CN110370263B - Robot teaching method and device and robot - Google Patents
Robot teaching method and device and robot Download PDFInfo
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- CN110370263B CN110370263B CN201810331581.5A CN201810331581A CN110370263B CN 110370263 B CN110370263 B CN 110370263B CN 201810331581 A CN201810331581 A CN 201810331581A CN 110370263 B CN110370263 B CN 110370263B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
Abstract
The invention discloses a robot teaching method, a device and a robot.A first message of the position of the robot relative to a preset reference position of equipment around the robot is determined; determining second information of a teaching point of the equipment relative to a preset reference position of the equipment; determining third information of the position of the teaching point of each device relative to the robot according to the determined first information and second information; and determining the motion track of the robot for taking and placing the object to be conveyed according to the determined third information. Therefore, teaching of the robot can be achieved through a simple method, the teaching process can be completed on a carrying site, networking is not needed, manual input operation is not needed, and teaching efficiency is greatly improved.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a robot teaching method, a device and a robot.
Background
The teaching purpose of the glass substrate conveying robot is to find out the accurate position of a manipulator of the robot in the process of conveying the glass substrate. In the process of transporting the glass substrate, in order to ensure that the manipulator can accurately pick and place the glass substrate on the peripheral equipment, the position of a teaching point needs to be determined through teaching so as to generate a motion track for picking and placing the glass; and then, the robot runs the program and performs the action of taking and placing the glass according to the instruction.
However, many of the current teaching methods are off-line teaching methods, and work at a transportation site is transferred to an office; therefore, the placing positions of the devices on the carrying site need to be confirmed in advance, and the devices need to be subjected to three-dimensional modeling and imported into offline programming software, so that the operation flexibility is low, and meanwhile, the three-dimensional modeling and importing work is time-consuming and labor-consuming.
Therefore, how to teach the robot by a simple method is a technical problem which needs to be solved urgently by the technical personnel in the field.
Disclosure of Invention
The embodiment of the invention provides a robot teaching method, a robot teaching device and a robot, which are used for teaching the robot by a simple method.
The embodiment of the invention provides a robot teaching method, which comprises the following steps:
determining first information of a position of a robot relative to a preset reference position of equipment around the robot;
determining second information of a teaching point of the equipment relative to a preset reference position of the equipment; the teaching point of the equipment is a reference point on a motion track of the robot for taking and placing the object to be conveyed on the equipment;
determining third information of the position of a teaching point of each device relative to the robot according to the determined first information and the second information;
and determining the motion track of the robot for taking and placing the object to be conveyed according to the determined third information.
Through determining the third information of the teaching points of the equipment relative to the position of the robot, the motion track of the robot for taking and placing the object to be conveyed can be generated according to the third information, so that teaching is completed, the teaching process of the robot is simple, the operability is high, teaching can be completed on a conveying site, and therefore the teaching efficiency and the teaching cost are greatly improved.
In a possible implementation manner, in the teaching method provided by an embodiment of the present invention, the determining the first information of the position of the robot relative to the preset reference position of the device located around the robot specifically includes:
first information of a position of the robot with respect to a preset reference position of a device located in the periphery of the robot is determined by a plurality of movements of the robot and a distance sensor installed above a manipulator of the robot.
Through the multiple movement of the robot and the combination of the distance sensor arranged on the manipulator of the robot, the determined first information can be more accurate, and the error is reduced.
In one possible implementation manner, in the teaching method according to an embodiment of the present invention, when the plurality of movements is two movements, the determining, by the plurality of movements of the robot and a distance sensor mounted on a manipulator of the robot, first information of a position of the robot with respect to a preset reference position of a device located around the robot includes:
determining, during a first movement of the robot, a distance between each of the devices and a current position of the robot by a distance sensor mounted on a manipulator of the robot;
in the second moving process of the robot, adjusting the telescopic distance of a manipulator provided with the distance sensor in real time according to the determined distance between each device and the current position of the robot; determining first information of a preset reference position of each device relative to the current position of the robot through a distance sensor arranged on a manipulator of the robot; wherein the moving speed of the second movement is less than the moving speed of the first movement.
It should be noted that the moving tracks of the robot moving twice are identical, but the moving speed is different; in the first quick movement, the approximate position of each device can be determined; in the second movement, the telescopic distance of the manipulator can be adjusted according to the result determined by the first movement, so that the preset reference position of the equipment can be determined more accurately; and because the second movement is slower, the collision between the manipulator and the equipment can be effectively avoided, and the equipment and the robot are prevented from being damaged.
In a possible implementation manner, in the teaching method provided in an embodiment of the present invention, during the second movement of the robot and during the rotation of the robot, the teaching method further includes:
retracting a manipulator of the robot, and rotating a body of the robot according to a first preset angle;
and extending out of the manipulator of the robot, and continuously rotating the body of the robot along the same direction according to a second preset angle.
Through the flexible of rotating the in-process to the manipulator, can effectively avoid touching equipment at rotatory in-process manipulator, protect robot and equipment to avoid damaging.
In a possible implementation manner, in the teaching method provided in an embodiment of the present invention, when a two-dimensional code including second information of a teaching point of the device with respect to a preset reference position of the device is pasted at a preset position of the device, the determining the second information of the teaching point of the device with respect to the preset reference position of the device specifically includes:
in the second moving process of the robot, scanning the two-dimensional code pasted on the equipment through a camera arranged on a manipulator of the robot;
and acquiring second information of the teaching point of the equipment in the two-dimensional code relative to a preset reference position of the equipment.
The second information can be directly acquired through the two-dimensional code pasted on the scanning equipment, so that the mode of determining the second information is simple and easy, and the complexity of the teaching process is effectively reduced.
In a possible implementation manner, in the teaching method provided by an embodiment of the present invention, when the distance sensor is mounted on a leftmost finger or a rightmost finger of a manipulator of the robot, after the determining third information of a position of a teaching point of each device with respect to the robot based on the determined first information and the determined second information, the teaching method further includes:
determining the distance between the center position of one end, close to the equipment, of the manipulator provided with the distance sensor and the distance sensor;
correcting the third information according to the determined distance between the center position of the manipulator provided with the distance sensor, which is close to one end of the equipment, and the distance sensor;
the determining, according to the determined third information, a motion trajectory of the robot for taking and placing the object to be carried includes:
and generating a motion track for the robot to take and place the object to be conveyed according to the corrected third information.
Therefore, the movement track of the robot for taking and placing the object to be conveyed can be more accurate through the correction of the third information, the taking and placing errors are reduced, and the misoperation is reduced.
On the other hand, an embodiment of the present invention further provides a teaching apparatus for a robot, including:
the robot comprises a first determining module, a second determining module and a control module, wherein the first determining module is used for determining first information of the position of the robot relative to a preset reference position of equipment around the robot;
the second determining module is used for determining second information of the teaching point of the equipment relative to a preset reference position of the equipment; the teaching point of the equipment is a reference point on a motion track of the robot for taking and placing the object to be conveyed on the equipment;
a third determining module, configured to determine, according to the determined first information and the determined second information, third information of a position of a teaching point of each device relative to the robot;
and the fourth determining module is used for determining the motion trail of the robot for taking and placing the object to be conveyed according to the determined third information.
In a possible implementation manner, in the teaching device provided in an embodiment of the present invention, the first determining module is specifically configured to determine, through multiple movements of the robot and a distance sensor mounted on a manipulator of the robot, first information of a position of the robot relative to a preset reference position of a device located around the robot.
In a possible implementation manner, in the teaching device provided in an embodiment of the present invention, when the multiple movements are two movements, the first determining module is specifically configured to determine, during the first movement of the robot, a distance between each of the devices and a current position of the robot by using a distance sensor mounted on a manipulator of the robot; in the second moving process of the robot, adjusting the telescopic distance of a manipulator provided with the distance sensor in real time according to the determined distance between each device and the current position of the robot; determining first information of a preset reference position of each device relative to the current position of the robot through a distance sensor arranged on a manipulator of the robot; wherein the moving speed of the second movement is less than the moving speed of the first movement.
In a possible implementation manner, in the teaching device provided in an embodiment of the present invention, during the second movement of the robot and during the rotation of the robot, the first determining module is further configured to retract the manipulator of the robot and rotate the body of the robot by a first preset angle; and extending out of the manipulator of the robot, and continuously rotating the body of the robot along the same direction according to a second preset angle.
In a possible implementation manner, in the teaching apparatus provided in an embodiment of the present invention, when a two-dimensional code including second information of a teaching point of the device with respect to a preset reference position of the device is attached to a preset position of the device, the second determining module is specifically configured to scan the two-dimensional code attached to the device by using a camera mounted on a manipulator of the robot during the second movement of the robot; and acquiring second information of the teaching point of the equipment in the two-dimensional code relative to a preset reference position of the equipment.
In one possible implementation manner, in the teaching apparatus according to an embodiment of the present invention, when the distance sensor is attached to the leftmost finger or the rightmost finger of the robot hand of the robot, after the third information of the position of the teaching point of each device with respect to the robot is determined based on the determined first information and the determined second information, the teaching apparatus further includes: a correction module;
the correction module is used for determining the distance between the center position of one end, close to the equipment, of the manipulator provided with the distance sensor and the distance sensor;
correcting the third information according to the determined distance between the center position of the manipulator provided with the distance sensor, which is close to one end of the equipment, and the distance sensor;
the fourth determining module is specifically configured to generate a motion trajectory of the robot for taking and placing the object to be transported according to the corrected third information.
On the other hand, an embodiment of the present invention further provides a robot, including: the teaching device, the camera and the distance sensor provided by the embodiment of the invention;
the distance sensor is used for measuring the position of the robot and the distance between the robot and a preset reference position of equipment around the robot, and sending a measurement result to the teaching device so that the teaching device can determine first information of the position of the robot relative to the preset reference position of the equipment around the robot;
the camera is used for scanning an image containing second information of a teaching point of equipment relative to a preset reference position of the equipment and sending the image to the teaching device, so that the teaching device can determine the second information of the teaching point of the equipment relative to the preset reference position of the equipment.
In a possible implementation manner, in the robot provided in an embodiment of the present invention, the distance sensor and the camera are installed on two sides of a same finger of a same manipulator of the robot or on a side close to the ground;
the end of the distance sensor is in the same line with the end of the finger of the manipulator.
Therefore, the installation of the distance sensor and the camera cannot influence the carrying action of the manipulator, the second information can be determined while the preset reference position of the equipment is determined, the time required by the teaching process is shortened, and the teaching efficiency is improved.
In a possible implementation manner, in the robot provided by the embodiment of the present invention, the distance sensor and the camera are both installed on the leftmost finger of the manipulator on the left side of the robot; the preset reference position of the equipment is positioned at the rightmost side of the equipment; or the like, or, alternatively,
installing the distance sensor and the camera on the rightmost finger of a manipulator on the right side of the robot; the preset reference position of the device is located at the leftmost side of the device.
Therefore, the short-distance measurement can be realized, and the measurement accuracy is improved.
The invention has the following beneficial effects:
the teaching method, the teaching device and the robot of the robot provided by the embodiment of the invention are characterized in that first information of the position of the robot relative to a preset reference position of equipment around the robot is determined; determining second information of a teaching point of the equipment relative to a preset reference position of the equipment; determining third information of the position of the teaching point of each device relative to the robot according to the determined first information and second information; and determining the motion track of the robot for taking and placing the object to be conveyed according to the determined third information. Therefore, teaching of the robot can be achieved through a simple method, the teaching process can be completed on a carrying site, networking is not needed, manual input operation is not needed, and teaching efficiency is greatly improved.
Drawings
Fig. 1 and fig. 2 are schematic diagrams of teaching points of a robot performing a glass taking and placing operation in the prior art respectively;
FIG. 3 is a flowchart of one of the teaching methods provided in embodiments of the present invention;
FIG. 4 is a schematic diagram illustrating a positional relationship between a robot and peripheral devices provided in an embodiment of the present invention;
fig. 5 is a schematic front view of an apparatus attached with a two-dimensional code according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a manipulator of the robot provided in the embodiment of the present invention;
fig. 7 is a second flowchart of a robot teaching method according to an embodiment of the present invention;
fig. 8 and 9 are schematic structural diagrams of a teaching device provided in an embodiment of the present invention, respectively;
fig. 10 and 11 are schematic structural views of a robot provided in an embodiment of the present invention, respectively.
Detailed Description
The following describes in detail a robot teaching method, a robot teaching apparatus, and a robot according to embodiments of the present invention with reference to the accompanying drawings. It should be noted that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The inventor finds in research that the equipment located at the periphery of the robot comprises: single-layer glass devices and multiple-layer glass devices; the single-layer glass equipment is mainly processing equipment, at this time, teaching points of the robot for taking and placing the glass are shown in fig. 1, and generally three teaching points are needed, namely a1, a2 and a3, wherein the a1 is a position before the glass is taken by a manipulator of the robot or a position after the glass is placed and withdrawn, the a2 is a position which is lifted by the manipulator after the glass is taken and contacts the glass or a position where the glass is placed and is separated from the glass, the a3 is a position when the manipulator takes the glass and withdraws or a position before the glass is placed, and s represents the manipulator of the robot; the dashed lines shown in fig. 1 are motion trajectories generated from three teach points.
In the multi-layer glass device, mainly a storage device, at this time, teaching points for the robot to perform the operation of taking and placing the glass are generally six teaching points as shown in fig. 2, that is, three teaching points are required for the bottommost layer and the highest layer, respectively, wherein the meaning of the three teaching points (b1, b2 and b3) of the bottommost layer and the meaning of the three teaching points (c1, c2 and c3) of the highest layer are the same as the meaning of the three teaching points (a1, a2 and a3) in fig. 1, and are all three key positions for taking and placing the glass, and s represents a manipulator of the robot; the dotted lines in fig. 2 are respectively motion trajectories generated from the teaching points. In addition, the teaching points for taking and placing the middle layers of glass can be calculated according to the number of layers of glass.
However, if there are a plurality of devices located around the robot, the total number of teaching points to be determined is a relatively large number, and if these teaching points are manually operated, it takes a very long time. For example, if there are 8 devices around the robot, if these 8 devices are all single-layer devices, the total number of teaching points that need to be determined is at least 24, if these 8 devices are all multilayer devices with equal distance (equal distance between layers), then 48 teaching points need to be determined, if these 8 devices are all multilayer devices with unequal distance (unequal distance between layers), the number of teaching points that need to be determined is generally 24 times the number of layers of devices, therefore, determining teaching points through manual operation is time-consuming and labor-consuming.
Based on the above, the embodiment of the invention provides a robot teaching method, which is used for teaching a robot through a simple method, can complete the teaching on a carrying site, does not need networking, does not need manual input operation, and greatly improves the teaching efficiency.
Specifically, the teaching method for a robot according to an embodiment of the present invention, as shown in fig. 3, may include:
s301, determining first information of the position of the robot relative to a preset reference position of equipment around the robot;
the robot in the embodiment of the present invention may be a transfer robot, or another robot having a transfer function, and is not limited herein.
S302, determining second information of a teaching point of the equipment relative to a preset reference position of the equipment;
the teaching point of the equipment is a reference point on a motion track of an object to be conveyed, which is taken and placed on the equipment by a robot; through the teaching points, the motion trail of the robot for taking and placing the object to be conveyed can be determined, and therefore the robot can convey the object to be conveyed.
S303, determining third information of the position of the teaching point of each device relative to the robot according to the determined first information and second information;
and S304, determining the motion track of the robot for taking and placing the object to be conveyed according to the determined third information.
When determining to get and put the motion trail of waiting to transport the thing, accomplished the teaching of robot promptly, later the robot according to the teaching result, can realize waiting to transport the transport of thing, gets and puts.
According to the teaching method provided by the embodiment of the invention, the third information of the position of the teaching point of each device relative to the robot is determined, and the motion track of the robot can be generated according to the third information, so that the teaching is completed, the teaching process of the robot is simple, the operability is strong, and the teaching can be completed in a carrying site, so that the teaching efficiency and the teaching cost are greatly improved.
Of course, before teaching the robot, the robot needs to be initialized, that is, the robot needs to be initially set, and the initial position coordinates of the robot are calibrated, so as to determine the position relationship between the preset reference position of the device and the current position of the robot after the robot starts to move. In addition, the two-dimensional code for determining the second information also needs to be attached to a preset position of the equipment before the robot performs teaching, so that the robot can scan and collect the second information conveniently.
In order to determine the first information and the relative position information between the robot and the preset reference positions of the peripheral devices, step S301 in the teaching method provided in the embodiment of the present invention may specifically include:
first information of a position of the robot with respect to a preset reference position of a device located in a periphery of the robot is determined by a plurality of movements of the robot and a distance sensor installed above a manipulator of the robot.
The multiple movements mentioned in the embodiment of the present invention may be two movements, three movements, or four movements, as long as the first information can be accurately determined through the multiple movements and the distance sensor, and therefore, the specific number of movements is not limited herein. Therefore, the determined first information can be more accurate and errors can be reduced by moving the robot for multiple times and combining the distance sensor arranged on the manipulator of the robot.
Specifically, in the teaching method according to an embodiment of the present invention, when the multiple movement is two movements, determining the first information of the position of the robot with respect to the preset reference position of the device located around the robot by the multiple movement of the robot and the distance sensor mounted on the robot hand of the robot may specifically include:
determining the distance between each device and the current position of the robot through a distance sensor arranged on a manipulator of the robot in the first moving process of the robot;
in the second moving process of the robot, adjusting the telescopic distance of the manipulator provided with the distance sensor in real time according to the determined distance between each device and the current position of the robot; and determining first information of the preset reference position of each device relative to the current position of the robot through a distance sensor arranged on a manipulator of the robot.
Wherein the moving speed of the second movement is less than the moving speed of the first movement; the principle of adjusting the extension distance of the manipulator with the distance sensor is as follows: close to the device but not touching the device to avoid collision with the device. For example, the reach of the robot may be the distance of the edge of the device captured in the first move minus a fixed distance (e.g., 2 cm), such that access to the device is achieved without contacting the device; of course, this is merely an example, and the specific protrusion distance is not limited thereto.
It should be noted that the moving tracks of the two movements of the robot are identical, that is, when moving for the first time, the robot moves horizontally and rightwards, then rotates 180 degrees, then moves horizontally and leftwards, and finally rotates 180 degrees, so that the first movement is completed; during the second movement, the movement track of the robot is horizontally leftwards, rotates 180 degrees, horizontally rightwards and rotates 180 degrees again to finish the second movement; here, the movement trajectory of the robot is merely an example, and in the specific implementation, the movement trajectory of the robot is not limited thereto.
Wherein, for the two movements of the robot, only the moving speed is different; in the first quick movement, the approximate position of each device can be determined; in the second movement, the telescopic distance of the manipulator provided with the distance sensor can be adjusted in real time according to the result determined by the first movement, so that the preset reference position of the equipment can be determined more accurately; and because the second movement is slower, enough time and space are provided for adjusting the position of the manipulator provided with the distance sensor, so that the collision between the manipulator and the equipment is effectively avoided, and the equipment and the robot are prevented from being damaged.
Specifically, in the teaching method provided in the embodiment of the present invention, in the second movement of the robot and in the rotation of the robot, in order to avoid collision between the robot hand of the robot and the peripheral device, the teaching method may further include:
retracting a manipulator of the robot, and rotating a body of the robot according to a first preset angle;
and stretching out the manipulator of the robot, and continuously rotating the body of the robot along the same direction according to a second preset angle.
For example, as shown in fig. 4, the schematic diagram of the positional relationship between the robot and the peripheral devices, 8 devices are arranged around the robot, which are numbered 1 to 8, respectively, and the sizes of the devices and the distances between the devices and the robot are different, which is only an example, and the positional relationship between the robot and the peripheral devices is not limited thereto; where 1 denotes a distance sensor mounted on a manipulator of the robot, 2 denotes a camera mounted on the manipulator of the robot, 3 denotes a rotating mechanism of the robot, 4 denotes a moving track of the robot, 5 denotes an enlarged manipulator of the robot, and a denotes a preset reference position of the device.
If the robot horizontally moves along the movement track 4 in the second movement process to finish the measurement of the equipment with the number of 1-3 and needs to rotate 180 degrees to measure the equipment with the number of 4, the manipulator 5 is retracted before the rotation, namely the manipulator 5 of the robot is retracted, and then the robot is rotated for 90 degrees; then, the manipulator 5 is extended out, the position coordinate of the preset reference position A of the equipment with the number of 4 relative to the current robot is measured, and then the machine body is continuously rotated for 90 degrees along the same direction to finish the measurement of the equipment with the number of 4; likewise, the measurement process for the device numbered 8 is the same as above, and the repetition is not repeated.
Among these, the reason for first retracting the robot 5 before rotating is that: referring to fig. 4, the manipulator 5 has two positions, i.e., a position 1 is a non-rotation position, a position 2 is a rotation position, and the manipulator 5 is in a retraction state at the position 2, and there is a certain space between each finger of the manipulator 5 and the device numbered 4, so that the manipulator 5 and the device 4 can be prevented from touching during rotation in this state, and if the manipulator 5 is in an extension state at the position 2, the manipulator 4 is likely to touch during rotation, and thus collide with the device 4; therefore, the manipulator 5 needs to be retracted before rotation, so that the manipulator 5 can be effectively prevented from touching the equipment in the rotation process, and the robot and the equipment are protected from being damaged.
In a specific implementation, in order to determine the second information and determine the relative position information between the teaching point of the device and the preset reference position of the device, when the two-dimensional code including the second information of the teaching point of the device relative to the preset reference position of the device is pasted at the preset position of the device, the step S302 in the teaching method provided in the embodiment of the present invention may specifically include:
in the second moving process of the robot, scanning the two-dimensional code pasted on the equipment through a camera arranged on a manipulator of the robot;
and acquiring second information of the teaching point of the equipment in the two-dimensional code relative to the preset reference position of the equipment.
Specifically, the second information of the teaching points of the device relative to the preset reference position of the device is determined in the design and production processes of the device, all the teaching points of one device can be set as a group of teaching points, and then the second information of the group of teaching points containing the device relative to the preset reference position of the device is converted into a two-dimensional code and pasted on the device, so that the robot can read the two-dimensional code easily and conveniently. In addition, paste the preset position of two-dimensional code, can be according to the home range of the manipulator of robot and decide to in the home range of manipulator, conveniently gather the two-dimensional code through the camera fast, in order to obtain the second information.
It should be noted that, as shown in fig. 5, a schematic front view of a device to which a two-dimensional code is pasted, where a denotes a preset reference position of the device, and p denotes a two-dimensional code pasted near the preset reference position; the two-dimensional code p can be pasted near the preset reference position A, so that the camera can acquire the two-dimensional code p while the distance sensor measures the preset reference position A; of course, the two-dimensional code p may also be pasted at other positions, and is not limited to that shown in fig. 5, as long as it can be ensured that the camera of the manipulator can collect, and is not limited herein. Therefore, the second information can be directly acquired through the two-dimensional code pasted on the scanning equipment, so that the mode of determining the second information is simple and easy, and the complexity of the teaching process is effectively reduced.
It should be noted that, in the teaching method provided in the embodiment of the present invention, in order to facilitate the camera to acquire the two-dimensional code while the distance sensor measures the position, the distance sensor 1 and the camera 2 may be installed on both sides (as shown in fig. 4 and 6) of the same finger of the same manipulator of the robot or on a side (not shown) close to the ground; and the end of the distance sensor 1 and the end of the finger of the robot arm may be in the same straight line (as shown by the dotted line in fig. 6). Therefore, the installation of the distance sensor and the camera does not influence the carrying action of the manipulator, the second information can be determined while the preset reference position of the equipment is determined, the time required by the teaching process is shortened, and the teaching efficiency is improved.
Further, in order to realize close-range measurement and improve the accuracy of measurement, in the teaching method provided by the embodiment of the present invention, the distance sensor 1 and the camera 2 are both installed on the leftmost finger of the manipulator on the left side of the robot; the preset reference position a of the device is located at the rightmost side of the device, as shown in fig. 4; or, the distance sensor 1 and the camera 2 are both arranged on the rightmost finger of the manipulator on the right side of the robot; the preset reference position a of the device is located at the leftmost side of the device and is not shown. That is to say, distance sensor 1 and camera 2 can all be installed on the leftmost finger of the left manipulator, also can all be installed on the rightmost finger of the manipulator on right side, as long as can guarantee to install the manipulator of distance sensor 1 and camera 2, with predetermine reference position A, be located both sides about, thereby can realize closely measuring, improve measuring accuracy, do not restrict here.
The preset reference position A of the equipment is also determined in the design and production processes of the equipment and can be determined according to the moving range of the manipulator, so that the preset reference position A of the equipment can be measured by the up-and-down movement of the manipulator; therefore, the specific position of the preset reference position a is not limited in the embodiments of the present invention.
In a specific implementation, since the distance sensor and the camera are installed on the leftmost finger of the robot hand on the left side or the rightmost finger of the robot hand on the right side, the positional relationship between the current position of the robot measured by the distance sensor and the preset reference position of the equipment is the positional relationship between the side of the robot hand and the preset reference position, not the positional relationship between the center position of the front end of the robot hand and the preset reference position.
Therefore, in order to improve accuracy, in the teaching method provided in an embodiment of the present invention, after determining third information of a position of a teaching point of each device with respect to the robot based on the determined first information and second information, the teaching method may further include:
determining the distance between the center position of one end, close to the equipment, of the manipulator provided with the distance sensor and the distance sensor;
correcting the third information according to the determined distance between the center position of the manipulator provided with the distance sensor, which is close to one end of the equipment, and the distance sensor;
according to the determined third information, determining a motion track of the robot for taking and placing the object to be carried, which may specifically include:
and generating a motion track for the robot to take and place the object to be conveyed according to the corrected third information.
Specifically, referring to the schematic structural view of the robot shown in fig. 6, wherein c denotes an acquisition point of the distance sensor 1, and m denotes a center position of a front end of the robot; because the distance sensor 1 and the camera 2 are both arranged on two sides of the leftmost finger of the manipulator, the distance between the acquisition point c of the distance sensor 1 and the central position m of the front end of the manipulator can be defined as a correction distance and is expressed by Delta L, and the third information is corrected by the correction distance Delta L to obtain the accurate position relation of the teaching point of the equipment relative to the robot, so that the generated motion track of the robot for taking and placing the object to be conveyed is more accurate, the taking and placing errors are reduced, and the misoperation is reduced.
The above teaching method provided by the embodiment of the present invention is described in detail by specific examples.
Specifically, the entire process of the robot teaching will be described with reference to a schematic diagram of the positional relationship between the robot hand and the peripheral device shown in fig. 4 and a flowchart shown in fig. 7, in which the robot is moved twice, the distance sensor and the camera are both mounted on the leftmost finger of the robot hand on the left side, and the preset reference position is located on the rightmost side of the device.
S701, initializing the robot;
s702, horizontally moving the robot to the leftmost end, enabling the manipulator to point to one side of the horizontal track, starting a distance sensor and preparing for first movement;
s703, the robot starts to move horizontally to the right side, and distance information between the equipment 1 to the equipment 3 and the robot is acquired in real time respectively;
s704, rotating the robot clockwise by 180 degrees, and acquiring distance information between the equipment 4 and the robot in real time;
s705, the robot horizontally moves to the left side, and distance information between the equipment 5 to the equipment 7 and the robot is respectively acquired in real time;
s706, rotating the robot clockwise by 180 degrees, and acquiring distance information between the equipment 8 and the robot in real time;
s707, starting the camera to prepare for second movement;
s708, the robot starts to move horizontally to the right side, for the equipment 1 to the equipment 3, the telescopic distance of the manipulator provided with the distance sensor is adjusted in real time according to the distance information between the equipment and the robot acquired in real time in the first movement, and first information of a preset reference position of the equipment relative to the current position of the robot and second information of a teaching point of the equipment relative to the preset reference position of the equipment are determined;
s709, withdrawing the manipulator, and rotating the machine body by 90 degrees clockwise;
s710, stretching out the manipulator, adjusting the telescopic distance of the manipulator provided with the distance sensor according to the distance information between the equipment 4 and the robot acquired in real time in the first moving, determining first information of a preset reference position of the equipment 4 relative to the current position of the robot and second information of a teaching point of the equipment 4 relative to the preset reference position of the equipment 4, and continuing to rotate the machine body clockwise by 90 degrees;
s711, horizontally moving the robot to the left, and for the equipment 5 to the equipment 7, adjusting the telescopic distance of a manipulator provided with a distance sensor in real time according to the distance information between the equipment and the robot acquired in real time in the first moving, and determining first information of a preset reference position of the equipment relative to the current position of the robot and second information of a teaching point of the equipment relative to the preset reference position of the equipment;
s712, retracting the manipulator, and rotating the machine body clockwise by 90 degrees;
s713, stretching out the manipulator, adjusting the telescopic distance of the manipulator provided with the distance sensor according to the distance information between the equipment 8 and the robot acquired in real time in the first moving, determining first information of a preset reference position of the equipment 8 relative to the current position of the robot and second information of a teaching point of the equipment 8 relative to the preset reference position of the equipment 8, and continuing to rotate the machine body clockwise by 90 degrees;
s714, stopping moving; determining third information of the position of the teaching point of each device relative to the robot according to the determined first information and second information;
s715, determining the distance between the center position of one end, close to the equipment, of the manipulator provided with the distance sensor and the camera and the distance sensor;
s716, correcting the third information according to the determined distance between the center position of one end, close to the equipment, of the manipulator provided with the distance sensor and the camera and the distance sensor;
and S717, generating a motion track for taking and placing the object to be conveyed according to the corrected third information.
Based on the same inventive concept, an embodiment of the present invention further provides a teaching apparatus for a robot, as shown in fig. 8, the teaching apparatus may include:
a first determining module 801, configured to determine first information of a position of the robot relative to a preset reference position of a device located around the robot;
a second determining module 802, configured to determine second information of a teach point of the device relative to a preset reference position of the device; the teaching point of the equipment is a reference point on a motion track of an object to be conveyed, which is taken and placed on the equipment by a robot;
a third determining module 803, configured to determine, according to the determined first information and second information, third information of the position of the teaching point of each device relative to the robot;
and a fourth determining module 804, configured to determine, according to the determined third information, a motion trajectory of the robot for taking and placing the object to be conveyed.
In order to determine the first information, in the teaching apparatus according to the embodiment of the present invention, the first determining module 801 is specifically configured to determine the first information of the position of the robot relative to the preset reference position of the device located around the robot through multiple movements of the robot and the distance sensor mounted on the manipulator of the robot.
Specifically, in the teaching apparatus provided in the embodiment of the present invention, when the multiple movement is two movements, the first determining module 801 is specifically configured to determine, during the first movement of the robot, a distance between each device and a current position of the robot through a distance sensor mounted on a manipulator of the robot; in the second moving process of the robot, adjusting the telescopic distance of the manipulator provided with the distance sensor in real time according to the determined distance between each device and the current position of the robot; determining first information of the preset reference position of each device relative to the current position of the robot through a distance sensor arranged on a manipulator of the robot; wherein the moving speed of the second movement is less than the moving speed of the first movement.
Specifically, in the teaching apparatus provided in the embodiment of the present invention, during the second movement of the robot and during the rotation of the robot, the first determining module 801 is further configured to retract the manipulator of the robot, and rotate the body of the robot according to a first preset angle; and stretching out the manipulator of the robot, and continuously rotating the body of the robot along the same direction according to a second preset angle.
In order to determine the second information, in the teaching apparatus provided in the embodiment of the present invention, when the two-dimensional code including the second information of the teaching point of the device relative to the preset reference position of the device is pasted at the preset position of the device, the second determining module 802 is specifically configured to scan the two-dimensional code pasted on the device through the camera mounted on the manipulator of the robot during the second movement of the robot; and acquiring second information of the teaching point of the equipment in the two-dimensional code relative to the preset reference position of the equipment.
Specifically, in the teaching apparatus according to the embodiment of the present invention, after determining the third information of the position of the teaching point of each device with respect to the robot based on the determined first information and second information when the distance sensor is mounted on the leftmost finger or the rightmost finger of the robot hand of the robot, as shown in fig. 9, the teaching apparatus may further include: a correction module 805;
a correction module 805 configured to determine a distance between a center position of the manipulator, which is provided with the distance sensor, near the equipment end and the distance sensor;
correcting the third information according to the determined distance between the center position of the manipulator provided with the distance sensor, which is close to one end of the equipment, and the distance sensor;
the fourth determining module 804 is specifically configured to generate a motion trajectory of the robot for taking and placing the object to be conveyed according to the corrected third information.
In specific implementation, the first determining module 801 mentioned in the embodiment of the present invention may be implemented by a motor position feedback unit in a robot, where when determining the first information, not only the position of the robot in the moving process needs to be obtained in real time, but also the distance acquired by the distance sensor needs to be in one-to-one correspondence with the position of the robot, so as to adjust the extending distance of the manipulator equipped with the distance sensor in real time according to the information in the second moving process of the robot; in addition, when measuring the preset reference position of the equipment, the position of the robot and the measurement value of the distance sensor are determined by the motor position feedback unit, and the two are used as input to calculate so as to determine the first information of the position of the robot relative to the preset reference position of each equipment.
Based on the same inventive concept, an embodiment of the present invention further provides a robot, as shown in fig. 10, which may include: the teaching device 1001, the camera 1002 and the distance sensor 1003 according to the embodiment of the present invention;
the distance sensor 1003 is used for measuring the position of the robot and the distance between the robot and a preset reference position of equipment around the robot, and sending the measurement result to the teaching device 1001, so that the teaching device 1001 determines first information of the position of the robot relative to the preset reference position of the equipment around the robot;
the camera 1002 is configured to scan an image including second information of a teaching point of the device relative to a preset reference position of the device, and send the image to the teaching device 1001, so that the teaching device 1001 determines the second information of the teaching point of the device relative to the preset reference position of the device.
In a specific implementation, in the robot provided in the embodiment of the present invention, as shown in fig. 6, the distance sensor and the camera are installed on two sides of the same finger of the same manipulator of the robot or on one side close to the ground; the end of the distance sensor is in line with the end of the finger of the manipulator.
Specifically, in the robot provided in the embodiment of the present invention, the distance sensor and the camera are both installed on the leftmost finger of the manipulator on the left side of the robot; the preset reference position of the device is located at the rightmost side of the device (as shown in fig. 4 and 6); or, the distance sensor and the camera are both arranged on the rightmost finger of the manipulator on the right side of the robot; the preset reference position of the device is located at the leftmost side of the device.
In specific implementation, another robot is further provided in the embodiment of the present invention, as shown in fig. 11, including: a camera 1101, a distance sensor 1102, a motor position feedback unit 1103, a processor 1104, and a memory 1105;
each module in the teaching device provided by the embodiment of the present invention can be implemented by the processor 1104, and information acquired by the camera 1101 and the distance sensor 1102 is sent to the processor 1104, and some information processed by the motor position feedback unit 1103 is also sent to the processor 1104, so that the processor 1104 completes all logic processing and calculation; and, the information collected by the distance sensor 1102 and the camera 1101 and the finally determined motion track for taking and placing the object to be transported can be stored by the memory 1105, so as to facilitate the retrieval of the processor 1104.
The embodiment of the invention provides a robot teaching method, a device and a robot, wherein first information of the position of the robot relative to a preset reference position of equipment around the robot is determined; determining second information of a teaching point of the equipment relative to a preset reference position of the equipment; determining third information of the position of the teaching point of each device relative to the robot according to the determined first information and second information; and determining the motion track of the robot for taking and placing the object to be conveyed according to the determined third information. Therefore, teaching of the robot can be achieved through a simple method, the teaching process can be completed on a carrying site, networking is not needed, manual input operation is not needed, and teaching efficiency is greatly improved.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (11)
1. A robot teaching method comprising:
determining first information of a position of a robot relative to a preset reference position of equipment around the robot;
determining second information of a teaching point of the equipment relative to a preset reference position of the equipment; the teaching point of the equipment is a reference point on a motion track of the robot for taking and placing the object to be conveyed on the equipment;
determining third information of the position of a teaching point of each device relative to the robot according to the determined first information and the second information;
determining a motion track of the robot for taking and placing the object to be conveyed according to the determined third information;
the determining of the first information of the position of the robot relative to the preset reference position of the device located around the robot specifically includes:
determining first information of a position of the robot relative to a preset reference position of equipment located in the periphery of the robot through a plurality of movements of the robot and a distance sensor mounted on a manipulator of the robot;
when the multiple movement is two movements, the determining, by the multiple movement of the robot and the distance sensor mounted on the manipulator of the robot, first information of a position of the robot relative to a preset reference position of a device located around the robot includes:
determining, during a first movement of the robot, a distance between each of the devices and a current position of the robot by a distance sensor mounted on a manipulator of the robot;
in the second moving process of the robot, adjusting the telescopic distance of a manipulator provided with the distance sensor in real time according to the determined distance between each device and the current position of the robot; determining first information of a preset reference position of each device relative to the current position of the robot through a distance sensor arranged on a manipulator of the robot; wherein the moving speed of the second movement is less than the moving speed of the first movement.
2. The teaching method according to claim 1, wherein during the second movement of the robot and during the rotation of the robot, the teaching method further comprises:
retracting a manipulator of the robot, and rotating a body of the robot according to a first preset angle;
and extending out of the manipulator of the robot, and continuously rotating the body of the robot along the same direction according to a second preset angle.
3. The teaching method according to claim 1, wherein the determining the second information of the teach point of the device with respect to the preset reference position of the device when the two-dimensional code including the second information of the teach point of the device with respect to the preset reference position of the device is pasted at the preset position of the device, specifically comprises:
in the second moving process of the robot, scanning the two-dimensional code pasted on the equipment through a camera arranged on a manipulator of the robot;
and acquiring second information of the teaching point of the equipment in the two-dimensional code relative to a preset reference position of the equipment.
4. The teaching method according to claim 1, wherein after said determining third information of the position of a teaching point of each of said devices with respect to said robot based on said determined first information and said determined second information when said distance sensor is mounted on a leftmost finger or a rightmost finger of a manipulator of said robot, said teaching method further comprises:
determining the distance between the center position of one end, close to the equipment, of the manipulator provided with the distance sensor and the distance sensor;
correcting the third information according to the determined distance between the center position of the manipulator provided with the distance sensor, which is close to one end of the equipment, and the distance sensor;
the determining, according to the determined third information, a motion trajectory of the robot for taking and placing the object to be carried includes:
and generating a motion track for the robot to take and place the object to be conveyed according to the corrected third information.
5. A teaching device for a robot, comprising:
the robot comprises a first determining module, a second determining module and a control module, wherein the first determining module is used for determining first information of the position of the robot relative to a preset reference position of equipment around the robot;
the second determining module is used for determining second information of the teaching point of the equipment relative to a preset reference position of the equipment; the teaching point of the equipment is a reference point on a motion track of the robot for taking and placing the object to be conveyed on the equipment;
a third determining module, configured to determine, according to the determined first information and the determined second information, third information of a position of a teaching point of each device relative to the robot;
the fourth determining module is used for determining the motion track of the robot for taking and placing the object to be conveyed according to the determined third information;
the first determining module is specifically used for determining first information of the position of the robot relative to a preset reference position of equipment located at the periphery of the robot through multiple movements of the robot and a distance sensor arranged on a manipulator of the robot, and when the multiple movements are two movements, the first determining module is specifically used for determining the distance between each equipment and the current position of the robot through the distance sensor arranged on the manipulator of the robot during the first movement of the robot; in the second moving process of the robot, adjusting the telescopic distance of a manipulator provided with the distance sensor in real time according to the determined distance between each device and the current position of the robot; determining first information of a preset reference position of each device relative to the current position of the robot through a distance sensor arranged on a manipulator of the robot; wherein the moving speed of the second movement is less than the moving speed of the first movement.
6. The teaching apparatus according to claim 5, wherein the first determining module is further configured to retract the robot arm of the robot during the second movement of the robot and during the rotation of the robot, and rotate the body of the robot by a first preset angle; and extending out of the manipulator of the robot, and continuously rotating the body of the robot along the same direction according to a second preset angle.
7. The teaching apparatus according to claim 5, wherein the second determining means is configured to scan the two-dimensional code pasted to the device by a camera attached to a manipulator of the robot during the second movement of the robot, when the two-dimensional code containing second information on a teaching point of the device with respect to a preset reference position of the device is pasted to a preset position of the device; and acquiring second information of the teaching point of the equipment in the two-dimensional code relative to a preset reference position of the equipment.
8. The teaching apparatus according to claim 5, wherein after said third information of the position of the teaching point of each of said devices with respect to said robot is determined based on said first information and said second information determined when said distance sensor is mounted on a leftmost finger or a rightmost finger of a manipulator of said robot, said teaching apparatus further comprises: a correction module;
the correction module is used for determining the distance between the center position of one end, close to the equipment, of the manipulator provided with the distance sensor and the distance sensor;
correcting the third information according to the determined distance between the center position of the manipulator provided with the distance sensor, which is close to one end of the equipment, and the distance sensor;
the fourth determining module is specifically configured to generate a motion trajectory of the robot for taking and placing the object to be transported according to the corrected third information.
9. A robot, comprising: teaching apparatus according to any of claims 5-8, and a camera and a distance sensor;
the distance sensor is used for measuring the position of the robot and the distance between the robot and a preset reference position of equipment around the robot, and sending a measurement result to the teaching device so that the teaching device can determine first information of the position of the robot relative to the preset reference position of the equipment around the robot;
the camera is used for scanning an image containing second information of a teaching point of equipment relative to a preset reference position of the equipment and sending the image to the teaching device, so that the teaching device can determine the second information of the teaching point of the equipment relative to the preset reference position of the equipment.
10. The robot of claim 9, wherein the distance sensor and the camera are mounted on both sides of the same finger or on a side close to the ground of the same manipulator of the robot;
the end of the distance sensor is in the same line with the end of the finger of the manipulator.
11. A robot as claimed in claim 10, wherein the distance sensor and the camera are both mounted on the left-most finger of the manipulator on the left side of the robot; the preset reference position of the equipment is positioned at the rightmost side of the equipment; or the like, or, alternatively,
installing the distance sensor and the camera on the rightmost finger of a manipulator on the right side of the robot; the preset reference position of the device is located at the leftmost side of the device.
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| JP2004001153A (en) * | 2002-06-03 | 2004-01-08 | Matsushita Electric Ind Co Ltd | Article recognition system |
| CN1754667A (en) * | 2004-09-28 | 2006-04-05 | 株式会社三协精机制作所 | Programme,tape box,location tester for instructing robot, and robot woring method |
| CN103561905A (en) * | 2011-06-08 | 2014-02-05 | 村田机械株式会社 | Workpiece-processing system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102814816B (en) * | 2012-08-31 | 2015-02-25 | 深圳市华成工业控制有限公司 | Accurate original point finding method of manipulator |
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| JP2004001153A (en) * | 2002-06-03 | 2004-01-08 | Matsushita Electric Ind Co Ltd | Article recognition system |
| CN1754667A (en) * | 2004-09-28 | 2006-04-05 | 株式会社三协精机制作所 | Programme,tape box,location tester for instructing robot, and robot woring method |
| CN103561905A (en) * | 2011-06-08 | 2014-02-05 | 村田机械株式会社 | Workpiece-processing system |
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Address after: 230013 Southwest District of Hefei City, Anhui Province Patentee after: Hefei xinyihua Intelligent Machine Co.,Ltd. Address before: 230013 Southwest District of Hefei City, Anhui Province Patentee before: HEFEI SINEVA INTELLIGENT MACHINE Co.,Ltd. |