CN104827474B - Learn the Virtual Demonstration intelligent robot programmed method and servicing unit of people - Google Patents
Learn the Virtual Demonstration intelligent robot programmed method and servicing unit of people Download PDFInfo
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Abstract
The present invention provides a kind of Virtual Demonstration intelligent robot programming servicing unit for learning people, and robot end is provided with power tool, including：It is identical and be provided with the teaching display-tool with sticking plastic of fisrt feature point with the power tool that robot end is set, the camera unit of the setting of characteristic point movement locus, teaching display-tool with sticking plastic joint angles information and operative goals on teaching display-tool with sticking plastic, and the robot controller for generating robot work order are captured and recorded according to time sequencing；The power tool is provided with second feature point corresponding with the fisrt feature point of teaching display-tool with sticking plastic.
Description
Technical field
Technology is intelligently weaved into the present invention relates to a kind of industrial robot, particularly a kind of Virtual Demonstration robot for learning people
Intelligence programming method and servicing unit.
Background technology
With the development of science and technology, increasing industrial robot is obtained in each industrial circle extensively should
With, such as robot spray painting, robot is carried, robotic asssembly etc..Now, in these areas, industrial robot can replace
People completes repeatable precise operation, so as to ensure that product quality.When replacing people with robot and carrying out operation, it is necessary to right in advance
Robot sends instruction, it is stipulated that action and the particular content of operation that robot should be completed.Along with the hair of industrial robot
Exhibition, robotic programming technology is also developed and perfect；Robotic programming has turned into a pith of robot technology；Machine
In addition to by the support of robot hardware, quite a few relies on robot language to complete the function of device people.
Robotic programming has many methods, and opsition dependent is divided into online programming and off-line programing：
Online programming controls robot motion by the manual mode operation box of robot, and the process of on-line teaching includes making machine
The end movement of the instrument installed on people records the coordinate in this position robot to its operating position, then machine
The track autokinetic movement recorded when people is along teaching, completes specific operation task.The precision of teaching is completely by the experience of demonstrator
Range estimation decision, the teaching of teach-by-doing, it is impossible to produce a desired effect, and be possible to hurt teaching personnel, very it is dangerous.
The accuracy of off-line programing is higher, can carry out other work, can lead to without robot, robot during programming
L-G simulation test program is crossed, can pre-optimized operation scheme and the time cycle of operation, the process or subprogram knot that will can be completed in the past
Close in sequence to be programmed, can avoid hurting operating personnel.Compared with teaching playback programming, off-line programing system is to behaviour
Make that personnel requirement is higher, the ability that need to possess special robot knowledge and programming, using also inconvenient, especially exists
To can not be simply direct in the description of robot manipulating task task.If teaching can be introduced again in the system of robot off-line programming
Existing function so that operating personnel guide on-line teaching robot on the computer screen by corresponding man-machine interface, produces
Robot manipulating task track, and then generate robotic motion routine and simulation and optimization can be carried out, undoubtedly will greatly strengthen machine
The operability of people's off-line programing and the friendly of user interface so that robotic programming is more convenient and simple, are conducive to promoting
Application of the robot technology in actual production and popularization.
The content of the invention
It is an object of the invention to provide a kind of intelligent robot programmed method of the pseudo operation for learning people, with operation
Simply, flexibility ratio is high and intelligentized advantage.
A kind of Virtual Demonstration intelligent robot programming servicing unit for learning people, robot end is provided with power tool, wraps
Include teaching display-tool with sticking plastic, robot controller and robot controller.The power tool that the teaching display-tool with sticking plastic is set with robot end
It is identical and be provided with fisrt feature point；The camera unit is captured according to time sequencing and records characteristic point motion rail on teaching display-tool with sticking plastic
Mark and teaching display-tool with sticking plastic joint angles information；The robot controller of generation robot work order.The power tool
It is provided with second feature point corresponding with the fisrt feature point of teaching display-tool with sticking plastic.
The method that the Virtual Demonstration intelligent robot of study people is programmed is realized using said apparatus, including：
Teaching display-tool with sticking plastic carries out dummy activity, movement locus and joint of the camera unit according to time sequencing to fisrt feature point
Angle is captured and is generated the camera space two-dimensional coordinate of fisrt feature point,
Robot controller is obtained according to the camera space coordinate and joint angles of fisrt feature point and includes fisrt feature point
Robot 3 d space coordinate and joint angles in interior instruction repertorie,
Instruction repertorie is input into robot by robot controller；
The robot controller is controlled according to the robot 3 d space coordinate information of fisrt feature point in instruction repertorie
The movement locus of the second feature point on power tool.
Before teaching display-tool with sticking plastic carries out dummy activity, the mapping relations in robot space and camera space are first set up, specifically
Method is：
Camera unit captures more than three groups and works and middle second feature dot image and obtains the camera space two of second feature point
Dimension coordinate；
Recorder person joint's angle parameter, the robot space of second feature point is obtained by robot Forward kinematics
Three-dimensional coordinate；
Set up the mapping relations in robot space and camera space
Wherein, (xc,yc) be second feature point (11) camera space two-dimensional coordinate, (px,py,pz) it is second feature point
Three-dimensional coordinate in robot space, C=[C1,C2,C3,C4,C5,C6] it is mapping relations parameter.
The present invention compared with prior art, with advantages below：(1) it is original to need operating personnel's needs to hold by doing and illustrating
Robot end carry out teaching, it is necessary to energetically could simulation job attitude and be difficult teaching in place, now need not be laborious, easily
It is dexterous；(2) sensation of a kind of " on the spot in person " is had in operating personnel and robot interactive process, is provided the user
A kind of brand-new harmonious man-machine interaction operating environment；(3) arrangement of several characteristic points is set in hand-held teaching apparatus equipment can be only
One determines attitude, and characteristic point can be LED, and this solves operating environment restricted problem.
The present invention is described further with reference to Figure of description.
Brief description of the drawings
Fig. 1 is that present system constitutes schematic diagram.
Fig. 2 is the structural representation of hand-held Virtual Demonstration instrument of the invention.
Fig. 3 is the schematic diagram that the present invention realizes welding car door.
Fig. 4 is the flow chart of the inventive method.
Specific embodiment
With reference to Fig. 1 and Fig. 2, a kind of Virtual Demonstration intelligent robot of study people programs servicing unit, including：Teaching display-tool with sticking plastic
2nd, camera unit 3 and robot controller 4.The teaching display-tool with sticking plastic 2 is identical with the power tool 1 that robot end is set and is provided with
Fisrt feature point 21；The camera unit 3 captures according to time sequencing and records on teaching display-tool with sticking plastic 2 characteristic point movement locus and show
Teaching and administrative staff has 2 joint angles information；The work order of the generation of the robot controller 4 robot.The power tool 1 be provided with
The corresponding second feature point 11 of fisrt feature point 21 of teaching display-tool with sticking plastic 2.Characteristic point wherein in second feature point 11 is LED, black
Point or white point.
The industrial robot 6 of the artificial six degree of freedom of machine used with reference to Fig. 1 and Fig. 2, the present invention, its end is provided with welding
Instrument, the soldering appliance includes soldering appliance maxilla 12 and mobilizable soldering appliance lower jaw 13.The simulation of hand-held teaching display-tool with sticking plastic 2
It is soldering appliance maxilla 12, its shape and size is identical with soldering appliance maxilla 12, but the very light in weight of teaching display-tool with sticking plastic 2,
Operator with flexible operating and can facilitate pose adjustment.
With reference to Fig. 2, there are several fisrt feature points 21 on teaching display-tool with sticking plastic 2, fisrt feature point 21 may be located at simulation welding
On the characteristic point mounting blocks that the rear end of instrument maxilla is stretched out.Fisrt feature point arranges 21 row combinations should meet unique mark teaching work
The attitude of tool 2.As a example by the present invention is using L shape arrangement, fisrt feature point 21 has three, and first fisrt feature point and second
The line B of line A between individual fisrt feature point between second fisrt feature point and the 3rd fisrt feature point, and
Line A length is the twice of line B length.The front port simulated welding gun head of teaching display-tool with sticking plastic 2.
The three second feature points 11 corresponding with three fisrt feature points 21 also are provided with soldering appliance maxilla 12.It is described
The distance of corresponding fisrt feature point 21 to teaching display-tool with sticking plastic front end analogue arc welding gun head is corresponding to the upper soldering appliance of robot end
Second feature point 11 to the front end arc welding gun head of soldering appliance maxilla 12 distance it is equal.
As shown in figure 3, the visual field of camera unit 3 covers the operating area of teaching display-tool with sticking plastic 2, the full side to teaching display-tool with sticking plastic 2 is realized
Shooting of the position without dead angle.The camera unit 3 is made up of two or more camera 31, the folder between the distance between camera and camera
Angle does not need to determine.As a example by welding car door 51, there is solder joint 52 on car door 51, teaching display-tool with sticking plastic 2 reaches pad 52 with operation attitude
Position, the characteristic point 21 on car door 51 on all solder joints 52 (i.e. setting) and teaching display-tool with sticking plastic 2 can be by the middle part of some cameras 31
Split-phase motor is observed.
With reference to Fig. 4, a kind of Virtual Demonstration intelligent robot programmed method of study people is comprised the following steps.
Step 1, sets up the mapping relations in robot space and camera space.
The field range overwrite job region of camera unit 3, gathers the Welder on multigroup operating area inner machine people end
The image of second feature point 11 of tool, coordinate of the characteristic point in camera space is obtained by image recognition, records corresponding robot
Joint angles information, the robot space coordinates of characteristic point is obtained by robot Forward kinematics, set up robot space with
The mapping relations of camera space, mapping relations are as follows：
Wherein, (xc,yc) it is two-dimensional coordinate of the characteristic point in camera space, (px,py,pz) it is characteristic point empty in robot
Between in three-dimensional coordinate, C=[C1,C2,C3,C4,C5,C6] it is mapping relations parameter.This process is the instruction of mapping relations parameter
Practice step, the second feature point group number of capture is more, and C is more accurate for mapping relations parameter.
Step 2, teaching display-tool with sticking plastic 2 carries out dummy activity.
The hand-held teaching display-tool with sticking plastic 2 of operating personnel reaches the position of solder joint 52 of robot manipulating task, and dummy robot's operation attitude is simultaneously
Ensure teaching display-tool with sticking plastic front port arc welding gun head on solder joint 52, the fisrt feature point 21 on teaching display-tool with sticking plastic can be by camera unit 3
Camera 21 observe, the hand-held teaching display-tool with sticking plastic 2 of operating personnel reaches different bond pad locations successively.
Step 3, gathers Virtual Demonstration tool information.
Fisrt feature point 21 in camera unit 3 in all camera acquisition steps 2 on teaching display-tool with sticking plastic 2, preserves each operation
Image of the position feature point in camera space, and generate the camera space two-dimensional coordinate of fisrt feature point 21.
Step 4, position coordinates is calculated under robot space.
The robot space being had built up based on step 1 and the mapping relations of camera space, will the teaching in camera space
Camera space coordinate (being obtained by the image recognition of characteristic point) information conversion of the fisrt feature point 21 on instrument 2 obtains machine
The three-dimensional coordinate information or joint angles information in people space, and record joint angles information.
Step 5, automatically generates robot program.
After teaching terminates, the joint angles information order that robot controller 4 will be recorded in step 4 is preserved, and generation is included
The robot 3 d space coordinate and joint angles of fisrt feature point 21 are in interior instruction repertorie robot program.
Finally, robot controller 4 performs the program of step 5 generation, and control robot is with the position of operating personnel's teaching
And attitude, automate and move to All Jobs position, weld job task is completed, after the completion of operation, robot returns to raw bits
Put, wait operating personnel's teaching next time, realize that intelligent robot is programmed.
Claims (6)
1. a kind of Virtual Demonstration intelligent robot for learning people programs servicing unit, and robot end is provided with power tool (1), its
It is characterised by, including：
It is identical and be provided with the teaching display-tool with sticking plastic (2) of fisrt feature point (21) with the power tool (1) that robot end is set,
Characteristic point movement locus on teaching display-tool with sticking plastic (2), teaching display-tool with sticking plastic (2) joint angles information are captured and recorded according to time sequencing
With the camera unit (3) of operative goals setting, and
The robot controller (4) of generation robot work order；
The power tool (1) is provided with second feature point (11) corresponding with teaching display-tool with sticking plastic (2) fisrt feature point (21).
2. the Virtual Demonstration intelligent robot of study people according to claim 1 programs servicing unit, fisrt feature point
(22) including more than two characteristic points, arrangement meets the attitude of unique mark teaching display-tool with sticking plastic (2) between characteristic point.
3. the Virtual Demonstration intelligent robot of study people according to claim 2 programs servicing unit, fisrt feature point
(22) there is the line A between three, and first fisrt feature point and second fisrt feature point special perpendicular to second first
The line B a little and between the 3rd fisrt feature point is levied, and line A length is the twice of line B length.
4. the Virtual Demonstration intelligent robot of the study people according to Claims 2 or 3 programs servicing unit, fisrt feature point
(22) characteristic point and in second feature point (11) is LED, stain or white point.
5. the Virtual Demonstration intelligent robot of the study people of a kind of servicing unit using described in above-mentioned any one claim
Programmed method, it is characterised in that including：
Teaching display-tool with sticking plastic (2) carries out dummy activity, and camera unit (3) is according to time sequencing to the motion rail of fisrt feature point (21)
The setting of mark, joint angles and operative goals is captured and is generated the camera space two-dimensional coordinate of fisrt feature point (21),
Operation of the robot controller (01) according to the camera space coordinate, joint angles and operative goals of fisrt feature point (21)
Point obtains the instruction repertorie of the robot 3 d space coordinate comprising fisrt feature point (21) and joint angles,
Instruction repertorie is input into robot by robot controller (4)；
The robot controller (4) according to fisrt feature point (21) in instruction repertorie robot 3 d space coordinate information control
The movement locus of second feature point (11) on manufacturing instrument (1).
6. it is according to claim 5 study people Virtual Demonstration intelligent robot programmed method, it is characterised in that in teaching
Before instrument (2) carries out dummy activity, the mapping relations in robot space and camera space are first set up, specific method is：
Camera unit (3) captures more than three groups and works and middle second feature point (11) image and obtains the camera of second feature point (11)
Space two-dimensional coordinate；
Recorder person joint's angle parameter, the robot space of second feature point (11) is obtained by robot Forward kinematics
Three-dimensional coordinate；
Set up the mapping relations in robot space and camera space
Wherein, (xc,yc) be second feature point (11) camera space two-dimensional coordinate, (px,py,pz) it is second feature point (11)
Three-dimensional coordinate in robot space, C=[C1,C2,C3,C4,C5,C6] it is mapping relations parameter.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106444739A (en) * | 2016-07-15 | 2017-02-22 | 鹿龙 | Multi-industrial-robot virtual offline co-simulation system and method |
| CN108000499B (en) * | 2016-10-27 | 2020-07-31 | 达明机器人股份有限公司 | Programming method of robot visual coordinate |
| JP6534126B2 (en) * | 2016-11-22 | 2019-06-26 | パナソニックＩｐマネジメント株式会社 | Picking system and control method therefor |
| CN107220099A (en) * | 2017-06-20 | 2017-09-29 | 华中科技大学 | A kind of robot visualization virtual teaching system and method based on threedimensional model |
| CN107331279A (en) * | 2017-08-16 | 2017-11-07 | 嘉兴锐视智能科技有限公司 | Teaching apparatus and system |
| CN108427282A (en) * | 2018-03-30 | 2018-08-21 | 华中科技大学 | A kind of solution of Inverse Kinematics method based on learning from instruction |
| CN108705536A (en) * | 2018-06-05 | 2018-10-26 | 雅客智慧（北京）科技有限公司 | A kind of the dentistry robot path planning system and method for view-based access control model navigation |
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| JPH09225872A (en) * | 1996-02-23 | 1997-09-02 | Yaskawa Electric Corp | Robot teaching device |
| JP4449410B2 (en) * | 2003-10-27 | 2010-04-14 | ソニー株式会社 | Robot apparatus and object learning method thereof |
| JP4267005B2 (en) * | 2006-07-03 | 2009-05-27 | ファナック株式会社 | Measuring apparatus and calibration method |
| JP2011048621A (en) * | 2009-08-27 | 2011-03-10 | Honda Motor Co Ltd | Robot off-line teaching method |
| JP2011110621A (en) * | 2009-11-24 | 2011-06-09 | Toyota Industries Corp | Method of producing teaching data of robot and robot teaching system |
| JP2011224745A (en) * | 2010-04-21 | 2011-11-10 | Yaskawa Electric Corp | Robot teaching device and controller for the same, and program |
| CN102350700A (en) * | 2011-09-19 | 2012-02-15 | 华南理工大学 | Method for controlling robot based on visual sense |
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