TWI734867B - Teaching system and method for operation path of robot arm - Google Patents
Teaching system and method for operation path of robot arm Download PDFInfo
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本發明有關一種機器手臂,尤其關於機器手臂在編程作業軌跡時,控制機器手臂偵測指尖形成作業軌跡的教導系統及方法。 The present invention relates to a robot arm, in particular to a teaching system and method for controlling the robot arm to detect the fingertips to form an operation track when the robot arm is programming an operation track.
隨著生產技術的快速發展,工廠自動化利用相機定位物件,引導機器手臂自動抓取物件進行組裝製造,以提高工廠生產速度及效率。而簡單且正確的教導機器手臂作業軌跡,讓機器手臂迅速進入生產行列,已成為提高生產效率的主要課題。 With the rapid development of production technology, factory automation uses cameras to locate objects, and guides robotic arms to automatically grab objects for assembly and manufacturing, so as to improve factory production speed and efficiency. And simple and correct teaching of the robot arm's operating trajectory, so that the robot arm can quickly enter the ranks of production, has become the main topic of improving production efficiency.
為了提高機器手臂的教導效率,先前技術美國公開的US20140201112專利案,在教導工具上設按鍵,且利用有線線路將教導工具連接至機器手臂的控制裝置,藉按壓按鍵產生控制訊號,經有線線路傳輸至控制裝置,控制機器手臂的臂上相機拍攝手持教導工具,並將拍攝的影像傳輸至控制裝置進行影像處理,定位教導工具移動的軌跡,以產生作業軌跡。由於加工的工件大小形狀各異,教導工具在某些方位受有線線路的纏繞及連接拘束,難以擺放教導工具進行教導,而耗費過多的教導時間。雖然另有先前技術美國公告的US5748854專利案,在教導工具上設置紅外線發射器,無線連線機器手臂上的聯絡接收器,利用無線傳輸教導工具壓下 按鍵的訊號,控制機器手臂的相機拍攝教導工具的定位標記,減少有線線路的束縛,以增加教導機器手臂作業軌跡的方便性。 In order to improve the teaching efficiency of the robotic arm, the prior art US20140201112 patent published in the United States provided buttons on the teaching tool, and used a wired line to connect the teaching tool to the control device of the robotic arm. The control signal was generated by pressing the button and transmitted via the wired line. To the control device, the camera on the arm of the robotic arm is controlled to shoot the hand-held teaching tool, and the captured image is transmitted to the control device for image processing, and the moving track of the teaching tool is positioned to generate the operation track. Due to the different sizes and shapes of the processed workpieces, the teaching tool is restricted by the winding and connection of the wired circuit in some directions, and it is difficult to place the teaching tool for teaching, which consumes too much teaching time. Although there is another patent of US5748854 published by the United States of the prior art, an infrared transmitter is installed on the teaching tool, and the communication receiver on the robot arm is connected wirelessly, and the wireless transmission teaching tool is used to press down. The signal of the button controls the camera of the robot arm to shoot the positioning mark of the teaching tool, which reduces the restriction of the wire line and increases the convenience of teaching the robot arm's trajectory.
然而,前述先前技術的機器手臂,仍需要在教導工具與機器手臂,分別設置無線傳輸發送器及接收器等,不僅增加機器手臂的零件成本及裝設空間,且增加無線傳輸技術的控制複雜度。此外,先前技術的機器手臂在教導過程中,無法即時參考已教導過的軌跡,難以維持前後作業軌跡的一致性。同時,先前技術的機器手臂亦無法在教導過程中,簡單方便立即修正作業軌跡及設定作業參數。因此,機器手臂在作業軌跡的教導系統及方法上,仍有問題亟待解決。 However, the aforementioned prior art robotic arm still needs to be equipped with wireless transmission transmitters and receivers in the teaching tool and robotic arm, respectively, which not only increases the cost of parts and installation space of the robotic arm, but also increases the control complexity of the wireless transmission technology. . In addition, the prior art robot arm cannot immediately refer to the trajectory that has been taught during the teaching process, and it is difficult to maintain the consistency of the trajectory before and after the operation. At the same time, the robot arm of the prior art is also unable to modify the operation trajectory and set the operation parameters immediately during the teaching process. Therefore, there are still problems to be solved urgently for the robot arm in the teaching system and method of the operating trajectory.
本發明的目的提供一種機器手臂作業軌跡的教導系統,在機器手臂上設置深度相機及投影機,藉由投影機即時投射深度相機偵測指尖的作業軌跡,讓教導過程參考,以維持教導的一致性。 The object of the present invention is to provide a robot arm operating trajectory teaching system. A depth camera and a projector are installed on the robot arm, and the depth camera is projected by the projector to detect the fingertip operating trajectory, so that the teaching process can be referenced to maintain the teaching consistency.
本發明的另一目的提供一種機器手臂作業軌跡的教導系統,利用投影機投射設定頁面,藉深度相機偵測選擇的設定頁面,讓教導過程快速設定作業參數,以簡化教導的作業。 Another object of the present invention is to provide a robot arm operating trajectory teaching system that uses a projector to project a setting page, and uses a depth camera to detect the selected setting page, so that the teaching process can quickly set operating parameters to simplify the teaching operation.
本發明的再一目的提供一種機器手臂作業軌跡的教導方法,利用深度相機偵測按壓投影機投射作業軌跡的特定線段,啟動投影機投射設定頁面,進行修正或設定,以提升教導作業效率。 Another object of the present invention is to provide a method for teaching a robot arm's operating trajectory, which uses a depth camera to detect a specific line segment of the projected operating trajectory of a pressed projector, activates the projector's projection setting page, and makes corrections or settings to improve the efficiency of the teaching operation.
本發明尚有一目的提供一種機器手臂作業軌跡的教導方法,在設定修正作業軌跡時,利用深度相機偵測按壓投影機投射作業軌跡的線段,使按壓處預設部分作業軌跡可移動,以利進行修正。 Another object of the present invention is to provide a method for teaching the operation trajectory of a robot arm. When setting the correction operation trajectory, a depth camera is used to detect the line segment of the operation trajectory projected by the pressing projector, so that a preset part of the operation trajectory at the pressing position can be moved to facilitate the operation. Fix.
為了達到前述發明的目的,本發明機器手臂作業軌跡的教導系統,包含機器手臂的一端為固定端,另一端為活動的端末部,端末部兩側固定深度相機及投影機,機器手臂連接至控制裝置,由控制裝置控制機器手臂移動端末部承載的深度相機及投影機,並控制深度相機深度相機持續偵測操作者的指尖在工件移動預期作業軌跡,經控制裝置影像處理陸續形成部分作業軌跡,由投影機即時投射該部分作業軌跡至工件,以完成作業軌跡,並利用深度相機偵測指尖按壓完成的作業軌跡,啟動投影機投射設定頁面至工件周圍,進行設定完成的作業軌跡,作為教導的作業軌跡 In order to achieve the purpose of the foregoing invention, the robot arm operating trajectory teaching system of the present invention includes one end of the robot arm as a fixed end, and the other end as a movable end end. The depth camera and projector are fixed on both sides of the end end, and the robot arm is connected to the control. Device, the control device controls the depth camera and the projector carried at the end of the robot arm, and controls the depth camera. The depth camera continuously detects the operator's fingertips moving on the workpiece. The expected operation trajectory is formed by the image processing of the control device. , The projector instantly projects the part of the work track to the workpiece to complete the work track, and uses the depth camera to detect the completed work track pressed by the fingertip, and then starts the projector to project the setting page around the work piece to perform the set work track as Taught work trajectory
本發明機器手臂的教導系統,在完成的作業軌跡標示啟動投射設定頁面的特定線段,特定線段以星標記或不同顏色標示。設定頁面的選擇,由控制裝置控制投影機投射作業參數的調整頁面或作業軌跡的編輯調整頁面。作業參數的調整頁面顯示預設的參數單位量及調整參數的調整鈕。編輯調整頁面顯示修正及刪除選項,以編輯該完成的作業軌跡。 In the teaching system of the robot arm of the present invention, the specific line segment of the start projection setting page is marked on the completed operation track, and the specific line segment is marked with a star mark or a different color. For the selection of the setting page, the control device controls the projector to project the adjustment page of the operation parameters or the edit adjustment page of the operation track. The adjustment page of the operating parameters displays the preset parameter unit quantities and the adjustment buttons for adjusting the parameters. The edit adjustment page displays correction and deletion options to edit the completed job track.
本發明機器手臂作業軌跡的教導方法,藉由機器手臂移動深度相機拍攝工件,建立工件的3D模型,利用操作者指尖在工件的表面移動預期的作業軌跡,深度相機持續偵測指尖移動的位置,形成部分的作業軌跡,利用機器手臂上的投影機即時投射該部分的作業軌跡至工件表面,深度相機偵測指尖移動完成作業軌跡,並將完成的作業軌跡由投影機投射至工件表面,由深度相機偵測指尖按壓該完成的作業軌跡,啟動投影機投射設定頁面,進行該完成的作業軌跡的設定作業,檢查滿意該完成的作業軌跡,紀錄該完成的作業軌跡作為教導作業軌跡。 The method for teaching the operation trajectory of the robot arm of the present invention uses the robot arm to move the depth camera to shoot the workpiece and establish a 3D model of the workpiece. The operator’s fingertip is used to move the expected operation trajectory on the surface of the workpiece, and the depth camera continuously detects the movement of the fingertip. Position, forming part of the work trajectory, use the projector on the robot arm to project the part of the work trajectory to the surface of the workpiece in real time, the depth camera detects the movement of the fingertip to complete the work trajectory, and the completed work trajectory is projected by the projector to the surface of the workpiece , The depth camera detects the fingertip pressing the completed operation track, starts the projector to project the setting page, performs the setting operation of the completed operation track, checks that the completed operation track is satisfied, and records the completed operation track as the teaching operation track .
本發明機器手臂作業軌跡的教導方法,指尖持續移動預期作 業軌跡,直到深度相機偵測到指尖離開工件,判斷完成作業軌跡。指尖按壓完成的作業軌跡標示的特定線段,以啟動投射設定頁面。設定頁面進行設定作業時,利用深度相機偵測指尖按壓設定頁面,控制投影機投射預設的參數調整頁面,供調整完成的作業軌跡的作業參數,或投射預設的編輯調整頁面,供修正或刪除完成的作業軌跡。 In the teaching method of the robot arm operating track of the present invention, the fingertip continues to move and the expected action is Work trajectory until the depth camera detects that the fingertip has left the workpiece and judges the completion of the work trajectory. Press the specific line segment marked by the completed task track with your fingertip to activate the projection setting page. When setting the setting page, use the depth camera to detect the fingertip and press the setting page to control the projector to project the preset parameter adjustment page for adjusting the operation parameters of the completed job track, or project the preset editing adjustment page for correction Or delete the completed job track.
本發明機器手臂作業軌跡的教導方法,在修正完成的作業軌跡時,深度相機偵測到指尖按壓在作業軌跡需要修正的部位,按壓作業軌跡的預設長度線段標示為可移動的狀況,預設長度線段並隨偵測指尖的移動位置移動。當檢查不滿意該完成的作業軌跡時,按壓編輯調整頁面的刪除選項,刪除該完成的作業軌跡,重新教導作業軌跡。 In the teaching method of the robot arm operating trajectory of the present invention, when the completed operating trajectory is corrected, the depth camera detects that the fingertip is pressed on the part of the operating trajectory that needs to be corrected, and the preset length line segment of the pressed operating trajectory is marked as a movable condition. Set the length of the line segment and move it with the movement position of the fingertip. When the check is not satisfied with the completed job trajectory, press the delete option on the edit adjustment page to delete the completed job trajectory and teach the job trajectory again.
本發明利用深度相機偵測到指尖離開參數調整頁面或編輯調整頁面,控制投影機關閉投射參數調整頁面或編輯調整頁面。在深度相機偵測到指尖按壓工件周圍空白處,控制投影機關閉投射設定頁面。 The present invention uses the depth camera to detect that the fingertip leaves the parameter adjustment page or edit adjustment page, and controls the projector to close the projection parameter adjustment page or edit the adjustment page. When the depth camera detects that the fingertip is pressed against the blank space around the workpiece, control the projector to close the projection setting page.
10‧‧‧教導系統 10‧‧‧Teaching system
11‧‧‧機器手臂 11‧‧‧Robot arm
12‧‧‧深度相機 12‧‧‧Depth camera
13‧‧‧投影機 13‧‧‧Projector
14‧‧‧控制裝置 14‧‧‧Control device
15‧‧‧工具 15‧‧‧Tools
16‧‧‧固定端 16‧‧‧Fixed end
17‧‧‧端末部 17‧‧‧End
18‧‧‧軸節 18‧‧‧Shaft section
19‧‧‧致動馬達 19‧‧‧Actuating motor
20‧‧‧工件 20‧‧‧Workpiece
21‧‧‧指尖 21‧‧‧Fingertips
22‧‧‧作業軌跡 22‧‧‧Operation trajectory
23‧‧‧特定線段 23‧‧‧Specific line segment
30‧‧‧設定頁面 30‧‧‧Setting page
31‧‧‧調整頁面 31‧‧‧Adjust the page
32‧‧‧移動速度參數調整頁面 32‧‧‧Movement speed parameter adjustment page
33‧‧‧編輯調整頁面 33‧‧‧Edit adjustment page
34‧‧‧預設長度線段 34‧‧‧Line segment with preset length
圖1 為本發明機器手臂的教導系統的示意圖。 Figure 1 is a schematic diagram of the teaching system of the robotic arm of the present invention.
圖2 為本發明機器手臂的教導作業軌跡的示意圖。 Fig. 2 is a schematic diagram of the teaching operation trajectory of the robot arm of the present invention.
圖3 為本發明機器手臂完成作業軌跡的示意圖。 Figure 3 is a schematic diagram of the robot arm of the present invention completing the work trajectory.
圖4 為本發明作業軌跡的設定頁面的示意圖。 Fig. 4 is a schematic diagram of the setting page of the work track of the present invention.
圖5 為本發明修正作業軌跡的示意圖。 Fig. 5 is a schematic diagram of the modified operation trajectory of the present invention.
圖6 為本發明機器手臂作業軌跡的教導方法的流程圖。 Fig. 6 is a flow chart of the teaching method of the robot arm operating trajectory according to the present invention.
有關本發明為達成上述目的,所採用之技術手段及其功效,茲舉較佳實施例,並配合圖式加以說明如下。 With regard to the technical means adopted by the present invention in order to achieve the above-mentioned objects and their effects, preferred embodiments are described below in conjunction with the drawings.
請同時參考圖1至圖3,圖1為本發明機器手臂的教導系統的示意圖,圖2為本發明機器手臂的教導作業軌跡的示意圖,圖3為本發明機器手臂完成作業軌跡的示意圖。圖1中,本發明的教導系統10,主要包含機器手臂11、深度相機12、投影機13、控制裝置14及工具15。其中,機器手臂11可為多軸節形式,一端為固定不動的固定端16,另一端為活動的端末部17,固定端16與端末部17間的各軸節18設致動馬達19。端末部17設有工具15,工具15的兩側並固定深度相機12及投影機13。機器手臂11另連接至控制裝置14,由控制裝置14控制轉動各軸節18的致動馬達19,移動機器手臂11的端末部17,承載工具15、深度相機12及投影機13移動。控制裝置14控制深度相機12拍攝工件20的景深影像,再將深度相機12拍攝的影像傳輸至控制裝置14進行影像處理,利用投影機13投射影像至工件20表面及附近。
Please refer to FIGS. 1 to 3 at the same time. FIG. 1 is a schematic diagram of the teaching system of the robotic arm of the present invention, FIG. 2 is a schematic diagram of the teaching operation trajectory of the robotic arm of the present invention, and FIG. In FIG. 1, the
本發明機器手臂的教導系統,以教導製鞋塗膠的作業軌跡為例,但本發明包含且不限於教導製鞋塗膠,亦可利用在教導例如工件研磨等機械加工的作業軌跡。本發明在進行教導作業軌跡時,首先利用控制裝置14控制機器手臂11移動端末部17,承載深度相機12,並控制深度相機12拍攝例如鞋面的工件20的景深影像,將拍攝的影像傳輸至控制裝置14進行影像處理,建立工件20的3D模型本發明機器手臂的教導系統,以教導製鞋塗膠的作業軌跡為例,但本發明包含且不限於教導製鞋塗膠,亦可利用在教導例如工件研磨等機械加工的作業軌跡。本發明在進行教導作業軌跡時,首先利用控制裝置14控制機器手臂11移動端末部17,承載深度相機12,
並控制深度相機12拍攝例如鞋面的工件20的景深影像,將拍攝的影像傳輸至控制裝置14進行影像處理,建立工件20的3D模型。
The teaching system of the robot arm of the present invention takes teaching the operation trajectory of shoe-making glue as an example, but the present invention includes but is not limited to teaching shoe-making glue, and can also be used to teach the operation track of machining such as workpiece grinding. When teaching the operation trajectory in the present invention, firstly, the
圖2中,在本發明的教導系統10,操作者利用指尖21,在工件20的表面沿著預期的作業軌跡22移動,進行教導作業軌跡22,機器手臂11移動端末部17承載深度相機12,持續追蹤拍攝指尖21移動位置,並將拍攝影像傳輸至控制裝置14經影像處理,計算及記錄指尖21移動位置的座標,形成部分作業軌跡22,控制裝置14再傳輸部分作業軌跡22至投影機13,由投影機13即時將部分作業軌跡22投射至工件20的表面。因此,操作者在教導作業軌跡22過程就可即時看到已完成的部分作業軌跡22,而可在後續教導作業軌跡22過程中隨時參考,例如參考討作業軌跡22與邊緣維持一致性的距離,以免產生不均勻的塗膠。
In FIG. 2, in the
當操作者持續移動指尖21,直到完成作業軌跡22時,操作者將指尖21離開工件20,深度相機12一旦偵測到指尖21離開工件20,判斷作業軌跡22完成,如圖3中,控制裝置14控制投影機13將完成的作業軌跡22投射至工件20的表面。操作者可藉按壓投射完成的作業軌跡22,進行修正作業軌跡22及作業參數的設定,亦可在投射的作業軌跡22上標示出特定線段23,以提示操作者進行作業參數的設定或修正作業軌跡22。本實施例雖以星記號標示特定線段23,但包含且不限於利用記號標示,亦可利用不同的顏色或線型等標示。
When the operator continues to move the
請同時參考圖4與圖5,圖4為本發明作業軌跡的設定頁面的示意圖,圖5為本發明修正作業軌跡的示意圖。圖4中,當投影機13投射完成的作業軌跡22至工件20的表面時,操作者利用指尖21按壓作業軌跡22上
線特定段23,深度相機12持續拍攝影像傳輸至控制裝置14,一旦偵測到指尖21按壓在線特定段23,控制裝置14將控制投影機13投射預設的設定頁面30至工件20周圍,設定頁面30包含作業參數的設定及修正或刪除預期的作業軌跡22等設定選項。當操作者利用指尖21按壓例如膠量參數的設定A時,深度相機12一旦偵測到指尖21按壓在設定A,控制裝置14將控制投影機13投射預設的膠量參數調整頁面31,膠量參數調整頁面31顯示預設的單位塗膠量,並可藉由按壓上下調整鈕,由深度相機12偵測指尖21按壓,調整適當塗膠量,調整完後,指尖21離開膠量參數調整頁面31預設時間,控制裝置14將控制投影機13關閉膠量參數調整頁面31。
Please refer to FIG. 4 and FIG. 5 at the same time. FIG. 4 is a schematic diagram of the setting page of the work track of the present invention, and FIG. 5 is a schematic diagram of the correction work track of the present invention. In FIG. 4, when the
同理,當操作者利用指尖21按壓例如移動速度參數的設定B時,深度相機12一旦偵測到指尖21按壓在設定B,控制裝置14將控制投影機13投射預設的移動速度參數調整頁面32,移動速度參數調整頁面32顯示預設的移動速度,並可藉由按壓上下調整鈕,由深度相機12偵測指尖21按壓,調整適當移動速度,調整完後,指尖21離開移動速度參數調整頁面32預設時間,控制裝置14將控制投影機13關閉移動速度參數調整頁面32。
Similarly, when the operator uses the
此外,當操作者認為作業軌跡22不夠完善需要再編輯時,利用指尖21按壓例如編輯功能的設定C時,深度相機12一旦偵測到指尖21按壓在設定C,控制裝置14將控制投影機13投射預設的編輯調整頁面33,編輯調整頁面33顯示修正及刪除選項,當按壓刪除選項,由深度相機12偵測指尖21按壓刪除,控制裝置14將刪除已完成的作業軌跡22,並控制投影機13關閉編輯調整頁面33、設定頁面30及作業軌跡22的投影,重新教導作業軌跡22。
In addition, when the operator thinks that the
當按壓修正選項,由深度相機12偵測指尖21按壓修正,控制裝置14將控制投影機13投影已完成的作業軌跡22。圖5中,操作者利用指尖21按壓已完成的作業軌跡22需要修正的部位,深度相機12一旦偵測到指尖21按壓在作業軌跡22,控制裝置14將作業軌跡22按壓鄰近預設長度線段34設為標示可移動的狀況,並根據深度相機12藉由偵測指尖21的移動位置,控制投影機13投影連續性作業軌跡22移動預設長度線段34至指尖21的移動位置。調整完後,指尖21離開預設長度線段34預設時間,控制裝置14將控制投影機13關閉編輯調整頁面33。如不須再調整修正,只要利用指尖21按壓工件20周圍空白處,深度相機12一旦偵測到指尖21按壓在空白處,就會控制投影機13關閉設定頁面30,並記錄調整修正的作業軌跡22為教導作業軌跡22,以完成教導機器手臂11。
When the correction option is pressed, the
如圖6所示,為本發明機器手臂作業軌跡的教導方法的流程圖。本發明機器手臂作業軌跡的教導方法的詳細步驟說明如下:首先步驟S1,開始進行機器手臂的教導作業;在步驟S2,機器手臂移動深度相機拍攝工件,建立工件3D的模型;步驟S3,利用指尖在工件3D的模型的表面移動預期的作業軌跡;在步驟S4,深度相機持續偵測指尖移動的位置,形成部分的作業軌跡;步驟S5,利用機器手臂上的投影機即時投射部分的作業軌跡至工件表面;步驟S6,根據投射部分的作業軌跡,移動指尖完成作業軌跡,並將完成的作業軌跡投影至工件表面;步驟S7,按壓完成的作業軌跡的特定線段;步驟S8,由深度相機偵測指尖按壓特定線段,啟動投影機投射設定頁面;步驟S9,由深度相機偵測指尖選擇按壓設定頁面,進行修正軌跡或設定作業參數;步驟S10,檢查是否需要刪除完成的作業軌跡?如 果不滿意作業軌跡,則回到步驟S3,重複前述步驟,重新教導作業軌跡,如果滿意作業軌跡,則到步驟S11,紀錄完成的作業軌跡作為教導的作業軌跡,完成教導機器手臂。 As shown in Fig. 6, it is a flow chart of the teaching method of the robot arm operating trajectory of the present invention. The detailed steps of the teaching method of the robot arm operating trajectory of the present invention are described as follows: first, step S1, start the teaching operation of the robot arm; in step S2, the robot arm moves the depth camera to shoot the workpiece, and builds a 3D model of the workpiece; step S3, use the finger The tip moves the expected operation trajectory on the surface of the 3D model of the workpiece; in step S4, the depth camera continuously detects the position of the fingertip movement to form part of the operation trajectory; step S5, use the projector on the robotic arm to project part of the operation in real time Trajectory to the surface of the work piece; step S6, move the fingertip to complete the work trajectory according to the projected part of the work trajectory, and project the completed work trajectory onto the surface of the work piece; step S7, press the specific line segment of the completed work trajectory; step S8, from the depth The camera detects that the fingertip presses a specific line segment to start the projector projection setting page; step S9, the depth camera detects the fingertip and selects to press the setting page to correct the trajectory or set the operation parameters; step S10, check whether the completed operation trajectory needs to be deleted ? like If the job trajectory is unsatisfactory, return to step S3, repeat the previous steps, and re-teach the job trajectory. If the job trajectory is satisfied, go to step S11, record the completed job trajectory as the taught job trajectory, and complete the teaching robot arm.
因此,本發明機器手臂作業軌跡的教導系統及方法,利用在機器手臂上設置深度相機及投影機,就可藉由投影機即時投射深度相機偵測指尖的預期作業軌跡,讓教導過程參考,達到維持教導的一致性的目的。本發明利用指尖取代工具,並由投影機投射設定頁面,藉深度相機偵測選擇的設定頁面,讓教導過程快速設定作業參數,達到簡化教導的作業的目的。此外,本發明機器手臂作業軌跡的教導方法,利用深度相機偵測按壓投影機投射作業軌跡的特定線段,啟動投影機投射設定頁面,進行修正或設定作業軌跡,並在設定修正作業軌跡時,利用深度相機偵測按壓投影機投射作業軌跡,使作業軌跡按壓預設長度線段可隨指尖移動,以利進行修正,達到提升教導作業效率的目的。 Therefore, the robot arm operating trajectory teaching system and method of the present invention use a depth camera and a projector on the robot arm, and the depth camera can be projected by the projector to detect the expected operating trajectory of the fingertip, so that the teaching process can be used as a reference. To achieve the purpose of maintaining the consistency of teaching. The present invention uses fingertips instead of tools, and the projector projects the setting page, and the depth camera detects the selected setting page, so that the teaching process can quickly set the operating parameters, so as to achieve the purpose of simplifying the teaching operation. In addition, the teaching method of the robot arm operating trajectory of the present invention uses a depth camera to detect the specific line segment of the projected operating trajectory by pressing the projector, activates the projector to project the setting page, corrects or sets the operating trajectory, and uses it when setting the corrected operating trajectory The depth camera detects and presses the projector to project the job trajectory, so that the job trajectory can move with the fingertip by pressing the preset length line segment to facilitate correction and achieve the purpose of improving the teaching efficiency.
以上所述者,僅為用以方便說明本發明之較佳實施例,本發明之範圍不限於該等較佳實施例,凡依本發明所做的任何變更,於不脫離本發明之精神下,皆屬本發明申請專利之範圍。 The above are only for the convenience of describing the preferred embodiments of the present invention. The scope of the present invention is not limited to these preferred embodiments. Any changes made in accordance with the present invention will not depart from the spirit of the present invention. , All belong to the scope of the patent application of the present invention.
11‧‧‧機器手臂 11‧‧‧Robot arm
12‧‧‧深度相機 12‧‧‧Depth camera
13‧‧‧投影機 13‧‧‧Projector
14‧‧‧控制裝置 14‧‧‧Control device
20‧‧‧工件 20‧‧‧Workpiece
21‧‧‧指尖 21‧‧‧Fingertips
22‧‧‧作業軌跡 22‧‧‧Operation trajectory
23‧‧‧特定線段 23‧‧‧Specific line segment
30‧‧‧設定頁面 30‧‧‧Setting page
31‧‧‧調整頁面 31‧‧‧Adjust the page
32‧‧‧移動速度參數調整頁面 32‧‧‧Movement speed parameter adjustment page
33‧‧‧編輯調整頁面 33‧‧‧Edit adjustment page
Claims (13)
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JP6723814B2 (en) * | 2016-04-28 | 2020-07-15 | キヤノン株式会社 | Information processing apparatus, control method thereof, program, and storage medium |
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EP1215017B1 (en) * | 2000-12-07 | 2007-04-04 | Fanuc Ltd | Robot teaching apparatus |
CN102470530A (en) * | 2009-11-24 | 2012-05-23 | 株式会社丰田自动织机 | Method of producing teaching data of robot and robot teaching system |
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