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Robot teaching system and method based on RGB-D image and teaching device

A technology of RGB image and teaching pendant, which is applied in the field of robot teaching system, can solve the problems of difficult integration and high cost, and achieve the effects of convenient programming, collision avoidance and high efficiency

Active Publication Date: 2019-09-17
QINGDAO UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This technical solution adopts a harmonious human-computer interaction method, enabling front-line workers to generate robot programs in a virtual-real environment, replacing the existing robot teaching device, and innovating online teaching programming and offline teaching programming methods, but This technical solution requires a high-precision, wide-range pose tracking system, which is costly and difficult to integrate

Method used

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  • Robot teaching system and method based on RGB-D image and teaching device

Examples

Experimental program
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Effect test

Embodiment 1

[0039] see figure 1 and figure 2 , a robot teaching system based on RGB-D images and a teaching device, including an RGB-D camera 10, a host computer 20, a posture teaching device 30 and an AR teaching system 40, the RGB-D camera 10, the posture teaching The device 30 is connected in communication with the host computer 20, the RGB-D camera 10 includes an RGB camera and a depth camera, and the AR teaching system 40 includes an AR registration card 41 located in the physical working environment and running on the host computer 20. In the augmented reality module 42, the virtual robot model 43 including the robot end effector (such as Image 6 shown), a path planning unit 44 and an attitude teaching unit 45, the RGB-D camera 10 collects RGB images of the physical working environment in real time (such as Figure 7 shown) and the depth image to the host computer 20, the augmented reality module 42 calculates the conversion matrix of the AR registration card 41 relative to the ...

Embodiment 2

[0058] see Figure 1 to Figure 4 , a robot teaching method based on RGB-D images and a teaching pendant, including system initialization steps and interactive teaching programming steps:

[0059] The system initialization steps include steps S10 to S330:

[0060] System initialization steps:

[0061] S10, establish a virtual robot model 43 in the host computer 20: such as Image 6 As shown, in the host computer 20, the same three-dimensional model of the physical robot and the three-dimensional model of the robot end effector as the physical robot 50 are drawn according to the scale, and then the forward kinematics model and Inverse kinematics model, thus establishing a virtual robot model 43 .

[0062] S20. Augmented reality registration: the augmented reality registration module in the AR teaching system 40 reads the position of the AR registration card 41 in the RGB image, and calculates the transformation matrix of the RGB camera relative to the AR registration card 41 ...

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Abstract

The invention relates to a robot teaching system based on an RGB-D image and a teaching device. The system comprises an RGB-D camera, an upper computer, the posture teaching device and an AR teaching system; the AR teaching system comprises an AR registration card, an augmented reality module, a virtual robot model including a robot end actuator, a path planning unit and a posture teaching unit, the RGB-D camera collects the RGB image and a depth image of the physical work environment in real time, in the path planning unit, the path points of the robot end actuator are selected, three-dimension coordinates of the path points of the robot end actuator in the basic coordinate system of the virtual robot model are calculated, the posture teaching unit takes the received posture data as the posture of the path points of the current motion, according to the position and the posture of the path points, the virtual robot model is driven to move, and teaching is finished. The complex posture tracking system is not needed, a physical robot does not participate in teaching, and through augmented reality simulation, the teaching programming is finished.

Description

technical field [0001] The invention relates to a robot teaching system, method and method based on RGB-D images and a teaching device, and belongs to the field of intelligent manufacturing. Background technique [0002] At present, industrial robots are widely used in welding, grinding, assembly, spraying and other fields. Robot programming is the key to exerting the functions of robots and completing complex tasks. The programming methods of industrial robots are mainly divided into three categories: online teaching programming, offline teaching programming and autonomous programming. The online teaching programming process is to manually drag the robot end effector or operate the teaching box to drive the robot end to the target path point by teaching the programmer, and store the path point as the robot's programming trajectory. This method can only complete simple point programming and path programming of simple trajectories, but the accuracy is difficult to guarantee,...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00B25J9/02B25J9/16B25J19/02
CPCB25J9/0081B25J9/026B25J9/1697B25J9/1602B25J9/1664B25J19/023B25J9/1671G05B2219/39451G05B2219/37388G05B2219/39014G05B2219/40129G05B2219/36492G05B2219/39435G06T19/006
Inventor 陈成军潘勇李东年洪军
Owner QINGDAO UNIV OF TECH
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