CN115741714A - Teaching robot control system and method based on image guidance - Google Patents
Teaching robot control system and method based on image guidance Download PDFInfo
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Abstract
The invention provides a teaching robot control system and a control method based on image guidance, and relates to the field of robots and human-computer interaction, wherein in the system, an image acquisition device is installed at the tail end of a robot, a teaching rod is carried with a marker, and shielding is not easy to occur in the image acquisition process; the image acquisition device is used for acquiring image information with the markers according to a preset sampling frequency and sending the image information to the upper computer; the upper computer is used for determining the position of a space pose information and a target teaching point of the teaching rod under an operation space coordinate system according to the image information, simulating to obtain a motion trail of the tail end of the robot according to the space pose information and a robot kinematics model which is stored in advance, and sending the motion trail information to the robot controller; the robot controller is used for acquiring the teaching point position where the robot is located at present, and controlling the robot to move to the target teaching point position according to the motion track, so that the real-time performance, convenience and accuracy of robot path control can be improved.
Description
Technical Field
The invention belongs to the field of robots and human-computer interaction, and particularly relates to a teaching robot control system and a teaching robot control method based on image guidance.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art that is already known to a person of ordinary skill in the art.
Robot teaching is a teaching method in which a robot performs a series of motions according to a motion trajectory set by an operator. The teaching of teaching box and drag teaching are still given first place to robot teaching technique at present, and wherein the teaching of teaching box is that the robot accomplishes relevant teaching action through predetermined procedure, has certain control accuracy, but needs operating personnel to carry out a large amount of professional training in earlier stage and practices, and operating procedure is complicated, and teaching inefficiency, teaching system flexibility is poor, the robot can not adapt to the problem that the task changed fast.
The dragging teaching is that an operator drags the robot to finish a series of actions according to a certain motion track, then the robot finishes track reproduction, and compared with teaching of a teaching box, the dragging teaching does not need an operator to master corresponding programming knowledge, and is simple and quick to operate. However, since the robot arm has a complicated structure, it is difficult for a tester to move the robot arm to a predetermined position and to control steering, and the positioning accuracy is poor, so that it is difficult to realize accurate path control.
Disclosure of Invention
In order to solve the above problems, the present invention provides a teaching robot control system and control method based on image guidance, which perform simulation processing by identifying known markers to obtain a more precise robot end motion trajectory, thereby facilitating improvement of convenience and accuracy of robot path control.
In order to achieve the above object, the present invention mainly includes the following aspects:
in a first aspect, the embodiment of the invention provides a teaching robot control system based on image guidance, which comprises a robot and a teaching rod, wherein the robot comprises a robot controller, an image acquisition device is installed at the tail end of the robot, and a marker is carried on the teaching rod;
the image acquisition device is in communication connection with the upper computer and is used for acquiring image information with the markers according to a preset sampling frequency and sending the image information to the upper computer;
the upper computer is used for acquiring the image information in real time, determining the space pose information and the target teaching point position of the teaching rod under an operation space coordinate system according to the image information, simulating to obtain a motion track of the tail end of the robot according to the space pose information and a robot kinematics model stored in advance, and sending the motion track information to the robot controller;
the robot controller is used for acquiring the current teaching point position of the robot and controlling the robot to move to the target teaching point position according to the motion track.
In one possible embodiment, the host computer determines the spatial pose information by:
extracting the characteristics of the marker in the image information, and determining the distance information between the marker and the image acquisition device according to the characteristics;
determining the position information of the teaching rod under a camera coordinate system according to the distance information between the marker and the image acquisition device and the first mapping relation of the teaching rod between the teaching rod coordinate system and the camera coordinate system;
and determining the spatial pose information of the teaching rod under the operating space coordinate system according to the position information of the teaching rod under the camera coordinate system and a second mapping relation between the camera coordinate system and the operating space coordinate system.
In a possible implementation manner, the features comprise shape features and size features, and the upper computer is used for identifying the markers in the image information through the shape features and determining the distance information between the markers and the image acquisition device through the size features of the markers.
In a possible implementation manner, the upper computer is specifically configured to perform pose filtering optimization processing on the spatial pose information and then perform fitting processing on the motion trajectory of the teaching rod;
and simulating to obtain the motion trail of the tail end of the robot according to the fitted motion trail of the teaching rod and a prestored robot kinematics model.
In a possible implementation manner, the upper computer is further configured to respond to an adjustment operation of a user on the motion trajectory of the teaching rod, acquire a relevant adjustment parameter, and adjust the motion trajectory of the teaching rod according to the relevant adjustment parameter.
In one possible embodiment, the marker includes a first graphic and a second graphic, the first graphic and the second graphic being the same shape and different sizes.
An embodiment of the present invention further provides a teaching robot control method based on image guidance, and a teaching robot control system based on image guidance according to the first aspect described above includes:
controlling the robot to move to a preset initial position;
collecting image information with a marker according to a preset sampling frequency;
determining the position of a space pose information and a target teaching point of a teaching rod under an operation space coordinate system according to the image information, simulating to obtain a motion trail of the tail end of the robot according to the space pose information and a robot kinematics model stored in advance, and sending the motion trail information to a robot controller;
acquiring a teaching point position where the robot is currently located, and controlling the robot to move to the target teaching point position according to the motion track;
and finishing the teaching action until the teaching rod stops moving.
In one possible embodiment, the spatial pose information is determined by:
extracting the characteristics of the marker in the image information, and determining the distance information between the marker and the image acquisition device according to the characteristics;
determining the position information of the teaching rod under a camera coordinate system according to the distance information between the marker and the image acquisition device and the first mapping relation of the teaching rod between the teaching rod coordinate system and the camera coordinate system;
and determining the spatial pose information of the teaching rod under the operating space coordinate system according to the position information of the teaching rod under the camera coordinate system and a second mapping relation between the camera coordinate system and the operating space coordinate system.
In a possible implementation manner, according to the spatial pose information and a robot kinematics model stored in advance, a motion trajectory of a robot end is obtained through simulation, and the method includes:
after pose filtering optimization processing is carried out on the space pose information, fitting is carried out on each teaching point, and a continuous teaching rod motion track is obtained;
and simulating to obtain the motion trail of the tail end of the robot according to the motion trail of the teaching rod and a robot kinematics model stored in advance.
In one possible embodiment, the method further comprises: and responding to the adjustment operation of the teaching rod motion trail by the user, acquiring related adjustment parameters, and adjusting the teaching rod motion trail according to the related adjustment parameters.
The above one or more technical solutions have the following beneficial effects:
the invention provides a teaching robot control system based on image guidance, wherein an image acquisition device and a marker are used in pairs, the image acquisition device is arranged at the tail end of a robot, and a teaching rod is provided with the marker, so that the shielding is not easy to occur in the image acquisition process, and the use requirements of different working environments are met; in addition, the upper computer identifies the known marker to obtain the space pose information of the teaching rod under the operation space coordinate system, and combines the robot kinematics model to simulate to obtain the motion trail of the tail end of the robot, so that the obtained motion trail of the tail end of the robot is more accurate, and the convenience and the accuracy of robot path control can be improved;
in addition, the motion trail of the teaching rod can be adjusted by a user according to actual needs, different teaching requirements can be met, and the adaptability of the robot to the working environment is enhanced. In addition, the robot tracks the teaching rod position and posture point to point in real time, the time of the teaching process is optimized, and therefore teaching efficiency can be improved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the invention and together with the description serve to explain the invention and not to limit the invention.
Fig. 1 is a schematic structural diagram of a teaching robot control system based on image guidance according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of the teaching process of real-time location tracking provided by the second embodiment of the present invention;
fig. 3 is a flowchart illustrating a teaching robot control method based on image guidance according to a second embodiment of the present invention.
Detailed Description
The invention is further described with reference to the following figures and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the invention. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular forms "a", "an", and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
Example one
As shown in fig. 1, an embodiment of the present invention provides a teaching robot control system based on image guidance, including a robot 1 and a teaching rod 2, where the robot 1 includes a robot controller 3, and is characterized in that an image acquisition device 4 is installed at the end of the robot 1, the teaching rod 2 carries a marker 5, and the image acquisition device 4 is in communication connection with an upper computer 6, and is configured to acquire image information with the marker according to a preset sampling frequency and send the image information to the upper computer;
the upper computer 6 is used for acquiring the image information in real time, determining the position of a space pose information and a target teaching point of the teaching rod under an operation space coordinate system according to the image information, simulating to obtain a motion trail of the tail end of the robot according to the space pose information and a robot kinematics model stored in advance, and sending the motion trail information to the robot controller 3;
and the robot controller 3 is used for acquiring a teaching point position where the robot 1 is located at present, and controlling the robot 1 to move to the target teaching point position according to the motion track.
In the teaching process, the marker and the image acquisition device are used in pairs, wherein one is arranged at the tail end of the robot, and the other is arranged on the teaching rod and used for determining the corresponding relation between the coordinate system of the teaching rod and the coordinate system of the camera. It should be noted that the marker may be attached to the end of the robot, and the image acquisition device may be attached to the teaching rod. The image acquisition device may specifically employ a tracking camera, a monocular camera, a binocular camera, a depth camera, and other imaging devices.
For convenience of description, in the present embodiment, the marker 5 is mounted on the teaching rod 2, the image capturing device 4 is mounted at the end of the robot, and the image capturing device 4 specifically adopts a tracking camera. The tracking camera is in communication connection with the upper computer 6 and is used for acquiring image information of the teaching rod 2 with a marker in the teaching process and transmitting the acquired image information to the upper computer 6, the upper computer 6 identifies and positions the acquired real-time image to acquire real-time pose information of the teaching rod 2 in a camera coordinate system, corresponding coordinate system conversion is carried out on the acquired pose information of the teaching rod 2 in the camera coordinate system to obtain real-time pose information of the teaching rod 2 in an operation space coordinate system, and the obtained pose information of the teaching rod in the operation space coordinate system is stored.
The upper computer 6 is connected with the robot controller 3 through a real-time network, when the robot 1 is required to execute teaching actions, the upper computer 6 transmits the motion trail of the tail end of the robot to the robot controller 3, and the robot controller 3 controls the robot 1 to track the pose of the teaching rod 2 in real time.
As an optional implementation manner, the upper computer 6 determines the spatial pose information by using the following method: extracting the characteristics of the marker in the image information, and determining the distance information between the marker and the image acquisition device according to the characteristics; determining the position information of the teaching rod under a camera coordinate system according to the distance information between the marker and the image acquisition device and the first mapping relation of the teaching rod between the teaching rod coordinate system and the camera coordinate system; and determining the spatial pose information of the teaching rod under the operating space coordinate system according to the position information of the teaching rod under the camera coordinate system and a second mapping relation between the camera coordinate system and the operating space coordinate system.
Therefore, the known marker is identified and subjected to coordinate transformation to obtain the space pose information of the teaching rod under the operation space coordinate system, and the motion trail of the tail end of the robot is obtained by combining robot kinematics model simulation, so that the obtained motion trail of the tail end of the robot is more accurate.
As an optional implementation manner, the features include shape features and size features, and the upper computer is configured to identify the markers in the image information through the shape features and determine distance information between the markers and the image acquisition device through the size features of the markers.
Optionally, the upper computer is specifically configured to perform pose filtering optimization processing on the spatial pose information and then perform fitting processing on the motion trajectory 8 of the teaching rod; and according to the fitted motion trail 8 of the teaching rod and a robot kinematics model stored in advance, simulating to obtain a motion trail of the tail end of the robot so as to ensure the stability of the robot when tracking the motion of the teaching rod.
The upper computer is also used for responding to the adjustment operation of the user on the motion trail of the teaching rod, obtaining related adjustment parameters and adjusting the motion trail of the teaching rod according to the related adjustment parameters. Here, the relevant adjustment parameters include the position coordinates of the teaching point newly added or adjusted by the user, and the teaching rod motion trail 8 is re-determined according to the position coordinates. Therefore, if the teaching action needs to be locally modified, the position and the attitude of the teaching point needing to be modified can be adjusted by the robot controller.
Optionally, the marker includes a first graphic and a second graphic, and the first graphic and the second graphic have the same shape and different sizes.
In the specific implementation, the color of the marker is red of one of three primary colors in a computer vision processing matrix, the shape of the red is two similar figures with one larger figure and one smaller figure, the tracking camera detects and identifies the marker through image feature matching, and distance information between the marker and the tracking camera is estimated through the size of the marker in an image. Thus, the marker can be detected quickly and accurately, and the distance information between the marker and the tracking camera can be estimated more accurately.
Wherein, at the teaching in-process, can adjust image acquisition device's sampling frequency, through shortening the time interval that image acquisition device gathered image information, through gathering more teaching pole position, can optimize the orbit between the robot real-time tracking position, further improve real-time tracking's accuracy.
Example two
Based on the teaching robot control system based on image guidance, the embodiment of the invention also provides a teaching robot control method based on image guidance, which specifically comprises the following steps:
controlling the robot to move to a preset initial position;
collecting image information with a marker according to a preset sampling frequency;
determining the position of a space pose information and a target teaching point of a teaching rod under an operation space coordinate system according to the image information, simulating to obtain a motion trail of the tail end of the robot according to the space pose information and a robot kinematics model stored in advance, and sending the motion trail information to a robot controller;
acquiring a teaching point position where the robot is currently located, and controlling the robot to move to the target teaching point position according to the motion track;
and finishing the teaching action until the teaching rod stops moving.
In one possible embodiment, the spatial pose information is determined in the following manner:
extracting the characteristics of the marker in the image information, and determining the distance information between the marker and the image acquisition device according to the characteristics;
determining the position information of the teaching rod under a camera coordinate system according to the distance information between the marker and the image acquisition device and the first mapping relation of the teaching rod between the teaching rod coordinate system and the camera coordinate system;
and determining the spatial pose information of the teaching rod under the operating space coordinate system according to the position information of the teaching rod under the camera coordinate system and a second mapping relation between the camera coordinate system and the operating space coordinate system.
In a possible implementation manner, according to the spatial pose information and a robot kinematics model stored in advance, a motion trajectory of a robot end is obtained through simulation, and the method includes:
after pose filtering optimization processing is carried out on the space pose information, fitting is carried out on each teaching point, and a continuous teaching rod motion track is obtained;
and simulating to obtain the motion trail of the tail end of the robot according to the motion trail of the teaching rod and a robot kinematics model stored in advance.
In one possible implementation, the method further includes: and responding to the adjustment operation of the teaching rod motion trail by the user, acquiring related adjustment parameters, and adjusting the teaching rod motion trail according to the related adjustment parameters.
In specific implementation, the robot controller 3 controls the robot 1 to move to a corresponding initial position, completes initial preparation, and starts real-time tracking. The tracking process is as shown in fig. 2, so that the teaching rod 2 starts to move according to a certain movement path, the tracking camera collects image information of the teaching rod reaching the position 1 and transmits the image information to the upper computer, the position information is sent to the robot controller through a real-time network after being processed by the upper computer, and the robot controller controls the robot to track and move to the position 1, so that the real-time tracking of the first position of the teaching rod is completed; meanwhile, the teaching rod continues to move to the position 2, the tracking camera continues to acquire real-time image information of the teaching rod at the position and transmits the real-time image information to the upper computer, the upper computer sends the processed pose information of the position 2 to the robot controller, and the robot controller continues to control the robot to move to the position 2, so that real-time tracking of the second pose of the teaching rod is achieved.
And repeating the steps, as shown in fig. 3, sequentially acquiring image information of the teaching rod in the whole motion process according to a time interval set by the upper computer, sequentially transmitting the processed pose information to the robot controller 3 by the upper computer, and controlling the robot 1 to perform point-to-point sequential real-time tracking on the pose of the teaching rod by the robot controller 3 until the whole teaching action is completed, thereby finally forming a robot motion track 9.
Therefore, the robot is controlled to track the position and the posture of the teaching rod in a point-to-point and real-time mode, the time of the teaching process is optimized, and the teaching efficiency can be improved.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A teaching robot control system based on image guidance comprises a robot and a teaching rod, wherein the robot comprises a robot controller, and is characterized in that an image acquisition device is installed at the tail end of the robot, and a marker is carried on the teaching rod;
the image acquisition device is in communication connection with the upper computer and is used for acquiring image information with the markers according to a preset sampling frequency and sending the image information to the upper computer;
the upper computer is used for acquiring the image information in real time, determining the space pose information and the target teaching point position of the teaching rod under an operation space coordinate system according to the image information, simulating to obtain a motion track of the tail end of the robot according to the space pose information and a robot kinematics model stored in advance, and sending the motion track information to the robot controller;
the robot controller is used for acquiring the teaching point position where the robot is located at present and controlling the robot to move to the target teaching point position according to the motion track.
2. The image-guidance-based teaching robot control system according to claim 1, wherein the upper computer determines the spatial pose information by:
extracting the characteristics of the marker in the image information, and determining the distance information between the marker and the image acquisition device according to the characteristics;
determining the position information of the teaching rod under a camera coordinate system according to the distance information between the marker and the image acquisition device and the first mapping relation of the teaching rod between the teaching rod coordinate system and the camera coordinate system;
and determining the spatial pose information of the teaching rod under the operating space coordinate system according to the position information of the teaching rod under the camera coordinate system and a second mapping relation between the camera coordinate system and the operating space coordinate system.
3. The image-guidance-based teaching robot control system according to claim 2, wherein the features include shape features and size features, and the upper computer is configured to identify the markers in the image information by the shape features and determine distance information between the markers and the image capturing device by the size features of the markers.
4. The teaching robot control system based on image guidance according to claim 1, wherein the upper computer is specifically configured to perform pose filtering optimization processing on the spatial pose information and then perform fitting processing on a motion trajectory of the teaching rod;
and simulating to obtain the motion trail of the tail end of the robot according to the fitted motion trail of the teaching rod and a robot kinematics model stored in advance.
5. The image guidance-based teaching robot control system according to claim 4, wherein the upper computer is further configured to obtain relevant adjustment parameters in response to an adjustment operation of a teaching rod movement track by a user, and adjust the teaching rod movement track according to the relevant adjustment parameters.
6. The image-guidance-based teaching robot control system according to claim 1, wherein the marker includes a first figure and a second figure, the first figure and the second figure being identical in shape and different in size.
7. An image guidance-based teaching robot control method based on the image guidance-based teaching robot control system according to any one of claims 1 to 6, characterized by comprising:
controlling the robot to move to a preset initial position;
collecting image information with a marker according to a preset sampling frequency;
determining the position of a space pose information and a target teaching point of the teaching rod under an operation space coordinate system according to the image information, simulating to obtain a motion track of the tail end of the robot according to the space pose information and a robot kinematic model stored in advance, and sending the motion track information to a robot controller;
acquiring a teaching point position where the robot is currently located, and controlling the robot to move to the target teaching point position according to the motion track;
and finishing the teaching action until the teaching rod stops moving.
8. The image-guidance-based teaching robot control method according to claim 7, wherein the spatial pose information is determined in the following manner:
extracting the characteristics of the marker in the image information, and determining the distance information between the marker and the image acquisition device according to the characteristics;
determining the position information of the teaching rod under a camera coordinate system according to the distance information between the marker and the image acquisition device and the first mapping relation of the teaching rod between the teaching rod coordinate system and the camera coordinate system;
and determining the spatial pose information of the teaching rod under the operating space coordinate system according to the position information of the teaching rod under the camera coordinate system and a second mapping relation between the camera coordinate system and the operating space coordinate system.
9. The image guidance-based teaching robot control method according to claim 7, wherein simulating a motion trajectory of a robot tip according to the spatial pose information and a robot kinematics model stored in advance comprises:
after pose filtering optimization processing is carried out on the space pose information, fitting is carried out on each teaching point, and a continuous teaching rod motion track is obtained;
and simulating to obtain the motion trail of the tail end of the robot according to the motion trail of the teaching rod and a robot kinematics model stored in advance.
10. The image-guidance-based teaching robot control method according to claim 9, further comprising: and responding to the adjustment operation of the teaching rod motion trail by the user, acquiring related adjustment parameters, and adjusting the teaching rod motion trail according to the related adjustment parameters.
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