WO2024094197A1

WO2024094197A1 - Teaching trajectory processing method and apparatus, mechanical arm, teaching controller and system

Info

Publication number: WO2024094197A1
Application number: PCT/CN2023/129758
Authority: WO
Inventors: 郎需林; 姜宇; 蔡同彪
Original assignee: 深圳市越疆科技股份有限公司
Priority date: 2022-11-03
Filing date: 2023-11-03
Publication date: 2024-05-10
Also published as: CN116372889A

Abstract

The present application relates to a teaching trajectory processing method and apparatus, which are applied to a mechanical arm teaching system. The mechanical arm teaching system comprises a teaching tool and a pose acquisition system. The teaching tool is provided with a positioning apparatus, the pose of which can be identified by the pose acquisition system. The method comprises: in a teaching process performed by the teaching tool, determining pose information of the teaching tool on a plurality of teaching position points; determining pose information of the plurality of teaching position points by using a plurality of pieces of pose information of the teaching tool; and according to the pose information of the plurality of teaching position points, obtaining, via fitting, a teaching trajectory corresponding to the teaching process. By applying the trajectory processing method provided in an embodiment of the present application, an operator merely needs to move the teaching tool to obtain the corresponding teaching trajectory. The operation is simple and convenient. By means of the trajectory processing method, the need for complex programming may be eliminated, thereby expanding the application scenarios of a robot and improving the use convenience and increasing the efficiency of the robot.

Description

Teaching trajectory processing method, device, robotic arm, teaching controller and system

Technical Field

The present application relates to the field of robot teaching, and in particular to a teaching trajectory processing method, device, robotic arm, teaching controller, system and medium.

Background technique

Robots are being used more and more widely 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., robot operations can also greatly improve the utilization rate of consumables and reduce the waste of consumables. In addition, robot operations also have 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 skills, completes the motion control program programming, and inputs it into the robot. This places very high demands on the operator. However, it is generally difficult for workers on the production line to complete the programming of complex movements, which in turn limits the application scenarios of the robot.

technical problem

The present application provides a teaching trajectory processing method, device, robotic arm, teaching controller, system and medium, aiming to solve the problem that operators currently have difficulty completing complex motion programming, resulting in limited application scenarios of robots, inconvenient use and low efficiency.

Technical Solutions

In the first aspect, the present application provides a teaching trajectory processing method, which is applied to a robot arm teaching system, wherein the robot arm teaching system comprises: a teaching tool and a posture acquisition system, wherein the teaching tool is provided with a positioning device whose posture can be recognized by the posture acquisition system, and the method comprises:

During the teaching process of the teaching tool, determining the position and posture information of the teaching tool at a plurality of teaching positions;

Determine the position information of the teaching position points by using the plurality of position information of the teaching tool;

According to the position information of the plurality of teaching position points, a teaching trajectory corresponding to the teaching process is obtained by fitting;

Wherein, when there are two teaching position points, the line type of the teaching trajectory is determined to be a straight line type, and a straight line teaching trajectory where the two teaching position points are located is obtained by fitting according to the straight line type, or a joint motion trajectory is generated according to the two teaching position points;

When there are three teaching position points, the line type of the teaching trajectory is determined to be an arc line type, and the arc teaching trajectory where the three teaching position points are located is obtained by fitting the arc line type;

When there are at least four teaching position points, the line type of the teaching trajectory is determined to be a curve line type, and the curve teaching trajectory where at least four teaching position points are located is obtained by fitting the curve line type.

In a second aspect, the present application provides a teaching device, comprising a unit for executing the teaching trajectory processing method as described in any one of the first aspects.

In a third aspect, the present application provides a robotic arm comprising a unit for executing the teaching trajectory processing method as described in any one of the first aspects.

In a fourth aspect, the present application provides a teaching controller, comprising a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other via the communication bus;

Memory, used to store computer programs;

The processor is used to implement the steps of the teaching trajectory processing method as described in any one of the first aspects when executing the program stored in the memory.

In a fifth aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of the teaching trajectory processing method as described in any one of the first aspects are implemented.

In a sixth aspect, the present application provides a robot arm teaching system, including: a teaching tool, a positioning device, a posture acquisition system and a teaching controller, wherein:

The teaching tool is provided with a positioning device whose posture can be recognized by the posture acquisition system; the posture acquisition system is communicatively connected with the teaching controller; the teaching controller is used to execute the steps of the teaching trajectory processing method as described in any one of the first aspects.

In a seventh aspect, an embodiment of the present application provides a robotic arm control system, comprising: a robotic arm, an operating table, a robotic arm controller, and a robotic arm teaching system as provided in the sixth aspect, wherein:

The robot arm teaching system comprises: a teaching tool, a positioning device, a posture acquisition system and a teaching controller, wherein the teaching tool is provided with a positioning device whose posture can be recognized by the posture acquisition system; the posture acquisition system is communicatively connected with the teaching controller; the teaching controller is used to execute the steps of the teaching trajectory processing method as described in any one of the items;

The mechanical arm is fixed to the operating table, which includes an operating table body and an operating table surface, and the mechanical arm controller can drive the mechanical arm to move on the operating table surface of the operating table;

The robot arm controller is communicatively connected to the robot arm; the robot arm controller is communicatively connected to the teaching controller in the robot arm teaching system;

The teaching controller stores a coordinate system conversion relationship between the posture acquisition coordinate system of the posture acquisition system and the table coordinate system of the operating table, and the coordinate system conversion relationship can be used to convert the teaching trajectory of the teaching tool in the posture acquisition coordinate system into a motion trajectory in the table coordinate system, and send it to the robotic arm controller, the robotic arm controller receives the motion trajectory, and uses the motion trajectory to control the robotic arm; or, the robotic arm controller stores a coordinate system conversion relationship between the posture acquisition coordinate system of the posture acquisition system and the table coordinate system of the operating table, the teaching controller 300 sends the teaching trajectory of the teaching tool in the posture acquisition coordinate system to the robotic arm controller, the robotic arm controller uses the coordinate system conversion relationship to convert the teaching trajectory of the teaching tool in the posture acquisition coordinate system into a motion trajectory in the table coordinate system, and controls the robotic arm to move on the operating table according to the motion trajectory.

The above technical solution provided by the embodiment of the present application has the following advantages compared with the prior art:

The trajectory processing method provided by the embodiment of the present application is that when performing trajectory teaching, the operator can directly operate the teaching tool to perform mobile teaching. During the teaching process of the teaching tool, the posture information of the teaching tool at multiple teaching positions is determined; the posture information of multiple teaching positions is determined using the multiple posture information of the teaching tool; according to the posture information of multiple teaching positions, the teaching trajectory corresponding to the teaching process is fitted according to a preset trajectory fitting method; wherein, when there are two teaching positions, the line type of the teaching trajectory is determined to be a straight line type, and a straight line teaching trajectory at the two teaching positions is obtained by fitting according to the straight line type, or a joint motion trajectory is generated according to the two teaching positions; when there are three teaching positions, the line type of the teaching trajectory is determined to be an arc line type, and a circular arc teaching trajectory at the three teaching positions is obtained by fitting according to the arc line type; when there are at least four teaching positions, the line type of the teaching trajectory is determined to be a curve line type, and a curve teaching trajectory at at least four teaching positions is obtained by fitting according to the curve line type.

Beneficial Effects

By applying the trajectory processing method provided in the embodiment of the present application, the operator only needs to move the teaching tool to obtain the corresponding teaching trajectory, which is simple and convenient to operate. Through this trajectory processing method, there is no need to perform complicated programming work, thereby expanding the application scenarios of the robot and improving the convenience and efficiency of the robot.

BRIEF DESCRIPTION OF THE DRAWINGS

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

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

FIG1 is a schematic diagram of a scenario of a robotic arm teaching system provided in an embodiment of the present application;

FIG2 is a schematic diagram of a flow chart of a teaching trajectory processing method provided in an embodiment of the present application;

FIG3 is a schematic diagram of a flow chart of another teaching trajectory processing method provided in an embodiment of the present application;

FIG4 is a schematic diagram of a flow chart of another teaching trajectory processing method provided in an embodiment of the present application;

FIG5 is a schematic diagram of another scenario of a robot arm teaching system provided in an embodiment of the present application;

FIG6 is a schematic diagram of the structure of a teaching tool provided in an embodiment of the present application;

FIG. 7 is a schematic diagram of a pattern of a calibration plate of a teaching tool provided in an embodiment of the present application;

FIG8 is a second schematic diagram of a pattern of a calibration plate of a teaching tool provided in an embodiment of the present application;

FIG9 is a teaching schematic diagram provided in an embodiment of the present application;

FIG10 is another teaching schematic diagram provided in an embodiment of the present application;

FIG11 is a schematic diagram of a teaching switching method provided in an embodiment of the present application;

FIG12 is another teaching schematic diagram provided in an embodiment of the present application;

FIG13 is another teaching schematic diagram provided in an embodiment of the present application;

FIG14 is another teaching schematic diagram provided in an embodiment of the present application;

FIG15 is another teaching switching schematic diagram provided in an embodiment of the present application;

FIG16 is another teaching schematic diagram provided in an embodiment of the present application;

FIG17 is another teaching schematic diagram provided in an embodiment of the present application;

FIG18 is another teaching schematic diagram provided by an embodiment of the present application;

FIG19 is another teaching schematic diagram provided in an embodiment of the present application;

FIG20 is another teaching switching schematic diagram provided in an embodiment of the present application;

FIG21 is a flow chart of another teaching trajectory processing method provided in an embodiment of the present application;

FIG21 is a schematic diagram of the structure of a teaching trajectory processing device provided in an embodiment of the present application;

FIG22 is a schematic diagram of the structure of a mechanical arm provided in an embodiment of the present application;

FIG23 is a schematic diagram of the structure of a teaching controller provided in an embodiment of the present application;

FIG24 is a schematic structural diagram of a robot arm control device provided in an embodiment of the present application;

FIG. 25 is a schematic diagram of the structure of a robotic arm control system provided in an embodiment of the present application.

Specific implementation methods of this application

In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution 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 are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

An embodiment:

FIG1 is a schematic diagram of a scenario of a robotic arm teaching system provided in an embodiment of the present application.

In FIG1 , 400 is an operating table (not shown in the operating table diagram), 100 is a teaching tool, 200 is a posture acquisition system, and 300 is a teaching controller, wherein: the operating table 400 can be a platform on which parts or equipment to be processed are placed. The teaching tool 100 can move or move on the surface of the operating table 400 under the control of the operator. The posture acquisition system 200 is located above the operating table 400 and is used to identify the posture information of the teaching tool 100. The teaching controller 300 has a processor, and the teaching controller 300 can be connected to the posture acquisition system 200 for communication and receiving the posture information sent by the posture acquisition system 200. In some embodiments, there are some control buttons (such as 104 in FIG1 ) on the teaching tool 100. In order to obtain the control information of these control buttons, the teaching controller 300 can also be connected to the teaching tool 100 for communication and receiving the control information sent by the teaching tool 100.

In an embodiment of the present application, the teaching controller 300 may be a teaching controller for a robotic arm, and the teaching controller 300 may also store a coordinate system conversion relationship between a posture acquisition coordinate system of a posture acquisition system and a table coordinate system of an operating table, and also store a coordinate system conversion relationship between the coordinate system of the robotic arm (which may be a base coordinate system or an end coordinate system of the robotic arm or a tool coordinate system of the center point of an end effector of the robotic arm) and the table coordinate system. After determining the teaching trajectory of the teaching tool in the posture acquisition coordinate system, the teaching trajectory of the teaching tool may be converted into a motion trajectory in the table coordinate system through the coordinate system conversion relationship between the aforementioned two coordinate systems, and then according to the coordinate system conversion relationship between the coordinate system of the robotic arm and the table coordinate system, the parameters of each joint of the robotic arm movement may be calculated to directly drive the robotic arm movement.

As shown in FIG1 , in FIG1 , the teaching tool 100 includes: a positioning device 101, a teaching tool body 102 and a teaching tip 103, wherein the positioning device 101 is fixed on the teaching tool body 102, and the teaching tip 103 is located at the bottom of the teaching tool body 102. In other embodiments, the teaching tool 100 is further provided with a control button 104, and the operator can press the control button 104 to indicate that the teaching position point is selected.

In the embodiment of the present application, the positioning device 101 can be fixed to the teaching tool body 102 by a fixed connection, or can be fixed to the teaching tool body 102 by a detachable connection, which is convenient for disassembly and assembly. However, no matter which connection method is used, in a complete teaching process, the relative position between the positioning device 101 and the teaching tool body 102 is fixed, and no sliding or loosening can occur, and the relative position relationship between the positioning device 101 and the teaching tool body 102 is known, for example: in the spatial coordinate system of the teaching tool 100, the positions of the positioning device 101 and the teaching tool body 102 are known and fixed. In the embodiment of the present application, the installation structure information of the teaching tip and the positioning device on the teaching tool body 102 is known.

In one embodiment of the present application, the teaching tool 100 may be a separate simulation teaching device, that is, the trajectory points are collected by moving the teaching tool 100; when the teaching tool 100 is a simulation teaching device, the positioning device 101 may be fixed to the teaching tool body 102 in a fixed connection manner. In another embodiment of the present application, the teaching tool 100 may be an operating tool on an existing robot arm, such as a spray gun, a welding gun, a glue gun, etc. In this case, the positioning device 101 may be fixed to the teaching body 102 in a detachable manner.

As shown in FIG. 1 , in the embodiment of the present application, the positioning device 101 is a positioning light ball combination composed of a plurality of positioning light balls. As shown in FIG. 1 , the positioning light ball is 1011. In a specific embodiment of the present application, the positioning light ball 1011 may be an active positioning light ball with a light-emitting device built inside; in another embodiment, the positioning light ball 1011 may also be a passive positioning light ball with a reflective material disposed on the surface of the positioning light ball 1011 to facilitate reflection of light. In the embodiment of the present application, the positioning light ball combination includes at least four positioning light balls that are not on the same plane.

In the embodiment of the present application, the posture acquisition system 200 can identify the posture information of the positioning device 101 on the teaching tool 100. In conjunction with the positioning device 101 using the positioning light ball shown in FIG1 , the posture acquisition system 200 can be a stereo camera, such as a depth camera, a motion capture camera, etc. In FIG1 , there is one camera. In other embodiments, in order to improve the accuracy of the posture information, the posture acquisition system 200 can also include two or more stereo cameras.

Based on the embodiment shown in Figure 1, an embodiment of the present application provides a teaching trajectory processing method, which is used to obtain the teaching trajectory of the teaching tool when the teaching tool is teaching. The method can be applied to the teaching controller 300 shown in Figure 1. As shown in Figure 2, the method may include the following steps S101-S103.

S101, during the teaching process of the teaching tool, determining the position and posture information of the teaching tool at a plurality of teaching positions.

During the use of the teaching tool, as shown in FIG1 , the operator can hold the teaching tool and move it on the operating platform, and the moving process can complete the teaching. The teaching position point is the point indicated by the teaching tip of the teaching tool during the moving process. In a specific application, one teaching process includes at least two teaching position points.

In one embodiment of the present application, the teaching position point can be a teaching point automatically generated during the teaching process according to a preset teaching point selection method, for example: when the teaching tool moves, the teaching position point is selected according to a fixed frequency or a fixed distance. In a specific application, a teaching position point can be recorded every 5 seconds when the teaching tool moves (the aforementioned frequency of recording once every 5 seconds is just an example. In actual application, the frequency can be 120 times per second, or 60HZ/S), or, a teaching position point is recorded for every 1 cm distance moved by the teaching tool. In actual applications, those skilled in the art can set different teaching point selection methods as needed, for example: at a corner or turn, 5 teaching position points are collected at each turn, or, in the same teaching process, different teaching position point selection methods are set under different conditions, for example: in a straight line teaching process, a teaching position point is selected every 2 cm, and at a corner or turn, a teaching position point is selected every 1 second.

In another embodiment of the present application, the teaching position point can also be a specific position point specified by the operator, as shown in FIG1 , in which the teaching tool 100 includes a control button 104, which can be a virtual button, such as a touch button on a touch screen, or a physical button, such as a press switch or other switches. When the operator operates the teaching tool to move to the position, presses the control button 104, and the point specified by the teaching tip on the teaching tool at the time of pressing is set as the teaching position point.

As shown in FIG1 , the posture acquisition system 200 uses a camera to acquire an image of the positioning device 101 on the teaching tool 100, and can determine the position and posture of the positioning device 101 in the coordinate system of the posture acquisition system. In addition, according to the spatial relationship of the positioning light ball combination 1011 on the positioning device 101, the position and posture of the positioning device 101 can be determined. As mentioned above, the relative position between the positioning device 101 and the teaching tool body 102 is obtained in advance, and in the spatial coordinate system of the teaching tool 100, the positions of the positioning device 101 and the teaching tool body 102 are known in advance and are fixed. Therefore, after the position and posture of the positioning device 101 are acquired, the position and posture of the teaching tool 100 can be calculated.

In the embodiment of the present application, the posture information refers to the spatial information of the teaching tool in the camera coordinate system, including position information and posture information, etc. Of course, according to the conversion relationship of the coordinate system, the posture information can also refer to the spatial information of the teaching tool in the table coordinate system, including position information and posture information, etc.

In the embodiment of the present application, taking the positioning device as a positioning light ball combination as an example, step S101 may specifically include:

The position and posture acquisition system is used to acquire the positioning information of the multiple light balls of the light ball combination of the teaching tool during the teaching process; and the position and posture information of the teaching tool when the light ball combination is located is determined according to the acquired positioning information of the light ball combination.

S102, using the multiple posture information of the teaching tool, determine the posture information of the multiple teaching position points.

When using the teaching tool for teaching, in order to facilitate accurate indication of the teaching position point, usually, the teaching tip 103 at the bottom end of the teaching tool 100 is moved on the operating table 400. At this time, the point where the teaching tip 103 contacts the operating table 400 when moving, or the point indicated by the teaching tip 103 on the operating table (with a small gap between the teaching tip 103 and the operating table), is the teaching position point.

In the embodiment of the present application, the posture information refers to the spatial information of the teaching position point in the camera coordinate system, including position information, posture information, etc. Of course, according to the conversion relationship of the coordinate system, the posture information can also refer to the spatial information of the teaching position point in the table coordinate system, including position information, posture information, etc.

S103, according to the position information of the plurality of teaching position points, a teaching trajectory corresponding to the teaching process is fitted according to a preset trajectory fitting method.

During the teaching process, the teaching position points recorded by the teaching tool when it moves are the basis for the formation of the teaching trajectory. However, if the teaching position points are simply connected in series, the restored trajectory will have greater uncertainty. For example, if the three teaching position points collected are on a straight line, this does not mean that the teaching trajectory is a straight line. It may also be an arc line, or a curve, or other irregular lines. Therefore, although the teaching position points are the basis for the formation of the teaching trajectory, when fitting, it is still necessary to fit according to the preset trajectory fitting method to ensure the relative uniqueness of the teaching trajectory, so that it can play a teaching role.

In the embodiment of the present application, the preset trajectory fitting method includes:

1) Trajectory fitting method 1: two teaching position points, fitting a straight line teaching trajectory, or generating a joint motion trajectory based on the two teaching position points.

Specifically, if the system shown in FIG. 1 is used, during a teaching operation, if there are two teaching positions, step S103 may include:

According to the position information of the two teaching position points, it is determined that the line type of the teaching trajectory is a straight line type, and the straight line teaching trajectory where the two teaching position points are located is obtained by fitting according to the straight line type.

In the embodiment of the present application, the straight line teaching trajectory refers to the straight line where the two teaching position points are located. Referring to FIG. 10 , when the teaching tool is at the first teaching position, the time is T1 and the teaching position point is A; then it moves, and when it moves to a certain position, the time is T2 and the teaching position point is B. Then, correspondingly, the teaching trajectory line is the straight line segment indicated by 502.

The joint motion trajectory is mainly to specify the trajectory of the robot arm to perform any movement between two specified points; the joints of the robot arm are driven to rotate so that the end of the robot arm can move from the first teaching position point to another teaching position point in the fastest or most convenient path. In this embodiment, the joint motion trajectory of the robot arm can also be generated according to the two teaching points in combination with the real-time status of each joint of the robot arm.

2) Trajectory fitting method 2: Three teaching position points, fitting the arc-shaped teaching trajectory.

Specifically, in a certain teaching process, if there are three teaching positions, step S103 may include:

According to the position and posture information of the three teaching position points, it is determined that the line type of the teaching trajectory is an arc line type, and the arc teaching trajectory where the three teaching position points are located is obtained by fitting the arc line type.

In the embodiment of the present application, the arc-shaped teaching trajectory refers to an arc in which the three teaching points are located, as shown in Figure 13. In the figure, when the teaching tool is at the first teaching position, the moment is T1 and the teaching position point is A; then it moves, and when it moves to a certain position, the moment is T2 and the teaching position point is B; then it moves, and when it moves to the next position, the moment is T3 and the teaching position point is C. Accordingly, the arc segment indicated by the teaching trajectory line 502 is a curve segment on the arc where the teaching position points A, B and C are located.

3) Trajectory fitting method three: four teaching position points, fitting curve teaching trajectory.

Specifically, in a certain teaching process, if there are at least four teaching positions, step S103 may include:

According to the position and posture information of the four teaching position points, it is determined that the line type of the teaching trajectory is a curve line type, and the curve teaching trajectory where at least four teaching position points are located is obtained by fitting according to the curve line type.

In the embodiment of the present application, the curve teaching trajectory refers to a trajectory of a spline curve shape, as shown in Figure 19. In the figure, when the teaching tool is in the first posture, the moment is T1 and the teaching position point is A; then it moves, when it moves to a certain position, the moment is T2, and the teaching position point is B; then it moves again, when it moves to the next posture, the moment is T3, and the teaching position point is C; then it moves again, when it moves to the next posture, the moment is T4, and the teaching position point is D. Accordingly, the curve segment indicated by the teaching trajectory line 502 is the spline curve segment where the teaching position points A, B, C and D are located.

The trajectory processing method provided by the embodiment of the present application is that when performing trajectory teaching, the operator can directly operate the teaching tool to perform mobile teaching. During the teaching process of the teaching tool, the posture information of the teaching tool at multiple teaching positions is determined; the posture information of multiple teaching positions is determined using the multiple posture information of the teaching tool; according to the posture information of the multiple teaching positions, the teaching trajectory corresponding to the teaching process is fitted according to a preset trajectory fitting method; wherein, when there are two teaching positions, the line type of the teaching trajectory is determined to be a straight line type, and a straight line teaching trajectory at the two teaching positions is obtained by fitting according to the straight line type; when there are three teaching positions, the line type of the teaching trajectory is determined to be an arc line type, and a circular arc teaching trajectory at the three teaching positions is obtained by fitting according to the arc line type; when there are at least four teaching positions, the line type of the teaching trajectory is determined to be a curve line type, and a curve teaching trajectory at at least four teaching positions is obtained by fitting according to the curve line type.

An embodiment:

Based on the embodiment shown in Figure 1, an embodiment of the present application provides a teaching trajectory processing method, which is used to obtain the teaching trajectory of the teaching tool when the teaching tool is teaching. The method can be applied to the teaching controller 300 shown in Figure 1. As shown in Figure 3, the method may include the following steps S201-S206.

S201, when receiving a teaching start signal, controlling the posture acquisition system to acquire acquisition information of the positioning device on the teaching tool during the teaching process according to a preset acquisition frequency.

In an embodiment of the present application, the teaching start signal refers to a trigger signal indicating the start of the teaching process. In one case, the teaching start signal can be triggered by the control button 104. Specifically, when the operator starts teaching, he presses the control button 104 on the teaching tool 100, and then the teaching tool sends the pressing signal of the control button 104 to the posture acquisition system 200 or the processor 300 as a teaching start signal.

In another case, the teaching start signal can also be a movement detection signal of the teaching tool. Specifically, a displacement sensor is installed on the teaching tool, and the movement signal sensed by the displacement sensor is used as the teaching start signal. Alternatively, a posture acquisition system is used to detect whether the posture of the teaching tool has changed, and the signal of the posture change is used as the teaching start signal.

In another case, the teaching start signal can also be an operation signal on the teaching controller, specifically, the operator clicks the "start" button on the teaching controller with a mouse/keyboard/button, and after receiving the click operation, the teaching controller uses the click operation as the teaching start signal. Alternatively, the operator inputs a start command in the teaching controller through a button or a graphical user interface or a voice command as the teaching start signal.

When the teaching start signal is received, in the embodiment of the present application, the collection can be performed at a fixed collection frequency. The preset collection frequency here can be freely set according to different teaching processes, but the collection frequency is generally related to the moving speed of the teaching process. For example, when teaching a process with a faster moving speed, the collection frequency can be set higher. For example, when the movement speed of the spray gun is faster during spraying, the collection frequency can be 1 second interval, that is, when teaching spraying, the signal can be collected once every 1 second. When teaching a process with a slower moving speed, the collection frequency can be set lower. For example, when the movement speed of the glue gun is slower during glue coating, the collection frequency can be 3 seconds interval, that is, when teaching glue coating, the signal can be collected once every 3 seconds.

In an embodiment of the present application, the collected information of the positioning device may be image information of the positioning light ball on the positioning device captured by a camera, as well as the time of shooting, etc.

S202, when receiving the teaching end signal, controlling the posture acquisition system to stop acquiring the acquisition information of the positioning device.

Refer to the above description of the teaching start signal. Accordingly, the teaching end signal can be another signal that corresponds one-to-one to the teaching start signal. For example, if the teaching start signal is triggered by long pressing the control button 104, then the teaching end signal can be triggered by releasing the control button 104.

If the teaching start signal is triggered by clicking the operating button 104 , then the teaching end signal can be triggered by clicking the operating button 104 again.

If the movement signal sensed by the displacement sensor (not shown in the figure) is used as the teaching start signal, then the stop movement sensed by the displacement sensor or the stop movement exceeding a preset time threshold (such as 5 seconds) is used as the teaching stop signal.

If the posture acquisition system is used to detect the posture change of the teaching tool as a teaching start signal, then the posture acquisition signal detects that the posture of the teaching tool stops changing or the posture stops changing for more than a preset time threshold (such as 6 seconds) as a teaching stop signal.

If the teaching start signal is a click operation signal of clicking a "start" button on the teaching controller, then the teaching stop signal may be a click operation signal of clicking a "stop" button.

If the operator inputs a start command in the teaching controller through a button, a graphical user interface, or a voice command as a teaching start signal, then the teaching stop signal can also be the operator inputting an end command in the teaching controller through a button, a graphical user interface, or a voice command as a teaching end signal.

In other embodiments of the present application, the teaching start signal and the teaching end signal may not correspond one to one. For example, the teaching start signal is triggered by clicking the control button 104, and the teaching end signal may be a click operation signal of clicking the "Stop" button on the teaching controller, or the stop movement sensed by the displacement sensor or the stop movement exceeds a preset time threshold (such as 5 seconds), etc. The present application does not limit this. Other settings of the teaching start signal and the teaching end signal performed by technical personnel in this field on this basis all fall within the protection scope of the present application.

S203, determining the position of the teaching tip on the teaching tool corresponding to each piece of collected information as a teaching position point.

S204, converting all collected information collected by the posture collection system into posture information of the teaching position point corresponding to the teaching tip according to the installation structure information.

The installation structure information refers to the spatial information in the tool coordinate system of the teaching tool. In the tool coordinate system, the positions of the positioning device, the teaching tool body and the teaching tip are all known in advance and fixed, that is, in the tool coordinate system, the relative position relationship of each part of the teaching tool is known in advance. When the acquisition information of the positioning device is determined, the relative position relationship of each part in the tool coordinate system can be used to convert the posture information of the teaching position point corresponding to the teaching tip.

S205, using the multiple posture information of the teaching tool, determining the posture information of the multiple teaching position points.

Each posture information of the teaching tool can represent that the teaching tool passes through a teaching position point. Accordingly, the posture information of a teaching position point can be calculated based on each posture information of the teaching work.

S206, fitting a teaching trajectory corresponding to the teaching process according to a preset trajectory fitting method based on the position and posture information of the plurality of teaching position points.

For detailed descriptions of steps S205 and S206, please refer to the embodiment shown in FIG. 2 above, and the detailed descriptions of steps S102 and S103 are omitted here.

The method provided by the embodiment of the present application is that the teaching process is triggered only at the beginning and end of the teaching process. During the teaching process, the signal is collected according to the set frequency or method. This method is suitable for the teaching process of a complete process, or a teaching process of a longer time. The operator does not need to operate during the teaching process, but only needs to control at the beginning and end stages.

An embodiment:

Based on the embodiment shown in Figure 1, an embodiment of the present application provides a teaching trajectory processing method, which is used to obtain the teaching trajectory of the teaching tool when the teaching tool is teaching. The method can be applied to the teaching controller 300 shown in Figure 1. As shown in Figure 4, the method may include the following steps S301-S306.

S301, during the teaching process of the teaching tool, detecting whether a collection trigger signal is received.

In the embodiment shown in FIG. 14 , the teaching process is detected only at the beginning and end of the teaching process, and the signal is collected according to the set frequency or method during the teaching process. This method is suitable for a teaching process of a complete process, or a teaching process of a longer time. The operator does not need to operate during the teaching process, but only needs to control at the beginning and end stages.

However, for some teaching processes that require micro-operation or are not continuous and long, if the method shown in Figure 3 is adopted, it will require frequent starting and stopping, and the operation is very discontinuous and inconvenient. For this reason, in the embodiment of the present application, no triggering is performed at the beginning of the teaching, but the data is collected on demand during the teaching process. Furthermore, in this step, it is first necessary to detect whether the trigger signal is collected.

The trigger signal here can be of various kinds, for example: it can be the pressing operation of the control button 104 on the teaching tool, it can also be the pressing operation of the "collection" button on the teaching controller, or it can be a fixed posture of the teaching tool, for example: when the teaching tool is placed vertically, the signal when placed vertically is used as the trigger signal.

S302, if a collection trigger signal is received, control the posture recognition system to collect collection information of the positioning device on the teaching tool during the teaching process; the collection information corresponds to the collection trigger signal one by one.

When the acquisition trigger signal is received, it means that the position of the teaching tip on the teaching tool at that moment is a teaching position point that needs to be recorded. Therefore, the posture recognition system is used to acquire the acquisition information of the positioning device on the teaching tool.

S303: Determine the position of the teaching tip on the teaching tool corresponding to each piece of collected information as a teaching position point.

S304: Convert all collected information collected by the posture collection system into posture information of the teaching position point corresponding to the teaching tip according to the installation structure information.

S305, using the multiple posture information of the teaching tool, determining the posture information of the multiple teaching position points.

S306, fitting a teaching trajectory corresponding to the teaching process according to a preset trajectory fitting method based on the position and posture information of the plurality of teaching position points.

For detailed descriptions of steps S305 and S306, please refer to the embodiment shown in FIG. 2 above, and the detailed descriptions of steps S102 and S103 are omitted here.

The method provided in the embodiment of the present application can achieve refined management during teaching. When the operator operates the teaching tool for teaching, when it is necessary to record the point corresponding to the posture at the current moment as the teaching position point, the operator can directly operate the trigger signal to collect and record the posture, which can make the teaching process more flexible and convenient.

An embodiment:

FIG5 is a schematic diagram of a scenario of a robotic arm teaching system provided in an embodiment of the present application.

In FIG5 , 400 is an operation table, 100 is a teaching tool, 200 is a posture acquisition system, and 300 is a teaching controller, wherein: the operation table 400 can be a platform on which parts or equipment to be processed are placed. The teaching tool 100 can move or exercise on the surface of the operation table 400 under the control of the operator. The posture acquisition system 200 is located above the operation table 400 and is used to identify the posture information of the teaching tool 100. The teaching controller 300 has a processor, and the teaching controller 300 can be connected to the posture acquisition system 200 for communication and receiving the posture information sent by the posture acquisition system 200. In some embodiments, there are some control buttons (such as 104 in FIG5 ) on the teaching tool 100. In order to obtain the control information of these control buttons, the teaching controller 300 can also be connected to the teaching tool 100 for communication and receiving the control information sent by the teaching tool 100.

As shown in FIG5 , in FIG5 , the teaching tool 100 includes: a positioning device 101, a teaching tool body 102 and a teaching tip 103, wherein the positioning device 101 is fixed on the teaching tool body 102, and the teaching tip 103 is located at the bottom end of the teaching tool body 102. In other embodiments, the teaching tool 100 is further provided with a control button 104, and the operator can press the control button 104 to indicate that the teaching position point is selected.

In an embodiment of the present application, the positioning device 101 can be fixed to the teaching tool body 102 by a fixed connection, or can be fixed to the teaching tool body 102 by a detachable connection, which is convenient for disassembly and assembly. However, no matter which connection method is adopted, during a complete teaching process, the relative position between the positioning device 101 and the teaching tool body 102 is fixed, and no sliding or loosening can occur. Moreover, the relative position relationship between the positioning device 101 and the teaching tool body 102 needs to be known in advance, for example: in the spatial coordinate system of the teaching tool 100, the positions of the positioning device 101 and the teaching tool body 102 are known in advance and are fixed.

As shown in Figures 5 and 6, in an embodiment of the present application, the positioning device 101 is a calibration board. As shown in Figures 7 and 8, a calibration graphic can be set on the calibration board. The calibration graphic can be a regular block diagram or a dot matrix diagram. The blocks in the calibration graphic or the points in the dot matrix are positioning points.

In an embodiment of the present application, the posture acquisition system 200 can identify the posture information of the positioning device 101 on the teaching tool 100. In conjunction with the positioning device 101 using the calibration plate as shown in FIG5, the posture acquisition system 200 can be a planar camera. In FIG5, there is one depth camera. In other embodiments, in order to improve the accuracy of the posture information, the posture acquisition system 200 can also include two or more planar cameras. As shown in FIG6, the teaching tool body 101 is perpendicular to the calibration plate of the positioning device 101. In addition, in an embodiment of the present invention, there is no limitation on the area of the calibration plate, the length of the teaching tool body 101, and the proportional relationship between the side length of the calibration plate and the length of the teaching tool body 101, and those skilled in the art can freely set them as needed.

In the embodiment of the present application, in order to increase the range of trajectory collection, a shooting distance is set between the posture collection system 200 and the operating table 400. As shown in FIG5 , there is a height difference between the posture collection system 200 and the operating table 400, so that the operating table 400 can be located within the shooting range of the posture collection system 200. According to the actual situation of the focal length of the posture collection system 200, the shooting range of the posture collection system 200 can cover part or all of the area on the operating table 400. In one embodiment, the shooting range of the posture collection system 200 covers the entire area of the operating table 400. In another embodiment, an effective operation area is set on the operating table 400, and the area of the effective operation area is smaller than the entire area of the operating table 400, so that the shooting range of the posture collection system 200 can only cover the effective operation area.

Based on the embodiment shown in Figure 6, an embodiment of the present application provides a teaching trajectory processing method, which is used to obtain the teaching trajectory of the teaching tool when the teaching tool is teaching. The method can be applied to the teaching controller 300 shown in Figure 6. As shown in Figure 2, the method may include the following steps S101-S103.

When the teaching tool is used, as shown in Figure 1, the operator can hold the teaching tool and move it on the operating platform, and the moving process can complete the teaching. The teaching position point is the point indicated by the teaching tool during the moving process. In a specific application, a teaching process includes at least two teaching position points.

As shown in FIG1 , the posture acquisition system 200 uses a camera to capture a planar image of the positioning device 101 on the teaching tool 100, and can determine the position of the positioning device 101 in the camera coordinate system in the coordinate system of the posture acquisition system. In a specific implementation, the camera of the posture acquisition system 200 faces the operating table, the teaching tool moves on the operating table, and the camera captures the captured image containing the calibration plate. There are two acquisition methods. The first is to control the camera to shoot directly to obtain a captured image. The second is to control the camera to shoot a video in real time, and capture at least one frame of image from the camera's video stream to obtain a captured image.

In addition, according to the coordinates of each positioning point in the positioning plate image on the positioning device 101 in the camera coordinate system of the plane camera, and then according to the spatial coordinates of the positioning point in the coordinate system of the teaching tool and the coordinates in the camera coordinate system, the position and posture information of the positioning device 101 is converted. As mentioned above, the relative position between the positioning device 101 and the teaching tool body 102 is obtained in advance, and in the spatial coordinate system of the teaching tool 100, the positions of the positioning device 101 and the teaching tool body 102 are known in advance and are fixed. Therefore, when the position and posture of the positioning device 101 is collected, the position and posture information of the teaching tool 100 can be calculated.

In the embodiment of the present application, the posture information refers to the spatial information of the teaching tool in the camera coordinate system, including position information, posture information, etc. Of course, according to the conversion relationship of the coordinate system, the posture information can also refer to the spatial information of the teaching tool in the table coordinate system, including position information, posture information, etc.

The posture acquisition system is used to acquire image information of multiple teaching images of the two-dimensional teaching board during the teaching process of the teaching tool; and the posture information of the teaching tool at the position corresponding to each teaching image is calculated based on the image information.

An embodiment:

Based on the embodiment shown in Figure 1, an embodiment of the present application provides a teaching trajectory processing method, which is used to obtain the teaching trajectory of the teaching tool when the teaching tool is teaching. The method can be applied to the teaching controller 300 shown in Figure 1. As shown in Figure 21, the method may include the following steps S101-S105.

For a detailed description of steps S101 and S103, please refer to the embodiment shown in FIG. 2 above, and the detailed description of steps S101 and S103 will not be repeated here.

S104, collecting a process parameter set corresponding to a process operation performed by the teaching tool at at least one teaching position point, wherein the process parameter set includes process parameters of at least one process type.

In a specific application, when a processing tool on a robot arm is used as a teaching tool, then when teaching, in addition to recording the teaching position point, the parameters corresponding to some operations performed by the processing tool at the teaching position point are recorded. When teaching, the process operation of each teaching position point can be the same or different. Generally, at different teaching positions, some detailed parameters of the process operation are somewhat different. In an embodiment of the present application, all parameters corresponding to the process operation are taken as a process parameter set. Taking the spraying process as an example, the process parameter set may include: spraying amount, spraying speed, spraying material, etc. Taking dispensing as an example, the process parameter set may include: dispensing pressure, dispensing duration, dispensing delay time, etc.

By recording the process parameter set, after the teaching is completed, the teaching process can be completely restored according to the taught process parameter set when performing real operations in the future, making the teaching process simpler and more accurate.

S105, according to the correspondence between each of the process parameter sets and the corresponding teaching position points, fitting the process parameter set of at least one of the teaching position points into the teaching trajectory to obtain a process teaching trajectory.

Since the teaching tool may correspond to different process operations at different teaching positions, at different times, and for different equipment to be processed during its movement, in order to perform real operations based on the data recorded during the teaching process, the relationship between the process parameter set and the teaching position point must be one-to-one corresponding, otherwise, there will be confusion between the position and the process parameter set. In this step, the process parameters and the teaching trajectory are fitted based on the corresponding relationship between the process parameter set and the corresponding teaching position points, so that the obtained process teaching trajectory contains not only the teaching trajectory line of the teaching position point, but also the process parameter set at each teaching position point.

In one embodiment of the present application, the aforementioned step S104 may specifically be:

The posture acquisition system collects the acquisition information according to a preset acquisition frequency, records the acquisition order of the teaching position points of the teaching tool when any process operation exists, and records the process parameter set corresponding to the process operation; and establishes an order correspondence between the acquisition information and the process parameter set according to the acquisition order.

Referring to the embodiment shown in FIG3 , the method can count each acquisition process after receiving the teaching start signal, and use the counting result as the acquisition order. For example, after receiving the teaching start signal, the acquisition information of the positioning device on the teaching tool is collected every 5 seconds. Then the first 5 seconds of the acquisition order is M001, the second 5 seconds of the acquisition order is M002, ..., until the teaching stop signal is received. In each acquisition order, there are corresponding acquisition information and process parameter sets, so the order correspondence between the acquisition information and the process parameter set can be established according to the acquisition order.

Accordingly, the aforementioned step S105 may specifically be:

According to the order correspondence between the collected information and the process parameter set, each of the acquired process parameter sets is fitted to the corresponding teaching position point in the teaching trajectory to obtain the process teaching trajectory.

In another embodiment of the present application, the aforementioned step S104 may specifically be:

When collecting the collected information after receiving the collection trigger signal, detect whether there is a process operation; if there is a process operation, record the process parameter set corresponding to the process operation; establish a time correspondence relationship between the process parameter set recorded at the current moment and the collected information collected at the current moment;

Referring to the embodiment shown in FIG. 4 , the method can start collecting the collection information of the positioning device on the teaching tool each time a collection trigger signal is detected. Therefore, the time of collection is random. Therefore, when establishing a corresponding relationship, when a collection trigger signal is received, it is determined whether there is a process operation. If so, the process parameter set and the collection information are directly recorded at the same time, and a time correspondence is established.

Accordingly, the aforementioned step S105 may specifically be:

According to the time correspondence between the process parameters and the collected information, all the acquired process parameter sets are respectively fitted to the corresponding teaching position points in the teaching trajectory to obtain the process teaching trajectory.

The method provided in the embodiment of the present application can not only record the teaching trajectory during the teaching process, but also form a process teaching trajectory containing the teaching position points and the process parameter set by recording the process operation corresponding to each teaching position point in the teaching process. Then, when the actual operation is subsequently performed according to the process teaching trajectory, the teaching position points and the process operation at each teaching position point can be restored at the same time, which is more intelligent and makes the teaching process simpler and more convenient.

An embodiment:

On the basis of any of the foregoing method embodiments, after fitting the teaching trajectory corresponding to the teaching process according to the position information of the plurality of teaching position points, the method may further include the following steps:

The teaching trajectory is displayed.

In one embodiment, the teaching trajectory can be displayed on a graphical user interface in the display screen of the teaching controller. In other embodiments, if there is no display screen on the teaching controller, but the teaching controller is connected to a separate display screen, then the teaching trajectory can also be displayed on a graphical user interface in the separate display screen.

The teaching trajectory can be a single linear graphic, or a schematic diagram with a linear graphic and other schematic graphics, for example, as shown in Figures 9 to 20.

There are many different ways to display it, and this application only gives some examples for illustration.

In one embodiment, the method may include the following steps:

S401, after fitting a teaching trajectory corresponding to the teaching process according to the posture information of the plurality of teaching position points, displaying the teaching trajectory in a preset schematic display manner; and continuously detecting the posture information of other teaching position points.

In the embodiments of the present application, the preset schematic display method includes at least: non-solid line display, light color display, first display color and/or thin line display.

As shown in FIG9 , in FIG9 , teaching is performed by collecting trigger signals. When the teaching tool is in the first posture at time T1, the control button 104 is pressed to record the teaching position point A. Then the teaching tool moves to the second posture at time T2, and the control button 104 is pressed to record the teaching position point B. Since there may be other teaching positions in the future, in FIG9 , between the teaching position point A and the teaching position point B, the teaching trajectory of the two points AB is displayed in the form of a dotted line, that is, the schematic trajectory line 501.

S402: If the posture information of other teaching position points is not detected, the teaching trajectory is switched from a preset schematic display mode to a teaching display mode to display the teaching trajectory.

In an embodiment of the present application, in step S401, a time threshold may be added when detecting the posture information of other teaching positions. If the time threshold is exceeded and no detection is performed, step S402 is directly executed.

S501, if the posture information of the two teaching positions is detected, the straight line teaching trajectory of the two teaching positions is pre-fitted in the background according to the straight line line type corresponding to the two teaching positions; the straight line teaching trajectory is displayed in a preset schematic display mode, and the posture information of the third teaching position is continuously detected;

As shown in FIG. 10 , when it is determined that there are only two points AB, the schematic trajectory line 501 can be switched to a teaching display mode.

The teaching display method described in the embodiment of the present application at least includes: solid line display; dark color display, second display color and/or thick line display.

In the embodiment of the present application, since the meaning of the schematic trajectory line 501 is still uncertain, a distinction is made between the schematic trajectory line and the actual teaching trajectory line. For example, the schematic trajectory line may be a non-solid line, while the teaching trajectory line is a solid line; or, the schematic trajectory line may be a light color, while the teaching trajectory line is a dark color; or, the schematic trajectory line may be red, while the teaching trajectory line may be blue; or, the schematic trajectory line may be a thin line, while the teaching trajectory line may be a thick line.

In order to show a better switching effect, please refer to Figure 11. The left side of the arrow is the screen before switching, and the right side of the arrow is the screen after switching. The left side is a preset schematic display method, and the right side has a teaching display method. From Figure 11, it can be seen that the schematic trajectory line 501 is a dotted line, and the teaching trajectory line 502 is a solid line.

S502: If the posture information of the third teaching position point is not detected, the straight line teaching trajectory is switched to a teaching display mode to display the teaching trajectory.

S503, if the posture information of the third teaching position point is detected, the arc teaching trajectory of the three teaching position points is obtained according to the arc line type corresponding to the three teaching position points in the background; the arc teaching trajectory is displayed in a preset schematic display mode, and the posture information of the fourth teaching position point is continuously detected;

S504: If the posture information of the fourth teaching position point is not detected, the arc teaching trajectory is switched to the teaching display mode to display the teaching trajectory.

As shown in FIG15, when the teaching tool determines the three teaching positions ABC, a schematic trajectory line of the arc where ABC is located is generated, and a dotted line is used between the three teaching positions ABC. At this time, the operator may select the fourth point, so the dotted line in FIG12 is only for illustration. Once it is determined that there are only three teaching positions ABC, as shown in FIG13, the schematic trajectory line 501 is switched to the teaching trajectory line 502. In addition, in order to make the arc where ABC is located more intuitive and vivid, the entire arc where ABC is located can also be displayed in the form of dotted lines, as shown in FIG14, such as the extended schematic line 503 in FIG14.

In order to show a better switching effect, please refer to Figure 15. When only two teaching position points AB are determined on the left, a straight line connecting AB and a dotted schematic trajectory line are used to illustrate. Once the teaching position point C is determined, the straight line is switched to an arc-shaped line and a dotted schematic trajectory line is used to illustrate.

S505, if the posture information of the fourth teaching position point is detected, the curve teaching trajectory of the four teaching position points is pre-fitted in the background according to the curve line types corresponding to the four teaching position points; the curve teaching trajectory is displayed in a preset schematic display mode, and the posture information of other teaching position points is continuously detected;

S506, if the posture information of other teaching position points is not detected, the curve teaching trajectory is switched to the teaching display mode until the posture information of other teaching points is not detected.

As shown in Figure 20, after detecting three teaching position points ABC, it is also necessary to determine whether there is a fourth teaching position point. If there is a fourth teaching position point, then the dotted schematic trajectory line 501 shown in Figure 18 is displayed. On the basis of what is shown in Figure 18, if no other points are detected, then the teaching trajectory line 501 in Figure 18 is switched from a dotted line to a solid line display, as shown in Figure 19.

In addition, in order to demonstrate a better switching effect, see FIG16. In FIG16, when the two teaching position points AB are determined, in order to select a better teaching position point C, the operator may move the teaching tool by hand. Before determining C, the teaching tip of the teaching tool may be placed at point C1. Then, the schematic trajectory line of the arc-shaped line where ABC1 is located is directly indicated. When the operator does not select point C1, but moves the teaching tool to point C3, then the schematic trajectory line of the arc-shaped line where ABC3 is located is directly indicated. When the operator does not select C3, but moves the teaching tool to point C, then the schematic trajectory line of the arc-shaped line where ABC is located is directly displayed.

22 , an embodiment of the present application provides a teaching trajectory processing device, the teaching trajectory processing device comprising a unit for executing the teaching method described in any of the above embodiments. Specifically, the teaching trajectory processing device comprises a first pose information determination unit 11, a second pose information determination unit 12 and a teaching trajectory fitting unit 13.

A first posture information determination unit 11, used to determine the posture information of the teaching tool at multiple teaching positions during the teaching process of the teaching tool;

A second posture information determination unit 12, used to determine the posture information of the plurality of teaching position points using the plurality of posture information of the teaching tool;

A teaching trajectory fitting unit 13, used for fitting the teaching trajectory corresponding to the teaching process according to the position information of the plurality of teaching position points in a preset trajectory fitting manner;

Wherein, when there are two teaching position points, the teaching trajectory fitting unit 13 determines that the line type of the teaching trajectory is a straight line type, and obtains a straight line teaching trajectory where the two teaching position points are located according to the straight line type fitting, or generates a joint motion trajectory according to the two teaching position points;

When there are three teaching position points, the teaching trajectory fitting unit 13 determines that the line type of the teaching trajectory is an arc line type, and obtains the arc teaching trajectory where the three teaching position points are located according to the arc line type fitting;

When there are at least four teaching positions, the teaching trajectory fitting unit 13 determines that the line type of the teaching trajectory is a curve line type, and obtains the curve teaching trajectory where at least four teaching positions are located according to the curve line type fitting.

23 , an embodiment of the present application provides a robotic arm, the robotic arm comprising a unit for executing the teaching method described in any of the above embodiments. Specifically, the robotic arm comprises a first pose information determination unit 11 , a second pose information determination unit 12 , and a teaching trajectory fitting unit 13 .

As shown in FIG. 24 , an embodiment of the present application provides a robot arm control device, 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 communicate with each other through the communication bus 114.

Memory 113, used for storing computer programs;

In one embodiment of the present application, the processor 111 is used to implement the steps of the teaching trajectory processing method provided by any of the aforementioned method embodiments when executing the program stored in the memory 113.

An embodiment of the present application further provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the teaching trajectory processing method provided in any of the aforementioned method embodiments are implemented.

The present application also provides a robot arm teaching system, as shown in FIG. 1 and FIG. 5 , comprising: a teaching tool 100, a positioning device 101, a posture acquisition system 200 and a teaching controller 300, wherein:

The teaching tool 100 is provided with a positioning device 101 whose posture can be recognized by the posture acquisition system 200; the posture acquisition system 200 is communicatively connected with the teaching controller; the teaching controller is used to execute the steps of the teaching trajectory processing method as described in any of the aforementioned method embodiments.

Optionally, as shown in FIG. 1 and FIG. 5 , the teaching tool 100 is provided with a teaching tip 103 , and the installation structure information of the teaching tip 103 and the positioning device 101 is known.

Optionally, the robot arm teaching system further includes a manipulation button, as shown in FIG. 1 and FIG. 5 , the manipulation button 104 is disposed on the teaching tool, or the manipulation button is independent of the teaching tool (not shown in the figure).

The control button 104 is in communication connection with the teaching controller 300 , and the control button 104 is used to send a collection trigger signal to the teaching controller.

Optionally, the robotic arm teaching system further includes a start/stop button (not shown in the figure), which is connected to the posture acquisition system and is used to send a teaching start signal or a teaching end signal to the posture acquisition system.

As shown in FIG. 25 , the embodiment of the present application further provides a robot arm control system, comprising: a robot arm 500, an operating table, a robot arm teaching controller 600 and a robot arm teaching system in any of the aforementioned embodiments, wherein:

The robot arm 500 is fixed to the operating table, and the operating table includes: an operating table body (not shown in the figure) and an operating table surface 400. The robot arm controller 600 can drive the robot arm 500 to move on the operating table surface 400 of the operating table, that is, the robot arm 500 can move on the operating table surface 400 of the operating table under the control of the robot arm controller 600.

The robot arm teaching system includes: a teaching tool 100, a positioning device 101, a posture acquisition system 200 and a teaching controller 300, wherein:

The acquisition range of the posture acquisition system 200 may cover the operating table 400 of the operating table. Regarding the positional relationship between the posture acquisition system 200 and the operating table, in a feasible embodiment, the posture acquisition system 200 may be fixed to the operating table body of the operating table, for example, the posture acquisition system 200 may be fixed to the side of the operating table body of the operating table 400 by a mounting rod or a mounting frame, or fixed to the operating table 400. In another feasible embodiment, the posture acquisition system 200 may not be fixed to the operating table, but a gap is set between the operating table, for example, the posture acquisition system 200 may be fixed to the ground, wall or ceiling near the operating table by a mounting frame, or a support rod, and similarly, the acquisition range of the posture acquisition system 200 may cover the operating table of the operating table, and the acquisition range of the posture acquisition system 200 covers the operating table.

The robotic arm controller 600 is communicatively connected to the robotic arm 500 . In a specific implementation, the robotic arm controller 600 can be communicatively connected to the robotic arm 500 via a communication cable or by wireless communication. The robotic arm controller 600 can control the robotic arm 500 to move on the operating table 400 .

The robot arm controller 600 is also communicatively connected with the teaching controller 300 in the robot arm teaching system.

In a specific application, the teaching controller 300 may also store a coordinate system conversion relationship between the posture acquisition coordinate system of the posture acquisition system and the table coordinate system of the operating table. After determining the teaching trajectory of the teaching tool in the posture acquisition coordinate system, the teaching trajectory of the teaching tool in the posture acquisition coordinate system can be converted into a motion trajectory in the table coordinate system through the coordinate system conversion relationship between the aforementioned two coordinate systems, and then sent to the robot controller 600, so that the robot controller 600 can directly use the motion trajectory to control the robot 500, so that the robot 500 moves on the operating table 400 according to the teaching trajectory, so as to restore the teaching trajectory.

In another embodiment of the present application, the robot controller 600 may store a coordinate system conversion relationship between the posture acquisition coordinate system of the posture acquisition system and the table coordinate system of the operating table. The teaching controller 300 only sends the teaching trajectory of the teaching tool in the posture acquisition coordinate system to the robot controller 600. The robot controller 600 can convert the teaching trajectory of the teaching tool in the posture acquisition coordinate system into a motion trajectory in the table coordinate system through the coordinate system conversion relationship between the aforementioned two coordinate systems. Then, the robot controller 600 can directly use the converted motion trajectory to control the robot to move on the operating table 400 so as to restore the teaching trajectory.

In some specific embodiments of the present application, the robot arm controller 600 and the teaching controller 300 may use two separate processors to perform processing operations separately. In addition, in other embodiments of the present application, the robot arm controller 600 and the teaching controller 300 may also use the same processor to save hardware costs and avoid communication delay problems caused by signal transmission between different processors.

It should be noted that, in this article, relational 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 any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

The foregoing is merely a specific embodiment of the present invention, which enables those skilled in the art to understand or implement the present invention. Various modifications to these embodiments will be 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 present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features claimed herein.

Claims

A teaching trajectory processing method, characterized in that it is applied to a robot arm teaching system, the robot arm teaching system comprises: a teaching tool and a posture acquisition system, the teaching tool is provided with a positioning device whose posture can be recognized by the posture acquisition system, the method comprises:

During the teaching process of the teaching tool, determining the position and posture information of the teaching tool at a plurality of teaching positions;

Determine the position information of the teaching position points by using the plurality of position information of the teaching tool;

According to the position information of the plurality of teaching position points, a teaching trajectory corresponding to the teaching process is obtained by fitting;

Wherein, when there are two teaching position points, the line type of the teaching trajectory is determined to be a straight line type, and a straight line teaching trajectory where the two teaching position points are located is obtained by fitting according to the straight line type, or a joint motion trajectory is generated according to the two teaching position points;

When there are three teaching position points, the line type of the teaching trajectory is determined to be an arc line type, and the arc teaching trajectory where the three teaching position points are located is obtained by fitting the arc line type;

When there are at least four teaching position points, the line type of the teaching trajectory is determined to be a curve line type, and the curve teaching trajectory where at least four teaching position points are located is obtained by fitting the curve line type.
The method according to claim 1 is characterized in that a teaching tip is provided on the teaching tool, and the installation structure information of the teaching tip and the positioning device on the teaching tool is known;

The determining of the position information of the teaching tool at a plurality of teaching positions includes:

During the teaching process of the teaching tool, detecting whether an acquisition trigger signal is received;

If a collection trigger signal is received, the posture recognition system is controlled to collect collection information of the positioning device on the teaching tool during the teaching process; the collection information corresponds to the collection trigger signal one by one;

Determine the position of the teaching tip on the teaching tool corresponding to each piece of collected information as a teaching position point;

According to the installation structure information, all collected information collected by the posture collection system is converted into posture information of the teaching position point corresponding to the teaching tip.
The method according to claim 1 is characterized in that a teaching tip is provided on the teaching tool, and the installation structure information of the teaching tip and the positioning device on the teaching tool is known;

The determining of the position information of the teaching tool at a plurality of teaching positions includes:

When receiving a teaching start signal, controlling the posture acquisition system to acquire acquisition information of the positioning device on the teaching tool during the teaching process according to a preset acquisition frequency;

Upon receiving the teaching end signal, controlling the posture acquisition system to stop acquiring the acquisition information of the positioning device;

Determine the position of the teaching tip on the teaching tool corresponding to each piece of collected information as a teaching position point;

According to the installation structure information, all collected information collected by the posture collection system is converted into posture information of the teaching position point corresponding to the teaching tip.
The method according to any one of claims 1 to 3, characterized in that the method further comprises:

Collecting a process parameter set corresponding to a process operation performed by the teaching tool at at least one teaching position point, wherein the process parameter set includes process parameters of at least one process type;

According to the correspondence between each of the process parameter sets and the corresponding teaching position points, the process parameter set of at least one of the teaching position points is fitted into the teaching trajectory to obtain the process teaching trajectory.
The method according to claim 4, characterized in that the step of collecting a set of process parameters corresponding to at least one of the teaching positions of the teaching tool comprises:

The posture acquisition system collects the acquisition information according to a preset acquisition frequency, records the acquisition order of the teaching position points of the teaching tool when any process operation exists, and records the process parameter set corresponding to the process operation; and establishes an order correspondence between the acquisition information and the process parameter set according to the acquisition order;

According to the correspondence between each of the process parameter sets and the corresponding teaching position points, fitting the process parameter set of at least one of the teaching position points to the teaching trajectory to obtain the process teaching trajectory includes:

According to the order correspondence between the collected information and the process parameter set, each of the acquired process parameter sets is fitted to the corresponding teaching position point in the teaching trajectory to obtain the process teaching trajectory.
The method according to claim 4, characterized in that the step of collecting a set of process parameters corresponding to at least one of the teaching positions of the teaching tool comprises:

When collecting the collected information after receiving the collection trigger signal, detect whether there is a process operation; if there is a process operation, record the process parameter set corresponding to the process operation; establish a time correspondence relationship between the process parameter set recorded at the current moment and the collected information collected at the current moment;

According to the correspondence between each of the process parameter sets and the corresponding teaching position points, fitting the process parameter set of at least one of the teaching position points to the teaching trajectory to obtain the process teaching trajectory includes:

According to the time correspondence between the process parameters and the collected information, all the acquired process parameter sets are respectively fitted to the corresponding teaching position points in the teaching trajectory to obtain the process teaching trajectory.
The method according to any one of claims 1 to 6 is characterized in that the positioning device is a two-dimensional teaching board; and the determining of the position information of the teaching tool at a plurality of teaching positions comprises:

Using the posture acquisition system to acquire image information of multiple teaching images of the two-dimensional teaching board during the teaching process of the teaching tool;

The position information of the teaching tool at the position corresponding to each teaching image is calculated according to the image information.
The method according to any one of claims 1 to 6, characterized in that the positioning device is a positioning light ball combination, and the positioning light ball combination includes at least four positioning light balls that are not on the same plane;

The determining of the position information of the teaching tool at a plurality of teaching positions includes:

Using a posture acquisition system to acquire positioning information of multiple positioning light balls of the positioning light ball combination of the teaching tool during the teaching process;

The position information of the teaching tool when the behavior light ball combination is located is determined based on the positioning information of the positioning light ball combination collected.
The method according to claim 1, characterized in that the method further comprises:

According to the position information of the plurality of teaching position points, a teaching trajectory corresponding to the teaching process is fitted and the teaching trajectory is displayed.
The method according to claim 9, characterized in that the method further comprises:

According to the posture information of the plurality of teaching positions, a teaching trajectory corresponding to the teaching process is fitted, and the teaching trajectory is displayed in a preset schematic display mode; and the posture information of other teaching positions is continuously detected; the preset schematic display mode at least includes: non-solid line display, light color display, first display color and/or thin line display;

If no posture information of other teaching position points is detected, the teaching trajectory is switched from a preset schematic display mode to a teaching display mode to display the teaching trajectory, and the teaching display mode at least includes: solid line display; dark color display, second display color and/or thick line display.
The method according to claim 9, characterized in that the method further comprises:

If the posture information of the two teaching positions is detected, the straight line teaching trajectory of the two teaching positions is pre-fitted in the background according to the straight line type corresponding to the two teaching positions; the straight line teaching trajectory is displayed in a dotted line display mode, and the posture information of the third teaching position is continuously detected;

If the posture information of the third teaching position point is not detected, the straight line teaching trajectory is switched from the dotted line display mode to the solid line display mode to display the teaching trajectory.
The method according to claim 11, characterized in that the method further comprises:

If the posture information of the third teaching position point is detected, the circular arc teaching trajectory of the three teaching position points is obtained according to the circular arc line type corresponding to the three teaching position points in the background; the circular arc teaching trajectory is displayed in a light color or the first display color display mode, and the posture information of the fourth teaching position point is continuously detected;

If the posture information of the fourth teaching position point is not detected, the circular arc teaching trajectory is switched from the light color display mode to the dark color display mode, or from the first display color to the second display color to display the teaching trajectory.
The method according to claim 12, characterized in that the method further comprises:

If the posture information of the fourth teaching position point is detected, the curve teaching trajectory of the four teaching position points is pre-fitted in the background according to the curve line types corresponding to the four teaching position points; the curve teaching trajectory is displayed in a thin line display mode, and the posture information of other teaching position points is continuously detected;

If the posture information of other teaching position points is not detected, the curve teaching trajectory is switched from a thin line display mode to a thick line display mode until the posture information of other teaching points is not detected.
A teaching device, characterized in that it comprises a unit for executing the teaching trajectory processing method as described in any one of claims 1-13.
A robotic arm, characterized in that it comprises a unit for executing the teaching trajectory processing method as described in any one of claims 1-13.
A teaching 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 communicate with each other through the communication bus;

Memory, used to store computer programs;

The processor is used to implement the steps of the teaching trajectory processing method as described in any one of claims 1 to 13 when executing the program stored in the memory.
A computer-readable storage medium having a computer program stored thereon, characterized in that when the computer program is executed by a processor, the steps of the teaching trajectory processing method as described in any one of claims 1 to 13 are implemented.
A robot arm teaching system, characterized in that it comprises: a teaching tool, a positioning device, a posture acquisition system and a teaching controller, wherein:

The teaching tool is provided with a positioning device whose posture can be recognized by the posture acquisition system; the posture acquisition system is communicatively connected with the teaching controller; the teaching controller is used to execute the steps of the teaching trajectory processing method as described in any one of claims 1-9.
The system according to claim 18 is characterized in that a teaching tip is provided on the teaching tool, and the installation structure information of the teaching tip and the positioning device is known.
The system according to claim 18 or 19, characterized in that the robot arm teaching system further comprises a control button, and the control button is arranged on the teaching tool, or the control button is independent of the teaching tool;

The control button is in communication connection with the teaching controller, and the control button is used to send a collection trigger signal to the teaching controller.
The system according to claim 18 is characterized in that the robotic arm teaching system also includes a start-stop button, which is connected to the posture acquisition system and is used to send a teaching start signal or a teaching end signal to the posture acquisition system.
A robotic arm control system, characterized in that it comprises: a robotic arm, an operating table, a robotic arm controller and a robotic arm teaching system as claimed in any one of claims 18 to 21, wherein:

The robot arm teaching system comprises: a teaching tool, a positioning device, a posture acquisition system and a teaching controller, wherein the teaching tool is provided with a positioning device whose posture can be recognized by the posture acquisition system; the posture acquisition system is communicatively connected with the teaching controller; the teaching controller is used to execute the steps of the teaching trajectory processing method according to any one of claims 1 to 13;

The mechanical arm is fixed to the operating table, which includes an operating table body and an operating table surface, and the mechanical arm controller can drive the mechanical arm to move on the operating table surface of the operating table;

The robot arm controller is in communication connection with the robot arm; the robot arm controller is in communication connection with the teaching controller in the robot arm teaching system;

The teaching controller stores a coordinate system conversion relationship between the posture acquisition coordinate system of the posture acquisition system and the table coordinate system of the operating table, and the coordinate system conversion relationship can be used to convert the teaching trajectory of the teaching tool in the posture acquisition coordinate system into a motion trajectory in the table coordinate system and send it to the robotic arm controller, the robotic arm controller receives the motion trajectory and uses the motion trajectory to control the robotic arm; or, the robotic arm controller stores a coordinate system conversion relationship between the posture acquisition coordinate system of the posture acquisition system and the table coordinate system of the operating table, the teaching controller sends the teaching trajectory of the teaching tool in the posture acquisition coordinate system to the robotic arm controller, the robotic arm controller uses the coordinate system conversion relationship to convert the teaching trajectory of the teaching tool in the posture acquisition coordinate system into a motion trajectory in the table coordinate system, and controls the robotic arm to move on the operating table according to the motion trajectory.