI621037B (en) | Touch sensitive system and stylus for commanding by maneuvering and method thereof | |
| CN103200304A (en) | System and method for controlling mobile terminal intelligent cursor | |
| CN203805555U (en) | Intelligent health pen structure | |
| JP2006164049A5 (en) | ||
| CN201637033U (en) | Air conditioner remote controller and air-conditioning system | |
| CN103309353A (en) | Remote control method of robot and communication terminal | |
| KR101323354B1 (en) | Cotrol system using touch screen for robot toy | |
| CN109551475A (en) | A kind of robot control system with gesture sensing teaching machine | |
| CN103186264A (en) | Touch control electronic device and touch control method thereof | |
| CN103909524B (en) | Directional type position control method | |
| CN202608393U (en) | Force sensing operation device for digital engraving machine | |
| CN105511467A (en) | Video-based robot head motion control method and device | |
| CN106826915A (en) | A kind of tactile sensing device of robot's control method and its device | |
| CN102722236A (en) | Input device and method for handheld electronic device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20130904 |