WO2023071481A1

WO2023071481A1 - Method and apparatus for collecting teaching trajectory points, and robotic arm, system and medium

Info

Publication number: WO2023071481A1
Application number: PCT/CN2022/114889
Authority: WO
Inventors: 李文智; 解俊杰; 郎需林; 蔡同彪; 刘主福; 姜宇; 刘培超
Original assignee: 深圳市越疆科技有限公司
Priority date: 2021-10-28
Filing date: 2022-08-25
Publication date: 2023-05-04
Also published as: CN113696190A; CN113696190B

Abstract

The present application relates to a method and apparatus for collecting teaching trajectory points, and a robotic arm, a system and a medium. The method comprises: collecting a photographed image which includes a calibration target; acquiring the first coordinates, under a camera coordinate system of a camera, of each positioning point in the photographed image; acquiring the second coordinates of each positioning point under a teaching tool coordinate system which is pre-constructed for a teaching tool, and solving a first transformation matrix between the teaching tool coordinate system and the camera coordinate system on the basis of the first coordinates of each positioning point and the second coordinates of each positioning point; and acquiring the third coordinates of a teaching tip under the teaching tool coordinate system, transforming the third coordinates of the teaching tip into fourth coordinates under a world coordinate system on the basis of the first transformation matrix, and a pre-calibrated second transformation matrix between the camera coordinate system and the world coordinate system, and taking the fourth coordinates as the coordinates of one teaching trajectory point of the teaching tip. By means of the present application, the costs can be saved, such that the speed of promoting robot teaching can be accelerated.

Description

A teaching track point acquisition method, device, mechanical arm, system and medium

This application claims the priority of Chinese application number 202111263269.5 filed on October 28, 2021.

technical field

The present application relates to the field of teaching, and in particular to a method, device, mechanical arm, system and medium for collecting teaching track points.

Background technique

Robots are more and more widely used in various industries. Compared with manual operations, robot operations have greatly improved the accuracy and efficiency of operations. For some scenarios that require consumables, such as painting, dispensing, welding, etc., robots The operation can also greatly improve the utilization rate of consumables and reduce the waste of consumables. In addition, the machine has many advantages in terms of large working space and improved working environment for workers.

The prerequisite for the robot to complete precise movements is that the operator has strong programming ability, completes the motion control program programming, and inputs it into the robot, which has very high requirements for the operator, and it is generally difficult for workers on the production line to complete complex Action programming, which in turn limits the application scenarios of the robot.

In order to control the robot more easily, the prior art usually uses a teaching tool or the free end of the robot for teaching, but in the prior art, the robot teaching system usually needs to use a three-dimensional space attitude acquisition system (such as a motion capture camera or laser sensor, etc.) to capture the spatial attitude of the teaching tool, and then convert it to the position of the teaching point according to the spatial attitude. However, due to the extremely high price of the motion capture camera and the laser light sensor, the cost of teaching remains high and increases. This not only increases the burden on enterprises, but also hinders the promotion of robot applications.

technical problem

The present application provides a teaching track point acquisition method, device, mechanical arm, system and medium to solve the problem of high cost in the prior art of using a spatial attitude acquisition system during teaching.

technical solution

In the first aspect, the present application provides a method for collecting teaching track points, the method is used to determine the teaching track points when the teaching tool is teaching, and the teaching tool includes a connected calibration board and teaching components, The calibration board includes at least three positioning points, the teaching part includes a teaching tip, and there is an angle between the teaching part and the plane where the calibration board is located, and the method includes:

Collecting the photographed image comprising the calibration plate through a camera;

Acquiring the first coordinates of each of the positioning points in the captured image under the camera coordinate system of the camera;

Obtaining the second coordinates of each of the positioning points in the teaching tool coordinate system pre-built for the teaching tool, and solving the display according to the first coordinates of each of the positioning points and the second coordinates of each of the positioning points. teaching a first transformation matrix between the tool coordinate system and the camera coordinate system;

Acquiring the third coordinates of the teaching tip in the teaching tool coordinate system, according to the first transformation matrix and the pre-calibrated second transformation matrix between the camera coordinate system and the world coordinate system, transform the display The third coordinate of the teaching tip is transformed into a fourth coordinate in the world coordinate system, and the fourth coordinate is used as a coordinate of a teaching track point of the teaching tip.

In a second aspect, the present application provides a teaching method, the method comprising:

Acquiring at least one teaching trajectory point according to the method described in the first aspect;

Transform the fourth coordinate of the teaching track point into the fifth coordinate in the mechanical arm coordinate system according to the fourth transformation matrix between the pre-calibrated world coordinate system and the mechanical arm coordinate system of the mechanical arm, and convert the fourth coordinate of the teaching track point into the fifth coordinate in the mechanical arm coordinate system, and The five coordinates are used as the coordinates of a recurring trajectory point of the teaching tip.

In a third aspect, the present application provides a method for controlling motion of a robotic arm, the method comprising:

generating the fifth coordinate of the recurring trajectory point of the teaching tip according to the method described in the second aspect;

A motion control instruction of the robotic arm is generated according to the fifth coordinate of the recurring track point.

In a fourth aspect, the present application provides a device for collecting teaching track points, including a unit for executing the method for collecting teaching track points as described in the first aspect.

In a fifth aspect, the present application provides a teaching device, including a unit for performing the teaching method as described in the second aspect.

In a sixth aspect, the present application provides a robotic arm, including a unit for executing the method for controlling motion of a robotic arm as described in the third aspect.

In a seventh aspect, the present application provides a controller, including a processor, a communication interface, a memory, and a communication bus, wherein, the processor, the communication interface, and the memory complete mutual communication through the communication bus;

memory for storing computer programs;

The processor is configured to implement the steps of the teaching track point acquisition method as described in the first aspect, or the steps of the teaching method as described in the second aspect, or the steps of the teaching method as described in the third aspect when executing the program stored in the memory. The steps of the motion control method of the mechanical arm.

In an eighth aspect, the present application provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the teaching track point acquisition method as described in the first aspect are implemented, or as described in The steps of the teaching method described in the second aspect, or the steps of the robot arm motion control method described in the third aspect.

In a ninth aspect, the present application provides a teaching system, including a teaching tool, a camera, and a controller, the camera is connected to the controller, and the teaching tool includes a connected calibration board and teaching components, so The calibration board includes at least three positioning points, the teaching part includes a teaching tip, and there is an included angle between the teaching part and the plane where the calibration board is located, and the controller is used to execute the method described in the first aspect. The steps of the teaching trajectory point acquisition method, or the steps of the teaching method described in the second aspect, or the steps of the robot arm motion control method described in the third aspect.

Beneficial effect

Compared with the prior art, the above-mentioned technical solutions provided by the embodiments of the present application have the following advantages:

The trajectory point acquisition method proposed in the embodiment of the present application can locate the position of the teaching tip on the calibration board by using the two-dimensional captured image taken by the camera, and collect the trajectory points of the teaching tip in the world coordinate system, which is different from the existing Compared with technology, the three-dimensional space attitude acquisition system (such as motion capture camera or laser sensor, etc.) can be omitted. Compared with these three-dimensional space attitude acquisition systems, the cost of the camera can greatly save costs, and then the speed of robot teaching can be quickly promoted. .

In addition, when the three-dimensional space attitude acquisition system is installed, in order to reflect the three-dimensional acquisition, the acquisition equipment is generally set within a certain range, such as laser acquisition, which requires at least two laser sensors; motion capture cameras usually require two cameras, these three-dimensional space When the attitude acquisition system is installed, an additional complex installation structure and frame need to be set up, while the camera only needs to be installed in a simple position. Therefore, it also greatly saves the complexity of the installation, and the requirements for the site, It can also be quickly deployed in confined spaces.

Description of drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description serve to explain the principles of the application.

In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, In other words, other drawings can also be obtained from these drawings without paying creative labor.

FIG. 1 is a schematic structural diagram of a teaching device provided in an embodiment of the present application;

Fig. 2 is a schematic structural diagram of a teaching tool provided by an embodiment of the present application;

Fig. 3 is a top view structural schematic diagram of Fig. 2;

Fig. 4 is a top view of a teaching tool provided by another embodiment of the present application;

FIG. 5 is a schematic flow diagram of a teaching trajectory point acquisition method provided in an embodiment of the present application;

FIG. 6 is a schematic structural diagram of a teaching tool provided by an embodiment of the present application;

Fig. 7 is another schematic structural diagram of the teaching tool provided by the embodiment of the present application;

FIG. 8 is a schematic flow diagram of a method for acquiring teaching trajectory points provided by another embodiment of the present application;

Fig. 9 is a schematic flow chart of a teaching method provided by the embodiment of the present application;

FIG. 10 is a schematic flowchart of a method for controlling the motion of a robotic arm provided in an embodiment of the present application;

Fig. 11 is a structural block diagram of a collection device for teaching trajectory points provided by an embodiment of the present application;

FIG. 12 is a structural block diagram of a teaching device provided by an embodiment of the present application;

FIG. 13 is a structural block diagram of a mechanical arm provided in an embodiment of the present application;

FIG. 14 is a structural block diagram of a controller provided in an embodiment of the present application;

FIG. 15 is a structural block diagram of a teaching system provided by an embodiment of the present application.

BEST MODE FOR CARRYING OUT THE INVENTION

In order to make the purposes, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments It is a part of the embodiments of this application, but not all of them. Based on the embodiments in the present application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present application.

an embodiment

FIG. 1 is a schematic structural diagram of a teaching device provided in an embodiment of the present application.

In FIG. 1 , 100 is a mechanical arm, 200 is an operating table, and the operating table 200 may be a platform on which parts or equipment to be processed are placed. The travel of the end of the mechanical arm 100 can cover the operation table 200 , and the end of the robot arm 100 moves on the operation table 200 to perform related operations on parts or equipment to be processed. The upper surface of the operating surface 200 may be referred to as an operating surface.

In specific installation, in one case, the mechanical arm 100 can be directly fixedly installed on the operating table 200, and in another case, the mechanical arm 100 can not be fixed on the operating table 200, but is located next to the operating table 200 , is suspended above the operating table 200 through a bracket or other mounting parts, and can also move on the operating table 200 .

In the embodiment of the present application, the camera 11 may be a common optical imaging lens. In order to improve the range of trajectory acquisition, a shooting distance is set between the camera 11 and the operating table 200, as shown in Figure 1, there is a height difference between the camera 11 and the operating table 200, so that the operating table 200 can be located on the within the shooting range of the camera 11. According to different actual conditions of the focal length of the camera 11 , the shooting range of the camera 11 may cover part or all of the area on the operating table 200 . In one embodiment, the shooting range of the camera 11 covers the entire area of the operation table 200. In another embodiment, an effective operation area is set on the operation table 200, and the area of the effective operation area is smaller than the entire area of the operation table 200, and then The shooting range of the camera 11 may only cover the effective operation area.

In FIG. 1 , the postures of the teaching tool at two different moments at time n and time m are shown. FIG. 2 is a schematic structural diagram of a teaching tool provided by an embodiment of the present application, and FIG. 3 is a schematic top view structural diagram of FIG. 2 .

As shown in Figures 2 and 3, the teaching tool 12 includes: a calibration board 121 and a teaching part 122, the calibration board 121 is connected with the teaching part 122, and the teaching part 122 is connected to the place where the calibration board 121 is located. There is an included angle between the planes, the calibration plate 121 contains calibration graphics, and the teaching component 122 is provided with a teaching tip 123 . Preferably, the calibration figure is arranged on one side of the calibration board, and the teaching component is fixed on the other side of the calibration board. Preferably, the shape of the teaching component 122 is specifically a rod shape, so as to be convenient for the user to hold.

There is an included angle between the teaching part 122 and the plane where the calibration board 121 is located, indicating that the teaching part is not parallel to the plane where the calibration board is located, and the plane where the teaching part 122 and the calibration board 121 are located can be 15 degrees , 30 degrees, 60 degrees and 90 degrees, etc., and the angle between the teaching component 122 and the calibration plate 121 can be set according to the actual site needs. Optionally, in the embodiment of the present application, as shown in FIG. 2 , the teaching component 122 is perpendicular to the calibration plate 121 . In addition, in the embodiment of the present application, there is no limitation on the size of the area of the calibration board 121, the length of the teaching part 122, and the proportional relationship between the side length of the calibration board 121 and the length of the teaching part 121. Personnel can be set freely according to needs.

Further, the teaching component 122 is provided with an indicator light 124 and a collection button 125 . The collection button 125 is used to send a collection trigger signal. The indicator light 124 is used to indicate the working state. For example, the indicator light is on when working, and the indicator light is off when not working.

In the embodiment of the present application, positioning points are arranged on the surface of the calibration plate 121, and the number of positioning points is at least three. The positioning points on the calibration plate are arranged at equal intervals. Specifically, in this embodiment, as shown in FIG. 3 , the calibration board is provided with a black and white checker grid array pattern, and the black and white checker grid array pattern is formed by an array arrangement of a plurality of black checker grids and white checker grids. Vertices of black and/or white checkerboards in the black and white checkerboard array pattern are anchor points.

Or in another embodiment, referring to FIG. 4 , the calibration plate 121 is provided with an array pattern of solid circles at equal intervals, and the array pattern of solid circles at equal intervals is formed by a plurality of solid circles arranged in an array at equal intervals. The center of the solid circle is the positioning point.

In the embodiment of the present application, the end of the teaching component 122 away from the calibration plate 121 is a teaching tip 123 , and in practical applications, the teaching tip 123 is used to indicate the position of the teaching point.

In the embodiment of the present application, as shown in Figure 2, the calibration plate 121 in the teaching tool can be directly fixed to the teaching component 122, and considering the positional accuracy between the calibration plate 121 and the teaching component 122, the general calibration plate 121 and the teaching part 122 are fixed together by welding. Alternatively, it may also be fixed by buckles, or by fasteners, such as screws.

In the scene shown in Figure 1, the coordinate systems involved include the world coordinate system, the camera coordinate system, the teaching tool coordinate system and the manipulator coordinate system. As shown in Figure 1, the world coordinate system in the figure is (x1, y1, z1), the camera coordinate system is (x2, y2, z2), the coordinate system of the teaching tool is (x3, y3, z3) and the robot arm coordinates Department(x4, y4, z4). In this application, for simplicity of description, the transformation matrix between the teaching tool coordinate system and the camera coordinate system is defined as the first transformation matrix, and the transformation matrix between the camera coordinate system and the world coordinate system is defined as the second transformation matrix. The teaching tool The transformation matrix between the coordinate system and the world coordinate system is the third transformation matrix, and the transformation matrix between the world coordinate system and the manipulator coordinate system is the fourth transformation matrix.

The teaching tool coordinate system refers to the coordinate system established for the teaching tool in advance. For example, in this embodiment, the center point of the black and white chess grid array pattern on the calibration board of the teaching tool is the origin, the length direction of the calibration board is the X-axis direction, the width direction of the calibration board is the Y-axis direction, and the teaching components The direction is the Z-axis direction, and the teaching tool coordinate system is established. Since the positioning point on the teaching tool and the relative position between the teaching tip and the origin of the teaching tool coordinate system are fixed, after the teaching tool coordinate system is established, regardless of the posture of the teaching tool in space Changes, the positioning point on the teaching tool and the coordinates of the teaching tip in the teaching tool coordinate system are fixed. In the embodiment of the present application, the positioning point on the teaching tool and the coordinates of the teaching tip in the teaching tool coordinate system are determined and stored in advance.

After the camera position is fixed, the second transformation matrix between the camera coordinate system and the world coordinate system is fixed. In the embodiment of the present application, the second transformation matrix between the camera coordinate system and the world coordinate system is determined in advance, which can be specifically determined by calibrating the external parameters of the camera. It should be noted that the calibration process of the camera extrinsic parameters is well known to those skilled in the art, and this application does not specifically limit it.

Further, after the robot arm is fixed, the fourth transformation matrix between the world coordinate system and the robot arm coordinate system is fixed. In the embodiment of the present application, the fourth transformation matrix between the world coordinate system and the manipulator coordinate system is determined in advance. Specifically, the coordinates of at least 3 points in the world coordinate system are determined first (for example, in this embodiment, the number of points is 13, the more the number of points, the higher the accuracy, and the greater the corresponding calculation amount), then control the mechanical arm to move to the above-mentioned at least 3 points, and record the coordinates of the at least 3 points in the mechanical arm coordinate system, and then The fourth conversion matrix can be calculated according to the coordinates of the at least three points in the world coordinate system and the coordinates in the robot arm coordinate system.

During the teaching process, since the posture of the teaching tool in space changes, the first transformation matrix between the teaching tool coordinate system and the camera coordinate system changes. In this application, the camera collects the coordinates of the positioning point on the teaching tool in the camera coordinate system. Then, the first transformation matrix is solved according to the coordinates of the positioning point in the camera coordinate system and the coordinates of the positioning point in the teaching tool coordinate system.

Referring to Fig. 5 , the embodiment of the present application proposes a method for collecting teaching track points, which is used to determine the teaching track points when the teaching tool is teaching. The teaching tool includes a connected calibration board and teaching components. The calibration board includes at least three positioning points, the teaching part includes a teaching tip, and there is an included angle between the teaching part and the plane where the calibration board is located. The method is applied in a controller, and the method includes the following steps S101-S104.

S101. Collect a photographed image including the calibration plate by using a camera.

In a specific implementation, the camera faces the operation table, the teaching tool moves on the operation table, and the captured image including the calibration plate is collected by the camera. There are two acquisition methods, the first is to control the camera to shoot directly to obtain the captured image. The second is to control the camera to shoot video in real time, and intercept at least one frame of image from the video stream of the camera to obtain the captured image.

In an embodiment, the above step S101 specifically includes the following steps S201-S202.

S201. Determine whether a collection trigger signal is received.

In a specific implementation, the acquisition trigger signal is used to trigger the acquisition and shooting of images. The acquisition trigger signal can be input by the user. For example, in one embodiment, a collection button is provided on the teaching part of the teaching tool, and the user can send a collection trigger signal by pressing the collection button. Correspondingly, the controller judges (monitors) whether the acquisition trigger signal is received in real time.

In this embodiment, the indicator light on the teaching component is also used to indicate the acquisition status, for example, when it is detected that the acquisition button is pressed, the indicator light is on, otherwise the indicator light is off.

S202. If a collection trigger signal is received, use a camera to collect at least one photographed image including the calibration plate.

In a specific implementation, if the acquisition trigger signal is received, at least one photographed image including the calibration plate is acquired through the camera. For example, one sheet or multiple sheets may be collected.

In an embodiment, the above step S202 specifically includes the following steps S301-S303.

S301. Determine whether the duration of the acquisition trigger signal is greater than a preset time threshold.

In a specific implementation, the duration of the acquisition trigger signal is measured in real time, and it is judged whether the duration of the acquisition trigger signal is greater than a preset time threshold. It should be noted that the time threshold can be set by those skilled in the art, for example, it can be set to 0.5s, which is not specifically limited in this application.

S302. If the duration of the acquisition trigger signal is greater than a preset time threshold, acquire a plurality of photographed images including the calibration plate through the camera.

In specific implementation, if the duration of the acquisition trigger signal is greater than the preset time threshold, at this time, enter the continuous acquisition mode, that is, collect a plurality of photographed images containing the calibration plate through the camera, for example, it can be preset every interval One piece is collected at time, for example, one piece is collected every 0.5s, that is, one piece is collected when the collection trigger signal is just received, and one piece is collected every 0.5s thereafter.

Correspondingly, the long press of the acquisition button by the user can make the duration of the acquisition trigger signal longer than the preset time threshold, thereby controlling the continuous acquisition of the captured images.

S303. If the duration of the acquisition trigger signal is not greater than the preset time threshold, acquire a photographed image including the calibration plate through the camera.

In a specific implementation, if the duration of the acquisition trigger signal is not greater than the preset time threshold, at this time, enter the single-image acquisition mode, that is, collect a photographed image containing the calibration plate through the camera, for example, it can be used just now Acquire a shot image when receiving the acquisition trigger signal.

Correspondingly, the user can click the acquisition button to make the duration of the acquisition trigger signal not greater than the preset time threshold, so as to control the acquisition of only one photographed image.

S102. Acquire first coordinates of each of the positioning points in the captured image under the camera coordinate system of the camera.

In specific implementation, first establish an image coordinate system in the captured image, and obtain the coordinates of each of the positioning points in the captured image in the image coordinate system, and then set each of the positioning points in the image coordinate system according to the internal reference of the camera The coordinates of are converted to coordinates in the camera coordinate system of the camera. It should be noted that the process of calibrating internal camera parameters is well known to those skilled in the art, and this application does not specifically limit it.

In this application, for simplicity of description and distinction, the coordinates of the positioning point in the camera coordinate system of the camera are defined as the first coordinates. Therefore, through step S102, the first coordinates of each of the positioning points in the camera coordinate system can be respectively obtained.

S103. Obtain the second coordinates of each of the positioning points in the teaching tool coordinate system pre-built for the teaching tool, and solve the problem according to the first coordinates of each of the positioning points and the second coordinate of each of the positioning points. A first transformation matrix between the teaching tool coordinate system and the camera coordinate system.

In a specific implementation, the teaching tool coordinate system refers to a coordinate system established for the teaching tool in advance. Since the positioning point on the teaching tool and the relative position between the teaching tip and the origin of the teaching tool coordinate system are fixed, after the teaching tool coordinate system is established, regardless of the posture of the teaching tool in space Changes, the positioning point on the teaching tool and the coordinates of the teaching tip in the teaching tool coordinate system are fixed.

In the embodiment of the present application, the positioning point on the teaching tool and the coordinates of the teaching tip in the teaching tool coordinate system are determined and stored in advance. In this application, for simplicity of description and distinction, the coordinates of the positioning point in the coordinate system of the teaching tool are defined as the second coordinates.

It can be understood that the conversion of coordinates between coordinate systems can be realized through the conversion matrix between coordinate systems. Correspondingly, if the coordinates of the same point between two coordinate systems are known, the conversion between coordinate systems can also be reversely solved matrix. For three-dimensional coordinates, the coordinates of at least three points between the two coordinate systems are required to solve the transformation matrix between the coordinate systems.

In the embodiment of the present application, for simplicity of description and distinction, the transformation matrix between the teaching tool coordinate system and the camera coordinate system is defined as a first transformation matrix.

In the embodiment of the present application, the number of positioning points is at least three, therefore, the first conversion matrix can be solved according to the first coordinates and the second coordinates of at least three positioning points.

It should be noted that the greater the number of positioning points, the higher the accuracy of calculation and the greater the amount of calculation.

In an embodiment, the above step S103 specifically includes the following steps S401-S402.

S401. According to the first coordinates of each of the positioning points and the second coordinates of each of the positioning points, establish a system of equations with the first transformation matrix as an unknown.

In a specific implementation, for each positioning point, an equation with the first transformation matrix as an unknown is established according to its first coordinates and second coordinates to obtain a system of equations.

S402 Solving the equation system to obtain the first conversion matrix.

In a specific implementation, the first conversion matrix can be obtained by solving the equation system.

S104. Obtain the third coordinates of the teaching tip in the coordinate system of the teaching tool, and convert the coordinates according to the first transformation matrix and the pre-calibrated second transformation matrix between the camera coordinate system and the world coordinate system The third coordinate of the teaching tip is transformed into a fourth coordinate in the world coordinate system, and the fourth coordinate is used as a coordinate of a teaching track point of the teaching tip.

In a specific implementation, for simplicity of description and distinction, the coordinates of the teaching tip in the coordinate system of the teaching tool are defined as the third coordinates. The coordinates of the teaching tip in the world coordinate system are defined as the fourth coordinates. It should be noted that the third coordinate of the teaching tip is predetermined and stored.

Firstly, the third coordinates are transformed into the coordinates of the teaching tip in the camera coordinate system according to the first transformation matrix.

Afterwards, the coordinates of the teaching tip in the camera coordinate system are transformed into the coordinates of the teaching tip in the world coordinate system according to the second transformation matrix. In this application, for simplicity of description and distinction, the coordinate of the teaching tip in the world coordinate system is defined as the fourth coordinate.

Further, the fourth coordinate is used as the coordinate of a teaching track point of the teaching tip.

It should be noted that the second transformation matrix may be specifically determined by calibrating the extrinsic parameters of the camera. The process of calibrating camera extrinsic parameters is well known to those skilled in the art, and this application does not specifically limit it.

In an embodiment, the above step S104 specifically includes the following steps S501-S502.

S501. Calculate a product of the first transformation matrix and the second transformation matrix to obtain a third transformation matrix between the teaching tool coordinate system and the world coordinate system.

In a specific implementation, the product of the first transformation matrix and the second transformation matrix is calculated to obtain a transformation matrix between the teaching tool coordinate system and the world coordinate system. In this application, for simplicity of description and distinction, the transformation matrix between the teaching tool coordinate system and the world coordinate system is defined as a third transformation matrix.

The coordinates in the teaching tool coordinate system can be directly converted into coordinates in the world coordinate system through the third conversion matrix.

S502. Transform the third coordinate of the teaching tip in the teaching tool coordinate system into a fourth coordinate in the world coordinate system according to the fourth transformation matrix.

In a specific implementation, after the third conversion matrix is calculated, the coordinates of the teaching tip in the world coordinate system can be obtained by calculating the product of the third coordinate of the teaching tip and the third conversion matrix. In this application, for simplicity of description and distinction, the coordinate of the teaching tip in the world coordinate system is defined as the fourth coordinate.

The method for collecting teaching track points proposed in the embodiment of the present application can locate the position of the teaching tip on the calibration board by using the two-dimensional captured image captured by the camera, and collect the track points of the teaching tip in the world coordinate system, and Compared with the existing technology, the three-dimensional space attitude acquisition system (such as motion capture camera or laser sensor, etc.) can be omitted. Compared with these three-dimensional space attitude acquisition systems, the cost of the camera can greatly save costs, and then the robot teaching can be quickly promoted. speed.

an embodiment

FIG. 6 is a schematic structural diagram of a teaching tool provided by an embodiment of the present application. FIG. 7 is another structural schematic diagram of the teaching tool provided by the embodiment of the present application.

In the foregoing embodiments, a calibration board is provided on the teaching tool, but in a specific application, when the calibration board on the calibration board is tilted, as shown at moment m in Figure 1, the shooting direction of the camera is at the same position as the calibration board. The angle between the planes is small (almost parallel), so the image of the calibration plate acquired by the camera cannot be accurately calibrated. For this reason, considering the flexibility of the movement of the teaching tool, in the embodiment of the present application, a teaching tool having at least two calibration plates may also be provided.

Specifically, the teaching tool includes: a teaching part 122 and at least two calibration boards, wherein the at least two calibration boards are connected to one end of the teaching part 122, and the other end of the teaching part 122 One end is a teaching tip 123 . And preferably, the at least two calibration plates are adjacent to each other, and the adjacent calibration plates share the same edge.

Referring to Figure 6 and Figure 7, the teaching tool in the figure includes two calibration boards: calibration board a and calibration board b, an angle is set between the plane where calibration board a is located and the plane where calibration board b is located, and the calibration board There is a common edge between plate a and calibration plate b. Each calibration plate is provided with at least three positioning points.

Based on the teaching scenarios shown in FIG. 6 and FIG. 7 , the present application provides a method for collecting teaching track points, which is used to determine track points when teaching with a teaching tool.

As shown in FIG. 8 , the method for collecting teaching track points includes the following steps: S601-S606.

S601. Collect a photographed image including a calibration plate by using a camera.

S602. Acquire first coordinates of each positioning point of the calibration plate in the captured image under the camera coordinate system of the camera.

In a specific implementation, the first coordinates of the positioning point of each calibration board in the camera coordinate system of the camera are acquired respectively.

S603. Acquire the image area of each calibration plate in the captured image.

In a specific implementation, the outline of each calibration plate is firstly determined by a preset edge detection algorithm, and then the area of each calibration plate is calculated respectively.

In an embodiment, the above step S603 specifically includes the following steps S701-S702.

S701. Determine target areas surrounded by contours of each calibration plate in the captured image.

In a specific implementation, the contour of each calibration board is determined by a preset edge detection algorithm, and then the target area surrounded by the contours of each calibration board is determined.

S702. Determine the image area of each of the calibration plates according to the number of pixels included in the target area enclosed by the outline of each of the calibration plates.

In the specific implementation, the number of pixels contained in the target area surrounded by the outline of each calibration plate is respectively obtained. Since the area of each pixel is fixed, the image area of the calibration plate can be determined according to the number of pixels. .

S604. Select the calibration plate with the largest image area as the target calibration plate.

In specific implementation, the larger the image area, the smaller the calculation error. Therefore, selecting the calibration plate with the largest image area as the target calibration plate can effectively reduce the error.

S605. Acquire the second coordinates of each positioning point of the target calibration board in the teaching tool coordinate system pre-built for the teaching tool, and according to the first coordinates of each positioning point of the target calibration board and the target The second coordinates of each positioning point of the calibration board are calculated to solve the first transformation matrix between the teaching tool coordinate system and the camera coordinate system.

In the specific implementation, the first transformation matrix between the teaching tool coordinate system and the camera coordinate system is solved based on the first coordinates and the second coordinates of each positioning point of the target calibration board, because the image area of the target calibration board is the largest, therefore, can effectively reduce the error.

S606 Obtain the third coordinate of the teaching tip in the coordinate system of the teaching tool, and convert the The third coordinate of the teaching tip is transformed into a fourth coordinate in the world coordinate system, and the fourth coordinate is used as a coordinate of a teaching track point of the teaching tip.

an embodiment

Referring to FIG. 9 , an embodiment of the present application provides a teaching method, and the teaching method includes the following steps S801-S802.

S801. Collect at least one teaching track point according to the teaching track point acquisition method provided in any one of the above embodiments.

In a specific implementation, at least one teaching track point is collected through the teaching track point acquisition method provided in any one of the above embodiments. The number of teaching track points can be determined by those skilled in the art according to actual conditions, and is not specifically limited in this application.

S802, according to the fourth conversion matrix between the pre-calibrated world coordinate system and the mechanical arm coordinate system of the mechanical arm, transform the fourth coordinate of the teaching trajectory point into the fifth coordinate in the mechanical arm coordinate system, and convert the obtained The fifth coordinate is used as the coordinate of a recurring track point of the teaching tip.

In the specific implementation, the transformation matrix between the world coordinate system and the manipulator coordinate system of the manipulator is pre-calibrated. In order to simplify the description and facilitate the distinction, the transformation matrix between the world coordinate system and the manipulator coordinate system is defined as the fourth transformation matrix .

Specifically, the calibration method of the fourth transformation matrix is as follows: firstly, determine the coordinates of at least 3 points in the world coordinate system (for example, in this embodiment, the number of points is 13 and the distribution is uniform, the more the number of points, the higher the accuracy higher, the corresponding calculation amount is larger), and then control the robot arm to move to the above-mentioned at least 3 points, and record the coordinates of the at least 3 points in the robot arm coordinate system, and then according to the at least 3 points in the world coordinate system The coordinates of and the coordinates in the coordinate system of the manipulator can be solved to obtain the fourth transformation matrix.

In the embodiment of the present application, after obtaining the fourth coordinate of the teaching tip (teaching track point), the fourth coordinate of the teaching tip is converted into the coordinates of the teaching tip in the coordinate system of the manipulator according to the fourth transformation matrix, in order The description is simple and easy to distinguish, and the coordinate of the teaching tip in the coordinate system of the manipulator is defined as the fifth coordinate.

Further, the fifth coordinate is used as the coordinate of a recurring track point of the teaching tip.

Further, after the recurring track point is collected, the coordinates of the recurring track point are sent to the controller of the robotic arm, so that the controller of the robotic arm can control the mechanical arm to move to the Recursive track points.

an embodiment

Referring to FIG. 10 , an embodiment of the present application provides a method for controlling motion of a robotic arm, and the teaching method includes the following steps S901 - S902 .

S901, the fifth coordinate of the recurring trajectory point of the teaching tip generated according to the teaching method provided in any one of the above embodiments.

In a specific implementation, the coordinates of at least one recurring track point are collected through the teaching method provided by any one of the above embodiments. The number of recurring track points can be determined by those skilled in the art according to actual conditions, and is not specifically limited in this application.

S902. Generate a motion control command of the robotic arm according to the fifth coordinate of the recurring track point.

In a specific implementation, a motion control command of the robotic arm is generated according to the fifth coordinate of the recurring track point. Specifically, the fifth coordinate of the recurring track point is written as a parameter into the preset motion control program of the mechanical arm to obtain the motion control instruction, which is used to control the movement of the mechanical arm to the track point.

Further, if the number of the recurring track points exceeds 1, the teaching track is fitted according to the fifth coordinates of each of the recurring track points. Specifically, each recurring trajectory point can be connected by a line (for example, a line segment or an arbitrary curve, which can be fitted by those skilled in the art according to the actual situation, which is not specifically limited in this application), to obtain the teaching trajectory. Afterwards, a motion control instruction of the robotic arm is generated according to the taught trajectory. The motion control instruction is used to control the movement of the mechanical arm along the teaching track.

Referring to FIG. 11 , an embodiment of the present application provides a teaching track point acquisition device 70, the teaching track point acquisition device 70 includes a unit for performing the teaching track point acquisition method described in any of the above-mentioned embodiments . Specifically, the acquisition device 70 for teaching track points includes a first acquisition unit 71 , a first acquisition unit 72 , a second acquisition unit 73 and a third acquisition unit 74 .

The first acquisition unit 71 is configured to acquire a photographed image including the calibration plate through a camera.

The first obtaining unit 72 is configured to obtain first coordinates of each of the positioning points in the captured image under the camera coordinate system of the camera.

The second acquiring unit 73 is configured to acquire the second coordinates of each of the positioning points under the teaching tool coordinate system pre-built for the teaching tool, according to the first coordinates of each of the positioning points and each of the positioning points The second coordinates of , and solve the first transformation matrix between the teaching tool coordinate system and the camera coordinate system.

The third acquiring unit 74 is configured to acquire the third coordinates of the teaching tip in the coordinate system of the teaching tool, according to the first transformation matrix and the pre-calibrated third coordinates of the camera coordinate system and the world coordinate system A conversion matrix, converting the third coordinate of the teaching tip into a fourth coordinate in the world coordinate system, and using the fourth coordinate as a coordinate of a teaching track point of the teaching tip.

In one embodiment, the capturing of the photographed image containing the calibration plate through the camera includes:

Judging whether the acquisition trigger signal is received;

If the acquisition trigger signal is received, the camera is used to acquire at least one photographed image including the calibration plate.

In one embodiment, the collecting at least one photographed image containing the calibration plate through the camera includes:

judging whether the duration of the acquisition trigger signal is greater than a preset time threshold;

If the duration of the acquisition trigger signal is greater than the preset time threshold, a plurality of photographed images including the calibration plate are collected by the camera;

If the duration of the acquisition trigger signal is not greater than the preset time threshold, a photographed image including the calibration plate is acquired by the camera.

In one embodiment, the teaching tool is provided with at least two calibration boards, and there is an angle between the planes where the calibration boards are located, and the captured image includes images of at least two calibration boards, the Obtain the second coordinates of each of the positioning points under the teaching tool coordinate system pre-built for the teaching tool, and solve the problem according to the first coordinates of each of the positioning points and the second coordinates of each of the positioning points. The first transformation matrix between the teaching tool coordinate system and the camera coordinate system includes:

Obtain the image area of each calibration plate in the captured image;

Select the calibration plate with the largest image area as the target calibration plate;

Obtaining the second coordinates of each positioning point of the target calibration board in the teaching tool coordinate system pre-built for the teaching tool, according to the first coordinates of each positioning point of the target calibration board and the target calibration board The second coordinates of each positioning point of the given coordinates are used to solve the first transformation matrix between the teaching tool coordinate system and the camera coordinate system.

In one embodiment, the acquiring the image area of each calibration plate in the captured image includes:

Determining target areas enclosed by the contours of each calibration plate in the captured image;

The image area of each of the calibration plates is determined according to the number of pixels included in the target area enclosed by the outline of each of the calibration plates.

In an embodiment, according to the first coordinates of each of the positioning points and the second coordinates of each of the positioning points, the first transformation matrix between the teaching tool coordinate system and the camera coordinate system is solved ,include:

According to the first coordinates of each of the positioning points and the second coordinates of each of the positioning points, establishing a system of equations with the first transformation matrix as an unknown;

Solving the equation system to obtain the first conversion matrix.

In one embodiment, the acquisition of the third coordinate of the teaching tip in the coordinate system of the teaching tool is based on the first conversion matrix and the pre-calibrated third coordinate of the camera coordinate system and the world coordinate system. Two conversion matrices, converting the third coordinate of the teaching tip into the fourth coordinate in the world coordinate system, and using the fourth coordinate as the coordinate of a teaching track point of the teaching tip, including :

calculating the product of the first transformation matrix and the second transformation matrix to obtain a third transformation matrix between the teaching tool coordinate system and the world coordinate system;

Transforming the third coordinate of the teaching tip in the teaching tool coordinate system into a fourth coordinate in the world coordinate system according to the third conversion matrix.

Referring to FIG. 12 , an embodiment of the present application provides a teaching device 80 , and the teaching device 80 includes a unit for performing the teaching method described in any one of the above embodiments. Specifically, the teaching device 80 includes a second acquisition unit 81 and a conversion unit 82 .

The second collection unit 81 is configured to collect at least one teaching trajectory point according to the teaching trajectory point collection method provided in any one of the above embodiments.

The conversion unit 82 is used to convert the fourth coordinate of the teaching track point into the fifth coordinate in the mechanical arm coordinate system according to the fourth conversion matrix between the pre-calibrated world coordinate system and the mechanical arm coordinate system of the mechanical arm , and use the fifth coordinate as the coordinate of a recurring track point of the teaching tip.

Referring to FIG. 13 , an embodiment of the present application provides a robotic arm 100 , and the robotic arm 100 includes a unit configured to execute the method for controlling motion of the robotic arm described in any of the foregoing embodiments. Specifically, the robotic arm 100 includes a generating unit 110 and a sending unit 120 .

The generating unit 110 is configured to generate the fifth coordinates of the recurring track point of the teaching tip generated according to the teaching method provided in any one of the above-mentioned embodiments.

The sending unit 120 is configured to generate a motion control command of the robotic arm according to the fifth coordinate of the recurring track point.

As shown in Figure 14, the embodiment of the present application provides a controller, including a processor 111, a communication interface 112, a memory 113, and a communication bus 114, wherein, the processor 111, the communication interface 112, and the memory 113 are completed through the communication bus 114 mutual communication.

Memory 113, used to store computer programs;

In one embodiment of the present application, the processor 111 is used to execute the program stored in the memory 113 to implement the steps of the teaching track point collection method provided by any of the aforementioned method embodiments, or the steps of the teaching method, or Steps of a method for controlling motion of a robotic arm.

The embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the teaching track point collection method provided by any one of the above-mentioned method embodiments are implemented, Or the steps of the teaching method, or the steps of the mechanical arm motion control method.

Referring to FIG. 15 in conjunction with FIG. 2 , an embodiment of the present application provides a teaching system, the teaching system includes a teaching tool 12, a camera 11 and a controller 13, the camera 11 is connected to the controller 13, the The teaching tool 12 includes a connected calibration plate 121 and a teaching part 122, the calibration board 121 includes at least three positioning points, the teaching part 122 includes a teaching tip 123, and the teaching part 122 is connected to the teaching part 122. There is an included angle between the planes where the calibration board 121 is located, and the controller 13 is used to execute the steps of the teaching track point acquisition method provided by any one of the aforementioned method embodiments, or the steps of the teaching method, or the motion control method of the mechanical arm A step of.

Further, the teaching system further includes a collection button 125, and the collection button 125 is used to send a collection trigger signal to the controller. Specifically, the collection button 125 is set on the teaching component 122 .

Further, the teaching tool 12 includes a first control module 127 , a first communication module 126 and a power supply module 128 , and the controller 13 includes a second control module 131 and a second communication module 132 . The acquisition button 125 is connected to the first communication module 126, the first control module 127 is connected to the first communication module 126, and the first communication module 126 is wirelessly connected to the second communication module 132, for data interaction. The second communication module 132 is connected with the first control module 127 .

The power supply module 128 is connected to the first control module 127 for supplying power to the first control module 127 .

Further, the camera 11 includes a third control module 1102 and a third communication module 1101 . The third control module 1102 is connected to the third communication module 1101, and the third communication module 1101 is wirelessly connected to the second communication module 132 to realize data interaction.

Further, the robotic arm 100 includes a fourth control module 1001 and a fourth communication module 1002 . The fourth control module 1001 is connected with the fourth communication module 1002 . The fourth communication module 1102 is wirelessly connected with the second communication module 132 to realize data interaction.

In this embodiment, the collection button is set on the teaching part of the teaching tool, or, in some other embodiments, the teaching system further includes a collection trigger device, and the collection button is set on the collection trigger device superior.

Further, the teaching system further includes an indicator light, which is used to indicate the working state of the teaching system.

Referring to FIG. 2 , in this embodiment, an indicator light 124 is provided on the teaching component 122 of the teaching tool 12 .

It should be noted that in this article, relative terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply these No such actual relationship or order exists between entities or operations. Furthermore, the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article, or apparatus comprising a set of elements includes not only those elements, but also includes elements not expressly listed. other elements of or also include elements inherent in such a process, method, article, or device. Without further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article or apparatus comprising said element.

The above descriptions are only specific implementation manners of the present application, so that those skilled in the art can understand or implement the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the application. Therefore, the present application will not be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

A teaching track point collection method, characterized in that it is used to determine the teaching track point when teaching tool teaching, the teaching tool includes a connected calibration board and teaching components, the calibration board contains at least Three positioning points, the teaching part includes a teaching tip, and there is an angle between the teaching part and the plane where the calibration plate is located, and the method includes:

Collecting the photographed image comprising the calibration plate through a camera;

Acquiring the first coordinates of each of the positioning points in the captured image under the camera coordinate system of the camera;

Obtaining the second coordinates of each of the positioning points in the teaching tool coordinate system pre-built for the teaching tool, and solving the display according to the first coordinates of each of the positioning points and the second coordinates of each of the positioning points. teaching a first transformation matrix between the tool coordinate system and the camera coordinate system;

Acquiring the third coordinates of the teaching tip in the teaching tool coordinate system, according to the first transformation matrix and the pre-calibrated second transformation matrix between the camera coordinate system and the world coordinate system, transform the display The third coordinate of the teaching tip is transformed into a fourth coordinate in the world coordinate system, and the fourth coordinate is used as a coordinate of a teaching track point of the teaching tip.
The method for collecting teaching track points according to claim 1, wherein the positioning points on the calibration board are arranged at equal intervals.
The method for collecting teaching trajectory points according to claim 2, wherein the calibration board is provided with a black and white checker grid array pattern, and the positioning points are black checker grids and/or black and white checker grid array patterns of the black and white checker grid array pattern. the vertices of the white square;

Alternatively, an array pattern of equidistant solid circles is provided on the calibration plate, and the positioning point is a center of a solid circle of the equidistant solid circle array pattern.
The teaching track point acquisition method according to claim 1, wherein the capturing of the photographed image comprising the calibration plate through the camera comprises:

Judging whether the acquisition trigger signal is received;

If the acquisition trigger signal is received, the camera is used to acquire at least one photographed image including the calibration plate.
The teaching track point collection method according to claim 4, wherein said collecting at least one photographed image containing said calibration board through a camera comprises:

judging whether the duration of the acquisition trigger signal is greater than a preset time threshold;

If the duration of the acquisition trigger signal is greater than the preset time threshold, a plurality of photographed images including the calibration plate are collected by the camera;

If the duration of the acquisition trigger signal is not greater than the preset time threshold, a photographed image including the calibration plate is acquired by the camera.
The method for collecting teaching trajectory points according to claim 1, wherein at least two calibration plates are arranged on the teaching tool, and there is an included angle between the planes where the calibration plates are located, and in the captured image Including images of at least two calibration boards, the acquisition of the second coordinates of each of the positioning points in the teaching tool coordinate system pre-built for the teaching tool, according to the first coordinates of each of the positioning points and each The second coordinate of the positioning point, solving the first transformation matrix between the teaching tool coordinate system and the camera coordinate system, includes:

Obtain the image area of each calibration plate in the captured image;

Select the calibration plate with the largest image area as the target calibration plate;

Obtaining the second coordinates of each positioning point of the target calibration board in the teaching tool coordinate system pre-built for the teaching tool, according to the first coordinates of each positioning point of the target calibration board and the target calibration board The second coordinates of each positioning point of the given coordinates are used to solve the first transformation matrix between the teaching tool coordinate system and the camera coordinate system.
The teaching track point acquisition method according to claim 6, wherein said acquiring the image area of each calibration plate in said captured image comprises:

Determining target areas enclosed by the contours of each calibration plate in the captured image;

The image area of each of the calibration plates is determined according to the number of pixels included in the target area enclosed by the outline of each of the calibration plates.
The teaching track point collection method according to claim 1, wherein, according to the first coordinates of each of the positioning points and the second coordinates of each of the positioning points, the coordinate system of the teaching tool and the coordinate system of the teaching tool are solved. The first transformation matrix between the camera coordinate systems includes:

According to the first coordinates of each of the positioning points and the second coordinates of each of the positioning points, establishing a system of equations with the first transformation matrix as an unknown;

Solving the equation system to obtain the first conversion matrix.
The method for collecting teaching track points according to claim 1, wherein the acquisition of the third coordinate of the teaching tip in the coordinate system of the teaching tool is based on the first conversion matrix and the pre-calibrated The second conversion matrix between the camera coordinate system and the world coordinate system, transform the third coordinate of the teaching tip into the fourth coordinate in the world coordinate system, and use the fourth coordinate as the display Coordinates of a taught track point for the taught tip, including:

calculating the product of the first transformation matrix and the second transformation matrix to obtain a third transformation matrix between the teaching tool coordinate system and the world coordinate system;

Transforming the third coordinate of the teaching tip in the teaching tool coordinate system into a fourth coordinate in the world coordinate system according to the third conversion matrix.
A teaching method, characterized in that, comprising:

Acquiring at least one teaching track point according to the method described in any one of claims 1-9;

Transform the fourth coordinate of the teaching track point into the fifth coordinate in the mechanical arm coordinate system according to the fourth transformation matrix between the pre-calibrated world coordinate system and the mechanical arm coordinate system of the mechanical arm, and convert the fourth coordinate of the teaching track point into the fifth coordinate in the mechanical arm coordinate system, and Five coordinates as Coordinates of a recurring trajectory point for the taught tip.
The teaching method according to claim 10, further comprising: sending the coordinates of the recurring track point to a controller of the robotic arm.
A method for controlling motion of a mechanical arm, comprising:

According to the teaching method described in any one of claims 10-11, the fifth coordinate of the recurring trajectory point of the teaching tip is generated;

A motion control instruction of the robotic arm is generated according to the fifth coordinate of the recurring track point.
The motion control method of the mechanical arm according to claim 12, further comprising:

If the number of the recurring track points exceeds 1, the teaching track is fitted according to the fifth coordinate of each of the recurring track points;

A motion control instruction of the mechanical arm is generated according to the teaching trajectory.
A device for collecting teaching track points, characterized in that it includes a unit for executing the teaching track point collecting method according to any one of claims 1-9.
A teaching device, characterized by comprising a unit for performing the teaching method according to any one of claims 10-11.
A mechanical arm, characterized by comprising a unit for executing the method for controlling motion of a mechanical arm according to any one of claims 12-13.
A controller, characterized in that it includes a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory complete mutual communication through the communication bus;

memory for storing computer programs;

The processor is configured to implement the steps of the teaching track point collection method according to any one of claims 1-9 when executing the program stored on the memory, or the teaching method according to any one of claims 10-11. The steps of the teaching method, or the steps of the method for controlling the motion of the mechanical arm according to any one of claims 12-13.
A computer-readable storage medium on which a computer program is stored, wherein when the computer program is executed by a processor, the steps of the teaching track point acquisition method according to any one of claims 1-9 are realized, Or the steps of the teaching method as described in any one of claims 10-11, or the steps of the method for controlling the motion of a mechanical arm as described in any one of claims 12-13.
A teaching system, characterized in that it includes a teaching tool, a camera and a controller, the camera is connected to the controller, the teaching tool includes a connected calibration board and teaching components, the calibration board Contains at least three positioning points, the teaching part includes a teaching tip, and there is an angle between the teaching part and the plane where the calibration plate is located, and the controller is used to perform any one of claims 1-9 The steps of the teaching track point acquisition method, or the steps of the teaching method according to any one of claims 10-11, or the steps of the mechanical arm motion control method according to any one of claims 12-13 step.
The teaching system according to claim 19, further comprising a collection button, the collection button is arranged on the teaching component, and the collection button is used to send a collection trigger signal to the controller.