CN108388252B - Robot teaching method, device, equipment and medium - Google Patents
Robot teaching method, device, equipment and medium Download PDFInfo
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- 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
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- 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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- 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 robot teaching method, a robot teaching device, robot teaching equipment and a robot teaching medium, and relates to the field of robots. The method comprises the following steps: responding to the track teaching event, and acquiring the moving position of the teaching terminal; determining the distance between the robot and the teaching terminal according to the moving position of the teaching terminal and the current position of the robot; and if the distance is larger than a set distance threshold value, controlling the robot to move to the moving position of the teaching terminal, and recording the moving position of the teaching terminal to generate a teaching track. Embodiments of the present invention provide a robot teaching method, apparatus, device, and medium, which enable flexible teaching of a robot and do not require a teach person to perform an operation of sending a large amount of control information.
Description
Technical Field
The embodiment of the invention relates to the field of robots, in particular to a robot teaching method, a robot teaching device, a robot teaching equipment and a robot teaching medium.
Background
With the development of science and technology and the improvement of labor cost, it is a trend that robots replace human beings to complete a series of work.
A typical way for a robot to complete a job is to implement the job based on pre-taught content. At present, a common robot teaching method is to connect a demonstrator and a robot to be controlled through a cable, and a demonstrator sends control information through the demonstrator connected with the robot to be controlled, so as to realize teaching operation of the robot to be controlled.
In the process of implementing the invention, the inventor finds that the prior art has the following defects: the existing teaching mode has poor flexibility; and in the teaching process, a teach worker needs to perform a large amount of operations of sending control information, thereby causing the problems of time and labor consumption.
Disclosure of Invention
Embodiments of the present invention provide a robot teaching method, apparatus, device, and medium, which enable flexible teaching of a robot and do not require a teach person to perform an operation of sending a large amount of control information.
In a first aspect, an embodiment of the present invention provides a robot teaching method, where the method includes:
responding to the track teaching event, and acquiring the moving position of the teaching terminal;
determining the distance between the robot and the teaching terminal according to the moving position of the teaching terminal and the current position of the robot;
and if the distance is larger than a set distance threshold value, controlling the robot to move to the moving position of the teaching terminal, and recording the moving position of the teaching terminal to generate a teaching track.
In a second aspect, an embodiment of the present invention further provides a robot teaching apparatus, including:
the position acquisition module is used for responding to the track teaching event and acquiring the moving position of the teaching terminal;
the distance determining module is used for determining the distance between the robot and the teaching terminal according to the moving position of the teaching terminal and the current position of the robot;
and the track generation module is used for controlling the robot to move to the movement position of the teaching terminal and recording the movement position of the teaching terminal to generate a teaching track if the distance is greater than a set distance threshold.
In a third aspect, an embodiment of the present invention further provides an apparatus, where the apparatus includes:
one or more processors;
storage means for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement a robot teaching method according to any of the embodiments of the present invention.
In a fourth aspect, embodiments of the present invention further provide a computer-readable storage medium, on which a computer program is stored, which when executed by a processor, implements a robot teaching method according to any of the embodiments of the present invention.
According to the embodiment of the invention, the teaching of the track is realized by controlling the robot to move along with the teaching terminal. Therefore, the user can move by carrying the teaching terminal, and flexible teaching of the robot is realized. Meanwhile, a demonstrator does not need to perform a large amount of control information sending operations in the teaching process, so that the problems of time consumption and labor consumption are solved.
Drawings
Fig. 1 is a flowchart of a robot teaching method according to an embodiment of the present invention;
FIG. 2 is a flowchart of a robot teaching method according to a second embodiment of the present invention;
FIG. 3 is a flowchart of a robot teaching method according to a third embodiment of the present invention;
fig. 4 is a schematic view illustrating a movement angle control of a camera module of a robot according to a third embodiment of the present invention;
FIG. 5 is a flowchart of a robot teaching method according to a fourth embodiment of the present invention;
fig. 6 is a schematic structural diagram of a robot teaching inspection system according to a fourth embodiment of the present invention;
fig. 7 is a schematic structural diagram of a robot teaching device according to a fifth embodiment of the present invention;
fig. 8 is a schematic structural diagram of an apparatus according to a sixth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 1 is a flowchart of a robot teaching method according to an embodiment of the present invention. The present embodiment is applicable to a case where trajectory teaching is performed on a robot. The method may be performed by a robotic teaching device, which may be implemented in software and/or hardware, which may typically be a server. Referring to fig. 1, a robot teaching method according to the present embodiment includes:
and S110, responding to the track teaching event, and acquiring the moving position of the teaching terminal.
Wherein the trajectory teaching event can be triggered by selection of a teaching mode of the robot. The teaching terminal moves under the carrying of a teaching person. The mobile position is a position coordinate passed by the teaching terminal in the process of moving, and the mobile position can be determined by a positioning system associated with the teaching terminal. The positioning system can be a global positioning system, a Beidou positioning system and other positioning systems. The teaching terminal can be a teaching device or a mobile terminal with teaching function, such as a mobile phone or a tablet computer.
Specifically, the acquisition mode of the movement position of the teaching terminal may be acquired by setting a time interval. For example, the time interval is set to 3 seconds, and the current position of the teaching terminal is acquired every 3 seconds during the movement of the teaching terminal, and the current position is taken as the movement position of the teaching terminal.
The method for acquiring the moving position of the teaching terminal can also be that after the teaching person carries the teaching terminal to move to a satisfactory position, the teaching person triggers the teaching terminal to send the current position of the teaching terminal to the robot teaching device. Accordingly, the current position of the teaching terminal is obtained and used as the moving position of the teaching terminal.
And S120, determining the distance between the robot and the teaching terminal according to the mobile position of the teaching terminal and the current position of the robot.
Wherein the current position of the robot may be determined by a positioning system associated with the robot.
And S130, if the distance is larger than a set distance threshold value, controlling the robot to move to the moving position of the teaching terminal, and recording the moving position of the teaching terminal to generate a teaching track.
Wherein, the set distance threshold value can be determined according to the positioning precision of the positioning system. Specifically, the higher the accuracy of the position located by the positioning system is, the smaller the setting of the distance threshold is. The higher the accuracy of the generated teaching trajectory.
The teaching track is the motion track of the robot in the teaching process recorded after the teaching of the robot is finished by the teaching person. The teach pendant can be determined by the moving positions of at least two of said teach terminals.
According to the technical scheme of the embodiment of the invention, the teaching of the track is realized by controlling the robot to move along with the teaching terminal. Therefore, the user can move by carrying the teaching terminal, and flexible teaching of the robot is realized. Meanwhile, a demonstrator does not need to perform a large amount of control information sending operations in the teaching process, so that the problems of time consumption and labor consumption are solved.
In the process of teaching the track of the robot, the teaching of the moving speed of the robot is realized. If the distance is greater than the set distance threshold, controlling the robot to move to the movement position of the teaching terminal comprises the following steps:
if the distance is larger than a set distance threshold, determining the moving speed of the teaching terminal according to the moving position and the moving time of the teaching terminal;
and controlling the robot to move to the moving position of the teaching terminal according to the moving speed, and recording the moving speed.
Optionally, the teaching of the motion and the parking time of the robot can be performed.
In the process that the robot executes a task according to the teaching track, in order to avoid a temporarily appearing obstacle, if the distance is greater than a set distance threshold, the robot is controlled to move to the moving position of the teaching terminal, and the moving position of the teaching terminal is recorded, so as to generate the teaching track, the method further comprises:
responding to a motion event along the teaching track, and if the fact that an obstacle exists on the teaching track is detected, avoiding the obstacle according to a set obstacle avoiding rule.
Wherein, the motion event along the taught track may be an event of the robot performing a task along the taught track. For example, the event may be a polling event of the robot. The specific obstacle avoidance rule can be determined according to the field condition of the executed task.
Typically, the obstacle avoidance rule may be: the robot first moves a first distance to the left; continuing to advance a first distance; searching a position point closest to the teaching track, and resetting the position point to the teaching track; if the mobile terminal still cannot move, backing by a first distance on the basis of moving left by the first distance; then moving to the right by a second distance, wherein the second distance is larger than the first distance; if still obstructed by an obstacle, a no-move instruction is returned to inform the person to check the condition. Specifically, the first distance and the second distance may be set according to actual needs. The present embodiment does not limit this.
Example two
Fig. 2 is a flowchart of a robot teaching method according to a second embodiment of the present invention. In practical application, the robot is often required to execute a task along a specified teaching track. However, since the initial position of the robot is not usually on the designated teaching trajectory, the robot needs to be moved to the designated teaching trajectory. Therefore, the scheme of the present embodiment is proposed on the basis of the above-described embodiment. Referring to fig. 2, a robot teaching method according to the present embodiment includes:
and S210, responding to the track teaching event, and acquiring the moving position of the teaching terminal.
S220, determining the distance between the robot and the teaching terminal according to the moving position of the teaching terminal and the current position of the robot.
And S230, if the distance is larger than a set distance threshold value, controlling the robot to move to the moving position of the teaching terminal, and recording the moving position of the teaching terminal to generate a teaching track.
And S240, responding to the motion event along the teaching track, and acquiring the current position of the robot.
Wherein, the motion event along the taught track may be an event of the robot performing a task along the taught track. For example, the event may be a polling event of the robot.
And S250, determining a position point which is closest to the current position of the robot in the teaching track according to the current position of the robot.
Alternatively, the position point closest to the current position of the robot in the teaching trajectory may be determined by calculating distances between the current position of the robot and a plurality of positions constituting the teaching trajectory (i.e., positions where the robot moves and recorded in the teaching process), and determining the position point closest to the current position of the robot in the teaching trajectory based on the distances.
The method for determining the position point closest to the current position of the robot in the teaching trajectory may be: respectively drawing straight lines passing through the current position of the robot according to a first interval angle; determining the intersection point of the straight line teaching track; and determining a position point which is closest to the current position of the robot in the teaching track according to the distance between the intersection point and the current position of the robot.
In order to improve the accuracy of a position point which is closest to the current position of the robot in the determined teaching track. On the basis of the steps, two intersection points which are relatively closest to the current position of the robot are determined; if the distance between the two intersection points is larger than the set spacing distance threshold value, a straight line passing through the current position of the robot is made between the two intersection points according to a second spacing angle, wherein the second spacing angle is smaller than the first spacing angle; determining the intersection point of the straight line and the teaching track; and determining a position point which is closest to the current position of the robot in the teaching track according to the distance between the intersection point and the current position of the robot.
In order to further improve the accuracy of a position point closest to the current position of the robot in the determined teaching track, the above steps may be executed in a loop until the distance between two intersection points relatively closest to the current position of the robot is smaller than a set distance threshold.
And S260, controlling the robot to move to the position point and move according to the teaching track.
Specifically, after the robot moves to the position point, the robot runs on the teaching track according to a set motion rule, and a task is executed in the motion process.
It should be noted that the robot may also perform a task during the movement by teaching.
According to the technical scheme of the embodiment of the invention, when the initial position of the robot is not on the appointed teaching track, the robot is controlled to automatically move to the position point which is closest to the current position of the robot in the teaching track. Therefore, the effect of automatically finding the teaching track by the robot is achieved, and the problem that manpower and material resources are consumed by a manual mobile robot in the prior art is solved.
EXAMPLE III
Fig. 3 is a flowchart of a robot teaching method according to a third embodiment of the present invention. During the actual teaching process, the teaching person may need to handle some things, such as receiving a call or the like, or to check the operation state of the robot, and at this time, the teaching of the robot needs to be suspended. Therefore, the scheme of the present embodiment is proposed on the basis of the above-described embodiment. Referring to fig. 3, a robot teaching method according to the present embodiment includes:
and S310, responding to the track teaching event, and acquiring the moving position of the teaching terminal.
S320, determining the movement track of the teaching terminal according to the movement position of the teaching terminal.
And S330, responding to an event related to the set moving track if the moving track is a preset moving track.
The preset moving track can be set according to actual needs. The associated events may include: at least one of pause the teach event, start the teach event, and shoot angle determination event.
In practical applications, the process of triggering the shooting angle determination event through the preset movement track may be described as follows: in the process that a demonstrator carries a teaching terminal to move beyond a set area for the first time, if the position of the teaching terminal is detected to exceed the set area, the teaching terminal prepares for movement and controls a buzzer to sound for setting the sound time; before the buzzer rings, if the teaching terminal is detected to return to the set area, the robot is controlled to stop moving, and the position of the teaching terminal exceeding the set area for the first time is recorded as the initial position of the camera module for starting shooting; in the process that a demonstrator carries a teaching terminal to move for the second time beyond the position of the set area, if the teaching terminal is detected to leave the set area, a buzzer is started to sound for setting the sound time; if the teaching terminal is detected to retreat into the set area, recording the position of the teaching terminal beyond the set area as the shooting end position of the camera module; and controlling the robot head to rotate according to the starting position and the ending position.
For example, referring to fig. 4, a circular area 10 with a set radius is taken as an example, where the set area is centered on the position of the robot. In the process that a teach pendant carries a teach terminal to move out of the circular area from the first position 101, if the teach terminal is detected to move to a second position 102 outside the circular area, recording the second position 102; in the process that a teach pendant carries the teaching terminal to return to the third position 103 and moves out of the circular area from the fourth position 104, if the teaching terminal is detected to return to the circular area and a fifth position 105 outside the circular area in the movement of the teaching terminal is detected, recording the fifth position 105; when the teach pendant detects that the teach terminal is retracted to the circular area while the teach pendant is retracted to the sixth position 106 with the teach terminal carried, the camera is controlled to rotate from the second position 102 to the angle of the fifth position 105.
In practical application, the process of triggering the pause teaching event and the start teaching event through the preset movement track can be described as follows: when the robot leaves the setting area and retreats for the continuous set number of times and does not leave the setting area after the retreat, the teaching of the robot according to the moving position of the teaching terminal is suspended. After responding to the pause teaching event, if the teaching terminal is detected to leave the set area, teaching to the robot according to the moving position of the teaching terminal is started, and track teaching to the robot is continued.
S340, determining the distance between the robot and the teaching terminal according to the moving position of the teaching terminal and the current position of the robot.
And S350, if the distance is larger than the set distance threshold, controlling the robot to move to the moving position of the teaching terminal, and recording the moving position of the teaching terminal to generate a teaching track.
According to the technical scheme of the embodiment of the invention, the preset moving track is moved to trigger the event related to the set moving track. Thereby realizing the flexible teaching to the robot. Compared with voice triggering, the triggering mode has higher accuracy; compared with key triggering, the teaching terminal does not need to be set with corresponding keys, so that the teaching terminal is simplified.
Example four
Fig. 5 is a flowchart of a robot teaching method according to a fourth embodiment of the present invention. The embodiment is an alternative provided by taking routing inspection as an example on the basis of the above embodiment. Referring to fig. 5, the robot teaching method according to the present embodiment includes:
and S410, responding to the patrol track teaching event and acquiring the moving position of the teaching terminal.
S420, determining a moving track of the teaching terminal according to the moving position of the teaching terminal, and responding to an event related to the set moving track if the moving track is a preset moving track.
S430, determining the distance between the robot and the teaching terminal according to the moving position of the teaching terminal and the current position of the robot.
And S440, if the distance is larger than a set distance threshold, determining the moving speed of the teaching terminal according to the moving position and the moving time of the teaching terminal.
And S450, controlling the robot to move to the moving position of the teaching terminal according to the moving speed, and recording the moving speed and the moving position of the teaching terminal to generate a teaching track.
Optionally, the stopping time and the inspection action of the robot at different positions along with the teaching personnel are recorded in the teaching process, so that the teaching of the stopping time and the teaching of the inspection action are realized. Wherein, the action of patrolling and examining can be the shooting action of camera in the robot.
And S460, responding to the inspection event along the teaching track, acquiring the current position of the robot, and determining a position point which is closest to the current position of the robot in the teaching track according to the current position of the robot.
And S470, controlling the robot to move to the position point, and executing inspection according to the teaching track and the moving speed.
And S480, in the process of inspection, if the obstacle is detected to exist on the teaching track, avoiding the obstacle according to a set obstacle avoiding rule.
The present embodiment does not limit the execution steps of S480 and S470. Typically, S480 may be performed prior to S470.
In practical applications, the teaching of the inspection trajectory can be described as: comparing the GPS data of the robot with the GPS data of a teaching terminal carried by a teaching person; and controlling the movement direction and the movement speed of the robot according to the difference value between the GPS data. Specifically, since the accuracy of the GPS recorded data is only 2.5 meters at maximum, it is necessary to set an area. When the difference value between the GPS data does not exceed the area, the moving direction of the robot is not changed, so that the moving stability of the robot is ensured. The area may be a circular area having a center at which the robot is located and a set distance as a radius.
That is, when the distance between the teaching terminal carried by the teach pendant and the robot is equal to or less than the set distance, the robot is controlled not to move. At this time, the teach pendant is still no matter how the teach pendant moves inside the circular area with the robot as the center. And once the teaching terminal is detected to move forwards or transversely leftwards and rightwards to exceed the circular area, controlling the robot to move towards the position of the teaching terminal according to the angle and the distance between the teaching terminal and the robot.
According to the technical scheme of the embodiment of the invention, all actions (namely moving at a certain speed, staying for inspection and finding problems) which a patrol person may do in the patrol process are reproduced by teaching the patrol path, the patrol action and the moving speed of the robot. And then the robot can realize the inspection to setting for the scene according to the teaching content. The method has the advantages that the inspection path is flexibly adjusted through teaching of the mobile robot, and the program does not need to be changed. Meanwhile, in the teaching process, the parking time can be increased or the moving speed can be slowed down at the routing inspection key point, so that the routing inspection key point can be carefully routed. In addition, the technical characteristics of analyzing the obstacles in the inspection scene according to the real-time visual detection result and determining the moving path by applying a path planning algorithm according to the obstacle analysis result are omitted, so that the cost and the operation time of the mobile robot are saved.
Typically, the system for robot teaching inspection system in practical inspection application with reference to fig. 6 is constructed as follows:
the teaching inspection system comprises: the robot comprises a robot body, a server and a teaching terminal. Wherein, the robot body includes again: the device comprises a body, a camera module, a GPS module, a 4G communication module, a controller module, a walking module and a head rotating module.
Specifically, the controller at least comprises a memory management unit, two universal network cards, one USB interface and one USART serial interface. The two universal network cards are respectively responsible for carrying out Ethercat communication with the robot walking module and the head rotating module and are used for controlling the motion of the robot and providing the camera angle shooting capability; the other network card is responsible for accessing the 4G communication module and is used for uploading the acquired image and the GPS data; one USB interface is responsible for communicating with the camera module and collecting the shot environmental image; and one USART serial port is used for collecting GPS signals and acquiring the position of the robot.
The GPS module adopts a GPS module of type NEO-6M, the module comprises a USB interface, a USART interface, a ceramic antenna and an antenna amplifying circuit, and is provided with an SMA antenna interface, and the positioning precision is up to 2.5 meters.
The camera module adopts an industrial camera module consisting of Sony IMX179CMOS chips. The picture formats of MJPEG and YUV2 of 800 ten thousand pixels can be collected. The camera module carries out image data transmission with the controller through a USB2.0OTG protocol, and the camera module further comprises a light supplement lamp. The camera module is installed on the head rotating unit of the robot body, can rotate 360 degrees along with the rotating unit, and collects panoramic images.
The walking module and the head rotating module are communicated with the controller through an Ethercat protocol in a servo motor, a speed reducer and a driver mode, and received control instructions of the server are converted into output positions of the motor, speed, torque and other parameters to be output by the controller.
The 4G communication module may adopt a MA5657 module, which has a SIM card slot and an ethernet port, and after inserting the SIM card of the operator, the public network can be accessed through the operator network. The module ensures wireless connection of the robot to the server.
The Server is configured as a Linux system (Ubuntu16.04) like the controller, and the access of each robot and the exchange of instructions and sensor data between teaching terminals are ensured through the MQTT Server, so that the concurrent data access of a plurality of robots and teaching terminals is met. While providing storage for GPS track data and image data. The teaching terminal can timely issue the control command to the robot, and real-time data of the robot is pushed to the teaching terminal with the authority.
EXAMPLE five
Fig. 7 is a schematic structural diagram of a robot teaching apparatus according to a fifth embodiment of the present invention. Referring to fig. 7, the robot teaching device according to the present embodiment includes: a position acquisition module 20, a distance determination module 30 and a trajectory generation module 40.
The position obtaining module 20 is configured to respond to the track teaching event and obtain a moving position of the teaching terminal;
a distance determining module 30, configured to determine a distance between the robot and the teaching terminal according to the moving position of the teaching terminal and the current position of the robot;
and a track generation module 40, configured to control the robot to move to the movement position of the teaching terminal and record the movement position of the teaching terminal to generate a teaching track if the distance is greater than a set distance threshold.
According to the technical scheme of the embodiment of the invention, the teaching of the track is realized by controlling the robot to move along with the teaching terminal. Therefore, the user can move by carrying the teaching terminal, and flexible teaching of the robot is realized. Meanwhile, a demonstrator does not need to perform a large amount of control information sending operations in the teaching process, so that the problems of time consumption and labor consumption are solved.
Further, the trajectory generation module 40 includes: a speed determination unit and a mobile unit.
The speed determining unit is used for determining the moving speed of the teaching terminal according to the moving position and the moving time of the teaching terminal if the distance is greater than a set distance threshold;
and the moving unit is used for controlling the robot to move to the moving position of the teaching terminal according to the moving speed and recording the moving speed.
Further, the apparatus further comprises: a moving track module and an event response module.
The teaching terminal comprises a moving track module, a motion tracking module and a motion tracking module, wherein the moving track module is used for determining a moving track of the teaching terminal according to the moving position of the teaching terminal after the moving position of the teaching terminal is obtained;
and the event response module is used for responding to the event related to the set moving track if the moving track is a preset moving track.
Further, the apparatus further comprises: the device comprises a current position acquisition module, a nearest position point determination module and a control movement module.
The current position obtaining module is used for controlling the robot to move to the moving position of the teaching terminal and recording the moving position of the teaching terminal to generate a teaching track if the distance is greater than a set distance threshold, and then responding to a motion event along the teaching track to obtain the current position of the robot;
the closest position point determining module is used for determining a position point which is closest to the current position of the robot in the teaching track according to the current position of the robot;
and the control moving module is used for controlling the robot to move to the position point and move according to the teaching track.
Further, the apparatus further comprises: keep away barrier module.
The obstacle avoidance module is used for controlling the robot to move to the moving position of the teaching terminal and recording the moving position of the teaching terminal to generate a teaching track, responding to a motion event along the teaching track, and avoiding an obstacle according to a set obstacle avoidance rule if the teaching track is detected to have the obstacle if the distance is larger than a set distance threshold.
Further, the apparatus further comprises: and a routing inspection module.
And the inspection module is used for controlling the robot to move to the moving position of the teaching terminal and recording the moving position of the teaching terminal if the distance is greater than a set distance threshold value so as to generate a teaching track, then responding to an inspection event and controlling the robot to perform inspection according to the teaching track.
EXAMPLE six
Fig. 8 is a schematic structural diagram of an apparatus according to a sixth embodiment of the present invention, as shown in fig. 8, the apparatus includes a processor 70, a memory 71, an input device 72, and an output device 73; the number of processors 70 in the device may be one or more, and one processor 70 is taken as an example in fig. 8; the processor 70, the memory 71, the input device 72 and the output device 73 of the apparatus may be connected by a bus or other means, as exemplified by the bus connection in fig. 8.
The memory 71 is used as a computer readable storage medium for storing software programs, computer executable programs, and modules, such as program instructions/modules corresponding to robot teaching in the embodiments of the present invention (for example, the position acquisition module 20, the distance determination module 30, and the trajectory generation module 40 in the robot teaching device). The processor 70 executes various functional applications of the apparatus and data processing by running software programs, instructions, and modules stored in the memory 71, that is, implements the robot teaching method described above.
The memory 71 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the memory 71 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, the memory 71 may further include memory located remotely from the processor 70, which may be connected to the device over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The input device 72 may be used to receive entered numeric or character information and to generate key signal inputs relating to user settings and function controls of the apparatus. The output device 73 may include a display device such as a display screen.
EXAMPLE seven
An embodiment of the present invention further provides a storage medium containing computer-executable instructions, which when executed by a computer processor, perform a robot teaching method, the method including:
responding to the track teaching event, and acquiring the moving position of the teaching terminal;
determining the distance between the robot and the teaching terminal according to the moving position of the teaching terminal and the current position of the robot;
and if the distance is larger than a set distance threshold value, controlling the robot to move to the moving position of the teaching terminal, and recording the moving position of the teaching terminal to generate a teaching track.
Of course, the storage medium containing the computer-executable instructions provided by the embodiments of the present invention is not limited to the method operations described above, and may also perform related operations in the robot teaching method provided by any embodiments of the present invention.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods according to the embodiments of the present invention.
It should be noted that, in the embodiment of the robot teaching device, the included units and modules are merely divided according to functional logic, but are not limited to the above division as long as the corresponding functions can be realized; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (9)
1. A robot teaching method, comprising:
responding to the track teaching event, and acquiring the moving position of the teaching terminal;
determining the distance between the robot and the teaching terminal according to the moving position of the teaching terminal and the current position of the robot;
if the distance is larger than a set distance threshold value, controlling the robot to move to the moving position of the teaching terminal, and recording the moving position of the teaching terminal to generate a teaching track;
if the distance is greater than the set distance threshold, controlling the robot to move to the moving position of the teaching terminal, and recording the moving position of the teaching terminal to generate a teaching track, further comprising:
responding to the motion event along the teaching track, and acquiring the current position of the robot;
determining a position point which is closest to the current position of the robot in the teaching track according to the current position of the robot;
and controlling the robot to move to the position point and move according to the teaching track.
2. The method of claim 1, wherein controlling the robot to move to the movement position of the teach pendant if the distance is greater than a set distance threshold comprises:
if the distance is larger than a set distance threshold, determining the moving speed of the teaching terminal according to the moving position and the moving time of the teaching terminal;
and controlling the robot to move to the moving position of the teaching terminal according to the moving speed, and recording the moving speed.
3. The method according to claim 1, after acquiring the mobile position of the teaching terminal, further comprising:
determining a moving track of the teaching terminal according to the moving position of the teaching terminal;
and if the movement track is a preset movement track, responding to an event related to the set movement track.
4. The method according to claim 1, wherein after controlling the robot to move to the movement position of the teaching terminal and recording the movement position of the teaching terminal to generate a teaching trajectory if the distance is greater than a set distance threshold, the method further comprises:
responding to a motion event along the teaching track, and if the fact that an obstacle exists on the teaching track is detected, avoiding the obstacle according to a set obstacle avoiding rule.
5. The method according to claim 1, wherein after controlling the robot to move to the movement position of the teaching terminal and recording the movement position of the teaching terminal to generate a teaching trajectory if the distance is greater than a set distance threshold, the method further comprises:
and responding to an inspection event, and controlling the robot to perform inspection according to the teaching track.
6. A robot teaching device characterized by comprising:
the position acquisition module is used for responding to the track teaching event and acquiring the moving position of the teaching terminal;
the distance determining module is used for determining the distance between the robot and the teaching terminal according to the moving position of the teaching terminal and the current position of the robot;
the track generation module is used for controlling the robot to move to the movement position of the teaching terminal and recording the movement position of the teaching terminal to generate a teaching track if the distance is greater than a set distance threshold;
the current position acquisition module is used for controlling the robot to move to the moving position of the teaching terminal and recording the moving position of the teaching terminal to generate a teaching track if the distance is greater than a set distance threshold value, and then responding to a motion event along the teaching track to acquire the current position of the robot;
the closest position point determining module is used for determining a position point which is closest to the current position of the robot in the teaching track according to the current position of the robot;
and the control moving module is used for controlling the robot to move to the position point and move according to the teaching track.
7. The apparatus of claim 6, wherein the trajectory generation module comprises:
the speed determining unit is used for determining the moving speed of the teaching terminal according to the moving position and the moving time of the teaching terminal if the distance is larger than a set distance threshold;
and the moving unit is used for controlling the robot to move to the moving position of the teaching terminal according to the moving speed and recording the moving speed.
8. An apparatus, characterized in that the apparatus comprises:
one or more processors;
storage means for storing one or more programs;
the one or more programs, when executed by the one or more processors, cause the one or more processors to implement a robot teaching method according to any of claims 1-5.
9. A computer-readable storage medium, on which a computer program is stored, which program, when being executed by a processor, is adapted to carry out a method of robot teaching according to any of the claims 1-5.
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| CN110757461A (en) * | 2019-11-13 | 2020-02-07 | 江苏方时远略科技咨询有限公司 | Control system and control method of industrial mobile robot |
| JP7426333B2 (en) * | 2020-11-30 | 2024-02-01 | 株式会社ダイヘン | robot control device |
| CN112846737A (en) * | 2021-01-07 | 2021-05-28 | 深圳市驰速自动化设备有限公司 | Software control system for dragging demonstration automatic screw locking machine |
| CN113618710B (en) * | 2021-07-21 | 2023-03-24 | 慧灵科技（深圳）有限公司 | Dragging teaching method and device and dragging teaching robot |
| CN115026393B (en) * | 2022-05-23 | 2024-06-07 | 西门子（中国）有限公司 | Tool center point verification system, method, device and storage medium |
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