CN110405775A - A kind of robot teaching system and method based on augmented reality - Google Patents
A kind of robot teaching system and method based on augmented reality Download PDFInfo
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- CN110405775A CN110405775A CN201910374808.9A CN201910374808A CN110405775A CN 110405775 A CN110405775 A CN 110405775A CN 201910374808 A CN201910374808 A CN 201910374808A CN 110405775 A CN110405775 A CN 110405775A
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- 230000003190 augmentative effect Effects 0.000 title claims abstract description 34
- 238000000034 method Methods 0.000 title claims abstract description 22
- 238000012545 processing Methods 0.000 claims abstract description 17
- 238000009877 rendering Methods 0.000 claims abstract description 7
- 239000003550 marker Substances 0.000 claims description 32
- 238000004422 calculation algorithm Methods 0.000 claims description 7
- 230000002708 enhancing effect Effects 0.000 claims description 4
- 230000004927 fusion Effects 0.000 claims description 4
- 238000004364 calculation method Methods 0.000 claims description 2
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000003466 welding Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000011159 matrix material Substances 0.000 description 2
- 102000003712 Complement factor B Human genes 0.000 description 1
- 108090000056 Complement factor B Proteins 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000007654 immersion Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
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- 238000013519 translation Methods 0.000 description 1
- 239000011800 void material Substances 0.000 description 1
Classifications
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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
- B25J9/0081—Programme-controlled manipulators with master teach-in means
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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
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Abstract
The invention discloses a kind of robot teaching system and method based on augmented reality, when the three-dimensional pose of the teaching machine of capture is passed in model processing modules by motion capture module, it shows that software further calculates this pose data using the three-dimensional rendering in module, obtains the three-dimensional pose data of teaching operation model tail end；The three-dimensional pose data of teaching operation model end are passed in augmented reality display module, pose data are assigned to the virtual machine arm for being responsible for describing motion path track in module by the latter, it carries out path to show, prompts the completed trajectory planning situation of operator.The beneficial effects of the practice of the present invention is to simulate motion profile of the true mechanical arm in practical work process using virtual machine arm, and the robot path information for prompting operator to plan simplifies the process of robot teaching；And three-dimensional pose capture is carried out from multiple angles to teaching machine, improve capture precision.
Description
Technical field
The present invention relates to robot teaching fields, more specifically to a kind of robot based on augmented reality
Teaching system and method.
Background technique
Augmented reality, which refers to, to be accurately registered to dummy model among the scene of reality, to dummy object and true ring
Border carries out the technology of virtual reality fusion, and augmented reality can make operator while feel real world and virtual world.Machine
Device people's teaching, which refers to the process of, is programmed the job task of robot, and major function is the operator of planning robot
Formula and work flow are the important research contents of robot field.With industrial robot working environment diversification and complete
Increasingly sharpen at what task complicated, people is needed to design new teaching mode, to meet modern production requirement.Thus
The present invention proposes the method for carrying out robot teaching based on augmented reality.The teaching process of augmented reality teaching is true
It is carried out under real environment, may be implemented the teaching under dynamic environment, and have that modeling work amount is small, feeling of immersion is strong, teaching process
The advantages of true nature.
Summary of the invention
The technical problem to be solved in the present invention is that in view of the drawbacks of the prior art, providing a kind of based on augmented reality skill
The robot teaching system of art.
The technical solution adopted by the present invention to solve the technical problems is: constructing a kind of machine based on augmented reality
Device people's teaching system, including real machine arm and teaching machine, and for capturing and transmitting the dynamic of teaching machine motion trace data
Make capture module module；The robot teaching system further includes that sequentially connected model processing modules and augmented reality are shown
Module；Wherein:
The teaching machine is equipped with several markers and the teaching operation model set on teaching machine endpiece；Wherein, described
Marker, so that teaching machine is in the process of movement, can be captured for identifying teaching machine by motion capture module；
The model processing modules are connected to the motion capture module module, for receiving teaching machine motion profile number
According to, and further calculate out according to the data received the three-dimensional pose coordinate position of teaching machine；Wherein number after treatment
According to augmented reality display module can be further transferred to；
The augmented reality display module, for making virtual machine arm, and according to the data received, by the void
Quasi- mechanical arm and the true mechanical arm carry out virtual reality fusion and pass through the virtual machine in the augmented reality display module
Tool arm shows the motion profile of teaching machine.
Further, several described markers constitute a marker rigid body, and the motion capture module is working
When, the three-dimensional coordinate position of the marker rigid body mass center is captured, further calculates to obtain according to the data captured
The three-dimensional pose coordinate position of teaching machine.
Further, three-dimensional rendering display system software is used in model processing modules, and motion capture module is transmitted
Data handled, and will treated that data are transferred in augmented reality display module；Wherein, pass through motion capture mould
The three-dimensional pose coordinate points for the marker rigid body mass center that block transmits, calculate the three-dimensional pose coordinate points of teaching machine, specific to calculate
Formula are as follows:
Wherein, tx、tyAnd tzIt is the three-dimensional pose coordinate points of marker rigid body mass center, m respectivelyx、myAnd mzIt is teaching respectively
The three-dimensional pose coordinate points of operation model tail end, k are the distance between teaching operation model tail end and marker rigid body mass center,
X, y and z is the included angle between marker rigid body mass center and coordinate system respectively.
Further, enhancing display module includes the display terminal with camera；The display terminal, for showing
The motion profile of religion device is highlighted.
Further, in display terminal, by OpenGL tool making virtual machine arm, and SIFT algorithm pair is used
The true mechanical arm image is positioned and is identified, the virtual machine arm is navigated to the side of the true mechanical arm.
Further, in display terminal, according to the teaching machine three-dimensional pose coordinate position data received, driving is empty
Quasi- mechanical arm follows the teaching operation model of teaching machine end to be moved, so that operator is from display terminal, more intuitively
See the real work situation of true mechanical arm.
It further, need to be to the seat of the camera of display terminal before the motion profile to teaching machine is highlighted
Cursor position is demarcated；And the three-dimensional pose coordinate position of calibrated camera coordinate position and teaching machine is subjected to unification.
A kind of robot teaching method based on augmented reality provided in this embodiment, comprising the following steps:
S1, teaching machine simulation teaching operation work, motion capture module start to catch the motion profile of teaching machine
It catches；
S2, motion capture module capture the marker on teaching machine, the motion profile of distinguishing mark object rigid body；
The three-dimensional pose coordinate of the marker rigid body mass center recognized is passed to model treatment mould by S3, motion capture module
In block, by three-dimensional rendering display system software in model processing modules, the three-dimensional pose of teaching operation model endpoint is calculated
Coordinate, and incoming augmented reality display module；
S4, coordinate calibration is carried out to the camera of augmented reality display module, the plate electricity of camera calibration will have been carried out
Brain carries out unification with the three-dimensional pose coordinate of teaching operation model；
S5, true mechanical arm image is identified and positioned using SIFT algorithm；
S6, in augmented reality display module, using OpenGL tool making virtual machine arm, obtained according to step S5
Location information, the virtual machine arm is navigated to the side of the true mechanical arm；Driving virtual machine arm follows teaching
The teaching operation model of device end is moved, and current operator can observe the reality of true mechanical arm from display terminal
Border working condition.
In a kind of robot teaching system based on augmented reality of the present invention, pass through motion capture mould
Block module obtains teaching machine motion profile, and the three-dimensional pose of teaching machine track is further calculated, aobvious by three-dimensional rendering
Show that system software generates the holographic route being highlighted, shown in display terminal, and then operator is prompted to plan
Robot motion track.
Implement a kind of robot teaching system and method based on augmented reality of the invention, has beneficial below
Effect:
1, virtual machine arm locator is identified and positioned using SIFT algorithm, it then will be virtual by OpenGL
Mechanical arm and motion profile are added under camera image, realize that augmented reality is shown, the machine for prompting operator to plan
Device people's routing information simplifies the process of robot teaching；
2, three-dimensional pose capture is carried out from multiple angles to teaching machine by using motion capture module, improves capture
Precision.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples, in attached drawing:
Fig. 1 is the structure principle chart of robot teaching system；
Fig. 2 is the method flow diagram for realizing robot teaching；
Fig. 3 is operation object structure chart；
Fig. 4 is teaching machine structure chart；
Fig. 5 is motion capture module structure chart.
Specific embodiment
For a clearer understanding of the technical characteristics, objects and effects of the present invention, now control attached drawing is described in detail
A specific embodiment of the invention.
In the present embodiment, by taking laser welding as an example, a kind of robot teaching system disclosed by the invention is carried out specifically
It is bright.
Referring to FIG. 1, it is the structure principle chart of robot teaching system, it is disclosed by the invention a kind of existing based on enhancing
The robot teaching system of real technology, including teaching machine L1, motion capture module L2, model processing modules L3, augmented reality are aobvious
Show module L4 and real machine arm L5, in which:
In the present embodiment, the teaching machine is equipped with eight markers, wherein eight markers constitute a marker
Rigid body；
It is equipped with teaching operation device in the tail end of teaching machine, due to during carrying out laser welding, in true machinery
The end of arm has seized a laser pen on both sides by the arms, and teaching operation device described in the present embodiment uses laser pen model, by its replacement
Mechanical arm laser pen, and then simulate true working environment；
To avoid during teaching, the teaching machine is soldered object and blocks, and can not be captured by motion capture module
The drawbacks of, in the present embodiment, between each marker and teaching machine, a marker extension rod is fixed, marker is carried out empty
Between extend；
In the present embodiment, the marker is set as reflective sphere, and the sphere is for identifying teaching machine, so that teaching
Device in the process of movement, can be captured by motion capture module.
The motion capture module system L2 is for capturing and transmitting teaching machine motion trace data；In the present embodiment, benefit
With six motion capture cameras, capture real-time and without dead angle is carried out to the three-dimensional coordinate position of marker rigid body mass center；Its
In, the resolution ratio of camera is equal are as follows: and 1280 × 1024, largest frames speed: 240FPS.
The model processing modules L3, for receiving teaching machine motion trace data, and according to the data received into one
Step calculates the three-dimensional pose coordinate position of teaching machine；Wherein, data after treatment can be further transferred to augmented reality
Display module L4；In the present embodiment, consider to utilize three-dimensional rendering display system software in a computer, to motion capture module
The data transmitted are handled, wherein pass through the three-dimensional pose coordinate for the marker rigid body mass center that motion capture module transmits
Point calculates the three-dimensional pose coordinate points of laser pen model endpoint, specific calculation formula are as follows:
Wherein, tx、tyAnd tzIt is the three-dimensional pose coordinate points of marker rigid body mass center, m respectivelyx、myAnd mzIt is laser respectively
The three-dimensional pose coordinate points of model tail end, k are the distance between laser pen model tail end and marker rigid body mass center, x, y and
Z is the included angle between marker rigid body mass center and coordinate system respectively.；
In the present embodiment, the three-dimensional pose coordinate points m of laser pen model tail end is recorded according to model processing modulesx、my
And mzAnd included angle x, y and z between marker rigid body mass center and coordinate system, pass through offline mode using the group information
Above-mentioned executable code, is transferred to by the executable code for generating the operation of entity industrial robot by wirelessly or non-wirelessly network
Among the controller of entity industrial robot, the direction of motion of true mechanical arm is further controlled；Wherein, by model treatment mould
The content of block record is recorded among register.
The augmented reality display module L5, shows for the motion profile to teaching machine.Consider in the present embodiment
In tablet computer, the motion profile of teaching machine is highlighted；Wherein, in tablet computer, OPENGL software is utilized
Make virtual machine arm, according to the teaching machine three-dimensional pose data received, by virtual machine arm and the true mechanical arm into
Row virtual reality fusion, so that operator sees the practical work of true mechanical arm from display terminal, more intuitively from tablet computer
Make situation；
Before the motion profile to teaching machine carries out high display, the coordinate position of the camera of display terminal need to be carried out
Calibration；And the three-dimensional pose coordinate position of calibrated camera coordinate position and teaching machine is subjected to unification.
Referring to FIG. 2, it is the method flow diagram for realizing robot teaching, wherein specifically includes the following steps:
S1, teaching machine simulated laser pen work, and 6 cameras being equipped in motion capture module start to teaching machine
Motion profile is captured；
S2, motion capture module capture the reflective ball on teaching machine, the motion profile of distinguishing mark object rigid body；
The three-dimensional pose coordinate of the marker rigid body mass center recognized is passed in computer by S3, motion capture module, In
By three-dimensional rendering display system software in computer, the three-dimensional pose coordinate of laser pen model endpoint, and incoming plate are calculated
Computer；
S4, coordinate calibration is carried out to the camera of tablet computer, camera intrinsic parameter A and distortion factor B is obtained, according to parameter A
The spin matrix and translation matrix of camera are calculated with B, and are further carried out with OpenGL come renders three-dimensional object；By into
It went the tablet computer of camera calibration, and carried out unification with the three-dimensional pose coordinate of laser pen model；Wherein, the effect of coordinate unification
Fruit are as follows: the motion profile of virtual machine arm and teaching machine is added under camera image, realizes that augmented reality is shown；
S5, it is identified and positioned using image of the SIFT algorithm to true mechanical arm；Wherein, using SIFT algorithm into
Row identification, obtains transformation matrices according to the former target and frame images match relationship that identify, to show three-dimension object, specifically
It is drawn to use OpenGL；
S6, in tablet computer, using OpenGL tool making virtual machine arm, believed according to the positioning that step S5 is obtained
The virtual machine arm, is navigated to the side of the true mechanical arm by breath；Driving virtual machine arm follows teaching machine end
Laser pen model is moved, and current operator from display terminal, can observe the real work feelings of true mechanical arm
Condition.
Referring to FIG. 3, it is operation object structure chart, specifically in implementation process, the operation object is operation object
Refer to various reality device to be welded, operation object be placed on station, in the present embodiment, the station of use it is a length of
200cm, width 100cm and a height of 100cm, further carry out laser welding by teaching machine；Wherein, station is existing
Welding platform in reality needs to read the actual size of welding platform, and then according to the size in mould before carrying out teaching
The limitation of footprint is carried out in type processing module to virtual welding laser pen, it is virtual sharp in model processing modules to prevent
The phenomenon that light pen crosses the border；The device to be welded need to apply its reflector segment in carrying out specific implementation process
It is black, or the processing such as block, preventing, which influences motion capture module, carries out trajectory coordinates acquisition to laser pen model.
When the present invention carries out scene guidance layout for off-the-shelf item, wherein operation object and device to be welded are T-type
Workpiece to be processed.
Referring to FIG. 4, it is teaching machine structure chart, wherein the teaching machine model is made of 5 parts；Wherein, 4.1
For master switch；4.2 be teaching operating switch；4.3 be marker extension rod；4.4 be marker；4.5 be laser pen model.For
Guarantee teaching machine can be captured from all angles at any time by motion capture module, and the present invention will add in the middle part of teaching machine
Add marker, and extension processing has been carried out to marker, with still can taking the photograph by motion capture module in complex industrial environment
As head takes.
Referring to FIG. 5, its be motion capture module structure chart, wherein motion capture module build space be 5.5 ×
3m, capture space are 5 × 3m, can capture five rigid bodies simultaneously.
The embodiment of the present invention is described with above attached drawing, but the invention is not limited to above-mentioned tools
Body embodiment, the above mentioned embodiment is only schematical, rather than restrictive, the ordinary skill of this field
Personnel under the inspiration of the present invention, without breaking away from the scope protected by the purposes and claims of the present invention, can also make
Many forms, all of these belong to the protection of the present invention.
Claims (7)
1. a kind of robot teaching system based on augmented reality, including real machine arm and teaching machine, and for catching
Catch and transmit the motion capture module of teaching machine motion trace data；It is characterized in that, the robot teaching system further includes
Sequentially connected model processing modules and augmented reality display module；Wherein:
The teaching machine is equipped with several markers and the teaching operation model set on teaching machine tail end；Wherein, the mark
Object, so that teaching machine is in the process of movement, can be captured for identifying teaching machine by the motion capture module；
The model processing modules are connected to the motion capture module module, for receiving teaching machine motion trace data, and
The three-dimensional pose coordinate position of teaching machine is further calculated out according to the data received；Wherein, data meeting after treatment
It is further transferred to augmented reality display module；
The augmented reality display module, for making virtual machine arm, and according to the data received, by the virtual machine
Arm and the true mechanical arm carry out virtual reality fusion, are shown by the virtual machine arm to the motion profile of teaching machine.
2. robot teaching system according to claim 1, which is characterized in that several described markers constitute a mark
Will object rigid body, the motion capture module at work, capture the three-dimensional coordinate point of the marker rigid body mass center, root
According to the data captured, the three-dimensional pose coordinate points for obtaining teaching machine are further calculated.
3. robot teaching system according to claim 2, which is characterized in that using three-dimensional wash with watercolours in model processing modules
Display system software is contaminated, the data that motion capture module transmits are handled, and data are transferred to enhancing now by treated
In real display module；Wherein, the three-dimensional pose coordinate points of the marker rigid body mass center transmitted by motion capture module, calculating are shown
Teach the three-dimensional pose coordinate points of device, specific calculation formula are as follows:
Wherein, tx、tyAnd tzIt is the three-dimensional pose coordinate points of marker rigid body mass center, m respectivelyx、myAnd mzIt is teaching operation respectively
The three-dimensional pose coordinate points of model tail end, k are the distance between teaching operation model tail end and marker rigid body mass center, x, y and z
It is the included angle between marker rigid body mass center and coordinate system respectively.
4. robot teaching system according to claim 1, which is characterized in that enhancing display module includes having camera
Display terminal；In display terminal, on the one hand pass through OpenGL tool making virtual machine arm；On the other hand, whole in display
True mechanical arm image is positioned and identified by SIFT algorithm in end, the virtual machine arm is navigated to described true
The side of mechanical arm.
5. robot teaching system according to claim 4, which is characterized in that in display terminal, according to what is received
Teaching machine three-dimensional pose coordinate points, driving virtual machine arm follow the teaching operation model of teaching machine tail end to be moved, so that
Operator more intuitively sees the real work situation of true mechanical arm from display terminal.
6. robot teaching system according to claim 4, which is characterized in that shown in the motion profile to teaching machine
Before showing, the coordinate position of the camera of display terminal need to be demarcated；And by calibrated camera coordinate points and teaching machine
Three-dimensional pose coordinate points carry out unification.
7. a kind of robot teaching method based on augmented reality, which comprises the following steps:
S1, the work of teaching machine simulated laser pen, motion capture module start to capture the motion profile of teaching machine；
S2, motion capture module capture the marker on teaching machine, the motion profile of distinguishing mark object rigid body；
The three-dimensional pose coordinate of the marker rigid body mass center recognized is passed in model processing modules by S3, motion capture module,
By three-dimensional rendering display system software in model processing modules, the three-dimensional pose coordinate of teaching operation model endpoint is calculated,
And incoming augmented reality display module；
S4, coordinate calibration is carried out to the camera of display terminal, the display terminal of camera calibration will have been carried out, with teaching operation
The three-dimensional pose coordinate points of model carry out unification；
S5, true mechanical arm image is identified and positioned using SIFT algorithm；
S6, in augmented reality display module, using OpenGL tool making virtual machine arm, the positioning obtained according to step S5
The virtual machine arm is navigated to the side of the true mechanical arm by information；Driving virtual machine arm follows teaching machine end
Teaching operation model moved, current operator can observe the real work of true mechanical arm from display terminal
Situation.
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| CN111531551A (en) * | 2020-04-22 | 2020-08-14 | 实时侠智能控制技术有限公司 | Safety demonstrator using universal tablet computer and demonstration method |
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| CN114067658A (en) * | 2021-11-30 | 2022-02-18 | 深圳市越疆科技有限公司 | Coffee flower teaching system |
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| CN115530620A (en) * | 2022-10-25 | 2022-12-30 | 深圳市越疆科技有限公司 | Coffee garland track generation method, coffee making method, related equipment and system |
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| WO2021189223A1 (en) * | 2020-03-24 | 2021-09-30 | 青岛理工大学 | Registration system and method for robot augmented reality teaching based on identification card movement |
| CN111531551A (en) * | 2020-04-22 | 2020-08-14 | 实时侠智能控制技术有限公司 | Safety demonstrator using universal tablet computer and demonstration method |
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| CN113034668A (en) * | 2021-03-01 | 2021-06-25 | 中科数据(青岛)科技信息有限公司 | AR-assisted mechanical simulation operation method and system |
| CN114067658A (en) * | 2021-11-30 | 2022-02-18 | 深圳市越疆科技有限公司 | Coffee flower teaching system |
| CN114067658B (en) * | 2021-11-30 | 2023-08-04 | 深圳市越疆科技有限公司 | Coffee draws colored teaching system |
| CN114161479A (en) * | 2021-12-24 | 2022-03-11 | 上海机器人产业技术研究院有限公司 | Robot dragging demonstration performance test system and test method |
| CN114161479B (en) * | 2021-12-24 | 2023-10-20 | 上海机器人产业技术研究院有限公司 | Robot dragging teaching performance test system and test method |
| CN115530620A (en) * | 2022-10-25 | 2022-12-30 | 深圳市越疆科技有限公司 | Coffee garland track generation method, coffee making method, related equipment and system |
| CN115530620B (en) * | 2022-10-25 | 2023-08-18 | 深圳市越疆科技股份有限公司 | Coffee-drawing track generation method, coffee-making method, related equipment and system |
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