CN207571964U - Teaching apparatus and system - Google Patents
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- CN207571964U CN207571964U CN201721027896.8U CN201721027896U CN207571964U CN 207571964 U CN207571964 U CN 207571964U CN 201721027896 U CN201721027896 U CN 201721027896U CN 207571964 U CN207571964 U CN 207571964U
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- 238000004519 manufacturing process Methods 0.000 claims abstract description 28
- 238000012795 verification Methods 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 16
- 238000005516 engineering process Methods 0.000 abstract description 4
- 238000012545 processing Methods 0.000 description 4
- 230000000007 visual effect Effects 0.000 description 4
- 239000000203 mixture Substances 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 2
- 238000012937 correction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 210000003811 finger Anatomy 0.000 description 1
- 210000005224 forefinger Anatomy 0.000 description 1
- 238000009432 framing Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000012994 industrial processing Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000010297 mechanical methods and process Methods 0.000 description 1
- 230000005226 mechanical processes and functions Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003252 repetitive effect Effects 0.000 description 1
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Abstract
The utility model provides teaching apparatus and system, is related to field of intelligent control technology, wherein, which includes：Synchronizer, phase unit, teaching machine, footprint processor and robot, in the teaching apparatus, phase unit includes at least two cameras, teaching machine includes gyroscope, synchronizer, phase unit, teaching machine, footprint processor and robot are sequentially connected, during use, first synchronizing signal is sent from synchronizer to phase unit and teaching machine, later, phase unit is after synchronizing signal is received, each camera is controlled to acquire the teaching location information of teaching machine simultaneously, simultaneously, gyroscope is used for after synchronizing signal is received, acquire the teaching angle information of teaching machine, and, footprint processor can generate teaching trajectory signal according to teaching location information and teaching angle information, in this way, robot carries out production operation according to teaching trajectory signal, and, teaching process is convenient and efficient.
Description
Technical field
The utility model is related to field of intelligent control technology more particularly to teaching apparatus and systems.
Background technology
With the development of economy with the progress of science and technology, need originally the manually production operation that is operated gradually become by
Robot is operated, and so as to save manpower consumption on very significantly, improves production efficiency.
Since the process produced in the production environment in some industry is substantially all identical, and the process and step of production are more
Repeat.Therefore, in current production operation, it is necessary first to by the operation trace " demonstration " of production operation to machine
People, later, by robot according to set operation trace come repeated work, to complete production operation.And robot records operate
The mode of track is mostly that program code is prestored in robot, and later, robot comes according to pre-stored program code
Carry out production operation.
In recent years, the appearance of teaching machine carries out production operation for robot and provides new mode.First led to by teaching machine
The manipulation that the people that operates machine of button step by step carries out production operation is crossed, robot records the rail of manipulation in above process
Mark, after the process of entire production operation has drilled one time, robot performs production operation according to recorded track.
But during the teaching, robot is difficult to accurately record during rehearsal the instruction of teaching machine, on the one hand it is existing to cause
The influence of field environment makes teaching not carry out accurately, and on the other hand, teaching track excessively complexity is difficult to carry out.
Utility model content
In view of this, the utility model embodiment has been designed to provide teaching apparatus and system, passes through to set and synchronizes
Device and phase unit etc. realize Fast Learning of the robot to teaching process.
In a first aspect, the utility model embodiment provides teaching apparatus, including：Synchronizer, phase unit, teaching machine, rail
Mark processor and robot, wherein, phase unit includes at least two cameras, and teaching machine includes gyroscope；
Synchronizer, phase unit, teaching machine, footprint processor and robot are sequentially connected；
Synchronizer, for sending synchronizing signal to phase unit and teaching machine；
Phase unit, for each camera after synchronizing signal is received, to be controlled to acquire the teaching position letter of teaching machine simultaneously
Breath；
Gyroscope, for after synchronizing signal is received, acquiring the teaching angle information of teaching machine；
Footprint processor, for generating teaching trajectory signal according to teaching location information and teaching angle information；
Robot, for carrying out production operation according to teaching trajectory signal.
With reference to first aspect, the utility model embodiment provides the first possible embodiment of first aspect,
In, synchronizer, teaching machine and phase unit are arranged on first network segment, and footprint processor and robot are arranged on second network segment, and, the
One network segment and second network segment are the different network segments.
The possible embodiment of with reference to first aspect the first, the utility model embodiment provide the of first aspect
Two kinds of possible embodiments, wherein, light source there are three settings at the different location at the top of teaching machine, and, three light sources are used for
Measure teaching location information.
With reference to first aspect, the utility model embodiment provides the third possible embodiment of first aspect,
In, the frequency of synchronizer is 125 hertz.
Second of possible embodiment with reference to first aspect, the utility model embodiment provide the of first aspect
Four kinds of possible embodiments, wherein, teaching apparatus further includes demarcate bar, and demarcate bar is connected with teaching machine；
Demarcate bar, for being demarcated to the coordinate system where three light sources.
With reference to first aspect, the utility model embodiment provides the 5th kind of possible embodiment of first aspect,
In, teaching apparatus further includes three-dimensional space model, and synchronizer, phase unit, teaching machine and robot are arranged at three dimensions mould
In type.
The 5th kind of possible embodiment with reference to first aspect, the utility model embodiment provide the of first aspect
Six kinds of possible embodiments, wherein, phase unit includes hot-tempered remover, hot-tempered remover, for removing three-dimensional space model
In interference light.
The 6th kind of possible embodiment with reference to first aspect, the utility model embodiment provide the of first aspect
Seven kinds of possible embodiments, wherein, phase unit includes four cameras, and every camera is equally spaced to be arranged on the upper of teaching machine
Side, and, the camera lens between every camera tilts down 45 degree.
The third possible embodiment with reference to first aspect, the utility model embodiment provide the of first aspect
Eight kinds of possible embodiments, wherein, teaching apparatus further includes grid target sheet, and grid target sheet is connected with phase unit；
Grid target sheet, for carrying out focal length verification to each camera in phase unit.
Second aspect, the utility model embodiment provide teaching system, including：Monitor and above-mentioned teaching apparatus；
Monitor is connected with teaching apparatus；
Monitor is monitored in real time for the working condition to teaching apparatus.
The teaching apparatus and system that the utility model embodiment provides, wherein, which includes：Synchronizer, camera
Group, teaching machine, footprint processor and robot, wherein, phase unit includes at least two cameras, and teaching machine includes gyroscope,
In actual mechanical process, synchronizer, phase unit, teaching machine, footprint processor and robot are sequentially connected, specifically, being by same
It walks device and sends synchronizing signal to phase unit and teaching machine, later, phase unit controls each camera same after synchronizing signal is received
When acquire teaching machine teaching location information, meanwhile, gyroscope be used for after synchronizing signal is received, acquire the teaching of teaching machine
Angle information, also, footprint processor is used to generate teaching trajectory signal according to teaching location information and teaching angle information, it
Afterwards, robot is used to carry out production operation according to teaching trajectory signal, can be by more by the setting of above-mentioned synchronizer and phase unit
A camera obtains teaching location information, meanwhile, teaching angle information is obtained by gyroscope, footprint processor is according to teaching position
Confidence is ceased generates teaching trajectory signal with teaching angle information, finally, is produced by robot according to teaching trajectory signal
Operation, the processing procedure fast and easy by the use of phase unit, make teaching process more convenient.
Other feature and advantage of the utility model will illustrate, also, in the following description partly from specification
In become apparent or understood by implementing the utility model.The purpose of this utility model and other advantages are illustrating
Specifically noted structure is realized and is obtained in book, claims and attached drawing.
For the above-mentioned purpose of the utility model, feature and advantage is enable to be clearer and more comprehensible, preferred embodiment cited below particularly, and
Attached drawing appended by cooperation, is described in detail below.
Description of the drawings
It, below will be right in order to illustrate more clearly of specific embodiment of the present invention or technical solution of the prior art
Specific embodiment or attached drawing needed to be used in the description of the prior art are briefly described, it should be apparent that, it is described below
In attached drawing be the utility model some embodiments, for those of ordinary skill in the art, do not paying creativeness
Under the premise of labour, other attached drawings are can also be obtained according to these attached drawings.
Fig. 1 shows the connection figure for the teaching apparatus that the utility model embodiment is provided；
Fig. 2 shows the structure connection figures for the teaching apparatus that the utility model embodiment is provided；
Fig. 3 shows the structural framing figure of the three-dimensional space model for the teaching apparatus that the utility model embodiment is provided；
Fig. 4 shows the structure connection figure for the teaching system that the utility model embodiment is provided.
Icon：1- synchronizers；2- phase units；3- teaching machines；4- footprint processors；5- robots；6- three-dimensional space models；
7- monitors；8- teaching apparatus.
Specific embodiment
Below in conjunction with attached drawing in the utility model embodiment, the technical scheme in the embodiment of the utility model is carried out clear
Chu is fully described by, it is clear that the described embodiments are only a part of the embodiments of the utility model rather than whole realities
Apply example.The component of the utility model embodiment being usually described and illustrated herein in the accompanying drawings can be come with a variety of different configurations
Arrangement and design.Therefore, the detailed description of the embodiment of the utility model provided in the accompanying drawings is not intended to limit below
Claimed the scope of the utility model, but it is merely representative of the selected embodiment of the utility model.Based on the utility model
Embodiment, those skilled in the art's all other embodiments obtained under the premise of creative work is not made, all
Belong to the range of the utility model protection.
At present, mostly complete to need the production process of repetitive operation using robot 5 in field of industrial processing.It is but preceding
It is the process for needing to drill production operation to robot 5 in advance to carry, and later, is weighed by robot 5 according to set operation trace
Production operation is carried out again.The mode that robot 5 records aforesaid operations track is mostly to prestore program code in robot 5,
Later, robot 5 carries out production operation according to pre-stored program code.Although the appearance of teaching machine 3 is robot 5
It carries out production operation and provides new mode, i.e., production operation, machine are first carried out come the people 5 that operates machine by button by teaching machine 3
Device people 5 records operation trace in above process, after the process of entire production operation has drilled one time, robot 5 according to
Recorded track performs production operation.But during the teaching, robot 5 is difficult to accurate during rehearsal
The instruction of teaching machine 3 is recorded, and then is caused during teaching, is on the one hand that the influence of site environment makes teaching accurate
It carries out, on the other hand, teaching track excessively complexity is difficult to carry out.
Based on this, the utility model embodiment provides teaching apparatus and system, is described below by embodiment.
Embodiment 1
Referring to Fig. 1, Fig. 2 and Fig. 3, the teaching apparatus 8 that the present embodiment proposes specifically includes：Synchronizer 1, phase unit 2, teaching
Device 3, footprint processor 4 and robot 5, in the teaching apparatus 8, phase unit 2 includes at least two cameras, to ensure teaching machine
Spatial dimension where 3 can be covered by camera completely, ensure that the comprehensive of collected 3 information of teaching machine.Also,
Gyroscope has been further included in teaching machine 3, in the teaching apparatus 8, synchronizer 1, phase unit 2, teaching machine 3,4 and of footprint processor
Robot 5 is sequentially connected, and when in use, first synchronizer 1 is used for sending synchronizing signal, later, phase to phase unit 2 and teaching machine 3
Unit 2 is used for after synchronizing signal is received, and each camera is controlled to acquire the teaching location information of teaching machine 3 simultaneously, so as to protect
The consistency of teaching location information acquisition is demonstrate,proved, in addition, needing exist for illustrating, teaching location information is usually by teaching
Position coordinates composition of the device 3 in rectangular coordinate system.At the same time, gyroscope is used for after synchronizing signal is received, and acquisition is shown
The teaching angle information of device 3 is taught, needs exist for illustrating, teaching angle information is usually by teaching machine 3 in polar coordinate system
In angle coordinate composition.Later, it is used to generate teaching according to teaching location information and teaching angle information by footprint processor 4
Trajectory signal, and by robot 5 production operation is carried out according to teaching trajectory signal.
Three-dimensional space model 6 is further included in the teaching apparatus 8, synchronizer 1, phase unit 2, teaching machine 3 and robot 5 are all provided with
It puts in three-dimensional space model 6.For example, three-dimensional space model 6 can be cuboid three dimensions, i.e., the first step, need assembling one
A stable and firm cuboid three dimensions (2m*2m*2.8m).Second step, phase unit 2 include four cameras, every camera etc.
The top for being arranged on teaching machine 3 at interval, and, the camera lens between every camera, which tilts down 45 degree, (makes each position in visual field
Putting can be covered by camera) it is fixed on four apex angles of above-mentioned cuboid three dimensions.Third step, using cable by phase unit
2nd, teaching machine 3, robot 5, synchronizer 1 are connected with footprint processor 4, and by phase unit 2 each camera, teaching machine 3,
The power cord of the equipment such as synchronizer 1 connects, and then powers on.
In addition, in above-mentioned three-dimensional space model 6, other light are inevitably had (for example, the luminous light in following demarcate bars
Source) phase unit 2 is interfered, so as to cause the collected teaching location information of each camera in phase unit 2 due to exposure
It is inaccurate etc. information is caused.For this purpose, further including hot-tempered remover in phase unit 2, hot-tempered remover is used for removing three dimensions
Interference light in model 6, so as to which each camera in phase unit 2 is made to collect accurate clearly image, and therefrom obtaining
To accurate teaching location information.
Further, since the default setting of each camera might have difference, for example, the field angle of camera and focal length setting etc.
It is different, in this way, the image of teaching machine 3 that each camera takes has very big difference, in this way, even if in phase unit 2
The acquisition that each camera carries out teaching location information after synchronizing signal is received can not also get the consistent image of attribute.Cause
This further includes grid target sheet in teaching apparatus 8, and grid target sheet is connected with phase unit 2, and grid target sheet is used for in phase unit 2
Each camera carries out focal length verification, i.e. each camera in phase unit 2 all carries out parameter (for example, focal length by grid target sheet
Deng) correction and uniformly.
In the teaching apparatus 8, in order to ensure that synchronizing signal fast and convenient can be transferred to teaching machine 3 and phase unit 2,
Synchronizer 1, teaching machine 3 and phase unit 2 are arranged on first network segment, footprint processor 4 and robot 5 are arranged on second network segment,
Also, first network segment and second network segment are the different network segments.By footprint processor 4 and robot 5 be arranged on synchronizer 1, show
Device 3 and the different network segment of phase unit 2 are taught, it is ensured that footprint processor 4 and robot 5 are not interfered by synchronizing signal, that is, is existed
In teaching apparatus 8, the processing procedure of synchronizer 1, teaching machine 3 and phase unit 2 is not influenced by footprint processor 4 and robot 5,
So as to ensure that the accuracy of teaching location information and teaching angle information.It needs exist for illustrating, footprint processor 4
It can be implemented by the PC machine with computing capability or mobile terminal.
In addition, in order to further ensure the teaching location information of teaching machine 3 and the accuracy of teaching angle information, synchronizer
1 frequency is 125 hertz, i.e., sends a synchronizing signal to the gyroscope in every camera and teaching machine 3 per 8ms, it is ensured that energy
It is enough to obtain the teaching location information of teaching machine 3 and teaching angle information simultaneously.
In general, the volume of teaching machine 3 is bigger, with different cameras come when obtaining the teaching location information of teaching machine 3,
The position of camera shooting is variant, it may appear that it is also variant that phase chance collects different teaching location informations.For this purpose, in teaching
Setting is there are three light source at the different location at 3 top of device, also, three light sources, for measuring teaching location information, coordinate system is
It is made up of demarcate bar calibration, three light sources on teaching machine are believed by the current position obtained under this coordinate system
Breath is teaching location information.Here, it needs to illustrate, demarcate bar, demarcate bar and teaching is further included in teaching apparatus 8
Device 3 is connected, and demarcate bar is used for demarcating the coordinate that three light sources are formed, that is, determines the composition of coordinate system.
In order to which teaching machine 3 is enable steadily to work in entire visual field, so camera scans total frame in entire visual field
Number is in 1000 frames or so, and specific method is to open three illuminating sources on the upside of demarcate bar, and staff holds demarcate bar high, with relatively slow
Speed S-shaped equably inswept entire field range, demarcate bar is then lowerd field sweep in the same way again.It is specifically, first
Three illuminating sources on the right side of demarcate bar are opened before this, and the right angled triangle of a plane is made of these three illuminating sources, later,
Putting the direction of demarcate bar will overlap with the coordinate system (being made of three light sources) in robot 5, because same flat
Face, demarcate bar can determine whether a world coordinate system (XYZ), and robot 5 determines also that a basis coordinates with respect to this plane
(XYZ).The long side of demarcate bar is the X-axis of world coordinate system, and short side is Y-axis.Right-handed coordinate system is followed, forefinger direction is X-axis
Positive direction, middle finger direction are the positive direction of Y-axis, and thumb direction is exactly the Z-direction calculated out, so, 5 base of robot
Establishment of coordinate system is referring also to the direction of demarcate bar.
During operation, the first step, teaching machine 3 learn, i.e., teaching machine 3 is placed vertically, in order to by learning 3 top three of teaching machine
Point determines a space coordinates, and the illuminating source by 3 lower part of teaching machine is needed to shelter from the sky being put into three-dimensional space model 6
Between position, acquire 100 frame data, teaching machine 3 study complete.Second step, 3 centre-of gravity shift of teaching machine, in order to position 3 point of teaching machine
The position coordinates at end need the luminous point by 3 lower part of teaching machine to be also placed in visual field, and every camera in this way detects four stabilizations
Point, acquire 100 frame data, offset complete.Third step, by teaching machine 3 be placed on a little it is motionless, rotate teaching machine 3, can observe
Coordinate to teaching machine 3 only has rotation shaft angle variation, and other angles are basically unchanged.
In conclusion teaching apparatus 8 provided in this embodiment includes：Synchronizer 1, phase unit 2, teaching machine 3, trajectory processing
Device 4 and robot 5, in above-mentioned teaching apparatus 8, phase unit 2 includes at least two cameras, also, is further included in teaching machine 3
Gyroscope, in use, synchronizer 1, phase unit 2, teaching machine 3, footprint processor 4 and robot 5 are sequentially connected, it is specific to work
In the process, first, synchronizing signal is sent to phase unit 2 and teaching machine 3 by synchronizer 1, later, phase unit 2 is used to receive
To after synchronizing signal, each camera is controlled to acquire the teaching location information of teaching machine 3 simultaneously, meanwhile, gyroscope can receive
To after synchronizing signal, the teaching angle information of teaching machine 3 is acquired, in this way, footprint processor 4 can be used for believing according to teaching position
Breath and teaching angle information generate teaching trajectory signal, also, teaching trajectory signal is sent to robot by footprint processor 4
5, robot 5 is used to carry out production operation according to teaching trajectory signal, by above-mentioned processing procedure as it can be seen that when in use, synchronizing
Device 1, phase unit 2 and gyroscope can accurately collect teaching location information and teaching angle information, and by footprint processor 4
According to teaching location information and teaching angle information generation teaching trajectory signal so that robot 5 according to teaching trajectory signal into
Row production operation so that teaching process fast accurate improves the efficiency that robot 5 carries out production operation.
Embodiment 2
Referring to Fig. 4, present embodiments provide teaching system and include：Monitor 7 and above-mentioned teaching apparatus 8, in the teaching
In system, monitor 7 is connected with teaching apparatus 8, carry out in use, monitor 7 be used for the working condition of teaching apparatus 8 into
Row in real time monitoring, so as to enable staff from distal end real time inspection to teaching apparatus 8 working condition, particularly teaching fill
8 appearance exception is put, either, staff can pass through because when certain reasons fail to view the working condition of teaching apparatus 8
Monitor 7 is reviewed, and is managed so as to facilitate staff.
In conclusion teaching system provided in this embodiment includes：Monitor 7 and above-mentioned teaching apparatus 8, in the teaching
In system, monitor 7 is connected with teaching apparatus 8, in use, monitor 7 can carry out in real time the working condition of teaching apparatus 8
Monitoring, so as to make the course of work of the staff convenient for supervision teaching apparatus 8.
In addition, in the description of the utility model embodiment unless specifically defined or limited otherwise, term " installation ",
" connected ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected or integrally connect
It connects；Can be mechanical connection or electrical connection；It can be directly connected, can also be indirectly connected by intermediary, it can
To be the connection inside two elements.For the ordinary skill in the art, can above-mentioned term be understood with concrete condition
Concrete meaning in the utility model.
Finally it should be noted that：Embodiment described above, only specific embodiment of the present utility model, to illustrate this
The technical solution of utility model, rather than its limitations, the scope of protection of the utility model is not limited thereto, although with reference to aforementioned
The utility model is described in detail in embodiment, it will be understood by those of ordinary skill in the art that：It is any to be familiar with this skill
It, still can be to the skill recorded in previous embodiment in the technical scope that the technical staff in art field discloses in the utility model
Art scheme, which is modified or can be readily occurred in, to be changed or carries out equivalent replacement to which part technical characteristic；And these modifications,
Variation is replaced, the spirit and model of the utility model embodiment technical solution that it does not separate the essence of the corresponding technical solution
It encloses, should be covered within the scope of the utility model.Therefore, the scope of protection of the utility model described should be wanted with right
Subject to the protection domain asked.
Claims (10)
1. teaching apparatus, which is characterized in that including：Synchronizer, phase unit, teaching machine, footprint processor and robot, wherein,
The phase unit includes at least two cameras, and the teaching machine includes gyroscope；
The synchronizer, the phase unit, the teaching machine, the footprint processor and the robot are sequentially connected；
The synchronizer, for sending synchronizing signal to the phase unit and the teaching machine；
The phase unit, for after the synchronizing signal is received, each camera being controlled to acquire the teaching machine simultaneously
Teaching location information；
The gyroscope, for after the synchronizing signal is received, acquiring the teaching angle information of the teaching machine；
The footprint processor, for according to the teaching location information and teaching angle information generation teaching track letter
Number；
The robot, for carrying out production operation according to the teaching trajectory signal.
2. teaching apparatus according to claim 1, which is characterized in that the synchronizer, the teaching machine and the camera
Group is arranged on first network segment, and the footprint processor and the robot are arranged on second network segment, and, first network segment and institute
Second network segment is stated as the different network segments.
3. teaching apparatus according to claim 2, which is characterized in that be provided at the different location at the top of the teaching machine
Three light sources, and, three light sources are used to measure the teaching location information.
4. teaching apparatus according to claim 1, which is characterized in that the frequency of the synchronizer is 125 hertz.
5. teaching apparatus according to claim 3, which is characterized in that further include demarcate bar, the demarcate bar is shown with described
Religion device is connected；
The demarcate bar, for being demarcated to the coordinate system where three light sources.
6. teaching apparatus according to claim 1, which is characterized in that further include three-dimensional space model, the synchronizer, institute
Phase unit, the teaching machine and the robot is stated to be arranged in the three-dimensional space model.
7. teaching apparatus according to claim 6, which is characterized in that the phase unit includes hot-tempered remover, described hot-tempered
Point remover, for removing the interference light in the three-dimensional space model.
8. teaching apparatus according to claim 7, which is characterized in that the phase unit includes four cameras, described in every
The equally spaced top for being arranged on the teaching machine of camera, and, the camera lens between every camera tilts down 45 degree.
9. teaching apparatus according to claim 4, which is characterized in that further include grid target sheet, the grid target sheet and institute
Phase unit is stated to be connected；
The grid target sheet, for carrying out focal length verification to each camera in the phase unit.
10. teaching system, which is characterized in that including：Monitor and such as claim 1-9 any one of them teaching apparatus；
The monitor is connected with the teaching apparatus；
The monitor is monitored in real time for the working condition to the teaching apparatus.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721027896.8U CN207571964U (en) | 2017-08-16 | 2017-08-16 | Teaching apparatus and system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721027896.8U CN207571964U (en) | 2017-08-16 | 2017-08-16 | Teaching apparatus and system |
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| CN207571964U true CN207571964U (en) | 2018-07-03 |
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Cited By (1)
| 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 |
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Cited By (1)
| 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 |
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