CN107220099A - A kind of robot visualization virtual teaching system and method based on threedimensional model - Google Patents
A kind of robot visualization virtual teaching system and method based on threedimensional model Download PDFInfo
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- CN107220099A CN107220099A CN201710467644.5A CN201710467644A CN107220099A CN 107220099 A CN107220099 A CN 107220099A CN 201710467644 A CN201710467644 A CN 201710467644A CN 107220099 A CN107220099 A CN 107220099A
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Abstract
The invention discloses a kind of robot visualization virtual teaching system based on threedimensional model and method, its system includes three-dimensional artificial module, motion-control module, Program Edit Module and communication module；The input of three-dimensional artificial module is connected with the output end of motion-control module, and the input of Program Edit Module is connected with the first output end of three-dimensional artificial module；The first input end of communication module is connected with the second output end of three-dimensional artificial module, and the second input is connected with the output end of Program Edit Module, and output end is used as communication interface；Its method is based on Qt and OpenSceneGraph platform buildings and visualizes virtual teaching system, import three dimensional model for robot and environmental model, position orientation relation of the three dimensional model for robot in three-dimensional scenic is adjusted by dragging three dimensional model for robot or specified teaching target point, realize the joint motions of driving robot body, the operation of the multiple axles of control machine people or multiple directions, to reach accurate taught point position；Its teaching process is visual, with it is easy to operate and portable good the characteristics of.
Description
Technical field
, can more particularly, to a kind of robot based on threedimensional model the invention belongs to Industrial Robot Technology field
Depending on changing virtual teaching system and method.
Background technology
Industrial robot system master includes basic machine, servo-drive, control system and teaching machine；Wherein teaching machine conduct
Host computer, is the man-machine interaction instrument of industrial robot system, and operating personnel can be checked and be changed robot by teaching machine
The information such as parameter, pose, speed, acceleration and operational mode, moreover it is possible to manipulate machine by way of manual teaching and loading procedure
Device people is moved, and programing work is mainly completed in teaching machine.
Current industrial robot mainly has two kinds of programming modes：One kind is teaching-reproduction pattern programming, and one kind is offline compiles
Journey；The defect of teaching-reproduction pattern programmed method is：One axle or a side can only be controlled by button control machine people motion
To operation, it is impossible to it is free to reach any teaching target point in space；And can only observe uninteresting data during teaching,
The motion state of observing and nursing that can not be vivid, teaching process by rule of thumb and is visually observed entirely, it is impossible to accurately determine tool tip
Whether point collides with environment；On the other hand, because teaching programming can only carry out simply putting position teaching, it is difficult to meet complicated
The job requirement such as welding, assembling；Production must be departed from by being additionally, since robot under teaching state, and teaching process will take big
Measure the working time of tangible machine people, inefficiency.
Though off-line programing method can complete to lose contact with reality, working environment is programmed, and teaching-reproduction pattern is solved well and is compiled
Cheng Fangfa deficiency, but still have the following disadvantages：Off-line programing method is generally soft based on commercialized large-scale off-line programing
Part, price is high, and the off-line programming software of configuration specialty can increase production cost；Off-line programming software is larger, general base
In large-scale work station or PC ends, the requirement to hardware is high, and the support to embedded platform is inadequate, portable poor；It is offline to compile
The function that journey software is provided is various, and operating process is complicated, it is necessary to be equipped with technical professional, virtually again increase enterprise into
This.
Expansion and task complexity with robot application scope are improved, and existing programmed method has above-mentioned deficiency,
To being provided with demand based on three dimensional model for robot visualization Virtual Demonstration method.
The content of the invention
For the disadvantages described above or Improvement requirement of prior art, the invention provides a kind of robot based on threedimensional model
Virtual teaching system and method are visualized, its object is to realize robot teaching programming process visualization, and portable is improved
Property.
To achieve these goals, according to one aspect of the present invention, there is provided a kind of robot based on threedimensional model
Visualize virtual teaching system, including three-dimensional artificial module, motion-control module, Program Edit Module and communication module；
Wherein, the input of three-dimensional artificial module is connected with the output end of motion-control module, Program Edit Module it is defeated
Enter end with the first output end of three-dimensional artificial module to be connected；The second of the first input end of communication module and three-dimensional artificial module is defeated
Go out end to be connected, the second input of communication module is connected with the output end of Program Edit Module, and the output end of communication module is used as
Communication interface between external robots；
Wherein, motion-control module is used for joint angle or the posture information inputted according to user, utilizes robot forward and reverse solution
Motion algorithm and trajectory planning algorithm, are planned the fortune work(track of robot end；Three-dimensional artificial module is used for according to fortune
The model-driven signal of dynamic control module output, progress model is shown, scene refreshes and motion simulation, is exported according to simulation result
Model posture information；Program Edit Module is used to the model posture information editing robot manipulating task journey as target taught point
Sequence, and visual angle point teaching target point is recorded, the robot body that the teaching target point is handed down to outside by communication module is controlled
Device, driving robot body motion；Communication module is used to receive model posture information and robot manipulating task program, and is sent to outer
Treat the robot of teaching in portion.
It is preferred that, above-mentioned robot visualizes virtual teaching system, and three-dimensional artificial module uses OpenSceneGraph
Three dimensional graph display technology display three dimensional model for robot and environmental model, and according to motion-control module in real time in Qt forms
The model-driven of transmission is handled by OpenSceneGraph three dimensional graphic interfaces, is realized in the Qt forms to robot three-dimensional
Model is chosen, the state of freely dragging and simultaneous display three dimensional model for robot, and by the pose of three dimensional model for robot
Information is handed down to communication module；Wherein, Qt refers to a kind of cross-platform graphical user interface application program development framework,
OpenSceneGraph refers to a kind of cross-platform graphical development bag of open source code.
It is preferred that, above-mentioned robot visualizes virtual teaching system, in addition to human-computer interaction module；Human-computer interaction module
It is connected with three-dimensional artificial module, motion-control module, Program Edit Module；For showing three dimensional model for robot, environmental model
With the pose data of three dimensional model for robot, and for receive manipulator input manipulation information, be issued to Program Edit Module.
It is another aspect of this invention to provide that visualizing Virtual Demonstration side there is provided a kind of robot based on threedimensional model
Method, specifically includes following steps：
(1) position orientation relation of three dimensional model for robot is set up based on six-joint robot kinematics D-H parameter models；
(2) three dimensional model for robot and environmental model are imported into based on Qt platforms using OpenSceneGraph function libraries
Set up human-computer interaction interface；
(3) by dragging three dimensional model for robot or specified source location in scene in human-computer interaction interface, make
The teaching target point that three dimensional model for robot is moved in scene；
(4) above-mentioned teaching aiming spot information is sent to the controller for the robot for treating teaching, passes through the control
Device driving robot body moves to actual teaching target point.
Preferably, the above-mentioned robot visualization Virtual Demonstration method based on threedimensional model, passes through the teaching target of preservation
Point generation robot manipulating task program, the robot manipulating task program is loaded into and intends the robot of teaching to realize teaching playback.
In general, by the contemplated above technical scheme of the present invention compared with prior art, it can obtain down and show
Beneficial effect：
(1) present invention is provided robot visualization virtual teaching system and method, based on Qt and OpenSceneGraph
Platform, virtual teaching system is visualized in OpenSceneGraph platform buildings, imports three dimensional model for robot and environmental model,
And communicated with external robots, by dragging three dimensional model for robot or specified teaching target point, adjust robot three-dimensional
Position orientation relation of the model in three-dimensional scenic, realizes the joint motions of driving robot body；By then passing through in dragging scene
Three dimensional model for robot or set three dimensional model for robot move target point come the multiple axles of control machine people or multiple sides
To operation to reach accurate taught point position, therefore with it is simple to operate the characteristics of, it is not necessary to as traditional teaching-reproduction is compiled
The method of journey like that, can only control machine people motion can only control the operation in an axle or a direction, by visually observing, repeatedly
Adjustment can be only achieved taught point position；
(2) present invention is provided robot visualization virtual teaching system and method, are virtually shown in three-dimensional scenic
Religion, three dimensional model for robot and environmental model are imported into scene, the posture information of Virtual Demonstration point is entered with edit routine
Row integrate, complete robot manipulating task programming, can image observer robot and environmental model position relationship, without in face of
Uninteresting data；
(3) present invention is provided robot visualization virtual teaching system and method, by setting robot in the scene
The exclusion area of threedimensional model, can avoid three dimensional model for robot from being collided with environmental model, teaching it is safe；
(4) the robot visualization virtual teaching system and method that the present invention is provided, based on the cross-platform Qt increased income and
OpenSceneGraph, can realize the transplanting of embedded platform, and portability is better than existing off-line programing method.
Brief description of the drawings
Fig. 1 is the functional block that the robot provided in an embodiment of the present invention based on threedimensional model visualizes virtual teaching system
Figure；
Fig. 2 is the man-machine friendship that the robot provided in an embodiment of the present invention based on threedimensional model visualizes virtual teaching system
The interface schematic diagram of mutual module.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.As long as in addition, technical characteristic involved in each embodiment of invention described below
Not constituting conflict each other can just be mutually combined.
Robot visualization virtual teaching system and method that the present invention is provided are flat based on Qt and OpenSceneGraph
Platform, virtual teaching system is visualized in OpenSceneGraph platform buildings, imports three dimensional model for robot and environmental model, and
Communicated with external robots, by dragging three dimensional model for robot or specified teaching target point, adjust robot three-dimensional mould
Position orientation relation of the type in three-dimensional scenic, realizes the joint motions of driving robot body, is virtually shown in three-dimensional scenic
Religion, the posture information of Virtual Demonstration point is integrated with edit routine, completes robot manipulating task programming；By by taught point position
Information is handed down to robot controller, and driving robot body moves to actual teaching target point.
The visualization virtual teaching system of the robot based on threedimensional model that embodiment is provided, its functional block diagram such as Fig. 1 institutes
Show, including three-dimensional artificial module, motion-control module, Program Edit Module, communication module and human-computer interaction module；
Wherein, the input of three-dimensional artificial module is connected with the output end of motion-control module, Program Edit Module it is defeated
Enter end with the first output end of three-dimensional artificial module to be connected；The second of the first input end of communication module and three-dimensional artificial module is defeated
Go out end to be connected, the second input of communication module is connected with the output end of Program Edit Module, and the output end of communication module is used as
Communication interface between external robots；Human-computer interaction module and three-dimensional artificial module, motion-control module, program editing mould
Block is connected；
Wherein, motion-control module is used for joint angle or the posture information inputted according to user, utilizes robot forward and reverse solution
Motion algorithm and trajectory planning algorithm, are planned the fortune work(track of robot end；Three-dimensional artificial module is used for according to fortune
The model-driven signal of dynamic control module output, progress model is shown, scene refreshes and motion simulation, is exported according to simulation result
Model posture information；Program Edit Module is used to the model posture information editing robot manipulating task journey as target taught point
Sequence, and record teaching target point；The teaching target point is handed down to robot body controller by communication module, drives robot
Body is moved；Communication module receives model posture information and robot manipulating task program, and is sent to the outside robot for treating teaching；
Human-computer interaction module is used for the pose data for showing three dimensional model for robot, environmental model and three dimensional model for robot, and is used for
The manipulation information of manipulator's input is received, Program Edit Module is issued to.
In the present embodiment, three-dimensional artificial module is using OpenSceneGraph three dimensional graph display technology in Qt forms
Three dimensional model for robot and environmental model are shown in real time, and the model-driven sent according to motion-control module passes through
OpenSceneGraph three dimensional graphic interfaces processing, realization is chosen to three dimensional model for robot in the window, freely dragged
The state of dynamic and simultaneous display three dimensional model for robot, and the posture information of three dimensional model for robot is handed down to communication module.
In the present embodiment, the layout at the interface of human-computer interaction module including menu bar, threedimensional model as shown in Fig. 2 show
Area, position and attitude data viewing area, manual manipulation area and program editor area.Wherein, menu bar is that human-computer interaction interface is carried out
Loaded in the functional areas of teaching operation, menu bar comprising file, communication, operational mode switching, coordinate system selection, motion rate is cut
Change, the menu item such as parameter setting.Threedimensional model viewing area is the forms for showing robot model and environmental model, is to realize visually
Change the most important part of Virtual Demonstration, in the forms end can be chosen to shut down, freely dragging model reaches the teaching mesh specified
Mark point；Position and attitude data viewing area are to show joint of robot angle information, positional information, the window of Eulerian angles attitude information
Body, by the forms, can know that the posture information of robot model's motion；Program editor area is to carry out editing journey during teaching programming
Sequence and the forms of record taught point position；Manual control zone is the main button moved by control machine people model and robot body
The forms of composition, by the button in the region, driving robot model reaches teaching target point.
The visualization of the robot based on the threedimensional model Virtual Demonstration method that embodiment is provided specifically includes following steps：
(1) position orientation relation of three dimensional model for robot is set up based on six-joint robot kinematics D-H parameter models；
(2) three dimensional model for robot and environmental model are imported into based on Qt platforms using OpenSceneGraph function libraries
Set up human-computer interaction interface；
(3) it is human-computer interaction interface and the robot that treats teaching is online, by being dragged in human-computer interaction interface in scene
Three dimensional model for robot or specified source location, three dimensional model for robot is moved to teaching target point；
(4) teaching target point position information is sent to the controller for the robot for treating teaching, passes through the controller driving machine
Device human body moves to teaching target point.
The visualization virtual teaching system of the robot based on threedimensional model and method provided based on embodiment carries out virtual
The flow of teaching is specific as follows：
(1) it is by communication module, human-computer interaction interface is online with robot；
(2) robot model and environmental model are imported into three-dimensional artificial module；
(3) by choosing three-dimensional scenic in three-dimensional artificial module in robot joint model, freely dragging robot
Model is driven or the end position in the scene of designated robot model and attitude information using manual mode, with driving machine
Device people moves to the teaching target point specified, and preserves target taught point；
(4) the target taught point of record is sent to by communication module and treats the robot of teaching to drive robot body
Move to actual teaching target point；
The target point of preservation is loaded into Program Edit Module, robot manipulating task program is generated, robot manipulating task program is led to
Cross communication module and be handed down to robot system, reproduce teaching process.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, it is not used to
The limitation present invention, any modifications, equivalent substitutions and improvements made within the spirit and principles of the invention etc., it all should include
Within protection scope of the present invention.
Claims (5)
1. it is a kind of based on threedimensional model robot visualization virtual teaching system, it is characterised in that including three-dimensional artificial module,
Motion-control module, Program Edit Module and communication module；
The input of the three-dimensional artificial module is connected with the output end of motion-control module；The input of described program editor module
End is connected with the first output end of three-dimensional artificial module；The first input end of communication module and the second output of three-dimensional artificial module
End is connected, the second input is connected with the output end of Program Edit Module, output end is as the communication between external robots
Interface；
The motion-control module is used for the fortune work(track of the joint angle inputted according to user or posture information to robot end
Planned；The three-dimensional artificial module is used for the model-driven signal that is exported according to motion-control module, carry out model show,
Scene refreshes and motion simulation, and according to motion simulation result output model posture information；Described program editor module is used for will
The model posture information carrys out editor robot operation procedure as target taught point, and records teaching target point；The teaching
Target point is handed down to the robot body controller of outside, driving robot body motion by communication module.
2. robot as claimed in claim 1 visualizes virtual teaching system, it is characterised in that the three-dimensional artificial module is adopted
Three dimensional model for robot and environmental model are shown in real time in Qt forms with OpenSceneGraph three dimensional graph displays technology, and
The model-driven signal sent according to motion-control module is realized in the Qt by OpenSceneGraph three dimensional graphic interfaces
Three dimensional model for robot is chosen in forms, the state of freely dragging simultaneously simultaneous display three dimensional model for robot, and by machine
The posture information of device people's threedimensional model is handed down to communication module.
3. robot as claimed in claim 1 or 2 visualizes virtual teaching system, it is characterised in that also including man-machine interaction
Module；The human-computer interaction module is connected with three-dimensional artificial module, motion-control module, Program Edit Module, for showing machine
The pose data of device people threedimensional model, environmental model and three dimensional model for robot, and for receiving the manipulation letter of manipulator's input
Breath, is issued to Program Edit Module.
4. a kind of robot visualization Virtual Demonstration method based on threedimensional model, it is characterised in that specifically include following steps：
(1) position orientation relation of three dimensional model for robot is set up based on six-joint robot kinematics D-H parameter models；
(2) three dimensional model for robot and environmental model are imported into using OpenSceneGraph function libraries and set up based on Qt platforms
Human-computer interaction interface；
(3) by dragging three dimensional model for robot or specified source location in scene in human-computer interaction interface, machine is made
The teaching target point that people's threedimensional model is moved in scene；
(4) above-mentioned teaching aiming spot information is sent to the controller for the robot for treating teaching, driven by the controller
Mobile robot body moves to actual teaching target point.
If 5. described in claim 4 based on threedimensional model robot visualization Virtual Demonstration method, it is characterised in that pass through
The teaching target point generation robot manipulating task program of preservation, the robot that the robot manipulating task program is loaded into plan teaching comes
Realize teaching playback.
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Cited By (17)
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| CN107838921A (en) * | 2017-10-24 | 2018-03-27 | 上海佳革智能科技有限公司 | A kind of robot training system based on VR |
| CN107932504A (en) * | 2017-11-13 | 2018-04-20 | 浙江工业大学 | PyQt-based mechanical arm operation control system |
| CN108469824A (en) * | 2018-04-08 | 2018-08-31 | 浙江国自机器人技术有限公司 | A kind of floor-cleaning machine device people teaching type engineering construction system and method |
| CN108804098A (en) * | 2018-05-23 | 2018-11-13 | 骅星科技发展有限公司 | A kind of click drawing type programmable control method and its software systems |
| CN109227524A (en) * | 2018-10-31 | 2019-01-18 | 天津泰华易而速机器人科技有限公司 | A kind of unpowered arm multi-joint profiling teaching robot and teaching method |
| CN110000753A (en) * | 2019-02-28 | 2019-07-12 | 北京镁伽机器人科技有限公司 | User interaction approach, control equipment and storage medium |
| CN110000775A (en) * | 2019-02-28 | 2019-07-12 | 北京镁伽机器人科技有限公司 | Device management method, control equipment and storage medium |
| CN110434856A (en) * | 2019-08-23 | 2019-11-12 | 珠海格力电器股份有限公司 | Welding control method and device, storage medium and welding robot |
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| CN107932504A (en) * | 2017-11-13 | 2018-04-20 | 浙江工业大学 | PyQt-based mechanical arm operation control system |
| CN107932504B (en) * | 2017-11-13 | 2020-11-13 | 浙江工业大学 | PyQt-based mechanical arm operation control system |
| CN108469824A (en) * | 2018-04-08 | 2018-08-31 | 浙江国自机器人技术有限公司 | A kind of floor-cleaning machine device people teaching type engineering construction system and method |
| CN108804098A (en) * | 2018-05-23 | 2018-11-13 | 骅星科技发展有限公司 | A kind of click drawing type programmable control method and its software systems |
| CN109227524A (en) * | 2018-10-31 | 2019-01-18 | 天津泰华易而速机器人科技有限公司 | A kind of unpowered arm multi-joint profiling teaching robot and teaching method |
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| CN110597594A (en) * | 2019-09-29 | 2019-12-20 | 联想(北京)有限公司 | Processing method and device of virtual teaching aid, electronic equipment and teaching aid system |
| CN113059558A (en) * | 2020-01-02 | 2021-07-02 | 京东方科技集团股份有限公司 | Control method and terminal of medical mechanical arm and readable medium |
| CN111862297A (en) * | 2020-06-02 | 2020-10-30 | 天津大学 | Coon 3D-based collaborative robot visual simulation teaching method |
| CN111739170A (en) * | 2020-06-24 | 2020-10-02 | 武汉久同智能科技有限公司 | Visual platform of industrial robot workstation |
| CN111739170B (en) * | 2020-06-24 | 2023-08-08 | 武汉久同智能科技有限公司 | Visual platform of industrial robot workstation |
| CN113906358A (en) * | 2020-08-28 | 2022-01-07 | 深圳市大疆创新科技有限公司 | Control method, device and system for movable platform |
| WO2022041112A1 (en) * | 2020-08-28 | 2022-03-03 | 深圳市大疆创新科技有限公司 | Mobile platform control method and apparatus, and control system |
| US11983821B2 (en) | 2020-08-28 | 2024-05-14 | SZ DJI Technology Co., Ltd. | Control method and apparatus for movable platform, and control system thereof |
| CN112255972A (en) * | 2020-09-07 | 2021-01-22 | 广州铁路职业技术学院（广州铁路机械学校） | Laser machine control method and system |
| CN113492414A (en) * | 2021-06-29 | 2021-10-12 | 江苏集萃华科智能装备科技有限公司 | Web-based robot cross-platform man-machine interaction system and implementation method |
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