Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

Kinect-based robot teaching programming guiding method

A technology of robots and industrial robots, applied in the field of computer vision, can solve the problems of long programming time, occupying robot operation time, and difficulty in achieving results, and achieves the effect of lowering the programming threshold and simplifying teaching programming.

Inactive Publication Date: 2019-12-20
XIAMEN UNIV TAN KAH KEE COLLEGE
View PDF6 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] In manual teaching programming, first of all, due to the wide variety of teaching pendants on the market, the programming languages ​​used in each are different, which has too much learning load for technicians; moreover, online programming needs to occupy the robot’s working time, and The cumbersome programming process leads to excessive programming time consumption, which reduces economic benefits; online programming requires technicians to visually estimate the accuracy of the job, and it is often difficult to achieve satisfactory results in a more complex workflow
[0007] In offline programming, because the programming task is not performed on the job site, the 3D model constructed in the virtual environment has high precision requirements. If there is a certain deviation in the scale of the robot, the workpiece, or the correspondence between the two, it will seriously affect the final result. finish quality

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Kinect-based robot teaching programming guiding method
  • Kinect-based robot teaching programming guiding method
  • Kinect-based robot teaching programming guiding method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0025] The technical solution of the present invention will be specifically described below in conjunction with the accompanying drawings.

[0026] Such as figure 1 As shown, the present invention provides a kind of robot teaching programming guide method based on Kinect, comprises the steps:

[0027] Step S1, training and recording the image information of the tool (Item) used to represent the teaching point during the actual teaching process, so as to facilitate target positioning in subsequent steps;

[0028] Step S2, according to the internal parameters and external parameters of Kinect (camera calibration toolkit such as GMLCalibration Toolbox can be used, and the calibration principle is chessboard calibration method-Zhang Zhengyou calibration), calculate the affine matrix from the Kinect coordinate space to the industrial robot coordinate space, and obtain the Kinect internal reference matrix Extrinsic matrix and the affine matrix From this, the corresponding rel...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention relates to a Kinect-based robot teaching programming guiding method. According to the method, on the basis of the ability of Kinect for acquiring depth information, a teaching point position required by online teaching is acquired by constructing the space three-dimensional point cloud, and then a teaching program is obtained through conversion; and through the Kinect-based robot teaching programming guiding method, simple teaching can be performed conveniently under the condition that a technician is not familiar with the corresponding language, then the purpose of simplifying teaching programming is achieved, and the programming threshold of an industrial robot is greatly lowered.

Description

technical field [0001] The invention relates to the field of computer vision, in particular to a Kinect-based robot teaching and programming guidance method. Background technique [0002] The teaching pendant, also known as the teaching programmer, is the core component of the industrial robot control system. It is a device used to register and store mechanical motion or process memory, and is used to assist programmers to control the robot to automatically perform certain repetitive operations. It has been widely used in handling, welding and other fields. [0003] The existing robot programming methods are mainly divided into manual teaching programming and offline programming. [0004] The former requires technicians to hold the teaching pendant to control the trajectory and pose of the robot online at the work site. The latter is to build the three-dimensional positional relationship between the robot and the workpiece through software, and complete the programming of ...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00
CPCB25J9/0081
Inventor 郭一晶林明哲高凤强刘暾东邵桂芳黄斯奇
Owner XIAMEN UNIV TAN KAH KEE COLLEGE
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com