CN206326605U - A kind of intelligent teaching system based on machine vision - Google Patents
A kind of intelligent teaching system based on machine vision Download PDFInfo
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- CN206326605U CN206326605U CN201621391283.8U CN201621391283U CN206326605U CN 206326605 U CN206326605 U CN 206326605U CN 201621391283 U CN201621391283 U CN 201621391283U CN 206326605 U CN206326605 U CN 206326605U
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Abstract
The utility model provides a kind of intelligent teaching system based on machine vision, including somatosensory device, mechanical arm control device, binocular vision equipment and pc client, the somatosensory device, mechanical arm control device and binocular vision equipment are connected with the pc client；The somatosensory device is used for the hand motion for detecting operator, and hand motion feedback of the information to the pc client is handled；The pc client is handled for making associative operation instruction to mechanical arm control device according to hand motion information；The mechanical arm control device is used for the motion of operating robotic arm；The binocular vision equipment is used for the movement locus for tracking mechanical arm, and to monitor its motion state after later stage mechanical arm acquisition movement instruction.The utility model has used Virtual Demonstration control technology, it is not necessary to extra teaching apparatus, you can directly by the motion of human body control machinery arm.
Description
Technical field
The utility model is related to industrial robot intelligent operation technical field, more particularly to a kind of intelligence based on machine vision
Can teaching system.
Background technology
Existing teaching pattern includes：Direct teaching, off-line teaching and Virtual Demonstration.Applied at home and abroad producing at present
Robot is mostly teaching playback, i.e., the terminal of robot is moved into target location by operator in robot site, and
The corresponding robot joint angles' information record in this position is entered into memory, then when requiring these actions of reproduction, order is controlled
Device processed reads corresponding position from internal memory, track and operation when robot just repeats teaching, because it is towards operating environment,
Robot On-line programming by demonstration is simple and convenient, it is adaptable to produce in enormous quantities, and being completed for task is simple, and single this is i.e. so-called straight
Teaching is connect, just refers to that the arm that robot is directly moved by people carries out teaching to robot, such as teaching of teaching box or action bars show
Religion etc..In this teaching, in order to which teaching is convenient and obtains the quick and accurate of information, operator can select to sit different
The lower teaching of mark system, for example, can select in joint coordinate system (Joint Coordinates), rectangular coordinate system
(Rectangular Co2ordinates) and tool coordinates system (Tool Coordinates) or user coordinate system (Us2er
Coordinates teaching is carried out under).This personnel for needing to have certain process capability can just be operated, and switch mode is controlled
When expend the time it is long.The shortcoming for summarizing direct teaching programming is：1st, the activity duration of robot is taken；2nd, it is difficult that planning is complicated
Movement locus and accurately linear motion；3rd, Programming's quality depends on the experience of programmer, and programmer is artificial in machine
Make in the hazardous environment in space；4th, robot system is a relatively independent unit, difficult real with other systems or production process
Existing Seamless integration-.
Robot off-line programming is that opening up for robot programming language is wide, and it utilizes computer graphics, set up robot and
The geometrical model of its working environment, then being completed to robot for task carries out segregation reasons and programming, and to the knot of programming
Fruit carries out dynamic graphics simulation, and the programmed result for meeting requirement finally is transmitted into robot control cabinet, makes robot complete to specify
Task；During off-line teaching, operator does not carry out teaching directly to the robot of actual job, but the operating environment that loses contact with reality
Training data is generated, teaching is carried out to robot indirectly.In off-line teaching method (off-line programing), by using in computer
Robot model's (CAD model) of storage, does not require that robot is actual and produces motion, just can be on the basis of teaching result to machine
The motion of device people is emulated, so that it is determined that whether teaching contents appropriate and robot whether by it is intended that in the way of move.
Such a teaching pattern there are certain requirements for the computer level of operator, particularly have certain research to computer graphics,
, can not simply directly, to user on job description and the experience that can have abundance can ensure that actual motion time error is small
For require higher, the function of required energy Compensating Robot systematic error, coordinate system data are still difficult to obtain.
Programming by Virtual Demonstration takes full advantage of the advantage of above two teaching method, that is, by means of virtual reality system
In human-computer interaction device (for example：Data glove, game paddle, power feel penholder etc.) virtual machine on operation computer screen
Device human action, records taught point pose, action command using Application Program Interface and generates job file, finally download to machine
After people's controller, the teaching of robot is completed.Robot Programming by Virtual Demonstration be one of Robot Helps Me To Avoid Danger programming technique very
There is the developing direction of application potential.
Utility model content
The technical problems to be solved in the utility model is that there is provided a kind of intelligent teaching system based on machine vision, fortune
With Virtual Demonstration control technology, it is not necessary to extra teaching apparatus, you can directly by the motion of human body control machinery arm.
In order to solve the above technical problems, the utility model provides following technical scheme：A kind of intelligence based on machine vision
Teaching system, including somatosensory device, mechanical arm control device, binocular vision equipment and pc client, the somatosensory device, machine
Tool arm control device and binocular vision equipment are connected with the pc client, wherein
The somatosensory device is used to detecting the hand motion of operator, and by hand motion feedback of the information to the PC client
End is handled；
The pc client is handled for making associative operation instruction to mechanical arm control device according to hand motion information；
The mechanical arm control device is used for the motion of operating robotic arm；
The binocular vision equipment is used for the movement locus for tracking mechanical arm, and obtains movement instruction for later stage mechanical arm
After monitor its motion state.
Further, the somatosensory device includes stereo camera and infrared LED, the stereo camera and infrared LED
The hand motion for detecting operator and position is used in combination.
Further, the quantity of the stereo camera is 2, and the quantity of the infrared LED is 3.
Further, the somatosensory device uses Leap motion motion sensing control devices.
Further, the binocular vision equipment includes binocular camera and image pick-up card, and the binocular camera is used
In the action of collection machinery equipment and location drawing picture information and described image capture card is fed back to, described image capture card is used for will
Action and location drawing picture information are sent to pc client processing.
After adopting the above technical scheme, the utility model at least has the advantages that：
1st, the utility model is based on Virtual Demonstration control technology, it is not necessary to extra teaching apparatus, completely by hand control,
Master Cost is saved, and control process is simple and quick；
2nd, the utility model is substantially reduced for the know-how of operator, can make full use of resources of human talents to control mode
Furtherd investigate, obtain bigger interests；
3rd, utility model works space is separated with operating space, reduces accident, is remotely being controlled while can guarantee that again
In the case of system, accuracy is not reduced, and reaches optimum efficiency.
Brief description of the drawings
Fig. 1 is a kind of structured flowchart of the intelligent teaching system based on machine vision of the utility model；
Fig. 2 is a kind of control flow of the binocular vision equipment of the intelligent teaching system based on machine vision of the utility model
Figure.
Embodiment
It should be noted that in the case where not conflicting, the feature in embodiment and embodiment in the application can phase
Mutually combine, the application is described in further detail with specific embodiment below in conjunction with the accompanying drawings.
As shown in figure 1, the purpose of this utility model is to overcome direct teaching to be carried with shortcoming that off-line teaching is produced
Supply a kind of intelligent teaching system based on machine vision, including somatosensory device, mechanical arm control device, binocular vision equipment with
And pc client, somatosensory device, mechanical arm control device and binocular vision equipment are connected with the pc client.
Mechanical arm control device includes：
Dynamical system：Servo drive motor and its driver；Transmission system：Each axle decelerator and synchronous transmission device are (such as
Timing Belt)；Execution system：Manipulating object is detected, measured etc. to be produced or reached the device of other pre-provisioning requests
(such as encoder)；Support system：Including basic part (such as lathe bed, base, column) and supporting member (such as axle, bearing, support case
Body etc.), for installing and supporting dynamical system, transmission system, execution system, management system etc.；Management system：For
Make dynamical system, the operation coordinated with each other of transmission system, execution system, and accurately and reliably complete the device of whole machine function (such as
Controller, I/O pinboards, robot dedicated terminals plate, security module etc.).
Binocular vision system includes：Possess the binocular camera of imaging lens；Figure for gathering binocular camera image
As capture card；For the PC ends image processing software for the image for handling image pick-up card collection, PC ends image processing software also belongs to
In a part for pc client.
Binocular camera is based on principle of stereoscopic vision and bionics principle, and synchronous exposure is obtained by calibrated dual camera
Light image, then calculates the third dimension depth information of the two dimensional image pixel of acquisition, you can obtain three-dimensional scenic range information,
The three-dimensionalreconstruction and space three-dimensional three-dimensional tracking of binocular vision are used again, and world coordinate system and image coordinate system are demarcated,
The movement locus of dynamic tracking target object, and to monitor its motion state after later stage mechanical arm acquisition movement instruction.
Image pick-up card is that binocular camera is synchronously exposed into obtained image information, the third dimension of two dimensional image pixel
Depth information, the dynamic pursuit path information of moving object, mechanical arm coordinate transform result these information takens together, pass through machine
The controller of tool arm passes PC ends image processing software back and carries out integrated treatment after reading.
PC ends image processing software is handled passing information back respectively based on opencv and opengl storehouses, obtains mechanical arm
Three-dimensional reconstruction or moving object coordinate change conditions, the image recognition of target operation position and machining area, completion in motion
The motion mode and optimum path planning of target mechanical arm.
Somatosensory device uses Leap motion motion sensing control devices, and it includes：2 stereo cameras and 3 infrared
LED, for detecting hand motion and position, draws the letter of hand dynamic change and change in location after the completion of being handled by equipment
Breath, then the software of pc client monitoring Leap motion motion sensing control devices is transmitted to, and convert it into a little in space seat
Mark the position coordinates of system.
Intelligent teaching system described in the utility model based on machine vision is configured to：
Mechanical arm control device is responsible for finally performing order；Binocular vision equipment is responsible for detecting the fortune of mechanical arm control device
Emotionally the synchronous exposure image of condition, target motion conditions and manipulating object, feeds back after being disposed via image processing system
The motion planning path of mechanical arm, while conveying data to mechanical arm to complete target action；Leap motion motion sensing control devices
It is responsible in operator's teaching, detects the hand motion of operator and record the change of hand coordinate, feed back to the control of PC ends soft
The motion state of part, in real time display threedimensional model arm.
As shown in Fig. 2 the control flow chart of binocular vision equipment of the present utility model, process includes：Binocular camera is obtained
Take change, the either statically or dynamically image information of target object of each joint position coordinate of mechanical arm；Image pick-up card takes the photograph binocular
Handled as the image information of head synchronization exposure is transferred to PC ends image processing software；PC ends image processing software is responsible for connecing
The image information being subject to handle and monitors the motion state of mechanical arm in real time.
As shown in figure 1, the use steps flow chart of the utility model intelligence system is：Operator provides the position of hand in teaching
Changes in coordinates, the motion of analog mechanical arm are put, these information are then sent to Leap motion motion sensing control devices；Leap motion
Motion sensing control device after human hand motion capture, will be processed as the position coordinates of series of points, and give PC ends by these information transmissions
Control software；PC ends control software is after hand motion is passed and changes serial point coordinates into by Leap motion, and control software is to these
Information is handled, automatic planning optimal path and the motion for emulating mechanical arm, while controllable mechanical arm is moved together；Binocular
Visual apparatus carries out visual monitoring to mechanical arm and manipulating object, realizes that Monitoring Data is sent to the processing of PC ends.
While there has been shown and described that embodiment of the present utility model, for the ordinary skill in the art,
It is understood that can be carried out in the case where not departing from principle of the present utility model and spirit to these embodiments a variety of etc.
The change, modification, replacement and modification of effect, scope of the present utility model is limited by appended claims and its equivalency range.
Claims (5)
1. a kind of intelligent teaching system based on machine vision, it is characterised in that including somatosensory device, mechanical arm control device,
Binocular vision equipment and pc client, the somatosensory device, mechanical arm control device and binocular vision equipment with the PC
Client is connected, wherein
The somatosensory device is used for the hand motion for detecting operator, and by hand motion feedback of the information to the pc client
Reason；
The pc client is handled for making associative operation instruction to mechanical arm control device according to hand motion information；
The mechanical arm control device is used for the motion of operating robotic arm；
The binocular vision equipment is used for the movement locus for tracking mechanical arm, and obtains prison after movement instruction for later stage mechanical arm
Survey its motion state.
2. a kind of intelligent teaching system based on machine vision according to claim 1, it is characterised in that the body-sensing is set
Standby to include stereo camera and infrared LED, the hand for detecting operator is used in combination in the stereo camera and infrared LED
Action and position.
3. a kind of intelligent teaching system based on machine vision according to claim 2, it is characterised in that the solid is taken the photograph
The quantity of camera is 2, and the quantity of the infrared LED is 3.
4. according to claim 1 or a kind of described intelligent teaching system based on machine vision, it is characterised in that the body-sensing
Equipment uses Leap motion motion sensing control devices.
5. a kind of intelligent teaching system based on machine vision according to claim 1, it is characterised in that the binocular vision
Feel that equipment includes binocular camera and image pick-up card, the binocular camera is used for action and the location drawing of collection machinery equipment
As information and described image capture card is fed back to, described image capture card is used to send action and location drawing picture information to described
Pc client processing.
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| CN201621391283.8U CN206326605U (en) | 2016-12-19 | 2016-12-19 | A kind of intelligent teaching system based on machine vision |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107331279A (en) * | 2017-08-16 | 2017-11-07 | 嘉兴锐视智能科技有限公司 | Teaching apparatus and system |
| CN109483517A (en) * | 2018-10-22 | 2019-03-19 | 天津扬天科技有限公司 | A kind of cooperation robot teaching method based on the tracking of hand appearance |
| CN109794940A (en) * | 2019-03-01 | 2019-05-24 | 北京达盛智联教育技术有限公司 | A kind of binocular artificial intelligence machinery arm instructional device |
| CN110238853A (en) * | 2019-06-18 | 2019-09-17 | 广州市威控机器人有限公司 | A kind of joint series Mobile Robot Control System, remote control system and method |
| CN110405730A (en) * | 2019-06-06 | 2019-11-05 | 大连理工大学 | A kind of man-machine object interaction mechanical arm teaching system based on RGB-D image |
| CN110788860A (en) * | 2019-11-11 | 2020-02-14 | 路邦科技授权有限公司 | Bionic robot action control method based on voice control |
-
2016
- 2016-12-19 CN CN201621391283.8U patent/CN206326605U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107331279A (en) * | 2017-08-16 | 2017-11-07 | 嘉兴锐视智能科技有限公司 | Teaching apparatus and system |
| CN109483517A (en) * | 2018-10-22 | 2019-03-19 | 天津扬天科技有限公司 | A kind of cooperation robot teaching method based on the tracking of hand appearance |
| CN109794940A (en) * | 2019-03-01 | 2019-05-24 | 北京达盛智联教育技术有限公司 | A kind of binocular artificial intelligence machinery arm instructional device |
| CN110405730A (en) * | 2019-06-06 | 2019-11-05 | 大连理工大学 | A kind of man-machine object interaction mechanical arm teaching system based on RGB-D image |
| CN110238853A (en) * | 2019-06-18 | 2019-09-17 | 广州市威控机器人有限公司 | A kind of joint series Mobile Robot Control System, remote control system and method |
| CN110788860A (en) * | 2019-11-11 | 2020-02-14 | 路邦科技授权有限公司 | Bionic robot action control method based on voice control |
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