CN108388252A - A kind of robot teaching method, apparatus, equipment and medium - Google Patents
A kind of robot teaching method, apparatus, equipment and medium Download PDFInfo
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- CN108388252A CN108388252A CN201810315731.3A CN201810315731A CN108388252A CN 108388252 A CN108388252 A CN 108388252A CN 201810315731 A CN201810315731 A CN 201810315731A CN 108388252 A CN108388252 A CN 108388252A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0253—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0285—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using signals transmitted via a public communication network, e.g. GSM network
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Abstract
The invention discloses a kind of robot teaching method, apparatus, equipment and media, are related to robot field.This method includes：Responding trajectory teaching event obtains the shift position of teaching terminal；According to the current location of the shift position and robot of the teaching terminal, the distance between the robot and the teaching terminal are determined；If the distance is more than setpoint distance threshold value, controls the robot and be moved to the shift position of the teaching terminal, and record the shift position of the teaching terminal, to generate teaching track.A kind of robot teaching method, apparatus of offer of the embodiment of the present invention, equipment and medium realize the flexible teaching to robot, and the operations of a large amount of transmission control information are executed without teaching personnel.
Description
Technical field
The present embodiments relate to a kind of robot field more particularly to robot teaching method, apparatus, equipment and Jie
Matter.
Background technology
With the development of science and technology with the promotion of human cost, robot, which substitutes the mankind, which completes a series of activities, becomes trend.
The typical way that robot completes work is to realize the execution to work according to the content of advance teaching.Currently, often
The robot teaching method seen is to be attached teaching machine and robot to be controlled by cable, teaching personnel by with it is to be controlled
The connected teaching machine of robot processed sends control information, realizes the teaching operation for treating control robot.
Inventor in the implementation of the present invention, it is found that there are following defects for the prior art：Existing teaching mode is flexible
Property is poor；And teaching personnel need to execute a large amount of operations for sending control information during teaching, so as to cause what is taken time and effort
Problem.
Invention content
A kind of robot teaching method, apparatus of offer of the embodiment of the present invention, equipment and medium, are realized to the flexible of robot
Teaching, and execute a large amount of operations for sending control information without teaching personnel.
In a first aspect, an embodiment of the present invention provides a kind of robot teaching method, this method includes：
Responding trajectory teaching event obtains the shift position of teaching terminal；
According to the current location of the shift position and robot of the teaching terminal, the robot and the teaching are determined
The distance between terminal；
If the distance is more than setpoint distance threshold value, the mobile position that the robot is moved to the teaching terminal is controlled
It sets, and records the shift position of the teaching terminal, to generate teaching track.
Second aspect, the embodiment of the present invention additionally provide a kind of robot teaching apparatus, which includes：
Position acquisition module is used for responding trajectory teaching event, obtains the shift position of teaching terminal；
Apart from determining module, it is used for the current location of the shift position and robot according to the teaching terminal, determines institute
State the distance between robot and the teaching terminal；
Track Pick-up module controls the robot and is moved to institute if being more than setpoint distance threshold value for the distance
The shift position of teaching terminal is stated, and records the shift position of the teaching terminal, to generate teaching track.
The third aspect, the embodiment of the present invention additionally provide a kind of equipment, and the equipment includes：
One or more processors；
Storage device, for storing one or more programs；
When one or more of programs are executed by one or more of processors so that one or more of processing
Device realizes a kind of robot teaching method as described in any in the embodiment of the present invention.
Fourth aspect, the embodiment of the present invention additionally provide a kind of computer readable storage medium, are stored thereon with computer
Program realizes a kind of robot teaching method as described in any in the embodiment of the present invention when program is executed by processor.
The embodiment of the present invention follows the movement of teaching terminal by controlling robot, realizes the teaching of track.Therefore user
The flexible teaching to robot can be realized by carrying the movement of teaching terminal.Meanwhile teaching personnel are not necessarily to during teaching
A large amount of operations for sending control information are executed, to solve the problems, such as to take time and effort.
Description of the drawings
Fig. 1 is a kind of flow chart for robot teaching method that the embodiment of the present invention one provides；
Fig. 2 is a kind of flow chart of robot teaching method provided by Embodiment 2 of the present invention；
Fig. 3 is a kind of flow chart for robot teaching method that the embodiment of the present invention three provides；
Fig. 4 is the schematic diagram of the robot camera module movement angle control of three offer of the embodiment of the present invention；
Fig. 5 is a kind of flow chart for robot teaching method that the embodiment of the present invention four provides；
Fig. 6 is a kind of structural schematic diagram for robot teaching cruising inspection system that the embodiment of the present invention four provides；
Fig. 7 is a kind of structural schematic diagram for robot teaching apparatus that the embodiment of the present invention five provides；
Fig. 8 is a kind of structural schematic diagram for equipment that the embodiment of the present invention six provides.
Specific implementation mode
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention rather than limitation of the invention.It also should be noted that in order to just
Only the parts related to the present invention are shown in description, attached drawing rather than entire infrastructure.
Embodiment one
Fig. 1 is a kind of flow chart for robot teaching method that the embodiment of the present invention one provides.The present embodiment is applicable to
The case where track teaching is carried out to robot.This method can be executed by a kind of robot teaching apparatus, which can be by
The mode of software and/or hardware realizes that typically, which can be server.Referring to Fig. 1, one kind provided in this embodiment
Robot teaching method includes：
S110, responding trajectory teaching event obtain the shift position of teaching terminal.
Wherein, teaching event in track can be triggered by the selection of the teaching pattern to robot.Teaching terminal is in teaching
It is moved under the carrying of personnel.Shift position is that the position coordinates passed through in moving process, the shift position occur for teaching terminal
It can be determined by the positioning system of teaching terminal association.The positioning system can be global positioning system, can also be the Big Dipper
Positioning system can also be other positioning systems.Teaching terminal can be with teaching machine, or the mobile terminal with tutorial function, example
Such as mobile phone or tablet computer.
Specific to the acquisition modes of the shift position of teaching terminal can pass through setting time interval acquiring.For example, setting
Time interval is 3 seconds, in the moving process of teaching terminal, every the current location that 3 seconds obtain a teaching terminal, and should
Shift position of the current location as teaching terminal.
The acquisition modes of the shift position of teaching terminal are also possible that teaching personnel are moved to satisfaction in carrying teaching terminal
Position after, triggering teaching terminal the current location of teaching terminal is sent to robot teaching equipment.Accordingly, it is whole to obtain teaching
The current location at end, and as the shift position of teaching terminal.
S120, the current location according to the shift position and robot of the teaching terminal, determine the robot and institute
State the distance between teaching terminal.
Wherein, the current location of robot can be by determining with robot associated positioning system.
If S130, the distance are more than setpoint distance threshold value, control the robot and be moved to the teaching terminal
Shift position, and the shift position of the teaching terminal is recorded, to generate teaching track.
Wherein, setpoint distance threshold value can be determined according to the positioning accuracy of positioning system.Specifically, positioning system is oriented
Position precision it is higher, then setpoint distance threshold value setting it is smaller.To which the precision of the teaching track generated is higher.
Teaching track be teaching personnel to robot teaching after the completion of, the movement rail of the robot of record during teaching
Mark.Teaching track can be determined by the shift position of at least two teaching terminals.
The technical solution of the embodiment of the present invention follows the movement of teaching terminal by controlling robot, realizes showing for track
Religion.Therefore user can realize the flexible teaching to robot by carrying the movement of teaching terminal.Meanwhile during teaching
Teaching personnel are without executing a large amount of operations for sending control information, to solve the problems, such as to take time and effort.
To realize during carrying out track teaching to robot, the teaching of movement speed is carried out to robot.If institute
It states distance and is more than setpoint distance threshold value, then control robot and be moved to the shift position of the teaching terminal and include：
If the distance is more than setpoint distance threshold value, determined according to the shift position of the teaching terminal and traveling time
The movement speed of the teaching terminal；
The robot is controlled according to the movement speed, is moved to the shift position of the teaching terminal, and record institute
State movement speed.
Optionally, action and the teaching of parked time can also be carried out to robot.
During robot is according to teaching track execution task, to realize hiding to the barrier that occurs temporarily,
If being more than setpoint distance threshold value in the distance, the shift position that the robot is moved to the teaching terminal is controlled, and
The shift position for recording the teaching terminal further includes after generating teaching track：
Response is along teaching track motion event, if detecting, there are barriers on the teaching track, keep away according to setting
Barrier rule, hides the barrier.
Wherein, along teaching track motion event can be Robot teaching track execute task event.For example, the thing
Part can be the inspection event of robot.Specific avoidance rule can be determined according to the field condition of the task of execution.
Typically, avoidance rule can be：Robot is moved to the left the first distance first；Move on the first distance；It seeks
The location point nearest apart from teaching track is looked for, and is playbacked again onto teaching track；If can not still move, is being moved to left
The first distance is retreated on the basis of one distance；Move right second distance again, and wherein second distance is more than the first distance；If still
So obstructed by barrier, then return can not move, to notify special messenger to come inspection situation.Specifically, above-mentioned first away from
It can be set according to actual needs from second distance.The present embodiment is to this and is not limited.
Embodiment two
Fig. 2 is a kind of flow chart of robot teaching method provided by Embodiment 2 of the present invention.In practical applications, often
Need Robot that teaching track is specified to execute task.However, the initial position of robot is not usually in specified teaching rail
On mark, it is therefore desirable to be moved to robot on specified teaching track.For this purpose, proposing this on the basis of the above embodiments
The scheme of embodiment.By Fig. 2, a kind of robot teaching method provided in this embodiment includes ginseng：
S210, responding trajectory teaching event obtain the shift position of teaching terminal.
S220, the current location according to the shift position and robot of the teaching terminal, determine the robot and institute
State the distance between teaching terminal.
If S230, the distance are more than setpoint distance threshold value, control the robot and be moved to the teaching terminal
Shift position, and the shift position of the teaching terminal is recorded, to generate teaching track.
S240, response obtain the current location of the robot along teaching track motion event.
Wherein, along teaching track motion event can be Robot teaching track execute task event.For example, the thing
Part can be the inspection event of robot.
S250, according to the current location of the robot, determine the present bit with the robot in the teaching track
It sets apart from nearest location point.
Optionally, mode of the current location in the teaching track with the robot apart from nearest location point is determined
Can calculate separately the current location of the robot and constitute multiple positions of teaching track (to remember during teaching
The distance between the position of the robot movement of record), work as with the robot according in the distance determination teaching track
Front position is apart from nearest location point.
Determine that mode of the current location in the teaching track with the robot apart from nearest location point can be with
It is：Make the straight line across the current location of the robot respectively according to the first interval angles；Determine teaching track described in straight line
Intersection point；According to the distance between the current location of the intersection point and the robot, determine in the teaching track with the machine
The current location of device people is apart from nearest location point.
To improve essence of the current location in the determining teaching track with the robot apart from nearest location point
Accuracy.On the basis of above-mentioned steps, determine apart from two relatively nearest intersection points of the current location of the robot；If this two
The distance between a intersection point is more than setting spacing distance threshold value and is worn between the company intersection point then according to the second interval angles
The straight line of the current location of the robot is crossed, wherein the second interval angles are less than the first interval angles；Determine the straight line and institute
State the intersection point of teaching track；According to the distance between the current location of the intersection point and the robot, the teaching track is determined
In with the current location of the robot apart from nearest location point.
To further increase the current location in the determining teaching track with the robot apart from nearest position
The precision of point, can recycle execution above-mentioned steps, until the current location of robot described in the distance determined is relatively nearest
The distance between two intersection points are less than setting spacing distance threshold value.
S260, the control robot are moved to the location point, are moved according to the teaching track.
Specifically, after the robot is moved to the location point, according to setting sports rule, in the teaching track
Upper operation, executes task during the motion.
It needs to prompt, the action that robot executes task during the motion can also be realized by teaching.
The technical solution of the embodiment of the present invention, robot initial position not when on specified teaching track, pass through
Control robot is automatically moved into the current location in the teaching track with the robot apart from nearest location point.To
Realize that the effect of teaching track is looked for automatically by robot, at the same solve manpower movement robot in the prior art need to consume manpower and
The problem of material resources.
Embodiment three
Fig. 3 is a kind of flow chart for robot teaching method that the embodiment of the present invention three provides.During practical teaching,
Teaching personnel may handle some things, for example answer the call etc. and things or to approach the operating status for checking robot, at this moment
It waits and just needs to suspend the teaching to robot.For this purpose, proposing the scheme of the present embodiment on the basis of the above embodiments.Ginseng will
Fig. 3, a kind of robot teaching method provided in this embodiment include：
S310, responding trajectory teaching event obtain the shift position of teaching terminal.
S320, the motion track that the teaching terminal is determined according to the shift position of the teaching terminal.
If S330, the motion track are default motion track, the associated event of the setting motion track is responded.
Wherein, default motion track can be set according to actual needs.Above-mentioned associated event may include：Pause
Teaching event, startup teaching event and shooting angle determine at least one of event event.
In practical applications, shooting angle is triggered by default motion track and determines that the process of event can be described as：
During teaching personnel carrying teaching terminal moves out setting regions for the first time, if detecting, the position of teaching terminal exceeds
Setting regions, then warm-up, and control buzzer rings setting ringing time；Before buzzer rings terminate, if detecting
In teaching terminal backoff to setting regions, then robot stop motion is controlled, and records teaching terminal for the first time beyond setting area
The position in domain starts the initial position of shooting as camera module；Teaching terminal is carried in teaching personnel to move out for the second time
During the position of setting regions, if detecting, teaching terminal has left setting regions, opens buzzer rings setting ring
Ring the time；If detecting in teaching terminal backoff to setting regions, the position that teaching terminal second exceeds setting regions is recorded,
End position as the shooting of camera module；Robot head is controlled to rotate according to above-mentioned initial position and end position.
Illustratively, it is to set the circle of radius using robot position as the center of circle using setting regions referring to Fig. 4
For domain 10.During teaching personnel carry teaching terminal and walk out border circular areas at first position 101, show if detecting
Religion terminal is moved to outside border circular areas at the second position 102, then records the second position 102；Teaching terminal is carried in teaching personnel
It is retracted into the third place 103, and during walking out border circular areas from the 4th position 104, teaching terminal retracts circle if detecting
Shape region, and detect at the 5th position 105 in the movement of teaching terminal outside border circular areas, then record the 5th position 105；Showing
During religion personnel carrying teaching terminal is retracted into the 6th position 106, if detecting, teaching terminal retracts border circular areas, controls
Camera processed is rotated from the second position 102 to the angle of the 5th position 105.
In practical applications, by preset motion track triggering pause teaching event and start the process of teaching event can be with
It is described as：If continuously setting number leaves setting regions and retracts, and then suspends basis without departing from setting regions after rollback
Teaching of the shift position of teaching terminal to robot.After response suspends teaching event, set if detecting that teaching terminal is left
Determine region, then start the teaching according to the shift position of teaching terminal to robot, continues to carry out track teaching to robot.
S340, the current location according to the shift position and robot of the teaching terminal, determine the robot and institute
State the distance between teaching terminal.
If S350, the distance are more than setpoint distance threshold value, control the robot and be moved to the teaching terminal
Shift position, and the shift position of the teaching terminal is recorded, to generate teaching track.
The technical solution of the embodiment of the present invention, by mobile default motion track, to trigger to the setting motion track
Associated event.To realize the flexible teaching to robot.For the triggering mode is with respect to speech trigger, accuracy rate is more
It is high；For opposing keys triggering, without carrying out the setting of respective keys to teaching terminal, to simplify teaching terminal.
Example IV
Fig. 5 is a kind of flow chart for robot teaching method that the embodiment of the present invention four provides.The present embodiment is above-mentioned
On the basis of embodiment, a kind of alternative for being proposed by taking inspection as an example.Referring to Fig. 5, robot teaching provided in this embodiment
Method includes：
S410, response patrolled and examined track teaching event, obtain the shift position of teaching terminal.
S420, the motion track that the teaching terminal is determined according to the shift position of the teaching terminal, if the movement
Track is default motion track, then responds the associated event of the setting motion track.
S430, the current location according to the shift position and robot of the teaching terminal, determine the robot and institute
State the distance between teaching terminal.
If S440, the distance are more than setpoint distance threshold value, when according to the shift position of the teaching terminal and movement
Between determine the movement speed of the teaching terminal.
S450, the control robot are moved to the shift position of the teaching terminal, and remember according to the movement speed
The shift position for recording the movement speed and the teaching terminal, to generate teaching track.
Optionally, recorder people follows teaching personnel dynamic in the parked time of different location and inspection during teaching
Make, to realize the teaching of teaching and the inspection action to the parked time.Wherein, inspection action can be the bat of camera in robot
Perturbation is made.
S460, response obtain the current location of the robot, according to the robot along teaching track inspection event
Current location determines the current location in the teaching track with the robot apart from nearest location point.
S470, the control robot are moved to the location point, are held according to the teaching track and the movement speed
Row inspection.
S480, during inspection, if detecting on the teaching track there are barrier, according to setting avoidance rule
Then, hide the barrier.
The present embodiment does not limit the execution step of S480 and S470.Typically, S480 can be executed prior to S470.
In practical applications, the teaching of patrolled and examined track can be described as：Compare GPS data and the teaching personnel of robot
The GPS data of the teaching terminal of carrying；The direction of motion and movement speed of robot are controlled according to the difference between above-mentioned GPS data
Degree.Specifically, since the GPS precision maximums for recording data only have 2.5 meters, so needing to set a region.In above-mentioned GPS numbers
When difference between is no more than this region, the direction of motion of robot is not changed, to ensure the stability of robot motion.
The region can be using robot position as the center of circle, and setpoint distance is the border circular areas of radius.
That is, when teaching personnel carrying teaching terminal is less than or equal to above-mentioned setpoint distance at a distance from robot,
Control robot does not move.At this time regardless of teaching personnel are with the border circular areas internal motion in the artificial center of circle of machine, all when
It is static to make teaching personnel.Once will detect that teaching terminal is advanced or laterally moved left and right beyond the border circular areas, then root
According to the angle and distance between teaching terminal and robot, control robot is moved towards teaching terminal position.
The technical solution of the embodiment of the present invention, by carrying out polling path to robot, inspection acts and mobile speed
Teaching, to reappeared everything that a patrol officer may do during inspection (moved with certain speed,
It stops and checks, pinpoint the problems).And then the inspection to set scene may be implemented according to teaching contents for robot.Advantage
It is, by flexibly adjusting polling path to the teaching of mobile robot, without being changed to program.It can show simultaneously
During religion, points out the increase parked time in inspection key or slow down movement speed, to realize to the careful of inspection key point
Inspection.In addition, the technical characteristic analyzed the obstacle in inspection scene according to real-time vision-based detection result is eliminated, with
And the technical characteristic of mobile route determination is carried out according to obstacle analysis result application path planning algorithm, save mobile robot
Cost and operation time.
Typically, referring to Fig. 6, the system composition of robot teaching cruising inspection system is as follows in practical inspection application：
Teaching cruising inspection system includes：Robot body, server and teaching terminal three parts.Wherein, robot body is again
Including：Ontology, camera model, GPS module, 4G communication modules, seven part of controller module, walking module and end rotation module
Composition.
Specifically, controller includes at least memory management unit, two pieces of general network interface cards, USB interface all the way, USART all the way
Serial line interface.Wherein, two pieces of general network interface cards are each responsible for same robot ambulation module and end rotation module carries out Ethercat
Communication, the ability of motion control and offer camera angle shooting for robot；Another piece of network interface card is responsible for accessing 4G communication moulds
Block, for being uploaded to the image collected and GPS data；USB interface is responsible for all the way and camera module is communicated, and acquires
The ambient image taken；USART serial ports is used for the acquisition of GPS signal, the position for obtaining robot all the way.
It includes USB interface, USART interfaces, pottery that above-mentioned GPS module, which uses the GPS modules of model NEO-6M, module offer,
Porcelain antenna and antenna amplifying circuit, and there is SMA antennal interfaces, positioning accuracy is up to 2.5 meters.
The industrial camera module that above-mentioned camera model is formed using Sony's IMX179CMOS chips.8,000,000 pictures can be acquired
The picture format of the MJPEG and YUV2 of element.Camera module carries out image data transmission by USB2.0OTG agreements and controller,
Camera module further includes light compensating lamp.Camera module be mounted on robot body end rotation unit on, can with rotary unit into
Row 360 degree rotation, capturing panoramic view image.
Walking module and end rotation module are assisted by the way of servomotor, gear reducer and driver by Ethercat
View is communicated with controller, and the control instruction of the server received is converted to the output position of motor by controller, speed
The parameters output such as degree and torque.
MA5657 modules may be used in 4G communication modules, which has SIM card slot and Ethernet interface, are runed being inserted into
After the SIM card of quotient, you can access public network by carrier network.The module ensure that the wireless connection of robot and server.
Server is configured to linux system (Ubuntu16.04) as controller, is ensured by MQTT Server each
The exchange of instruction and sensing data, meets multiple robots and teaching terminal between the access and teaching terminal of robot
Concurrent data access.Storage to GPS track data and image data is provided simultaneously.Ensure teaching terminal can timely by
Control instruction is issued to robot, and the real time data of robot is pushed in the teaching terminal with permission.
Embodiment five
Fig. 7 is a kind of structural schematic diagram for robot teaching apparatus that the embodiment of the present invention five provides.Referring to Fig. 7, this reality
Applying the robot teaching apparatus that example provides includes：Position acquisition module 20, apart from determining module 30 and Track Pick-up module 40.
Wherein, position acquisition module 20 is used for responding trajectory teaching event, obtains the shift position of teaching terminal；
Apart from determining module 30, it is used for the current location of the shift position and robot according to the teaching terminal, is determined
The distance between the robot and the teaching terminal；
Track Pick-up module 40 controls the robot and is moved to if being more than setpoint distance threshold value for the distance
The shift position of the teaching terminal, and the shift position of the teaching terminal is recorded, to generate teaching track.
The technical solution of the embodiment of the present invention follows the movement of teaching terminal by controlling robot, realizes showing for track
Religion.Therefore user can realize the flexible teaching to robot by carrying the movement of teaching terminal.Meanwhile during teaching
Teaching personnel are without executing a large amount of operations for sending control information, to solve the problems, such as to take time and effort.
Further, Track Pick-up module 40 includes：Speed determining unit and mobile unit.
Wherein, speed determining unit, if being more than setpoint distance threshold value for the distance, according to the teaching terminal
Shift position and traveling time determine the movement speed of the teaching terminal；
Mobile unit is moved to the movement of the teaching terminal for controlling the robot according to the movement speed
Position, and record the movement speed.
Further, described device further includes：Moving track module and event response module.
Wherein, moving track module is used for after the shift position for obtaining teaching terminal, according to the teaching terminal
Shift position determines the motion track of the teaching terminal；
Event response module responds the setting motion track if being default motion track for the motion track
Associated event.
Further, described device further includes：Current location acquisition module, nearest point determining module and control movement
Module.
Wherein, current location acquisition module controls the machine if for being more than setpoint distance threshold value in the distance
People is moved to the shift position of the teaching terminal, and records the shift position of the teaching terminal, with generate teaching track it
Afterwards, response obtains the current location of the robot along teaching track motion event；
Nearest point determining module, for according to the current location of the robot, determine in the teaching track with
The current location of the robot is apart from nearest location point；
Mobile module is controlled, the location point is moved to for controlling the robot, is moved according to the teaching track.
Further, described device further includes：Obstacle avoidance module.
Wherein, obstacle avoidance module controls the robot and is moved to if for being more than setpoint distance threshold value in the distance
The shift position of the teaching terminal, and the shift position of the teaching terminal is recorded, after generating teaching track, respond edge
Teaching track motion event, if detecting, there are barriers on the teaching track, regular according to setting avoidance, hide described
Barrier.
Further, described device further includes：Polling module.
Polling module, if for being more than setpoint distance threshold value in the distance, control the robot be moved to it is described
The shift position of teaching terminal, and the shift position of the teaching terminal is recorded, after generating teaching track, respond inspection thing
Part controls the robot and executes inspection according to the teaching track.
Embodiment six
Fig. 8 is a kind of structural schematic diagram for equipment that the embodiment of the present invention six provides, as shown in figure 8, the equipment includes place
Manage device 70, memory 71, input unit 72 and output device 73；The quantity of processor 70 can be one or more in equipment,
In Fig. 8 by taking a processor 70 as an example；Processor 70, memory 71, input unit 72 and output device 73 in equipment can be with
It is connected by bus or other modes, in Fig. 8 for being connected by bus.
Memory 71 is used as a kind of computer readable storage medium, can be used for storing software program, computer can perform journey
Sequence and module, if the corresponding program instruction/module of the robot teaching in the embodiment of the present invention is (for example, robot teaching fills
Position acquisition module 20 in setting, apart from determining module 30 and Track Pick-up module 40).Processor 70 is stored in by operation
Software program, instruction in reservoir 71 and module are realized to execute various function application and the data processing of equipment
Above-mentioned robot teaching method.
Memory 71 can include mainly storing program area and storage data field, wherein storing program area can store operation system
Application program needed for system, at least one function；Storage data field can be stored uses created data etc. according to terminal.This
Outside, memory 71 may include high-speed random access memory, can also include nonvolatile memory, for example, at least a magnetic
Disk storage device, flush memory device or other non-volatile solid state memory parts.In some instances, memory 71 can be further
Include the memory remotely located relative to processor 70, these remote memories can pass through network connection to equipment.It is above-mentioned
The example of network includes but not limited to internet, intranet, LAN, mobile radio communication and combinations thereof.
Input unit 72 can be used for receiving the number or character information of input, and generate with the user setting of equipment and
The related key signals input of function control.Output device 73 may include that display screen etc. shows equipment.
Embodiment seven
The embodiment of the present invention seven also provides a kind of storage medium including computer executable instructions, and the computer can be held
When being executed by computer processor for executing a kind of robot teaching method, this method includes for row instruction：
Responding trajectory teaching event obtains the shift position of teaching terminal；
According to the current location of the shift position and robot of the teaching terminal, the robot and the teaching are determined
The distance between terminal；
If the distance is more than setpoint distance threshold value, the mobile position that the robot is moved to the teaching terminal is controlled
It sets, and records the shift position of the teaching terminal, to generate teaching track.
Certainly, a kind of storage medium including computer executable instructions that the embodiment of the present invention is provided, computer
The method operation that executable instruction is not limited to the described above, can also be performed the robot that any embodiment of the present invention is provided and shows
Relevant operation in religion method
By the description above with respect to embodiment, it is apparent to those skilled in the art that, the present invention
It can be realized by software and required common hardware, naturally it is also possible to which by hardware realization, but the former is more in many cases
Good embodiment.Based on this understanding, technical scheme of the present invention substantially in other words contributes to the prior art
Part can be expressed in the form of software products, which can be stored in computer readable storage medium
In, such as the floppy disk of computer, read-only memory (Read-Only Memory, ROM), random access memory (Random
Access Memory, RAM), flash memory (FLASH), hard disk or CD etc., including some instructions are with so that a computer is set
Standby (can be personal computer, server or the network equipment etc.) executes the method described in each embodiment of the present invention.
It is worth noting that, in the embodiment of above-mentioned robot teaching apparatus, included each unit and module are
It is divided according to function logic, but is not limited to above-mentioned division, as long as corresponding function can be realized；Separately
Outside, the specific name of each functional unit is also only to facilitate mutually distinguish, the protection domain being not intended to restrict the invention.
Note that above are only presently preferred embodiments of the present invention and institute's application technology principle.It will be appreciated by those skilled in the art that
The present invention is not limited to specific embodiments described here, can carry out for a person skilled in the art it is various it is apparent variation,
It readjusts and substitutes without departing from protection scope of the present invention.Therefore, although being carried out to the present invention by above example
It is described in further detail, but the present invention is not limited only to above example, without departing from the inventive concept, also
May include other more equivalent embodiments, and the scope of the present invention is determined by scope of the appended claims.
Claims (10)
1. a kind of robot teaching method, which is characterized in that including：
Responding trajectory teaching event obtains the shift position of teaching terminal；
According to the current location of the shift position and robot of the teaching terminal, the robot and the teaching terminal are determined
The distance between；
If the distance is more than setpoint distance threshold value, the shift position that the robot is moved to the teaching terminal is controlled,
And the shift position of the teaching terminal is recorded, to generate teaching track.
2. if according to the method described in claim 1, it is characterized in that, the distance is more than setpoint distance threshold value, control machine
The shift position that device people is moved to the teaching terminal includes：
If the distance is more than setpoint distance threshold value, according to the shift position of the teaching terminal and traveling time determination
The movement speed of teaching terminal；
The robot is controlled according to the movement speed, is moved to the shift position of the teaching terminal, and record the shifting
Dynamic speed.
3. according to the method described in claim 1, it is characterized in that, after the shift position for obtaining teaching terminal, further include：
The motion track of the teaching terminal is determined according to the shift position of the teaching terminal；
If the motion track is default motion track, the associated event of the setting motion track is responded.
4. if according to the method described in claim 1, it is characterized in that, controlled more than setpoint distance threshold value in the distance
The robot is moved to the shift position of the teaching terminal, and records the shift position of the teaching terminal, is shown with generating
After teaching track, further include：
Response obtains the current location of the robot along teaching track motion event；
According to the current location of the robot, determine that the current location distance in the teaching track with the robot is nearest
Location point；
It controls the robot and is moved to the location point, moved according to the teaching track.
5. if according to the method described in claim 1, it is characterized in that, controlled more than setpoint distance threshold value in the distance
The robot is moved to the shift position of the teaching terminal, and records the shift position of the teaching terminal, is shown with generating
After teaching track, further include：
Response is along teaching track motion event, if detecting, there are barriers on the teaching track, according to setting avoidance rule
Then, hide the barrier.
6. if according to the method described in claim 1, it is characterized in that, controlled more than setpoint distance threshold value in the distance
The robot is moved to the shift position of the teaching terminal, and records the shift position of the teaching terminal, is shown with generating
After teaching track, further include：
Inspection event is responded, the robot is controlled and inspection is executed according to the teaching track.
7. a kind of robot teaching apparatus, which is characterized in that including：
Position acquisition module is used for responding trajectory teaching event, obtains the shift position of teaching terminal；
Apart from determining module, it is used for the current location of the shift position and robot according to the teaching terminal, determines the machine
The distance between device people and the teaching terminal；
Track Pick-up module controls the robot and is moved to described show if being more than setpoint distance threshold value for the distance
The shift position of terminal is taught, and records the shift position of the teaching terminal, to generate teaching track.
8. device according to claim 7, which is characterized in that Track Pick-up module includes：
Speed determining unit, if being more than setpoint distance threshold value for the distance, according to the shift position of the teaching terminal
The movement speed of the teaching terminal is determined with traveling time；
Mobile unit is moved to the shift position of the teaching terminal for controlling the robot according to the movement speed,
And record the movement speed.
9. a kind of equipment, which is characterized in that the equipment includes：
One or more processors；
Storage device, for storing one or more programs；
When one or more of programs are executed by one or more of processors so that one or more of processors are real
A kind of now robot teaching method as described in any in claim 1-6.
10. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the program is by processor
A kind of robot teaching method as described in any in claim 1-6 is realized when execution.
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