A robot fast teaching sorting system and method
A technology of sorting system and robot, which is applied in the direction of sorting, manipulator, program control manipulator, etc. It can solve the problems of high maintenance cost, limited use environment, complicated programming of robot teaching system and method, and achieve rapid configuration and low cost. cheap effect
Active Publication Date: 2020-08-14
SHANGHAI JIAOTONG UNIV
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Problems solved by technology
[0007] In view of the above-mentioned defects of the prior art, the technical problem to be solved by the present invention is to overcome the existing technical problems of the existing robot teaching system and method, such as complicated programming, high maintenance cost, and limited use environment, and integrate the visual sensing system through the ROS system. And demonstration programming technology, a sorting system can be quickly configured through a simple demonstration
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[0039] The following describes several preferred embodiments of the present invention with reference to the accompanying drawings to make the technical content clearer and easier to understand. The present invention can be embodied in many different forms of embodiments, and the protection scope of the present invention is not limited to the embodiments mentioned herein.
[0040] In the drawings, components with the same structure are denoted by the same numerals, and components with similar structures or functions are denoted by similar numerals. The size and thickness of each component shown in the drawings are shown arbitrarily, and the present invention does not limit the size and thickness of each component. In order to make the illustration clearer, the thickness of parts is appropriately exaggerated in some places in the drawings.
[0041] Such as figure 1 As shown, a robot fast teaching and sorting system described in the present invention includes at least one UR5 r...
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The invention discloses a rapid teaching and sorting system and method for a robot, and relates to the field of robots and man-machine interaction techniques and the like. The sorting system is composed of a distance view depth camera outside the robot, a close view depth camera installed at the tail end of the robot and an ROS; the distance view depth camera is used for tracking a demonstrator todemonstrate the sorting process and detecting objects in real time; the close view depth camera is used for scanning grabbed object point cloud and calculating the posture; and the ROS (Robot Operating System) is used for fusing the depth camera information and controlling the posture of the robot in real time. By tracking the demonstrator to demonstrate the sorting action, a self-adaptive sorting procedure is automatically generated for the robot. The engineering practicability is high, and the rapid teaching and sorting system and method for the robot can be widely applied to the industrialproduction field.
Description
technical field [0001] The invention relates to the technical field of robots and human-computer interaction, in particular to a system and method for rapid teaching and sorting of robots. Background technique [0002] With the emergence of diversified small batch production, flexible manufacturing has been proposed. At this stage, in order to realize flexible manufacturing and intelligent manufacturing of industrial robots, convenient human-computer interaction and fast programming have become the focus of attention. [0003] The traditional robot production line is run after manual programming. Once the task is adjusted, professional engineers are required to readjust the program, and the maintenance cost is extremely high. With the development of technology, drag and drop teaching appeared. Programming by dragging the robot is a relatively friendly way, which provides a convenient application interface for users who do not know how to program, but its limitation is tha...
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IPC IPC(8): B07C5/342B07C5/36B25J9/22
CPCB07C5/342B07C5/362B25J9/0081
Inventor 吴建华丁铖熊振华盛鑫军朱向阳
Owner SHANGHAI JIAOTONG UNIV