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Handheld teaching device and method based on stereoscopic vision

A technology of stereo vision and teaching device, which is applied in the direction of measuring device, manipulator, teaching model, etc., can solve the problems of cumbersome teaching process and long teaching time of robots, so as to improve usability, facilitate image processing and work efficiency. boosted effect

Pending Publication Date: 2020-04-03
GUANGXI UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] The present invention proposes the use of a hand-held teaching device and method based on stereo vision, the purpose of which is to solve the problems of cumbersome robot teaching process and long teaching time

Method used

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  • Handheld teaching device and method based on stereoscopic vision
  • Handheld teaching device and method based on stereoscopic vision
  • Handheld teaching device and method based on stereoscopic vision

Examples

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Embodiment

[0020] Example: as attached figure 1 As shown, a robot hand-held teaching device based on stereo vision includes an information sending unit 1, a signal trigger device 2, three light sources 3, a hand-held handle 4, and a pose measuring rod 5; as attached figure 1 In the shown embodiment, the information sending unit 1 is installed inside the hand-held handle 4, and the signal triggering device 2 is fixed on the lower surface of the hand-held handle 4 through a fixing hole; the three light sources 3 are fixed on the hand-held handle 4 upper surface; the pose measuring rod 5 is fixed on the front end of the handle 4 through a fixing hole.

[0021] Such as figure 2 As shown, choose one of the three light sources as the origin O 1 , construct the X-axis and Y-axis respectively with the other two light sources, determine the direction of the Z-axis according to the right-hand rule, and construct three light source coordinate systems 5-1. Let the position information of the thr...

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Abstract

The invention discloses a handheld teaching device and method based on stereoscopic vision, and relates to the field of robot teaching and stereoscopic vision. The handheld teaching device comprises asignal sending unit, a mode selecting unit, a signal triggering device, a power module, a light spot, a teaching device body, an attitude sensor and a pose measuring rod piece. The tail end of the pose measuring rod piece of the handheld teaching device is operated to move to the position of a set point on the planned path in a set attitude; image information of the light spot is obtained; a posematrix from a stereoscopic vision coordinate system to a light spot coordinate system is obtained through data processing; and a pose matrix from the coordinate system at the tail end of the pose measuring rod piece to a robot base coordinate system is further constructed in combination with a measurement result of the attitude sensor, pose information of the teaching point under the robot base coordinate system is calculated, and the robot reproduces the track of the teaching point according to a fitting mode selected by the mode selecting unit. The device is simple and flexible and high inwork efficiency, can achieve the quick teaching, and improves the usability of the robot.

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 three light sources. Background technique [0002] 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. [0003] 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. Realization, and the robot itself operates by memory, so it can be reproduced continuously. The off-line teaching method refers to collecting the information of spray parts ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00B25J19/02G09B25/02G01C21/00
CPCB25J9/0081B25J19/023G09B25/02G01C21/00
Inventor 潘海鸿王耀玮田硕刘吉刚陈琳梁旭斌蒲明辉
Owner GUANGXI UNIV
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