CN209350243U - A kind of artificial teaching system of spraying based on Kinect - Google Patents
A kind of artificial teaching system of spraying based on Kinect Download PDFInfo
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- CN209350243U CN209350243U CN201822096488.9U CN201822096488U CN209350243U CN 209350243 U CN209350243 U CN 209350243U CN 201822096488 U CN201822096488 U CN 201822096488U CN 209350243 U CN209350243 U CN 209350243U
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- kinect
- teaching
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- ball stand
- spray gun
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Abstract
The utility model discloses a kind of artificial teaching systems of the spraying based on Kinect, comprising: teaching spray gun, colored ball stand, Kinect camera, computer, Manipulator Controller and mechanical hand lance；In the rear end of the teaching spray gun, colored ball stand is set；Colored bulb is set on the colored ball stand；In the rear end of the colored ball stand, Kinect camera is set；In the side of the Kinect camera, computer is set；In the other side front end of the computer, Manipulator Controller is set；In the front end of the Manipulator Controller, mechanical hand lance is set.The present apparatus is extracted by the location technology of Kinect during manpower teaching, it is mounted on spatial position and the attitude data of the colored ball stand on teaching spray gun, movement for robotic hand lance reappears, and realizes robot and exempts from programming movement, the input without tracing point.
Description
Technical field
The utility model relates to spraying industry technical fields, more particularly, to a kind of artificial teaching of the spraying based on Kinect
System.
Background technique
Robot demonstrator is the chief component of industrial robot, is realized by a certain equipment or mode to robot
The programming of job task, this process are exactly the teaching process of robot.Existing robot teaching system can be divided into following
Three classes: 1) teaching online mode 2) off-line programing mode 3) it is based on virtual reality mode.
In these teaching modes, teaching box is an important programming device, typically be provided with straight line, circular arc, joint insert
It mends and can realize respectively in joint space and cartesian space to functions such as the controls of robot.Using first two teaching
When mode, teaching process is cumbersome, time-consuming, and operator is required to have quite high professional knowledge and skilled operative skill.
Utility model content
The purpose of this utility model is to provide a kind of artificial teaching systems of the spraying based on Kinect.
To achieve the above object, the utility model uses the following contents:
A kind of artificial teaching system of spraying based on Kinect, comprising: teaching spray gun, colored ball stand, Kinect camera,
Computer, Manipulator Controller and mechanical hand lance；In the rear end of the teaching spray gun, colored ball stand is set；In the colour
Colored bulb is set on ball stand；In the rear end of the colored ball stand, Kinect camera is set；The one of the Kinect camera
Computer is arranged in side；In the other side front end of the computer, Manipulator Controller is set；Before the Manipulator Controller
Mechanical hand lance is arranged in end.
Preferably, the colored ball stand dresses up three-dimensional cartesian coordinate, and a coloured silk is installed in each reference axis
Chromosphere installs a colored bulb in coordinate origin.
Preferably, there are four the colored bulbs, and the color of each colored bulb is different.
Preferably, the rotation of the colored bulb is indicated with Quaternion Method.
Preferably, the Kinect camera is made of colour imagery shot and depth camera；The colour imagery shot
It is configured to 1920 × 108030fps, depth camera is configured to 512 × 42430fps.
Preferably, the running track of the teaching spray gun forms teaching curve.
The utility model has the advantage that
During the utility model extracts manpower teaching by the location technology of Kinect camera, it is mounted on teaching spray gun
Colored ball stand spatial position and attitude data, for robotic hand lance movement reappear, realize robot
Exempt from programming movement, the input without tracing point.
Detailed description of the invention
Specific embodiment of the present utility model is described in further detail with reference to the accompanying drawing.
Fig. 1 is a kind of artificial teaching system structural schematic diagram of spraying based on Kinect of the utility model.
In figure, each appended drawing reference are as follows:
1- teaching spray gun, 2- colour ball stand, 3-Kinect camera, 4- computer, 5- Manipulator Controller, 6- manipulator
Spray gun, 7- teaching curve, 8- colored bulb.
Specific embodiment
In order to illustrate more clearly of the utility model, the utility model is done further below with reference to preferred embodiment
It is bright.It will be appreciated by those skilled in the art that specifically described content is illustrative and be not restrictive below, it should not be with this
Limit the protection scope of the utility model.
As shown in Figure 1, a kind of artificial teaching system of spraying based on Kinect includes: a kind of spraying people based on Kinect
Work teaching system, comprising: teaching spray gun 1, colored ball stand 2, Kinect camera 3, computer 4, Manipulator Controller 5 and machinery
Hand lance 6；In the rear end of the teaching spray gun 1, colored ball stand 2 is set；Colored bulb 8 is set on the colored ball stand 2；
In the rear end of the colored ball stand 2, Kinect camera 3 is set；In the side of the Kinect camera 3, computer 4 is set；?
Manipulator Controller 5 is arranged in the other side front end of the computer 4；In the front end of the Manipulator Controller 5, manipulator is set
Spray gun 6；It is connected between the Kinect camera 3 and computer 4 by the interface of USB3.0；The computer 4, manipulator control
Pass through electrical connection between device 5 and mechanical hand lance 6.
Further, the colored ball stand 2 dresses up three-dimensional cartesian coordinate, and a coloured silk is installed in each reference axis
Chromosphere 8 installs a colored bulb 8 in coordinate origin.
Further, there are four the colored bulbs 8, and the color of each colored bulb 8 is different.
Further, the rotation of the colored bulb 8 is indicated with Quaternion Method.
Further, the Kinect camera 3 is made of colour imagery shot and depth camera；The colour imagery shot
It is configured to 1920 × 108030fps, depth camera is configured to 512 × 42430fps；Kinect camera 3 passes through calibration etc.
After reason, space RGB image information and point cloud information can be obtained simultaneously, and colored bulb is extracted by image procossing, and according to
Rgb pixel coordinate is mapped to camera coordinates system, extracted on spatial color ball by the corresponding relationship of RGB image and depth map
Point cloud, pass through reference point cloud recognizer be fitted iteration, obtain the centre of sphere.
Further, the running track of the teaching spray gun 1 forms teaching curve 7.
When in use, after the sphere center position of four different colours beads of the acquisition of Kinect camera 3, pass through colored bulb 8
Fixed relative position and calculating, which solve, obtains the posture of entire teaching spray gun 1, in addition just obtaining teaching spray gun 1 after sphere center position
Appearance.
During hand spray teaching, the pose of the teaching spray gun 1 continuously moved is captured by Kinect camera 3.Due to
There are small size bounces and the biggish exceptional value of some errors for the survey calculation data of pose, therefore on the computer 4 will be preliminary
Obtained track data carries out processing and filtering appropriate, reduces because beating caused by noise, and abnormal hop value is filtered out,
Finally obtain the track of relative smooth.
The spatial pose of 1 motion profile combination painted object of teaching spray gun is converted, real space movement is calculated
It is counter after trajectory coordinates to be solved, mechanical hand lance 6 can be controlled and move corresponding track.
Obviously, the above embodiments of the present invention is merely examples for clearly illustrating the present invention, and
It is not limitations of the embodiments of the present invention, for those of ordinary skill in the art, in above description
On the basis of can also make other variations or changes in different ways, all embodiments can not be exhaustive here,
It is all to belong to obvious changes or variations that the technical solution of the utility model is extended out still in the utility model
The column of protection scope.
Claims (6)
1. a kind of artificial teaching system of spraying based on Kinect characterized by comprising teaching spray gun, colored ball stand,
Kinect camera, computer, Manipulator Controller and mechanical hand lance；In the rear end of the teaching spray gun, colored bulb branch is set
Frame；Colored bulb is set on the colored ball stand；In the rear end of the colored ball stand, Kinect camera is set；Described
Computer is arranged in the side of Kinect camera；In the other side front end of the computer, Manipulator Controller is set；In the machine
Mechanical hand lance is arranged in the front end of tool hand controls.
2. the artificial teaching system of a kind of spraying based on Kinect according to claim 1, which is characterized in that the colour
Ball stand dresses up three-dimensional cartesian coordinate, and a colored bulb is installed in each reference axis, and a coloured silk is installed in coordinate origin
Chromosphere.
3. the artificial teaching system of a kind of spraying based on Kinect according to claim 1, which is characterized in that the colour
There are four balls, and the color of each colored bulb is different.
4. the artificial teaching system of a kind of spraying based on Kinect according to claim 1, which is characterized in that the colour
The rotation of ball is indicated with Quaternion Method.
5. the artificial teaching system of a kind of spraying based on Kinect according to claim 1, which is characterized in that described
Kinect camera is made of colour imagery shot and depth camera；The colour imagery shot is configured to 1920 × 1080
30fps, depth camera are configured to 512 × 424 30fps.
6. the artificial teaching system of a kind of spraying based on Kinect according to claim 1, which is characterized in that the teaching
The running track of spray gun forms teaching curve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822096488.9U CN209350243U (en) | 2018-12-13 | 2018-12-13 | A kind of artificial teaching system of spraying based on Kinect |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822096488.9U CN209350243U (en) | 2018-12-13 | 2018-12-13 | A kind of artificial teaching system of spraying based on Kinect |
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| Publication Number | Publication Date |
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| CN209350243U true CN209350243U (en) | 2019-09-06 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201822096488.9U Active CN209350243U (en) | 2018-12-13 | 2018-12-13 | A kind of artificial teaching system of spraying based on Kinect |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110977946A (en) * | 2019-12-12 | 2020-04-10 | 常州工学院 | Terminal coordinate ball for robot teaching |
| CN111905951A (en) * | 2020-04-28 | 2020-11-10 | 杭州国辰机器人科技有限公司 | Intelligent powder room based on teaching technology |
| CN112102415A (en) * | 2020-08-25 | 2020-12-18 | 中国人民解放军63919部队 | Depth camera external parameter calibration method, device and equipment based on calibration ball |
| CN114918937A (en) * | 2022-05-20 | 2022-08-19 | 埃夫特智能装备股份有限公司 | Spraying gun based on position sensing technology and robot convenient programming device thereof |
-
2018
- 2018-12-13 CN CN201822096488.9U patent/CN209350243U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110977946A (en) * | 2019-12-12 | 2020-04-10 | 常州工学院 | Terminal coordinate ball for robot teaching |
| CN111905951A (en) * | 2020-04-28 | 2020-11-10 | 杭州国辰机器人科技有限公司 | Intelligent powder room based on teaching technology |
| CN112102415A (en) * | 2020-08-25 | 2020-12-18 | 中国人民解放军63919部队 | Depth camera external parameter calibration method, device and equipment based on calibration ball |
| CN114918937A (en) * | 2022-05-20 | 2022-08-19 | 埃夫特智能装备股份有限公司 | Spraying gun based on position sensing technology and robot convenient programming device thereof |
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