Robot teaching method and device based on laser ranging device

Abstract

The present invention provides a robot teaching method and device based on a laser distance measuring device, the method comprising: recording the first distance measured by the laser distance measuring device in each case, and the first posture of the robot tool end in the robot base coordinates; calculating the second posture of the laser line emission point in the robot tool coordinates according to the spatial posture of the reference point, the first distance and the first posture; emitting the laser line to the teaching point, and recording the second distance and the third posture of the robot tool end in the robot base coordinates; finally, calculating the target posture of the teaching point in the robot base coordinates according to each posture and the second distance to complete the teaching. Thus, the robot teaching can be realized within the reach of the robot, and the non-contact teaching of the robot can also be realized beyond the reach of the robot, with a wide range of applications, and calibration before teaching can ensure the reliability and accuracy of the teaching.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to a robot teaching method based on a laser distance measuring device and a robot teaching device based on a laser distance measuring device. Background Art

[0002] The correct operation of a robot is inseparable from robot programming. To program a robot, you first need to know the working position of the robot. The most convenient way to obtain the working position is to use robot teaching. Using the robot's human-machine control system, move the end of the robot or the end of the robot tool to its working position and record the current waypoint to complete a teaching. Alternatively, you can use manual dragging to drag the robot to the working position to complete the same work. The combination of a series of working waypoints constitutes the robot's working trajectory.

[0003] The robot spatial posture obtained through robot teaching can not only realize robot programming. By combining different spatial postures, many other important functions can be completed, such as establishing or calibrating the user coordinate system, establishing the workpiece coordinate system, calibrating the tool coordinate system, etc.

[0004] In the related technology, due to the limitation of the robot's working range, all the spatial postures mentioned in the above schemes need to be within the reach of the robot. For those beyond the reach of the robot, accurate posture information cannot be obtained and recorded, and thus all the above-mentioned functions cannot be completed. Summary of the invention

[0005] In order to solve the problem in the related art that accurate posture information cannot be obtained when the robot is beyond its reach, the present invention proposes the following technical solution.

[0006] The first aspect of the present invention proposes a robot teaching method based on a laser ranging device, wherein the laser ranging device is installed at the tool end of the robot mechanical arm, and the method comprises the following steps: determining a reference point inside the robot mechanical arm space and outside the robot mechanical arm and the spatial position and posture of the reference point; moving the tool end of the robot mechanical arm to drive the laser ranging device, so that the laser line emitted by the laser ranging device forms a point with the plane of the irradiated object under multiple conditions, and the formed point coincides with the reference point, and at the same time, when the formed point coincides with the reference point, recording the first distance measured by the laser ranging device in each case and the first position of the tool end of the robot mechanical arm in the robot base coordinate, wherein in In many cases, the distance between the laser ranging device and the plane of the irradiated object is different; according to the spatial posture of the reference point, the first distance in all cases and the first posture, the second posture of the laser line emission point located in the robot tool coordinates is calculated; the teaching point is determined, the tool end of the robot mechanical arm is moved to drive the laser ranging device so that the laser ranging device emits a laser line to the teaching point, and the second distance measured by the laser ranging device and the third posture of the tool end of the robot mechanical arm located in the robot base coordinates are recorded; according to the second distance, the third posture, the second posture, the spatial posture and the first posture, the target posture of the teaching point located in the robot base coordinates is calculated to complete the teaching.

[0007] In addition, the robot teaching method based on the laser ranging device according to the above embodiment of the present invention may also have the following additional technical features.

[0008] According to one embodiment of the present invention, based on the spatial pose of the reference point, the first distance in all cases and the first pose, a second pose of the laser line emission point in the robot tool coordinates is calculated, including: based on the spatial pose of the reference point and the first pose in all cases, a direction vector of the laser line in the robot tool coordinates is calculated; based on the first distance, the first pose, the direction vector and the spatial pose of the reference point, the second pose of the laser line emission point in the robot tool coordinates is calculated.

[0009] According to one embodiment of the present invention, based on the spatial posture of the reference point, the first distance in all cases and the first posture, a second posture of the laser line emission point in the robot tool coordinates is calculated, including: based on the spatial posture of the reference point and the first posture in all cases, a fourth posture of the reference point in the robot tool coordinates is calculated in all cases, and the direction vector of the laser line in the robot tool coordinates is calculated; based on the first distance, the fourth posture and the direction vector, the second posture of the laser line emission point in the robot tool coordinates is calculated.

[0010] According to an embodiment of the present invention, the multiple situations include two situations.

[0011] According to one embodiment of the present invention, a second posture of the laser line emission point in the robot tool coordinates is calculated based on the first distance, the fourth posture and the direction vector, including: normalizing the direction vector to a unit vector; and calculating the second posture of the laser line emission point in the robot tool coordinates based on the unit vector, the first distance in any of all cases and the fourth posture.

[0012] According to one embodiment of the present invention, the fourth pose of the reference point in the robot tool coordinates in each case is calculated according to the following formula:

[0013] DinFi=BinFi*DinB

[0014] Among them, DinFi represents the fourth posture of the reference point in the robot tool coordinates in the i-th case, BinFi represents the fifth posture of the robot base coordinates in the robot tool coordinates in the i-th case, and the fifth posture is obtained by inverting the first posture, and DinB represents the spatial posture of the reference point.

[0015] According to one embodiment of the present invention, the direction vector Lvec(x, y, z) of the laser line at the tool end coordinates is calculated according to the following formula, where:

[0016] Lvec.x=DinF2.x–DinF1.x

[0017] Lvec.y=DinF2.y–DinF1.y

[0018] Lvec.z = DinF2.z – DinF1.z

[0019] Among them, Lvec.x, Lvec.y and Lvec.z respectively represent the direction vector of the laser line in the x direction, the y direction and the z direction of the robot tool coordinates, DinF2.x, DinF2.y and DinF2.z respectively represent the x coordinate value, y coordinate value and z coordinate value corresponding to the fourth posture in the second case, and DinF1.x, DinF1.y and DinF1.z respectively represent the x coordinate value, y coordinate value and z coordinate value corresponding to the fourth posture in the first case.

[0020] According to one embodiment of the present invention, the second posture of the laser line emission point in the robot tool coordinates is calculated according to the following formula:

[0021] LSinF(x,y,z)=DinF1(x,y,z)–Lnormal(x,y,z)*L1

[0022] Among them, LSinF represents the second posture of the laser line emission point in the robot tool coordinates, LSinF(x, y, z) represents the position in the second posture, DinF1 represents the fourth posture of the reference point in the first case in the robot tool coordinates, DinF1(x, y, z) represents the position in the fourth posture in the first case, Lnormal(x, y, z) represents the unit vector of the direction vector, and L1 represents the first distance measured by the laser ranging device in the first case.

[0023] According to one embodiment of the present invention, the target pose of the teaching point located at the robot base coordinates is calculated according to the following formula:

[0024] PinFn(x,y,z)=LSinF(x,y,z)+Lnormal(x,y,z)*Ln

[0025] PinBn=FinBn*PinFn

[0026] Among them, PinFn indicates that the teaching point is located in the sixth posture of the robot tool coordinates, PinFn(x, y, z) indicates the position in the sixth posture, LSinF indicates that the laser line emission point is located in the second posture of the robot tool coordinates, LSinF(x, y, z) indicates the position in the second posture, Lnormal(x, y, z) indicates the unit vector of the direction vector, Ln indicates the second distance measured by the laser ranging device, PinBn indicates the target posture of the teaching point in the robot base coordinates, and FinBn indicates that the tool end of the robot manipulator arm is located in the third posture of the robot base coordinates.

[0027] The second aspect of the present invention proposes a robot teaching device based on a laser ranging device, wherein the laser ranging device is installed at the tool end of the robot mechanical arm, and the device includes: a determination module, used to determine a reference point inside the robot mechanical arm space and outside the robot mechanical arm and the spatial posture of the reference point; a first recording module, used to move the robot mechanical arm tool end to drive the laser ranging device, so that in a variety of cases, the laser line emitted by the laser ranging device forms a point with the plane of the irradiated object, and the formed point coincides with the reference point, and at the same time, when the formed point coincides with the reference point, the first distance measured by the laser ranging device in each case and the first posture of the robot mechanical arm tool end in the robot base coordinate are recorded, wherein in a variety of cases, the The distances between the laser ranging device and the plane of the irradiated object are different; a first calculation module is used to calculate the second posture of the laser line emission point located in the robot tool coordinates according to the spatial posture of the reference point, the first distance in all cases and the first posture; a second recording module is used to determine the teaching point, move the tool end of the robot mechanical arm to drive the laser ranging device so that the laser ranging device emits a laser line to the teaching point, and record the second distance measured by the laser ranging device and the third posture of the tool end of the robot mechanical arm located in the robot base coordinates; a second calculation module is used to calculate the target posture of the teaching point located in the robot base coordinates according to the second distance, the third posture, the second posture, the spatial posture and the first posture to complete the teaching.

[0028] The technical solution of the embodiment of the present invention first records the first distance measured by the laser distance measuring device in each case, the first posture of the robot tool end in the robot base coordinates, and then calculates the second posture of the laser line emission point in the robot tool coordinates according to the spatial posture of the reference point, the first distance and the first posture, and then emits the laser line to the teaching point, and records the second distance and the third posture of the robot tool end in the robot base coordinates, and finally calculates the target posture of the teaching point in the robot base coordinates according to the second distance, the third posture, the second posture, the spatial posture and the first posture, and completes the teaching. In this way, the robot teaching can be realized within the reach of the robot, and the non-contact teaching of the robot can also be realized beyond the reach of the robot, which has a wide range of applications, and calibration before teaching can ensure the reliability and accuracy of teaching. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 The present invention is a flowchart of a robot teaching method based on a laser ranging device according to an embodiment of the present invention.

[0030] Figure 2 This is a schematic diagram of a laser ranging device irradiating an illuminated plane in a first situation according to an embodiment of the present invention.

[0031] Figure 3 This is a schematic diagram of a laser ranging device irradiating an illuminated plane in a second situation according to an embodiment of the present invention.

[0032] Figure 4 The figure is a block diagram of a robot teaching device based on a laser ranging device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0033] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0034] Figure 1 The present invention is a flowchart of a robot teaching method based on a laser ranging device according to an embodiment of the present invention.

[0035] In the embodiment of the present invention, Figure 2 and Figure 3 As shown, the laser distance measuring device 2 is installed at the tool end of the robot arm 1, that is, the end of the robot arm. The laser distance measuring device 2 can be a point-type laser distance measuring device.

[0036] It should be noted that the various postures in the following embodiments of the present invention include spatial position and posture, that is, the spatial position and posture are referred to as posture for short.

[0037] like Figure 1 As shown, the robot teaching method based on the laser ranging device includes the following steps S1 to S5.

[0038] S1, determine a reference point inside and outside the robot arm space and the spatial position of the reference point.

[0039] Specifically, first determine a spatial point on a plane inside the robot arm space and outside the robot arm as a reference point, and determine the spatial pose DinB (including position and posture) of the reference point by any feasible method, and the coordinate value reflecting its position is DinB (x, y, z).

[0040] S2, the tool end of the mobile robot arm drives the laser ranging device, and in multiple cases, the laser line emitted by the laser ranging device forms a point with the plane of the irradiated object, and the formed point coincides with the reference point. At the same time, when the formed point coincides with the reference point, the first distance measured by the laser ranging device in each case and the first position of the tool end of the robot arm in the robot base coordinate are recorded, wherein in multiple cases, the distance between the laser ranging device and the plane of the irradiated object is different.

[0041] In the embodiment of the present invention, the distance and the posture read from the laser ranging device in each case in step S2 are referred to as the first distance and the first posture respectively.

[0042] Specifically, in a plurality of cases, the laser distance measuring device is moved to a distance different from the plane of the irradiated object, and the end of the robot arm is moved, thereby driving the laser distance measuring device to move, so that the laser line emitted by it forms a point with the plane of the irradiated object, and the point is made to coincide with the reference point in step S1, and at the same time, when they coincide, the first distance L (the distance between the point and the laser distance measuring device) measured by the laser distance measuring device and the first position FinB of the tool end of the robot arm located at the robot base coordinates are recorded. Thus, the first distance L and the first position FinB in each case, that is, multiple first distances L and first position FinB, are obtained.

[0043] S3, calculating a second posture of the laser line emission point located in the robot tool coordinates according to the spatial posture of the reference point, the first distances in all cases, and the first posture.

[0044] In the embodiment of the present invention, the posture of the laser line emission point located in the robot tool coordinates is called the second posture.

[0045] After obtaining the spatial posture DinB of the reference point, all the first distances L and the first posture FinB, the second posture LSinF of the laser line emission point located in the robot tool coordinates can be calculated by combining the first distances L and the first posture FinB in all cases. This posture is the starting point posture of the laser line emission.

[0046] Through the above steps S1 to S3, the non-contact teaching calibration of the robot is completed, so the teaching of the robot can be realized subsequently.

[0047] S4, determine the teaching point, move the tool end of the robot arm to drive the laser distance measuring device so that the laser distance measuring device emits a laser line to the teaching point, and record the second distance measured by the laser distance measuring device and the third posture of the tool end of the robot arm in the robot base coordinates.

[0048] In the embodiment of the present invention, when the laser is irradiated onto the teaching point, the distance and posture measured by the laser ranging device are respectively referred to as the second distance and the third posture.

[0049] Specifically, when a teaching operation is required, the teaching point required for teaching is determined, and the tool end of the robotic arm is moved to drive the laser ranging device so that the laser point of the laser ranging device is irradiated to the teaching point, and the second distance Ln and the third posture FinBn measured by the laser ranging device at this time are recorded.

[0050] S5, calculating the target pose of the teaching point located at the machine base coordinate according to the second distance, the third pose, the second pose, the spatial pose and the first pose to complete the teaching.

[0051] In the embodiment of the present invention, the posture of the teaching point located in the robot base coordinates is called the target posture.

[0052] Specifically, the posture PinFn of the teaching point located in the robot tool coordinates can be calculated first, and then the target posture PinBn of the teaching point located in the machine base coordinates can be calculated, so as to obtain the accurate spatial posture of the robot and complete the teaching.

[0053] Compared with the related art, the embodiment of the present invention can realize non-contact teaching of the robot, and perform non-contact calibration before teaching, thereby ensuring the reliability of non-contact teaching. Therefore, whether within the reach of the robot or beyond the reach of the robot, the posture information can be accurately obtained through reliable non-contact teaching, and all functions involved in robot teaching can be completed. For example, not only robot programming can be realized, but also many other important functions can be completed by combining different spatial postures, such as establishing or calibrating user coordinate systems, establishing workpiece coordinate systems, calibrating tool coordinate systems, etc. Further extension, the calibration and planning of the robot's workable area can also be realized. A plane can be determined by three non-collinear spatial posture points. The combination of multiple planes with different postures can form a certain spatial area, which can be planned as a workable area, or a dangerous area, etc.

[0054] Therefore, the robot teaching method based on the laser ranging device of the embodiment of the present invention can realize robot teaching within the reach of the robot, and can also realize non-contact teaching of the robot beyond the reach of the robot. It has a wide range of applications, and calibration before teaching can ensure the reliability and accuracy of teaching.

[0055] In one embodiment of the present invention, step S3, i.e., calculating the second posture of the laser line emission point in the robot tool coordinates according to the spatial posture of the reference point, the first distance in all cases and the first posture, may include: calculating the direction vector of the laser line in the robot tool coordinates according to the spatial posture of the reference point and the first posture in all cases; calculating the second posture of the laser line emission point in the robot tool coordinates according to the first distance, the first posture, the direction vector and the spatial posture of the reference point.

[0056] Further, step S3 may include: calculating the fourth posture of the reference point in all cases in the robot tool coordinates according to the spatial posture of the reference point and the first posture in all cases, and calculating the direction vector of the laser line in the robot tool coordinates; calculating the second posture of the laser line emission point in the robot tool coordinates according to the first distance, the fourth posture and the direction vector.

[0057] In the embodiment of the present invention, the posture in which the reference point is located in the robot tool coordinate system in each case is referred to as the fourth posture.

[0058] Specifically, after obtaining the spatial posture DinB of the reference point and all the first postures FinB, for the first posture FinB in each case, the fourth posture DinF of the reference point located in the robot tool coordinates is calculated according to the spatial posture DinB of the reference point and the first posture FinB, thereby obtaining multiple fourth postures DinF.

[0059] According to the spatial pose DinB of the reference point and the first pose FinB in all cases, the direction vector Lvec(x, y, z) of the laser line in the robot tool coordinates is calculated, that is, the emission direction vector Lvec(x, y, z) of the laser line is obtained.

[0060] Afterwards, according to the first distance L, the fourth posture DinF and the direction vector Lvec (x, y, z), the second posture LSinF of the laser line emission point located in the robot tool coordinates is calculated, and this posture is the emission starting point posture of the laser line.

[0061] In one embodiment of the present invention, the multiple situations may include two situations.

[0062] In the embodiment of the present invention, a point formed by the laser line emitted by the laser ranging device and the plane of the irradiated object in the first case is called a first point, and a point formed by the laser line emitted by the laser ranging device and the plane of the irradiated object in the second case is called a second point.

[0063] Specifically, refer to Figure 2 In the first case, that is, when the laser distance measuring device is close to the irradiated object, the laser line emitted by the laser distance measuring device forms a first point with the plane of the irradiated object, and the first point is made to coincide with the reference point. When they coincide, the first distance L1 measured by the laser distance measuring device is recorded, and the tool end of the robot is located at the first position FinB1 of the robot base coordinates. Figure 2 In the figure, 3 is the laser line emitted by the laser distance measuring device, the first distance is L1, and 4 is the reference point.

[0064] Reference Figure 3In the second case, that is, when the laser distance measuring device is far away from the irradiated object, the laser line emitted by the laser distance measuring device forms a second point with the plane of the irradiated object, and the second point is made to coincide with the reference point. When they coincide, the first distance L2 measured by the laser distance measuring device is recorded, and the tool end of the robot is located at the first position FinB2 of the robot base coordinates. Figure 3 In the figure, 5 is the laser line emitted by the laser distance measuring device, the first distance is L2, 4 is the reference point, and L2>L1.

[0065] Thus, we can obtain the first distance L1 and the first pose FinB1 in the first case, and the second distance L2 and the first pose FinB2 in the second case. Based on the above description, we can know that L2>L1, FinB1≠FinB2.

[0066] In one example, based on the spatial pose of the reference point and the first pose in all cases, calculating the fourth pose of the reference point in the robot tool coordinates in all cases, and calculating the direction vector of the laser line in the robot tool coordinates, may include: based on the first pose in all cases, obtaining the fifth pose of the robot base coordinates in the robot tool coordinates in each case; based on the spatial pose and the fifth pose of the reference point, calculating the fourth pose of the reference point in the robot tool coordinates in each case, wherein the fourth pose in all cases is different; based on the fourth pose in all cases, calculating the direction vector of the laser line in the robot tool coordinates.

[0067] In the embodiment of the present invention, the posture in which the robot base coordinates are located in the robot tool coordinates is called the fifth posture.

[0068] Specifically, after obtaining the spatial pose DinB of the reference point and a plurality of different first poses FinB, each first pose FinB can be inverted to obtain a plurality of fifth poses BinF in which the robot base coordinates are located in the robot tool coordinates, wherein all the fifth poses BinF are different. Afterwards, the fourth pose DinF in which the reference point is located in the robot tool coordinates is calculated according to each fifth pose BinF and the spatial pose DinB of the reference point, thereby obtaining the fourth pose DinF in all cases.

[0069] Among them, the fourth pose DinF with the reference point in the robot tool coordinates in each case can be calculated according to the following formula:

[0070] DinFi=BinFi*DinB

[0071] Among them, DinFi means that the reference point is located in the fourth pose (including position and posture) of the robot tool coordinates in the i-th case, BinFi means that the robot base coordinates are located in the fifth pose of the robot tool coordinates in the i-th case, and the fifth pose is obtained by inverting the first pose, and DinB represents the spatial pose of the reference point.

[0072] That is, when there are two situations, the fourth posture DinF1 in the first situation and the fourth posture DinF2 in the second situation are calculated according to the following formulas:

[0073] DinF1=BinF1*DinB

[0074] DinF2=BinF2*DinB

[0075] Among them, BinF1 and BinF2 respectively represent the fifth posture of the robot base coordinates in the robot tool coordinates in the first case and the second case, and DinF1 and DinF2 respectively represent the fourth posture of the reference point in the robot tool coordinates in the first case and the second case.

[0076] According to the above conditions, all the fourth postures DinF are points on the laser line emitted by the laser ranging device, and they do not overlap with each other. Therefore, according to the spatial relationship between all points and the tool end of the robot, the direction vector of the laser line in the robot tool coordinates can be calculated, which is recorded as Lvec (x, y, z).

[0077] That is, when there are two situations, DinF1 and DinF2 are both points on the laser line emitted by the laser ranging device, and the two do not overlap. The emission direction vector of the laser line can be calculated by using the spatial relationship between these two points and the tool end of the robot.

[0078] The direction vector of the laser line at the tool end coordinate can be calculated according to the following formula:

[0079] Lvec.x=DinF2.x–DinF1.x

[0080] Lvec.y=DinF2.y–DinF1.y

[0081] Lvec.z = DinF2.z – DinF1.z

[0082] Among them, Lvec.x, Lvec.y and Lvec.z respectively represent the direction vector of the laser line in the x direction, y direction and z direction of the robot tool coordinates, DinF2.x, DinF2.y and DinF2.z respectively represent the x coordinate value, y coordinate value and z coordinate value corresponding to the fourth posture in the second case, DinF1.x, DinF1.y and DinF1.z respectively represent the x coordinate value, y coordinate value and z coordinate value corresponding to the fourth posture in the first case, ensuring that the vector direction is consistent with the laser emission direction.

[0083] Furthermore, calculating the second posture of the laser line emission point in the robot tool coordinates based on the first distance, the fourth posture and the direction vector may include: normalizing the direction vector to a unit vector; calculating the second posture of the laser line emission point in the robot tool coordinates based on the unit vector, the first distance in any of all cases and the fourth posture.

[0084] Specifically, first normalize the direction vector Lvec(x,y,z) to the unit vector Lnormal(x,y,z) according to the following formula:

[0085] Lnormal(x,y,z)=Lvec(x,y,z) / |Lvec(x,y,z)|

[0086] Afterwards, any case can be selected from all cases, and the second posture LSinF of the laser line emission point can be calculated according to the first distance L and the fourth posture DinF in this case, and the unit vector Lnormal (x, y, z).

[0087] For example, the second posture LSinF can be calculated according to the first distance L1 and the fourth posture DinF1 in the first case and the unit vector Lnormal (x, y, z), and the calculation formula can be:

[0088] LSinF(x,y,z)=DinF1(x,y,z)–Lnormal(x,y,z)*L1

[0089] Among them, LSinF represents the second posture in which the laser line emission point is located in the robot tool coordinates, LSinF(x, y, z) represents the position in the second posture, DinF1 represents the fourth posture in which the reference point is located in the robot tool coordinates in the first case, DinF1(x, y, z) represents the position in the fourth posture in the first case, Lnormal(x, y, z) represents the unit vector of the direction vector, and L1 represents the first distance measured by the laser ranging device in the first case.

[0090] Therefore, through the above steps S1 to S3, the position LSinF of the laser line emission point and the emission unit vector Lnormal (x, y, z) of the laser line can be obtained, thereby completing the non-contact teaching calibration.

[0091] Afterwards, when teaching is needed, step S4 is executed, i.e., the laser distance measuring device is made to emit a laser line to the teaching point, and the second distance Ln measured by the laser distance measuring device and the third posture FinBn of the robot tool end in the robot base coordinates are recorded. Then step S5 is executed, i.e., according to the second distance Ln, the third posture FinBn, the second posture LSinF, the spatial posture DinB and the first posture FinB, the target posture of the teaching point in the robot base coordinates is calculated to complete the teaching.

[0092] In one embodiment of the present invention, step S5 may include: calculating the direction vector Lvec(x, y, z) of the laser line in the robot tool coordinates according to the spatial posture of the reference point and the first posture in all cases; calculating the posture of the teaching point in the robot base coordinates according to the second distance Ln, the third posture FinBn, the second posture LSinF and the direction vector Lvec(x, y, z) to complete the teaching.

[0093] Furthermore, according to the second distance Ln, the third posture FinBn, the second posture LSinF and the direction vector Lvec(x, y, z), calculating the target posture of the teaching point in the robot base coordinates may include: normalizing the direction vector to a unit vector; calculating the sixth posture of the teaching point in the robot tool coordinates according to the second distance, the second posture and the unit vector; and calculating the target posture of the teaching point in the robot base coordinates according to the third posture and the sixth posture.

[0094] In the embodiment of the present invention, the posture in which the teaching point is located in the robot tool coordinate system is referred to as the sixth posture.

[0095] Specifically, the direction vector Lvec(x, y, z) is first normalized to the unit vector Lnormal(x, y, z), and then the sixth pose PinFn of the teaching point located in the robot tool coordinates is calculated based on the second distance Ln, the second pose LSinF and the unit vector Lnormal(x, y, z). Finally, the target pose PinBn of the teaching point located in the robot base coordinates is calculated based on the sixth pose PinFn and the third pose FinBn.

[0096] Among them, the sixth posture PinFn of the teaching point in the robot tool coordinates is calculated according to the following formula:

[0097] PinFn(x,y,z)=LSinF(x,y,z)+Lnormal(x,y,z)*Ln

[0098] Wherein, PinFn indicates that the teaching point is located in the sixth posture of the robot tool coordinates, PinFn(x, y, z) indicates the position in the sixth posture, LSinF indicates that the laser line emission point is located in the second posture of the robot tool coordinates, LSinF(x, y, z) indicates the position in the second posture, Lnormal(x, y, z) indicates the unit vector of the direction vector, and Ln indicates the second distance measured by the laser ranging device;

[0099] The target pose PinBn of the teaching point located in the robot base coordinates is calculated according to the following formula:

[0100] PinBn=FinBn*PinFn

[0101] Among them, PinBn represents the target pose of the teaching point located in the machine base coordinates, and FinBn represents the third pose of the tool end of the robot manipulator arm located in the robot base coordinates.

[0102] Thus, the target posture PinBn of the robot's teaching point located in the robot base coordinates is obtained, that is, the robot's non-contact teaching is completed, and the robot's spatial posture is obtained. Since it is non-contact teaching, the teaching range of the robot arm can be widened, and the robot teaching beyond the range can be realized.

[0103] It should be noted that, in the embodiment of the present invention, there may be multiple robots, and the multiple robots may work together, and the calibration of the multiple robots and the world coordinate system may provide assistance.

[0104] To sum up, the embodiments of the present invention solve the problem in the related art that the robot's working range is limited and the robot teaching needs to be within the reach of the robot. Not only within the robot's working range, but also in spatial positions beyond the robot's reach, accurate posture information can be obtained to complete the robot teaching, avoiding the problem of affecting the implementation of the technical solution due to working range limitations, and has strong applicability.

[0105] Corresponding to the robot teaching method based on the laser ranging device of the above embodiment, the present invention also provides a robot teaching device based on the laser ranging device.

[0106] Figure 4 The figure is a block diagram of a robot teaching device based on a laser ranging device according to an embodiment of the present invention.

[0107] In the embodiment of the present invention, the laser distance measuring device is installed at the tool end of the robot mechanical arm, that is, the end of the mechanical arm. The laser distance measuring device can be a point laser distance measuring device.

[0108] like Figure 4As shown, the robot teaching device based on the laser ranging device includes a determination module 10 , a first recording module 20 , a first calculation module 30 , a second recording module 40 and a third calculation module 50 .

[0109] Among them, the determination module 10 is used to determine a reference point inside and outside the robot manipulator space and the spatial position and posture of the reference point; the first recording module 20 is used to move the tool end of the robot manipulator to drive the laser ranging device, so that the laser line emitted by the laser ranging device forms a point with the plane of the irradiated object in a variety of cases, and the formed point coincides with the reference point, and at the same time, when the formed point coincides with the reference point, the first distance measured by the laser ranging device in each case and the first position of the tool end of the robot manipulator in the robot base coordinate are recorded, wherein in a variety of cases, the distance between the laser ranging device and the plane of the irradiated object is different; the first calculation module 30 is used to calculate the second posture of the laser line emission point in the robot tool coordinates according to the spatial posture of the reference point, the first distance in all cases and the first posture; the second recording module 40 is used to determine the teaching point, move the robot mechanical arm tool end to drive the laser ranging device so that the laser ranging device emits a laser line to the teaching point, and record the second distance measured by the laser ranging device and the third posture of the robot mechanical arm tool end in the robot base coordinates; the second calculation module 50 is used to calculate the target posture of the teaching point in the robot base coordinates according to the second distance, the third posture, the second posture, the spatial posture and the first posture, so as to complete the teaching of the third posture and the second posture.

[0110] It should be noted that the specific implementation manner and implementation principle of the robot teaching device based on the laser ranging device can be found in the specific implementation manner of the robot teaching method based on the laser ranging device mentioned above. To avoid redundancy, they will not be described in detail here.

[0111] The robot teaching device based on the laser ranging device in the embodiment of the present invention can realize robot teaching within the reach of the robot, and can also realize non-contact teaching of the robot beyond the reach of the robot. It has a wide range of applications, and calibration before teaching can ensure the reliability and accuracy of teaching.

[0112] In the description of the present invention, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. "Multiple" means two or more, unless otherwise clearly and specifically defined.

[0113] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.

[0114] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present invention includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present invention belong.

[0115] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, a plurality of steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0116] A person of ordinary skill in the art can understand that all or part of the steps carried by the method of the above-mentioned embodiment can be completed by instructing the relevant hardware through a program, and the program can be stored in a computer-readable storage medium, and the program, when executed, includes one or a combination of the steps of the method embodiment. In addition, each functional unit in each embodiment of the present invention can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into one module. The above-mentioned integrated module can be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0117] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A robot teaching method based on a laser ranging device, characterized in that: The laser distance measuring device is installed on the tool end of the robot mechanical arm, and the method comprises the following steps: Determine a reference point in the robot arm space and outside the robot arm and the spatial pose of the reference point; Move the tool end of the robot mechanical arm to drive the laser distance measuring device, so that the laser line emitted by the laser distance measuring device forms a point with the plane of the irradiated object under multiple conditions, and the formed point coincides with the reference point, and when the formed point coincides with the reference point, record the first distance measured by the laser distance measuring device and the first position of the tool end of the robot mechanical arm in the robot base coordinate in each condition, wherein in multiple conditions, the distance between the laser distance measuring device and the plane of the irradiated object is different; Calculate a second posture of the laser line emission point located at the robot tool coordinates according to the spatial posture of the reference point, the first distance in all cases, and the first posture; Determine the teaching point, move the tool end of the robot mechanical arm to drive the laser distance measuring device so that the laser distance measuring device emits a laser line to the teaching point, and record the second distance measured by the laser distance measuring device and the third posture of the tool end of the robot mechanical arm in the robot base coordinates; According to the second distance, the third posture, the second posture, the spatial posture and the first posture, the target posture of the teaching point located at the robot base coordinates is calculated to complete the teaching, Calculating a second posture of the laser line emission point located at the robot tool coordinates according to the spatial posture of the reference point, the first distance in all cases, and the first posture, comprising: Calculating the direction vector of the laser line in the robot tool coordinates according to the spatial posture of the reference point and the first posture in all cases; Calculate a second posture of the laser line emission point located at the robot tool coordinates according to the first distance, the first posture, the direction vector and the spatial posture of the reference point, Calculating a second posture of the laser line emission point located at the robot tool coordinates according to the spatial posture of the reference point, the first distance in all cases, and the first posture, comprising: According to the spatial pose of the reference point and the first pose in all cases, calculating a fourth pose of the reference point in the robot tool coordinates in all cases, and calculating a direction vector of the laser line in the robot tool coordinates; A second posture of the laser line emission point located in the robot tool coordinates is calculated according to the first distance, the fourth posture and the direction vector.

2. The robot teaching method based on the laser ranging device according to claim 1, characterized in that: The multiple situations include two situations.

3. The robot teaching method based on the laser ranging device according to claim 2 is characterized in that: Calculating a second posture of the laser line emission point located at the robot tool coordinates according to the first distance, the fourth posture and the direction vector, comprising: Normalizing the direction vector to a unit vector; The second posture of the laser line emission point located in the robot tool coordinates is calculated based on the unit vector, the first distance in any of all cases and the fourth posture.

4. The robot teaching method based on the laser ranging device according to claim 1, characterized in that: The fourth pose of the reference point in robot tool coordinates is calculated in each case according to the following formula: DinFi = BinFi*DinB Among them, DinFi represents the fourth posture of the reference point in the robot tool coordinates in the i-th case, BinFi represents the fifth posture of the robot base coordinates in the robot tool coordinates in the i-th case, and the fifth posture is obtained by inverting the first posture, and DinB represents the spatial posture of the reference point.

5. The robot teaching method based on the laser ranging device according to claim 4 is characterized in that: The direction vector Lvec(x,y,z) of the laser line at the tool end coordinate is calculated according to the following formula, where: Lvec.x = DinF2.x – DinF1.x Lvec.y = DinF2.y – DinF1.y Lvec.z = DinF2.z – DinF1.z Among them, Lvec.x, Lvec.y and Lvec.z respectively represent the direction vector of the laser line in the x direction, the y direction and the z direction of the robot tool coordinates, DinF2.x, DinF2.y and DinF2.z respectively represent the x coordinate value, y coordinate value and z coordinate value corresponding to the fourth posture in the second case, and DinF1.x, DinF1.y and DinF1.z respectively represent the x coordinate value, y coordinate value and z coordinate value corresponding to the fourth posture in the first case.

6. The robot teaching method based on the laser ranging device according to claim 5, characterized in that: The second pose of the laser line emission point in the robot tool coordinates is calculated according to the following formula: LSinF(x,y,z) = DinF1(x,y,z) – Lnormal(x,y,z) *L1 Among them, LSinF represents the second posture of the laser line emission point in the robot tool coordinates, LSinF(x, y, z) represents the position in the second posture, DinF1 represents the fourth posture of the reference point in the first case in the robot tool coordinates, DinF1(x, y, z) represents the position in the fourth posture in the first case, Lnormal(x, y, z) represents the unit vector of the direction vector, and L1 represents the first distance measured by the laser ranging device in the first case.

7. The robot teaching method based on the laser ranging device according to claim 6, characterized in that: The target position of the teaching point in the robot base coordinates is calculated according to the following formula: PinFn(x,y,z) = LSinF(x,y,z) + Lnormal(x,y,z)*Ln PinBn = FinBn* PinFn Among them, PinFn indicates that the teaching point is located in the sixth posture of the robot tool coordinates, PinFn(x, y, z) indicates the position in the sixth posture, LSinF indicates that the laser line emission point is located in the second posture of the robot tool coordinates, LSinF(x, y, z) indicates the position in the second posture, Lnormal(x, y, z) indicates the unit vector of the direction vector, Ln indicates the second distance measured by the laser ranging device, PinBn indicates the target posture of the teaching point in the robot base coordinates, and FinBn indicates that the tool end of the robot manipulator arm is located in the third posture of the robot base coordinates.

8. A robot teaching device based on a laser distance measuring device using the robot teaching method based on a laser distance measuring device according to claim 1, characterized in that: The laser distance measuring device is installed on the tool end of the robot mechanical arm, and the device includes: A determination module, used to determine a reference point inside the robot arm space and outside the robot arm and the spatial pose of the reference point; a first recording module, for moving the tool end of the robot mechanical arm to drive the laser distance measuring device, so that the laser line emitted by the laser distance measuring device forms a point with the plane of the irradiated object under multiple conditions, and the formed point coincides with the reference point, and when the formed point coincides with the reference point, recording the first distance measured by the laser distance measuring device and the first position of the tool end of the robot mechanical arm in the robot base coordinate in each condition, wherein in multiple conditions, the distance between the laser distance measuring device and the plane of the irradiated object is different; A first calculation module is used to calculate a second posture of the laser line emission point located at the robot tool coordinates according to the spatial posture of the reference point, the first distance in all cases and the first posture; A second recording module is used to determine a teaching point, move the tool end of the robot mechanical arm to drive the laser distance measuring device so that the laser distance measuring device emits a laser line to the teaching point, and record a second distance measured by the laser distance measuring device and a third posture of the tool end of the robot mechanical arm located at the robot base coordinate; The second calculation module is used to calculate the target posture of the teaching point located in the robot base coordinates according to the second distance, the third posture, the second posture, the spatial posture and the first posture to complete the teaching.

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