An intuitive industrial robot simulation system

Abstract

The present invention relates to an intuitive industrial robot simulation system, the industrial robot system comprises an industrial robot and an operating device, the operating device comprises a display unit for displaying a robot simulation image and a first posture sensor and / or a first orientation sensor for detecting the posture of the operating device; the industrial robot comprises an acquisition module for acquiring the installation posture of the industrial robot; the industrial robot system comprises a control module for adjusting the simulation image of the display unit according to changes in at least one of the installation posture of the robot and the posture of the operating device, so that the viewing angle of the simulation image displayed by the display unit is consistent with that of the industrial robot. The beneficial effects of the present invention are: the teaching of the industrial robot is more intuitive and the operation convenience is good.

Description

Technical Field

[0001] The present invention relates to the field of robots, and in particular to an industrial robot system. Background Art

[0002] Industrial robots are a type of robot widely used in industrial environments. They are usually taught by users through a teach pendant to perform predetermined tasks. The teach pendant can display a simulated image of the industrial robot to assist users in operating the robot.

[0003] When operating the robot, if the simulation image displayed by the teach pendant is consistent with the robot, the teach pendant can intuitively display the robot's posture, which can facilitate the user's operation. When the robot's posture maintains a certain stability and the user's standing position is in an ideal position, the perspective of the simulation image seen by the user through the teach pendant can be consistent with the actual perspective of the robot. However, if the robot's posture or the posture of the teach pendant changes, for example, when the user is not standing in the ideal position, the change in the user's position will not cause the simulation image to change with the change in the user's perspective, which is not conducive to the user's intuitive observation of the industrial robot through the simulation image, and the user's convenience in using the industrial robot is affected.

[0004] In the prior art, there is a method in which the user holds a teach pendant to make the simulation image of the teach pendant consistent with the robot's perspective. Although this method can ensure that the simulation image is consistent with the robot's perspective, it affects the convenience of the user using the robot. In the prior art, there is also a method in which the user's standing position is predefined, the user's standing position is numbered and the position is defined, the robot knows the positions corresponding to different standing position numbers, and when the user stands in the predetermined position, the orientation relationship between the user's standing position and the robot is processed to make the simulation image consistent with the robot's perspective, but this method requires additional definition of the standing position, which also affects the convenience of the user using the robot.

[0005] Therefore, it is necessary to design an industrial robot system and an industrial robot control method that is intuitive in teaching and easy to use. Summary of the invention

[0006] In view of this, an object of the present invention is to provide an industrial robot system and an industrial robot control method with intuitive teaching and good usability.

[0007] The present invention can adopt the following technical scheme: an industrial robot system, including an industrial robot and an operating device, the operating device including a display unit for displaying a robot simulation image and a first posture sensor and / or a first orientation sensor for detecting the posture of the operating device; the industrial robot includes an acquisition module for acquiring the installation posture of the industrial robot; the industrial robot system includes a control module for adjusting the simulation image of the display unit according to changes in at least one of the installation posture of the robot and the posture of the operating device, so that the viewing angle of the simulation image displayed by the display unit is consistent with that of the industrial robot.

[0008] Furthermore, the operating device is constructed as a robot teaching pendant or a tablet computer.

[0009] Furthermore, the acquisition module includes a second posture sensor and / or a second orientation sensor to acquire the installation posture of the industrial robot.

[0010] Furthermore, the industrial robot can be installed on a moving object to perform work, and the acquisition module can acquire the installation posture of the industrial robot by communicating with the moving object.

[0011] Furthermore, the industrial robot can be installed on a moving object to perform work, and the installation posture changes with the change of the posture of the moving object.

[0012] Furthermore, the acquisition module is used to acquire the installation posture of the industrial robot in the world coordinate system.

[0013] Furthermore, the industrial robot is capable of acquiring a robot posture, and the control module generates a simulation image of the display unit according to the robot posture, the installation posture of the industrial robot and the posture of the operating device.

[0014] Furthermore, the industrial robot is formed as a three-axis, four-axis, or six-axis robotic arm, or the industrial robot is formed as a collaborative robot.

[0015] The present invention may also adopt the following technical scheme: a control method for an industrial robot, applicable to any of the industrial robot systems described above, comprising: acquiring the installation posture of the industrial robot; detecting the posture of an operating device; adjusting the simulation image of a display unit according to a change in at least one of the installation posture of the industrial robot and the posture of the operating device, so that the viewing angle of the simulation image displayed by the display unit is consistent with that of the industrial robot.

[0016] Furthermore, the industrial robot can be installed on a moving object to perform work, and the installation posture changes with the change of the posture of the moving object.

[0017] Furthermore, the control method includes: obtaining the installation posture of the industrial robot in the world coordinate system;

[0018] Furthermore, the control method includes: acquiring the posture of the industrial robot, and generating a simulation image of the display unit according to the posture of the industrial robot, the posture of the industrial robot, and the posture of the operating device.

[0019] Compared with the prior art, the specific embodiments of the present invention have the following beneficial effects: the teaching of industrial robots is more intuitive, and users can intuitively correspond to the actual industrial robots through the simulated images of the operating equipment, without having to adjust their own positions, which facilitates the teaching work. At the same time, it can be applied to work tasks in a variety of scenarios, and the consistency of the perspectives of the simulated images and the actual industrial robots is maintained. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The above-mentioned objectives, technical solutions and beneficial effects of the present invention can be achieved through the following drawings:

[0021] Figure 1 Schematic diagram of an industrial robot system according to an embodiment of the present invention

[0022] Figure 2 Schematic diagram of an industrial robot installed on a moving object according to an embodiment of the present invention

[0023] Figure 3 Schematic diagram of an industrial robot control method according to an embodiment of the present invention DETAILED DESCRIPTION

[0024] In order to make the purpose, technical scheme and advantages of the present invention clearer, the scheme in the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiment of the present invention. Obviously, the described embodiment is a part of the embodiment of the present invention rather than all the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. It should be noted that the terms "upper", "lower", "left", "right" and similar expressions used in this article are for illustrative purposes only and are not restrictive.

[0025] The present invention protects an industrial robot system, referring to Figure 1 , Figure 1A schematic diagram of an industrial robot system according to an embodiment of the present invention is given as an example. The industrial robot system 100 includes an industrial robot 1 and an operating device 3. The operating device 3 can teach the movement of the industrial robot 1 according to the user's operation. The operating device 3 includes a display unit 31 for displaying a robot simulation image and a first posture sensor and / or a first orientation sensor 32 for detecting the posture of the operating device; the industrial robot 1 includes an acquisition module for acquiring the installation posture of the industrial robot 1, and specifically, the acquisition module is used to acquire the installation posture of the industrial robot 1 in the world coordinate system; the industrial robot system 100 includes a control module for adjusting the simulation image of the display unit according to the change of at least one of the installation posture of the robot and the posture of the operating device, so that the viewing angle of the simulation image displayed by the display unit is consistent with that of the industrial robot. Specifically, the industrial robot 1 includes the control module, and / or the operating device 3 includes the control module. Specifically, the first posture sensor and / or the first orientation sensor 32 are used to detect the posture of the operating device 3 in the world coordinate system. Specifically, the operating device 3 is constructed as a robot teaching pendant or a tablet computer. Specifically, in the prior art, when at least one of the installation posture of the industrial robot 1 and the posture of the operating device 3 changes, the simulation image of the display unit 31 will change, so that the viewing angle of the simulation image of the display unit 31 cannot be consistent with that of the industrial robot 1. The control module in this embodiment is used to generate a simulation image of the display unit 31 according to the installation posture of the industrial robot 1 and the posture of the operating device 3, so that the viewing angle of the simulation image displayed by the display unit 31 is consistent with that of the industrial robot 1.

[0026] By acquiring the installation posture of the industrial robot 1 and the posture of the operating device 3, the simulation image of the display unit 31 can be adjusted according to the change of at least one of the installation posture of the industrial robot 1 and the posture of the operating device 3, so that the viewing angle of the simulation image displayed on the display unit 31 is consistent with that of the industrial robot, that is, when the installation posture of the industrial robot 1 and / or the posture of the operating device 3 changes, the viewing angle of the simulation image can always be kept consistent with that of the industrial robot.

[0027] The industrial robot 1 can obtain the installation posture of the industrial robot through the acquisition module in a variety of ways. Specifically, the acquisition module can automatically obtain the installation posture of the industrial robot. For example, the acquisition module includes a second posture sensor and / or a second orientation sensor to obtain the installation posture of the industrial robot 1. At this time, the installation posture of the industrial robot 1 obtained is the installation posture of the robot in the world coordinate system; or, the acquisition module can obtain the installation posture of the industrial robot 1 by communication. For example, the installation posture of the robot is input by the user, and the acquisition module obtains the installation posture of the robot input by the user; or, the industrial robot 1 provided by the present invention can be installed on a moving object to perform work, and the acquisition module can communicate with the moving object to obtain the installation posture of the industrial robot 1. For example, the moving object can detect the installation posture of the base 11 of the robot and communicate to transmit it to the industrial robot 1. The installation posture of the base 11 of the robot can represent the installation posture of the robot. Specifically, the acquisition module is used to obtain the installation posture of the industrial robot in real time, and to update the installation posture information of the industrial robot 1 in time, so that the viewing angle of the simulation image displayed by the display unit 31 is consistent with that of the industrial robot. In one embodiment of the present invention, reference Figure 2 The industrial robot 1 can be installed on a moving object 2 to perform work, and the installation posture of the industrial robot 1 changes with the change of the posture of the moving object 2. For example, the moving object 2 can learn its own posture. The industrial robot is installed on the moving object 2 through a base 11. The installation posture of the base 11 of the industrial robot can be determined by the posture of the moving object 2. The installation posture of the base 11 of the industrial robot can represent the installation posture of the industrial robot. The posture of the moving object is obtained by an acquisition module to obtain the installation posture of the industrial robot, which can avoid the need to additionally set up a sensor for detecting the installation posture for the industrial robot, thereby reducing the cost of the industrial robot while ensuring performance.

[0028] In one embodiment of the present invention, the industrial robot 1 is capable of acquiring the robot posture, and the control module is used to acquire the relative posture of the operating device 3 and the robot 1 according to the posture of the robot 1 and the posture of the operating device 3, so that the simulation image of the display unit 31 can be timely adjusted according to the different postures of the operating device 31, so that the simulation image is consistent with the perspective of the operating device. Further, in combination with the installation posture of the industrial robot 1 acquired by the acquisition module, when the installation posture of the robot changes, the simulation image is consistent with the perspective of the operating device. Specifically, the control module generates a simulation image of the display unit according to the posture of the robot, the installation posture of the industrial robot and the posture of the operating device, so that the simulation image is consistent with the perspective of the industrial robot.

[0029] Furthermore, the acquisition module is used to acquire the installation posture of the industrial robot in the world coordinate system. The installation posture of the traditional industrial robot does not change during operation. At this time, it is necessary to ensure that the simulation image of the display unit 31 is consistent with the viewing angle of the industrial robot. There is no need to pay attention to the installation posture of the robot. As the application scope of industrial robots expands, the industrial robot 1 can be installed on the moving object 2 to perform work. The installation posture of the industrial robot will change with the change of the posture of the moving object. For example, Figure 2 , the industrial robot 1 is placed on the moving object 2, Figure 2 The moving object 2 shown in the figure is a positioner, which can rotate, and the position of the industrial robot 1 also changes accordingly. By obtaining the installation position of the robot 1, the installation position is the installation position information of the robot 1 in the world coordinate system, and further, the robot's position is obtained, and the robot's position is the position information of the robot in the robot base coordinate system. Further, in combination with the position information of the operating device 3, the control module adjusts the simulation image of the display unit 31, so that the perspective of the simulation image displayed by the display unit 31 is consistent with the actual perspective of the industrial robot 1, and then the influence of factors such as the different postures of the user operating the operating device 3 and the different installation postures of the industrial robot 1 on the perspective of the simulation image can be ignored, and the simulation image is kept consistent with the actual perspective of the industrial robot. For example, when the user stands at any position at will, the virtual industrial robot seen by the user through the simulation image is consistent with the perspective of the industrial robot actually seen by the user, and what you see is what you get. The simulation image displayed by the display unit 31 is consistent with the perspective of the industrial robot.

[0030] The operating device 3 includes a first posture sensor and / or a first orientation sensor 32, which is used to obtain the posture of the operating device 3, specifically, to obtain the posture of the operating device 3 in the world coordinate system, specifically, to automatically obtain the posture of the operating device. The industrial robot can obtain the posture of the industrial robot, and the posture of the industrial robot is the posture of the industrial robot based on the robot base coordinate system; the acquisition module can obtain the installation posture of the industrial robot, and the installation posture is the posture in the world coordinate system. The control module is used to reconstruct the coordinate system so that the posture of the robot, the installation posture of the robot and the posture of the operating device are in the same coordinate system. The control module can directly obtain the relative posture of the operating device and the industrial robot, and then generate a simulation image of the display part based on the posture of the operating device 3, the posture of the robot and the installation posture of the robot, and the perspective of the simulation image is consistent with that of the industrial robot. Specifically, the operating device 3 includes a first posture sensor and / or a first orientation sensor 32, and the first posture sensor and / or the first orientation sensor 32 can be detachably connected to the operating device 3. The industrial robot system 100 includes a control module, which is arranged in the industrial robot or the operating device, or in both the industrial robot 1 and the operating device 3. The control module 3 can communicate to obtain at least one of the robot posture, the robot installation posture and the operating device posture.

[0031] The industrial robot system 100 protected by the present invention includes an industrial robot 1, which can be a three-axis, four-axis or six-axis robotic arm, or the industrial robot is a collaborative robot, and further, the collaborative robot is a six-axis collaborative robot.

[0032] The beneficial effects of the above preferred embodiments are: the teaching of the industrial robot is more intuitive, the user can intuitively see the status of the industrial robot through the operating device, and the operating device perspective can be automatically consistent with the industrial robot without deliberate adjustment, and this consistency can be maintained in various working scenarios.

[0033] The present invention also provides a control method for an industrial robot. Figure 3 , the teaching method is applicable to any of the above-mentioned industrial robot systems 100, including: S1: obtaining the installation posture of the industrial robot; S2: detecting the posture of the operating device; S3: adjusting the simulation image of the display unit according to the change of at least one of the installation posture of the industrial robot and the posture of the operating device, so that the viewing angle of the simulation image displayed by the display unit 31 is consistent with that of the industrial robot. Specifically, the obtaining of the installation posture of the industrial robot includes obtaining the installation posture of the industrial robot in the world coordinate system; the detecting of the posture of the operating device 3 includes detecting the posture of the operating device 3 in the world coordinate system. Specifically, the teaching method includes automatically obtaining the installation posture of the industrial robot and automatically detecting the posture of the operating device.

[0034] Further, obtaining the installation posture of the industrial robot 1 includes multiple ways, for example, obtaining the installation posture of the industrial robot according to a second posture sensor and / or a second orientation sensor provided on the industrial robot, or obtaining the installation posture of the industrial robot according to a user input, or, when the industrial robot 1 is provided on the moving object 2, obtaining the installation posture of the industrial robot according to the posture of the moving object 2, for example, obtaining the posture of the moving object through the communication between the industrial robot 1 and the moving object 2 and then obtaining the installation posture of the industrial robot. Further, obtaining the installation posture of the industrial robot includes obtaining the installation posture of the industrial robot 1 that changes with the posture change of the moving object 2, that is, the industrial robot 1 is installed on the moving object 2 to perform work, when the posture of the moving object 2 changes, the installation posture of the base 11 of the industrial robot changes, that is, the installation posture of the industrial robot changes, and the changed installation posture of the industrial robot is obtained in time, so that the control module can be in the relationship between the operating device posture and the robot installation posture to obtain the relative posture of the two, so that the simulation image of the display unit is consistent with the industrial robot.

[0035] Further, the control method includes: obtaining the posture of the industrial robot, and generating a simulation image of the display unit according to the posture of the industrial robot, the installation posture of the industrial robot, and the posture of the operating device; specifically, the control method includes: reconstructing the coordinate system so that the posture of the industrial robot, the installation posture of the industrial robot, and the posture of the operating device are in the same coordinate system. By making the posture of the industrial robot, the installation posture of the industrial robot, and the posture of the operating device in the same coordinate system, the relative posture of the operating device relative to the industrial robot is obtained, so that the viewing angle of the simulation image of the display unit is consistent with that of the industrial robot.

[0036] It should be noted that the posture sensors and / or orientation sensors mentioned in this article are used to obtain posture and / or orientation, and all sensors that can obtain this information should be included. For example, posture sensors include acceleration sensors, inertial sensors, gyroscopes, electronic compasses and other types of sensors.

[0037] It should be noted that the control method provided by the present invention has no order restrictions for the acquisition and / or detection of various relevant parameters. The description of the present invention only gives an exemplary order, but there is no order restriction when the control method is actually implemented, and this should not be used as a limitation on the scope of protection of the present invention.

[0038] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. An industrial robot system, It is characterized in that The invention comprises an industrial robot and an operating device, wherein the operating device comprises a display unit for displaying a simulated image of the robot and a first posture sensor and / or a first orientation sensor for detecting the posture of the operating device; the industrial robot comprises an acquisition module for acquiring the installation posture of the industrial robot; the industrial robot system comprises a control module for adjusting the simulated image of the display unit according to a change in at least one of the installation posture of the robot and the posture of the operating device, so that the viewing angle of the simulated image displayed by the display unit is consistent with that of the industrial robot; the operating device is constructed as a robot teaching pendant or a tablet computer; the acquisition module comprises a second posture sensor and / or a second orientation sensor for acquiring the installation posture of the industrial robot; the industrial robot can be installed on a moving object to perform work, and the acquisition module can acquire the installation posture of the industrial robot by communicating with the moving object; the installation posture changes with the change of the posture of the moving object; the industrial robot can acquire the robot posture, and the control module generates the simulated image of the display unit according to the robot posture, the installation posture of the industrial robot and the posture of the operating device.

2. The industrial robot system according to claim 1, It is characterized in that The acquisition module is used to acquire the installation posture of the industrial robot in the world coordinate system.

3. The industrial robot system according to claim 1, It is characterized in that The industrial robot is formed as a three-axis, four-axis, or six-axis robotic arm, or the industrial robot is formed as a collaborative robot.

4. A control method for an industrial robot, applicable to the industrial robot system according to any one of claims 1 to 3, It is characterized in that include: Get the installation posture of the industrial robot; Detect the position and posture of operating equipment; Adjusting the simulation image of the display unit according to a change in at least one of the installation posture of the industrial robot and the posture of the operating device so that the viewing angle of the simulation image displayed by the display unit is consistent with that of the industrial robot; The industrial robot can be installed on a moving object to perform work, and the installation posture changes with the change of the posture of the moving object.

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