Robot hand-held teaching device and method based on stereoscopic vision
A teaching device and stereo vision technology, which is applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of cumbersome teaching process and long teaching time of robots, reduce the difficulty of teaching, improve work efficiency, The effect of good adaptability
Active Publication Date: 2020-03-27
GUANGXI UNIV
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Problems solved by technology
[0007] In view of the above existing problems, the present invention proposes to use a hand-held teaching device and method based on stereo vision, the purpose is to solve the problem that the teaching process of the robot is cumbersome and the teaching time is long
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[0032] The present invention proposes a hand-held teaching device and a trajectory teaching method based on binocular vision and attitude sensors. The position of the light spot is acquired by a stereo camera, and combined with the attitude sensor to measure the attitude of the attitude measuring rod, and the setting on the teaching path is obtained. Fixed-point pose information, teaching is simple and fast, and the cost is low. The hand-held teaching pendant does not need to be clamped, and the teaching posture is easy to control.
[0033] Further illustrate the present invention below in conjunction with accompanying drawing.
[0034] Examples such as figure 1 As shown, the handheld teaching device C is composed of a signal sending module 1 , a mode selection unit 2 , a signal triggering device 3 , a power module 4 , a light spot 5 , a teaching device body 6 , an attitude sensor 7 and a pose measuring rod 8 . The signal sending module 1 and the power supply module 4 are fix...
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The invention belongs to the robot teaching and stereoscopic vision field, and relates to a robot rapid teaching device and method based on stereoscopic vision. The device comprises an information transmitting unit, a signal triggering device, at least three light sources, a hand-held grab handle and a pose measurement rod piece. In a stereoscopic vision effective view field range, a tail end of the pose measurement rod piece of the hand-held teaching device is moved to a position of a set point on a planned path in a set pose so as to acquire image information of a characteristic recognitionunit. A pose matrix from a stereoscopic vision coordinate system to three light source coordinate systems is acquired through data processing. The pose matrix from the tail end coordinate system of the pose measurement rod piece to a robot base coordinate system is further constructed in combination with a geometric dimension calibration result of the hand-held teaching device, pose information of a teaching point under the robot base coordinate system is calculated, and finally a robot reproduces a teaching point track. The device is simple, flexible, wide in application range, small in environmental influence and high in working efficiency, rapid teaching can be achieved, and usability of the robot is improved.
Description
technical field [0001] The present invention relates to robot teaching equipment, in particular to a handheld teaching device and method based on stereo vision and attitude sensors [0002] technical background [0003] Industrial robots are more and more widely used in various industries, and the robot teaching process is an important step in the robot's working process. [0004] At present, there are mainly two methods for robot teaching - manual teaching method and offline teaching method. Manual teaching means that the end effector of the robot is guided manually, or the mechanical simulation device is guided by manual operation, or the teaching box is used to make the robot complete the expected action, because the programming of this type of robot is realized through real-time online teaching program. Realized, and the robot itself operates by memory, so it can be reproduced continuously. The offline teaching method refers to collecting the teaching points first, simu...
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Login to View More IPC IPC(8): B25J9/00B25J9/16B25J13/00
CPCB25J9/0081B25J9/1612B25J9/1664B25J13/00Y02P90/02G05B2219/36452G05B19/42B25J9/1656
Inventor 陈琳田硕刘吉刚王耀玮潘海鸿梁旭斌蒲明辉
Owner GUANGXI UNIV